+ python -m lidar_slam --no-model /working/257abb88-dd8d-4f98-ac2e-4ca5e8f8e7d8 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/257abb88-dd8d-4f98-ac2e-4ca5e8f8e7d8 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 0.028033874 Adjusted end_distance from 9.223372036854776e+18 to 33.495073874 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.028033874 meters 0.04509071308962491 Centerline is valid? [0, True] SLAMing on 0.058033874 meters 0.04560701962706711 Centerline is valid? [True, True] Translation: X:-0.03, Y:0.00, Z:-0.00 [[ 9.99997699e-01 1.08047669e-03 -1.85307771e-03 -3.10872100e-02] [-1.08073076e-03 9.99999407e-01 -1.36109741e-04 2.47665596e-03] [ 1.85292955e-03 1.38112106e-04 9.99998274e-01 -4.22261018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.088033874 meters 0.04562381472912021 Centerline is valid? [True, True] Translation: X:-0.06, Y:0.01, Z:-0.00 [[ 9.99997383e-01 1.79633657e-03 1.41704573e-03 -5.94002547e-02] [-1.79648901e-03 9.99998381e-01 1.06306432e-04 5.28649379e-03] [-1.41685247e-03 -1.08851861e-04 9.99998990e-01 -1.40409530e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.118033874 meters 0.04646363277970392 Centerline is valid? [True, True] Translation: X:-0.09, Y:0.00, Z:0.00 [[ 9.99978163e-01 6.21711217e-03 2.24068674e-03 -8.87496424e-02] [-6.21749583e-03 9.99980658e-01 1.64300151e-04 4.83828560e-03] [-2.23962192e-03 -1.78228024e-04 9.99997476e-01 2.05789608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.148033874 meters 0.04937173413912485 Centerline is valid? [True, True] Translation: X:-0.12, Y:0.01, Z:-0.00 [[ 9.99970067e-01 7.70620928e-03 6.92990443e-04 -1.19957150e-01] [-7.70624583e-03 9.99970305e-01 5.00867385e-05 7.56936219e-03] [-6.92583886e-04 -5.54255939e-05 9.99999759e-01 -3.41618564e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17803387399999998 meters 0.04769107158055605 Centerline is valid? [True, True] Translation: X:-0.15, Y:0.00, Z:0.00 [[ 9.99931838e-01 1.16521768e-02 7.39653455e-04 -1.48912881e-01] [-1.16522204e-02 9.99932109e-01 5.46321356e-05 3.22410329e-03] [-7.38966655e-04 -6.32470167e-05 9.99999725e-01 3.81664692e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.208033874 meters 0.04896513514955393 Centerline is valid? [True, True] Translation: X:-0.18, Y:0.01, Z:0.00 [[ 9.99911493e-01 1.30460993e-02 2.60889814e-03 -1.82017744e-01] [-1.30466339e-02 9.99914871e-01 1.88025630e-04 8.54598139e-03] [-2.60622305e-03 -2.22046327e-04 9.99996579e-01 2.65856576e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23803387399999998 meters 0.049761324422319834 Centerline is valid? [True, True] Translation: X:-0.21, Y:0.01, Z:0.00 [[ 9.99896588e-01 1.42026615e-02 2.25766845e-03 -2.13744126e-01] [-1.42030669e-02 9.99899118e-01 1.63597887e-04 5.32546492e-03] [-2.25511717e-03 -1.95646785e-04 9.99997438e-01 1.35071341e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.268033874 meters 0.05743085424120031 Centerline is valid? [True, True] Translation: X:-0.25, Y:0.02, Z:-0.01 [[ 9.99901111e-01 1.40205033e-02 1.09211621e-03 -2.47269022e-01] [-1.40205966e-02 9.99901704e-01 7.78129210e-05 1.59417570e-02] [-1.09091788e-03 -9.31173470e-05 9.99999401e-01 -9.94770499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29803387400000003 meters 0.05112117759624198 Centerline is valid? [True, True] Translation: X:-0.28, Y:-0.00, Z:-0.00 [[ 9.99922335e-01 1.24274904e-02 9.39337273e-04 -2.75536197e-01] [-1.24275581e-02 9.99922773e-01 6.63098181e-05 -7.05787517e-04] [-9.38440666e-04 -7.79783366e-05 9.99999557e-01 -4.41555575e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.328033874 meters 0.04856347694775955 Centerline is valid? [True, True] Translation: X:-0.31, Y:-0.01, Z:0.00 [[ 9.99946725e-01 9.87145577e-03 3.01697044e-03 -3.05330846e-01] [-9.87216610e-03 9.99951245e-01 2.20645039e-04 -7.35647103e-03] [-3.01464526e-03 -2.50417317e-04 9.99995425e-01 2.70240990e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.358033874 meters 0.04739810645537869 Centerline is valid? [True, True] Translation: X:-0.34, Y:-0.02, Z:0.00 [[ 9.99956651e-01 8.56601687e-03 3.64948236e-03 -3.35369043e-01] [-8.56704869e-03 9.99963266e-01 2.67190558e-04 -1.52135833e-02] [-3.64705954e-03 -2.98444268e-04 9.99993305e-01 1.55318013e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.388033874 meters 0.04759799711839702 Centerline is valid? [True, True] Translation: X:-0.37, Y:-0.02, Z:0.01 [[ 9.99961391e-01 8.11751658e-03 3.36494354e-03 -3.67615837e-01] [-8.11838629e-03 9.99967015e-01 2.44883472e-04 -1.96351414e-02] [-3.36284470e-03 -2.72191929e-04 9.99994309e-01 5.34274641e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.418033874 meters 0.04755309250233656 Centerline is valid? [True, True] Translation: X:-0.40, Y:-0.02, Z:0.00 [[ 9.99949817e-01 9.39545523e-03 3.47686207e-03 -3.98309457e-01] [-9.39639754e-03 9.99955820e-01 2.54785921e-04 -2.06731895e-02] [-3.47431463e-03 -2.87443114e-04 9.99993923e-01 1.19738148e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.448033874 meters 0.051225115482724834 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.02, Z:0.00 [[ 9.99932175e-01 1.07216343e-02 4.54876771e-03 -4.29878622e-01] [-1.07232575e-02 9.99942449e-01 3.32613072e-04 -2.27418110e-02] [-4.54493977e-03 -3.81368120e-04 9.99989599e-01 2.88762971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47803387399999997 meters 0.049599635400951726 Centerline is valid? [True, True] Translation: X:-0.46, Y:-0.03, Z:-0.00 [[ 9.99899927e-01 1.39188605e-02 2.53002294e-03 -4.59920440e-01] [-1.39193753e-02 9.99903104e-01 1.85960041e-04 -2.69274273e-02] [-2.52718944e-03 -2.21157770e-04 9.99996782e-01 -2.72634010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.508033874 meters 0.051038517662770795 Centerline is valid? [True, True] Translation: X:-0.49, Y:-0.02, Z:-0.00 [[ 9.99836545e-01 1.79294761e-02 2.32767236e-03 -4.91197649e-01] [-1.79299214e-02 9.99839231e-01 1.70581993e-04 -2.30933609e-02] [-2.32423970e-03 -2.12289093e-04 9.99997276e-01 -2.26495864e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.538033874 meters 0.05126843437632511 Centerline is valid? [True, True] Translation: X:-0.52, Y:-0.02, Z:-0.01 [[ 9.99769327e-01 2.14648227e-02 7.44959982e-04 -5.20558407e-01] [-2.14648699e-02 9.99769602e-01 5.53442506e-05 -2.46801892e-02] [-7.43600390e-04 -7.13219532e-05 9.99999721e-01 -5.84966097e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.568033874 meters 0.05177632168244835 Centerline is valid? [True, True] Translation: X:-0.55, Y:-0.03, Z:-0.01 [[ 9.99731328e-01 2.31789796e-02 -7.73660985e-05 -5.51330708e-01] [-2.31789802e-02 9.99731331e-01 -6.24017479e-06 -3.20875589e-02] [ 7.72006717e-05 8.03176550e-06 9.99999997e-01 -6.35873828e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.598033874 meters 0.05156589693430249 Centerline is valid? [True, True] Translation: X:-0.58, Y:-0.04, Z:-0.01 [[ 9.99745124e-01 2.25599206e-02 -8.58720949e-04 -5.83234007e-01] [-2.25599850e-02 9.99745489e-01 -6.53900678e-05 -4.06629934e-02] [ 8.57027201e-04 8.47461331e-05 9.99999629e-01 -8.32334555e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.628033874 meters 0.053435678769437264 Centerline is valid? [True, True] Translation: X:-0.61, Y:-0.04, Z:-0.01 [[ 9.99771566e-01 2.13516380e-02 9.60974270e-04 -6.13937307e-01] [-2.13517152e-02 9.99772024e-01 7.01546606e-05 -4.35738523e-02] [-9.59257274e-04 -9.06570839e-05 9.99999536e-01 -6.76615283e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.658033874 meters 0.05742170993958588 Centerline is valid? [True, True] Translation: X:-0.64, Y:-0.05, Z:-0.01 [[ 9.99829936e-01 1.82977330e-02 2.30027816e-03 -6.44944963e-01] [-1.82981686e-02 9.99832560e-01 1.68459363e-04 -4.57050328e-02] [-2.29681058e-03 -2.10521592e-04 9.99997340e-01 -8.19525568e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6880338739999999 meters 0.04994219419130663 Centerline is valid? [True, True] Translation: X:-0.67, Y:-0.07, Z:-0.01 [[ 9.99895261e-01 1.44626179e-02 5.46597377e-04 -6.72174470e-01] [-1.44626426e-02 9.99895410e-01 4.12021429e-05 -7.10489113e-02] [-5.45944317e-04 -4.91030699e-05 9.99999850e-01 -7.17920064e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.718033874 meters 0.0526330194713635 Centerline is valid? [True, True] Translation: X:-0.70, Y:-0.07, Z:-0.01 [[ 9.99952959e-01 9.68190460e-03 5.82966688e-04 -7.02242405e-01] [-9.68193129e-03 9.99953128e-01 4.29843088e-05 -7.26964261e-02] [-5.82523193e-04 -4.86265302e-05 9.99999829e-01 -5.09614482e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.748033874 meters 0.04711553686367007 Centerline is valid? [True, True] Translation: X:-0.73, Y:-0.09, Z:0.00 [[ 9.99962528e-01 8.13011991e-03 2.97368657e-03 -7.30764499e-01] [-8.13080729e-03 9.99966920e-01 2.19137738e-04 -8.78071486e-02] [-2.97180658e-03 -2.43307999e-04 9.99995555e-01 3.38431135e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.778033874 meters 0.04658501857204777 Centerline is valid? [True, True] Translation: X:-0.76, Y:-0.11, Z:0.01 [[ 9.99946909e-01 7.85937298e-03 6.66400822e-03 -7.60827783e-01] [-7.86280454e-03 9.99968968e-01 4.88895561e-04 -1.05030295e-01] [-6.65995901e-03 -5.41267399e-04 9.99977676e-01 5.35742182e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.808033874 meters 0.047850300745777175 Centerline is valid? [True, True] Translation: X:-0.79, Y:-0.12, Z:0.00 [[ 9.99952099e-01 9.26517087e-03 3.15543507e-03 -7.90680069e-01] [-9.26594870e-03 9.99957043e-01 2.31974929e-04 -1.18761131e-01] [-3.15315023e-03 -2.61201916e-04 9.99994995e-01 1.85243156e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.838033874 meters 0.047936142014350654 Centerline is valid? [True, True] Translation: X:-0.82, Y:-0.12, Z:0.00 [[ 9.99932271e-01 1.13589894e-02 2.53508973e-03 -8.21375527e-01] [-1.13594975e-02 9.99935462e-01 1.86127091e-04 -1.18983741e-01] [-2.53281190e-03 -2.14911831e-04 9.99996769e-01 1.26972506e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.868033874 meters 0.050752793437511025 Centerline is valid? [True, True] Translation: X:-0.85, Y:-0.12, Z:0.00 [[ 9.99916494e-01 1.26984577e-02 2.39887057e-03 -8.53072424e-01] [-1.26989153e-02 9.99919350e-01 1.75623280e-04 -1.15939783e-01] [-2.39644695e-03 -2.06071668e-04 9.99997107e-01 1.85369762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.898033874 meters 0.05001649019055592 Centerline is valid? [True, True] Translation: X:-0.88, Y:-0.14, Z:0.00 [[ 9.99850416e-01 1.72942126e-02 -2.38229009e-04 -8.80986102e-01] [-1.72942171e-02 9.99850444e-01 -1.70360459e-05 -1.36534503e-01] [ 2.37898756e-04 2.11534818e-05 9.99999971e-01 3.09739589e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9280338739999999 meters 0.0534545437746436 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.14, Z:0.00 [[ 9.99813177e-01 1.93221458e-02 -5.15225842e-04 -9.11319649e-01] [-1.93221682e-02 9.99813309e-01 -3.84992228e-05 -1.42887284e-01] [ 5.14385767e-04 4.84473106e-05 9.99999867e-01 2.25523735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.958033874 meters 0.05004280127382569 Centerline is valid? [True, True] Translation: X:-0.94, Y:-0.16, Z:0.01 [[ 9.99843679e-01 1.74805230e-02 2.65502961e-03 -9.39757021e-01] [-1.74811045e-02 9.99847175e-01 1.96001711e-04 -1.57552419e-01] [-2.65119765e-03 -2.42383922e-04 9.99996456e-01 7.69794593e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.988033874 meters 0.05004280127382569 Centerline is valid? [True, True] Translation: X:-0.97, Y:-0.16, Z:0.01 [[ 9.99845289e-01 1.73881430e-02 2.65528142e-03 -9.72339926e-01] [-1.73887152e-02 9.99848786e-01 1.92584748e-04 -1.59835005e-01] [-2.65153121e-03 -2.38726885e-04 9.99996456e-01 8.83680343e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.018033874 meters 0.04837102046153454 Centerline is valid? [True, True] Translation: X:-1.00, Y:-0.18, Z:0.01 [[ 9.99917408e-01 1.24133567e-02 3.32940244e-03 -1.00180622e+00] [-1.24142420e-02 9.99922910e-01 2.45360233e-04 -1.76058659e-01] [-3.32610003e-03 -2.86671976e-04 9.99994427e-01 8.28775280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.048033874 meters 0.046647460233775015 Centerline is valid? [True, True] Translation: X:-1.03, Y:-0.20, Z:0.01 [[ 9.99978975e-01 6.48441012e-03 -4.90630791e-05 -1.03127469e+00] [-6.48441032e-03 9.99978976e-01 -3.95979636e-06 -1.95229850e-01] [ 4.90363706e-05 4.27785824e-06 9.99999999e-01 5.36677643e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.078033874 meters 0.04478138320278092 Centerline is valid? [True, True] Translation: X:-1.06, Y:-0.21, Z:0.00 [[ 9.99997350e-01 6.13564799e-05 -2.30129751e-03 -1.06022590e+00] [-6.17469508e-05 9.99999984e-01 -1.69603565e-04 -2.13444245e-01] [ 2.30128706e-03 1.69745214e-04 9.99997338e-01 3.24728436e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.108033874 meters 0.04206900642175084 Centerline is valid? [True, True] Translation: X:-1.09, Y:-0.17, Z:-0.00 [[ 9.99994185e-01 -3.30818767e-03 -8.28019043e-04 -1.09303909e+00] [ 3.30813827e-03 9.99994526e-01 -6.10176035e-05 -1.71745193e-01] [ 8.28216368e-04 5.82780472e-05 9.99999655e-01 -7.06370886e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1380338739999998 meters 0.04345402351069766 Centerline is valid? [True, True] Translation: X:-1.12, Y:-0.17, Z:0.00 [[ 9.99996385e-01 -2.32391514e-03 1.35228023e-03 -1.12257385e+00] [ 2.32377947e-03 9.99997295e-01 1.01890194e-04 -1.66110275e-01] [-1.35251336e-03 -9.87474245e-05 9.99999080e-01 1.85300448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1680338739999998 meters 0.04376057523687991 Centerline is valid? [True, True] Translation: X:-1.15, Y:-0.16, Z:0.00 [[ 9.99991113e-01 -1.52838777e-03 3.92923903e-03 -1.15386613e+00] [ 1.52726559e-03 9.99998792e-01 2.88581661e-04 -1.63928882e-01] [-3.92967535e-03 -2.82578105e-04 9.99992239e-01 3.28377345e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1980338739999998 meters 0.043287118037154376 Centerline is valid? [True, True] Translation: X:-1.18, Y:-0.16, Z:0.01 [[ 9.99979078e-01 2.60950001e-03 5.91903459e-03 -1.18340290e+00] [-2.61213067e-03 9.99996493e-01 4.36753248e-04 -1.60809280e-01] [-5.91787412e-03 -4.52205401e-04 9.99982387e-01 9.33878591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2280338739999999 meters 0.04534322763783249 Centerline is valid? [True, True] Translation: X:-1.22, Y:-0.15, Z:0.01 [[ 9.99973541e-01 4.04398465e-03 6.04680534e-03 -1.21582388e+00] [-4.04674773e-03 9.99991713e-01 4.44783843e-04 -1.52613285e-01] [-6.04495653e-03 -4.69241970e-04 9.99981619e-01 5.17911034e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2580338739999999 meters 0.045298534368100385 Centerline is valid? [True, True] Translation: X:-1.25, Y:-0.15, Z:0.00 [[ 9.99961551e-01 5.11673560e-03 7.12149411e-03 -1.24739082e+00] [-5.12056455e-03 9.99986755e-01 5.19531010e-04 -1.53152476e-01] [-7.11874148e-03 -5.55977105e-04 9.99974507e-01 3.89343507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.288033874 meters 0.04732582535273902 Centerline is valid? [True, True] Translation: X:-1.28, Y:-0.15, Z:0.01 [[ 9.99949921e-01 4.14056081e-03 9.11100265e-03 -1.27912745e+00] [-4.14686276e-03 9.99991175e-01 6.72902904e-04 -1.45895240e-01] [-9.10813605e-03 -7.10651284e-04 9.99958268e-01 1.01593108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.318033874 meters 0.04333513035706384 Centerline is valid? [True, True] Translation: X:-1.31, Y:-0.15, Z:0.01 [[ 9.99953079e-01 4.57701249e-03 8.53756505e-03 -1.30983418e+00] [-4.58252421e-03 9.99989304e-01 6.26134781e-04 -1.53093578e-01] [-8.53460790e-03 -6.65229001e-04 9.99963358e-01 9.37230507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3480338739999997 meters 0.04417985833624703 Centerline is valid? [True, True] Translation: X:-1.34, Y:-0.15, Z:-0.00 [[ 9.99987669e-01 1.45894379e-03 4.74684823e-03 -1.34092814e+00] [-1.46062941e-03 9.99998871e-01 3.51653983e-04 -1.54968380e-01] [-4.74632983e-03 -3.58583033e-04 9.99988672e-01 -8.53708948e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3780338739999998 meters 0.04360970469812223 Centerline is valid? [True, True] Translation: X:-1.37, Y:-0.16, Z:0.00 [[ 9.99989023e-01 2.08741327e-05 4.68552277e-03 -1.37165387e+00] [-2.25011523e-05 9.99999939e-01 3.47191538e-04 -1.58016741e-01] [-4.68551524e-03 -3.47293157e-04 9.99988963e-01 1.41367079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4080338739999998 meters 0.04302599163663457 Centerline is valid? [True, True] Translation: X:-1.40, Y:-0.16, Z:0.01 [[ 9.99971028e-01 -2.34194758e-03 7.24275363e-03 -1.40217610e+00] [ 2.33811624e-03 9.99997122e-01 5.37412769e-04 -1.57860921e-01] [-7.24399138e-03 -5.20462799e-04 9.99973627e-01 9.06172972e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4380338739999998 meters 0.04243844803211173 Centerline is valid? [True, True] Translation: X:-1.43, Y:-0.16, Z:0.01 [[ 9.99962995e-01 -2.14963732e-03 8.32997330e-03 -1.43431803e+00] [ 2.14457851e-03 9.99997511e-01 6.16187051e-04 -1.62972181e-01] [-8.33127715e-03 -5.98299967e-04 9.99965115e-01 1.28291278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4680338739999998 meters 0.04292178273745248 Centerline is valid? [True, True] Translation: X:-1.47, Y:-0.16, Z:0.01 [[ 9.99972991e-01 -1.28948397e-03 7.23564223e-03 -1.46552549e+00] [ 1.28563388e-03 9.99999030e-01 5.36726192e-04 -1.63961779e-01] [-7.23632730e-03 -5.27409309e-04 9.99973678e-01 1.11550515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4980338739999999 meters 0.04513749414125372 Centerline is valid? [True, True] Translation: X:-1.50, Y:-0.16, Z:0.01 [[ 9.99972841e-01 -1.23742173e-03 7.26541657e-03 -1.49850750e+00] [ 1.23357473e-03 9.99999097e-01 5.33952076e-04 -1.57629037e-01] [-7.26607073e-03 -5.24975140e-04 9.99973464e-01 1.23965418e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.528033874 meters 0.04121566231703271 Centerline is valid? [True, True] Translation: X:-1.53, Y:-0.17, Z:0.02 [[ 9.99957696e-01 1.02951200e-03 9.14033407e-03 -1.52833913e+00] [-1.03577568e-03 9.99999232e-01 6.80572253e-04 -1.66276049e-01] [-9.13962639e-03 -6.90010798e-04 9.99957995e-01 2.11819443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.558033874 meters 0.04290828477354443 Centerline is valid? [True, True] Translation: X:-1.56, Y:-0.16, Z:0.03 [[ 9.99928616e-01 4.54992958e-03 1.10481291e-02 -1.55874187e+00] [-4.55930707e-03 9.99989267e-01 8.23746663e-04 -1.63781788e-01] [-1.10442625e-02 -8.74059674e-04 9.99938628e-01 2.73364210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.588033874 meters 0.045031677972010305 Centerline is valid? [True, True] Translation: X:-1.59, Y:-0.16, Z:0.03 [[ 9.99897974e-01 7.15635987e-03 1.23623911e-02 -1.58982733e+00] [-7.16830427e-03 9.99973882e-01 9.22147892e-04 -1.58321238e-01] [-1.23554690e-02 -1.01067119e-03 9.99923158e-01 2.50090745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6180338739999998 meters 0.04884857113946443 Centerline is valid? [True, True] Translation: X:-1.62, Y:-0.15, Z:0.02 [[ 9.99890904e-01 9.45856207e-03 1.13452604e-02 -1.62162479e+00] [-9.46876381e-03 9.99954813e-01 8.45829239e-04 -1.51037334e-01] [-1.13367474e-02 -9.53162554e-04 9.99935283e-01 2.41189268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6480338739999998 meters 0.047985773634119204 Centerline is valid? [True, True] Translation: X:-1.65, Y:-0.15, Z:0.02 [[ 9.99892497e-01 1.09828819e-02 9.71442201e-03 -1.65102659e+00] [-1.09904421e-02 9.99939340e-01 7.25201699e-04 -1.51816522e-01] [-9.70586793e-03 -8.31889530e-04 9.99952551e-01 2.34596908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6780338739999998 meters 0.045024031257760846 Centerline is valid? [True, True] Translation: X:-1.68, Y:-0.16, Z:0.03 [[ 9.99875944e-01 1.27810542e-02 9.20550431e-03 -1.68063567e+00] [-1.27879140e-02 9.99917995e-01 6.86699783e-04 -1.56069696e-01] [-9.19597267e-03 -8.04333791e-04 9.99957393e-01 2.51843579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7080338739999998 meters 0.05149972985208877 Centerline is valid? [True, True] Translation: X:-1.71, Y:-0.14, Z:0.02 [[ 9.99840121e-01 1.60262286e-02 7.93046830e-03 -1.71228114e+00] [-1.60314210e-02 9.99871313e-01 5.91605562e-04 -1.44901730e-01] [-7.91996655e-03 -7.18647653e-04 9.99968378e-01 2.43098807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7380338739999999 meters 0.05430103074269068 Centerline is valid? [True, True] Translation: X:-1.74, Y:-0.14, Z:0.02 [[ 9.99766131e-01 2.07440298e-02 6.11294700e-03 -1.74390947e+00] [-2.07472020e-02 9.99784650e-01 4.55972622e-04 -1.39531541e-01] [-6.10217186e-03 -5.82692530e-04 9.99981212e-01 1.97901696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.768033874 meters 0.054657605538226677 Centerline is valid? [True, True] Translation: X:-1.77, Y:-0.15, Z:0.02 [[ 9.99615168e-01 2.73124880e-02 4.85211990e-03 -1.77281711e+00] [-2.73145625e-02 9.99626822e-01 3.61791572e-04 -1.45673456e-01] [-4.84042777e-03 -4.94185875e-04 9.99988163e-01 1.96581598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.798033874 meters 0.05794205581529671 Centerline is valid? [True, True] Translation: X:-1.81, Y:-0.14, Z:0.02 [[ 9.99599028e-01 2.78023900e-02 5.36745291e-03 -1.80507064e+00] [-2.78049270e-02 9.99613289e-01 3.98604965e-04 -1.41305517e-01] [-5.35429508e-03 -5.47686772e-04 9.99985516e-01 2.20156106e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8280338739999997 meters 0.05473906164672208 Centerline is valid? [True, True] Translation: X:-1.83, Y:-0.15, Z:0.03 [[ 9.99508159e-01 3.00497653e-02 8.96947620e-03 -1.83422620e+00] [-3.00569683e-02 9.99547963e-01 6.69306333e-04 -1.52038072e-01] [-8.94530917e-03 -9.38572403e-04 9.99959549e-01 3.02658160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8580338739999998 meters 0.05294512838291966 Centerline is valid? [True, True] Translation: X:-1.87, Y:-0.16, Z:0.04 [[ 9.99443979e-01 3.07099925e-02 1.29857170e-02 -1.86514024e+00] [-3.07251225e-02 9.99527404e-01 9.67186990e-04 -1.59020430e-01] [-1.29498777e-02 -1.36563696e-03 9.99915214e-01 3.63932480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8880338739999998 meters 0.052036591704133515 Centerline is valid? [True, True] Translation: X:-1.90, Y:-0.16, Z:0.04 [[ 9.99438094e-01 3.06833268e-02 1.34918460e-02 -1.89630606e+00] [-3.06996566e-02 9.99528149e-01 1.00486440e-03 -1.64353705e-01] [-1.34546472e-02 -1.41849480e-03 9.99908476e-01 4.09870775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9180338739999998 meters 0.05342402044580935 Centerline is valid? [True, True] Translation: X:-1.93, Y:-0.17, Z:0.04 [[ 9.99564545e-01 2.63842415e-02 1.32133046e-02 -1.92684586e+00] [-2.63996194e-02 9.99650978e-01 9.90722506e-04 -1.65616094e-01] [-1.31825535e-02 -1.33911731e-03 9.99912210e-01 4.19346140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9480338739999998 meters 0.051146209153190826 Centerline is valid? [True, True] Translation: X:-1.96, Y:-0.17, Z:0.04 [[ 9.99660659e-01 2.28827742e-02 1.24477196e-02 -1.95612504e+00] [-2.28961386e-02 9.99737414e-01 9.32175362e-04 -1.73487742e-01] [-1.24231202e-02 -1.21686375e-03 9.99922090e-01 4.08043348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9780338739999999 meters 0.055202544753206476 Centerline is valid? [True, True] Translation: X:-1.99, Y:-0.17, Z:0.04 [[ 9.99700849e-01 2.11065667e-02 1.23582460e-02 -1.98736996e+00] [-2.11196310e-02 9.99776525e-01 9.27568029e-04 -1.67905586e-01] [-1.23359065e-02 -1.18829214e-03 9.99923204e-01 3.72632868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.008033874 meters 0.050924512456595065 Centerline is valid? [True, True] Translation: X:-2.02, Y:-0.18, Z:0.04 [[ 9.99759020e-01 1.80423076e-02 1.25050856e-02 -2.01606205e+00] [-1.80554479e-02 9.99836546e-01 9.38690730e-04 -1.78737206e-01] [-1.24861054e-02 -1.16424945e-03 9.99921368e-01 4.06570312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.038033874 meters 0.04810414292829543 Centerline is valid? [True, True] Translation: X:-2.05, Y:-0.18, Z:0.04 [[ 9.99816759e-01 1.46736166e-02 1.22935923e-02 -2.04623351e+00] [-1.46860621e-02 9.99891728e-01 9.22684560e-04 -1.83108223e-01] [-1.22787221e-02 -1.10305995e-03 9.99924005e-01 3.98645906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.068033874 meters 0.04896222552785544 Centerline is valid? [True, True] Translation: X:-2.08, Y:-0.18, Z:0.04 [[ 9.99859718e-01 1.28366724e-02 1.07594094e-02 -2.07771556e+00] [-1.28461035e-02 9.99917159e-01 8.07884676e-04 -1.83437958e-01] [-1.07481475e-02 -9.45987831e-04 9.99941790e-01 3.78112508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.098033874 meters 0.04851284767737975 Centerline is valid? [True, True] Translation: X:-2.11, Y:-0.19, Z:0.04 [[ 9.99864553e-01 1.42199693e-02 8.28660832e-03 -2.10743514e+00] [-1.42256174e-02 9.99898617e-01 6.23048924e-04 -1.88217942e-01] [-8.27690846e-03 -7.40846654e-04 9.99965471e-01 3.70308243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.128033874 meters 0.050992286312674266 Centerline is valid? [True, True] Translation: X:-2.14, Y:-0.18, Z:0.04 [[ 9.99830491e-01 1.67503871e-02 7.64289908e-03 -2.13901950e+00] [-1.67552641e-02 9.99859456e-01 5.74531842e-04 -1.79163493e-01] [-7.63220128e-03 -7.02493247e-04 9.99970628e-01 3.85802336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.158033874 meters 0.051770248938227334 Centerline is valid? [True, True] Translation: X:-2.17, Y:-0.17, Z:0.04 [[ 9.99774450e-01 1.87072313e-02 1.00543122e-02 -2.17123127e+00] [-1.87157604e-02 9.99824560e-01 7.54873313e-04 -1.70795198e-01] [-1.00384267e-02 -9.42877150e-04 9.99949169e-01 4.19887978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1880338740000003 meters 0.05101108805990032 Centerline is valid? [True, True] Translation: X:-2.20, Y:-0.18, Z:0.04 [[ 9.99702321e-01 2.07518165e-02 1.28308459e-02 -2.20141842e+00] [-2.07658913e-02 9.99783900e-01 9.64687046e-04 -1.76080966e-01] [-1.28080541e-02 -1.23084383e-03 9.99917216e-01 4.47506021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.218033874 meters 0.04990258778890818 Centerline is valid? [True, True] Translation: X:-2.23, Y:-0.18, Z:0.05 [[ 9.99682687e-01 2.17752503e-02 1.26634983e-02 -2.23154073e+00] [-2.17890464e-02 9.99762137e-01 9.52473972e-04 -1.84682594e-01] [-1.26397458e-02 -1.22809729e-03 9.99919361e-01 4.79945048e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.248033874 meters 0.051306203962377006 Centerline is valid? [True, True] Translation: X:-2.26, Y:-0.18, Z:0.05 [[ 9.99656761e-01 2.37526089e-02 1.10532011e-02 -2.26252922e+00] [-2.37632478e-02 9.99717268e-01 8.32162895e-04 -1.82956542e-01] [-1.10303099e-02 -1.09453722e-03 9.99938565e-01 4.79666130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.278033874 meters 0.05181479973179895 Centerline is valid? [True, True] Translation: X:-2.29, Y:-0.18, Z:0.05 [[ 9.99677294e-01 2.26257098e-02 1.15492728e-02 -2.29334475e+00] [-2.26372490e-02 9.99743367e-01 8.69359247e-04 -1.82884959e-01] [-1.15266390e-02 -1.13052246e-03 9.99932927e-01 4.65920214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.308033874 meters 0.051971554434633006 Centerline is valid? [True, True] Translation: X:-2.33, Y:-0.19, Z:0.05 [[ 9.99686796e-01 2.22674943e-02 1.14222576e-02 -2.32520740e+00] [-2.22787063e-02 9.99751433e-01 8.55278927e-04 -1.86661504e-01] [-1.14003735e-02 -1.10948417e-03 9.99934398e-01 5.17888609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.338033874 meters 0.052409858546833006 Centerline is valid? [True, True] Translation: X:-2.36, Y:-0.19, Z:0.05 [[ 9.99703630e-01 2.12318310e-02 1.19105542e-02 -2.35615595e+00] [-2.12440309e-02 9.99773916e-01 8.98692693e-04 -1.87961823e-01] [-1.18887805e-02 -1.15145453e-03 9.99928663e-01 5.18342411e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.368033874 meters 0.05060627281405312 Centerline is valid? [True, True] Translation: X:-2.39, Y:-0.19, Z:0.06 [[ 9.99692282e-01 2.07745933e-02 1.35557506e-02 -2.38732293e+00] [-2.07903210e-02 9.99783337e-01 1.02032698e-03 -1.90496477e-01] [-1.35316167e-02 -1.30184142e-03 9.99907596e-01 5.73369394e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3980338740000002 meters 0.05542445689983819 Centerline is valid? [True, True] Translation: X:-2.42, Y:-0.18, Z:0.06 [[ 9.99636861e-01 2.13078128e-02 1.64961643e-02 -2.42059179e+00] [-2.13312510e-02 9.99771686e-01 1.24615554e-03 -1.80710851e-01] [-1.64658451e-02 -1.59758683e-03 9.99863152e-01 5.75114756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.428033874 meters 0.04981411970534321 Centerline is valid? [True, True] Translation: X:-2.45, Y:-0.20, Z:0.06 [[ 9.99639385e-01 2.24612258e-02 1.47171239e-02 -2.44897333e+00] [-2.24801029e-02 9.99746665e-01 1.11847065e-03 -1.96982506e-01] [-1.46882733e-02 -1.44890977e-03 9.99891072e-01 6.17149408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.458033874 meters 0.04960208424788038 Centerline is valid? [True, True] Translation: X:-2.48, Y:-0.20, Z:0.06 [[ 9.99678164e-01 2.26046728e-02 1.15150983e-02 -2.47941858e+00] [-2.26162340e-02 9.99743838e-01 8.74757851e-04 -1.95026635e-01] [-1.14923749e-02 -1.13490448e-03 9.99933316e-01 6.03211869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.488033874 meters 0.05272459815866811 Centerline is valid? [True, True] Translation: X:-2.51, Y:-0.19, Z:0.06 [[ 9.99687215e-01 2.25702798e-02 1.07729009e-02 -2.51241708e+00] [-2.25803446e-02 9.99744701e-01 8.13540584e-04 -1.87988394e-01] [-1.07517887e-02 -1.05654194e-03 9.99941640e-01 5.79493446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.518033874 meters 0.05059939677862385 Centerline is valid? [True, True] Translation: X:-2.54, Y:-0.19, Z:0.06 [[ 9.99643337e-01 2.31357918e-02 1.33392233e-02 -2.54352350e+00] [-2.31513435e-02 9.99731459e-01 1.01260380e-03 -1.87758925e-01] [-1.33122138e-02 -1.32106358e-03 9.99910516e-01 5.97201659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.548033874 meters 0.050837963530026155 Centerline is valid? [True, True] Translation: X:-2.58, Y:-0.19, Z:0.06 [[ 9.99596608e-01 2.46045576e-02 1.41857863e-02 -2.57516979e+00] [-2.46223848e-02 9.99696236e-01 1.08338735e-03 -1.88672986e-01] [-1.41548209e-02 -1.43223821e-03 9.99898790e-01 6.23151321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.578033874 meters 0.05280412919324822 Centerline is valid? [True, True] Translation: X:-2.61, Y:-0.18, Z:0.07 [[ 9.99543603e-01 2.61826377e-02 1.50683531e-02 -2.60677023e+00] [-2.62029512e-02 9.99655980e-01 1.15221634e-03 -1.78598324e-01] [-1.50330012e-02 -1.54652579e-03 9.99885802e-01 6.91738492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.608033874 meters 0.052287761184206596 Centerline is valid? [True, True] Translation: X:-2.64, Y:-0.18, Z:0.06 [[ 9.99510185e-01 2.71704700e-02 1.55291556e-02 -2.63770924e+00] [-2.71921673e-02 9.99629519e-01 1.18771919e-03 -1.77501910e-01] [-1.54911315e-02 -1.60940883e-03 9.99878710e-01 6.40299019e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.638033874 meters 0.05138089723580071 Centerline is valid? [True, True] Translation: X:-2.67, Y:-0.18, Z:0.06 [[ 9.99487558e-01 2.85304743e-02 1.45131828e-02 -2.66736135e+00] [-2.85495742e-02 9.99591761e-01 1.11051731e-03 -1.82494481e-01] [-1.44755744e-02 -1.52429342e-03 9.99894062e-01 6.28569372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.668033874 meters 0.05514845174063379 Centerline is valid? [True, True] Translation: X:-2.70, Y:-0.18, Z:0.06 [[ 9.99511183e-01 2.89350479e-02 1.18388742e-02 -2.69946338e+00] [-2.89477764e-02 9.99580515e-01 9.05156888e-04 -1.75351853e-01] [-1.18077172e-02 -1.24742351e-03 9.99929508e-01 6.39474479e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.698033874 meters 0.053677130728423755 Centerline is valid? [True, True] Translation: X:-2.73, Y:-0.17, Z:0.06 [[ 9.99587646e-01 2.65244532e-02 1.09995972e-02 -2.73070987e+00] [-2.65353063e-02 9.99647522e-01 8.41892518e-04 -1.74834622e-01] [-1.09733893e-02 -1.13342304e-03 9.99939148e-01 6.31178903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.728033874 meters 0.05220903413111071 Centerline is valid? [True, True] Translation: X:-2.76, Y:-0.17, Z:0.06 [[ 9.99600596e-01 2.56345434e-02 1.18961600e-02 -2.76207807e+00] [-2.56471234e-02 9.99670648e-01 9.06106972e-04 -1.74544915e-01] [-1.18690143e-02 -1.21084735e-03 9.99928828e-01 6.30586560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.758033874 meters 0.05136240770309544 Centerline is valid? [True, True] Translation: X:-2.79, Y:-0.18, Z:0.07 [[ 9.99619790e-01 2.42324766e-02 1.31553314e-02 -2.79254437e+00] [-2.42478379e-02 9.99705468e-01 1.00941925e-03 -1.77427387e-01] [-1.31269961e-02 -1.32802380e-03 9.99912955e-01 6.85311939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.788033874 meters 0.04939296683155905 Centerline is valid? [True, True] Translation: X:-2.82, Y:-0.19, Z:0.07 [[ 9.99750778e-01 1.75251418e-02 1.38293585e-02 -2.82128562e+00] [-1.75414814e-02 9.99845573e-01 1.06109874e-03 -1.85395767e-01] [-1.38086269e-02 -1.30342172e-03 9.99903807e-01 7.24281101e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.818033874 meters 0.04661012064079407 Centerline is valid? [True, True] Translation: X:-2.85, Y:-0.19, Z:0.07 [[ 9.99836806e-01 1.13252169e-02 1.40748448e-02 -2.85082231e+00] [-1.13415429e-02 9.99935099e-01 1.08065949e-03 -1.89259737e-01] [-1.40616926e-02 -1.24011359e-03 9.99900360e-01 7.41946636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.848033874 meters 0.04429894382887217 Centerline is valid? [True, True] Translation: X:-2.88, Y:-0.20, Z:0.08 [[ 9.99851183e-01 6.86317346e-03 1.58274747e-02 -2.88097635e+00] [-6.88326685e-03 9.99975571e-01 1.21539914e-03 -1.95120861e-01] [-1.58187465e-02 -1.32416300e-03 9.99873999e-01 7.58867419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.878033874 meters 0.04276552998893443 Centerline is valid? [True, True] Translation: X:-2.91, Y:-0.20, Z:0.07 [[ 9.99888067e-01 6.60875475e-04 1.49471139e-02 -2.91119697e+00] [-6.78115876e-04 9.99999111e-01 1.14838796e-03 -1.99292141e-01] [-1.49463417e-02 -1.15839529e-03 9.99887626e-01 7.39594508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.908033874 meters 0.04276552998893443 Centerline is valid? [True, True] Translation: X:-2.94, Y:-0.20, Z:0.08 [[ 9.99888197e-01 4.06709869e-04 1.49474889e-02 -2.94380742e+00] [-4.23849649e-04 9.99999256e-01 1.14351614e-03 -2.01645862e-01] [-1.49470127e-02 -1.14972378e-03 9.99887626e-01 7.50992560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.938033874 meters 0.04312508561086844 Centerline is valid? [True, True] Translation: X:-2.97, Y:-0.21, Z:0.07 [[ 9.99932265e-01 -4.43252266e-03 1.07619095e-02 -2.97472276e+00] [ 4.42384916e-03 9.99989871e-01 8.29616283e-04 -2.05304202e-01] [-1.07654778e-02 -7.81951024e-04 9.99941745e-01 6.92198717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.968033874 meters 0.041122245317397804 Centerline is valid? [True, True] Translation: X:-3.00, Y:-0.22, Z:0.07 [[ 9.99910777e-01 -1.00088179e-02 8.84651412e-03 -3.00487202e+00] [ 1.00031755e-02 9.99949735e-01 6.81825270e-04 -2.16434003e-01] [-8.85289371e-03 -5.93271202e-04 9.99960636e-01 6.71782484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.998033874 meters 0.038666773071219414 Centerline is valid? [True, True] Translation: X:-3.03, Y:-0.22, Z:0.07 [[ 9.99809702e-01 -1.63205466e-02 1.06863860e-02 -3.03443729e+00] [ 1.63126682e-02 9.99866600e-01 8.23989855e-04 -2.24620788e-01] [-1.06984084e-02 -6.49509581e-04 9.99942559e-01 7.39094711e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.028033874 meters 0.035359444294651106 Centerline is valid? [True, True] Translation: X:-3.06, Y:-0.23, Z:0.08 [[ 9.99679500e-01 -2.07668769e-02 1.44787548e-02 -3.06407399e+00] [ 2.07528802e-02 9.99784013e-01 1.11630127e-03 -2.28274328e-01] [-1.44988097e-02 -8.15467634e-04 9.99894554e-01 7.95055201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.058033874 meters 0.03415218698088128 Centerline is valid? [True, True] Translation: X:-3.09, Y:-0.23, Z:0.08 [[ 9.99556040e-01 -2.48183921e-02 1.64854352e-02 -3.09466157e+00] [ 2.48007906e-02 9.99691605e-01 1.27131009e-03 -2.29900659e-01] [-1.65119030e-02 -8.61893857e-04 9.99863298e-01 8.20984772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.088033874 meters 0.033883033228937244 Centerline is valid? [True, True] Translation: X:-3.13, Y:-0.23, Z:0.08 [[ 9.99404326e-01 -3.03135185e-02 1.64949600e-02 -3.12521721e+00] [ 3.02966416e-02 9.99540142e-01 1.27214174e-03 -2.31317834e-01] [-1.65259377e-02 -7.71642069e-04 9.99863140e-01 7.87064092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.118033874 meters 0.032945341372855985 Centerline is valid? [True, True] Translation: X:-3.16, Y:-0.23, Z:0.08 [[ 9.99371319e-01 -3.24822823e-02 1.42080488e-02 -3.15705746e+00] [ 3.24700439e-02 9.99472113e-01 1.09126877e-03 -2.33584610e-01] [-1.42359955e-02 -6.29246747e-04 9.99898465e-01 7.79355520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1480338740000002 meters 0.030776660905021708 Centerline is valid? [True, True] Translation: X:-3.19, Y:-0.24, Z:0.08 [[ 9.99213883e-01 -3.78040151e-02 1.19362224e-02 -3.18701898e+00] [ 3.77956960e-02 9.99285062e-01 9.21851990e-04 -2.36939321e-01] [-1.19625384e-02 -4.69989474e-04 9.99928336e-01 7.65751868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.178033874 meters 0.030863314903598407 Centerline is valid? [True, True] Translation: X:-3.22, Y:-0.24, Z:0.08 [[ 9.99183446e-01 -3.82420355e-02 1.30379643e-02 -3.21830113e+00] [ 3.82321525e-02 9.99268377e-01 1.00651501e-03 -2.38349736e-01] [-1.30669166e-02 -5.07223692e-04 9.99914496e-01 8.36418909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.208033874 meters 0.030550025032238002 Centerline is valid? [True, True] Translation: X:-3.25, Y:-0.24, Z:0.09 [[ 9.99116345e-01 -3.86092655e-02 1.66088560e-02 -3.25080360e+00] [ 3.85932013e-02 9.99254176e-01 1.28675666e-03 -2.35433183e-01] [-1.66461495e-02 -6.44630688e-04 9.99861235e-01 8.93486585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.238033874 meters 0.030328006029146055 Centerline is valid? [True, True] Translation: X:-3.28, Y:-0.23, Z:0.09 [[ 9.99101598e-01 -3.95128122e-02 1.53210650e-02 -3.28424751e+00] [ 3.94992942e-02 9.99218897e-01 1.18403145e-03 -2.33995911e-01] [-1.53558820e-02 -5.77796462e-04 9.99881925e-01 8.91168009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.268033874 meters 0.03139213091085702 Centerline is valid? [True, True] Translation: X:-3.32, Y:-0.23, Z:0.08 [[ 9.99214692e-01 -3.82507500e-02 1.03382530e-02 -3.31605232e+00] [ 3.82444684e-02 9.99268089e-01 8.04686507e-04 -2.28604888e-01] [-1.03614662e-02 -4.08673590e-04 9.99946235e-01 8.09110374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.298033874 meters 0.03175805930468537 Centerline is valid? [True, True] Translation: X:-3.35, Y:-0.23, Z:0.08 [[ 9.99265057e-01 -3.75281938e-02 7.80898703e-03 -3.34664830e+00] [ 3.75245879e-02 9.99295520e-01 6.07817786e-04 -2.27650373e-01] [-7.82629605e-03 -3.14342054e-04 9.99969325e-01 7.71733308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.328033874 meters 0.03208861907000933 Centerline is valid? [True, True] Translation: X:-3.38, Y:-0.22, Z:0.08 [[ 9.99244263e-01 -3.71832056e-02 1.13274538e-02 -3.37740419e+00] [ 3.71755868e-02 9.99308359e-01 8.82488768e-04 -2.24858770e-01] [-1.13524331e-02 -4.60717096e-04 9.99935453e-01 8.43455430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.358033874 meters 0.032410637962482156 Centerline is valid? [True, True] Translation: X:-3.41, Y:-0.22, Z:0.09 [[ 9.99280835e-01 -3.42614954e-02 1.62469026e-02 -3.40912069e+00] [ 3.42455033e-02 9.99412654e-01 1.26158956e-03 -2.23652428e-01] [-1.62805840e-02 -7.04298914e-04 9.99867214e-01 9.47991252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.388033874 meters 0.03203832108473625 Centerline is valid? [True, True] Translation: X:-3.44, Y:-0.22, Z:0.09 [[ 9.99251772e-01 -3.60091064e-02 1.41152260e-02 -3.44179015e+00] [ 3.59971792e-02 9.99351288e-01 1.09822575e-03 -2.20463775e-01] [-1.41456154e-02 -5.89295703e-04 9.99899772e-01 9.00455965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.418033874 meters 0.031202023848164836 Centerline is valid? [True, True] Translation: X:-3.47, Y:-0.22, Z:0.08 [[ 9.99124598e-01 -4.07997690e-02 9.24215659e-03 -3.47383617e+00] [ 4.07948395e-02 9.99167284e-01 7.21350456e-04 -2.22058992e-01] [-9.26389143e-03 -3.43686690e-04 9.99957030e-01 7.97280561e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.448033874 meters 0.03027425732773201 Centerline is valid? [True, True] Translation: X:-3.50, Y:-0.22, Z:0.09 [[ 9.99046805e-01 -4.21778152e-02 1.12478058e-02 -3.50341419e+00] [ 4.21705475e-02 9.99110037e-01 8.82646397e-04 -2.24598281e-01] [-1.12750238e-02 -4.07478934e-04 9.99936352e-01 8.64191185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.478033874 meters 0.042109822656605775 Centerline is valid? [True, True] Translation: X:-3.54, Y:-0.19, Z:0.09 [[ 9.99879030e-01 -6.73164693e-03 1.40217624e-02 -3.53556666e+00] [ 6.71687823e-03 9.99976836e-01 1.10009796e-03 -1.90324611e-01] [-1.40288431e-02 -1.00578241e-03 9.99901085e-01 9.36457329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.508033874 meters 0.041274748337911144 Centerline is valid? [True, True] Translation: X:-3.57, Y:-0.19, Z:0.10 [[ 9.99829467e-01 -1.00324647e-02 1.55044130e-02 -3.56651778e+00] [ 1.00147995e-02 9.99949111e-01 1.21658835e-03 -1.87219063e-01] [-1.55158293e-02 -1.06110729e-03 9.99879059e-01 9.63452100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.538033874 meters 0.042963615364573514 Centerline is valid? [True, True] Translation: X:-3.60, Y:-0.18, Z:0.10 [[ 9.99814726e-01 -1.15740340e-02 1.53803531e-02 -3.59893655e+00] [ 1.15568929e-02 9.99932493e-01 1.20289860e-03 -1.83062360e-01] [-1.53932372e-02 -1.02492664e-03 9.99880992e-01 9.60949862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.568033874 meters 0.039666242968387236 Centerline is valid? [True, True] Translation: X:-3.63, Y:-0.19, Z:0.09 [[ 9.99809283e-01 -1.41169665e-02 1.34947782e-02 -3.62841028e+00] [ 1.41039151e-02 9.99899971e-01 1.06182647e-03 -1.87756089e-01] [-1.35084181e-02 -8.71294757e-04 9.99908378e-01 9.45679146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.598033874 meters 0.0395716968000596 Centerline is valid? [True, True] Translation: X:-3.66, Y:-0.19, Z:0.10 [[ 9.99811015e-01 -1.46435824e-02 1.27866716e-02 -3.66042007e+00] [ 1.46319771e-02 9.99892446e-01 1.00069749e-03 -1.89053324e-01] [-1.27999501e-02 -8.13414088e-04 9.99917746e-01 9.64598176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6280338739999998 meters 0.04021066281754074 Centerline is valid? [True, True] Translation: X:-3.69, Y:-0.18, Z:0.10 [[ 9.99803690e-01 -1.54799409e-02 1.23674168e-02 -3.69315333e+00] [ 1.54691096e-02 9.99879875e-01 9.70978658e-04 -1.82972756e-01] [-1.23809619e-02 -7.79475119e-04 9.99923049e-01 9.62979872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.658033874 meters 0.03811537032878235 Centerline is valid? [True, True] Translation: X:-3.72, Y:-0.19, Z:0.10 [[ 9.99760576e-01 -1.72334793e-02 1.34832768e-02 -3.72243915e+00] [ 1.72206687e-02 9.99851145e-01 1.06564041e-03 -1.90702828e-01] [-1.34996344e-02 -8.33194229e-04 9.99908529e-01 9.81165124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.688033874 meters 0.038873862447328225 Centerline is valid? [True, True] Translation: X:-3.75, Y:-0.19, Z:0.10 [[ 9.99728107e-01 -1.80674320e-02 1.47404358e-02 -3.75421735e+00] [ 1.80521852e-02 9.99836365e-01 1.16676438e-03 -1.91617775e-01] [-1.47591041e-02 -9.00350064e-04 9.99890673e-01 1.02279455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.718033874 meters 0.0393349792293473 Centerline is valid? [True, True] Translation: X:-3.79, Y:-0.19, Z:0.10 [[ 9.99698667e-01 -1.94685159e-02 1.49516525e-02 -3.78661118e+00] [ 1.94529692e-02 9.99810071e-01 1.18454747e-03 -1.88254960e-01] [-1.49718741e-02 -8.93336492e-04 9.99887516e-01 1.04110082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.748033874 meters 0.03885461311989676 Centerline is valid? [True, True] Translation: X:-3.82, Y:-0.18, Z:0.10 [[ 9.99682243e-01 -2.09445735e-02 1.40263396e-02 -3.81911394e+00] [ 2.09310677e-02 9.99780306e-01 1.10901370e-03 -1.83659993e-01] [-1.40464859e-02 -8.15075037e-04 9.99901011e-01 1.00460517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.778033874 meters 0.04162468071128881 Centerline is valid? [True, True] Translation: X:-3.85, Y:-0.18, Z:0.09 [[ 9.99673801e-01 -2.23953717e-02 1.22776158e-02 -3.85249063e+00] [ 2.23851169e-02 9.99748949e-01 9.72049430e-04 -1.79594882e-01] [-1.22963029e-02 -6.96896483e-04 9.99924155e-01 9.48725830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.808033874 meters 0.03666616720502015 Centerline is valid? [True, True] Translation: X:-3.88, Y:-0.20, Z:0.10 [[ 9.99638755e-01 -2.37921472e-02 1.25017591e-02 -3.88225658e+00] [ 2.37815830e-02 9.99716685e-01 9.93023298e-04 -2.01824935e-01] [-1.25218433e-02 -6.95352952e-04 9.99921357e-01 1.01263222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.838033874 meters 0.038629974124867496 Centerline is valid? [True, True] Translation: X:-3.91, Y:-0.20, Z:0.10 [[ 9.99637783e-01 -2.40279998e-02 1.21226358e-02 -3.91465618e+00] [ 2.40180598e-02 9.99711059e-01 9.64892004e-04 -1.98834322e-01] [-1.21423175e-02 -6.73380313e-04 9.99926053e-01 1.04369638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.868033874 meters 0.03682057537385851 Centerline is valid? [True, True] Translation: X:-3.95, Y:-0.20, Z:0.11 [[ 9.99594182e-01 -2.50825446e-02 1.35032178e-02 -3.94535801e+00] [ 2.50701935e-02 9.99685106e-01 1.08320332e-03 -2.01132244e-01] [-1.35261352e-02 -7.44235453e-04 9.99908241e-01 1.06887825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.898033874 meters 0.03764722701161054 Centerline is valid? [True, True] Translation: X:-3.98, Y:-0.19, Z:0.11 [[ 9.99573122e-01 -2.50845394e-02 1.49779737e-02 -3.97823958e+00] [ 2.50693934e-02 9.99684995e-01 1.19815093e-03 -1.94372158e-01] [-1.50033106e-02 -8.22150754e-04 9.99887106e-01 1.12937592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.928033874 meters 0.03729418716933473 Centerline is valid? [True, True] Translation: X:-4.01, Y:-0.20, Z:0.11 [[ 9.99582177e-01 -2.35249211e-02 1.67943011e-02 -4.00948151e+00] [ 2.35055768e-02 9.99722797e-01 1.34832903e-03 -2.00493861e-01] [-1.68213650e-02 -9.53005936e-04 9.99858057e-01 1.14412941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.958033874 meters 0.037224161442046155 Centerline is valid? [True, True] Translation: X:-4.04, Y:-0.20, Z:0.12 [[ 9.99640590e-01 -2.16592401e-02 1.57977349e-02 -4.04119577e+00] [ 2.16417845e-02 9.99764976e-01 1.27508749e-03 -2.04516261e-01] [-1.58216395e-02 -9.32738035e-04 9.99874395e-01 1.16754128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.988033874 meters 0.04037050178609215 Centerline is valid? [True, True] Translation: X:-4.07, Y:-0.19, Z:0.11 [[ 9.99706058e-01 -2.01117181e-02 1.35394017e-02 -4.07399884e+00] [ 2.00987447e-02 9.99797402e-01 1.09359866e-03 -1.89917460e-01] [-1.35586528e-02 -8.21152226e-04 9.99907740e-01 1.13282329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0180338739999995 meters 0.04007292764959466 Centerline is valid? [True, True] Translation: X:-4.10, Y:-0.19, Z:0.11 [[ 9.99758919e-01 -1.76255449e-02 1.30936968e-02 -4.10413236e+00] [ 1.76131842e-02 9.99844315e-01 1.05874604e-03 -1.87761341e-01] [-1.31103193e-02 -8.27869098e-04 9.99913713e-01 1.08345970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.048033874 meters 0.040701742651007865 Centerline is valid? [True, True] Translation: X:-4.14, Y:-0.19, Z:0.11 [[ 9.99749444e-01 -1.79096859e-02 1.34272640e-02 -4.13676318e+00] [ 1.78967797e-02 9.99839256e-01 1.08074670e-03 -1.88404259e-01] [-1.34444615e-02 -8.40171127e-04 9.99909266e-01 1.13044149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.078033874 meters 0.041716281232404374 Centerline is valid? [True, True] Translation: X:-4.17, Y:-0.19, Z:0.12 [[ 9.99707058e-01 -1.84876632e-02 1.56206127e-02 -4.16865451e+00] [ 1.84701864e-02 9.99828615e-01 1.26237022e-03 -1.90371678e-01] [-1.56412738e-02 -9.73484795e-04 9.99877194e-01 1.16208355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.108033874 meters 0.04118592994293402 Centerline is valid? [True, True] Translation: X:-4.20, Y:-0.19, Z:0.12 [[ 9.99691241e-01 -1.88738250e-02 1.61617334e-02 -4.20034449e+00] [ 1.88550965e-02 9.99821368e-01 1.31042417e-03 -1.92610852e-01] [-1.61835791e-02 -1.00528852e-03 9.99868532e-01 1.18143619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.138033874 meters 0.042163050618303166 Centerline is valid? [True, True] Translation: X:-4.23, Y:-0.20, Z:0.12 [[ 9.99627090e-01 -2.19159983e-02 1.62901921e-02 -4.22949903e+00] [ 2.18972729e-02 9.99759345e-01 1.32699088e-03 -1.99146618e-01] [-1.63153542e-02 -9.69785254e-04 9.99866425e-01 1.23096851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.168033874 meters 0.038238240898272324 Centerline is valid? [True, True] Translation: X:-4.26, Y:-0.20, Z:0.12 [[ 9.99530408e-01 -2.59106639e-02 1.63585129e-02 -4.25962750e+00] [ 2.58922808e-02 9.99663848e-01 1.33458897e-03 -2.04444913e-01] [-1.63875940e-02 -9.10403049e-04 9.99865300e-01 1.22746062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.198033874 meters 0.037346278178486465 Centerline is valid? [True, True] Translation: X:-4.29, Y:-0.20, Z:0.12 [[ 9.99418207e-01 -2.99911780e-02 1.62412308e-02 -4.29072739e+00] [ 2.99735945e-02 9.99549813e-01 1.32504082e-03 -2.00286643e-01] [-1.62736588e-02 -8.37461848e-04 9.99867225e-01 1.21281802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.228033874 meters 0.03631217709792425 Centerline is valid? [True, True] Translation: X:-4.32, Y:-0.20, Z:0.12 [[ 9.99336409e-01 -3.34276450e-02 1.44683521e-02 -4.32190224e+00] [ 3.34140523e-02 9.99440898e-01 1.18026250e-03 -1.98203496e-01] [-1.44997162e-02 -6.96033014e-04 9.99894631e-01 1.18147129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.258033874 meters 0.03349665997758528 Centerline is valid? [True, True] Translation: X:-4.35, Y:-0.21, Z:0.12 [[ 9.99013407e-01 -4.25300985e-02 1.27829662e-02 -4.35052450e+00] [ 4.25202355e-02 9.99095062e-01 1.04248801e-03 -2.13811735e-01] [-1.28157355e-02 -4.97924763e-04 9.99917751e-01 1.16635554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.288033874 meters 0.03339214169445435 Centerline is valid? [True, True] Translation: X:-4.38, Y:-0.22, Z:0.12 [[ 9.98834382e-01 -4.67765473e-02 1.19093432e-02 -4.38129713e+00] [ 4.67682785e-02 9.98905292e-01 9.72027311e-04 -2.17674141e-01] [-1.19417740e-02 -4.13914821e-04 9.99928609e-01 1.17426486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.318033874 meters 0.0323399528002663 Centerline is valid? [True, True] Translation: X:-4.41, Y:-0.22, Z:0.12 [[ 9.98668056e-01 -5.03387495e-02 1.13192112e-02 -4.41080696e+00] [ 5.03314936e-02 9.98732139e-01 9.25157461e-04 -2.23249889e-01] [-1.13514313e-02 -3.54212396e-04 9.99935508e-01 1.17469937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.348033874 meters 0.031095548597088206 Centerline is valid? [True, True] Translation: X:-4.44, Y:-0.23, Z:0.12 [[ 9.98374025e-01 -5.47320635e-02 1.59281714e-02 -4.43915853e+00] [ 5.47182773e-02 9.98500986e-01 1.30037632e-03 -2.32537597e-01] [-1.59754671e-02 -4.26699838e-04 9.99872293e-01 1.22850430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.378033874 meters 0.03024133036370108 Centerline is valid? [True, True] Translation: X:-4.47, Y:-0.24, Z:0.13 [[ 9.98041176e-01 -5.95521394e-02 1.91664555e-02 -4.46928997e+00] [ 5.95330804e-02 9.98225108e-01 1.56394274e-03 -2.36059264e-01] [-1.92255733e-02 -4.19841111e-04 9.99815083e-01 1.31213635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.408033874 meters 0.03034199906536446 Centerline is valid? [True, True] Translation: X:-4.50, Y:-0.23, Z:0.13 [[ 9.97984678e-01 -6.15143988e-02 1.55743797e-02 -4.50207285e+00] [ 6.15021023e-02 9.98106149e-01 1.26771559e-03 -2.32277189e-01] [-1.56228669e-02 -3.07303645e-04 9.99877908e-01 1.28028661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.438033874 meters 0.029834625311752672 Centerline is valid? [True, True] Translation: X:-4.53, Y:-0.23, Z:0.12 [[ 9.97920922e-01 -6.31836277e-02 1.27146228e-02 -4.53128237e+00] [ 6.31754733e-02 9.98001890e-01 1.04236777e-03 -2.32916611e-01] [-1.27550782e-02 -2.36948298e-04 9.99918623e-01 1.23330000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.468033874 meters 0.030361689755239778 Centerline is valid? [True, True] Translation: X:-4.56, Y:-0.23, Z:0.13 [[ 9.98049185e-01 -6.05411718e-02 1.52509359e-02 -4.56004858e+00] [ 6.05291428e-02 9.98165648e-01 1.24952299e-03 -2.29329611e-01] [-1.52986079e-02 -3.23959319e-04 9.99882917e-01 1.31482882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.498033874 meters 0.031040347773279835 Centerline is valid? [True, True] Translation: X:-4.59, Y:-0.22, Z:0.13 [[ 9.98202324e-01 -5.78092197e-02 1.58181799e-02 -4.59062358e+00] [ 5.77959699e-02 9.98327577e-01 1.29387802e-03 -2.23806606e-01] [-1.58665233e-02 -3.77325001e-04 9.99874048e-01 1.33845355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.528033874 meters 0.03552994519090094 Centerline is valid? [True, True] Translation: X:-4.62, Y:-0.22, Z:0.15 [[ 9.98327894e-01 -5.53930869e-02 1.65233626e-02 -4.62101433e+00] [ 5.53783086e-02 9.98464530e-01 1.35095643e-03 -2.18314925e-01] [-1.65728251e-02 -4.33661610e-04 9.99862567e-01 1.45781319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.558033874 meters 0.0318542029511373 Centerline is valid? [True, True] Translation: X:-4.65, Y:-0.21, Z:0.14 [[ 9.98499909e-01 -5.22918498e-02 1.62325063e-02 -4.65151113e+00] [ 5.22771776e-02 9.98631732e-01 1.32717590e-03 -2.14971734e-01] [-1.62796964e-02 -4.76595403e-04 9.99867363e-01 1.42520101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.588033874 meters 0.033008458657650466 Centerline is valid? [True, True] Translation: X:-4.68, Y:-0.20, Z:0.14 [[ 9.98607619e-01 -5.00212426e-02 1.67540417e-02 -4.68274266e+00] [ 5.00052931e-02 9.98748013e-01 1.36981684e-03 -2.02858352e-01] [-1.68015858e-02 -5.30118763e-04 9.99858703e-01 1.42835461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.618033874 meters 0.033152414255877255 Centerline is valid? [True, True] Translation: X:-4.71, Y:-0.20, Z:0.14 [[ 9.98643839e-01 -4.91464439e-02 1.71787353e-02 -4.71457430e+00] [ 4.91295849e-02 9.98791428e-01 1.40229130e-03 -1.97757296e-01] [-1.72268912e-02 -5.56405435e-04 9.99851451e-01 1.43916988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.648033874 meters 0.03526449698822689 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.19, Z:0.15 [[ 9.98763694e-01 -4.76233170e-02 1.42514046e-02 -4.74568761e+00] [ 4.76115167e-02 9.98865248e-01 1.16634480e-03 -1.94639410e-01] [-1.42907780e-02 -4.86371855e-04 9.99897763e-01 1.50878003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.678033874 meters 0.03408957371219073 Centerline is valid? [True, True] Translation: X:-4.78, Y:-0.19, Z:0.14 [[ 9.98785180e-01 -4.71963617e-02 1.41657019e-02 -4.77634607e+00] [ 4.71846387e-02 9.98885510e-01 1.16082659e-03 -1.92355221e-01] [-1.42047011e-02 -4.91012871e-04 9.99898988e-01 1.44676333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.708033874 meters 0.03441948709874249 Centerline is valid? [True, True] Translation: X:-4.81, Y:-0.18, Z:0.15 [[ 9.98895459e-01 -4.45109200e-02 1.50545649e-02 -4.80702158e+00] [ 4.44973968e-02 9.99008740e-01 1.23221478e-03 -1.80352900e-01] [-1.50944890e-02 -5.60964794e-04 9.99885914e-01 1.50198448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.738033874 meters 0.035646756223314584 Centerline is valid? [True, True] Translation: X:-4.84, Y:-0.18, Z:0.16 [[ 9.98961130e-01 -4.27395780e-02 1.58110326e-02 -4.83821007e+00] [ 4.27244205e-02 9.99086055e-01 1.29536001e-03 -1.78087224e-01] [-1.58519453e-02 -6.18497098e-04 9.99874159e-01 1.55360495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.768033874 meters 0.03484602458869482 Centerline is valid? [True, True] Translation: X:-4.87, Y:-0.18, Z:0.16 [[ 9.98924070e-01 -4.31894332e-02 1.68930564e-02 -4.86872138e+00] [ 4.31722503e-02 9.99066690e-01 1.38069018e-03 -1.83582842e-01] [-1.69369211e-02 -6.49893395e-04 9.99856349e-01 1.64456959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.798033874 meters 0.03484602458869482 Centerline is valid? [True, True] Translation: X:-4.90, Y:-0.19, Z:0.17 [[ 9.98912298e-01 -4.34609275e-02 1.68928305e-02 -4.90129625e+00] [ 4.34437369e-02 9.99054917e-01 1.38344625e-03 -1.86110600e-01] [-1.69369913e-02 -6.48053791e-04 9.99856349e-01 1.65591936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.828033874 meters 0.03798473763116261 Centerline is valid? [True, True] Translation: X:-4.93, Y:-0.18, Z:0.17 [[ 9.98879451e-01 -4.37572347e-02 1.80318290e-02 -4.93452121e+00] [ 4.37375844e-02 9.99041953e-01 1.48287401e-03 -1.75190792e-01] [-1.80794402e-02 -6.92543730e-04 9.99836314e-01 1.73594924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.858033874 meters 0.03617554629228888 Centerline is valid? [True, True] Translation: X:-4.97, Y:-0.17, Z:0.17 [[ 9.98952707e-01 -4.20316755e-02 1.80783432e-02 -4.96724068e+00] [ 4.20115603e-02 9.99116012e-01 1.49118169e-03 -1.66634925e-01] [-1.81250391e-02 -7.30120579e-04 9.99835461e-01 1.72066928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.888033874 meters 0.038127860060968057 Centerline is valid? [True, True] Translation: X:-5.00, Y:-0.15, Z:0.17 [[ 9.99061207e-01 -3.97270508e-02 1.72761749e-02 -5.00007827e+00] [ 3.97082145e-02 9.99210292e-01 1.43210674e-03 -1.49393463e-01] [-1.73194251e-02 -7.44756231e-04 9.99849730e-01 1.70206025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.918033874 meters 0.03863663056200375 Centerline is valid? [True, True] Translation: X:-5.03, Y:-0.15, Z:0.17 [[ 9.99132733e-01 -3.77509844e-02 1.75682749e-02 -5.03113615e+00] [ 3.77311897e-02 9.99286863e-01 1.45694779e-03 -1.47101784e-01] [-1.76107475e-02 -7.92812314e-04 9.99844604e-01 1.73839571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.948033874 meters 0.0383550817949148 Centerline is valid? [True, True] Translation: X:-5.06, Y:-0.15, Z:0.18 [[ 9.99108645e-01 -3.76564720e-02 1.90762945e-02 -5.06171874e+00] [ 3.76331552e-02 9.99290373e-01 1.57992820e-03 -1.52283284e-01] [-1.91222519e-02 -8.60618775e-04 9.99816783e-01 1.75784496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.978033874 meters 0.03873523528428212 Centerline is valid? [True, True] Translation: X:-5.09, Y:-0.15, Z:0.18 [[ 9.99089475e-01 -3.85415632e-02 1.82966956e-02 -5.09397614e+00] [ 3.85202023e-02 9.99256668e-01 1.51859685e-03 -1.54341997e-01] [-1.83416241e-02 -8.12421721e-04 9.99831448e-01 1.77276753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.008033874 meters 0.037703283068952126 Centerline is valid? [True, True] Translation: X:-5.12, Y:-0.16, Z:0.18 [[ 9.98933729e-01 -4.26964559e-02 1.75618268e-02 -5.12421400e+00] [ 4.26772891e-02 9.99087836e-01 1.46489364e-03 -1.58713627e-01] [-1.76083533e-02 -7.13840509e-04 9.99844706e-01 1.79038702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.038033874 meters 0.036937023594838525 Centerline is valid? [True, True] Translation: X:-5.15, Y:-0.16, Z:0.18 [[ 9.98829000e-01 -4.58628722e-02 1.54021456e-02 -5.15486068e+00] [ 4.58485080e-02 9.98947578e-01 1.28460658e-03 -1.60420177e-01] [-1.54448518e-02 -5.76936905e-04 9.99880555e-01 1.83563518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.068033874 meters 0.03616216719970536 Centerline is valid? [True, True] Translation: X:-5.19, Y:-0.16, Z:0.18 [[ 9.98605273e-01 -5.11466169e-02 1.30970607e-02 -5.18516854e+00] [ 5.11366673e-02 9.98691066e-01 1.09366372e-03 -1.58009957e-01] [-1.31358547e-02 -4.22398325e-04 9.99913632e-01 1.77989929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0980338739999995 meters 0.03582069797826244 Centerline is valid? [True, True] Translation: X:-5.21, Y:-0.16, Z:0.18 [[ 9.98496295e-01 -5.32085279e-02 1.31909606e-02 -5.21298130e+00] [ 5.31985997e-02 9.98583343e-01 1.10265089e-03 -1.57163501e-01] [-1.32309439e-02 -3.99252201e-04 9.99912388e-01 1.75185466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.128033874 meters 0.03501482127287188 Centerline is valid? [True, True] Translation: X:-5.24, Y:-0.16, Z:0.18 [[ 9.98312332e-01 -5.64096996e-02 1.37997474e-02 -5.24153223e+00] [ 5.63991653e-02 9.98407636e-01 1.15166282e-03 -1.62312885e-01] [-1.38427381e-02 -3.71424966e-04 9.99904116e-01 1.76238336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.158033874 meters 0.035219363203375015 Centerline is valid? [True, True] Translation: X:-5.27, Y:-0.17, Z:0.18 [[ 9.98142161e-01 -5.92593713e-02 1.41617093e-02 -5.27002857e+00] [ 5.92485739e-02 9.98242561e-01 1.18114125e-03 -1.68707419e-01] [-1.42068147e-02 -3.39885797e-04 9.99899020e-01 1.79010789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.188033874 meters 0.034376874532055283 Centerline is valid? [True, True] Translation: X:-5.30, Y:-0.18, Z:0.19 [[ 9.97949908e-01 -6.20917435e-02 1.55112000e-02 -5.29771079e+00] [ 6.20791413e-02 9.98070392e-01 1.29309761e-03 -1.77587647e-01] [-1.55615602e-02 -3.27524664e-04 9.99878858e-01 1.86854358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.218033874 meters 0.03394933182679429 Centerline is valid? [True, True] Translation: X:-5.32, Y:-0.18, Z:0.19 [[ 9.97815742e-01 -6.36215381e-02 1.77776668e-02 -5.32498935e+00] [ 6.36052486e-02 9.97974038e-01 1.48079141e-03 -1.79628036e-01] [-1.78358601e-02 -3.46804065e-04 9.99840868e-01 1.91977743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.248033874 meters 0.0366433410408609 Centerline is valid? [True, True] Translation: X:-5.35, Y:-0.17, Z:0.20 [[ 9.97740027e-01 -6.39271859e-02 2.06918605e-02 -5.35386440e+00] [ 6.39052313e-02 9.97954487e-01 1.72119848e-03 -1.74596022e-01] [-2.07595664e-02 -3.94990490e-04 9.99784419e-01 2.02075313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.278033874 meters 0.034041825792638467 Centerline is valid? [True, True] Translation: X:-5.38, Y:-0.17, Z:0.19 [[ 9.97897795e-01 -6.18334646e-02 1.94065056e-02 -5.38421978e+00] [ 6.18137890e-02 9.98086396e-01 1.61265506e-03 -1.69081511e-01] [-1.94690853e-02 -4.09675291e-04 9.99810375e-01 1.90394745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3080338739999995 meters 0.03495405078142804 Centerline is valid? [True, True] Translation: X:-5.41, Y:-0.17, Z:0.19 [[ 9.98074164e-01 -5.95809429e-02 1.72648146e-02 -5.41365391e+00] [ 5.95650369e-02 9.98223396e-01 1.43451850e-03 -1.68721697e-01] [-1.73196119e-02 -4.03376535e-04 9.99849923e-01 1.87193380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.338033874 meters 0.035058750431514185 Centerline is valid? [True, True] Translation: X:-5.44, Y:-0.16, Z:0.19 [[ 9.98270740e-01 -5.67714342e-02 1.52490432e-02 -5.44260368e+00] [ 5.67587063e-02 9.98387122e-01 1.26651027e-03 -1.63365439e-01] [-1.52963500e-02 -3.98804174e-04 9.99882924e-01 1.91100630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.368033874 meters 0.03642401885394462 Centerline is valid? [True, True] Translation: X:-5.47, Y:-0.14, Z:0.19 [[ 9.98601204e-01 -5.02913731e-02 1.63221751e-02 -5.47414148e+00] [ 5.02759497e-02 9.98734447e-01 1.35416004e-03 -1.42988768e-01] [-1.63696211e-02 -5.31652999e-04 9.99865867e-01 1.92962869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.398033874 meters 0.03610715632527628 Centerline is valid? [True, True] Translation: X:-5.50, Y:-0.14, Z:0.20 [[ 9.98649443e-01 -4.87752885e-02 1.78958194e-02 -5.50161049e+00] [ 4.87564909e-02 9.98809590e-01 1.48545542e-03 -1.42000184e-01] [-1.79469696e-02 -6.10911876e-04 9.99838754e-01 1.97111216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.428033874 meters 0.036801757412843965 Centerline is valid? [True, True] Translation: X:-5.53, Y:-0.14, Z:0.20 [[ 9.98787645e-01 -4.45379730e-02 2.09668500e-02 -5.53156525e+00] [ 4.45113007e-02 9.99007370e-01 1.73731749e-03 -1.43158741e-01] [-2.10234142e-02 -8.01949483e-04 9.99778662e-01 1.99873872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.458033874 meters 0.037839632835238377 Centerline is valid? [True, True] Translation: X:-5.56, Y:-0.13, Z:0.19 [[ 9.98990482e-01 -4.08735006e-02 1.86379622e-02 -5.56378309e+00] [ 4.08518041e-02 9.99164024e-01 1.54350858e-03 -1.34667185e-01] [-1.86854699e-02 -7.80555999e-04 9.99825107e-01 1.92948447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.488033874 meters 0.03906892909156301 Centerline is valid? [True, True] Translation: X:-5.60, Y:-0.12, Z:0.19 [[ 9.99163837e-01 -3.83380997e-02 1.42062180e-02 -5.59537740e+00] [ 3.83252316e-02 9.99264625e-01 1.17704773e-03 -1.23115645e-01] [-1.42408969e-02 -6.31606931e-04 9.99898394e-01 1.93633611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.518033874 meters 0.03947438192894876 Centerline is valid? [True, True] Translation: X:-5.62, Y:-0.12, Z:0.19 [[ 9.99172821e-01 -3.82126426e-02 1.39092555e-02 -5.62394376e+00] [ 3.82002856e-02 9.99269437e-01 1.15309718e-03 -1.21101090e-01] [-1.39431568e-02 -6.20805825e-04 9.99902597e-01 1.94932442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.548033874 meters 0.03804107750261114 Centerline is valid? [True, True] Translation: X:-5.65, Y:-0.12, Z:0.20 [[ 9.99053898e-01 -4.01312570e-02 1.67568138e-02 -5.65330089e+00] [ 4.01135991e-02 9.99194161e-01 1.38869293e-03 -1.19683873e-01] [-1.67990405e-02 -7.15202969e-04 9.99858630e-01 1.98596307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.578033874 meters 0.04007741874448673 Centerline is valid? [True, True] Translation: X:-5.68, Y:-0.12, Z:0.21 [[ 9.99038850e-01 -4.02630796e-02 1.73280576e-02 -5.68464158e+00] [ 4.02442562e-02 9.99188843e-01 1.43377569e-03 -1.19522563e-01] [-1.73717301e-02 -7.35042827e-04 9.99848830e-01 2.06143551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.608033874 meters 0.03812951946370281 Centerline is valid? [True, True] Translation: X:-5.72, Y:-0.12, Z:0.20 [[ 9.99032460e-01 -4.12604594e-02 1.52222723e-02 -5.71643382e+00] [ 4.12460434e-02 9.99148226e-01 1.25990686e-03 -1.21409456e-01] [-1.52612907e-02 -6.30829344e-04 9.99883341e-01 1.96398262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.638033874 meters 0.03811025385603083 Centerline is valid? [True, True] Translation: X:-5.75, Y:-0.12, Z:0.20 [[ 9.99002283e-01 -4.24938877e-02 1.37371276e-02 -5.74603906e+00] [ 4.24822406e-02 9.99096573e-01 1.13868497e-03 -1.23728684e-01] [-1.37731043e-02 -5.53964922e-04 9.99904993e-01 1.98949540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.668033874 meters 0.037330454497031804 Centerline is valid? [True, True] Translation: X:-5.78, Y:-0.12, Z:0.21 [[ 9.98861826e-01 -4.50915769e-02 1.55500091e-02 -5.77614670e+00] [ 4.50769769e-02 9.98982686e-01 1.28830435e-03 -1.19288710e-01] [-1.55922816e-02 -5.85890636e-04 9.99878261e-01 2.05232006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.698033874 meters 0.038077082235533126 Centerline is valid? [True, True] Translation: X:-5.81, Y:-0.12, Z:0.21 [[ 9.98893586e-01 -4.42326966e-02 1.59709708e-02 -5.80534201e+00] [ 4.42171847e-02 9.99021066e-01 1.32324743e-03 -1.17075923e-01] [-1.60138671e-02 -6.15592006e-04 9.99871580e-01 2.08395829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.728033874 meters 0.038313716878644294 Centerline is valid? [True, True] Translation: X:-5.83, Y:-0.11, Z:0.20 [[ 9.99054820e-01 -4.12665416e-02 1.36579045e-02 -5.83479283e+00] [ 4.12549383e-02 9.99148013e-01 1.13033581e-03 -1.13652038e-01] [-1.36929132e-02 -5.65811433e-04 9.99906088e-01 2.02229180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.758033874 meters 0.03926292152901437 Centerline is valid? [True, True] Translation: X:-5.87, Y:-0.11, Z:0.20 [[ 9.99193459e-01 -3.85918030e-02 1.10952585e-02 -5.86515105e+00] [ 3.85839871e-02 9.99254939e-01 9.17714736e-04 -1.12458053e-01] [-1.11224081e-02 -4.88875251e-04 9.99938025e-01 2.01742827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.788033874 meters 0.03963764984320168 Centerline is valid? [True, True] Translation: X:-5.89, Y:-0.11, Z:0.20 [[ 9.99292105e-01 -3.58282202e-02 1.14728651e-02 -5.89434944e+00] [ 3.58196749e-02 9.99357818e-01 9.49510048e-04 -1.10017516e-01] [-1.14995167e-02 -5.37883596e-04 9.99933734e-01 2.00554424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.818033874 meters 0.04069232017937958 Centerline is valid? [True, True] Translation: X:-5.92, Y:-0.10, Z:0.20 [[ 9.99370953e-01 -3.30498323e-02 1.28610969e-02 -5.92344443e+00] [ 3.30388703e-02 9.99453501e-01 1.06392843e-03 -1.02914085e-01] [-1.28892310e-02 -6.38343053e-04 9.99916727e-01 2.04802306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8480338739999995 meters 0.04149361967275508 Centerline is valid? [True, True] Translation: X:-5.95, Y:-0.10, Z:0.21 [[ 9.99420090e-01 -2.95607955e-02 1.69009838e-02 -5.95323613e+00] [ 2.95414087e-02 9.99562583e-01 1.39564219e-03 -9.74745216e-02] [-1.69348473e-02 -8.95553970e-04 9.99856194e-01 2.08438968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.878033874 meters 0.04107425979085672 Centerline is valid? [True, True] Translation: X:-5.98, Y:-0.10, Z:0.21 [[ 9.99414953e-01 -2.93697121e-02 1.75262896e-02 -5.98416896e+00] [ 2.93488945e-02 9.99568186e-01 1.44387753e-03 -1.00949538e-01] [-1.75611278e-02 -9.28655572e-04 9.99845360e-01 2.14900514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.908033874 meters 0.04112739236096864 Centerline is valid? [True, True] Translation: X:-6.02, Y:-0.10, Z:0.21 [[ 9.99455916e-01 -2.80166029e-02 1.74052369e-02 -6.01614568e+00] [ 2.79958048e-02 9.99607007e-01 1.43749129e-03 -1.01094744e-01] [-1.74386704e-02 -9.49435555e-04 9.99847484e-01 2.13735883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.938033874 meters 0.041825345987165384 Centerline is valid? [True, True] Translation: X:-6.05, Y:-0.10, Z:0.21 [[ 9.99468743e-01 -2.84147928e-02 1.59634147e-02 -6.04876023e+00] [ 2.83973931e-02 9.99595847e-01 1.31563719e-03 -9.97955316e-02] [-1.59943465e-02 -8.61618884e-04 9.99871711e-01 2.12050519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.968033874 meters 0.04126756978945084 Centerline is valid? [True, True] Translation: X:-6.08, Y:-0.10, Z:0.22 [[ 9.99490296e-01 -2.82819304e-02 1.48081602e-02 -6.08004816e+00] [ 2.82668723e-02 9.99599661e-01 1.22523992e-03 -1.04118986e-01] [-1.48368841e-02 -8.06035036e-04 9.99889602e-01 2.15240374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.998033874 meters 0.040904538421973995 Centerline is valid? [True, True] Translation: X:-6.11, Y:-0.10, Z:0.22 [[ 9.99432117e-01 -2.99227245e-02 1.54943120e-02 -6.11184684e+00] [ 2.99064250e-02 9.99551880e-01 1.28265606e-03 -1.03532578e-01] [-1.55257492e-02 -8.18548183e-04 9.99879133e-01 2.18257463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.028033874 meters 0.0415611445915954 Centerline is valid? [True, True] Translation: X:-6.14, Y:-0.10, Z:0.22 [[ 9.99363449e-01 -3.12551373e-02 1.71992114e-02 -6.14423401e+00] [ 3.12351697e-02 9.99511042e-01 1.42843463e-03 -9.90951479e-02] [-1.72354477e-02 -8.90305074e-04 9.99851062e-01 2.18839040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0580338739999995 meters 0.039548536453573584 Centerline is valid? [True, True] Translation: X:-6.17, Y:-0.11, Z:0.23 [[ 9.99338526e-01 -3.18152061e-02 1.76154118e-02 -6.17446659e+00] [ 3.17942773e-02 9.99493358e-01 1.46694843e-03 -1.08814525e-01] [-1.76531584e-02 -9.05908793e-04 9.99843760e-01 2.26787385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.088033874 meters 0.04261390595873285 Centerline is valid? [True, True] Translation: X:-6.21, Y:-0.10, Z:0.23 [[ 9.99356961e-01 -3.17268779e-02 1.67054046e-02 -6.20808020e+00] [ 3.17079617e-02 9.99496201e-01 1.39605802e-03 -1.00679728e-01] [-1.67412810e-02 -8.65465973e-04 9.99859480e-01 2.26316907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.118033874 meters 0.04152167226711969 Centerline is valid? [True, True] Translation: X:-6.24, Y:-0.10, Z:0.23 [[ 9.99386036e-01 -3.14576946e-02 1.54261106e-02 -6.23918428e+00] [ 3.14415037e-02 9.99504760e-01 1.29103912e-03 -1.00720318e-01] [-1.54590841e-02 -8.05226359e-04 9.99880177e-01 2.26170916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.148033874 meters 0.041839397796070696 Centerline is valid? [True, True] Translation: X:-6.27, Y:-0.10, Z:0.23 [[ 9.99452255e-01 -2.94580728e-02 1.50801754e-02 -6.26923528e+00] [ 2.94423109e-02 9.99565679e-01 1.26619618e-03 -1.04437111e-01] [-1.51109255e-02 -8.21507413e-04 9.99885486e-01 2.33775170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.178033874 meters 0.04623150484664249 Centerline is valid? [True, True] Translation: X:-6.30, Y:-0.09, Z:0.23 [[ 9.99552576e-01 -2.63469683e-02 1.41592479e-02 -6.30171296e+00] [ 2.63327611e-02 9.99652526e-01 1.18891889e-03 -9.15696401e-02] [-1.41856523e-02 -8.15534852e-04 9.99899046e-01 2.31007895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.208033874 meters 0.04487592556387359 Centerline is valid? [True, True] Translation: X:-6.33, Y:-0.10, Z:0.25 [[ 9.99617955e-01 -2.32093941e-02 1.50089613e-02 -6.32946262e+00] [ 2.31930594e-02 9.99730209e-01 1.26150281e-03 -1.04352970e-01] [-1.50341907e-02 -9.12917131e-04 9.99886563e-01 2.48486472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.238033874 meters 0.04780555715027795 Centerline is valid? [True, True] Translation: X:-6.36, Y:-0.09, Z:0.24 [[ 9.99790788e-01 -1.60185345e-02 1.27195439e-02 -6.36158673e+00] [ 1.60062323e-02 9.99871321e-01 1.06840076e-03 -8.86388501e-02] [-1.27350213e-02 -8.64585267e-04 9.99918533e-01 2.37384513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.268033874 meters 0.04948301362411364 Centerline is valid? [True, True] Translation: X:-6.39, Y:-0.09, Z:0.23 [[ 9.99868830e-01 -1.16835919e-02 1.12168005e-02 -6.39221550e+00] [ 1.16737509e-02 9.99931415e-01 9.42423695e-04 -8.73771697e-02] [-1.12270421e-02 -8.11357942e-04 9.99936646e-01 2.31158786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.298033874 meters 0.05089757118759847 Centerline is valid? [True, True] Translation: X:-6.42, Y:-0.08, Z:0.24 [[ 9.99817671e-01 -1.03558437e-02 1.60430802e-02 -6.42462998e+00] [ 1.03356093e-02 9.99945683e-01 1.34366108e-03 -8.01643597e-02] [-1.60561236e-02 -1.17760108e-03 9.99870399e-01 2.42997062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.328033874 meters 0.04863372308589213 Centerline is valid? [True, True] Translation: X:-6.46, Y:-0.09, Z:0.24 [[ 9.99796074e-01 -1.00650002e-02 1.75073134e-02 -6.45580509e+00] [ 1.00407769e-02 9.99948508e-01 1.47096347e-03 -9.04431029e-02] [-1.75212172e-02 -1.29487647e-03 9.99845653e-01 2.41916680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.358033874 meters 0.04647790506765429 Centerline is valid? [True, True] Translation: X:-6.49, Y:-0.11, Z:0.24 [[ 9.99813268e-01 -1.12333205e-02 1.57239040e-02 -6.48556948e+00] [ 1.12138799e-02 9.99936246e-01 1.32400059e-03 -1.07089270e-01] [-1.57377745e-02 -1.14742739e-03 9.99875495e-01 2.42875076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.388033874 meters 0.046559517001638094 Centerline is valid? [True, True] Translation: X:-6.51, Y:-0.11, Z:0.25 [[ 9.99788284e-01 -1.51038211e-02 1.39736190e-02 -6.51413704e+00] [ 1.50887563e-02 9.99885459e-01 1.18289919e-03 -1.13691159e-01] [-1.39898847e-02 -9.71804219e-04 9.99901665e-01 2.50584106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.418033874 meters 0.04606113424283076 Centerline is valid? [True, True] Translation: X:-6.54, Y:-0.12, Z:0.24 [[ 9.99733705e-01 -1.74950390e-02 1.50480057e-02 -6.54484642e+00] [ 1.74778297e-02 9.99846439e-01 1.27438744e-03 -1.16505606e-01] [-1.50679904e-02 -1.01104159e-03 9.99885960e-01 2.44659692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.448033874 meters 0.0468951656857473 Centerline is valid? [True, True] Translation: X:-6.58, Y:-0.12, Z:0.25 [[ 9.99663207e-01 -1.95749208e-02 1.70380344e-02 -6.57547552e+00] [ 1.95531524e-02 9.99807777e-01 1.44330069e-03 -1.19115856e-01] [-1.70630118e-02 -1.10966731e-03 9.99853800e-01 2.47108856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.478033874 meters 0.04685909805641675 Centerline is valid? [True, True] Translation: X:-6.61, Y:-0.12, Z:0.25 [[ 9.99606884e-01 -2.24442818e-02 1.68027241e-02 -6.60597406e+00] [ 2.24235096e-02 9.99747548e-01 1.42364760e-03 -1.24483856e-01] [-1.68304349e-02 -1.04631189e-03 9.99857811e-01 2.47098634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.508033874 meters 0.0432980736141469 Centerline is valid? [True, True] Translation: X:-6.64, Y:-0.14, Z:0.25 [[ 9.99613785e-01 -2.35233335e-02 1.47963819e-02 -6.63527613e+00] [ 2.35073753e-02 9.99722880e-01 1.25154474e-03 -1.44062151e-01] [-1.48217221e-02 -9.03237273e-04 9.99889744e-01 2.51434417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.538033874 meters 0.04446907990497515 Centerline is valid? [True, True] Translation: X:-6.67, Y:-0.15, Z:0.25 [[ 9.99514995e-01 -2.57885027e-02 1.74564759e-02 -6.66580352e+00] [ 2.57665519e-02 9.99666890e-01 1.48124535e-03 -1.49130037e-01] [-1.74888601e-02 -1.03073374e-03 9.99846527e-01 2.53184376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.568033874 meters 0.042695922758588405 Centerline is valid? [True, True] Translation: X:-6.70, Y:-0.16, Z:0.26 [[ 9.99474961e-01 -2.62012603e-02 1.90603504e-02 -6.69574660e+00] [ 2.61751477e-02 9.99656062e-01 1.61822818e-03 -1.56542985e-01] [-1.90961945e-02 -1.11847106e-03 9.99817025e-01 2.60328197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5980338739999995 meters 0.04464034003775556 Centerline is valid? [True, True] Translation: X:-6.73, Y:-0.15, Z:0.26 [[ 9.99475619e-01 -2.68437457e-02 1.81080044e-02 -6.72949123e+00] [ 2.68203439e-02 9.99639093e-01 1.53400307e-03 -1.49502354e-01] [-1.81426474e-02 -1.04753576e-03 9.99834860e-01 2.57191944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.628033874 meters 0.04297078914549606 Centerline is valid? [True, True] Translation: X:-6.76, Y:-0.16, Z:0.26 [[ 9.99492099e-01 -2.64952425e-02 1.77072407e-02 -6.75991368e+00] [ 2.64726892e-02 9.99648401e-01 1.50690403e-03 -1.61205612e-01] [-1.77409406e-02 -1.03738040e-03 9.99842079e-01 2.63904180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.658033874 meters 0.04301862190493294 Centerline is valid? [True, True] Translation: X:-6.79, Y:-0.17, Z:0.26 [[ 9.99509326e-01 -2.54968876e-02 1.81938331e-02 -6.79253439e+00] [ 2.54728655e-02 9.99674311e-01 1.55090381e-03 -1.65811383e-01] [-1.82274508e-02 -1.08669376e-03 9.99833276e-01 2.62263479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.688033874 meters 0.043557625941959874 Centerline is valid? [True, True] Translation: X:-6.82, Y:-0.16, Z:0.27 [[ 9.99597497e-01 -2.31585135e-02 1.63868085e-02 -6.82292270e+00] [ 2.31386461e-02 9.99731284e-01 1.40098400e-03 -1.64319867e-01] [-1.64148498e-02 -1.02125154e-03 9.99864746e-01 2.67301552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.718033874 meters 0.043557625941959874 Centerline is valid? [True, True] Translation: X:-6.86, Y:-0.17, Z:0.27 [[ 9.99591198e-01 -2.34285232e-02 1.63872328e-02 -6.85557519e+00] [ 2.34087730e-02 9.99725002e-01 1.39602929e-03 -1.66961233e-01] [-1.64154333e-02 -1.01185357e-03 9.99864746e-01 2.68443644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.748033874 meters 0.046133828688359274 Centerline is valid? [True, True] Translation: X:-6.89, Y:-0.16, Z:0.26 [[ 9.99611146e-01 -2.30155681e-02 1.57429295e-02 -6.88860537e+00] [ 2.29972177e-02 9.99734623e-01 1.34569434e-03 -1.62634475e-01] [-1.57697236e-02 -9.83127481e-04 9.99875167e-01 2.61395606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.778033874 meters 0.04454865996684298 Centerline is valid? [True, True] Translation: X:-6.92, Y:-0.17, Z:0.26 [[ 9.99596501e-01 -2.33898937e-02 1.61166720e-02 -6.91943273e+00] [ 2.33706375e-02 9.99725914e-01 1.38213254e-03 -1.72404391e-01] [-1.61445826e-02 -1.00491795e-03 9.99869163e-01 2.61776959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8080338739999995 meters 0.04562323156087533 Centerline is valid? [True, True] Translation: X:-6.95, Y:-0.17, Z:0.27 [[ 9.99631543e-01 -2.20513032e-02 1.58277695e-02 -6.95113596e+00] [ 2.20324580e-02 9.99756325e-01 1.36405319e-03 -1.71738768e-01] [-1.58539918e-02 -1.01482593e-03 9.99873803e-01 2.65381284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.838033874 meters 0.04478106486801506 Centerline is valid? [True, True] Translation: X:-6.98, Y:-0.18, Z:0.27 [[ 9.99648426e-01 -2.21730269e-02 1.45389883e-02 -6.98191146e+00] [ 2.21571884e-02 9.99753718e-01 1.24957755e-03 -1.81176027e-01] [-1.45631145e-02 -9.26995129e-04 9.99893523e-01 2.70313145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.868033874 meters 0.04602971928187734 Centerline is valid? [True, True] Translation: X:-7.01, Y:-0.18, Z:0.26 [[ 9.99587857e-01 -2.50467603e-02 1.40276618e-02 -7.01364261e+00] [ 2.50322038e-02 9.99685910e-01 1.21234363e-03 -1.81052154e-01] [-1.40536212e-02 -8.60700683e-04 9.99900873e-01 2.61191275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.898033874 meters 0.04261856694262112 Centerline is valid? [True, True] Translation: X:-7.04, Y:-0.20, Z:0.27 [[ 9.99395545e-01 -3.19060383e-02 1.38039306e-02 -7.04200850e+00] [ 3.18925765e-02 9.99490589e-01 1.19430244e-03 -1.95615079e-01] [-1.38350042e-02 -7.53337629e-04 9.99904008e-01 2.66844357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.928033874 meters 0.04354605310314958 Centerline is valid? [True, True] Translation: X:-7.07, Y:-0.20, Z:0.27 [[ 9.99225024e-01 -3.66187228e-02 1.44367582e-02 -7.07271104e+00] [ 3.66044922e-02 9.99329051e-01 1.24881795e-03 -1.95120806e-01] [-1.44728020e-02 -7.19399944e-04 9.99895005e-01 2.65083329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.958033874 meters 0.04055590770212514 Centerline is valid? [True, True] Translation: X:-7.10, Y:-0.21, Z:0.27 [[ 9.98985898e-01 -4.16538752e-02 1.70918147e-02 -7.10050224e+00] [ 4.16346533e-02 9.99131807e-01 1.47907698e-03 -2.07962750e-01] [-1.71385850e-02 -7.65965266e-04 9.99852830e-01 2.69334455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.988033874 meters 0.039322678426384504 Centerline is valid? [True, True] Translation: X:-7.13, Y:-0.22, Z:0.28 [[ 9.98820472e-01 -4.51344829e-02 1.79037036e-02 -7.12959687e+00] [ 4.51139921e-02 9.98980648e-01 1.54695068e-03 -2.18053589e-01] [-1.79552742e-02 -7.37418466e-04 9.99838519e-01 2.77194274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0180338739999995 meters 0.03924268833953045 Centerline is valid? [True, True] Translation: X:-7.16, Y:-0.22, Z:0.27 [[ 9.98693919e-01 -4.84681025e-02 1.61647578e-02 -7.15983917e+00] [ 4.84517972e-02 9.98824542e-01 1.39903260e-03 -2.24053722e-01] [-1.62135653e-02 -6.13993777e-04 9.99868363e-01 2.74537115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.048033874 meters 0.0388202800744404 Centerline is valid? [True, True] Translation: X:-7.19, Y:-0.23, Z:0.28 [[ 9.98543770e-01 -5.11058151e-02 1.72781564e-02 -7.18838912e+00] [ 5.10875656e-02 9.98693057e-01 1.49624350e-03 -2.26356875e-01] [-1.73320416e-02 -6.11365678e-04 9.99849602e-01 2.83821717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.078033874 meters 0.0393115440655645 Centerline is valid? [True, True] Translation: X:-7.22, Y:-0.23, Z:0.29 [[ 9.98646395e-01 -4.84686024e-02 1.88725378e-02 -7.21702568e+00] [ 4.84463742e-02 9.98824449e-01 1.63348956e-03 -2.25888398e-01] [-1.89295251e-02 -7.16972434e-04 9.99820563e-01 2.87074192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.108033874 meters 0.039629201832533274 Centerline is valid? [True, True] Translation: X:-7.25, Y:-0.23, Z:0.29 [[ 9.98752359e-01 -4.61914467e-02 1.89756498e-02 -7.24676240e+00] [ 4.61686026e-02 9.98932315e-01 1.64041855e-03 -2.25306135e-01] [-1.90311631e-02 -7.62292658e-04 9.99818600e-01 2.85667268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.138033874 meters 0.040240651696678585 Centerline is valid? [True, True] Translation: X:-7.28, Y:-0.23, Z:0.28 [[ 9.98908934e-01 -4.37785628e-02 1.62597334e-02 -7.27810634e+00] [ 4.37614843e-02 9.99041020e-01 1.40484651e-03 -2.26107090e-01] [-1.63056428e-02 -6.91763657e-04 9.99866815e-01 2.79786887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.168033874 meters 0.04004333971829744 Centerline is valid? [True, True] Translation: X:-7.31, Y:-0.23, Z:0.28 [[ 9.99060281e-01 -4.09028080e-02 1.43357983e-02 -7.30725037e+00] [ 4.08892196e-02 9.99162917e-01 1.23981328e-03 -2.28867347e-01] [-1.43745099e-02 -6.52468596e-04 9.99896469e-01 2.78036451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.198033874 meters 0.04309392403827799 Centerline is valid? [True, True] Translation: X:-7.34, Y:-0.21, Z:0.28 [[ 9.99208430e-01 -3.70106008e-02 1.45852113e-02 -7.33847472e+00] [ 3.69961292e-02 9.99314613e-01 1.26087124e-03 -2.10332949e-01] [-1.46218804e-02 -7.20276809e-04 9.99892835e-01 2.77673634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.228033873999999 meters 0.044828453897421947 Centerline is valid? [True, True] Translation: X:-7.37, Y:-0.21, Z:0.29 [[ 9.99201042e-01 -3.52364022e-02 1.88593132e-02 -7.36790875e+00] [ 3.52119093e-02 9.99378540e-01 1.62931072e-03 -2.12251437e-01] [-1.89050040e-02 -9.63936544e-04 9.99820820e-01 2.90960678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.258033874 meters 0.0425363306413646 Centerline is valid? [True, True] Translation: X:-7.40, Y:-0.22, Z:0.29 [[ 9.99208571e-01 -3.40625767e-02 2.05419508e-02 -7.39911791e+00] [ 3.40333557e-02 9.99419129e-01 1.77052388e-03 -2.19209092e-01] [-2.05903271e-02 -1.07001112e-03 9.99787424e-01 2.89133174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.288033874 meters 0.04313311397613475 Centerline is valid? [True, True] Translation: X:-7.43, Y:-0.21, Z:0.28 [[ 9.99273485e-01 -3.36581628e-02 1.78782035e-02 -7.43264284e+00] [ 3.36359205e-02 9.99432961e-01 1.54343230e-03 -2.05769405e-01] [-1.79200149e-02 -9.40961145e-04 9.99838981e-01 2.82456769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.318033874 meters 0.04352292106906405 Centerline is valid? [True, True] Translation: X:-7.46, Y:-0.20, Z:0.28 [[ 9.99353943e-01 -3.29177513e-02 1.44263013e-02 -7.46497507e+00] [ 3.29031201e-02 9.99457764e-01 1.25044081e-03 -2.04042072e-01] [-1.44596405e-02 -7.74962626e-04 9.99895154e-01 2.76981772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3480338739999995 meters 0.044391135434174354 Centerline is valid? [True, True] Translation: X:-7.50, Y:-0.20, Z:0.27 [[ 9.99338570e-01 -3.33147002e-02 1.45791884e-02 -7.49521468e+00] [ 3.32997590e-02 9.99444607e-01 1.26645296e-03 -2.04258960e-01] [-1.46132827e-02 -7.80131825e-04 9.99892916e-01 2.73524950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.378033874 meters 0.042527877148739714 Centerline is valid? [True, True] Translation: X:-7.52, Y:-0.21, Z:0.29 [[ 9.99147864e-01 -3.64176450e-02 1.94242620e-02 -7.52335430e+00] [ 3.63917164e-02 9.99336179e-01 1.68678496e-03 -2.12559406e-01] [-1.94727965e-02 -9.78465353e-04 9.99809908e-01 2.89264459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.408033874 meters 0.04224239370066222 Centerline is valid? [True, True] Translation: X:-7.56, Y:-0.21, Z:0.29 [[ 9.99125402e-01 -3.73596255e-02 1.87800134e-02 -7.55637224e+00] [ 3.73356304e-02 9.99301458e-01 1.62681203e-03 -2.06515123e-01] [-1.88276719e-02 -9.24225587e-04 9.99822317e-01 2.87494208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.438033874 meters 0.04240307940404419 Centerline is valid? [True, True] Translation: X:-7.59, Y:-0.20, Z:0.28 [[ 9.99158719e-01 -3.83405150e-02 1.45553824e-02 -7.58966573e+00] [ 3.83261831e-02 9.99264485e-01 1.26241998e-03 -2.01751417e-01] [-1.45930785e-02 -7.03505676e-04 9.99893268e-01 2.76081023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.468033874 meters 0.042505082165274294 Centerline is valid? [True, True] Translation: X:-7.62, Y:-0.20, Z:0.28 [[ 9.99135171e-01 -3.92663432e-02 1.36771599e-02 -7.61855409e+00] [ 3.92536568e-02 9.99228564e-01 1.19488545e-03 -2.03882086e-01] [-1.37135276e-02 -6.56973538e-04 9.99905749e-01 2.80449337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.498033874 meters 0.04205423156347179 Centerline is valid? [True, True] Translation: X:-7.65, Y:-0.21, Z:0.29 [[ 9.99016532e-01 -4.00870839e-02 1.89471620e-02 -7.64713444e+00] [ 4.00629226e-02 9.99195791e-01 1.65320340e-03 -2.08886416e-01] [-1.89981966e-02 -8.92498843e-04 9.99819120e-01 2.90650784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.528033874 meters 0.0412556628591428 Centerline is valid? [True, True] Translation: X:-7.68, Y:-0.21, Z:0.29 [[ 9.99002925e-01 -4.02322052e-02 1.93526544e-02 -7.67791561e+00] [ 4.02070904e-02 9.99189947e-01 1.68524714e-03 -2.07736793e-01] [-1.94047790e-02 -9.05452891e-04 9.99811300e-01 2.91188792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5580338739999995 meters 0.042472412527100295 Centerline is valid? [True, True] Translation: X:-7.71, Y:-0.20, Z:0.28 [[ 9.99043216e-01 -4.25439334e-02 1.01324128e-02 -7.71019529e+00] [ 4.25371631e-02 9.99094495e-01 8.82859946e-04 -2.04994046e-01] [-1.01607981e-02 -4.51011146e-04 9.99948276e-01 2.76517249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.588033874 meters 0.04193372953256454 Centerline is valid? [True, True] Translation: X:-7.74, Y:-0.21, Z:0.27 [[ 9.98994522e-01 -4.38064804e-02 9.53606794e-03 -7.73870324e+00] [ 4.38005158e-02 9.99039949e-01 8.33530623e-04 -2.08962062e-01] [-9.56342687e-03 -4.15007832e-04 9.99954183e-01 2.71548813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.618033874 meters 0.04181244774329833 Centerline is valid? [True, True] Translation: X:-7.77, Y:-0.20, Z:0.29 [[ 9.98946918e-01 -4.31482598e-02 1.55975296e-02 -7.76799337e+00] [ 4.31322631e-02 9.99068444e-01 1.36069805e-03 -2.04413031e-01] [-1.56417114e-02 -6.86508373e-04 9.99877425e-01 2.85747482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.648033874 meters 0.04134021151085697 Centerline is valid? [True, True] Translation: X:-7.80, Y:-0.20, Z:0.29 [[ 9.98918959e-01 -4.17373073e-02 2.04672970e-02 -7.79622989e+00] [ 4.17094861e-02 9.99128187e-01 1.78449301e-03 -2.01166558e-01] [-2.05239333e-02 -9.28883458e-04 9.99788930e-01 2.94199996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.678033874 meters 0.041807581322098 Centerline is valid? [True, True] Translation: X:-7.83, Y:-0.20, Z:0.29 [[ 9.99029516e-01 -3.98402883e-02 1.87823930e-02 -7.82846037e+00] [ 3.98165952e-02 9.99205669e-01 1.63387734e-03 -2.00846152e-01] [-1.88325677e-02 -8.84440754e-04 9.99822260e-01 2.87576733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.708033874 meters 0.04263467439479107 Centerline is valid? [True, True] Translation: X:-7.86, Y:-0.20, Z:0.27 [[ 9.99252366e-01 -3.69594322e-02 1.13450097e-02 -7.85860483e+00] [ 3.69505812e-02 9.99316605e-01 9.88856625e-04 -1.99511115e-01] [-1.13738042e-02 -5.68912619e-04 9.99935154e-01 2.74926803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.738033874 meters 0.04466461628216188 Centerline is valid? [True, True] Translation: X:-7.89, Y:-0.19, Z:0.28 [[ 9.99311636e-01 -3.47593475e-02 1.29630925e-02 -7.88887306e+00] [ 3.47475840e-02 9.99395480e-01 1.13165553e-03 -1.88975379e-01] [-1.29945916e-02 -6.80440397e-04 9.99915335e-01 2.78212047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7680338739999995 meters 0.04214154395766274 Centerline is valid? [True, True] Translation: X:-7.92, Y:-0.20, Z:0.29 [[ 9.99281939e-01 -3.38193079e-02 1.70839215e-02 -7.91594863e+00] [ 3.37987999e-02 9.99427550e-01 1.48781695e-03 -1.95013012e-01] [-1.71244588e-02 -9.09332559e-04 9.99852952e-01 2.90858371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.798033874 meters 0.04388563739159658 Centerline is valid? [True, True] Translation: X:-7.95, Y:-0.18, Z:0.29 [[ 9.99332778e-01 -3.14588688e-02 1.85563633e-02 -7.94782695e+00] [ 3.14343313e-02 9.99504518e-01 1.61259577e-03 -1.84748044e-01] [-1.85978994e-02 -1.02821294e-03 9.99826515e-01 2.90971976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.828033874 meters 0.044238809551320486 Centerline is valid? [True, True] Translation: X:-7.98, Y:-0.18, Z:0.29 [[ 9.99431370e-01 -2.93285092e-02 1.66365583e-02 -7.97806445e+00] [ 2.93085027e-02 9.99569369e-01 1.44516031e-03 -1.77551923e-01] [-1.66717784e-02 -9.56745935e-04 9.99860558e-01 2.87113641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.858033874 meters 0.043697767138684944 Centerline is valid? [True, True] Translation: X:-8.01, Y:-0.18, Z:0.28 [[ 9.99509637e-01 -2.79046138e-02 1.42062901e-02 -8.00864426e+00] [ 2.78898660e-02 9.99610239e-01 1.23522112e-03 -1.81002443e-01] [-1.42352214e-02 -8.38403885e-04 9.99898323e-01 2.82341251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.888033874 meters 0.04310271024626029 Centerline is valid? [True, True] Translation: X:-8.04, Y:-0.19, Z:0.29 [[ 9.99457608e-01 -2.93926416e-02 1.48513562e-02 -8.03854083e+00] [ 2.93766747e-02 9.99567577e-01 1.29217635e-03 -1.87226843e-01] [-1.48829146e-02 -8.55192028e-04 9.99888878e-01 2.89443966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.918033874 meters 0.042889401219089164 Centerline is valid? [True, True] Translation: X:-8.07, Y:-0.19, Z:0.29 [[ 9.99393565e-01 -3.12542586e-02 1.53516429e-02 -8.06857071e+00] [ 3.12374023e-02 9.99511100e-01 1.33663244e-03 -1.88123827e-01] [-1.53859129e-02 -8.56276414e-04 9.99881263e-01 2.88928189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.948033874 meters 0.04226623799895407 Centerline is valid? [True, True] Translation: X:-8.10, Y:-0.19, Z:0.29 [[ 9.99321105e-01 -3.41864406e-02 1.37337584e-02 -8.09952128e+00] [ 3.41732336e-02 9.99415210e-01 1.19524195e-03 -1.87325258e-01] [-1.37665881e-02 -7.25103575e-04 9.99904973e-01 2.89718999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.978033873999999 meters 0.042120131419957525 Centerline is valid? [True, True] Translation: X:-8.13, Y:-0.19, Z:0.28 [[ 9.99124935e-01 -3.97156579e-02 1.31160788e-02 -8.13035682e+00] [ 3.97040867e-02 9.99210830e-01 1.14152910e-03 -1.85866545e-01] [-1.31510646e-02 -6.19768257e-04 9.99913329e-01 2.83562403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.008033873999999 meters 0.039534924017971186 Centerline is valid? [True, True] Translation: X:-8.16, Y:-0.20, Z:0.29 [[ 9.98914766e-01 -4.40801320e-02 1.50410198e-02 -8.15903621e+00] [ 4.40654071e-02 9.99027790e-01 1.30915782e-03 -1.95479984e-01] [-1.50841046e-02 -6.44948413e-04 9.99886020e-01 2.93384157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.038033874 meters 0.03898877571022462 Centerline is valid? [True, True] Translation: X:-8.19, Y:-0.19, Z:0.29 [[ 9.98721390e-01 -4.77328718e-02 1.66480368e-02 -8.18916192e+00] [ 4.77153391e-02 9.98859924e-01 1.44899406e-03 -1.93143236e-01] [-1.66982214e-02 -6.52774643e-04 9.99860362e-01 2.93546644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.068033874 meters 0.0393927718036293 Centerline is valid? [True, True] Translation: X:-8.22, Y:-0.19, Z:0.29 [[ 9.98727518e-01 -4.85550788e-02 1.36289491e-02 -8.21809174e+00] [ 4.85433933e-02 9.98820369e-01 1.18710611e-03 -1.93701704e-01] [-1.36705120e-02 -5.24000101e-04 9.99906417e-01 2.87485348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.098033874 meters 0.03965667629131349 Centerline is valid? [True, True] Translation: X:-8.25, Y:-0.19, Z:0.29 [[ 9.98743182e-01 -4.84374358e-02 1.28791289e-02 -8.24719949e+00] [ 4.84270003e-02 9.98826095e-01 1.12107729e-03 -1.92055379e-01] [-1.29183122e-02 -4.95970715e-04 9.99916432e-01 2.87746572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.128033874 meters 0.040626610724401546 Centerline is valid? [True, True] Translation: X:-8.28, Y:-0.19, Z:0.30 [[ 9.98852919e-01 -4.48043214e-02 1.68943183e-02 -8.27603175e+00] [ 4.47858754e-02 9.98995530e-01 1.46880022e-03 -1.89276446e-01] [-1.69431571e-02 -7.10488549e-04 9.99856202e-01 2.96488330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.158033874 meters 0.039681590099616 Centerline is valid? [True, True] Translation: X:-8.30, Y:-0.19, Z:0.30 [[ 9.98947077e-01 -4.26435042e-02 1.69195110e-02 -8.30344919e+00] [ 4.26247065e-02 9.99090072e-01 1.47024466e-03 -1.92006600e-01] [-1.69668118e-02 -7.47507413e-04 9.99855774e-01 3.02413162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.188033874 meters 0.04190919377503328 Centerline is valid? [True, True] Translation: X:-8.34, Y:-0.18, Z:0.29 [[ 9.99247503e-01 -3.60411919e-02 1.43338638e-02 -8.33557808e+00] [ 3.60270560e-02 9.99350042e-01 1.24327268e-03 -1.76876303e-01] [-1.43693565e-02 -7.25930207e-04 9.99896492e-01 2.91631511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.218033874 meters 0.04220502566793994 Centerline is valid? [True, True] Translation: X:-8.37, Y:-0.17, Z:0.29 [[ 9.99440364e-01 -3.12644257e-02 1.18951525e-02 -8.36564177e+00] [ 3.12543515e-02 9.99510931e-01 1.03191511e-03 -1.72645086e-01] [-1.19215971e-02 -6.59562338e-04 9.99928718e-01 2.87533501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.248033873999999 meters 0.044668666651804766 Centerline is valid? [True, True] Translation: X:-8.40, Y:-0.17, Z:0.29 [[ 9.99543184e-01 -2.66340504e-02 1.42846641e-02 -8.39583447e+00] [ 2.66190575e-02 9.99644883e-01 1.23871947e-03 -1.68074049e-01] [-1.43125834e-02 -8.57909308e-04 9.99897202e-01 2.93304082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.278033874 meters 0.0436574324017328 Centerline is valid? [True, True] Translation: X:-8.43, Y:-0.17, Z:0.30 [[ 9.99576037e-01 -2.45415127e-02 1.56671761e-02 -8.42509971e+00] [ 2.45232255e-02 9.99698338e-01 1.35830739e-03 -1.69380270e-01] [-1.56957848e-02 -9.73521829e-04 9.99876340e-01 3.02417767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.308033874 meters 0.045550475804970805 Centerline is valid? [True, True] Translation: X:-8.46, Y:-0.16, Z:0.30 [[ 9.99673269e-01 -2.17342646e-02 1.34527650e-02 -8.45695262e+00] [ 2.17205405e-02 9.99763402e-01 1.16545846e-03 -1.59229359e-01] [-1.34749125e-02 -8.72876340e-04 9.99908828e-01 2.95968142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.338033874 meters 0.04402100677859662 Centerline is valid? [True, True] Translation: X:-8.49, Y:-0.17, Z:0.30 [[ 9.99666717e-01 -2.11088226e-02 1.48617901e-02 -8.48761901e+00] [ 2.10920343e-02 9.99776712e-01 1.28548162e-03 -1.69919499e-01] [-1.48856066e-02 -9.71587801e-04 9.99888731e-01 2.98048504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.368033874 meters 0.04445117952241023 Centerline is valid? [True, True] Translation: X:-8.52, Y:-0.17, Z:0.31 [[ 9.99594218e-01 -2.29871601e-02 1.68223042e-02 -8.51717486e+00] [ 2.29658487e-02 9.99735186e-01 1.45897106e-03 -1.72401017e-01] [-1.68513871e-02 -1.07204054e-03 9.99857431e-01 3.14724516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.398033874 meters 0.04425525627308923 Centerline is valid? [True, True] Translation: X:-8.55, Y:-0.17, Z:0.30 [[ 9.99634133e-01 -2.19545729e-02 1.57986480e-02 -8.54945077e+00] [ 2.19356175e-02 9.99758444e-01 1.37212197e-03 -1.66577337e-01] [-1.58249561e-02 -1.02506686e-03 9.99874252e-01 3.03373826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.428033874 meters 0.044862548578354894 Centerline is valid? [True, True] Translation: X:-8.58, Y:-0.16, Z:0.30 [[ 9.99677698e-01 -2.24682810e-02 1.18185017e-02 -8.58314794e+00] [ 2.24577220e-02 9.99747268e-01 1.02540133e-03 -1.59385936e-01] [-1.18385538e-02 -7.59654216e-04 9.99929633e-01 2.95144300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.458033874 meters 0.04361452980647611 Centerline is valid? [True, True] Translation: X:-8.61, Y:-0.16, Z:0.30 [[ 9.99583537e-01 -2.59592754e-02 1.26043361e-02 -8.61292636e+00] [ 2.59474991e-02 9.99662705e-01 1.09696586e-03 -1.63131489e-01] [-1.26285612e-02 -7.69458011e-04 9.99919960e-01 2.98392190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.488033874 meters 0.0440314571894757 Centerline is valid? [True, True] Translation: X:-8.64, Y:-0.16, Z:0.30 [[ 9.99549508e-01 -2.73306032e-02 1.24024198e-02 -8.64281028e+00] [ 2.73193013e-02 9.99626175e-01 1.07980029e-03 -1.63274327e-01] [-1.24272951e-02 -7.40488404e-04 9.99922504e-01 3.00469539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.518033874 meters 0.042586451032295976 Centerline is valid? [True, True] Translation: X:-8.67, Y:-0.17, Z:0.30 [[ 9.99524816e-01 -2.90698006e-02 1.02512891e-02 -8.67023572e+00] [ 2.90621591e-02 9.99577207e-01 8.93636663e-04 -1.73087780e-01] [-1.02729328e-02 -5.95287426e-04 9.99947055e-01 2.95244622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.548033874 meters 0.04235204414724477 Centerline is valid? [True, True] Translation: X:-8.70, Y:-0.17, Z:0.30 [[ 9.99425278e-01 -3.18908915e-02 1.14927691e-02 -8.70068390e+00] [ 3.18815066e-02 9.99491156e-01 9.98924742e-04 -1.71383890e-01] [-1.15187777e-02 -6.31943845e-04 9.99933457e-01 3.01391450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.578033873999999 meters 0.042064663738074944 Centerline is valid? [True, True] Translation: X:-8.73, Y:-0.17, Z:0.30 [[ 9.99404735e-01 -3.16870846e-02 1.36420260e-02 -8.72981854e+00] [ 3.16738324e-02 9.99497554e-01 1.18644127e-03 -1.67310770e-01] [-1.36727665e-02 -7.53639772e-04 9.99906239e-01 3.04415881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.608033874 meters 0.042064663738074944 Centerline is valid? [True, True] Translation: X:-8.76, Y:-0.17, Z:0.31 [[ 9.99406857e-01 -3.16200378e-02 1.36421043e-02 -8.75800740e+00] [ 3.16067917e-02 9.99499677e-01 1.18553981e-03 -1.69840805e-01] [-1.36727657e-02 -7.53653467e-04 9.99906239e-01 3.05404637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.638033874 meters 0.0425908007176323 Centerline is valid? [True, True] Translation: X:-8.79, Y:-0.17, Z:0.30 [[ 9.99471056e-01 -2.96572813e-02 1.33436686e-02 -8.78817240e+00] [ 2.96444551e-02 9.99559836e-01 1.15803177e-03 -1.68120059e-01] [-1.33721393e-02 -7.61853455e-04 9.99910299e-01 3.04605118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.668033874 meters 0.04393578666860155 Centerline is valid? [True, True] Translation: X:-8.82, Y:-0.17, Z:0.30 [[ 9.99587353e-01 -2.60309105e-02 1.21455655e-02 -8.81887475e+00] [ 2.60200296e-02 9.99660867e-01 1.05306512e-03 -1.72524478e-01] [-1.21688588e-02 -7.36602600e-04 9.99925685e-01 3.02277917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.698033874 meters 0.0440974922860121 Centerline is valid? [True, True] Translation: X:-8.85, Y:-0.18, Z:0.31 [[ 9.99614613e-01 -2.46895647e-02 1.26905476e-02 -8.84706488e+00] [ 2.46775603e-02 9.99694856e-01 1.10168137e-03 -1.78162956e-01] [-1.27138752e-02 -7.88085042e-04 9.99918865e-01 3.06402753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.728033874 meters 0.04464852711534912 Centerline is valid? [True, True] Translation: X:-8.88, Y:-0.17, Z:0.31 [[ 9.99638960e-01 -2.33990511e-02 1.32073514e-02 -8.87631450e+00] [ 2.33859624e-02 9.99725856e-01 1.14461170e-03 -1.71538096e-01] [-1.32305135e-02 -8.35331826e-04 9.99912124e-01 3.11968334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.758033874 meters 0.04492069277005405 Centerline is valid? [True, True] Translation: X:-8.91, Y:-0.17, Z:0.30 [[ 9.99695438e-01 -2.09413608e-02 1.30572298e-02 -8.90854707e+00] [ 2.09283747e-02 9.99780339e-01 1.13041851e-03 -1.65932817e-01] [-1.30780341e-02 -8.56807632e-04 9.99914112e-01 3.01264841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.788033874 meters 0.04597550949368372 Centerline is valid? [True, True] Translation: X:-8.94, Y:-0.16, Z:0.30 [[ 9.99710705e-01 -1.98217062e-02 1.36237403e-02 -8.94011428e+00] [ 1.98074664e-02 9.99803117e-01 1.17937806e-03 -1.63109723e-01] [-1.36444353e-02 -9.09185091e-04 9.99906497e-01 2.98918600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.818033874 meters 0.04901238239594588 Centerline is valid? [True, True] Translation: X:-8.97, Y:-0.16, Z:0.29 [[ 9.99783093e-01 -1.69854531e-02 1.20524196e-02 -8.97127107e+00] [ 1.69740948e-02 9.99855385e-01 1.04407834e-03 -1.58468002e-01] [-1.20684108e-02 -8.39272955e-04 9.99926822e-01 2.94696191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.848033874 meters 0.04593082828478857 Centerline is valid? [True, True] Translation: X:-9.00, Y:-0.17, Z:0.30 [[ 9.99741337e-01 -1.85943436e-02 1.30961781e-02 -8.99986908e+00] [ 1.85810635e-02 9.99826713e-01 1.13500423e-03 -1.69726014e-01] [-1.31150134e-02 -8.91369727e-04 9.99913597e-01 2.99448130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.878033874 meters 0.04494060070746985 Centerline is valid? [True, True] Translation: X:-9.03, Y:-0.17, Z:0.30 [[ 9.99666880e-01 -2.15329467e-02 1.42288537e-02 -9.03071851e+00] [ 2.15175735e-02 9.99767710e-01 1.23265128e-03 -1.73550505e-01] [-1.42520911e-02 -9.26070250e-04 9.99898005e-01 3.02951721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.908033874 meters 0.04422003469083593 Centerline is valid? [True, True] Translation: X:-9.06, Y:-0.18, Z:0.30 [[ 9.99622032e-01 -2.39572108e-02 1.34850061e-02 -9.06149326e+00] [ 2.39436244e-02 9.99712628e-01 1.16808886e-03 -1.76334769e-01] [-1.35091150e-02 -8.44767439e-04 9.99908391e-01 3.02390226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.938033874 meters 0.043594052878066995 Centerline is valid? [True, True] Translation: X:-9.09, Y:-0.18, Z:0.30 [[ 9.99573606e-01 -2.65992182e-02 1.20452272e-02 -9.09070111e+00] [ 2.65885480e-02 9.99645916e-01 1.04514548e-03 -1.83757624e-01] [-1.20687622e-02 -7.24434738e-04 9.99926907e-01 3.03544583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.968033874 meters 0.04403397305514289 Centerline is valid? [True, True] Translation: X:-9.12, Y:-0.19, Z:0.30 [[ 9.99522052e-01 -2.83542699e-02 1.23167444e-02 -9.11960740e+00] [ 2.83432357e-02 9.99597678e-01 1.06953751e-03 -1.86933723e-01] [-1.23421151e-02 -7.19929935e-04 9.99923574e-01 3.01777110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.998033873999999 meters 0.04501088621327812 Centerline is valid? [True, True] Translation: X:-9.15, Y:-0.19, Z:0.30 [[ 9.99536341e-01 -2.83478266e-02 1.11132524e-02 -9.14847976e+00] [ 2.83388480e-02 9.99597909e-01 9.64590270e-04 -1.85735200e-01] [-1.11361279e-02 -6.49206258e-04 9.99937781e-01 3.00503369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.028033874 meters 0.04530554342537083 Centerline is valid? [True, True] Translation: X:-9.18, Y:-0.19, Z:0.29 [[ 9.99572661e-01 -2.78542669e-02 8.86769670e-03 -9.17736178e+00] [ 2.78485323e-02 9.99611858e-01 7.69532427e-04 -1.91930966e-01] [-8.88568954e-03 -5.22251238e-04 9.99960385e-01 2.91442207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.058033874 meters 0.044867203677458965 Centerline is valid? [True, True] Translation: X:-9.20, Y:-0.20, Z:0.30 [[ 9.99593369e-01 -2.70338318e-02 9.07021159e-03 -9.20472222e+00] [ 2.70278042e-02 9.99634373e-01 7.86494055e-04 -2.00958301e-01] [-9.08815722e-03 -5.41026339e-04 9.99958555e-01 2.96519054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.088033874 meters 0.04360645140044933 Centerline is valid? [True, True] Translation: X:-9.23, Y:-0.21, Z:0.31 [[ 9.99543480e-01 -2.61460539e-02 1.51398560e-02 -9.23235186e+00] [ 2.61291952e-02 9.99657716e-01 1.31030523e-03 -2.07381449e-01] [-1.51689331e-02 -9.14114803e-04 9.99884527e-01 3.07546352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.118033874 meters 0.04396980545606104 Centerline is valid? [True, True] Translation: X:-9.26, Y:-0.21, Z:0.31 [[ 9.99559011e-01 -2.53168573e-02 1.55190405e-02 -9.26360786e+00] [ 2.52990854e-02 9.99679028e-01 1.34045047e-03 -2.05778771e-01] [-1.55479954e-02 -9.47241816e-04 9.99878674e-01 3.10530404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.148033874 meters 0.04404651336057394 Centerline is valid? [True, True] Translation: X:-9.29, Y:-0.21, Z:0.30 [[ 9.99664297e-01 -2.30373115e-02 1.18564885e-02 -9.29378409e+00] [ 2.30267737e-02 9.99734324e-01 1.02454337e-03 -2.08082459e-01] [-1.18769413e-02 -7.51182747e-04 9.99929184e-01 3.04368265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.178033874 meters 0.045929428323661765 Centerline is valid? [True, True] Translation: X:-9.32, Y:-0.21, Z:0.30 [[ 9.99710846e-01 -2.14265668e-02 1.09145478e-02 -9.32286801e+00] [ 2.14175326e-02 9.99770173e-01 9.43949555e-04 -2.14462208e-01] [-1.09322650e-02 -7.09913925e-04 9.99939989e-01 3.00222302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.208033874 meters 0.046359371537584716 Centerline is valid? [True, True] Translation: X:-9.35, Y:-0.22, Z:0.30 [[ 9.99770775e-01 -1.89632119e-02 9.93955899e-03 -9.35197224e+00] [ 1.89556010e-02 9.99819957e-01 8.59377635e-04 -2.20814043e-01] [-9.95406600e-03 -6.70770330e-04 9.99950232e-01 2.96569209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.238033874 meters 0.04766668873879012 Centerline is valid? [True, True] Translation: X:-9.38, Y:-0.22, Z:0.30 [[ 9.99824136e-01 -1.70344730e-02 7.84365353e-03 -9.38213968e+00] [ 1.70296780e-02 9.99854755e-01 6.77705816e-04 -2.22067752e-01] [-7.85405864e-03 -5.44011738e-04 9.99969008e-01 2.96590433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.268033874 meters 0.04778663189400643 Centerline is valid? [True, True] Translation: X:-9.41, Y:-0.24, Z:0.30 [[ 9.99896912e-01 -1.14998972e-02 8.59751270e-03 -9.41020080e+00] [ 1.14939322e-02 9.99933667e-01 7.42895592e-04 -2.37002825e-01] [-8.60548562e-03 -6.43999781e-04 9.99962765e-01 2.99535832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.298033874 meters 0.049742764685481916 Centerline is valid? [True, True] Translation: X:-9.44, Y:-0.24, Z:0.30 [[ 9.99913072e-01 -9.61918209e-03 9.01770176e-03 -9.44151900e+00] [ 9.61256028e-03 9.99953496e-01 7.77368068e-04 -2.38345183e-01] [-9.02476005e-03 -6.90617292e-04 9.99959038e-01 3.01169073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.328033873999999 meters 0.04989924691237363 Centerline is valid? [True, True] Translation: X:-9.47, Y:-0.24, Z:0.31 [[ 9.99942577e-01 -4.00647567e-03 9.93937738e-03 -9.47082406e+00] [ 3.99814552e-03 9.99991639e-01 8.57824311e-04 -2.44368240e-01] [-9.94273114e-03 -8.18035975e-04 9.99950235e-01 3.06184603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.358033874 meters 0.05003599606039132 Centerline is valid? [True, True] Translation: X:-9.50, Y:-0.25, Z:0.31 [[ 9.99942662e-01 -2.66112104e-03 1.03726546e-02 -9.50144567e+00] [ 2.65198089e-03 9.99996083e-01 8.94831690e-04 -2.54933024e-01] [-1.03749952e-02 -8.67272300e-04 9.99945802e-01 3.05916793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.388033874 meters 0.04972761299715321 Centerline is valid? [True, True] Translation: X:-9.53, Y:-0.27, Z:0.31 [[ 9.99941320e-01 -3.72100581e-03 1.01740209e-02 -9.53206796e+00] [ 3.71231041e-03 9.99992728e-01 8.73418893e-04 -2.71491999e-01] [-1.01771969e-02 -8.35598517e-04 9.99947862e-01 3.06919378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.418033873999999 meters 0.05210515088327579 Centerline is valid? [True, True] Translation: X:-9.56, Y:-0.28, Z:0.31 [[ 9.99942006e-01 -5.36963892e-03 9.33553058e-03 -9.56365404e+00] [ 5.36234969e-03 9.99985298e-01 8.05661229e-04 -2.76867473e-01] [-9.33971944e-03 -7.55554126e-04 9.99956098e-01 3.05962141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.448033874 meters 0.052901228337969924 Centerline is valid? [True, True] Translation: X:-9.59, Y:-0.29, Z:0.31 [[ 9.99955139e-01 -4.29446253e-03 8.44255821e-03 -9.59401847e+00] [ 4.28844074e-03 9.99990537e-01 7.31239083e-04 -2.90011641e-01] [-8.44561860e-03 -6.95000869e-04 9.99964094e-01 3.07789888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.478033874 meters 0.049381939980419357 Centerline is valid? [True, True] Translation: X:-9.62, Y:-0.32, Z:0.32 [[ 9.99922358e-01 -5.82190749e-03 1.10173928e-02 -9.62130987e+00] [ 5.81173239e-03 9.99982655e-01 9.55340144e-04 -3.18201902e-01] [-1.10227636e-02 -8.91235832e-04 9.99938850e-01 3.16902778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.508033874 meters 0.04956740587824591 Centerline is valid? [True, True] Translation: X:-9.65, Y:-0.34, Z:0.32 [[ 9.99943814e-01 -6.23498298e-03 8.57280432e-03 -9.65243498e+00] [ 6.22888704e-03 9.99980328e-01 7.37595495e-04 -3.36462864e-01] [-8.57723457e-03 -6.84155023e-04 9.99962981e-01 3.15771038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.538033874 meters 0.0508046201354467 Centerline is valid? [True, True] Translation: X:-9.68, Y:-0.35, Z:0.31 [[ 9.99953901e-01 -6.08525865e-03 7.42737400e-03 -9.68392865e+00] [ 6.08067414e-03 9.99981308e-01 6.39670886e-04 -3.46900041e-01] [-7.43112773e-03 -5.94477957e-04 9.99972212e-01 3.12151278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.568033874 meters 0.04843191769084541 Centerline is valid? [True, True] Translation: X:-9.71, Y:-0.37, Z:0.32 [[ 9.99884052e-01 -8.17793882e-03 1.28453971e-02 -9.71119428e+00] [ 8.16421460e-03 9.99966044e-01 1.12049221e-03 -3.70831554e-01] [-1.28541242e-02 -1.01548971e-03 9.99916867e-01 3.24221757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.598033874 meters 0.0488529845090122 Centerline is valid? [True, True] Translation: X:-9.74, Y:-0.38, Z:0.33 [[ 9.99851397e-01 -8.77712763e-03 1.48373079e-02 -9.74221505e+00] [ 8.75894775e-03 9.99960808e-01 1.28982270e-03 -3.84332241e-01] [-1.48480473e-02 -1.15967182e-03 9.99889089e-01 3.28661529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.628033874 meters 0.05145250697130402 Centerline is valid? [True, True] Translation: X:-9.77, Y:-0.39, Z:0.32 [[ 9.99959643e-01 -6.11515563e-03 6.58160640e-03 -9.77300838e+00] [ 6.11149983e-03 9.99981159e-01 5.75426486e-04 -3.94702390e-01] [-6.58500122e-03 -5.35179777e-04 9.99978175e-01 3.18054818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.658033874 meters 0.050686013992506475 Centerline is valid? [True, True] Translation: X:-9.80, Y:-0.41, Z:0.32 [[ 9.99968517e-01 -3.19852875e-03 7.26178888e-03 -9.80125871e+00] [ 3.19399792e-03 9.99994697e-01 6.35439935e-04 -4.14077743e-01] [-7.26378285e-03 -6.12225791e-04 9.99973431e-01 3.20555319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.688033874 meters 0.053295694753123325 Centerline is valid? [True, True] Translation: X:-9.83, Y:-0.42, Z:0.33 [[ 9.99913809e-01 8.54712673e-04 1.31013179e-02 -9.83133888e+00] [-8.69801443e-04 9.99998965e-01 1.14604388e-03 -4.23219510e-01] [-1.31003248e-02 -1.15734065e-03 9.99913517e-01 3.26487419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.718033874 meters 0.04965052493890937 Centerline is valid? [True, True] Translation: X:-9.86, Y:-0.45, Z:0.33 [[ 9.99928780e-01 2.82001745e-03 1.15966216e-02 -9.85876402e+00] [-2.83197632e-03 9.99995475e-01 1.01494558e-03 -4.53300380e-01] [-1.15937069e-02 -1.04771465e-03 9.99932242e-01 3.29217741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.748033873999999 meters 0.05299967010342649 Centerline is valid? [True, True] Translation: X:-9.89, Y:-0.47, Z:0.34 [[ 9.99971927e-01 1.76879149e-03 7.28123944e-03 -9.88973933e+00] [-1.77342857e-03 9.99998229e-01 6.30445758e-04 -4.65949291e-01] [-7.28011142e-03 -6.43340817e-04 9.99973293e-01 3.35310740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.778033874 meters 0.05665264336829082 Centerline is valid? [True, True] Translation: X:-9.92, Y:-0.48, Z:0.32 [[ 9.99981842e-01 4.42282608e-03 4.09326555e-03 -9.92033417e+00] [-4.42433280e-03 9.99990148e-01 3.59115465e-04 -4.78264139e-01] [-4.09163692e-03 -3.77218913e-04 9.99991558e-01 3.19514403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.808033874 meters 0.05580368636708036 Centerline is valid? [True, True] Translation: X:-9.95, Y:-0.50, Z:0.32 [[ 9.99954533e-01 6.97268495e-03 6.50496098e-03 -9.94970870e+00] [-6.97654202e-03 9.99975501e-01 5.70438990e-04 -4.97843692e-01] [-6.50082412e-03 -6.15795187e-04 9.99978680e-01 3.18842699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.838033874 meters 0.055111693296407846 Centerline is valid? [True, True] Translation: X:-9.98, Y:-0.51, Z:0.33 [[ 9.99884366e-01 1.00767118e-02 1.13891936e-02 -9.97862336e+00] [-1.00887441e-02 9.99948608e-01 9.99507135e-04 -5.13540134e-01] [-1.13785365e-02 -1.11429422e-03 9.99934641e-01 3.33642147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.868033874 meters 0.05430874421429811 Centerline is valid? [True, True] Translation: X:-10.01, Y:-0.53, Z:0.34 [[ 9.99829479e-01 1.33584291e-02 1.27501010e-02 -1.00060155e+01] [-1.33737859e-02 9.99909940e-01 1.11993910e-03 -5.33353153e-01] [-1.27339921e-02 -1.29026525e-03 9.99918087e-01 3.36922257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.898033874 meters 0.057172593924801354 Centerline is valid? [True, True] Translation: X:-10.04, Y:-0.56, Z:0.33 [[ 9.99854860e-01 1.29095201e-02 1.11177194e-02 -1.00364139e+01] [-1.29211016e-02 9.99916048e-01 9.70507077e-04 -5.62577002e-01] [-1.11042572e-02 -1.11401940e-03 9.99937725e-01 3.29040087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.928033874 meters 0.054560410572050064 Centerline is valid? [True, True] Translation: X:-10.06, Y:-0.59, Z:0.34 [[ 9.99884426e-01 1.07142538e-02 1.07860366e-02 -1.00634034e+01] [-1.07251146e-02 9.99942033e-01 9.49596948e-04 -5.91175057e-01] [-1.07752371e-02 -1.06516868e-03 9.99941378e-01 3.37860322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.958033874 meters 0.05481105691440034 Centerline is valid? [True, True] Translation: X:-10.09, Y:-0.61, Z:0.33 [[ 9.99903447e-01 9.71431173e-03 9.93622903e-03 -1.00938909e+01] [-9.72342074e-03 9.99952349e-01 8.68848987e-04 -6.12858956e-01] [-9.92731529e-03 -9.65379232e-04 9.99950257e-01 3.34896090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.988033874 meters 0.05495770868991475 Centerline is valid? [True, True] Translation: X:-10.12, Y:-0.63, Z:0.34 [[ 9.99927891e-01 7.65472433e-03 9.25296029e-03 -1.01229026e+01] [-7.66260195e-03 9.99970309e-01 8.16210005e-04 -6.31838722e-01] [-9.24643769e-03 -8.87052901e-04 9.99956857e-01 3.35528105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.018033874 meters 0.05287014676055218 Centerline is valid? [True, True] Translation: X:-10.15, Y:-0.66, Z:0.34 [[ 9.99911926e-01 6.83883274e-03 1.13741524e-02 -1.01508432e+01] [-6.85068778e-03 9.99976030e-01 1.00364409e-03 -6.59038896e-01] [-1.13670160e-02 -1.08147646e-03 9.99934809e-01 3.36169283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.048033874 meters 0.05236267381454799 Centerline is valid? [True, True] Translation: X:-10.18, Y:-0.68, Z:0.35 [[ 9.99903832e-01 6.65138727e-03 1.21690852e-02 -1.01810230e+01] [-6.66488705e-03 9.99977218e-01 1.06913196e-03 -6.79823821e-01] [-1.21616967e-02 -1.15013472e-03 9.99925382e-01 3.46429433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.078033873999999 meters 0.05161320630295708 Centerline is valid? [True, True] Translation: X:-10.21, Y:-0.70, Z:0.35 [[ 9.99916729e-01 5.78373009e-03 1.15361687e-02 -1.02102877e+01] [-5.79583554e-03 9.99982688e-01 1.01619152e-03 -7.02996895e-01] [-1.15300916e-02 -1.08296863e-03 9.99932940e-01 3.46531437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.108033874 meters 0.05174878090966469 Centerline is valid? [True, True] Translation: X:-10.24, Y:-0.72, Z:0.35 [[ 9.99896270e-01 6.54792217e-03 1.28286003e-02 -1.02410591e+01] [-6.56303846e-03 9.99977817e-01 1.13658210e-03 -7.23262544e-01] [-1.28208735e-02 -1.22065880e-03 9.99917064e-01 3.54526606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.138033874 meters 0.0515598298885405 Centerline is valid? [True, True] Translation: X:-10.27, Y:-0.75, Z:0.35 [[ 9.99888657e-01 6.42071351e-03 1.34702717e-02 -1.02728910e+01] [-6.43733290e-03 9.99978571e-01 1.19078729e-03 -7.45093322e-01] [-1.34623373e-02 -1.27736733e-03 9.99908563e-01 3.51641890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.168033873999999 meters 0.05429442330382547 Centerline is valid? [True, True] Translation: X:-10.30, Y:-0.75, Z:0.36 [[ 9.99914263e-01 5.90701573e-03 1.16865227e-02 -1.03045726e+01] [-5.91952133e-03 9.99981943e-01 1.03578622e-03 -7.51022107e-01] [-1.16801933e-02 -1.10487604e-03 9.99931174e-01 3.59468832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.198033874 meters 0.05506212103882771 Centerline is valid? [True, True] Translation: X:-10.34, Y:-0.76, Z:0.35 [[ 9.99912196e-01 7.24799670e-03 1.10935338e-02 -1.03354486e+01] [-7.25942036e-03 9.99973160e-01 9.89836458e-04 -7.61371047e-01] [-1.10860617e-02 -1.07028217e-03 9.99937975e-01 3.50979650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.228033874 meters 0.057062378180974795 Centerline is valid? [True, True] Translation: X:-10.37, Y:-0.77, Z:0.35 [[ 9.99887534e-01 8.13724761e-03 1.25978358e-02 -1.03670319e+01] [-8.15205147e-03 9.99966140e-01 1.12420573e-03 -7.70462296e-01] [-1.25882613e-02 -1.22677750e-03 9.99920012e-01 3.47954248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.258033874 meters 0.0548814225936739 Centerline is valid? [True, True] Translation: X:-10.39, Y:-0.79, Z:0.36 [[ 9.99869747e-01 1.12959799e-02 1.15277678e-02 -1.03946301e+01] [-1.13086167e-02 9.99935523e-01 1.03161221e-03 -7.90597217e-01] [-1.15153714e-02 -1.16184095e-03 9.99933021e-01 3.55818208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.288033874 meters 0.05926829831661653 Centerline is valid? [True, True] Translation: X:-10.42, Y:-0.79, Z:0.35 [[ 9.99822728e-01 1.58519254e-02 1.01601912e-02 -1.04248751e+01] [-1.58619686e-02 9.99873778e-01 9.08653855e-04 -7.93231919e-01] [-1.01445049e-02 -1.06965341e-03 9.99947971e-01 3.52664537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.318033874 meters 0.05568720182583448 Centerline is valid? [True, True] Translation: X:-10.45, Y:-0.82, Z:0.36 [[ 9.99794853e-01 1.64743315e-02 1.17833561e-02 -1.04542778e+01] [-1.64878275e-02 9.99863516e-01 1.04911863e-03 -8.17035199e-01] [-1.17644643e-02 -1.24318535e-03 9.99930023e-01 3.59255827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.348033874 meters 0.05424923252559617 Centerline is valid? [True, True] Translation: X:-10.48, Y:-0.84, Z:0.36 [[ 9.99760880e-01 1.56663099e-02 1.52561640e-02 -1.04840544e+01] [-1.56889749e-02 9.99875986e-01 1.36707069e-03 -8.35502619e-01] [-1.52328551e-02 -1.60609737e-03 9.99882683e-01 3.64336081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.378033874 meters 0.05818357227558704 Centerline is valid? [True, True] Translation: X:-10.51, Y:-0.84, Z:0.37 [[ 9.99779098e-01 1.38965652e-02 1.57683233e-02 -1.05145774e+01] [-1.39205733e-02 9.99902105e-01 1.41381198e-03 -8.43263939e-01] [-1.57471325e-02 -1.63300377e-03 9.99874673e-01 3.66475876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.408033874 meters 0.052956097139927674 Centerline is valid? [True, True] Translation: X:-10.54, Y:-0.87, Z:0.38 [[ 9.99823930e-01 1.07076380e-02 1.54095887e-02 -1.05414093e+01] [-1.07301885e-02 9.99941476e-01 1.38146557e-03 -8.72357329e-01] [-1.53938947e-02 -1.54657013e-03 9.99880311e-01 3.83092441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.438033874 meters 0.05622898087502715 Centerline is valid? [True, True] Translation: X:-10.57, Y:-0.87, Z:0.38 [[ 9.99839383e-01 7.83702825e-03 1.61179581e-02 -1.05730986e+01] [-7.86135046e-03 9.99968053e-01 1.44620785e-03 -8.69999835e-01] [-1.61061092e-02 -1.57268448e-03 9.99869051e-01 3.75103427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.468033874 meters 0.0541696475289511 Centerline is valid? [True, True] Translation: X:-10.60, Y:-0.90, Z:0.37 [[ 9.99888279e-01 4.81569131e-03 1.41505768e-02 -1.06008595e+01] [-4.83413658e-03 9.99987510e-01 1.26958417e-03 -8.95026230e-01] [-1.41442862e-02 -1.33784815e-03 9.99899070e-01 3.69491427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.498033873999999 meters 0.05039031128649785 Centerline is valid? [True, True] Translation: X:-10.63, Y:-0.92, Z:0.37 [[ 9.99913141e-01 3.66561728e-03 1.26599046e-02 -1.06305122e+01] [-3.68023679e-03 9.99992588e-01 1.13168453e-03 -9.15400155e-01] [-1.26556624e-02 -1.17817768e-03 9.99919220e-01 3.69456929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.528033874 meters 0.05039031128649785 Centerline is valid? [True, True] Translation: X:-10.66, Y:-0.92, Z:0.37 [[ 9.99914059e-01 3.40663471e-03 1.26597673e-02 -1.06631171e+01] [-3.42125290e-03 9.99993505e-01 1.13321881e-03 -9.18193692e-01] [-1.26558246e-02 -1.17643368e-03 9.99919220e-01 3.70595642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.558033874 meters 0.050129435653595546 Centerline is valid? [True, True] Translation: X:-10.69, Y:-0.94, Z:0.37 [[ 9.99936396e-01 8.04697503e-04 1.12497336e-02 -1.06922999e+01] [-8.16163642e-04 9.99999152e-01 1.01468270e-03 -9.37401010e-01] [-1.12489075e-02 -1.02379979e-03 9.99936205e-01 3.74233464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.588033873999999 meters 0.05336632493305982 Centerline is valid? [True, True] Translation: X:-10.72, Y:-0.94, Z:0.38 [[ 9.99908653e-01 1.53678860e-03 1.34284827e-02 -1.07247511e+01] [-1.55313554e-03 9.99998065e-01 1.20698983e-03 -9.37511390e-01] [-1.34266018e-02 -1.22773583e-03 9.99909105e-01 3.77325498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.618033874 meters 0.05091887518026133 Centerline is valid? [True, True] Translation: X:-10.75, Y:-0.95, Z:0.38 [[ 9.99918078e-01 3.90637205e-03 1.21892260e-02 -1.07530649e+01] [-3.92010657e-03 9.99991708e-01 1.10308643e-03 -9.51635343e-01] [-1.21848158e-02 -1.15077913e-03 9.99925100e-01 3.82866228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.648033874 meters 0.05002557154897576 Centerline is valid? [True, True] Translation: X:-10.78, Y:-0.97, Z:0.38 [[ 9.99943865e-01 3.86313396e-03 9.86622183e-03 -1.07834237e+01] [-3.87207353e-03 9.99992110e-01 8.87137642e-04 -9.65055255e-01] [-9.86271685e-03 -9.25290579e-04 9.99950934e-01 3.78296934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.678033874 meters 0.05288798478294726 Centerline is valid? [True, True] Translation: X:-10.81, Y:-0.98, Z:0.38 [[ 9.99954420e-01 3.96581929e-03 8.68502052e-03 -1.08149640e+01] [-3.97275455e-03 9.99991803e-01 7.81424838e-04 -9.78317779e-01] [-8.68185034e-03 -8.15892676e-04 9.99961979e-01 3.75482532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.708033874 meters 0.05472148764464589 Centerline is valid? [True, True] Translation: X:-10.85, Y:-0.99, Z:0.38 [[ 9.99928891e-01 5.40320989e-03 1.06310184e-02 -1.08453726e+01] [-5.41377967e-03 9.99984879e-01 9.65713080e-04 -9.85428070e-01] [-1.06256397e-02 -1.02319840e-03 9.99943023e-01 3.79760340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.738033874 meters 0.05183112111717397 Centerline is valid? [True, True] Translation: X:-10.87, Y:-1.00, Z:0.39 [[ 9.99921624e-01 4.50633966e-03 1.16806839e-02 -1.08748681e+01] [-4.51899760e-03 9.99989230e-01 1.05749757e-03 -9.99782896e-01] [-1.16757926e-02 -1.11019967e-03 9.99931219e-01 3.90161330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.768033874 meters 0.04867213040142467 Centerline is valid? [True, True] Translation: X:-10.90, Y:-1.02, Z:0.39 [[ 9.99899609e-01 2.82861545e-03 1.38841840e-02 -1.09030726e+01] [-2.84645441e-03 9.99995148e-01 1.26524773e-03 -1.02205121e+00] [-1.38805377e-02 -1.30464141e-03 9.99902810e-01 3.91334560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.798033874 meters 0.04779629110338496 Centerline is valid? [True, True] Translation: X:-10.93, Y:-1.03, Z:0.40 [[ 9.99868761e-01 6.08334454e-05 1.62005278e-02 -1.09322207e+01] [-8.47705407e-05 9.99998906e-01 1.47686773e-03 -1.03457168e+00] [-1.62004202e-02 -1.47804723e-03 9.99867672e-01 3.96242470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.828033873999999 meters 0.05119392939007667 Centerline is valid? [True, True] Translation: X:-10.97, Y:-1.03, Z:0.40 [[ 9.99898251e-01 1.64000895e-04 1.42639981e-02 -1.09650656e+01] [-1.82502455e-04 9.99999144e-01 1.29578893e-03 -1.02846025e+00] [-1.42637734e-02 -1.29826030e-03 9.99897424e-01 3.95160707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.858033874 meters 0.05029944673078926 Centerline is valid? [True, True] Translation: X:-10.99, Y:-1.03, Z:0.39 [[ 9.99946705e-01 1.50432623e-03 1.02139497e-02 -1.09949881e+01] [-1.51394047e-03 9.99998418e-01 9.33619245e-04 -1.03191220e+00] [-1.02125291e-02 -9.49032800e-04 9.99947400e-01 3.93729837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.888033874 meters 0.053893052363778615 Centerline is valid? [True, True] Translation: X:-11.03, Y:-1.03, Z:0.39 [[ 9.99938388e-01 2.92529812e-03 1.07080463e-02 -1.10268115e+01] [-2.93593734e-03 9.99995212e-01 9.77987707e-04 -1.03022076e+00] [-1.07051341e-02 -1.00936560e-03 9.99942189e-01 3.89103070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.918033873999999 meters 0.05055898325787744 Centerline is valid? [True, True] Translation: X:-11.05, Y:-1.04, Z:0.40 [[ 9.99925789e-01 6.33195756e-03 1.04077901e-02 -1.10546213e+01] [-6.34220301e-03 9.99979435e-01 9.51691298e-04 -1.04487269e+00] [-1.04015500e-02 -1.01762899e-03 9.99945385e-01 3.97380583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.948033874 meters 0.05537043998586704 Centerline is valid? [True, True] Translation: X:-11.09, Y:-1.03, Z:0.40 [[ 9.99905937e-01 1.08559979e-02 8.38236507e-03 -1.10864821e+01] [-1.08628002e-02 9.99940704e-01 7.66390857e-04 -1.03388047e+00] [-8.37354809e-03 -8.57374725e-04 9.99964574e-01 3.95318979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.978033874 meters 0.05299577443842741 Centerline is valid? [True, True] Translation: X:-11.12, Y:-1.05, Z:0.39 [[ 9.99894034e-01 1.27473562e-02 7.03037736e-03 -1.11154375e+01] [-1.27521897e-02 9.99918481e-01 6.43121109e-04 -1.04620160e+00] [-7.02160616e-03 -7.32705666e-04 9.99975080e-01 3.90688293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.008033874 meters 0.05510279175464117 Centerline is valid? [True, True] Translation: X:-11.15, Y:-1.05, Z:0.39 [[ 9.99892994e-01 1.20127552e-02 8.34828606e-03 -1.11473052e+01] [-1.20194949e-02 9.99927476e-01 7.57604401e-04 -1.04752473e+00] [-8.33857970e-03 -8.57865515e-04 9.99964865e-01 3.91226337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.038033874 meters 0.05525028703848535 Centerline is valid? [True, True] Translation: X:-11.18, Y:-1.05, Z:0.40 [[ 9.99887126e-01 1.14753432e-02 9.69800213e-03 -1.11788288e+01] [-1.14844820e-02 9.99933658e-01 8.87169111e-04 -1.05087360e+00] [-9.68717817e-03 -9.98445503e-04 9.99952580e-01 3.96839533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.068033874 meters 0.053398378250839276 Centerline is valid? [True, True] Translation: X:-11.21, Y:-1.06, Z:0.40 [[ 9.99917738e-01 6.06395722e-03 1.13025017e-02 -1.12083263e+01] [-6.07605521e-03 9.99981004e-01 1.03635026e-03 -1.05667277e+00] [-1.12960026e-02 -1.10493963e-03 9.99935588e-01 4.01401029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.098033874 meters 0.04993167632764509 Centerline is valid? [True, True] Translation: X:-11.24, Y:-1.07, Z:0.40 [[ 9.99928092e-01 1.35478794e-03 1.19153237e-02 -1.12368117e+01] [-1.36789977e-03 9.99998468e-01 1.09233639e-03 -1.06760583e+00] [-1.19138256e-02 -1.10855681e-03 9.99928413e-01 4.03444504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.128033874 meters 0.05293644577048578 Centerline is valid? [True, True] Translation: X:-11.27, Y:-1.06, Z:0.40 [[ 9.99917365e-01 -5.44428666e-03 1.16457103e-02 -1.12683147e+01] [ 5.43221169e-03 9.99984675e-01 1.06824124e-03 -1.06043899e+00] [-1.16513476e-02 -1.00489100e-03 9.99931616e-01 4.04247144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.158033874 meters 0.0508758580210614 Centerline is valid? [True, True] Translation: X:-11.30, Y:-1.07, Z:0.40 [[ 9.99886636e-01 -9.40472871e-03 1.17586328e-02 -1.12979190e+01] [ 9.39270716e-03 9.99955307e-01 1.07716752e-03 -1.06652657e+00] [-1.17682378e-02 -9.66600017e-04 9.99930285e-01 4.00684382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.188033874 meters 0.0464900398283719 Centerline is valid? [True, True] Translation: X:-11.33, Y:-1.08, Z:0.41 [[ 9.99852235e-01 -1.31111729e-02 1.11178119e-02 -1.13264900e+01] [ 1.31006243e-02 9.99913662e-01 1.02110655e-03 -1.07885704e+00] [-1.11302399e-02 -8.75305386e-04 9.99937674e-01 4.05660747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.218033874 meters 0.04907990035854838 Centerline is valid? [True, True] Translation: X:-11.36, Y:-1.07, Z:0.41 [[ 9.99842533e-01 -1.47680015e-02 9.83945842e-03 -1.13592850e+01] [ 1.47598754e-02 9.99890664e-01 8.97980738e-04 -1.06930553e+00] [-9.85164400e-03 -7.52610155e-04 9.99951188e-01 4.05304222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.248033873999999 meters 0.049278162241790206 Centerline is valid? [True, True] Translation: X:-11.39, Y:-1.07, Z:0.42 [[ 9.99840665e-01 -1.43788789e-02 1.05779362e-02 -1.13908326e+01] [ 1.43694137e-02 9.99896284e-01 9.70262148e-04 -1.06694243e+00] [-1.05907904e-02 -8.18108809e-04 9.99943581e-01 4.15382838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.278033874 meters 0.052495494853325275 Centerline is valid? [True, True] Translation: X:-11.42, Y:-1.05, Z:0.40 [[ 9.99897168e-01 -8.10757828e-03 1.18287773e-02 -1.14228768e+01] [ 8.09524413e-03 9.99966639e-01 1.09023266e-03 -1.05322958e+00] [-1.18372218e-02 -9.94363709e-04 9.99929443e-01 4.00463572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.308033874 meters 0.049999782014832815 Centerline is valid? [True, True] Translation: X:-11.45, Y:-1.07, Z:0.40 [[ 9.99957662e-01 -2.87645471e-03 8.74069144e-03 -1.14514324e+01] [ 2.86952089e-03 9.99995558e-01 8.05718038e-04 -1.06507933e+00] [-8.74297022e-03 -7.80602329e-04 9.99961475e-01 3.98269254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.338033873999999 meters 0.0526980606204496 Centerline is valid? [True, True] Translation: X:-11.48, Y:-1.05, Z:0.39 [[ 9.99981416e-01 4.97419189e-05 6.09625044e-03 -1.14830813e+01] [-5.31665569e-05 9.99999841e-01 5.61600607e-04 -1.05270289e+00] [-6.09622154e-03 -5.61914287e-04 9.99981260e-01 3.92363636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.368033874 meters 0.05651491028552946 Centerline is valid? [True, True] Translation: X:-11.52, Y:-1.03, Z:0.39 [[ 9.99984102e-01 7.81224422e-04 5.58434876e-03 -1.15167007e+01] [-7.84103960e-04 9.99999561e-01 5.13473553e-04 -1.02921172e+00] [-5.58394517e-03 -5.17844100e-04 9.99984276e-01 3.93797268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.398033874 meters 0.05053678687257212 Centerline is valid? [True, True] Translation: X:-11.55, Y:-1.04, Z:0.40 [[ 9.99961160e-01 5.33942229e-04 8.79733443e-03 -1.15457797e+01] [-5.41090989e-04 9.99999525e-01 8.10245188e-04 -1.03513015e+00] [-8.79689763e-03 -8.14973877e-04 9.99960974e-01 4.02495405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.428033874 meters 0.05217586199211265 Centerline is valid? [True, True] Translation: X:-11.58, Y:-1.03, Z:0.40 [[ 9.99922011e-01 4.19354245e-04 1.24817964e-02 -1.15785135e+01] [-4.33728409e-04 9.99999246e-01 1.14892554e-03 -1.03257763e+00] [-1.24813052e-02 -1.15424964e-03 9.99921439e-01 4.02150327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.458033874 meters 0.05214065752593708 Centerline is valid? [True, True] Translation: X:-11.61, Y:-1.04, Z:0.40 [[ 9.99887110e-01 -1.74786405e-04 1.50245280e-02 -1.16108644e+01] [ 1.54002582e-04 9.99999030e-01 1.38447207e-03 -1.03512361e+00] [-1.50247554e-02 -1.38200196e-03 9.99886167e-01 3.99817725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.488033874 meters 0.0503312622926868 Centerline is valid? [True, True] Translation: X:-11.64, Y:-1.03, Z:0.39 [[ 9.99943825e-01 -5.31484292e-03 9.17056687e-03 -1.16409271e+01] [ 5.30731953e-03 9.99985559e-01 8.44525951e-04 -1.03347590e+00] [-9.17492296e-03 -7.95807381e-04 9.99957593e-01 3.94278244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.518033874 meters 0.04961550316972773 Centerline is valid? [True, True] Translation: X:-11.67, Y:-1.03, Z:0.39 [[ 9.99942010e-01 -8.00545766e-03 7.20345521e-03 -1.16727617e+01] [ 8.00087394e-03 9.99967771e-01 6.64916046e-04 -1.03038652e+00] [-7.20854601e-03 -6.07243550e-04 9.99973834e-01 3.89539604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.548033874 meters 0.04827742457785729 Centerline is valid? [True, True] Translation: X:-11.70, Y:-1.03, Z:0.39 [[ 9.99906963e-01 -9.85529519e-03 9.43077353e-03 -1.17026941e+01] [ 9.84751093e-03 9.99951132e-01 8.71492491e-04 -1.03051898e+00] [-9.43890148e-03 -7.78541764e-04 9.99955149e-01 3.92597009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.578033873999999 meters 0.051029756961545526 Centerline is valid? [True, True] Translation: X:-11.74, Y:-1.02, Z:0.39 [[ 9.99886734e-01 -9.57841285e-03 1.16091456e-02 -1.17375839e+01] [ 9.56667480e-03 9.99953670e-01 1.06621660e-03 -1.01690655e+00] [-1.16188204e-02 -9.55034909e-04 9.99932043e-01 3.90013702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.608033874 meters 0.051521515100958266 Centerline is valid? [True, True] Translation: X:-11.77, Y:-1.01, Z:0.39 [[ 9.99907538e-01 -8.00147275e-03 1.09950761e-02 -1.17695813e+01] [ 7.99075712e-03 9.99967555e-01 1.01817058e-03 -1.00907293e+00] [-1.10028663e-02 -9.30217452e-04 9.99939034e-01 3.88496664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.638033874 meters 0.05009309132498306 Centerline is valid? [True, True] Translation: X:-11.80, Y:-1.00, Z:0.39 [[ 9.99893303e-01 -7.88542605e-03 1.22964264e-02 -1.18018810e+01] [ 7.87207255e-03 9.99968372e-01 1.13399029e-03 -1.00427701e+00] [-1.23049795e-02 -1.03707094e-03 9.99923753e-01 3.90737862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.668033873999999 meters 0.048842733353675755 Centerline is valid? [True, True] Translation: X:-11.83, Y:-1.00, Z:0.39 [[ 9.99872804e-01 -7.27727575e-03 1.41921221e-02 -1.18331988e+01] [ 7.25935162e-03 9.99972787e-01 1.31407056e-03 -1.00354750e+00] [-1.42012988e-02 -1.21087781e-03 9.99898423e-01 3.92818467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.698033874 meters 0.04939795621887293 Centerline is valid? [True, True] Translation: X:-11.87, Y:-0.98, Z:0.38 [[ 9.99954540e-01 -3.24021275e-03 8.96760624e-03 -1.18657247e+01] [ 3.23285156e-03 9.99994426e-01 8.35238794e-04 -9.84522143e-01] [-8.97026260e-03 -8.06209885e-04 9.99959441e-01 3.79206318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.728033874 meters 0.05554534710912119 Centerline is valid? [True, True] Translation: X:-11.90, Y:-0.95, Z:0.37 [[ 9.99977921e-01 -1.15949681e-03 6.54320615e-03 -1.19000808e+01] [ 1.15553608e-03 9.99999147e-01 6.09067213e-04 -9.52631487e-01] [-6.54390678e-03 -6.01492854e-04 9.99978408e-01 3.69878913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.758033874 meters 0.05135399023689235 Centerline is valid? [True, True] Translation: X:-11.93, Y:-0.95, Z:0.37 [[ 9.99938836e-01 -7.38441030e-04 1.10353501e-02 -1.19312693e+01] [ 7.27200378e-04 9.99999213e-01 1.02258188e-03 -9.50612450e-01] [-1.10360966e-02 -1.01449442e-03 9.99938586e-01 3.72110112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.788033874 meters 0.05250870122208744 Centerline is valid? [True, True] Translation: X:-11.96, Y:-0.94, Z:0.38 [[ 9.99910086e-01 2.43390191e-04 1.34074508e-02 -1.19649741e+01] [-2.60124113e-04 9.99999189e-01 1.24637642e-03 -9.38636069e-01] [-1.34071366e-02 -1.24975195e-03 9.99909339e-01 3.77845176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.818033874 meters 0.05157853937756786 Centerline is valid? [True, True] Translation: X:-11.99, Y:-0.94, Z:0.37 [[ 9.99946791e-01 1.86562461e-03 1.01456990e-02 -1.19949035e+01] [-1.87534809e-03 9.99997791e-01 9.48955225e-04 -9.43258266e-01] [-1.01439062e-02 -9.67931449e-04 9.99948081e-01 3.74317315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.848033874 meters 0.053355151785592095 Centerline is valid? [True, True] Translation: X:-12.03, Y:-0.93, Z:0.36 [[ 9.99976549e-01 -2.72863491e-04 6.84296938e-03 -1.20283723e+01] [ 2.68500964e-04 9.99999760e-01 6.38430180e-04 -9.34940803e-01] [-6.84314194e-03 -6.36577864e-04 9.99976383e-01 3.60708646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.878033874 meters 0.05141361217707064 Centerline is valid? [True, True] Translation: X:-12.06, Y:-0.94, Z:0.36 [[ 9.99958495e-01 -2.29165808e-03 8.81795840e-03 -1.20574427e+01] [ 2.28446240e-03 9.99997049e-01 8.26011810e-04 -9.37136977e-01] [-8.81982531e-03 -8.05833232e-04 9.99960780e-01 3.62360969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.908033874 meters 0.05224304815462024 Centerline is valid? [True, True] Translation: X:-12.09, Y:-0.93, Z:0.37 [[ 9.99910557e-01 -5.56725986e-03 1.21607643e-02 -1.20894169e+01] [ 5.55382958e-03 9.99983930e-01 1.13788621e-03 -9.26512906e-01] [-1.21669038e-02 -1.07024562e-03 9.99925408e-01 3.68662617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.938033874 meters 0.05079584697495201 Centerline is valid? [True, True] Translation: X:-12.12, Y:-0.92, Z:0.37 [[ 9.99937824e-01 -6.76720696e-03 8.86303344e-03 -1.21222307e+01] [ 6.76017076e-03 9.99976811e-01 8.23600644e-04 -9.20857380e-01] [-8.86840139e-03 -7.63633816e-04 9.99960383e-01 3.66489611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.968033874 meters 0.04877796238546472 Centerline is valid? [True, True] Translation: X:-12.15, Y:-0.92, Z:0.36 [[ 9.99947148e-01 -8.99106457e-03 4.98621925e-03 -1.21544338e+01] [ 8.98887339e-03 9.99959493e-01 4.61683155e-04 -9.16125776e-01] [-4.99016830e-03 -4.16838260e-04 9.99987462e-01 3.63914274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.998033873999999 meters 0.0500631135345094 Centerline is valid? [True, True] Translation: X:-12.19, Y:-0.90, Z:0.37 [[ 9.99948133e-01 -8.60317157e-03 5.45131380e-03 -1.21882685e+01] [ 8.60053956e-03 9.99962887e-01 5.06079856e-04 -9.04666727e-01] [-5.45546538e-03 -4.59169367e-04 9.99985013e-01 3.65743897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.028033874 meters 0.051267778700331036 Centerline is valid? [True, True] Translation: X:-12.22, Y:-0.90, Z:0.37 [[ 9.99919685e-01 -7.61561837e-03 1.01304634e-02 -1.22214671e+01] [ 7.60638045e-03 9.99970620e-01 9.50112429e-04 -8.97711577e-01] [-1.01374015e-02 -8.72979962e-04 9.99948234e-01 3.68099943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.058033874 meters 0.050861811022481974 Centerline is valid? [True, True] Translation: X:-12.25, Y:-0.90, Z:0.38 [[ 9.99902848e-01 -4.82760738e-03 1.30762339e-02 -1.22511114e+01] [ 4.81184172e-03 9.99987658e-01 1.23686621e-03 -8.96718586e-01] [-1.30820437e-02 -1.17382528e-03 9.99913737e-01 3.75093733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.088033873999999 meters 0.05264495048538082 Centerline is valid? [True, True] Translation: X:-12.28, Y:-0.89, Z:0.37 [[ 9.99929421e-01 -1.37864436e-03 1.18005195e-02 -1.22829018e+01] [ 1.36556656e-03 9.99998445e-01 1.11622513e-03 -8.86240921e-01] [-1.18020400e-02 -1.10003195e-03 9.99929748e-01 3.70636456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.118033874 meters 0.057948013001173075 Centerline is valid? [True, True] Translation: X:-12.32, Y:-0.86, Z:0.36 [[ 9.99946480e-01 2.66290195e-03 9.99730571e-03 -1.23163116e+01] [-2.67248431e-03 9.99995982e-01 9.45257609e-04 -8.63526829e-01] [-9.99474841e-03 -9.71924662e-04 9.99949579e-01 3.62786015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.148033874 meters 0.05669698063996318 Centerline is valid? [True, True] Translation: X:-12.35, Y:-0.87, Z:0.36 [[ 9.99925375e-01 9.82241557e-03 7.26394894e-03 -1.23460371e+01] [-9.82766726e-03 9.99951471e-01 6.87637947e-04 -8.65195823e-01] [-7.25684216e-03 -7.58974305e-04 9.99973381e-01 3.59036360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.178033874 meters 0.05830789497749287 Centerline is valid? [True, True] Translation: X:-12.38, Y:-0.86, Z:0.36 [[ 9.99876117e-01 1.54806711e-02 2.84603561e-03 -1.23771113e+01] [-1.54814994e-02 9.99880118e-01 2.69260292e-04 -8.58247788e-01] [-2.84152609e-03 -3.13287834e-04 9.99995914e-01 3.56525356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.208033874 meters 0.0614333635283495 Centerline is valid? [True, True] Translation: X:-12.41, Y:-0.84, Z:0.35 [[ 9.99820281e-01 1.89236698e-02 1.14004570e-03 -1.24099530e+01] [-1.89238043e-02 9.99820923e-01 1.07337251e-04 -8.44522375e-01] [-1.13781033e-03 -1.28891963e-04 9.99999344e-01 3.50912551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.238033874 meters 0.05800654315358135 Centerline is valid? [True, True] Translation: X:-12.44, Y:-0.85, Z:0.36 [[ 9.99805791e-01 1.78916831e-02 8.26242024e-03 -1.24387535e+01] [-1.78987473e-02 9.99839499e-01 7.81828434e-04 -8.50409697e-01] [-8.24710589e-03 -9.29563568e-04 9.99965560e-01 3.60479369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.268033874 meters 0.05894918046673676 Centerline is valid? [True, True] Translation: X:-12.47, Y:-0.85, Z:0.37 [[ 9.99749371e-01 1.65978417e-02 1.50235147e-02 -1.24692911e+01] [-1.66210459e-02 9.99860851e-01 1.42097553e-03 -8.54402011e-01] [-1.49978390e-02 -1.67032592e-03 9.99886131e-01 3.68111675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.298033874 meters 0.05995762836466895 Centerline is valid? [True, True] Translation: X:-12.50, Y:-0.85, Z:0.36 [[ 9.99873896e-01 1.40240826e-02 7.45092582e-03 -1.25021973e+01] [-1.40297066e-02 9.99901332e-01 7.03072798e-04 -8.48034910e-01] [-7.44033070e-03 -8.07518442e-04 9.99971994e-01 3.63347705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.328033873999999 meters 0.06234926703405318 Centerline is valid? [True, True] Translation: X:-12.53, Y:-0.84, Z:0.35 [[ 9.99916805e-01 1.21453880e-02 4.34418566e-03 -1.25349256e+01] [-1.21472837e-02 9.99926135e-01 4.10248991e-04 -8.41539123e-01] [-4.33888214e-03 -4.62984915e-04 9.99990480e-01 3.53593729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.358033874 meters 0.05534255917251214 Centerline is valid? [True, True] Translation: X:-12.56, Y:-0.86, Z:0.36 [[ 9.99962224e-01 6.54848622e-03 5.71554326e-03 -1.25627470e+01] [-6.55167920e-03 9.99978392e-01 5.40104978e-04 -8.59273252e-01] [-5.71188289e-03 -5.77530981e-04 9.99983520e-01 3.59660875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.388033874 meters 0.05500238062972684 Centerline is valid? [True, True] Translation: X:-12.59, Y:-0.87, Z:0.37 [[ 9.99945351e-01 2.56112607e-03 1.01358868e-02 -1.25925490e+01] [-2.57098796e-03 9.99996234e-01 9.60057334e-04 -8.65061595e-01] [-1.01333898e-02 -9.86064110e-04 9.99948170e-01 3.68029760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.418033873999999 meters 0.05500238062972684 Centerline is valid? [True, True] Translation: X:-12.63, Y:-0.87, Z:0.37 [[ 9.99945972e-01 2.30334521e-03 1.01364711e-02 -1.26252128e+01] [-2.31313214e-03 9.99996870e-01 9.53898730e-04 -8.68004165e-01] [-1.01342422e-02 -9.77294190e-04 9.99948170e-01 3.69173045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.448033874 meters 0.05288535115518074 Centerline is valid? [True, True] Translation: X:-12.66, Y:-0.87, Z:0.37 [[ 9.99939918e-01 5.58593464e-04 1.09475247e-02 -1.26553438e+01] [-5.70003471e-04 9.99999298e-01 1.03915298e-03 -8.71011145e-01] [-1.09469365e-02 -1.04533067e-03 9.99939534e-01 3.72530445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.478033874 meters 0.053544705016017095 Centerline is valid? [True, True] Translation: X:-12.69, Y:-0.86, Z:0.37 [[ 9.99947424e-01 5.80233995e-04 1.02377625e-02 -1.26894964e+01] [-5.90166270e-04 9.99999358e-01 9.67166309e-04 -8.58933148e-01] [-1.02371948e-02 -9.73157442e-04 9.99947125e-01 3.65525585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.508033874 meters 0.053473607016431904 Centerline is valid? [True, True] Translation: X:-12.72, Y:-0.85, Z:0.36 [[ 9.99962665e-01 1.58106956e-03 8.49523593e-03 -1.27210093e+01] [-1.58799411e-03 9.99998412e-01 8.08426075e-04 -8.53085372e-01] [-8.49394427e-03 -8.21886277e-04 9.99963588e-01 3.60006490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.538033874 meters 0.05730607001434274 Centerline is valid? [True, True] Translation: X:-12.75, Y:-0.85, Z:0.34 [[ 9.99986852e-01 3.25112469e-03 3.96551615e-03 -1.27532475e+01] [-3.25264807e-03 9.99994639e-01 3.77769195e-04 -8.45904407e-01] [-3.96426672e-03 -3.90662657e-04 9.99992066e-01 3.43448622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.568033874 meters 0.05750220839280251 Centerline is valid? [True, True] Translation: X:-12.78, Y:-0.85, Z:0.34 [[ 9.99985663e-01 4.86517639e-03 2.23689306e-03 -1.27844294e+01] [-4.86566416e-03 9.99988140e-01 2.12663925e-04 -8.46909116e-01] [-2.23583188e-03 -2.23544847e-04 9.99997476e-01 3.44702169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.598033874 meters 0.05806410487869028 Centerline is valid? [True, True] Translation: X:-12.82, Y:-0.84, Z:0.35 [[ 9.99956980e-01 8.61697648e-03 3.43301600e-03 -1.28161198e+01] [-8.61814935e-03 9.99962810e-01 3.26995381e-04 -8.40557482e-01] [-3.43007061e-03 -3.56567559e-04 9.99994054e-01 3.49247123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.628033874 meters 0.057071281191399585 Centerline is valid? [True, True] Translation: X:-12.85, Y:-0.83, Z:0.35 [[ 9.99912526e-01 1.13411585e-02 6.80575560e-03 -1.28464145e+01] [-1.13458340e-02 9.99935423e-01 6.48780299e-04 -8.34742587e-01] [-6.79795819e-03 -7.25940521e-04 9.99976630e-01 3.51478005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.658033874 meters 0.05949418785395498 Centerline is valid? [True, True] Translation: X:-12.88, Y:-0.83, Z:0.34 [[ 9.99853761e-01 1.63825626e-02 4.90599478e-03 -1.28784746e+01] [-1.63850512e-02 9.99865647e-01 4.67496726e-04 -8.26483888e-01] [-4.89767685e-03 -5.47813335e-04 9.99987856e-01 3.43599338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.688033874 meters 0.06116735974316908 Centerline is valid? [True, True] Translation: X:-12.91, Y:-0.83, Z:0.34 [[ 9.99787455e-01 2.01952446e-02 4.14689672e-03 -1.29097964e+01] [-2.01970542e-02 9.99795941e-01 3.94956422e-04 -8.27151278e-01] [-4.13807427e-03 -4.78627573e-04 9.99991324e-01 3.39300453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.718033874 meters 0.06088495906601794 Centerline is valid? [True, True] Translation: X:-12.94, Y:-0.83, Z:0.34 [[ 9.99713044e-01 2.35060295e-02 4.61468145e-03 -1.29393064e+01] [-2.35083077e-02 9.99723545e-01 4.40038529e-04 -8.31207475e-01] [-4.60306214e-03 -5.48395609e-04 9.99989255e-01 3.42121107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.748033873999999 meters 0.0624172954510986 Centerline is valid? [True, True] Translation: X:-12.97, Y:-0.83, Z:0.34 [[ 9.99688269e-01 2.40882989e-02 6.56647683e-03 -1.29718968e+01] [-2.40928804e-02 9.99709532e-01 6.19488028e-04 -8.27466077e-01] [-6.54964707e-03 -7.77500255e-04 9.99978249e-01 3.43020675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.778033874 meters 0.06268775563655422 Centerline is valid? [True, True] Translation: X:-13.01, Y:-0.83, Z:0.34 [[ 9.99687960e-01 2.39826496e-02 6.98673536e-03 -1.30053344e+01] [-2.39878433e-02 9.99712032e-01 6.60502445e-04 -8.26745463e-01] [-6.96888280e-03 -8.27893055e-04 9.99975374e-01 3.43846913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.808033874 meters 0.06121779160746075 Centerline is valid? [True, True] Translation: X:-13.03, Y:-0.83, Z:0.34 [[ 9.99821479e-01 1.81008477e-02 5.41927676e-03 -1.30347445e+01] [-1.81039233e-02 9.99835976e-01 5.18996934e-04 -8.34112717e-01] [-5.40899359e-03 -6.17014453e-04 9.99985181e-01 3.38314100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.838033873999999 meters 0.06136209111592136 Centerline is valid? [True, True] Translation: X:-13.07, Y:-0.84, Z:0.34 [[ 9.99878983e-01 1.33084967e-02 8.05627168e-03 -1.30657433e+01] [-1.33151439e-02 9.99911052e-01 7.72015728e-04 -8.36765670e-01] [-8.04528072e-03 -8.79192717e-04 9.99967250e-01 3.37324172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.868033874 meters 0.062350553015753915 Centerline is valid? [True, True] Translation: X:-13.10, Y:-0.83, Z:0.34 [[ 9.99899452e-01 1.08312162e-02 9.15262964e-03 -1.30974940e+01] [-1.08396956e-02 9.99940864e-01 8.77344243e-04 -8.28845348e-01] [-9.14258569e-03 -9.76467747e-04 9.99957729e-01 3.41835059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.898033874 meters 0.05878033314064352 Centerline is valid? [True, True] Translation: X:-13.13, Y:-0.84, Z:0.35 [[ 9.99906883e-01 1.07453122e-02 8.41216557e-03 -1.31279530e+01] [-1.07524260e-02 9.99941870e-01 8.00885601e-04 -8.35281376e-01] [-8.40307081e-03 -8.91262212e-04 9.99964296e-01 3.45785827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.928033874 meters 0.05448407671274058 Centerline is valid? [True, True] Translation: X:-13.16, Y:-0.84, Z:0.34 [[ 9.99934355e-01 1.08223088e-02 3.76345208e-03 -1.31582790e+01] [-1.08237416e-02 9.99941357e-01 3.60542932e-04 -8.43767981e-01] [-3.75932947e-03 -4.01253896e-04 9.99992853e-01 3.38335796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.958033874 meters 0.06377565715368465 Centerline is valid? [True, True] Translation: X:-13.19, Y:-0.83, Z:0.32 [[ 9.99936394e-01 1.12605070e-02 -6.38852631e-04 -1.31905739e+01] [-1.12605485e-02 9.99936596e-01 -6.14044659e-05 -8.30858068e-01] [ 6.38120680e-04 6.85943912e-05 9.99999794e-01 3.23024645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.988033874 meters 0.05710731290912736 Centerline is valid? [True, True] Translation: X:-13.22, Y:-0.86, Z:0.33 [[ 9.99949238e-01 7.62808005e-03 6.58279458e-03 -1.32170055e+01] [-7.63241415e-03 9.99970672e-01 6.33527315e-04 -8.56980958e-01] [-6.57776893e-03 -6.83737770e-04 9.99978132e-01 3.31869427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.018033874 meters 0.0562767998421944 Centerline is valid? [True, True] Translation: X:-13.25, Y:-0.86, Z:0.34 [[ 9.99947021e-01 7.01099110e-03 7.53663229e-03 -1.32486548e+01] [-7.01663264e-03 9.99975122e-01 7.22368291e-04 -8.60394138e-01] [-7.53138028e-03 -7.75211801e-04 9.99971338e-01 3.40683103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.048033874 meters 0.05830674123432634 Centerline is valid? [True, True] Translation: X:-13.28, Y:-0.85, Z:0.33 [[ 9.99943594e-01 8.28433817e-03 6.64675283e-03 -1.32801746e+01] [-8.28876748e-03 9.99965443e-01 6.39116511e-04 -8.51609351e-01] [-6.64122848e-03 -6.94173849e-04 9.99977706e-01 3.34575708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.078033873999999 meters 0.06090508102899783 Centerline is valid? [True, True] Translation: X:-13.31, Y:-0.85, Z:0.32 [[ 9.99910518e-01 1.32528243e-02 1.82157365e-03 -1.33124110e+01] [-1.32531643e-02 9.99912158e-01 1.74664705e-04 -8.46499431e-01] [-1.81909884e-03 -1.98790690e-04 9.99998326e-01 3.24211845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.108033874 meters 0.06265039384139859 Centerline is valid? [True, True] Translation: X:-13.34, Y:-0.85, Z:0.32 [[ 9.99850177e-01 1.73067015e-02 -3.17796251e-04 -1.33426788e+01] [-1.73067121e-02 9.99850227e-01 -3.05804120e-05 -8.50299623e-01] [ 3.17219407e-04 3.60758386e-05 9.99999949e-01 3.22813901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.138033874 meters 0.06218481488767465 Centerline is valid? [True, True] Translation: X:-13.37, Y:-0.86, Z:0.33 [[ 9.99782033e-01 2.04620237e-02 4.14632635e-03 -1.33709860e+01] [-2.04638510e-02 9.99790514e-01 3.98763165e-04 -8.62335645e-01] [-4.13729825e-03 -4.83526053e-04 9.99991324e-01 3.29499527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.168033873999999 meters 0.06106481068963506 Centerline is valid? [True, True] Translation: X:-13.40, Y:-0.87, Z:0.33 [[ 9.99717267e-01 2.22568594e-02 8.36768806e-03 -1.34014393e+01] [-2.22643564e-02 9.99751795e-01 8.03853542e-04 -8.70171472e-01] [-8.34771991e-03 -9.89927455e-04 9.99964667e-01 3.33981259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.198033874 meters 0.06392303001198747 Centerline is valid? [True, True] Translation: X:-13.43, Y:-0.86, Z:0.33 [[ 9.99695076e-01 2.32288108e-02 8.37722324e-03 -1.34337976e+01] [-2.32363608e-02 9.99729675e-01 8.05039435e-04 -8.62049338e-01] [-8.35625856e-03 -9.99450140e-04 9.99964586e-01 3.28515514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.228033874 meters 0.0642546281785325 Centerline is valid? [True, True] Translation: X:-13.47, Y:-0.86, Z:0.32 [[ 9.99756489e-01 2.19014598e-02 2.69978191e-03 -1.34666389e+01] [-2.19022206e-02 9.99760086e-01 2.52565162e-04 -8.58986203e-01] [-2.69360265e-03 -3.11634878e-04 9.99996324e-01 3.22581226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.258033873999999 meters 0.06577969183302089 Centerline is valid? [True, True] Translation: X:-13.50, Y:-0.87, Z:0.33 [[ 9.99779681e-01 2.04814460e-02 4.59352835e-03 -1.34969602e+01] [-2.04836945e-02 9.99790089e-01 4.42976646e-04 -8.65652811e-01] [-4.58349132e-03 -5.36971481e-04 9.99989352e-01 3.26479491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.288033874 meters 0.06145000496543141 Centerline is valid? [True, True] Translation: X:-13.53, Y:-0.88, Z:0.33 [[ 9.99795944e-01 1.93460468e-02 5.81383372e-03 -1.35258186e+01] [-1.93496280e-02 9.99812621e-01 5.60371177e-04 -8.83479202e-01] [-5.80190336e-03 -6.72752350e-04 9.99982943e-01 3.27346649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.318033874 meters 0.058571992818149614 Centerline is valid? [True, True] Translation: X:-13.55, Y:-0.90, Z:0.32 [[ 9.99874753e-01 1.48976992e-02 5.34192968e-03 -1.35544171e+01] [-1.49006594e-02 9.99888847e-01 5.14763272e-04 -8.96046062e-01] [-5.33366712e-03 -5.94297074e-04 9.99985599e-01 3.19924368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.348033874 meters 0.06018096237547916 Centerline is valid? [True, True] Translation: X:-13.59, Y:-0.89, Z:0.32 [[ 9.99928863e-01 1.13421035e-02 3.69124191e-03 -1.35862860e+01] [-1.13434920e-02 9.99935597e-01 3.55444945e-04 -8.89052218e-01] [-3.68697269e-03 -3.97291233e-04 9.99993124e-01 3.17246154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.378033874 meters 0.058639559908105446 Centerline is valid? [True, True] Translation: X:-13.62, Y:-0.89, Z:0.32 [[ 9.99936900e-01 1.05176789e-02 3.94652145e-03 -1.36183100e+01] [-1.05192555e-02 9.99944599e-01 3.78946691e-04 -8.93858140e-01] [-3.94231717e-03 -4.20437247e-04 9.99992141e-01 3.20443328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.408033874 meters 0.06164220466989242 Centerline is valid? [True, True] Translation: X:-13.65, Y:-0.89, Z:0.31 [[ 9.99932889e-01 1.08555440e-02 4.04659353e-03 -1.36508081e+01] [-1.08572055e-02 9.99940983e-01 3.88852080e-04 -8.94062933e-01] [-4.04213351e-03 -4.32760681e-04 9.99991737e-01 3.11448489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.438033874 meters 0.060883198116828956 Centerline is valid? [True, True] Translation: X:-13.68, Y:-0.91, Z:0.31 [[ 9.99924036e-01 1.06937633e-02 6.12903260e-03 -1.36806165e+01] [-1.06975876e-02 9.99942604e-01 5.91519419e-04 -9.06167723e-01] [-6.12235525e-03 -6.57040348e-04 9.99981042e-01 3.11516516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.468033874 meters 0.05828404913842076 Centerline is valid? [True, True] Translation: X:-13.71, Y:-0.91, Z:0.31 [[ 9.99923849e-01 1.08754631e-02 5.83269270e-03 -1.37108807e+01] [-1.08789134e-02 9.99940666e-01 5.60157238e-04 -9.14248547e-01] [-5.82625466e-03 -6.23567941e-04 9.99982833e-01 3.14051339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.498033873999999 meters 0.061027240639877606 Centerline is valid? [True, True] Translation: X:-13.74, Y:-0.90, Z:0.31 [[ 9.99908089e-01 1.33292475e-02 2.47865311e-03 -1.37431921e+01] [-1.33298817e-02 9.99911124e-01 2.39508251e-04 -9.04240921e-01] [-2.47524035e-03 -2.72526390e-04 9.99996899e-01 3.12817591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.528033874 meters 0.061235764369658795 Centerline is valid? [True, True] Translation: X:-13.77, Y:-0.90, Z:0.31 [[ 9.99816583e-01 1.89221645e-02 2.95839477e-03 -1.37729060e+01] [-1.89230939e-02 9.99820901e-01 2.86493896e-04 -9.03783279e-01] [-2.95244384e-03 -3.42423331e-04 9.99995583e-01 3.07749491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.558033874 meters 0.06529350300439854 Centerline is valid? [True, True] Translation: X:-13.80, Y:-0.90, Z:0.31 [[ 9.99726651e-01 2.28032140e-02 5.16112834e-03 -1.38041562e+01] [-2.28060919e-02 9.99739783e-01 4.99442039e-04 -9.02050535e-01] [-5.14839644e-03 -6.17010684e-04 9.99986557e-01 3.06027272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.588033873999999 meters 0.06421461164392174 Centerline is valid? [True, True] Translation: X:-13.83, Y:-0.90, Z:0.31 [[ 9.99688365e-01 2.46260708e-02 4.09028308e-03 -1.38334344e+01] [-2.46278965e-02 9.99696609e-01 3.96578980e-04 -9.03184367e-01] [-4.07927594e-03 -4.97190461e-04 9.99991556e-01 3.07864234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.618033874 meters 0.0646941387641931 Centerline is valid? [True, True] Translation: X:-13.86, Y:-0.90, Z:0.30 [[ 9.99651396e-01 2.62508093e-02 2.82505372e-03 -1.38646551e+01] [-2.62516850e-02 9.99655328e-01 2.73335655e-04 -8.99378746e-01] [-2.81690472e-03 -3.47402789e-04 9.99995972e-01 3.02697281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.648033874 meters 0.06417441797412066 Centerline is valid? [True, True] Translation: X:-13.89, Y:-0.90, Z:0.30 [[ 9.99620998e-01 2.74058559e-02 2.60383460e-03 -1.38948889e+01] [-2.74066043e-02 9.99624337e-01 2.52180810e-04 -9.03433306e-01] [-2.59594520e-03 -3.23447498e-04 9.99996578e-01 3.00440380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.678033874 meters 0.06349046218558735 Centerline is valid? [True, True] Translation: X:-13.92, Y:-0.91, Z:0.30 [[ 9.99579108e-01 2.89487808e-02 1.89095704e-03 -1.39240882e+01] [-2.89491783e-02 9.99580868e-01 1.83143688e-04 -9.11994213e-01] [-1.88486269e-03 -2.37808256e-04 9.99998195e-01 3.01388750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.708033874 meters 0.06524288128352845 Centerline is valid? [True, True] Translation: X:-13.96, Y:-0.91, Z:0.29 [[ 9.99575886e-01 2.90991547e-02 1.13444909e-03 -1.39565092e+01] [-2.90992889e-02 9.99576521e-01 1.01965131e-04 -9.11931326e-01] [-1.13100158e-03 -1.34933548e-04 9.99999351e-01 2.94307122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.738033874 meters 0.062127789662799804 Centerline is valid? [True, True] Translation: X:-13.98, Y:-0.92, Z:0.30 [[ 9.99670222e-01 2.53331061e-02 4.20482480e-03 -1.39844864e+01] [-2.53350368e-02 9.99678934e-01 4.06534197e-04 -9.23815921e-01] [-4.19317600e-03 -5.12929522e-04 9.99991077e-01 2.98366712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.768033874 meters 0.06266839855090461 Centerline is valid? [True, True] Translation: X:-14.02, Y:-0.93, Z:0.30 [[ 9.99707478e-01 2.32098600e-02 6.80155884e-03 -1.40154087e+01] [-2.32148798e-02 9.99730280e-01 6.60011861e-04 -9.25153243e-01] [-6.78440554e-03 -8.17716164e-04 9.99976651e-01 3.03678768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.798033874 meters 0.061382039670888476 Centerline is valid? [True, True] Translation: X:-14.05, Y:-0.92, Z:0.30 [[ 9.99782541e-01 2.02032647e-02 5.16702479e-03 -1.40467979e+01] [-2.02061239e-02 9.99795710e-01 5.01753686e-04 -9.24245465e-01] [-5.15583216e-03 -6.06050118e-04 9.99986525e-01 3.00519708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.828033873999999 meters 0.061794028206468544 Centerline is valid? [True, True] Translation: X:-14.08, Y:-0.92, Z:0.30 [[ 9.99878202e-01 1.55765570e-02 9.75785267e-04 -1.40779178e+01] [-1.55766561e-02 9.99878672e-01 9.41056797e-05 -9.24690629e-01] [-9.74201035e-04 -1.09293689e-04 9.99999519e-01 2.99984402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.858033874 meters 0.060234432460470354 Centerline is valid? [True, True] Translation: X:-14.11, Y:-0.93, Z:0.29 [[ 9.99899412e-01 1.41749109e-02 -4.86621864e-04 -1.41098693e+01] [-1.41749368e-02 9.99899529e-01 -4.96332374e-05 -9.32031344e-01] [ 4.85869426e-04 5.65260791e-05 9.99999880e-01 2.88902679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.888033874 meters 0.06342873768070142 Centerline is valid? [True, True] Translation: X:-14.14, Y:-0.94, Z:0.29 [[ 9.99934204e-01 1.13839426e-02 1.41162994e-03 -1.41407804e+01] [-1.13841464e-02 9.99935189e-01 1.36389681e-04 -9.36903453e-01] [-1.40998580e-03 -1.52450909e-04 9.99998994e-01 2.89452758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.918033873999999 meters 0.05992278497495795 Centerline is valid? [True, True] Translation: X:-14.17, Y:-0.95, Z:0.30 [[ 9.99938414e-01 1.07189998e-02 2.87580826e-03 -1.41690921e+01] [-1.07198468e-02 9.99942502e-01 2.79272991e-04 -9.54717007e-01] [-2.87264938e-03 -3.10084015e-04 9.99995826e-01 2.97451348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.948033874 meters 0.06013668324197021 Centerline is valid? [True, True] Translation: X:-14.20, Y:-0.95, Z:0.29 [[ 9.99941844e-01 1.06782920e-02 1.51074484e-03 -1.42024554e+01] [-1.06785221e-02 9.99942973e-01 1.44283274e-04 -9.52529190e-01] [-1.50911799e-03 -1.60407405e-04 9.99998848e-01 2.92088143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.978033874 meters 0.06287519892600422 Centerline is valid? [True, True] Translation: X:-14.23, Y:-0.94, Z:0.29 [[ 9.99921724e-01 1.24901793e-02 7.35362202e-04 -1.42345319e+01] [-1.24902350e-02 9.99921991e-01 7.10872108e-05 -9.43258933e-01] [-7.34416946e-04 -8.02664931e-05 9.99999727e-01 2.86744235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.008033873999999 meters 0.06140242902775138 Centerline is valid? [True, True] Translation: X:-14.27, Y:-0.95, Z:0.29 [[ 9.99911410e-01 1.31651926e-02 1.96234313e-03 -1.42653606e+01] [-1.31655896e-02 9.99913312e-01 1.89551169e-04 -9.47826333e-01] [-1.95967754e-03 -2.15369781e-04 9.99998057e-01 2.88803365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.038033874 meters 0.059659546519201315 Centerline is valid? [True, True] Translation: X:-14.30, Y:-0.96, Z:0.29 [[ 9.99892886e-01 1.42022000e-02 3.53743472e-03 -1.42960536e+01] [-1.42035001e-02 9.99899066e-01 3.42679817e-04 -9.57131080e-01] [-3.53221087e-03 -3.92887066e-04 9.99993685e-01 2.92987110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.068033874 meters 0.0625011183330422 Centerline is valid? [True, True] Translation: X:-14.33, Y:-0.96, Z:0.29 [[ 9.99821338e-01 1.88534567e-02 1.35615332e-03 -1.43268995e+01] [-1.88536529e-02 9.99822245e-01 1.32022170e-04 -9.61479016e-01] [-1.35342318e-03 -1.57567026e-04 9.99999072e-01 2.86564081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.098033874 meters 0.06412076860304021 Centerline is valid? [True, True] Translation: X:-14.36, Y:-0.96, Z:0.28 [[ 9.99803241e-01 1.97719466e-02 -1.59688989e-03 -1.43578200e+01] [-1.97722212e-02 9.99804498e-01 -1.56338590e-04 -9.63936149e-01] [ 1.59348658e-03 1.87881889e-04 9.99998713e-01 2.82829961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.128033874 meters 0.06649110685981034 Centerline is valid? [True, True] Translation: X:-14.39, Y:-0.96, Z:0.28 [[ 9.99779875e-01 2.08571820e-02 -2.27590290e-03 -1.43895369e+01] [-2.08577406e-02 9.99782429e-01 -2.22000737e-04 -9.56167150e-01] [ 2.27077742e-03 2.69422062e-04 9.99997385e-01 2.78030365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.158033874 meters 0.06364266101315874 Centerline is valid? [True, True] Translation: X:-14.42, Y:-0.96, Z:0.28 [[ 9.99794641e-01 2.02351072e-02 -1.10308251e-03 -1.44195315e+01] [-2.02352387e-02 9.99795241e-01 -1.08189603e-04 -9.62027812e-01] [ 1.10066742e-03 1.30488524e-04 9.99999386e-01 2.81933522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.188033874 meters 0.06166988423113645 Centerline is valid? [True, True] Translation: X:-14.45, Y:-0.98, Z:0.28 [[ 9.99778090e-01 2.10635389e-02 -3.13911299e-04 -1.44482885e+01] [-2.10635506e-02 9.99778138e-01 -3.40334924e-05 -9.77767870e-01] [ 3.13124789e-04 4.06380265e-05 9.99999950e-01 2.83218696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.218033874 meters 0.06522307577636888 Centerline is valid? [True, True] Translation: X:-14.48, Y:-0.98, Z:0.28 [[ 9.99778211e-01 2.10534073e-02 -5.32660560e-04 -1.44810742e+01] [-2.10534393e-02 9.99778350e-01 -5.43919542e-05 -9.79445421e-01] [ 5.31397360e-04 6.55942274e-05 9.99999857e-01 2.78487994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.248033873999999 meters 0.06125553058477992 Centerline is valid? [True, True] Translation: X:-14.51, Y:-0.99, Z:0.28 [[ 9.99816771e-01 1.89903452e-02 -2.40670126e-03 -1.45106234e+01] [-1.89909721e-02 9.99819627e-01 -2.37893166e-04 -9.87793612e-01] [ 2.40174949e-03 2.83555173e-04 9.99997076e-01 2.80223152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.278033874 meters 0.060637856646408576 Centerline is valid? [True, True] Translation: X:-14.54, Y:-0.99, Z:0.28 [[ 9.99888296e-01 1.49377937e-02 -5.07978341e-04 -1.45409344e+01] [-1.49378210e-02 9.99888423e-01 -4.98116103e-05 -9.93991958e-01] [ 5.07177587e-04 5.73941356e-05 9.99999870e-01 2.81547946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.308033874 meters 0.06241444854887871 Centerline is valid? [True, True] Translation: X:-14.57, Y:-1.01, Z:0.29 [[ 9.99915964e-01 1.28418949e-02 1.77520634e-03 -1.45698854e+01] [-1.28422231e-02 9.99917520e-01 1.73644956e-04 -1.00680147e+00] [-1.77282999e-03 -1.96427959e-04 9.99998409e-01 2.86543306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.338033873999999 meters 0.06241444854887871 Centerline is valid? [True, True] Translation: X:-14.60, Y:-1.01, Z:0.29 [[ 9.99917192e-01 1.27458846e-02 1.77551834e-03 -1.46024990e+01] [-1.27462071e-02 9.99918749e-01 1.70456355e-04 -1.00986806e+00] [-1.77320146e-03 -1.93073364e-04 9.99998409e-01 2.87685357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.368033874 meters 0.060143503144668806 Centerline is valid? [True, True] Translation: X:-14.63, Y:-1.02, Z:0.30 [[ 9.99930709e-01 1.17590277e-02 5.49335385e-04 -1.46326002e+01] [-1.17590581e-02 9.99930859e-01 5.20804304e-05 -1.01774590e+00] [-5.48684988e-04 -5.85364884e-05 9.99999848e-01 2.96466469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.398033874 meters 0.06350708757842934 Centerline is valid? [True, True] Translation: X:-14.66, Y:-1.01, Z:0.28 [[ 9.99913946e-01 1.27597268e-02 -3.04800996e-03 -1.46647166e+01] [-1.27606964e-02 9.99918534e-01 -2.98861053e-04 -1.01059680e+00] [ 3.04394827e-03 3.37730064e-04 9.99995310e-01 2.82286298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.428033873999999 meters 0.06497853237091482 Centerline is valid? [True, True] Translation: X:-14.70, Y:-1.02, Z:0.28 [[ 9.99902503e-01 1.37726645e-02 -2.30162535e-03 -1.46953206e+01] [-1.37732222e-02 9.99905119e-01 -2.26658896e-04 -1.01596068e+00] [ 2.29828527e-03 2.58337594e-04 9.99997326e-01 2.83867287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.458033874 meters 0.061650403159767254 Centerline is valid? [True, True] Translation: X:-14.72, Y:-1.03, Z:0.29 [[ 9.99910632e-01 1.33687250e-02 -7.51051539e-05 -1.47243530e+01] [-1.33687257e-02 9.99910635e-01 -8.48491726e-06 -1.02720846e+00] [ 7.49850095e-05 9.48821918e-06 9.99999997e-01 2.89301651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.488033874 meters 0.06028562755911458 Centerline is valid? [True, True] Translation: X:-14.76, Y:-1.02, Z:0.29 [[ 9.99908983e-01 1.33767400e-02 1.75761813e-03 -1.47558505e+01] [-1.33770604e-02 9.99910509e-01 1.70656970e-04 -1.02368622e+00] [-1.75517800e-03 -1.94153201e-04 9.99998441e-01 2.91755146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.518033874 meters 0.059839795061997714 Centerline is valid? [True, True] Translation: X:-14.79, Y:-1.02, Z:0.29 [[ 9.99931446e-01 1.16982187e-02 5.05544875e-04 -1.47881362e+01] [-1.16982447e-02 9.99931572e-01 4.84403904e-05 -1.01728779e+00] [-5.04943615e-04 -5.43510572e-05 9.99999871e-01 2.90595857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.548033874 meters 0.06380579711773236 Centerline is valid? [True, True] Translation: X:-14.82, Y:-1.01, Z:0.28 [[ 9.99889434e-01 1.46311672e-02 -2.65476540e-03 -1.48201052e+01] [-1.46319113e-02 9.99892914e-01 -2.61097249e-04 -1.01274718e+00] [ 2.65066096e-03 2.99912672e-04 9.99996442e-01 2.79933943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.578033873999999 meters 0.06385050129776715 Centerline is valid? [True, True] Translation: X:-14.85, Y:-1.02, Z:0.27 [[ 9.99846390e-01 1.66538344e-02 -5.46311122e-03 -1.48494735e+01] [-1.66570084e-02 9.99861119e-01 -5.35998730e-04 -1.02212135e+00] [ 5.45342606e-03 6.26915485e-04 9.99984933e-01 2.74456975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.608033874 meters 0.06568248213615877 Centerline is valid? [True, True] Translation: X:-14.88, Y:-1.02, Z:0.27 [[ 9.99859917e-01 1.57734859e-02 -5.59843962e-03 -1.48819191e+01] [-1.57768204e-02 9.99875386e-01 -5.51948643e-04 -1.02103848e+00] [ 5.58903582e-03 6.40196901e-04 9.99984176e-01 2.72122388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.638033874 meters 0.06390389617088138 Centerline is valid? [True, True] Translation: X:-14.91, Y:-1.02, Z:0.28 [[ 9.99927499e-01 1.20412637e-02 -6.75114765e-05 -1.49124684e+01] [-1.20412642e-02 9.99927501e-01 -6.77685593e-06 -1.02284430e+00] [ 6.74249801e-05 7.58928813e-06 9.99999998e-01 2.76814237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.668033873999999 meters 0.06257044056047947 Centerline is valid? [True, True] Translation: X:-14.94, Y:-1.03, Z:0.28 [[ 9.99933684e-01 1.14993609e-02 -6.26026696e-04 -1.49432854e+01] [-1.14994027e-02 9.99933878e-01 -6.31732352e-05 -1.02501249e+00] [ 6.25258849e-04 7.03679788e-05 9.99999802e-01 2.76442373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.698033874 meters 0.06271940782477037 Centerline is valid? [True, True] Translation: X:-14.97, Y:-1.02, Z:0.27 [[ 9.99916692e-01 1.21831904e-02 -4.26376954e-03 -1.49746933e+01] [-1.21850886e-02 9.99925671e-01 -4.19486903e-04 -1.02406672e+00] [ 4.25834193e-03 4.71406365e-04 9.99990822e-01 2.71038151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.728033874 meters 0.0659400290271001 Centerline is valid? [True, True] Translation: X:-15.01, Y:-1.02, Z:0.27 [[ 9.99880494e-01 1.44682770e-02 -5.44671154e-03 -1.50060060e+01] [-1.44714040e-02 9.99895141e-01 -5.35142830e-04 -1.02217123e+00] [ 5.43839781e-03 6.13900441e-04 9.99985023e-01 2.66541098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.758033873999999 meters 0.06086693200372659 Centerline is valid? [True, True] Translation: X:-15.03, Y:-1.04, Z:0.27 [[ 9.99874699e-01 1.54153177e-02 -3.59908783e-03 -1.50344693e+01] [-1.54166915e-02 9.99881093e-01 -3.54258844e-04 -1.03725892e+00] [ 3.59319886e-03 4.09700482e-04 9.99993461e-01 2.73710742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.788033874 meters 0.06488548481410136 Centerline is valid? [True, True] Translation: X:-15.07, Y:-1.03, Z:0.27 [[ 9.99853219e-01 1.68651726e-02 -3.01780268e-03 -1.50671328e+01] [-1.68661492e-02 9.99857712e-01 -2.98437600e-04 -1.02977852e+00] [ 3.01234008e-03 3.49292505e-04 9.99995402e-01 2.68815012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.818033874 meters 0.0652935442991907 Centerline is valid? [True, True] Translation: X:-15.10, Y:-1.03, Z:0.27 [[ 9.99840788e-01 1.74544500e-02 -3.70682940e-03 -1.50986273e+01] [-1.74559241e-02 9.99847567e-01 -3.65700988e-04 -1.02849595e+00] [ 3.69988125e-03 4.30348897e-04 9.99993063e-01 2.70652153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.848033874 meters 0.06168461652864706 Centerline is valid? [True, True] Translation: X:-15.13, Y:-1.04, Z:0.27 [[ 9.99854572e-01 1.67630746e-02 -3.13594882e-03 -1.51292703e+01] [-1.67641292e-02 9.99859424e-01 -3.10314631e-04 -1.03600602e+00] [ 3.13030616e-03 3.62840954e-04 9.99995035e-01 2.71068922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.878033874 meters 0.0614561083143386 Centerline is valid? [True, True] Translation: X:-15.16, Y:-1.04, Z:0.27 [[ 9.99889025e-01 1.44195479e-02 -3.74364047e-03 -1.51599042e+01] [-1.44210274e-02 9.99895944e-01 -3.68511587e-04 -1.04063457e+00] [ 3.73793715e-03 4.22457834e-04 9.99992925e-01 2.68136621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.908033874 meters 0.06462150560953683 Centerline is valid? [True, True] Translation: X:-15.19, Y:-1.04, Z:0.27 [[ 9.99925364e-01 1.19687207e-02 -2.45286922e-03 -1.51914137e+01] [-1.19693511e-02 9.99928335e-01 -2.42465371e-04 -1.03855677e+00] [ 2.44979143e-03 2.71806527e-04 9.99996962e-01 2.65278298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.938033874 meters 0.05964307112677919 Centerline is valid? [True, True] Translation: X:-15.22, Y:-1.05, Z:0.27 [[ 9.99938414e-01 1.08624296e-02 -2.27504188e-03 -1.52206164e+01] [-1.08629682e-02 9.99940971e-01 -2.24556858e-04 -1.05284071e+00] [ 2.27246836e-03 2.49256736e-04 9.99997387e-01 2.69257479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.968033874 meters 0.060782370038547646 Centerline is valid? [True, True] Translation: X:-15.25, Y:-1.05, Z:0.27 [[ 9.99965933e-01 8.25137786e-03 2.18212034e-04 -1.52520655e+01] [-8.25138253e-03 9.99965957e-01 2.05331608e-05 -1.05177080e+00] [-2.18035179e-04 -2.23330122e-05 9.99999976e-01 2.69804057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.998033873999999 meters 0.0647714273517193 Centerline is valid? [True, True] Translation: X:-15.28, Y:-1.04, Z:0.26 [[ 9.99956960e-01 8.61114498e-03 -3.45343827e-03 -1.52842751e+01] [-8.61237244e-03 9.99962855e-01 -3.40718265e-04 -1.04114774e+00] [ 3.45037601e-03 3.70445897e-04 9.99993979e-01 2.59602286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.028033874 meters 0.06112324222365756 Centerline is valid? [True, True] Translation: X:-15.31, Y:-1.04, Z:0.26 [[ 9.99933070e-01 9.40051761e-03 -6.74438531e-03 -1.53141445e+01] [-9.40520940e-03 9.99955549e-01 -6.64279643e-04 -1.04167404e+00] [ 6.73784094e-03 7.27667539e-04 9.99977036e-01 2.58124288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.058033874 meters 0.06410249548978021 Centerline is valid? [True, True] Translation: X:-15.35, Y:-1.04, Z:0.26 [[ 9.99909796e-01 1.20253084e-02 -5.98257573e-03 -1.53454924e+01] [-1.20290453e-02 9.99927475e-01 -5.89040447e-04 -1.03563740e+00] [ 5.97505846e-03 6.60951988e-04 9.99981931e-01 2.55993440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.088033873999999 meters 0.0622274665006611 Centerline is valid? [True, True] Translation: X:-15.37, Y:-1.04, Z:0.26 [[ 9.99905560e-01 1.36568916e-02 -1.53617484e-03 -1.53743710e+01] [-1.36571390e-02 9.99906726e-01 -1.50710746e-04 -1.04158946e+00] [ 1.53397331e-03 1.71676267e-04 9.99998809e-01 2.64743276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.118033874 meters 0.06837164205548783 Centerline is valid? [True, True] Translation: X:-15.41, Y:-1.02, Z:0.26 [[ 9.99861452e-01 1.66438633e-02 2.41621729e-04 -1.54071342e+01] [-1.66438695e-02 9.99861481e-01 2.37778293e-05 -1.02187469e+00] [-2.41192505e-04 -2.77960554e-05 9.99999971e-01 2.63828511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.148033874 meters 0.06669565699867744 Centerline is valid? [True, True] Translation: X:-15.44, Y:-1.02, Z:0.26 [[ 9.99799236e-01 1.98475471e-02 -2.74983966e-03 -1.54371871e+01] [-1.98483645e-02 9.99802965e-01 -2.70289666e-04 -1.01869520e+00] [ 2.74393326e-03 3.24815222e-04 9.99996183e-01 2.55957218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.178033873999999 meters 0.06925123920769986 Centerline is valid? [True, True] Translation: X:-15.47, Y:-1.02, Z:0.25 [[ 9.99765678e-01 2.13123332e-02 -3.79125674e-03 -1.54680898e+01] [-2.13139020e-02 9.99772763e-01 -3.73859119e-04 -1.02000583e+00] [ 3.78242742e-03 4.54577990e-04 9.99992743e-01 2.50875309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.208033874 meters 0.06569828562799997 Centerline is valid? [True, True] Translation: X:-15.50, Y:-1.04, Z:0.25 [[ 9.99763286e-01 2.16295423e-02 -2.35246453e-03 -1.54986855e+01] [-2.16301605e-02 9.99766012e-01 -2.37660167e-04 -1.03868004e+00] [ 2.34677360e-03 2.88488095e-04 9.99997205e-01 2.53887600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.238033874 meters 0.06401382798715499 Centerline is valid? [True, True] Translation: X:-15.53, Y:-1.03, Z:0.25 [[ 9.99806677e-01 1.92781125e-02 -3.86819257e-03 -1.55301540e+01] [-1.92797316e-02 9.99814056e-01 -3.81710876e-04 -1.02900556e+00] [ 3.86011464e-03 4.56214797e-04 9.99992446e-01 2.54199142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.268033874 meters 0.06190107889688649 Centerline is valid? [True, True] Translation: X:-15.56, Y:-1.03, Z:0.25 [[ 9.99840345e-01 1.69510878e-02 -5.65201967e-03 -1.55608966e+01] [-1.69545104e-02 9.99856106e-01 -5.58193782e-04 -1.02881421e+00] [ 5.64174439e-03 6.53931890e-04 9.99983871e-01 2.47474111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.298033874 meters 0.06349055706556801 Centerline is valid? [True, True] Translation: X:-15.59, Y:-1.03, Z:0.25 [[ 9.99901754e-01 1.32203008e-02 -4.65895072e-03 -1.55911209e+01] [-1.32225856e-02 9.99912472e-01 -4.59948651e-04 -1.02974347e+00] [ 4.65246228e-03 5.21506838e-04 9.99989041e-01 2.48844074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.328033873999999 meters 0.06556784869326211 Centerline is valid? [True, True] Translation: X:-15.62, Y:-1.03, Z:0.25 [[ 9.99961477e-01 8.59282401e-03 -1.79079703e-03 -1.56218968e+01] [-8.59315388e-03 9.99963063e-01 -1.76592035e-04 -1.02711361e+00] [ 1.78921346e-03 1.91973827e-04 9.99998381e-01 2.49474178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.358033874 meters 0.05683240338336901 Centerline is valid? [True, True] Translation: X:-15.65, Y:-1.04, Z:0.26 [[ 9.99972477e-01 7.32262944e-03 -1.19387032e-03 -1.56508270e+01] [-7.32277596e-03 9.99973181e-01 -1.18402216e-04 -1.04091855e+00] [ 1.19297129e-03 1.27141402e-04 9.99999280e-01 2.56540489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.388033874 meters 0.05864725232442793 Centerline is valid? [True, True] Translation: X:-15.68, Y:-1.03, Z:0.25 [[ 9.99979995e-01 6.22968817e-03 -1.09591360e-03 -1.56830021e+01] [-6.22981173e-03 9.99980589e-01 -1.09366899e-04 -1.03415284e+00] [ 1.09521101e-03 1.16192047e-04 9.99999394e-01 2.51284978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.418033873999999 meters 0.055032984650249146 Centerline is valid? [True, True] Translation: X:-15.71, Y:-1.05, Z:0.25 [[ 9.99973603e-01 7.04550919e-03 -1.77602968e-03 -1.57121447e+01] [-7.04583267e-03 9.99975162e-01 -1.75944785e-04 -1.04954237e+00] [ 1.77474595e-03 1.88453748e-04 9.99998407e-01 2.53384305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.448033874 meters 0.0624143140714499 Centerline is valid? [True, True] Translation: X:-15.75, Y:-1.04, Z:0.25 [[ 9.99973137e-01 7.07662458e-03 -1.90951673e-03 -1.57459951e+01] [-7.07700221e-03 9.99974939e-01 -1.91074615e-04 -1.03698510e+00] [ 1.90811672e-03 2.04583136e-04 9.99998159e-01 2.47525165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.478033874 meters 0.05993686215421578 Centerline is valid? [True, True] Translation: X:-15.78, Y:-1.03, Z:0.26 [[ 9.99985663e-01 5.31440140e-03 -6.56447982e-04 -1.57762188e+01] [-5.31444560e-03 9.99985876e-01 -6.56070742e-05 -1.03301845e+00] [ 6.56090048e-04 6.90947907e-05 9.99999782e-01 2.56015816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.508033873999999 meters 0.05838722603903718 Centerline is valid? [True, True] Translation: X:-15.81, Y:-1.02, Z:0.26 [[ 9.99986269e-01 5.08720925e-03 1.25760553e-03 -1.58086356e+01] [-5.08736746e-03 9.99987052e-01 1.22637228e-04 -1.02363340e+00] [-1.25696537e-03 -1.29033445e-04 9.99999202e-01 2.56880433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.538033874 meters 0.054531794670250225 Centerline is valid? [True, True] Translation: X:-15.84, Y:-1.03, Z:0.25 [[ 9.99977239e-01 6.45954476e-03 1.94816232e-03 -1.58386087e+01] [-6.45993106e-03 9.99979116e-01 1.92059037e-04 -1.02902432e+00] [-1.94688102e-03 -2.04639660e-04 9.99998084e-01 2.53919689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.568033874 meters 0.057762472657902936 Centerline is valid? [True, True] Translation: X:-15.87, Y:-1.03, Z:0.25 [[ 9.99975470e-01 6.94235923e-03 9.29051718e-04 -1.58702291e+01] [-6.94244646e-03 9.99975897e-01 9.07046847e-05 -1.02676907e+00] [-9.28399620e-04 -9.71523515e-05 9.99999564e-01 2.52715274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.598033874 meters 0.05806381509767289 Centerline is valid? [True, True] Translation: X:-15.90, Y:-1.03, Z:0.25 [[ 9.99974563e-01 6.99259836e-03 1.40589054e-03 -1.59021450e+01] [-6.99279758e-03 9.99975541e-01 1.36838347e-04 -1.02949392e+00] [-1.40489930e-03 -1.46665974e-04 9.99999002e-01 2.52596825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.628033874 meters 0.061168530446291315 Centerline is valid? [True, True] Translation: X:-15.94, Y:-1.02, Z:0.25 [[ 9.99974882e-01 7.02981523e-03 9.03846325e-04 -1.59356931e+01] [-7.02989689e-03 9.99975286e-01 8.71957569e-05 -1.01586427e+00] [-9.03211018e-04 -9.35475132e-05 9.99999588e-01 2.48522487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.658033874 meters 0.061567641041006906 Centerline is valid? [True, True] Translation: X:-15.97, Y:-1.01, Z:0.25 [[ 9.99977953e-01 6.61956691e-03 -5.24799825e-04 -1.59684590e+01] [-6.61959630e-03 9.99978089e-01 -5.42885795e-05 -1.01212896e+00] [ 5.24428959e-04 5.77613456e-05 9.99999861e-01 2.47221098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.688033874 meters 0.05964818538217479 Centerline is valid? [True, True] Translation: X:-16.00, Y:-1.02, Z:0.25 [[ 9.99971730e-01 7.51908351e-03 4.83401518e-05 -1.59987689e+01] [-7.51908369e-03 9.99971731e-01 3.66274492e-06 -1.01781495e+00] [-4.83112448e-05 -4.02611503e-06 9.99999999e-01 2.48875720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.718033874 meters 0.05923470579525313 Centerline is valid? [True, True] Translation: X:-16.03, Y:-1.02, Z:0.26 [[ 9.99959744e-01 8.42137595e-03 3.09706178e-03 -1.60302289e+01] [-8.42235489e-03 9.99964485e-01 3.03177997e-04 -1.01638579e+00] [-3.09439861e-03 -3.29250346e-04 9.99995158e-01 2.57200143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.748033873999999 meters 0.06058762280090323 Centerline is valid? [True, True] Translation: X:-16.06, Y:-1.00, Z:0.25 [[ 9.99949009e-01 9.64892975e-03 2.97966262e-03 -1.60633816e+01] [-9.64984885e-03 9.99953396e-01 2.94236025e-04 -1.00367440e+00] [-2.97668469e-03 -3.22974316e-04 9.99995518e-01 2.53522849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.778033874 meters 0.06211877286752295 Centerline is valid? [True, True] Translation: X:-16.10, Y:-1.00, Z:0.25 [[ 9.99924279e-01 1.21985935e-02 1.62209165e-03 -1.60952016e+01] [-1.21988708e-02 9.99925578e-01 1.61148639e-04 -9.95360205e-01] [-1.62000515e-03 -1.80924123e-04 9.99998671e-01 2.50296637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.808033874 meters 0.06098297768780236 Centerline is valid? [True, True] Translation: X:-16.12, Y:-1.00, Z:0.25 [[ 9.99898158e-01 1.42452441e-02 8.64428523e-04 -1.61247453e+01] [-1.42453240e-02 9.99898526e-01 8.63390943e-05 -1.00114925e+00] [-8.63110885e-04 -9.86443657e-05 9.99999623e-01 2.47760714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.838033873999999 meters 0.06380304931325098 Centerline is valid? [True, True] Translation: X:-16.16, Y:-1.00, Z:0.25 [[ 9.99888488e-01 1.49310504e-02 2.73178209e-04 -1.61565932e+01] [-1.49310581e-02 9.99888525e-01 2.59887371e-05 -9.96875525e-01] [-2.72759717e-04 -3.00646787e-05 9.99999962e-01 2.47996077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.868033874 meters 0.06355501774529293 Centerline is valid? [True, True] Translation: X:-16.19, Y:-1.00, Z:0.25 [[ 9.99891551e-01 1.47270578e-02 -9.61643561e-06 -1.61876786e+01] [-1.47270578e-02 9.99891551e-01 -2.69084807e-06 -9.95679623e-01] [ 9.57576438e-06 2.83217805e-06 1.00000000e+00 2.54940598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.898033874 meters 0.06300820603514386 Centerline is valid? [True, True] Translation: X:-16.22, Y:-1.00, Z:0.25 [[ 9.99897455e-01 1.40319216e-02 2.86083695e-03 -1.62189602e+01] [-1.40327904e-02 9.99901495e-01 2.83834200e-04 -9.96116563e-01] [-2.85657240e-03 -3.23950619e-04 9.99995868e-01 2.48366636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.928033873999999 meters 0.05996259787921883 Centerline is valid? [True, True] Translation: X:-16.25, Y:-1.01, Z:0.26 [[ 9.99885672e-01 1.37784678e-02 6.22877989e-03 -1.62481952e+01] [-1.37825863e-02 9.99904824e-01 6.18770976e-04 -1.00884178e+00] [-6.21966134e-03 -7.04548929e-04 9.99980410e-01 2.55068746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.958033874 meters 0.05845790136477865 Centerline is valid? [True, True] Translation: X:-16.28, Y:-1.01, Z:0.25 [[ 9.99892437e-01 1.42103828e-02 3.63027164e-03 -1.62788296e+01] [-1.42117820e-02 9.99898943e-01 3.59923946e-04 -1.01161784e+00] [-3.62479012e-03 -4.11477861e-04 9.99993346e-01 2.54791973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.988033874 meters 0.06010972615679571 Centerline is valid? [True, True] Translation: X:-16.31, Y:-1.00, Z:0.25 [[ 9.99926703e-01 1.20802653e-02 -8.09651769e-04 -1.63126254e+01] [-1.20803364e-02 9.99927027e-01 -8.29406677e-05 -9.97943801e-01] [ 8.08590741e-04 9.27154541e-05 9.99999669e-01 2.49026440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.018033874 meters 0.05792560430116895 Centerline is valid? [True, True] Translation: X:-16.34, Y:-1.00, Z:0.25 [[ 9.99948406e-01 1.01169742e-02 9.12747573e-04 -1.63422194e+01] [-1.01170617e-02 9.99948817e-01 9.13351383e-05 -9.99166239e-01] [-9.11776821e-04 -1.00564750e-04 9.99999579e-01 2.51032352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.048033873999998 meters 0.0676658110526681 Centerline is valid? [True, True] Translation: X:-16.37, Y:-0.98, Z:0.26 [[ 9.99941726e-01 9.26791399e-03 5.53626831e-03 -1.63742026e+01] [-9.27110418e-03 9.99956871e-01 5.50849320e-04 -9.84511893e-01] [-5.53092431e-03 -6.02144541e-04 9.99984523e-01 2.55217086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.078033874 meters 0.05674133393172647 Centerline is valid? [True, True] Translation: X:-16.40, Y:-1.01, Z:0.26 [[ 9.99953288e-01 7.40443716e-03 6.21262537e-03 -1.64006036e+01] [-7.40841019e-03 9.99972367e-01 6.16739541e-04 -1.01444851e+00] [-6.20788709e-03 -6.62736409e-04 9.99980511e-01 2.63623635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.108033873999997 meters 0.05659946908347011 Centerline is valid? [True, True] Translation: X:-16.43, Y:-1.02, Z:0.26 [[ 9.99973615e-01 6.10615343e-03 3.93494699e-03 -1.64333425e+01] [-6.10773387e-03 9.99981272e-01 3.89750076e-04 -1.01523912e+00] [-3.93249342e-03 -4.13773402e-04 9.99992182e-01 2.60287182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.138033873999998 meters 0.061831244846222704 Centerline is valid? [True, True] Translation: X:-16.47, Y:-1.00, Z:0.26 [[ 9.99974271e-01 6.37910879e-03 3.28083363e-03 -1.64673609e+01] [-6.38020837e-03 9.99979594e-01 3.24796427e-04 -1.00114822e+00] [-3.27869476e-03 -3.45720472e-04 9.99994565e-01 2.58581043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.168033874 meters 0.058823343468754806 Centerline is valid? [True, True] Translation: X:-16.50, Y:-1.00, Z:0.26 [[ 9.99960949e-01 7.92117470e-03 3.91848124e-03 -1.64980123e+01] [-7.92276200e-03 9.99968538e-01 3.89723640e-04 -1.00034690e+00] [-3.91527089e-03 -4.20753615e-04 9.99992247e-01 2.64469397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.198033873999997 meters 0.0625911975634719 Centerline is valid? [True, True] Translation: X:-16.53, Y:-0.99, Z:0.26 [[ 9.99967885e-01 7.34960465e-03 3.19578904e-03 -1.65311796e+01] [-7.35065374e-03 9.99972933e-01 3.16650112e-04 -9.93172499e-01] [-3.19337529e-03 -3.40131081e-04 9.99994843e-01 2.59718528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.228033873999998 meters 0.0625911975634719 Centerline is valid? [True, True] Translation: X:-16.56, Y:-1.00, Z:0.26 [[ 9.99968592e-01 7.25267780e-03 3.19586286e-03 -1.65637946e+01] [-7.25372406e-03 9.99973641e-01 3.15912059e-04 -9.96291818e-01] [-3.19348741e-03 -3.39084044e-04 9.99994843e-01 2.60858978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.258033874 meters 0.06438841155987703 Centerline is valid? [True, True] Translation: X:-16.60, Y:-0.99, Z:0.26 [[ 9.99969685e-01 7.44165344e-03 2.29166951e-03 -1.65971168e+01] [-7.44219265e-03 9.99972281e-01 2.26855683e-04 -9.91864479e-01] [-2.28991781e-03 -2.43903852e-04 9.99997348e-01 2.56808183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.288033873999996 meters 0.06089067906131759 Centerline is valid? [True, True] Translation: X:-16.63, Y:-1.00, Z:0.26 [[ 9.99972830e-01 6.66000173e-03 3.15984757e-03 -1.66266407e+01] [-6.66103126e-03 9.99977765e-01 3.15403873e-04 -1.00161336e+00] [-3.15767672e-03 -3.36443147e-04 9.99994958e-01 2.61154663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.318033873999997 meters 0.06157696649643889 Centerline is valid? [True, True] Translation: X:-16.66, Y:-1.01, Z:0.27 [[ 9.99955163e-01 8.79752966e-03 3.50359832e-03 -1.66575819e+01] [-8.79880914e-03 9.99961228e-01 3.49943386e-04 -1.00514631e+00] [-3.50038384e-03 -3.80755188e-04 9.99993801e-01 2.66129793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.348033874 meters 0.061484702351076045 Centerline is valid? [True, True] Translation: X:-16.69, Y:-1.01, Z:0.26 [[ 9.99935967e-01 1.13133887e-02 2.62378609e-04 -1.66877381e+01] [-1.13133960e-02 9.99936001e-01 2.62884608e-05 -1.00552900e+00] [-2.62064406e-04 -2.92551706e-05 9.99999965e-01 2.63084543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.378033873999996 meters 0.06326417159540161 Centerline is valid? [True, True] Translation: X:-16.72, Y:-1.00, Z:0.26 [[ 9.99910773e-01 1.32094574e-02 -1.98926433e-03 -1.67187612e+01] [-1.32098790e-02 9.99912726e-01 -1.98939145e-04 -1.00127861e+00] [ 1.98646284e-03 2.25199335e-04 9.99998002e-01 2.59094618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.408033873999997 meters 0.06243235999379544 Centerline is valid? [True, True] Translation: X:-16.75, Y:-1.01, Z:0.26 [[ 9.99928272e-01 1.19607412e-02 6.25549771e-04 -1.67480511e+01] [-1.19607826e-02 9.99928465e-01 6.24367931e-05 -1.01017829e+00] [-6.24758232e-04 -6.99143795e-05 9.99999802e-01 2.63760551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.438033874 meters 0.061665875788264546 Centerline is valid? [True, True] Translation: X:-16.78, Y:-1.02, Z:0.27 [[ 9.99939775e-01 9.99376332e-03 4.53543787e-03 -1.67785305e+01] [-9.99591869e-03 9.99949937e-01 4.52809552e-04 -1.01862769e+00] [-4.53068555e-03 -4.98118150e-04 9.99989612e-01 2.68418791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.468033873999996 meters 0.05966863165975801 Centerline is valid? [True, True] Translation: X:-16.81, Y:-1.02, Z:0.27 [[ 9.99938173e-01 9.70423533e-03 5.42943542e-03 -1.68087427e+01] [-9.70732053e-03 9.99952736e-01 5.42171945e-04 -1.02439532e+00] [-5.42391743e-03 -5.94843694e-04 9.99985114e-01 2.71366180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.498033873999997 meters 0.05983129748777958 Centerline is valid? [True, True] Translation: X:-16.84, Y:-1.03, Z:0.27 [[ 9.99948722e-01 9.14345960e-03 4.35324496e-03 -1.68404427e+01] [-9.14540861e-03 9.99958088e-01 4.28019655e-04 -1.02878628e+00] [-4.34914893e-03 -4.67809911e-04 9.99990433e-01 2.71078473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.528033874 meters 0.06080742763483019 Centerline is valid? [True, True] Translation: X:-16.87, Y:-1.03, Z:0.27 [[ 9.99964246e-01 7.84893200e-03 3.14644170e-03 -1.68725270e+01] [-7.84995694e-03 9.99969139e-01 3.13528925e-04 -1.03439980e+00] [-3.14388374e-03 -3.38217147e-04 9.99995001e-01 2.72589787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.558033874 meters 0.05696268214950706 Centerline is valid? [True, True] Translation: X:-16.90, Y:-1.05, Z:0.27 [[ 9.99983181e-01 4.53840317e-03 3.61104147e-03 -1.69010048e+01] [-4.53973281e-03 9.99989631e-01 3.60106155e-04 -1.04690780e+00] [-3.60936972e-03 -3.76493262e-04 9.99993415e-01 2.73101268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.588033873999997 meters 0.0582301709996119 Centerline is valid? [True, True] Translation: X:-16.93, Y:-1.05, Z:0.28 [[ 9.99984623e-01 3.28919910e-03 4.46476322e-03 -1.69315237e+01] [-3.29123191e-03 9.99994484e-01 4.48028779e-04 -1.05115058e+00] [-4.46326494e-03 -4.62716461e-04 9.99989933e-01 2.76274765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.618033873999998 meters 0.05485284707052457 Centerline is valid? [True, True] Translation: X:-16.96, Y:-1.06, Z:0.28 [[ 9.99985419e-01 1.88487366e-03 5.06061928e-03 -1.69605939e+01] [-1.88745922e-03 9.99998091e-01 5.06190758e-04 -1.06216384e+00] [-5.05965551e-03 -5.15735089e-04 9.99987067e-01 2.80107472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.648033874 meters 0.057948132411620334 Centerline is valid? [True, True] Translation: X:-16.99, Y:-1.05, Z:0.28 [[ 9.99993880e-01 3.39550321e-03 8.42368937e-04 -1.69921144e+01] [-3.39557561e-03 9.99994231e-01 8.45410013e-05 -1.05008349e+00] [-8.42077019e-04 -8.74008114e-05 9.99999642e-01 2.79472776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.678033873999997 meters 0.05529752488156961 Centerline is valid? [True, True] Translation: X:-17.02, Y:-1.05, Z:0.28 [[ 9.99967304e-01 7.87314130e-03 -1.84533521e-03 -1.70221502e+01] [-7.87349736e-03 9.99968986e-01 -1.85765968e-04 -1.05147930e+00] [ 1.84381541e-03 2.00289136e-04 9.99998280e-01 2.76751150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.708033873999998 meters 0.0607845303017914 Centerline is valid? [True, True] Translation: X:-17.05, Y:-1.04, Z:0.28 [[ 9.99932035e-01 1.16393864e-02 6.71294983e-04 -1.70535198e+01] [-1.16394343e-02 9.99932257e-01 6.75346574e-05 -1.04186415e+00] [-6.70463445e-04 -7.53435612e-05 9.99999772e-01 2.79243051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.738033874 meters 0.057180219166987976 Centerline is valid? [True, True] Translation: X:-17.08, Y:-1.05, Z:0.29 [[ 9.99888074e-01 1.45702867e-02 3.39805738e-03 -1.70816454e+01] [-1.45715322e-02 9.99893771e-01 3.42046161e-04 -1.05455036e+00] [-3.39271270e-03 -3.91522780e-04 9.99994168e-01 2.87084871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.768033873999997 meters 0.06206861705656561 Centerline is valid? [True, True] Translation: X:-17.12, Y:-1.05, Z:0.28 [[ 9.99884033e-01 1.46497121e-02 4.16021324e-03 -1.71154837e+01] [-1.46515645e-02 9.99892574e-01 4.15148146e-04 -1.04857409e+00] [-4.15368453e-03 -4.76053635e-04 9.99991260e-01 2.83997078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.798033873999998 meters 0.06288338358220645 Centerline is valid? [True, True] Translation: X:-17.15, Y:-1.05, Z:0.28 [[ 9.99909465e-01 1.34550243e-02 -1.58082837e-04 -1.71474862e+01] [-1.34550283e-02 9.99909477e-01 -2.40276498e-05 -1.05449892e+00] [ 1.57745234e-04 2.61524835e-05 9.99999987e-01 2.77948016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.828033874 meters 0.06868728573150296 Centerline is valid? [True, True] Translation: X:-17.18, Y:-1.05, Z:0.28 [[ 9.99914326e-01 1.30862138e-02 -3.03530238e-04 -1.71805018e+01] [-1.30862244e-02 9.99914371e-01 -3.29185490e-05 -1.04687010e+00] [ 3.03073468e-04 3.68877936e-05 9.99999953e-01 2.78066087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.858033873999997 meters 0.06459880361084408 Centerline is valid? [True, True] Translation: X:-17.21, Y:-1.06, Z:0.29 [[ 9.99928389e-01 1.14253773e-02 3.56053901e-03 -1.72092466e+01] [-1.14267280e-02 9.99934648e-01 3.59221742e-04 -1.05547176e+00] [-3.55620208e-03 -3.99881328e-04 9.99993597e-01 2.88834244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.888033873999998 meters 0.05887221295638855 Centerline is valid? [True, True] Translation: X:-17.24, Y:-1.07, Z:0.30 [[ 9.99938977e-01 9.36808439e-03 5.85504514e-03 -1.72377865e+01] [-9.37170334e-03 9.99955910e-01 5.90960496e-04 -1.06813286e+00] [-5.84925083e-03 -6.45796180e-04 9.99982684e-01 2.96270454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.918033874 meters 0.061154858918358736 Centerline is valid? [True, True] Translation: X:-17.27, Y:-1.07, Z:0.29 [[ 9.99965879e-01 7.67059699e-03 3.06650439e-03 -1.72709475e+01] [-7.67157562e-03 9.99970526e-01 3.07498825e-04 -1.06607302e+00] [-3.06405530e-03 -3.31013253e-04 9.99995251e-01 2.88376836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.948033873999997 meters 0.05891272530277541 Centerline is valid? [True, True] Translation: X:-17.30, Y:-1.07, Z:0.29 [[ 9.99962579e-01 8.65093234e-03 5.01110578e-05 -1.73005048e+01] [-8.65093261e-03 9.99962580e-01 5.06326680e-06 -1.07450188e+00] [-5.00653807e-05 -5.49658471e-06 9.99999999e-01 2.87848839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.978033873999998 meters 0.060611369341515134 Centerline is valid? [True, True] Translation: X:-17.33, Y:-1.08, Z:0.30 [[ 9.99928071e-01 1.16959961e-02 2.65635964e-03 -1.73308592e+01] [-1.16967496e-02 9.99931555e-01 2.68294428e-04 -1.07680027e+00] [-2.65303986e-03 -2.99345903e-04 9.99996436e-01 2.95642677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.008033874 meters 0.06669405165098125 Centerline is valid? [True, True] Translation: X:-17.36, Y:-1.07, Z:0.29 [[ 9.99897002e-01 1.43423460e-02 5.31662012e-04 -1.73627169e+01] [-1.43423764e-02 9.99897141e-01 5.33838877e-05 -1.06936103e+00] [-5.30841676e-04 -6.10036859e-05 9.99999857e-01 2.93208392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.038033873999996 meters 0.06603566927101598 Centerline is valid? [True, True] Translation: X:-17.39, Y:-1.07, Z:0.29 [[ 9.99884586e-01 1.51346936e-02 -1.32515640e-03 -1.73921344e+01] [-1.51348872e-02 9.99885452e-01 -1.36220565e-04 -1.07370149e+00] [ 1.32294295e-03 1.56260936e-04 9.99999113e-01 2.89053940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.068033873999997 meters 0.0666342954646836 Centerline is valid? [True, True] Translation: X:-17.42, Y:-1.07, Z:0.29 [[ 9.99867126e-01 1.60943488e-02 -2.58888765e-03 -1.74234827e+01] [-1.60950813e-02 9.99870431e-01 -2.62386322e-04 -1.07225038e+00] [ 2.58432927e-03 3.04019815e-04 9.99996614e-01 2.88151544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.098033874 meters 0.060227874298454116 Centerline is valid? [True, True] Translation: X:-17.45, Y:-1.09, Z:0.30 [[ 9.99792853e-01 1.99264278e-02 4.14585803e-03 -1.74516235e+01] [-1.99283356e-02 9.99801323e-01 4.19356524e-04 -1.08839883e+00] [-4.13667807e-03 -5.01889706e-04 9.99991318e-01 3.03031256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.128033873999996 meters 0.06333738691994639 Centerline is valid? [True, True] Translation: X:-17.48, Y:-1.08, Z:0.31 [[ 9.99707138e-01 2.34010206e-02 6.16687661e-03 -1.74828612e+01] [-2.34053045e-02 9.99725864e-01 6.23414869e-04 -1.08480440e+00] [-6.15059750e-03 -7.67569920e-04 9.99980790e-01 3.09092763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.158033873999997 meters 0.06623868561143685 Centerline is valid? [True, True] Translation: X:-17.52, Y:-1.08, Z:0.30 [[ 9.99711015e-01 2.37671999e-02 3.60645438e-03 -1.75150399e+01] [-2.37686643e-02 9.99717419e-01 3.63734675e-04 -1.08125639e+00] [-3.59679031e-03 -4.49350164e-04 9.99993431e-01 3.02849971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.188033874 meters 0.06529554882329859 Centerline is valid? [True, True] Translation: X:-17.55, Y:-1.09, Z:0.30 [[ 9.99749502e-01 2.23740551e-02 -5.79035592e-04 -1.75466497e+01] [-2.23740977e-02 9.99749666e-01 -6.72335321e-05 -1.08727360e+00] [ 5.77386354e-04 8.01720891e-05 9.99999830e-01 2.96480765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.218033873999996 meters 0.06631263501681917 Centerline is valid? [True, True] Translation: X:-17.58, Y:-1.09, Z:0.30 [[ 9.99797626e-01 2.00738991e-02 -1.32113928e-03 -1.75765396e+01] [-2.00740936e-02 9.99798486e-01 -1.34107084e-04 -1.09222129e+00] [ 1.31818100e-03 1.60600618e-04 9.99999118e-01 2.96550695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.248033873999997 meters 0.06017750771841966 Centerline is valid? [True, True] Translation: X:-17.60, Y:-1.12, Z:0.31 [[ 9.99831486e-01 1.83176972e-02 1.20892535e-03 -1.76037696e+01] [-1.83178592e-02 9.99832206e-01 1.23084327e-04 -1.11537820e+00] [-1.20646788e-03 -1.45208510e-04 9.99999262e-01 3.10207930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.278033874 meters 0.05825671843933321 Centerline is valid? [True, True] Translation: X:-17.63, Y:-1.13, Z:0.32 [[ 9.99847403e-01 1.69490736e-02 4.23069505e-03 -1.76317439e+01] [-1.69510364e-02 9.99856229e-01 4.28520417e-04 -1.12700448e+00] [-4.22282377e-03 -5.00169692e-04 9.99990959e-01 3.21332370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.308033874 meters 0.06413888422271928 Centerline is valid? [True, True] Translation: X:-17.67, Y:-1.11, Z:0.31 [[ 9.99867734e-01 1.61280427e-02 2.09794610e-03 -1.76670787e+01] [-1.61285054e-02 9.99869906e-01 2.03801053e-04 -1.10874621e+00] [-2.09438626e-03 -2.37610832e-04 9.99997779e-01 3.14715021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.338033873999997 meters 0.06176979530547489 Centerline is valid? [True, True] Translation: X:-17.70, Y:-1.11, Z:0.31 [[ 9.99870076e-01 1.61041583e-02 -6.97816540e-04 -1.76971957e+01] [-1.61042141e-02 9.99870316e-01 -7.44932175e-05 -1.11444511e+00] [ 6.96526393e-04 8.57213260e-05 9.99999754e-01 3.06111467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.368033873999998 meters 0.06972314157963136 Centerline is valid? [True, True] Translation: X:-17.73, Y:-1.10, Z:0.30 [[ 9.99841771e-01 1.68477408e-02 -5.70845921e-03 -1.77288135e+01] [-1.68513296e-02 9.99857837e-01 -5.81155215e-04 -1.10445265e+00] [ 5.69785652e-03 6.77258387e-04 9.99983538e-01 2.97680652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.398033874 meters 0.06519280141522556 Centerline is valid? [True, True] Translation: X:-17.76, Y:-1.14, Z:0.30 [[ 9.99849913e-01 1.69433284e-02 -3.61597623e-03 -1.77567776e+01] [-1.69447757e-02 9.99856359e-01 -3.69978963e-04 -1.13594466e+00] [ 3.60918815e-03 4.31195340e-04 9.99993394e-01 3.03704758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.428033873999997 meters 0.06316127650385052 Centerline is valid? [True, True] Translation: X:-17.79, Y:-1.15, Z:0.31 [[ 9.99863525e-01 1.63561837e-02 -2.32522878e-03 -1.77860625e+01] [-1.63567795e-02 9.99866191e-01 -2.37435956e-04 -1.14965438e+00] [ 2.32103409e-03 2.75436806e-04 9.99997268e-01 3.07471433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.458033873999998 meters 0.06603912440291036 Centerline is valid? [True, True] Translation: X:-17.82, Y:-1.16, Z:0.32 [[ 9.99896494e-01 1.42406608e-02 -2.05047712e-03 -1.78157558e+01] [-1.42411189e-02 9.99898568e-01 -2.08990275e-04 -1.15665072e+00] [ 2.04729297e-03 2.38169732e-04 9.99997876e-01 3.18590585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.488033874 meters 0.06198334783023003 Centerline is valid? [True, True] Translation: X:-17.84, Y:-1.17, Z:0.32 [[ 9.99948749e-01 1.01226420e-02 1.75074315e-04 -1.78449785e+01] [-1.01226452e-02 9.99948765e-01 1.76962993e-05 -1.17025058e+00] [-1.74886211e-04 -1.94676075e-05 9.99999985e-01 3.16226404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.518033873999997 meters 0.06005441787754897 Centerline is valid? [True, True] Translation: X:-17.87, Y:-1.18, Z:0.32 [[ 9.99992885e-01 3.04998902e-03 2.21991286e-03 -1.78743467e+01] [-3.05049850e-03 9.99995322e-01 2.26153549e-04 -1.18169288e+00] [-2.21921270e-03 -2.32923780e-04 9.99997510e-01 3.17638085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.548033873999998 meters 0.056480328596726664 Centerline is valid? [True, True] Translation: X:-17.90, Y:-1.20, Z:0.32 [[ 9.99982214e-01 -5.82824474e-03 1.26623489e-03 -1.79029814e+01] [ 5.82808596e-03 9.99983008e-01 1.29054198e-04 -1.19996870e+00] [-1.26696554e-03 -1.21672177e-04 9.99999190e-01 3.17566646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.578033874 meters 0.05314545748676318 Centerline is valid? [True, True] Translation: X:-17.93, Y:-1.21, Z:0.32 [[ 9.99911101e-01 -1.33106113e-02 7.85648124e-04 -1.79320379e+01] [ 1.33105521e-02 9.99911407e-01 8.05515858e-05 -1.21341695e+00] [-7.86650713e-04 -7.00870146e-05 9.99999688e-01 3.23868488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.608033873999997 meters 0.05639876956828101 Centerline is valid? [True, True] Translation: X:-17.96, Y:-1.21, Z:0.33 [[ 9.99892002e-01 -1.45039241e-02 2.37074847e-03 -1.79622955e+01] [ 1.45033907e-02 9.99894791e-01 2.42011433e-04 -1.20922160e+00] [-2.37400916e-03 -2.07601405e-04 9.99997160e-01 3.25791488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.638033873999998 meters 0.053122585433405825 Centerline is valid? [True, True] Translation: X:-17.99, Y:-1.22, Z:0.33 [[ 9.99907048e-01 -1.35078500e-02 1.85290552e-03 -1.79890299e+01] [ 1.35075186e-02 9.99908751e-01 1.91275289e-04 -1.21966260e+00] [-1.85532016e-03 -1.66229354e-04 9.99998265e-01 3.30747291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.668033874 meters 0.05418474716367034 Centerline is valid? [True, True] Translation: X:-18.02, Y:-1.22, Z:0.33 [[ 9.99954523e-01 -9.53679040e-03 3.87635445e-05 -1.80195287e+01] [ 9.53679024e-03 9.99954524e-01 4.19200772e-06 -1.21849291e+00] [-3.88017600e-05 -3.82213730e-06 9.99999999e-01 3.30020029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.698033873999997 meters 0.057548013140461554 Centerline is valid? [True, True] Translation: X:-18.05, Y:-1.21, Z:0.32 [[ 9.99980574e-01 -5.97286710e-03 -1.78251112e-03 -1.80513876e+01] [ 5.97255294e-03 9.99982148e-01 -1.81517908e-04 -1.21226955e+00] [ 1.78356348e-03 1.70868240e-04 9.99998395e-01 3.24873863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.728033873999998 meters 0.0614179645732571 Centerline is valid? [True, True] Translation: X:-18.08, Y:-1.20, Z:0.32 [[ 9.99989419e-01 -3.20798624e-03 -3.29709579e-03 -1.80825880e+01] [ 3.20690093e-03 9.99994802e-01 -3.34405843e-04 -1.20345815e+00] [ 3.29815142e-03 3.23828845e-04 9.99994509e-01 3.20451927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.758033874 meters 0.059302609313499746 Centerline is valid? [True, True] Translation: X:-18.11, Y:-1.20, Z:0.33 [[ 9.99997690e-01 -2.14202461e-03 1.76849901e-04 -1.81108495e+01] [ 2.14202081e-03 9.99997706e-01 2.16608379e-05 -1.19737837e+00] [-1.76895894e-04 -2.12819717e-05 9.99999984e-01 3.29177876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.788033873999996 meters 0.05459371558589363 Centerline is valid? [True, True] Translation: X:-18.14, Y:-1.19, Z:0.33 [[ 9.99997284e-01 -2.00104007e-03 1.19490052e-03 -1.81397852e+01] [ 2.00089479e-03 9.99997991e-01 1.22765346e-04 -1.19442212e+00] [-1.19514377e-03 -1.20374142e-04 9.99999279e-01 3.33348480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.818033873999997 meters 0.05340515748493278 Centerline is valid? [True, True] Translation: X:-18.17, Y:-1.19, Z:0.33 [[ 9.99992633e-01 -3.76739686e-03 -7.35479994e-04 -1.81699536e+01] [ 3.76734331e-03 9.99992901e-01 -7.41773723e-05 -1.19134970e+00] [ 7.35754228e-04 7.14060202e-05 9.99999727e-01 3.33907948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.848033874 meters 0.05661612349716541 Centerline is valid? [True, True] Translation: X:-18.20, Y:-1.19, Z:0.33 [[ 9.99978967e-01 -5.62972942e-03 -3.22044792e-03 -1.82001557e+01] [ 5.62871131e-03 9.99984106e-01 -3.25114986e-04 -1.18586441e+00] [ 3.22222704e-03 3.06981176e-04 9.99994761e-01 3.28202105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.878033873999996 meters 0.055336310384279504 Centerline is valid? [True, True] Translation: X:-18.23, Y:-1.18, Z:0.33 [[ 9.99971698e-01 -6.05715296e-03 -4.46257702e-03 -1.82283405e+01] [ 6.05520571e-03 9.99981566e-01 -4.49734010e-04 -1.18425851e+00] [ 4.46521887e-03 4.22699460e-04 9.99989942e-01 3.28222904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.908033873999997 meters 0.0557794958453629 Centerline is valid? [True, True] Translation: X:-18.26, Y:-1.17, Z:0.33 [[ 9.99957578e-01 -9.21036789e-03 -1.07718446e-04 -1.82605032e+01] [ 9.21036676e-03 9.99957584e-01 -1.09906808e-05 -1.16923498e+00] [ 1.07815105e-04 9.99808817e-06 9.99999994e-01 3.33835228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.938033874 meters 0.0537285963937128 Centerline is valid? [True, True] Translation: X:-18.29, Y:-1.17, Z:0.33 [[ 9.99951211e-01 -9.81342350e-03 1.12787883e-03 -1.82884013e+01] [ 9.81329811e-03 9.99951842e-01 1.16653159e-04 -1.17262650e+00] [-1.12896928e-03 -1.05579256e-04 9.99999357e-01 3.34695720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.968033873999996 meters 0.05258354555600363 Centerline is valid? [True, True] Translation: X:-18.32, Y:-1.17, Z:0.34 [[ 9.99929165e-01 -1.18945914e-02 4.29118932e-04 -1.83188178e+01] [ 1.18945738e-02 9.99929256e-01 4.34984615e-05 -1.17456839e+00] [-4.29605971e-04 -3.83911934e-05 9.99999907e-01 3.37210968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.998033873999997 meters 0.05562247152145118 Centerline is valid? [True, True] Translation: X:-18.35, Y:-1.17, Z:0.33 [[ 9.99897695e-01 -1.38089947e-02 -3.72970578e-03 -1.83482922e+01] [ 1.38076895e-02 9.99904599e-01 -3.75470572e-04 -1.16855643e+00] [ 3.73453483e-03 3.23933540e-04 9.99992974e-01 3.30027143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.028033874 meters 0.051826792374743906 Centerline is valid? [True, True] Translation: X:-18.38, Y:-1.17, Z:0.33 [[ 9.99894875e-01 -1.40391123e-02 -3.62515941e-03 -1.83757108e+01] [ 1.40378842e-02 9.99901398e-01 -3.63992352e-04 -1.16983915e+00] [ 3.62991209e-03 3.13064520e-04 9.99993363e-01 3.32192298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.058033873999996 meters 0.05505554593065185 Centerline is valid? [True, True] Translation: X:-18.41, Y:-1.15, Z:0.33 [[ 9.99916492e-01 -1.29230474e-02 5.77096318e-05 -1.84058706e+01] [ 1.29230466e-02 9.99916494e-01 1.40780956e-05 -1.15390041e+00] [-5.78867447e-05 -1.33311357e-05 9.99999998e-01 3.34590563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.088033873999997 meters 0.052129097454180706 Centerline is valid? [True, True] Translation: X:-18.43, Y:-1.16, Z:0.34 [[ 9.99925205e-01 -1.21003631e-02 1.77934478e-03 -1.84321771e+01] [ 1.21000554e-02 9.99926775e-01 1.83555873e-04 -1.15789366e+00] [-1.78143558e-03 -1.62011974e-04 9.99998400e-01 3.37982177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.118033873999998 meters 0.055147917449515235 Centerline is valid? [True, True] Translation: X:-18.46, Y:-1.14, Z:0.34 [[ 9.99955574e-01 -8.49622534e-03 4.08207956e-03 -1.84643342e+01] [ 8.49461438e-03 9.99963835e-01 4.11817082e-04 -1.14281063e+00] [-4.08543083e-03 -3.77123095e-04 9.99991583e-01 3.44353790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.148033874 meters 0.055147917449515235 Centerline is valid? [True, True] Translation: X:-18.49, Y:-1.15, Z:0.35 [[ 9.99956127e-01 -8.43100342e-03 4.08189022e-03 -1.84925742e+01] [ 8.42938433e-03 9.99964387e-01 4.13695150e-04 -1.14574669e+00] [-4.08523271e-03 -3.79269179e-04 9.99991583e-01 3.45343739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.178033873999997 meters 0.05442258876315966 Centerline is valid? [True, True] Translation: X:-18.52, Y:-1.15, Z:0.34 [[ 9.99975621e-01 -6.68934353e-03 2.00241144e-03 -1.85222074e+01] [ 6.68895124e-03 9.99977608e-01 2.02541125e-04 -1.14577340e+00] [-2.00372147e-03 -1.89142155e-04 9.99997975e-01 3.43078790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.208033873999998 meters 0.05513895282493876 Centerline is valid? [True, True] Translation: X:-18.55, Y:-1.14, Z:0.33 [[ 9.99980681e-01 -5.34429762e-03 -3.17415140e-03 -1.85545023e+01] [ 5.34330937e-03 9.99985673e-01 -3.19741459e-04 -1.13532865e+00] [ 3.17581472e-03 3.02774809e-04 9.99994911e-01 3.34266304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.238033874 meters 0.059290317231918 Centerline is valid? [True, True] Translation: X:-18.59, Y:-1.12, Z:0.33 [[ 9.99986572e-01 -3.90903319e-03 -3.40211311e-03 -1.85861049e+01] [ 3.90789373e-03 9.99992306e-01 -3.41511393e-04 -1.11794766e+00] [ 3.40342192e-03 3.28211711e-04 9.99994154e-01 3.30462318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.268033873999997 meters 0.05457537782135305 Centerline is valid? [True, True] Translation: X:-18.61, Y:-1.12, Z:0.34 [[ 9.99993018e-01 -3.15811147e-03 1.99750120e-03 -1.86133613e+01] [ 3.15771135e-03 9.99994994e-01 2.03431429e-04 -1.12270263e+00] [-1.99813366e-03 -1.97122476e-04 9.99997984e-01 3.40689695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.298033873999998 meters 0.0567180672724712 Centerline is valid? [True, True] Translation: X:-18.65, Y:-1.11, Z:0.34 [[ 9.99989917e-01 -1.98730027e-03 4.02692290e-03 -1.86450052e+01] [ 1.98568387e-03 9.99997946e-01 4.05357346e-04 -1.11413460e+00] [-4.02772020e-03 -3.97357063e-04 9.99991810e-01 3.43430222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.328033874 meters 0.05816914330406746 Centerline is valid? [True, True] Translation: X:-18.68, Y:-1.10, Z:0.34 [[ 9.99999675e-01 1.38478352e-05 8.06216297e-04 -1.86771071e+01] [-1.39132710e-05 9.99999997e-01 8.11586550e-05 -1.10339252e+00] [-8.06215171e-04 -8.11698457e-05 9.99999672e-01 3.38115908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.358033873999997 meters 0.05492485811527289 Centerline is valid? [True, True] Translation: X:-18.71, Y:-1.10, Z:0.33 [[ 9.99998395e-01 1.77522273e-03 -2.42245705e-04 -1.87072229e+01] [-1.77522869e-03 9.99998424e-01 -2.43848663e-05 -1.10320024e+00] [ 2.42202035e-04 2.48148687e-05 9.99999970e-01 3.34831270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.388033873999998 meters 0.057492179020799845 Centerline is valid? [True, True] Translation: X:-18.74, Y:-1.09, Z:0.34 [[ 9.99986384e-01 4.73962026e-03 2.18361289e-03 -1.87389846e+01] [-4.74011017e-03 9.99988742e-01 2.19234363e-04 -1.09445404e+00] [-2.18254922e-03 -2.29581943e-04 9.99997592e-01 3.35885989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.418033874 meters 0.06325605573150998 Centerline is valid? [True, True] Translation: X:-18.77, Y:-1.08, Z:0.34 [[ 9.99976129e-01 6.73260183e-03 1.55330627e-03 -1.87712819e+01] [-6.73285210e-03 9.99977322e-01 1.55946825e-04 -1.08184690e+00] [-1.55222112e-03 -1.66401284e-04 9.99998781e-01 3.36215023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.448033873999997 meters 0.060816606528296686 Centerline is valid? [True, True] Translation: X:-18.80, Y:-1.08, Z:0.33 [[ 9.99963853e-01 7.48322065e-03 -4.03661651e-03 -1.88006946e+01] [-7.48491914e-03 9.99971905e-01 -4.05827472e-04 -1.08381442e+00] [ 4.03346621e-03 4.36026550e-04 9.99991770e-01 3.28074867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.478033873999998 meters 0.05950729626947551 Centerline is valid? [True, True] Translation: X:-18.83, Y:-1.08, Z:0.33 [[ 9.99989565e-01 4.51718367e-03 -6.82087907e-04 -1.88321499e+01] [-4.51723174e-03 9.99989795e-01 -6.89581703e-05 -1.07952519e+00] [ 6.81769449e-04 7.20385998e-05 9.99999765e-01 3.29448742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.508033874 meters 0.05777338250153949 Centerline is valid? [True, True] Translation: X:-18.86, Y:-1.08, Z:0.34 [[ 9.99982199e-01 4.39867634e-03 4.03144486e-03 -1.88618067e+01] [-4.40034810e-03 9.99990236e-01 4.05903829e-04 -1.08157917e+00] [-4.02962006e-03 -4.23636365e-04 9.99991791e-01 3.37139400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.538033873999996 meters 0.057043464808829554 Centerline is valid? [True, True] Translation: X:-18.89, Y:-1.08, Z:0.34 [[ 9.99986665e-01 2.98847145e-03 4.21179762e-03 -1.88928307e+01] [-2.99028157e-03 9.99995439e-01 4.23542657e-04 -1.08074011e+00] [-4.21051267e-03 -4.36131470e-04 9.99991041e-01 3.38551301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.568033873999997 meters 0.056790180920255326 Centerline is valid? [True, True] Translation: X:-18.92, Y:-1.08, Z:0.33 [[ 9.99995232e-01 2.92651331e-03 9.86066985e-04 -1.89237896e+01] [-2.92660921e-03 9.99995713e-01 9.58247373e-05 -1.08006608e+00] [-9.85782326e-04 -9.87101131e-05 9.99999509e-01 3.32862848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.598033874 meters 0.06259576202764808 Centerline is valid? [True, True] Translation: X:-18.96, Y:-1.07, Z:0.33 [[ 9.99999573e-01 7.57727221e-04 5.29450969e-04 -1.89564627e+01] [-7.57754959e-04 9.99999712e-01 5.21912418e-05 -1.06855318e+00] [-5.29411269e-04 -5.25924136e-05 9.99999858e-01 3.33460815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.628033873999996 meters 0.05439467400564161 Centerline is valid? [True, True] Translation: X:-18.99, Y:-1.09, Z:0.34 [[ 9.99997552e-01 5.87492580e-04 2.13348604e-03 -1.89851790e+01] [-5.87949295e-04 9.99999804e-01 2.13449070e-04 -1.09104355e+00] [-2.13336022e-03 -2.14702929e-04 9.99997701e-01 3.39419110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.658033873999997 meters 0.058729458186176864 Centerline is valid? [True, True] Translation: X:-19.02, Y:-1.08, Z:0.34 [[ 9.99995875e-01 2.44101633e-03 1.51352222e-03 -1.90166850e+01] [-2.44125022e-03 9.99997008e-01 1.52701223e-04 -1.08226332e+00] [-1.51314494e-03 -1.56395479e-04 9.99998843e-01 3.39314936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.688033874 meters 0.0597787832849772 Centerline is valid? [True, True] Translation: X:-19.05, Y:-1.08, Z:0.33 [[ 9.99972768e-01 7.29690966e-03 -1.10421438e-03 -1.90471323e+01] [-7.29703706e-03 9.99973370e-01 -1.11385025e-04 -1.07761487e+00] [ 1.10337221e-03 1.19439485e-04 9.99999384e-01 3.32105225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.718033873999996 meters 0.06128683564522408 Centerline is valid? [True, True] Translation: X:-19.08, Y:-1.07, Z:0.32 [[ 9.99914583e-01 1.21352709e-02 -4.85413928e-03 -1.90781858e+01] [-1.21377890e-02 9.99926214e-01 -4.89628637e-04 -1.07422480e+00] [ 4.84783934e-03 5.48505333e-04 9.99988099e-01 3.23573861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.748033873999997 meters 0.06225526116904841 Centerline is valid? [True, True] Translation: X:-19.11, Y:-1.08, Z:0.33 [[ 9.99907174e-01 1.32211375e-02 -3.29322417e-03 -1.91108654e+01] [-1.32223133e-02 9.99912525e-01 -3.35532622e-04 -1.07525997e+00] [ 3.28849997e-03 3.79045517e-04 9.99994521e-01 3.26334122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.778033874 meters 0.06018095688099706 Centerline is valid? [True, True] Translation: X:-19.14, Y:-1.09, Z:0.34 [[ 9.99891976e-01 1.46002309e-02 1.69413906e-03 -1.91406215e+01] [-1.46005385e-02 9.99893392e-01 1.69346588e-04 -1.08748339e+00] [-1.69148595e-03 -1.94063637e-04 9.99998551e-01 3.37024946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.808033873999996 meters 0.0667683342459456 Centerline is valid? [True, True] Translation: X:-19.17, Y:-1.09, Z:0.34 [[ 9.99890799e-01 1.38311841e-02 5.20471019e-03 -1.91705190e+01] [-1.38341034e-02 9.99904166e-01 5.25298617e-04 -1.09325381e+00] [-5.19694590e-03 -5.97243753e-04 9.99986317e-01 3.44889879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.838033873999997 meters 0.060661306090342614 Centerline is valid? [True, True] Translation: X:-19.20, Y:-1.11, Z:0.34 [[ 9.99913916e-01 1.28926237e-02 2.43754734e-03 -1.92016189e+01] [-1.28932484e-02 9.99916850e-01 2.40748557e-04 -1.11098804e+00] [-2.43424078e-03 -2.72155736e-04 9.99997000e-01 3.43689079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.868033873999998 meters 0.06124714017287824 Centerline is valid? [True, True] Translation: X:-19.23, Y:-1.11, Z:0.33 [[ 9.99934219e-01 1.10021803e-02 -3.24171922e-03 -1.92342268e+01] [-1.10033096e-02 9.99939407e-01 -3.30743326e-04 -1.11085758e+00] [ 3.23788390e-03 3.66391210e-04 9.99994691e-01 3.32887049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.898033874 meters 0.062381989271675854 Centerline is valid? [True, True] Translation: X:-19.26, Y:-1.12, Z:0.33 [[ 9.99950731e-01 8.73771716e-03 -4.71048691e-03 -1.92649794e+01] [-8.74006364e-03 9.99961691e-01 -4.77784550e-04 -1.11968964e+00] [ 4.70613171e-03 5.18930965e-04 9.99988791e-01 3.26055856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.928033873999997 meters 0.060633901029583354 Centerline is valid? [True, True] Translation: X:-19.29, Y:-1.14, Z:0.34 [[ 9.99976438e-01 6.66285037e-03 -1.65197414e-03 -1.92938681e+01] [-6.66313737e-03 9.99977787e-01 -1.68290646e-04 -1.14148805e+00] [ 1.65081615e-03 1.79294011e-04 9.99998621e-01 3.37798801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.958033873999998 meters 0.06083107362727965 Centerline is valid? [True, True] Translation: X:-19.32, Y:-1.15, Z:0.35 [[ 9.99978276e-01 5.04865008e-03 4.23785139e-03 -1.93230004e+01] [-5.05051340e-03 9.99987154e-01 4.29097675e-04 -1.15377690e+00] [-4.23563058e-03 -4.50491679e-04 9.99990928e-01 3.48881176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.988033874 meters 0.05985851776775135 Centerline is valid? [True, True] Translation: X:-19.35, Y:-1.16, Z:0.35 [[ 9.99972574e-01 3.96403880e-03 6.25596023e-03 -1.93537226e+01] [-3.96807583e-03 9.99991927e-01 6.33029010e-04 -1.16042877e+00] [-6.25340037e-03 -6.57835774e-04 9.99980231e-01 3.53203171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.018033873999997 meters 0.06721064131409672 Centerline is valid? [True, True] Translation: X:-19.39, Y:-1.15, Z:0.33 [[ 9.99942063e-01 1.03647537e-02 -2.90543818e-03 -1.93862323e+01] [-1.03656534e-02 9.99946232e-01 -2.94783670e-04 -1.15414699e+00] [ 2.90222660e-03 3.24883356e-04 9.99995736e-01 3.34593015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.048033873999998 meters 0.07247093587390212 Centerline is valid? [True, True] Translation: X:-19.42, Y:-1.16, Z:0.32 [[ 9.99881403e-01 1.35850857e-02 -7.25434779e-03 -1.94166262e+01] [-1.35907742e-02 9.99907371e-01 -7.35424616e-04 -1.15973608e+00] [ 7.24368502e-03 8.33929600e-04 9.99973416e-01 3.24256630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.078033874 meters 0.06410002114414917 Centerline is valid? [True, True] Translation: X:-19.44, Y:-1.19, Z:0.33 [[ 9.99861237e-01 1.43104116e-02 -8.52751263e-03 -1.94448269e+01] [-1.43183107e-02 9.99897113e-01 -8.65973099e-04 -1.18662402e+00] [ 8.51424282e-03 9.87952509e-04 9.99963265e-01 3.34444765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.108033873999997 meters 0.06743532869773831 Centerline is valid? [True, True] Translation: X:-19.47, Y:-1.20, Z:0.33 [[ 9.99916127e-01 1.09432487e-02 -6.92710633e-03 -1.94736009e+01] [-1.09483741e-02 9.99939818e-01 -7.02416190e-04 -1.20180569e+00] [ 6.91900273e-03 7.78197827e-04 9.99975761e-01 3.32441019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.138033873999998 meters 0.0653534194657214 Centerline is valid? [True, True] Translation: X:-19.50, Y:-1.22, Z:0.34 [[ 9.99947048e-01 9.32999616e-03 -4.34186779e-03 -1.95011132e+01] [-9.33199611e-03 9.99956359e-01 -4.40588239e-04 -1.21960818e+00] [ 4.33756762e-03 4.81083203e-04 9.99990477e-01 3.39816609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.168033874 meters 0.062252413011149914 Centerline is valid? [True, True] Translation: X:-19.53, Y:-1.24, Z:0.35 [[ 9.99949177e-01 1.00795166e-02 2.18127569e-04 -1.95301026e+01] [-1.00795210e-02 9.99949200e-01 1.91317984e-05 -1.24165479e+00] [-2.17923649e-04 -2.13294475e-05 9.99999976e-01 3.53579079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.198033873999997 meters 0.05929526110043515 Centerline is valid? [True, True] Translation: X:-19.56, Y:-1.26, Z:0.36 [[ 9.99890346e-01 1.36740079e-02 5.68476475e-03 -1.95580085e+01] [-1.36775072e-02 9.99906292e-01 5.77143229e-04 -1.26264375e+00] [-5.67634018e-03 -6.54833354e-04 9.99983675e-01 3.63916552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.228033873999998 meters 0.07156772721023569 Centerline is valid? [True, True] Translation: X:-19.59, Y:-1.25, Z:0.36 [[ 9.99779512e-01 2.03069938e-02 5.34347706e-03 -1.95900833e+01] [-2.03101780e-02 9.99793580e-01 5.42310900e-04 -1.24728605e+00] [-5.33136136e-03 -6.50718297e-04 9.99985576e-01 3.60565195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.258033874 meters 0.06990065996339145 Centerline is valid? [True, True] Translation: X:-19.62, Y:-1.26, Z:0.36 [[ 9.99693153e-01 2.46782599e-02 2.14085699e-03 -1.96190725e+01] [-2.46787800e-02 9.99695409e-01 2.16881431e-04 -1.26036193e+00] [-2.13485264e-03 -2.69648620e-04 9.99997685e-01 3.56910553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.288033873999996 meters 0.06555412512675603 Centerline is valid? [True, True] Translation: X:-19.65, Y:-1.29, Z:0.35 [[ 9.99652831e-01 2.61536347e-02 -3.19450933e-03 -1.96459350e+01] [-2.61548002e-02 9.99657852e-01 -3.23606674e-04 -1.29320040e+00] [ 3.18495285e-03 4.07046081e-04 9.99994845e-01 3.46472626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.318033873999997 meters 0.06589800101175226 Centerline is valid? [True, True] Translation: X:-19.68, Y:-1.31, Z:0.35 [[ 9.99696785e-01 2.40352522e-02 -5.35216528e-03 -1.96755931e+01] [-2.40385068e-02 9.99710885e-01 -5.44582876e-04 -1.31293548e+00] [ 5.33752870e-03 6.73075811e-04 9.99985529e-01 3.48277243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.348033874 meters 0.06689958074613714 Centerline is valid? [True, True] Translation: X:-19.71, Y:-1.32, Z:0.35 [[ 9.99730833e-01 2.23948342e-02 -6.06081194e-03 -1.97057087e+01] [-2.23989797e-02 9.99748921e-01 -6.16975012e-04 -1.32304596e+00] [ 6.04547315e-03 7.52564946e-04 9.99981443e-01 3.49159996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.378033873999996 meters 0.06808588232717608 Centerline is valid? [True, True] Translation: X:-19.73, Y:-1.35, Z:0.36 [[ 9.99619147e-01 2.71452349e-02 -4.96970382e-03 -1.97339242e+01] [-2.71480775e-02 9.99631295e-01 -5.05414988e-04 -1.35000217e+00] [ 4.95415185e-03 6.40140403e-04 9.99987523e-01 3.55365887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.408033873999997 meters 0.07312667895285693 Centerline is valid? [True, True] Translation: X:-19.76, Y:-1.37, Z:0.35 [[ 9.99477382e-01 3.22577272e-02 -2.09821070e-03 -1.97631413e+01] [-3.22582449e-02 9.99479545e-01 -2.13353258e-04 -1.36706098e+00] [ 2.09023638e-03 2.80926350e-04 9.99997776e-01 3.53749254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.438033874 meters 0.07449081759908417 Centerline is valid? [True, True] Translation: X:-19.79, Y:-1.39, Z:0.36 [[ 9.99433180e-01 3.36388008e-02 -1.32247721e-03 -1.97908849e+01] [-3.36390075e-02 9.99434039e-01 -1.34354182e-04 -1.39426157e+00] [ 1.31720923e-03 1.78764848e-04 9.99999117e-01 3.57811438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.468033873999996 meters 0.07282562483838116 Centerline is valid? [True, True] Translation: X:-19.82, Y:-1.43, Z:0.36 [[ 9.99479682e-01 3.22292126e-02 -1.28165899e-03 -1.98170271e+01] [-3.22294082e-02 9.99480489e-01 -1.32271405e-04 -1.43048665e+00] [ 1.27673015e-03 1.73509693e-04 9.99999170e-01 3.62010400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.498033873999997 meters 0.06912709061568935 Centerline is valid? [True, True] Translation: X:-19.84, Y:-1.48, Z:0.36 [[ 9.99533585e-01 3.05342195e-02 -5.23529799e-04 -1.98421432e+01] [-3.05342518e-02 9.99533720e-01 -5.36940336e-05 -1.47687298e+00] [ 5.21646181e-04 6.96545806e-05 9.99999862e-01 3.63094817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.528033874 meters 0.07038673340612565 Centerline is valid? [True, True] Translation: X:-19.87, Y:-1.52, Z:0.36 [[ 9.99600014e-01 2.82702598e-02 -7.76878678e-04 -1.98691877e+01] [-2.82703296e-02 9.99600311e-01 -7.91025720e-05 -1.51608927e+00] [ 7.74331917e-04 1.01033548e-04 9.99999695e-01 3.64611956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.558033873999996 meters 0.07438278521330274 Centerline is valid? [True, True] Translation: X:-19.90, Y:-1.54, Z:0.36 [[ 9.99581883e-01 2.88330303e-02 -2.17142544e-03 -1.98987469e+01] [-2.88335827e-02 9.99584201e-01 -2.23516748e-04 -1.54242201e+00] [ 2.16407790e-03 2.86033267e-04 9.99997617e-01 3.64970063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.588033873999997 meters 0.06764509211395592 Centerline is valid? [True, True] Translation: X:-19.92, Y:-1.58, Z:0.37 [[ 9.99464964e-01 3.26595573e-02 -1.77150963e-03 -1.99240708e+01] [-3.26599263e-02 9.99466506e-01 -1.79735972e-04 -1.58408240e+00] [ 1.76469444e-03 2.37497181e-04 9.99998415e-01 3.71082559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.618033873999998 meters 0.07541032190325792 Centerline is valid? [True, True] Translation: X:-19.95, Y:-1.60, Z:0.37 [[ 9.99363112e-01 3.55732891e-02 -2.81275729e-03 -1.99529927e+01] [-3.55742324e-02 9.99366996e-01 -2.86058549e-04 -1.60051242e+00] [ 2.80080076e-03 3.85938043e-04 9.99996003e-01 3.70187810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.648033874 meters 0.07159420003197624 Centerline is valid? [True, True] Translation: X:-19.98, Y:-1.65, Z:0.37 [[ 9.99427174e-01 3.34381101e-02 -5.21693167e-03 -1.99785901e+01] [-3.34413295e-02 9.99440541e-01 -5.31065996e-04 -1.64779225e+00] [ 5.19625517e-03 7.05222918e-04 9.99986251e-01 3.67815330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.678033873999997 meters 0.06197018413674408 Centerline is valid? [True, True] Translation: X:-20.00, Y:-1.71, Z:0.38 [[ 9.99550935e-01 2.97018889e-02 -3.96550380e-03 -2.00019444e+01] [-2.97037173e-02 9.99558666e-01 -4.02957348e-04 -1.70624768e+00] [ 3.95178510e-03 5.20566598e-04 9.99992056e-01 3.77579487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.708033873999998 meters 0.06419008850008444 Centerline is valid? [True, True] Translation: X:-20.03, Y:-1.73, Z:0.39 [[ 9.99579204e-01 2.89959540e-02 -8.06171726e-04 -2.00293656e+01] [-2.89960297e-02 9.99579523e-01 -8.23514051e-05 -1.73492111e+00] [ 8.03444892e-04 1.05692531e-04 9.99999672e-01 3.85301373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.738033874 meters 0.07196292544467711 Centerline is valid? [True, True] Translation: X:-20.06, Y:-1.76, Z:0.39 [[ 9.99559900e-01 2.96647424e-02 9.70654105e-05 -2.00590191e+01] [-2.96647433e-02 9.99559905e-01 7.67369694e-06 -1.75919178e+00] [-9.67950543e-05 -1.05497402e-05 9.99999995e-01 3.87316248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.768033873999997 meters 0.07025403903285381 Centerline is valid? [True, True] Translation: X:-20.09, Y:-1.78, Z:0.39 [[ 9.99584361e-01 2.88033902e-02 1.21208922e-03 -2.00887081e+01] [-2.88035594e-02 9.99585084e-01 1.22383580e-04 -1.77799641e+00] [-1.20806125e-03 -1.57245197e-04 9.99999258e-01 3.87453707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.798033873999998 meters 0.0741522759138473 Centerline is valid? [True, True] Translation: X:-20.12, Y:-1.80, Z:0.39 [[ 9.99608982e-01 2.76368872e-02 4.25266330e-03 -2.01168606e+01] [-2.76389751e-02 9.99617877e-01 4.32949450e-04 -1.79753738e+00] [-4.23907289e-03 -5.50319414e-04 9.99990864e-01 3.89955561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.828033874 meters 0.06511878671974691 Centerline is valid? [True, True] Translation: X:-20.14, Y:-1.85, Z:0.39 [[ 9.99666830e-01 2.58055936e-02 5.47245430e-04 -2.01421429e+01] [-2.58056259e-02 9.99666978e-01 5.20696475e-05 -1.85027364e+00] [-5.45719497e-04 -6.61743103e-05 9.99999849e-01 3.93185350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.858033873999997 meters 0.07626747531273631 Centerline is valid? [True, True] Translation: X:-20.18, Y:-1.85, Z:0.38 [[ 9.99663607e-01 2.59296933e-02 -5.69898814e-04 -2.01752744e+01] [-2.59297324e-02 9.99663766e-01 -6.12351427e-05 -1.85064887e+00] [ 5.68119386e-04 7.59918673e-05 9.99999836e-01 3.84122765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.888033873999998 meters 0.06484624490066274 Centerline is valid? [True, True] Translation: X:-20.20, Y:-1.89, Z:0.39 [[ 9.99681095e-01 2.52507235e-02 -3.29789959e-04 -2.02018436e+01] [-2.52507365e-02 9.99681149e-01 -3.52340633e-05 -1.89284808e+00] [ 3.28795120e-04 4.35502664e-05 9.99999945e-01 3.93730631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.918033874 meters 0.06513687158178577 Centerline is valid? [True, True] Translation: X:-20.23, Y:-1.91, Z:0.41 [[ 9.99724327e-01 2.34790713e-02 -5.06608715e-05 -2.02303199e+01] [-2.34790716e-02 9.99724329e-01 -5.27044043e-06 -1.90811678e+00] [ 5.05231606e-05 6.45845773e-06 9.99999999e-01 4.06294170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.948033873999997 meters 0.06471689094461996 Centerline is valid? [True, True] Translation: X:-20.26, Y:-1.92, Z:0.41 [[ 9.99751096e-01 2.22268059e-02 1.92727947e-03 -2.02604145e+01] [-2.22272256e-02 9.99752925e-01 1.96619704e-04 -1.91577674e+00] [-1.92243306e-03 -2.39408840e-04 9.99998123e-01 4.06063073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.978033873999998 meters 0.06620629805266892 Centerline is valid? [True, True] Translation: X:-20.29, Y:-1.93, Z:0.41 [[ 9.99788956e-01 1.99129656e-02 5.05150212e-03 -2.02904119e+01] [-1.99158193e-02 9.99801528e-01 5.15251517e-04 -1.92539373e+00] [-5.04023935e-03 -6.15747580e-04 9.99987108e-01 4.09146577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.008033874 meters 0.06191654874907661 Centerline is valid? [True, True] Translation: X:-20.32, Y:-1.95, Z:0.41 [[ 9.99791199e-01 1.97291155e-02 5.32160814e-03 -2.03196341e+01] [-1.97322646e-02 9.99805154e-01 5.39901857e-04 -1.94693909e+00] [-5.30991946e-03 -6.44796505e-04 9.99985694e-01 4.12463360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.038033873999996 meters 0.06191654874907661 Centerline is valid? [True, True] Translation: X:-20.35, Y:-1.95, Z:0.41 [[ 9.99792978e-01 1.96387901e-02 5.32147454e-03 -2.03522360e+01] [-1.96419448e-02 9.99806932e-01 5.41210223e-04 -1.95015731e+00] [-5.30981842e-03 -6.45622291e-04 9.99985694e-01 4.13604676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.068033873999997 meters 0.07192782410334678 Centerline is valid? [True, True] Translation: X:-20.38, Y:-1.94, Z:0.40 [[ 9.99755962e-01 2.19592771e-02 2.40983995e-03 -2.03841845e+01] [-2.19599343e-02 9.99758821e-01 2.46572970e-04 -1.94149923e+00] [-2.40384418e-03 -2.99432723e-04 9.99997066e-01 4.01527178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.098033874 meters 0.06336905351575439 Centerline is valid? [True, True] Translation: X:-20.41, Y:-1.97, Z:0.41 [[ 9.99658983e-01 2.61112392e-02 -3.48713271e-04 -2.04113748e+01] [-2.61112532e-02 9.99659042e-01 -3.55873692e-05 -1.96957000e+00] [ 3.47665144e-04 4.46805737e-05 9.99999939e-01 4.06455684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.128033873999996 meters 0.06880496163021829 Centerline is valid? [True, True] Translation: X:-20.44, Y:-1.97, Z:0.41 [[ 9.99539611e-01 3.03130575e-02 1.29815091e-03 -2.04422578e+01] [-3.03132549e-02 9.99540439e-01 1.32642997e-04 -1.96703420e+00] [-1.29353352e-03 -1.71933110e-04 9.99999149e-01 4.05709540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.158033873999997 meters 0.06639983812300174 Centerline is valid? [True, True] Translation: X:-20.47, Y:-1.98, Z:0.41 [[ 9.99486595e-01 3.18553618e-02 3.43262004e-03 -2.04709395e+01] [-3.18567507e-02 9.99492383e-01 3.50682875e-04 -1.97761633e+00] [-3.41970646e-03 -4.59854953e-04 9.99994047e-01 4.13910663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.188033874 meters 0.0675387346283795 Centerline is valid? [True, True] Translation: X:-20.50, Y:-1.98, Z:0.42 [[ 9.99474850e-01 3.22992223e-02 2.60475781e-03 -2.05017954e+01] [-3.23000220e-02 9.99478183e-01 2.65534013e-04 -1.98054643e+00] [-2.59482206e-03 -3.49528302e-04 9.99996572e-01 4.15200497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.218033873999996 meters 0.07514152225217009 Centerline is valid? [True, True] Translation: X:-20.53, Y:-1.98, Z:0.41 [[ 9.99449217e-01 3.31366824e-02 1.79544035e-03 -2.05333948e+01] [-3.31370641e-02 9.99450800e-01 1.83258494e-04 -1.98101225e+00] [-1.78838172e-03 -2.42653180e-04 9.99998371e-01 4.06339595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.248033873999997 meters 0.06956926272611659 Centerline is valid? [True, True] Translation: X:-20.56, Y:-2.00, Z:0.41 [[ 9.99542794e-01 3.02327634e-02 4.27065673e-04 -2.05608806e+01] [-3.02327838e-02 9.99542884e-01 4.15352866e-05 -2.00485840e+00] [-4.25614728e-04 -5.44276806e-05 9.99999908e-01 4.08554200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.278033874 meters 0.06663758550612593 Centerline is valid? [True, True] Translation: X:-20.59, Y:-2.01, Z:0.41 [[ 9.99685654e-01 2.50715841e-02 -9.03169926e-05 -2.05899648e+01] [-2.50715851e-02 9.99685658e-01 -9.88737327e-06 -2.01316559e+00] [ 9.00407100e-05 1.21486554e-05 9.99999996e-01 4.10869291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.308033873999996 meters 0.06067641884016576 Centerline is valid? [True, True] Translation: X:-20.62, Y:-2.02, Z:0.42 [[ 9.99888694e-01 1.43477523e-02 4.09161265e-03 -2.06194392e+01] [-1.43495857e-02 9.99896952e-01 4.19085932e-04 -2.01698951e+00] [-4.08517808e-03 -4.77752232e-04 9.99991542e-01 4.20345297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.338033873999997 meters 0.059069723766846605 Centerline is valid? [True, True] Translation: X:-20.65, Y:-2.02, Z:0.42 [[ 9.99907596e-01 1.24125981e-02 5.54325286e-03 -2.06498426e+01] [-1.24159340e-02 9.99922758e-01 5.67787197e-04 -2.02209661e+00] [-5.53577698e-03 -6.36559393e-04 9.99984475e-01 4.23033467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.368033873999998 meters 0.06041633456212094 Centerline is valid? [True, True] Translation: X:-20.68, Y:-2.03, Z:0.42 [[ 9.99953763e-01 8.41949219e-03 4.64591485e-03 -2.06799754e+01] [-8.42179235e-03 9.99964423e-01 4.75750327e-04 -2.02537581e+00] [-4.64174398e-03 -5.14855259e-04 9.99989095e-01 4.20255300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.398033874 meters 0.05926425725363757 Centerline is valid? [True, True] Translation: X:-20.71, Y:-2.03, Z:0.42 [[ 9.99962303e-01 7.80180876e-03 3.81099238e-03 -2.07123797e+01] [-7.80334571e-03 9.99969478e-01 3.88589834e-04 -2.02730630e+00] [-3.80784435e-03 -4.18313677e-04 9.99992663e-01 4.21086944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.428033873999997 meters 0.058551486611861873 Centerline is valid? [True, True] Translation: X:-20.74, Y:-2.02, Z:0.42 [[ 9.99942963e-01 9.71182483e-03 4.44429741e-03 -2.07428476e+01] [-9.71394442e-03 9.99952715e-01 4.55587136e-04 -2.02418442e+00] [-4.43966268e-03 -4.98732808e-04 9.99990020e-01 4.21484781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.458033873999998 meters 0.06647793005645919 Centerline is valid? [True, True] Translation: X:-20.78, Y:-2.00, Z:0.42 [[ 9.99927639e-01 1.15362176e-02 3.41078316e-03 -2.07759154e+01] [-1.15374763e-02 9.99933380e-01 3.49590192e-04 -2.00226275e+00] [-3.40652298e-03 -3.88916725e-04 9.99994122e-01 4.16253260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.488033874 meters 0.06368672479257592 Centerline is valid? [True, True] Translation: X:-20.81, Y:-2.00, Z:0.41 [[ 9.99920176e-01 1.25252521e-02 1.66139019e-03 -2.08062323e+01] [-1.25255522e-02 9.99921538e-01 1.70312641e-04 -2.00080674e+00] [-1.65912662e-03 -1.91108875e-04 9.99998605e-01 4.14731048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.518033873999997 meters 0.06204006466117904 Centerline is valid? [True, True] Translation: X:-20.84, Y:-2.00, Z:0.42 [[ 9.99921990e-01 1.24192913e-02 1.33210926e-03 -2.08383023e+01] [-1.24194821e-02 9.99922866e-01 1.35062078e-04 -1.99529707e+00] [-1.33032913e-03 -1.51595649e-04 9.99999104e-01 4.15207039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.548033873999998 meters 0.06329559283341618 Centerline is valid? [True, True] Translation: X:-20.87, Y:-1.99, Z:0.42 [[ 9.99909705e-01 1.33042650e-02 1.89176372e-03 -2.08702559e+01] [-1.33046537e-02 9.99911471e-01 1.93026406e-04 -1.98803963e+00] [-1.88902817e-03 -2.18178238e-04 9.99998192e-01 4.16470332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.578033874 meters 0.06960492012902637 Centerline is valid? [True, True] Translation: X:-20.90, Y:-1.97, Z:0.41 [[ 9.99897737e-01 1.38829060e-02 3.43224799e-03 -2.09041579e+01] [-1.38841889e-02 9.99903549e-01 3.50236377e-04 -1.97329619e+00] [-3.42705465e-03 -3.97854540e-04 9.99994048e-01 4.13349884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.608033873999997 meters 0.07088425666011781 Centerline is valid? [True, True] Translation: X:-20.94, Y:-1.96, Z:0.41 [[ 9.99919318e-01 1.21956163e-02 3.55308167e-03 -2.09364310e+01] [-1.21969862e-02 9.99925548e-01 3.64151425e-04 -1.96376248e+00] [-3.54837609e-03 -4.07458933e-04 9.99993621e-01 4.12565590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.638033873999998 meters 0.061783384074604195 Centerline is valid? [True, True] Translation: X:-20.97, Y:-1.97, Z:0.42 [[ 9.99929221e-01 1.07503932e-02 5.09728796e-03 -2.09651704e+01] [-1.07532006e-02 9.99942046e-01 5.23665444e-04 -1.97026051e+00] [-5.09136294e-03 -5.78440539e-04 9.99986872e-01 4.20933397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.668033874 meters 0.060156750375447716 Centerline is valid? [True, True] Translation: X:-21.00, Y:-1.96, Z:0.42 [[ 9.99936927e-01 9.09831535e-03 6.58504379e-03 -2.09972289e+01] [-9.10296083e-03 9.99958339e-01 6.75830328e-04 -1.96245694e+00] [-6.57862054e-03 -7.35731097e-04 9.99978090e-01 4.21332702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.698033873999997 meters 0.05962285519889082 Centerline is valid? [True, True] Translation: X:-21.03, Y:-1.96, Z:0.42 [[ 9.99938850e-01 9.84152316e-03 5.04391866e-03 -2.10292680e+01] [-9.84425416e-03 9.99951411e-01 5.16902651e-04 -1.95742356e+00] [-5.03858647e-03 -5.66524659e-04 9.99987146e-01 4.21199533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.728033873999998 meters 0.06362757549638057 Centerline is valid? [True, True] Translation: X:-21.06, Y:-1.94, Z:0.41 [[ 9.99940794e-01 1.04200565e-02 3.13537185e-03 -2.10629880e+01] [-1.04211121e-02 9.99945647e-01 3.20514277e-04 -1.94485437e+00] [-3.13186166e-03 -3.53169362e-04 9.99995033e-01 4.13264892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.758033874 meters 0.06156543710561369 Centerline is valid? [True, True] Translation: X:-21.09, Y:-1.94, Z:0.41 [[ 9.99962110e-01 8.54124419e-03 1.68110585e-03 -2.10949500e+01] [-8.54154563e-03 9.99963506e-01 1.72214372e-04 -1.93759670e+00] [-1.67957357e-03 -1.86567089e-04 9.99998572e-01 4.10300784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.788033873999996 meters 0.060684715671313234 Centerline is valid? [True, True] Translation: X:-21.13, Y:-1.93, Z:0.41 [[ 9.99968070e-01 7.25204906e-03 3.35645832e-03 -2.11265174e+01] [-7.25324634e-03 9.99973635e-01 3.44672069e-04 -1.92814420e+00] [-3.35387025e-03 -3.69006283e-04 9.99994308e-01 4.14036310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.818033873999997 meters 0.06015795874652548 Centerline is valid? [True, True] Translation: X:-21.16, Y:-1.92, Z:0.41 [[ 9.99958714e-01 7.88495533e-03 4.51638094e-03 -2.11599103e+01] [-7.88711707e-03 9.99968790e-01 4.61033757e-04 -1.92320589e+00] [-4.51260475e-03 -4.96635948e-04 9.99989695e-01 4.14150441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.848033874 meters 0.06114880047691553 Centerline is valid? [True, True] Translation: X:-21.19, Y:-1.92, Z:0.42 [[ 9.99939684e-01 1.01194981e-02 4.26895640e-03 -2.11904728e+01] [-1.01214656e-02 9.99948680e-01 4.39543408e-04 -1.91727105e+00] [-4.26428936e-03 -4.82724992e-04 9.99990791e-01 4.15360153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.878033873999996 meters 0.06476526874038041 Centerline is valid? [True, True] Translation: X:-21.22, Y:-1.90, Z:0.41 [[ 9.99919775e-01 1.24704416e-02 2.22051088e-03 -2.12234785e+01] [-1.24709785e-02 9.99922208e-01 2.28103405e-04 -1.90002697e+00] [-2.21749359e-03 -2.55777049e-04 9.99997509e-01 4.11090602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.908033873999997 meters 0.06503314722588721 Centerline is valid? [True, True] Translation: X:-21.26, Y:-1.89, Z:0.41 [[ 9.99898655e-01 1.39451451e-02 2.86578513e-03 -2.12559864e+01] [-1.39460450e-02 9.99902706e-01 2.94269112e-04 -1.88594801e+00] [-2.86140268e-03 -3.34205658e-04 9.99995850e-01 4.09891814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.938033874 meters 0.06549958781472913 Centerline is valid? [True, True] Translation: X:-21.29, Y:-1.88, Z:0.41 [[ 9.99868528e-01 1.54398673e-02 4.95350485e-03 -2.12880678e+01] [-1.54425740e-02 9.99880627e-01 5.08649115e-04 -1.87696192e+00] [-4.94506006e-03 -5.85077107e-04 9.99987602e-01 4.12948342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.968033873999996 meters 0.06731128323542511 Centerline is valid? [True, True] Translation: X:-21.32, Y:-1.87, Z:0.41 [[ 9.99816827e-01 1.83691907e-02 5.37459377e-03 -2.13199454e+01] [-1.83724253e-02 9.99831060e-01 5.53065729e-04 -1.86682816e+00] [-5.36352642e-03 -6.51708744e-04 9.99985404e-01 4.11267673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.998033873999997 meters 0.06523875876900967 Centerline is valid? [True, True] Translation: X:-21.35, Y:-1.85, Z:0.41 [[ 9.99787671e-01 2.03488939e-02 3.24593321e-03 -2.13513087e+01] [-2.03500840e-02 9.99792860e-01 3.34019178e-04 -1.85322009e+00] [-3.23846392e-03 -4.00003269e-04 9.99994676e-01 4.12672861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.028033874 meters 0.06481592154558356 Centerline is valid? [True, True] Translation: X:-21.38, Y:-1.85, Z:0.41 [[ 9.99781974e-01 2.01886189e-02 5.33149345e-03 -2.13838327e+01] [-2.01918173e-02 9.99795975e-01 5.46761450e-04 -1.85332593e+00] [-5.31936734e-03 -6.54294783e-04 9.99985638e-01 4.14850828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.058033873999996 meters 0.07044420829994705 Centerline is valid? [True, True] Translation: X:-21.42, Y:-1.84, Z:0.42 [[ 9.99789049e-01 1.86583679e-02 8.58621907e-03 -2.14157808e+01] [-1.86666370e-02 9.99825372e-01 8.83929280e-04 -1.84209160e+00] [-8.56822700e-03 -1.04401865e-03 9.99962747e-01 4.15719713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.088033873999997 meters 0.0636329715715801 Centerline is valid? [True, True] Translation: X:-21.44, Y:-1.86, Z:0.41 [[ 9.99843580e-01 1.66688534e-02 5.91314092e-03 -2.14444706e+01] [-1.66727413e-02 9.99860815e-01 6.08808596e-04 -1.85618970e+00] [-5.90216975e-03 -7.07301634e-04 9.99982332e-01 4.13509926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.118033873999998 meters 0.06916772301802966 Centerline is valid? [True, True] Translation: X:-21.48, Y:-1.84, Z:0.40 [[ 9.99885449e-01 1.51214907e-02 6.55278466e-04 -2.14795717e+01] [-1.51215367e-02 9.99885661e-01 6.53606241e-05 -1.83549176e+00] [-6.54215192e-04 -7.52619543e-05 9.99999783e-01 4.01172780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.148033873999996 meters 0.06787392228762965 Centerline is valid? [True, True] Translation: X:-21.51, Y:-1.83, Z:0.40 [[ 9.99899773e-01 1.40865930e-02 -1.41868340e-03 -2.15122367e+01] [-1.40868193e-02 9.99900765e-01 -1.49669264e-04 -1.82633296e+00] [ 1.41643429e-03 1.69639000e-04 9.99998982e-01 3.96104155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.178033873999997 meters 0.06135004420228296 Centerline is valid? [True, True] Translation: X:-21.54, Y:-1.83, Z:0.41 [[ 9.99880660e-01 1.46085820e-02 5.02546212e-03 -2.15411711e+01] [-1.46113662e-02 9.99893114e-01 5.17756671e-04 -1.83431438e+00] [-5.01736128e-03 -5.91123749e-04 9.99987238e-01 4.08847391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.208033873999998 meters 0.06067603433760116 Centerline is valid? [True, True] Translation: X:-21.57, Y:-1.84, Z:0.41 [[ 9.99875864e-01 1.45013748e-02 6.16167381e-03 -2.15724962e+01] [-1.45055542e-02 9.99894588e-01 6.34135062e-04 -1.83572389e+00] [-6.15182846e-03 -7.23434836e-04 9.99980816e-01 4.11000112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.238033874 meters 0.06539014419625994 Centerline is valid? [True, True] Translation: X:-21.61, Y:-1.82, Z:0.41 [[ 9.99873438e-01 1.44239943e-02 6.71237059e-03 -2.16061199e+01] [-1.44289525e-02 9.99895659e-01 6.90822688e-04 -1.82140368e+00] [-6.70170579e-03 -7.87587732e-04 9.99977233e-01 4.08867195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.268033873999997 meters 0.06273680520617768 Centerline is valid? [True, True] Translation: X:-21.64, Y:-1.81, Z:0.41 [[ 9.99913489e-01 1.19505088e-02 5.49539793e-03 -2.16364024e+01] [-1.19538071e-02 9.99928390e-01 5.67732207e-04 -1.81456777e+00] [-5.48821971e-03 -6.33374018e-04 9.99984739e-01 4.09188440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.298033873999998 meters 0.06305098866405717 Centerline is valid? [True, True] Translation: X:-21.67, Y:-1.81, Z:0.41 [[ 9.99923600e-01 1.10181576e-02 5.60309771e-03 -2.16678206e+01] [-1.10215644e-02 9.99939094e-01 5.77512948e-04 -1.81419307e+00] [-5.59639332e-03 -6.39223728e-04 9.99984136e-01 4.10918990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.328033874 meters 0.06165155106081641 Centerline is valid? [True, True] Translation: X:-21.70, Y:-1.81, Z:0.41 [[ 9.99951055e-01 8.72519540e-03 4.66458344e-03 -2.16983647e+01] [-8.72753533e-03 9.99961798e-01 4.81515560e-04 -1.81376293e+00] [-4.66020393e-03 -5.22202309e-04 9.99989005e-01 4.06730563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.358033873999997 meters 0.06244406553607419 Centerline is valid? [True, True] Translation: X:-21.73, Y:-1.80, Z:0.40 [[ 9.99983968e-01 3.94617651e-03 4.06101022e-03 -2.17304707e+01] [-3.94791146e-03 9.99992119e-01 4.19293910e-04 -1.79817560e+00] [-4.05932361e-03 -4.35319697e-04 9.99991666e-01 4.03414139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.388033873999998 meters 0.06080178652043008 Centerline is valid? [True, True] Translation: X:-21.76, Y:-1.79, Z:0.41 [[ 9.99965769e-01 2.76976549e-03 7.79677757e-03 -2.17615213e+01] [-2.77612615e-03 9.99995822e-01 8.05102395e-04 -1.79481526e+00] [-7.79451506e-03 -8.26719673e-04 9.99969281e-01 4.11158189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.418033874 meters 0.058130386485738234 Centerline is valid? [True, True] Translation: X:-21.79, Y:-1.79, Z:0.41 [[ 9.99951280e-01 3.02792894e-03 9.39515802e-03 -2.17928245e+01] [-3.03712906e-03 9.99994922e-01 9.65127973e-04 -1.79439591e+00] [-9.39218797e-03 -9.93615260e-04 9.99955399e-01 4.11397443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.448033873999997 meters 0.058611299257154824 Centerline is valid? [True, True] Translation: X:-21.82, Y:-1.79, Z:0.41 [[ 9.99976756e-01 4.14427434e-03 5.41414103e-03 -2.18242726e+01] [-4.14736694e-03 9.99991243e-01 5.60106051e-04 -1.78640329e+00] [-5.41177238e-03 -5.82547461e-04 9.99985187e-01 4.05520638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.478033873999998 meters 0.06371682880063427 Centerline is valid? [True, True] Translation: X:-21.86, Y:-1.77, Z:0.39 [[ 9.99994755e-01 3.23809759e-03 6.48874724e-05 -2.18584523e+01] [-3.23809796e-03 9.99994757e-01 5.60311254e-06 -1.76726701e+00] [-6.48689889e-05 -5.81319515e-06 9.99999998e-01 3.93322632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.508033874 meters 0.06160414846116787 Centerline is valid? [True, True] Translation: X:-21.89, Y:-1.77, Z:0.39 [[ 9.99996701e-01 2.55700499e-03 -2.45084999e-04 -2.18895909e+01] [-2.55701182e-03 9.99996730e-01 -2.75311649e-05 -1.76867617e+00] [ 2.45013800e-04 2.81577593e-05 9.99999970e-01 3.93236272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.538033873999996 meters 0.06036356833568593 Centerline is valid? [True, True] Translation: X:-21.92, Y:-1.77, Z:0.40 [[ 9.99993425e-01 2.44596507e-03 2.67724660e-03 -2.19201833e+01] [-2.44671480e-03 9.99996968e-01 2.76798614e-04 -1.76855787e+00] [-2.67656144e-03 -2.83347253e-04 9.99996378e-01 4.01627941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.568033873999997 meters 0.05532233665920411 Centerline is valid? [True, True] Translation: X:-21.95, Y:-1.77, Z:0.41 [[ 9.99985519e-01 2.01250582e-03 4.99115477e-03 -2.19501789e+01] [-2.01509936e-03 9.99997837e-01 5.14651870e-04 -1.76638132e+00] [-4.99010824e-03 -5.24702090e-04 9.99987412e-01 4.07939113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.598033874 meters 0.05808889253926737 Centerline is valid? [True, True] Translation: X:-21.98, Y:-1.75, Z:0.41 [[ 9.99979623e-01 -3.94199617e-05 6.38371847e-03 -2.19833006e+01] [ 3.51964018e-05 9.99999780e-01 6.61725385e-04 -1.74545390e+00] [-6.38374315e-03 -6.61487218e-04 9.99979405e-01 4.05045276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.628033873999996 meters 0.05932207151676837 Centerline is valid? [True, True] Translation: X:-22.02, Y:-1.74, Z:0.40 [[ 9.99985682e-01 -9.40129755e-04 5.26809962e-03 -2.20164602e+01] [ 9.37275308e-04 9.99999413e-01 5.44278921e-04 -1.73920234e+00] [-5.26860822e-03 -5.39333468e-04 9.99985975e-01 4.01375147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.658033873999997 meters 0.060608391957718874 Centerline is valid? [True, True] Translation: X:-22.05, Y:-1.74, Z:0.40 [[ 9.99994203e-01 -2.43016509e-03 2.38519380e-03 -2.20481331e+01] [ 2.42958541e-03 9.99997018e-01 2.45898672e-04 -1.74215902e+00] [-2.38578426e-03 -2.40102215e-04 9.99997125e-01 3.96567275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.688033874 meters 0.05801488858298111 Centerline is valid? [True, True] Translation: X:-22.08, Y:-1.75, Z:0.40 [[ 9.99976855e-01 -6.42973042e-03 2.22426793e-03 -2.20772517e+01] [ 6.42923663e-03 9.99979306e-01 2.29083311e-04 -1.74787138e+00] [-2.22569484e-03 -2.14777664e-04 9.99997500e-01 4.04837146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.718033873999996 meters 0.05654704675976409 Centerline is valid? [True, True] Translation: X:-22.11, Y:-1.74, Z:0.41 [[ 9.99939886e-01 -9.34375407e-03 5.73749709e-03 -2.21082128e+01] [ 9.34048584e-03 9.99956199e-01 5.96158327e-04 -1.73772319e+00] [-5.74281614e-03 -5.42531479e-04 9.99983363e-01 4.06927609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.748033873999997 meters 0.054937826210646745 Centerline is valid? [True, True] Translation: X:-22.14, Y:-1.73, Z:0.41 [[ 9.99893091e-01 -1.03977499e-02 1.02806809e-02 -2.21395527e+01] [ 1.03873208e-02 9.99945481e-01 1.06731887e-03 -1.73200874e+00] [-1.02912182e-02 -9.60416038e-04 9.99946583e-01 4.11599862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.778033874 meters 0.052788003882298457 Centerline is valid? [True, True] Translation: X:-22.17, Y:-1.73, Z:0.41 [[ 9.99936114e-01 -8.86757514e-03 7.00954145e-03 -2.21693710e+01] [ 8.86268756e-03 9.99960461e-01 7.28030657e-04 -1.72934626e+00] [-7.01572016e-03 -6.65860770e-04 9.99975168e-01 4.08052805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.808033873999996 meters 0.05741198273145391 Centerline is valid? [True, True] Translation: X:-22.20, Y:-1.71, Z:0.40 [[ 9.99961328e-01 -8.15661946e-03 3.28807805e-03 -2.22022846e+01] [ 8.15554066e-03 9.99966685e-01 3.41372139e-04 -1.71158619e+00] [-3.29075295e-03 -3.14542884e-04 9.99994536e-01 3.99125689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.838033873999997 meters 0.05592004126153313 Centerline is valid? [True, True] Translation: X:-22.23, Y:-1.71, Z:0.40 [[ 9.99973422e-01 -7.05414617e-03 1.84261925e-03 -2.22322328e+01] [ 7.05380358e-03 9.99975103e-01 1.92356985e-04 -1.70544645e+00] [-1.84393029e-03 -1.79354398e-04 9.99998284e-01 4.00794251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.868033873999998 meters 0.056354193751634106 Centerline is valid? [True, True] Translation: X:-22.26, Y:-1.70, Z:0.40 [[ 9.99987540e-01 -3.76786971e-03 3.27453729e-03 -2.22638092e+01] [ 3.76677651e-03 9.99992848e-01 3.39952800e-04 -1.69768646e+00] [-3.27579477e-03 -3.27614114e-04 9.99994581e-01 4.04660641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.898033873999996 meters 0.060129997779780946 Centerline is valid? [True, True] Translation: X:-22.30, Y:-1.68, Z:0.40 [[ 9.99994343e-01 -2.55217813e-04 3.35400043e-03 -2.22968289e+01] [ 2.54052700e-04 9.99999907e-01 3.47801359e-04 -1.67948393e+00] [-3.35408888e-03 -3.46947299e-04 9.99994315e-01 4.02381499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.928033873999997 meters 0.05558544476851874 Centerline is valid? [True, True] Translation: X:-22.33, Y:-1.68, Z:0.40 [[ 9.99993176e-01 6.66153134e-04 3.63374251e-03 -2.23279439e+01] [-6.67516851e-04 9.99999707e-01 3.74092732e-04 -1.67575676e+00] [-3.63349224e-03 -3.76515764e-04 9.99993328e-01 4.03064662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.958033873999998 meters 0.05558544476851874 Centerline is valid? [True, True] Translation: X:-22.36, Y:-1.68, Z:0.40 [[ 9.99993237e-01 5.67196674e-04 3.63370847e-03 -2.23605274e+01] [-5.68560928e-04 9.99999768e-01 3.74421882e-04 -1.67901591e+00] [-3.63349525e-03 -3.76485335e-04 9.99993328e-01 4.04203976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.988033874 meters 0.059927662311595215 Centerline is valid? [True, True] Translation: X:-22.39, Y:-1.66, Z:0.40 [[ 9.99989549e-01 -1.27390341e-03 4.39068222e-03 -2.23938237e+01] [ 1.27191508e-03 9.99999087e-01 4.55615676e-04 -1.66394678e+00] [-4.39125862e-03 -4.50026340e-04 9.99990257e-01 4.01088295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.018033873999997 meters 0.05834329984039767 Centerline is valid? [True, True] Translation: X:-22.42, Y:-1.67, Z:0.40 [[ 9.99969360e-01 -5.11409683e-03 5.92660609e-03 -2.24247497e+01] [ 5.11053449e-03 9.99986751e-01 6.16064277e-04 -1.66579684e+00] [-5.92967819e-03 -5.85757276e-04 9.99982248e-01 4.04210565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.048033873999998 meters 0.05281807024239962 Centerline is valid? [True, True] Translation: X:-22.45, Y:-1.67, Z:0.41 [[ 9.99911878e-01 -1.12248481e-02 7.08788478e-03 -2.24539710e+01] [ 1.12198996e-02 9.99936783e-01 7.37540180e-04 -1.67062244e+00] [-7.09571548e-03 -6.57949831e-04 9.99974609e-01 4.06822288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.078033874 meters 0.05118176251990931 Centerline is valid? [True, True] Translation: X:-22.48, Y:-1.66, Z:0.41 [[ 9.99896105e-01 -1.31540778e-02 5.89482239e-03 -2.24849166e+01] [ 1.31506888e-02 9.99913338e-01 6.13300702e-04 -1.66388887e+00] [-5.90237894e-03 -5.35716009e-04 9.99982437e-01 4.05327636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.108033873999997 meters 0.0580070480666358 Centerline is valid? [True, True] Translation: X:-22.52, Y:-1.64, Z:0.39 [[ 9.99933021e-01 -1.15238032e-02 1.07457397e-03 -2.25187108e+01] [ 1.15236896e-02 9.99933594e-01 1.11832715e-04 -1.63595905e+00] [-1.07579135e-03 -9.94421672e-05 9.99999416e-01 3.91048978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.138033873999998 meters 0.05840220128896493 Centerline is valid? [True, True] Translation: X:-22.55, Y:-1.63, Z:0.39 [[ 9.99946476e-01 -1.03365429e-02 4.47446008e-04 -2.25488552e+01] [ 1.03365228e-02 9.99946576e-01 4.70983574e-05 -1.63382713e+00] [-4.47908938e-04 -4.24708007e-05 9.99999899e-01 3.93853648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.168033874 meters 0.05782150490252184 Centerline is valid? [True, True] Translation: X:-22.58, Y:-1.63, Z:0.40 [[ 9.99967892e-01 -7.97679905e-03 7.64934603e-04 -2.25797925e+01] [ 7.97674081e-03 9.99968182e-01 7.91524102e-05 -1.63015459e+00] [-7.65541648e-04 -7.30481837e-05 9.99999704e-01 3.98405108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.198033873999997 meters 0.05939003172884493 Centerline is valid? [True, True] Translation: X:-22.61, Y:-1.62, Z:0.40 [[ 9.99986196e-01 -4.50310838e-03 2.70744447e-03 -2.26113547e+01] [ 4.50236195e-03 9.99989825e-01 2.81728174e-04 -1.62006498e+00] [-2.70868558e-03 -2.69534390e-04 9.99996295e-01 4.01420761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.228033873999998 meters 0.06199740323738376 Centerline is valid? [True, True] Translation: X:-22.64, Y:-1.60, Z:0.40 [[ 9.99983684e-01 -1.34975163e-03 5.55061106e-03 -2.26448155e+01] [ 1.34656645e-03 9.99998927e-01 5.77540652e-04 -1.59731197e+00] [-5.55138464e-03 -5.70056963e-04 9.99984428e-01 4.00274675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.258033874 meters 0.056627296619253614 Centerline is valid? [True, True] Translation: X:-22.68, Y:-1.60, Z:0.41 [[ 9.99961820e-01 -1.39298835e-03 8.62654065e-03 -2.26760080e+01] [ 1.38534509e-03 9.99998643e-01 8.91929138e-04 -1.60217631e+00] [-8.62777139e-03 -8.79944349e-04 9.99962393e-01 4.05476938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.288033873999996 meters 0.057754874218990046 Centerline is valid? [True, True] Translation: X:-22.71, Y:-1.60, Z:0.41 [[ 9.99982119e-01 -1.62540255e-04 5.97782750e-03 -2.27067901e+01] [ 1.58820838e-04 9.99999794e-01 6.22671537e-04 -1.60264037e+00] [-5.97792747e-03 -6.21711000e-04 9.99981939e-01 4.05155043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.318033873999997 meters 0.05823713287525739 Centerline is valid? [True, True] Translation: X:-22.74, Y:-1.60, Z:0.40 [[ 9.99996916e-01 2.28449874e-05 2.48345436e-03 -2.27387105e+01] [-2.34854257e-05 9.99999966e-01 2.57853249e-04 -1.60158103e+00] [-2.48344839e-03 -2.57910779e-04 9.99996883e-01 4.01351251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.348033874 meters 0.06787157910030843 Centerline is valid? [True, True] Translation: X:-22.77, Y:-1.58, Z:0.39 [[ 9.99996796e-01 -1.15289115e-03 2.25355895e-03 -2.27723169e+01] [ 1.15236793e-03 9.99999309e-01 2.33457224e-04 -1.57902153e+00] [-2.25382655e-03 -2.30859547e-04 9.99997433e-01 3.93585545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.378033873999996 meters 0.057219006049021116 Centerline is valid? [True, True] Translation: X:-22.80, Y:-1.59, Z:0.40 [[ 9.99979089e-01 -4.63050518e-03 4.51445315e-03 -2.28011858e+01] [ 4.62842774e-03 9.99989178e-01 4.70513610e-04 -1.58663445e+00] [-4.51658301e-03 -4.49608951e-04 9.99989699e-01 3.96712015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.408033873999997 meters 0.05694859000678829 Centerline is valid? [True, True] Translation: X:-22.83, Y:-1.59, Z:0.40 [[ 9.99924680e-01 -1.07514589e-02 5.91943718e-03 -2.28318975e+01] [ 1.07479894e-02 9.99942048e-01 6.17612467e-04 -1.58542144e+00] [-5.92573438e-03 -5.53943900e-04 9.99982289e-01 3.98435047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.438033874 meters 0.052314135937894295 Centerline is valid? [True, True] Translation: X:-22.86, Y:-1.60, Z:0.41 [[ 9.99892174e-01 -1.31205149e-02 6.59481189e-03 -2.28591415e+01] [ 1.31162543e-02 9.99913741e-01 6.88893456e-04 -1.60114183e+00] [-6.60328167e-03 -6.02319946e-04 9.99978017e-01 4.06302574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.468033873999996 meters 0.054778137106562666 Centerline is valid? [True, True] Translation: X:-22.89, Y:-1.60, Z:0.41 [[ 9.99854297e-01 -1.52006575e-02 7.76693233e-03 -2.28896234e+01] [ 1.51948137e-02 9.99884223e-01 8.10847071e-04 -1.59913710e+00] [-7.77835851e-03 -6.92711838e-04 9.99969508e-01 4.07486979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.498033873999997 meters 0.05715713003580299 Centerline is valid? [True, True] Translation: X:-22.92, Y:-1.58, Z:0.40 [[ 9.99853141e-01 -1.66170888e-02 4.19163198e-03 -2.29207404e+01] [ 1.66153922e-02 9.99861858e-01 4.39256180e-04 -1.57742213e+00] [-4.19835210e-03 -3.69546061e-04 9.99991119e-01 4.02353487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.528033874 meters 0.054387069691851565 Centerline is valid? [True, True] Translation: X:-22.95, Y:-1.58, Z:0.39 [[ 9.99877971e-01 -1.53333428e-02 2.98860178e-03 -2.29500880e+01] [ 1.53324748e-02 9.99882402e-01 3.13129308e-04 -1.57522054e+00] [-2.99305164e-03 -2.67268435e-04 9.99995485e-01 3.94585163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.558033873999996 meters 0.05789011558034112 Centerline is valid? [True, True] Translation: X:-22.98, Y:-1.57, Z:0.39 [[ 9.99937728e-01 -1.09586137e-02 2.10909867e-03 -2.29817218e+01] [ 1.09581737e-02 9.99939933e-01 2.20070628e-04 -1.56891152e+00] [-2.11138365e-03 -1.96945055e-04 9.99997752e-01 3.91193338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.588033873999997 meters 0.05811908923949057 Centerline is valid? [True, True] Translation: X:-23.01, Y:-1.57, Z:0.40 [[ 9.99979497e-01 -5.90411423e-03 2.47913448e-03 -2.30102984e+01] [ 5.90348892e-03 9.99982541e-01 2.59470512e-04 -1.57123162e+00] [-2.48062314e-03 -2.44829649e-04 9.99996893e-01 3.99038422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.618033873999998 meters 0.059610263169110535 Centerline is valid? [True, True] Translation: X:-23.04, Y:-1.57, Z:0.41 [[ 9.99966715e-01 -2.79846990e-03 7.66405079e-03 -2.30407683e+01] [ 2.79242916e-03 9.99995782e-01 7.98780074e-04 -1.56595943e+00] [-7.66625383e-03 -7.77352168e-04 9.99970312e-01 4.07919657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.648033873999996 meters 0.058890913310672255 Centerline is valid? [True, True] Translation: X:-23.07, Y:-1.56, Z:0.41 [[ 9.99942742e-01 -2.06443398e-03 1.05000820e-02 -2.30738649e+01] [ 2.05312137e-03 9.99997300e-01 1.08804882e-03 -1.55943011e+00] [-1.05022998e-02 -1.06642858e-03 9.99944281e-01 4.06976353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.678033873999997 meters 0.05913417204518524 Centerline is valid? [True, True] Translation: X:-23.10, Y:-1.56, Z:0.40 [[ 9.99981621e-01 3.39051164e-04 6.05340472e-03 -2.31045704e+01] [-3.42882445e-04 9.99999742e-01 6.31886680e-04 -1.55756841e+00] [-6.05318892e-03 -6.33950673e-04 9.99981478e-01 3.99609648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.708033873999998 meters 0.05945333757909094 Centerline is valid? [True, True] Translation: X:-23.13, Y:-1.57, Z:0.40 [[ 9.99992312e-01 1.17915649e-03 3.73978997e-03 -2.31339224e+01] [-1.18062448e-03 9.99999227e-01 3.90349624e-04 -1.56583810e+00] [-3.73932680e-03 -3.94761910e-04 9.99992931e-01 3.98244313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.738033874 meters 0.06138558457000791 Centerline is valid? [True, True] Translation: X:-23.16, Y:-1.57, Z:0.41 [[ 9.99975097e-01 7.83398923e-04 7.01361713e-03 -2.31640837e+01] [-7.88543815e-04 9.99999422e-01 7.30822298e-04 -1.57044531e+00] [-7.01304055e-03 -7.36334643e-04 9.99975137e-01 4.05734163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.768033873999997 meters 0.059774685461197415 Centerline is valid? [True, True] Translation: X:-23.19, Y:-1.57, Z:0.41 [[ 9.99958925e-01 -7.51450647e-04 9.03241151e-03 -2.31939106e+01] [ 7.42972713e-04 9.99999280e-01 9.41931266e-04 -1.56995366e+00] [-9.03311282e-03 -9.35181740e-04 9.99958763e-01 4.12652557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.798033873999998 meters 0.057681285123741356 Centerline is valid? [True, True] Translation: X:-23.22, Y:-1.57, Z:0.41 [[ 9.99967243e-01 -3.52842710e-03 7.28438940e-03 -2.32241304e+01] [ 3.52298049e-03 9.99993505e-01 7.60406481e-04 -1.56885162e+00] [-7.28702513e-03 -7.34718811e-04 9.99973179e-01 4.07474392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.828033874 meters 0.05985356795946291 Centerline is valid? [True, True] Translation: X:-23.26, Y:-1.57, Z:0.40 [[ 9.99969625e-01 -5.56527309e-03 5.45687513e-03 -2.32552493e+01] [ 5.56224617e-03 9.99984368e-01 5.69718567e-04 -1.56941730e+00] [-5.45996047e-03 -5.39348779e-04 9.99984949e-01 4.00265456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.858033873999997 meters 0.057653638643892696 Centerline is valid? [True, True] Translation: X:-23.28, Y:-1.58, Z:0.41 [[ 9.99965115e-01 -6.81790242e-03 4.82548013e-03 -2.32847795e+01] [ 6.81555211e-03 9.99976647e-01 5.03338942e-04 -1.58083012e+00] [-4.82879916e-03 -4.70433072e-04 9.99988231e-01 4.06348553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.888033873999998 meters 0.05690776653323954 Centerline is valid? [True, True] Translation: X:-23.32, Y:-1.58, Z:0.40 [[ 9.99940260e-01 -9.17829731e-03 5.93596766e-03 -2.33155257e+01] [ 9.17477336e-03 9.99957718e-01 6.20619800e-04 -1.58158824e+00] [-5.94141291e-03 -5.66121566e-04 9.99982189e-01 4.04560828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.918033874 meters 0.05847969736935702 Centerline is valid? [True, True] Translation: X:-23.35, Y:-1.58, Z:0.40 [[ 9.99935866e-01 -9.07941350e-03 6.76962532e-03 -2.33458173e+01] [ 9.07482231e-03 9.99958572e-01 7.08614169e-04 -1.57760305e+00] [-6.77577867e-03 -6.47135576e-04 9.99976835e-01 4.03704737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.948033873999997 meters 0.05894848700277627 Centerline is valid? [True, True] Translation: X:-23.38, Y:-1.58, Z:0.40 [[ 9.99933810e-01 -9.52965723e-03 6.44678010e-03 -2.33759697e+01] [ 9.52550976e-03 9.99954404e-01 6.73739952e-04 -1.57962075e+00] [-6.45290667e-03 -6.12286491e-04 9.99978992e-01 4.04750126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.978033873999998 meters 0.055242189328753535 Centerline is valid? [True, True] Translation: X:-23.40, Y:-1.59, Z:0.41 [[ 9.99951075e-01 -8.11797225e-03 5.65210113e-03 -2.34037132e+01] [ 8.11475645e-03 9.99966900e-01 5.91658300e-04 -1.59018715e+00] [-5.65671711e-03 -5.45763929e-04 9.99983852e-01 4.09369736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.008033874 meters 0.055012674053465084 Centerline is valid? [True, True] Translation: X:-23.43, Y:-1.59, Z:0.41 [[ 9.99941726e-01 -6.03104281e-03 8.95386424e-03 -2.34340415e+01] [ 6.02290200e-03 9.99981424e-01 9.35882360e-04 -1.58834772e+00] [-8.95934226e-03 -8.81899576e-04 9.99959475e-01 4.14520787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.038033873999996 meters 0.05480412793909864 Centerline is valid? [True, True] Translation: X:-23.46, Y:-1.59, Z:0.42 [[ 9.99921264e-01 -2.43244620e-03 1.23105384e-02 -2.34634768e+01] [ 2.41679250e-03 9.99996252e-01 1.28628623e-03 -1.58808939e+00] [-1.23136211e-02 -1.25643293e-03 9.99923395e-01 4.19844224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.068033873999997 meters 0.06298879184925384 Centerline is valid? [True, True] Translation: X:-23.50, Y:-1.57, Z:0.42 [[ 9.99938704e-01 1.70901729e-04 1.10706118e-02 -2.34961718e+01] [-1.83708507e-04 9.99999315e-01 1.15582006e-03 -1.57463739e+00] [-1.10704067e-02 -1.15778298e-03 9.99938051e-01 4.15556937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.098033874 meters 0.05529219728827446 Centerline is valid? [True, True] Translation: X:-23.52, Y:-1.59, Z:0.42 [[ 9.99958363e-01 8.55449043e-04 9.08514457e-03 -2.35249764e+01] [-8.64098355e-04 9.99999177e-01 9.48145286e-04 -1.59268754e+00] [-9.08432601e-03 -9.55956267e-04 9.99958280e-01 4.18052819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.128033873999996 meters 0.06265783903174979 Centerline is valid? [True, True] Translation: X:-23.56, Y:-1.58, Z:0.41 [[ 9.99981269e-01 3.55754791e-03 4.98058386e-03 -2.35568283e+01] [-3.56018171e-03 9.99993527e-01 5.20047845e-04 -1.58145351e+00] [-4.97870153e-03 -5.37769887e-04 9.99987462e-01 4.12437393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.158033873999997 meters 0.06306396504387766 Centerline is valid? [True, True] Translation: X:-23.59, Y:-1.58, Z:0.41 [[ 9.99965312e-01 5.90231563e-03 5.87679658e-03 -2.35867987e+01] [-5.90602743e-03 9.99982370e-01 6.14448616e-04 -1.58467236e+00] [-5.87306630e-03 -6.49135824e-04 9.99982543e-01 4.13951170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.188033874 meters 0.06191189133418762 Centerline is valid? [True, True] Translation: X:-23.62, Y:-1.59, Z:0.43 [[ 9.99882854e-01 1.04082510e-02 1.12225932e-02 -2.36160499e+01] [-1.04220610e-02 9.99945001e-01 1.17276713e-03 -1.58887116e+00] [-1.12097695e-02 -1.28959230e-03 9.99936337e-01 4.25655574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.218033873999996 meters 0.06057232552818613 Centerline is valid? [True, True] Translation: X:-23.65, Y:-1.59, Z:0.43 [[ 9.99851385e-01 1.10271976e-02 1.32517137e-02 -2.36479642e+01] [-1.10464400e-02 9.99938034e-01 1.37975211e-03 -1.58848391e+00] [-1.32356777e-02 -1.52593132e-03 9.99911240e-01 4.29970090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.248033873999997 meters 0.0599572852279574 Centerline is valid? [True, True] Translation: X:-23.68, Y:-1.59, Z:0.42 [[ 9.99906883e-01 9.73336513e-03 9.56487304e-03 -2.36809431e+01] [-9.74333072e-03 9.99952037e-01 9.95848786e-04 -1.59132897e+00] [-9.55472132e-03 -1.08894978e-03 9.99953760e-01 4.21738301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.278033874 meters 0.060114168534024674 Centerline is valid? [True, True] Translation: X:-23.71, Y:-1.59, Z:0.42 [[ 9.99930146e-01 9.03826104e-03 7.61667522e-03 -2.37139202e+01] [-9.04455425e-03 9.99958783e-01 7.92200633e-04 -1.59420864e+00] [-7.60920117e-03 -8.61034727e-04 9.99970679e-01 4.19656087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.308033873999996 meters 0.05781444120597609 Centerline is valid? [True, True] Translation: X:-23.74, Y:-1.60, Z:0.42 [[ 9.99953610e-01 6.50837058e-03 7.10062282e-03 -2.37434732e+01] [-6.51384142e-03 9.99978505e-01 7.47619103e-04 -1.60001860e+00] [-7.09560441e-03 -7.93836752e-04 9.99974511e-01 4.19460052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.338033873999997 meters 0.06959975986316766 Centerline is valid? [True, True] Translation: X:-23.78, Y:-1.59, Z:0.41 [[ 9.99969659e-01 6.76304327e-03 3.86561269e-03 -2.37774388e+01] [-6.76465666e-03 9.99977038e-01 4.04447725e-04 -1.58509082e+00] [-3.86278863e-03 -4.30584996e-04 9.99992447e-01 4.12373884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.368033873999998 meters 0.05922041215652152 Centerline is valid? [True, True] Translation: X:-23.80, Y:-1.61, Z:0.43 [[ 9.99965965e-01 4.16014293e-03 7.12476223e-03 -2.38041948e+01] [-4.16559024e-03 9.99991043e-01 7.49890914e-04 -1.61278481e+00] [-7.12157876e-03 -7.79544231e-04 9.99974337e-01 4.27780091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.398033873999996 meters 0.06027330650104174 Centerline is valid? [True, True] Translation: X:-23.83, Y:-1.62, Z:0.43 [[ 9.99936771e-01 2.39308020e-03 1.09875591e-02 -2.38346965e+01] [-2.40593651e-03 9.99996436e-01 1.15701000e-03 -1.61668424e+00] [-1.09847512e-02 -1.18337221e-03 9.99938966e-01 4.34401167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.428033873999997 meters 0.058298394247317656 Centerline is valid? [True, True] Translation: X:-23.87, Y:-1.62, Z:0.43 [[ 9.99948948e-01 1.88105013e-03 9.92785995e-03 -2.38668548e+01] [-1.89146036e-03 9.99997671e-01 1.03930211e-03 -1.62430638e+00] [-9.92588185e-03 -1.05802721e-03 9.99950177e-01 4.33629684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.458033873999998 meters 0.0571619116088476 Centerline is valid? [True, True] Translation: X:-23.90, Y:-1.63, Z:0.43 [[ 9.99971646e-01 2.20758533e-03 7.19962397e-03 -2.38970653e+01] [-2.21309327e-03 9.99997264e-01 7.57155010e-04 -1.63025289e+00] [-7.19793279e-03 -7.73066981e-04 9.99973796e-01 4.31214181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.488033874 meters 0.05977904576604096 Centerline is valid? [True, True] Translation: X:-23.93, Y:-1.63, Z:0.43 [[ 9.99966514e-01 3.45443252e-03 7.41877386e-03 -2.39286002e+01] [-3.46033499e-03 9.99993707e-01 7.82923745e-04 -1.62962080e+00] [-7.41602261e-03 -8.08568971e-04 9.99972174e-01 4.29818716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.518033873999997 meters 0.06560147813502412 Centerline is valid? [True, True] Translation: X:-23.96, Y:-1.63, Z:0.43 [[ 9.99945894e-01 5.76342869e-03 8.65975180e-03 -2.39603247e+01] [-5.77156331e-03 9.99982926e-01 9.14662636e-04 -1.62642497e+00] [-8.65433235e-03 -9.64593453e-04 9.99962085e-01 4.33559044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.548033873999998 meters 0.06309397775970671 Centerline is valid? [True, True] Translation: X:-23.99, Y:-1.65, Z:0.44 [[ 9.99932291e-01 8.83819304e-03 7.56965828e-03 -2.39874015e+01] [-8.84450471e-03 9.99960566e-01 8.00741480e-04 -1.64615783e+00] [-7.56228267e-03 -8.67637141e-04 9.99971029e-01 4.43220596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.578033874 meters 0.06007625954033373 Centerline is valid? [True, True] Translation: X:-24.02, Y:-1.65, Z:0.44 [[ 9.99899970e-01 1.16173182e-02 8.06767421e-03 -2.40162822e+01] [-1.16245752e-02 9.99932068e-01 8.53209825e-04 -1.65398495e+00] [-8.05721415e-03 -9.46907764e-04 9.99967092e-01 4.39862815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.608033873999997 meters 0.05949284557097667 Centerline is valid? [True, True] Translation: X:-24.05, Y:-1.65, Z:0.44 [[ 9.99873866e-01 1.28284167e-02 9.36397100e-03 -2.40480193e+01] [-1.28382312e-02 9.99917098e-01 9.88755685e-04 -1.65340896e+00] [-9.35051053e-03 -1.10884779e-03 9.99955668e-01 4.40203415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.638033873999998 meters 0.06000702797655679 Centerline is valid? [True, True] Translation: X:-24.08, Y:-1.66, Z:0.44 [[ 9.99877149e-01 1.28742804e-02 8.94096000e-03 -2.40801300e+01] [-1.28831853e-02 9.99916567e-01 9.39078677e-04 -1.65958832e+00] [-8.92812407e-03 -1.05415135e-03 9.99959588e-01 4.43676838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.668033874 meters 0.060181327939297063 Centerline is valid? [True, True] Translation: X:-24.11, Y:-1.67, Z:0.45 [[ 9.99892602e-01 1.20161682e-02 8.39029839e-03 -2.41097758e+01] [-1.20240375e-02 9.99927314e-01 8.88094482e-04 -1.67025996e+00] [-8.37901704e-03 -9.88884365e-04 9.99964406e-01 4.50299629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.698033873999997 meters 0.06389414543900575 Centerline is valid? [True, True] Translation: X:-24.14, Y:-1.66, Z:0.45 [[ 9.99910554e-01 1.04113131e-02 8.39574962e-03 -2.41422436e+01] [-1.04191386e-02 9.99945324e-01 8.88885065e-04 -1.66145891e+00] [-8.38603612e-03 -9.76282037e-04 9.99964360e-01 4.46786405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.728033873999998 meters 0.05992305041624443 Centerline is valid? [True, True] Translation: X:-24.17, Y:-1.67, Z:0.44 [[ 9.99919955e-01 9.85829738e-03 7.93079868e-03 -2.41728395e+01] [-9.86526558e-03 9.99950984e-01 8.39984255e-04 -1.66572953e+00] [-7.92212913e-03 -9.18156454e-04 9.99968198e-01 4.43513724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.758033874 meters 0.058152948771321517 Centerline is valid? [True, True] Translation: X:-24.20, Y:-1.68, Z:0.45 [[ 9.99907435e-01 8.00638430e-03 1.10008945e-02 -2.42021518e+01] [-8.01969833e-03 9.99967161e-01 1.16668792e-03 -1.67906815e+00] [-1.09911923e-02 -1.25480378e-03 9.99938808e-01 4.45371091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.788033873999996 meters 0.06014662416751526 Centerline is valid? [True, True] Translation: X:-24.23, Y:-1.69, Z:0.45 [[ 9.99899230e-01 8.26176808e-03 1.15444150e-02 -2.42329901e+01] [-8.27638495e-03 9.99965007e-01 1.21894091e-03 -1.69124596e+00] [-1.15339404e-02 -1.31436410e-03 9.99932618e-01 4.52672733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.818033873999997 meters 0.06931796441797085 Centerline is valid? [True, True] Translation: X:-24.27, Y:-1.68, Z:0.45 [[ 9.99939750e-01 9.10863315e-03 6.12605965e-03 -2.42657167e+01] [-9.11279017e-03 9.99958266e-01 6.51009668e-04 -1.67675819e+00] [-6.11987418e-03 -7.06795941e-04 9.99981024e-01 4.47784463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.848033874 meters 0.06931796441797085 Centerline is valid? [True, True] Translation: X:-24.30, Y:-1.68, Z:0.45 [[ 9.99940590e-01 9.01575535e-03 6.12631532e-03 -2.42983440e+01] [-9.01989612e-03 9.99959110e-01 6.48605859e-04 -1.68009035e+00] [-6.12021714e-03 -7.03826053e-04 9.99981024e-01 4.48927657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.878033873999996 meters 0.06952717663576649 Centerline is valid? [True, True] Translation: X:-24.33, Y:-1.67, Z:0.44 [[ 9.99965174e-01 8.33760178e-03 -3.68958171e-04 -2.43306878e+01] [-8.33761723e-03 9.99965241e-01 -4.03589758e-05 -1.67144596e+00] [ 3.68608849e-04 4.34338022e-05 9.99999931e-01 4.36546405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.908033873999997 meters 0.06254672083361539 Centerline is valid? [True, True] Translation: X:-24.36, Y:-1.68, Z:0.45 [[ 9.99964720e-01 7.63548468e-03 3.50116376e-03 -2.43594391e+01] [-7.63683569e-03 9.99970770e-01 3.72667231e-04 -1.68057702e+00] [-3.49821593e-03 -3.99391896e-04 9.99993801e-01 4.46503137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.938033874 meters 0.0608310221282302 Centerline is valid? [True, True] Translation: X:-24.39, Y:-1.69, Z:0.46 [[ 9.99894469e-01 7.44952790e-03 1.24721473e-02 -2.43882031e+01] [-7.46665718e-03 9.99971243e-01 1.32740168e-03 -1.69423736e+00] [-1.24619001e-02 -1.42038684e-03 9.99921339e-01 4.62619328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.968033873999996 meters 0.06565086774171619 Centerline is valid? [True, True] Translation: X:-24.42, Y:-1.70, Z:0.47 [[ 9.99860399e-01 9.90167052e-03 1.34588078e-02 -2.44185218e+01] [-9.92183749e-03 9.99949751e-01 1.43247610e-03 -1.69850575e+00] [-1.34439476e-02 -1.56581223e-03 9.99908400e-01 4.68570186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.998033873999997 meters 0.07050525075308525 Centerline is valid? [True, True] Translation: X:-24.45, Y:-1.69, Z:0.46 [[ 9.99912508e-01 1.20718851e-02 5.40792782e-03 -2.44501393e+01] [-1.20751711e-02 9.99926927e-01 5.75391256e-04 -1.69323349e+00] [-5.40058659e-03 -6.40642567e-04 9.99985212e-01 4.59500085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.028033874 meters 0.07277953395989993 Centerline is valid? [True, True] Translation: X:-24.48, Y:-1.68, Z:0.44 [[ 9.99895054e-01 1.44284860e-02 -1.30355135e-03 -2.44828642e+01] [-1.44286792e-02 9.99895892e-01 -1.38919360e-04 -1.68131334e+00] [ 1.30141125e-03 1.57713305e-04 9.99999141e-01 4.42440795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.058033873999996 meters 0.06656844637261697 Centerline is valid? [True, True] Translation: X:-24.51, Y:-1.70, Z:0.45 [[ 9.99818760e-01 1.81020220e-02 5.89612484e-03 -2.45110919e+01] [-1.81060334e-02 9.99835875e-01 6.27668079e-04 -1.69542958e+00] [-5.88379508e-03 -7.34309753e-04 9.99982421e-01 4.54240944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.088033873999997 meters 0.06205172818871029 Centerline is valid? [True, True] Translation: X:-24.54, Y:-1.72, Z:0.47 [[ 9.99731869e-01 2.05986641e-02 1.05775943e-02 -2.45383781e+01] [-2.06117120e-02 9.99786922e-01 1.12599771e-03 -1.71502560e+00] [-1.05521464e-02 -1.34371812e-03 9.99943422e-01 4.67361215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.118033873999998 meters 0.06935462182417138 Centerline is valid? [True, True] Translation: X:-24.57, Y:-1.71, Z:0.47 [[ 9.99675831e-01 2.27816496e-02 1.13679454e-02 -2.45691998e+01] [-2.27968579e-02 9.99739386e-01 1.21002863e-03 -1.70913629e+00] [-1.13374163e-02 -1.46878982e-03 9.99934651e-01 4.72833484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.148033873999996 meters 0.07118681454012654 Centerline is valid? [True, True] Translation: X:-24.60, Y:-1.70, Z:0.47 [[ 9.99706414e-01 2.32564885e-02 6.79861105e-03 -2.46006875e+01] [-2.32619392e-02 9.99729143e-01 7.23750430e-04 -1.70401376e+00] [-6.77993770e-03 -8.81686824e-04 9.99976627e-01 4.67509018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.178033873999997 meters 0.06791146520650855 Centerline is valid? [True, True] Translation: X:-24.63, Y:-1.70, Z:0.46 [[ 9.99760571e-01 2.17854973e-02 2.04775229e-03 -2.46323110e+01] [-2.17859745e-02 9.99762635e-01 2.11032527e-04 -1.70425098e+00] [-2.04266878e-03 -2.55594279e-04 9.99997881e-01 4.57275888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.208033873999998 meters 0.07512412543466966 Centerline is valid? [True, True] Translation: X:-24.66, Y:-1.70, Z:0.45 [[ 9.99727314e-01 2.31076913e-02 3.36635785e-03 -2.46647812e+01] [-2.31090240e-02 9.99732887e-01 3.57540080e-04 -1.70054965e+00] [-3.35719672e-03 -4.35235828e-04 9.99994270e-01 4.54534370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.238033874 meters 0.07370271979552478 Centerline is valid? [True, True] Translation: X:-24.69, Y:-1.72, Z:0.47 [[ 9.99728263e-01 2.22385216e-02 6.98910664e-03 -2.46931781e+01] [-2.22442693e-02 9.99752288e-01 7.45719891e-04 -1.71530027e+00] [-6.97079164e-03 -9.00984822e-04 9.99975298e-01 4.69394018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.268033873999997 meters 0.0657761308093732 Centerline is valid? [True, True] Translation: X:-24.72, Y:-1.73, Z:0.48 [[ 9.99775136e-01 1.95115184e-02 8.30525576e-03 -2.47211672e+01] [-1.95195290e-02 9.99809085e-01 8.84554546e-04 -1.73348141e+00] [-8.28641115e-03 -1.04647032e-03 9.99965120e-01 4.75908817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.298033873999998 meters 0.06987623740594491 Centerline is valid? [True, True] Translation: X:-24.75, Y:-1.73, Z:0.47 [[ 9.99847266e-01 1.70372005e-02 3.89590393e-03 -2.47533134e+01] [-1.70389470e-02 9.99854740e-01 4.15551907e-04 -1.72577669e+00] [-3.88825817e-03 -4.81870539e-04 9.99992325e-01 4.65468823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.328033874 meters 0.06530221416646369 Centerline is valid? [True, True] Translation: X:-24.78, Y:-1.74, Z:0.47 [[ 9.99902393e-01 1.38778664e-02 1.61523732e-03 -2.47815661e+01] [-1.38781634e-02 9.99903679e-01 1.72841629e-04 -1.73882979e+00] [-1.61268307e-03 -1.95241286e-04 9.99998681e-01 4.65777911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.358033873999997 meters 0.06257220657055362 Centerline is valid? [True, True] Translation: X:-24.81, Y:-1.75, Z:0.47 [[ 9.99938110e-01 9.92648185e-03 5.02411050e-03 -2.48106821e+01] [-9.92930326e-03 9.99950559e-01 5.36942419e-04 -1.74952752e+00] [-5.01853216e-03 -5.86795104e-04 9.99987235e-01 4.68835548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.388033873999998 meters 0.063343700259333 Centerline is valid? [True, True] Translation: X:-24.84, Y:-1.75, Z:0.48 [[ 9.99913104e-01 9.05756425e-03 9.57838815e-03 -2.48403048e+01] [-9.06777131e-03 9.99958364e-01 1.02274244e-03 -1.75403130e+00] [-9.56872579e-03 -1.10950820e-03 9.99953603e-01 4.79890291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.418033874 meters 0.06636681077819584 Centerline is valid? [True, True] Translation: X:-24.87, Y:-1.75, Z:0.48 [[ 9.99907535e-01 8.83560686e-03 1.03369541e-02 -2.48736737e+01] [-8.84742764e-03 9.99960258e-01 1.09837508e-03 -1.74857135e+00] [-1.03268385e-02 -1.18972897e-03 9.99945969e-01 4.79671684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.448033873999997 meters 0.06292352624354994 Centerline is valid? [True, True] Translation: X:-24.90, Y:-1.75, Z:0.48 [[ 9.99915700e-01 1.08942851e-02 7.06455498e-03 -2.49028265e+01] [-1.08998982e-02 9.99940308e-01 7.56522430e-04 -1.75370641e+00] [-7.05589152e-03 -8.33461585e-04 9.99974760e-01 4.76187715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.478033873999998 meters 0.06320513131700829 Centerline is valid? [True, True] Translation: X:-24.93, Y:-1.75, Z:0.48 [[ 9.99935510e-01 1.07419626e-02 3.68590783e-03 -2.49343854e+01] [-1.07434846e-02 9.99942210e-01 3.93367170e-04 -1.75424826e+00] [-3.68146928e-03 -4.32941296e-04 9.99993130e-01 4.75139182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.508033874 meters 0.06579275318641184 Centerline is valid? [True, True] Translation: X:-24.97, Y:-1.75, Z:0.48 [[ 9.99914251e-01 1.19245894e-02 5.41252860e-03 -2.49664859e+01] [-1.19278897e-02 9.99928693e-01 5.77878307e-04 -1.75481732e+00] [-5.40525169e-03 -6.42388798e-04 9.99985185e-01 4.76010029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.538033873999996 meters 0.06528112472244813 Centerline is valid? [True, True] Translation: X:-25.00, Y:-1.76, Z:0.49 [[ 9.99865974e-01 1.32688623e-02 9.59017867e-03 -2.49975828e+01] [-1.32792634e-02 9.99911305e-01 1.02169990e-03 -1.75521475e+00] [-9.57577127e-03 -1.14891348e-03 9.99953491e-01 4.88261825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.568033873999997 meters 0.06666224966416627 Centerline is valid? [True, True] Translation: X:-25.03, Y:-1.74, Z:0.48 [[ 9.99748458e-01 2.18948537e-02 4.86171483e-03 -2.50301283e+01] [-2.18976464e-02 9.99760082e-01 5.21924630e-04 -1.73798414e+00] [-4.84912096e-03 -6.28253457e-04 9.99988046e-01 4.76991463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.598033874 meters 0.07144053163788788 Centerline is valid? [True, True] Translation: X:-25.06, Y:-1.73, Z:0.47 [[ 9.99739260e-01 2.26440434e-02 2.94250298e-03 -2.50616926e+01] [-2.26450690e-02 9.99743518e-01 3.15690164e-04 -1.73199265e+00] [-2.93459978e-03 -3.82241034e-04 9.99995621e-01 4.70209200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.628033873999996 meters 0.07182882297103482 Centerline is valid? [True, True] Translation: X:-25.09, Y:-1.74, Z:0.48 [[ 9.99689828e-01 2.44639602e-02 4.66503082e-03 -2.50911965e+01] [-2.44665575e-02 9.99700524e-01 5.00493748e-04 -1.74067674e+00] [-4.65138969e-03 -6.14475754e-04 9.99988993e-01 4.76967252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.658033873999997 meters 0.06809297819339079 Centerline is valid? [True, True] Translation: X:-25.12, Y:-1.75, Z:0.49 [[ 9.99641943e-01 2.46894243e-02 1.03159122e-02 -2.51213198e+01] [-2.47020845e-02 9.99694250e-01 1.10162832e-03 -1.74946808e+00] [-1.02855595e-02 -1.35605841e-03 9.99946183e-01 4.88787507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.688033874 meters 0.07451512325242822 Centerline is valid? [True, True] Translation: X:-25.15, Y:-1.73, Z:0.48 [[ 9.99620134e-01 2.54698789e-02 1.05296196e-02 -2.51545358e+01] [-2.54831817e-02 9.99674611e-01 1.13111864e-03 -1.73288055e+00] [-1.04973839e-02 -1.39901717e-03 9.99943922e-01 4.84334109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.718033873999996 meters 0.06793853045594662 Centerline is valid? [True, True] Translation: X:-25.19, Y:-1.74, Z:0.48 [[ 9.99709381e-01 2.39780771e-02 2.49103823e-03 -2.51857876e+01] [-2.39788006e-02 9.99712433e-01 2.60966586e-04 -1.73962121e+00] [-2.48406442e-03 -3.20622853e-04 9.99996863e-01 4.77247112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.748033873999997 meters 0.07220037865227712 Centerline is valid? [True, True] Translation: X:-25.22, Y:-1.73, Z:0.47 [[ 9.99750360e-01 2.21984245e-02 2.53925201e-03 -2.52176884e+01] [-2.21991888e-02 9.99753530e-01 2.73213069e-04 -1.73147182e+00] [-2.53256126e-03 -3.29514199e-04 9.99996739e-01 4.72548563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.778033874 meters 0.06291655586133295 Centerline is valid? [True, True] Translation: X:-25.25, Y:-1.75, Z:0.48 [[ 9.99793853e-01 1.90752091e-02 6.95615965e-03 -2.52450242e+01] [-1.90808758e-02 9.99817663e-01 7.49161114e-04 -1.75281975e+00] [-6.94060088e-03 -8.81736295e-04 9.99975525e-01 4.84000350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.808033873999996 meters 0.062294961344724134 Centerline is valid? [True, True] Translation: X:-25.28, Y:-1.76, Z:0.49 [[ 9.99806155e-01 1.70489783e-02 9.84810530e-03 -2.52756242e+01] [-1.70602408e-02 9.99853901e-01 1.06073717e-03 -1.75870444e+00] [-9.82858201e-03 -1.22854260e-03 9.99950944e-01 4.89940105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.838033873999997 meters 0.06443442411392486 Centerline is valid? [True, True] Translation: X:-25.31, Y:-1.76, Z:0.49 [[ 9.99853698e-01 1.37748562e-02 1.01407681e-02 -2.53069255e+01] [-1.37866392e-02 9.99904362e-01 1.09295518e-03 -1.75608444e+00] [-1.01247430e-02 -1.23260239e-03 9.99947984e-01 4.88339807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.868033873999998 meters 0.062403553781200355 Centerline is valid? [True, True] Translation: X:-25.34, Y:-1.76, Z:0.48 [[ 9.99959629e-01 8.44444699e-03 3.07099138e-03 -2.53375255e+01] [-8.44550251e-03 9.99964281e-01 3.30899898e-04 -1.75684835e+00] [-3.06808742e-03 -3.56822604e-04 9.99995230e-01 4.79432875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.898033873999996 meters 0.06546496179930616 Centerline is valid? [True, True] Translation: X:-25.37, Y:-1.75, Z:0.49 [[ 9.99974025e-01 5.21844871e-03 4.97163232e-03 -2.53691906e+01] [-5.22117451e-03 9.99986226e-01 5.35448743e-04 -1.75139714e+00] [-4.96876963e-03 -5.61392595e-04 9.99987498e-01 4.86311001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.928033873999997 meters 0.06318868383609223 Centerline is valid? [True, True] Translation: X:-25.40, Y:-1.75, Z:0.49 [[ 9.99946826e-01 4.24882997e-03 9.39638175e-03 -2.53999813e+01] [-4.25853102e-03 9.99990420e-01 1.01265722e-03 -1.75097889e+00] [-9.39198912e-03 -1.05261816e-03 9.99955340e-01 4.89554728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.958033873999998 meters 0.06611553669868622 Centerline is valid? [True, True] Translation: X:-25.43, Y:-1.74, Z:0.48 [[ 9.99943906e-01 4.03718132e-03 9.79211878e-03 -2.54348390e+01] [-4.04765022e-03 9.99991257e-01 1.04953230e-03 -1.73694997e+00] [-9.78779602e-03 -1.08910850e-03 9.99951505e-01 4.84157477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.988033874 meters 0.06155591743253841 Centerline is valid? [True, True] Translation: X:-25.47, Y:-1.75, Z:0.48 [[ 9.99955915e-01 4.07829067e-03 8.45791685e-03 -2.54656400e+01] [-4.08611723e-03 9.99991239e-01 9.08279645e-04 -1.74901042e+00] [-8.45413852e-03 -9.42799643e-04 9.99963819e-01 4.84646321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.018033873999997 meters 0.06235643830633017 Centerline is valid? [True, True] Translation: X:-25.49, Y:-1.76, Z:0.49 [[ 9.99929901e-01 7.25051815e-03 9.36067894e-03 -2.54949867e+01] [-7.26032338e-03 9.99973129e-01 1.01393470e-03 -1.75620397e+00] [-9.35307586e-03 -1.08182518e-03 9.99955674e-01 4.92026462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.048033873999998 meters 0.06381056002321009 Centerline is valid? [True, True] Translation: X:-25.53, Y:-1.75, Z:0.50 [[ 9.99879777e-01 1.15395096e-02 1.03571506e-02 -2.55271091e+01] [-1.15517415e-02 9.99932647e-01 1.12197062e-03 -1.74544751e+00] [-1.03435061e-02 -1.24147886e-03 9.99945734e-01 4.97361410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.078033874 meters 0.06255439059154452 Centerline is valid? [True, True] Translation: X:-25.56, Y:-1.73, Z:0.49 [[ 9.99819294e-01 1.62494895e-02 9.86581839e-03 -2.55589966e+01] [-1.62608151e-02 9.99867213e-01 1.06882722e-03 -1.73146276e+00] [-9.84714044e-03 -1.22906032e-03 9.99950760e-01 4.89622936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.108033873999997 meters 0.06669836174378015 Centerline is valid? [True, True] Translation: X:-25.59, Y:-1.72, Z:0.48 [[ 9.99774333e-01 1.93377902e-02 8.79395029e-03 -2.55921934e+01] [-1.93469045e-02 9.99812377e-01 9.52529302e-04 -1.71789253e+00] [-8.77388053e-03 -1.12245006e-03 9.99960879e-01 4.80178346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.138033873999998 meters 0.07061311547341574 Centerline is valid? [True, True] Translation: X:-25.62, Y:-1.72, Z:0.48 [[ 9.99722284e-01 2.19918923e-02 8.46827820e-03 -2.56231388e+01] [-2.20004418e-02 9.99757540e-01 9.17757079e-04 -1.71541619e+00] [-8.44604177e-03 -1.10380806e-03 9.99963722e-01 4.80915155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.168033874 meters 0.06605533499761113 Centerline is valid? [True, True] Translation: X:-25.65, Y:-1.72, Z:0.49 [[ 9.99695484e-01 2.29351837e-02 9.10580693e-03 -2.56522782e+01] [-2.29451033e-02 9.99736240e-01 9.86385070e-04 -1.72463705e+00] [-9.08078225e-03 -1.19501838e-03 9.99958055e-01 4.91684881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.198033873999997 meters 0.06886748095086825 Centerline is valid? [True, True] Translation: X:-25.69, Y:-1.71, Z:0.49 [[ 9.99683055e-01 2.30698004e-02 1.00783435e-02 -2.56864123e+01] [-2.30819070e-02 9.99732987e-01 1.08657529e-03 -1.70948508e+00] [-1.00505853e-02 -1.31885830e-03 9.99948622e-01 4.89603934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.228033873999998 meters 0.06603648688153924 Centerline is valid? [True, True] Translation: X:-25.72, Y:-1.71, Z:0.48 [[ 9.99744608e-01 2.14336867e-02 7.16344615e-03 -2.57174762e+01] [-2.14397868e-02 9.99769840e-01 7.75842140e-04 -1.70626118e+00] [-7.14516826e-03 -9.29226755e-04 9.99974041e-01 4.77486079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.258033874 meters 0.0687956761439142 Centerline is valid? [True, True] Translation: X:-25.75, Y:-1.71, Z:0.48 [[ 9.99807031e-01 1.90853048e-02 4.65307898e-03 -2.57481698e+01] [-1.90878610e-02 9.99817682e-01 5.05566273e-04 -1.70634388e+00] [-4.64258176e-03 -5.94286039e-04 9.99989047e-01 4.75319737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.288033873999996 meters 0.06825744323316446 Centerline is valid? [True, True] Translation: X:-25.78, Y:-1.71, Z:0.48 [[ 9.99833501e-01 1.62970524e-02 8.20834550e-03 -2.57784115e+01] [-1.63049183e-02 9.99866668e-01 8.92264476e-04 -1.71144990e+00] [-8.19270978e-03 -1.02595232e-03 9.99965913e-01 4.83204711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.318033873999997 meters 0.0658975080168043 Centerline is valid? [True, True] Translation: X:-25.81, Y:-1.71, Z:0.50 [[ 9.99784109e-01 1.26796587e-02 1.64609296e-02 -2.58093557e+01] [-1.27108128e-02 9.99917613e-01 1.78935967e-03 -1.70771657e+00] [-1.64368849e-02 -1.99820515e-03 9.99862909e-01 4.96421046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.348033874 meters 0.07289902800499416 Centerline is valid? [True, True] Translation: X:-25.84, Y:-1.69, Z:0.48 [[ 9.99891501e-01 8.89722951e-03 1.17399267e-02 -2.58435975e+01] [-8.91281565e-03 9.99959466e-01 1.27596568e-03 -1.68759302e+00] [-1.17280983e-02 -1.38046304e-03 9.99930271e-01 4.79702668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.378033873999996 meters 0.0646282902167128 Centerline is valid? [True, True] Translation: X:-25.87, Y:-1.70, Z:0.47 [[ 9.99936896e-01 8.97140554e-03 6.76143312e-03 -2.58729710e+01] [-8.97657415e-03 9.99959440e-01 7.34464989e-04 -1.70434397e+00] [-6.75456970e-03 -7.95113148e-04 9.99976872e-01 4.74995608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.408033873999997 meters 0.05841506811323198 Centerline is valid? [True, True] Translation: X:-25.90, Y:-1.72, Z:0.48 [[ 9.99956124e-01 6.41968982e-03 6.82182503e-03 -2.59013420e+01] [-6.42489877e-03 9.99979085e-01 7.41929404e-04 -1.71624858e+00] [-6.81691940e-03 -7.85726387e-04 9.99976456e-01 4.78895317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.438033874 meters 0.058338519360791055 Centerline is valid? [True, True] Translation: X:-25.93, Y:-1.72, Z:0.49 [[ 9.99938202e-01 6.05899759e-03 9.32098494e-03 -2.59334159e+01] [-6.06869463e-03 9.99981073e-01 1.01241253e-03 -1.71715444e+00] [-9.31467431e-03 -1.06891618e-03 9.99956046e-01 4.85979235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.468033873999996 meters 0.05660780223821698 Centerline is valid? [True, True] Translation: X:-25.97, Y:-1.72, Z:0.49 [[ 9.99897820e-01 6.22802720e-03 1.28670746e-02 -2.59653407e+01] [-6.24653941e-03 9.99979512e-01 1.39903897e-03 -1.72017269e+00] [-1.28580977e-02 -1.47927071e-03 9.99916237e-01 4.92422172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.498033873999997 meters 0.0599420802178963 Centerline is valid? [True, True] Translation: X:-26.00, Y:-1.71, Z:0.49 [[ 9.99916859e-01 5.92573847e-03 1.14525182e-02 -2.59991651e+01] [-5.94034980e-03 9.99981584e-01 1.24222213e-03 -1.70924759e+00] [-1.14449463e-02 -1.31015082e-03 9.99933646e-01 4.89977319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.528033874 meters 0.06874268516098257 Centerline is valid? [True, True] Translation: X:-26.03, Y:-1.69, Z:0.49 [[ 9.99932495e-01 6.60394535e-03 9.55996751e-03 -2.60335851e+01] [-6.61420721e-03 9.99977583e-01 1.04220158e-03 -1.68918106e+00] [-9.55287056e-03 -1.10536283e-03 9.99953759e-01 4.85199641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.558033873999996 meters 0.06358761861805662 Centerline is valid? [True, True] Translation: X:-26.06, Y:-1.69, Z:0.48 [[ 9.99919198e-01 7.54027013e-03 1.02343775e-02 -2.60644734e+01] [-7.55209916e-03 9.99970858e-01 1.11765893e-03 -1.69287266e+00] [-1.02256518e-02 -1.19485965e-03 9.99947003e-01 4.82859982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.588033873999997 meters 0.061941830558994174 Centerline is valid? [True, True] Translation: X:-26.10, Y:-1.70, Z:0.48 [[ 9.99919138e-01 7.10540537e-03 1.05465514e-02 -2.60960985e+01] [-7.11789989e-03 9.99974009e-01 1.14763960e-03 -1.69523900e+00] [-1.05381228e-02 -1.22261610e-03 9.99943725e-01 4.83836119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.618033873999998 meters 0.06317497806147211 Centerline is valid? [True, True] Translation: X:-26.13, Y:-1.69, Z:0.48 [[ 9.99944665e-01 6.76090690e-03 8.05953489e-03 -2.61299599e+01] [-6.76818818e-03 9.99976711e-01 8.76504585e-04 -1.68766809e+00] [-8.05342123e-03 -9.31004533e-04 9.99967137e-01 4.82863554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.648033873999996 meters 0.057585235733997125 Centerline is valid? [True, True] Translation: X:-26.16, Y:-1.70, Z:0.49 [[ 9.99931993e-01 6.50742272e-03 9.67800572e-03 -2.61600661e+01] [-6.51797576e-03 9.99978197e-01 1.05927300e-03 -1.69873693e+00] [-9.67090157e-03 -1.12228196e-03 9.99952606e-01 4.88490651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.678033873999997 meters 0.06474400105584002 Centerline is valid? [True, True] Translation: X:-26.19, Y:-1.68, Z:0.50 [[ 9.99892890e-01 5.60489158e-03 1.35201565e-02 -2.61930039e+01] [-5.62547879e-03 9.99983074e-01 1.48515517e-03 -1.68370832e+00] [-1.35116035e-02 -1.56105344e-03 9.99907496e-01 4.96304265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.708033873999998 meters 0.06215760964642522 Centerline is valid? [True, True] Translation: X:-26.22, Y:-1.69, Z:0.49 [[ 9.99903559e-01 3.97208767e-03 1.33077180e-02 -2.62232739e+01] [-3.99190617e-03 9.99990962e-01 1.46301702e-03 -1.68537102e+00] [-1.33017865e-02 -1.51599908e-03 9.99910378e-01 4.92463168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.738033873999996 meters 0.0584858557222897 Centerline is valid? [True, True] Translation: X:-26.26, Y:-1.69, Z:0.48 [[ 9.99973717e-01 1.71023490e-03 7.04561170e-03 -2.62551495e+01] [-1.71569102e-03 9.99998233e-01 7.68428013e-04 -1.68646997e+00] [-7.04428506e-03 -7.80495909e-04 9.99974884e-01 4.84619739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.768033873999997 meters 0.0584858557222897 Centerline is valid? [True, True] Translation: X:-26.29, Y:-1.69, Z:0.49 [[ 9.99973891e-01 1.60773397e-03 7.04508254e-03 -2.62877793e+01] [-1.61322100e-03 9.99998400e-01 7.73232840e-04 -1.68992252e+00] [-7.04382812e-03 -7.84577927e-04 9.99974884e-01 4.85755385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.798033873999998 meters 0.0609077737622881 Centerline is valid? [True, True] Translation: X:-26.32, Y:-1.68, Z:0.48 [[ 9.99984430e-01 1.31053704e-04 5.57884039e-03 -2.63212265e+01] [-1.34469510e-04 9.99999804e-01 6.11908334e-04 -1.67809540e+00] [-5.57875910e-03 -6.12648990e-04 9.99984251e-01 4.83086377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.828033874 meters 0.05393642132540281 Centerline is valid? [True, True] Translation: X:-26.35, Y:-1.69, Z:0.50 [[ 9.99918992e-01 -1.26180951e-03 1.26655990e-02 -2.63495966e+01] [ 1.24419782e-03 9.99998248e-01 1.39829732e-03 -1.68872219e+00] [-1.26673412e-02 -1.38242553e-03 9.99918810e-01 4.98823158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.858033873999997 meters 0.055608678818897785 Centerline is valid? [True, True] Translation: X:-26.38, Y:-1.68, Z:0.50 [[ 9.99873705e-01 -1.96318095e-03 1.57708632e-02 -2.63811848e+01] [ 1.93597506e-03 9.99996612e-01 1.74015452e-03 -1.68360227e+00] [-1.57742260e-02 -1.70940275e-03 9.99874118e-01 5.02307330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.888033873999998 meters 0.0537970710802734 Centerline is valid? [True, True] Translation: X:-26.41, Y:-1.68, Z:0.49 [[ 9.99956435e-01 -2.51707429e-03 8.98846906e-03 -2.64125199e+01] [ 2.50826475e-03 9.99996363e-01 9.91231914e-04 -1.68281974e+00] [-8.99093137e-03 -9.68643270e-04 9.99959112e-01 4.94262635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.918033874 meters 0.0633777772242475 Centerline is valid? [True, True] Translation: X:-26.45, Y:-1.66, Z:0.48 [[ 9.99980532e-01 -2.95421666e-03 5.49627878e-03 -2.64486621e+01] [ 2.95096488e-03 9.99995466e-01 5.99650209e-04 -1.65774981e+00] [-5.49802535e-03 -5.83419209e-04 9.99984716e-01 4.79757638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.948033873999997 meters 0.05752278537192597 Centerline is valid? [True, True] Translation: X:-26.48, Y:-1.66, Z:0.49 [[ 9.99967100e-01 -3.37823718e-03 7.37474362e-03 -2.64793093e+01] [ 3.37235336e-03 9.99993985e-01 8.10123753e-04 -1.66178171e+00] [-7.37743605e-03 -7.85226858e-04 9.99972478e-01 4.88400008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.978033873999998 meters 0.05649057570625084 Centerline is valid? [True, True] Translation: X:-26.51, Y:-1.66, Z:0.50 [[ 9.99935855e-01 -1.33270045e-03 1.12476409e-02 -2.65098620e+01] [ 1.31875992e-03 9.99998353e-01 1.24674457e-03 -1.65820530e+00] [-1.12492840e-02 -1.23183166e-03 9.99935966e-01 4.97177931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.008033874 meters 0.05708141010639787 Centerline is valid? [True, True] Translation: X:-26.54, Y:-1.66, Z:0.49 [[ 9.99948964e-01 -1.06724488e-04 1.01023498e-02 -2.65410312e+01] [ 9.54113964e-05 9.99999368e-01 1.12032288e-03 -1.65594633e+00] [-1.01024629e-02 -1.11930182e-03 9.99948342e-01 4.94121475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.038033873999996 meters 0.05931864547853951 Centerline is valid? [True, True] Translation: X:-26.57, Y:-1.65, Z:0.50 [[ 9.99956742e-01 -1.42039704e-03 9.19217858e-03 -2.65739035e+01] [ 1.41113779e-03 9.99998491e-01 1.01370398e-03 -1.65014687e+00] [-9.19360457e-03 -1.00068870e-03 9.99957237e-01 4.95003736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.068033873999997 meters 0.05552806281676871 Centerline is valid? [True, True] Translation: X:-26.60, Y:-1.65, Z:0.49 [[ 9.99966038e-01 2.74792944e-04 8.23700044e-03 -2.66047687e+01] [-2.82341749e-04 9.99999541e-01 9.15301907e-04 -1.64566540e+00] [-8.23674515e-03 -9.17596470e-04 9.99965656e-01 4.92390576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.098033874 meters 0.05818404910067035 Centerline is valid? [True, True] Translation: X:-26.64, Y:-1.63, Z:0.49 [[ 9.99977722e-01 1.41602111e-03 6.52309155e-03 -2.66373910e+01] [-1.42077601e-03 9.99998728e-01 7.24356836e-04 -1.63220626e+00] [-6.52205755e-03 -7.33608550e-04 9.99978462e-01 4.87249841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.128033873999996 meters 0.056106381673690094 Centerline is valid? [True, True] Translation: X:-26.67, Y:-1.64, Z:0.49 [[ 9.99964070e-01 -1.20590729e-03 8.39069139e-03 -2.66669333e+01] [ 1.19812619e-03 9.99998848e-01 9.32314340e-04 -1.63669565e+00] [-8.39180600e-03 -9.22227735e-04 9.99964363e-01 4.92057768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.158033873999997 meters 0.057423244176236087 Centerline is valid? [True, True] Translation: X:-26.70, Y:-1.63, Z:0.49 [[ 9.99930293e-01 -4.09841862e-03 1.10730350e-02 -2.66989505e+01] [ 4.08504562e-03 9.99990900e-01 1.23005684e-03 -1.63334628e+00] [-1.10779755e-02 -1.18473724e-03 9.99937936e-01 4.94950217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.188033874 meters 0.05671745177102792 Centerline is valid? [True, True] Translation: X:-26.73, Y:-1.63, Z:0.50 [[ 9.99921006e-01 -5.38452945e-03 1.13573147e-02 -2.67308826e+01] [ 5.37054034e-03 9.99984782e-01 1.26186651e-03 -1.62950865e+00] [-1.13639365e-02 -1.20077192e-03 9.99934707e-01 4.95134387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.218033873999996 meters 0.05582883515311648 Centerline is valid? [True, True] Translation: X:-26.76, Y:-1.63, Z:0.49 [[ 9.99924276e-01 -7.68442857e-03 9.61207687e-03 -2.67619289e+01] [ 7.67450826e-03 9.99969980e-01 1.06852772e-03 -1.62741513e+00] [-9.61999934e-03 -9.94678844e-04 9.99953232e-01 4.93333478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.248033873999997 meters 0.05191719404039883 Centerline is valid? [True, True] Translation: X:-26.79, Y:-1.64, Z:0.49 [[ 9.99927609e-01 -8.40057162e-03 8.61431618e-03 -2.67918219e+01] [ 8.39263360e-03 9.99964323e-01 9.57228112e-04 -1.63631484e+00] [-8.62205011e-03 -8.84862019e-04 9.99962438e-01 4.94502607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.278033874 meters 0.054915210772031015 Centerline is valid? [True, True] Translation: X:-26.82, Y:-1.63, Z:0.50 [[ 9.99917437e-01 -9.63716052e-03 8.49967671e-03 -2.68232575e+01] [ 9.62946260e-03 9.99953188e-01 9.46133318e-04 -1.62618204e+00] [-8.50839687e-03 -8.64207883e-04 9.99963429e-01 4.96888881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.308033873999996 meters 0.05448653282710336 Centerline is valid? [True, True] Translation: X:-26.85, Y:-1.62, Z:0.50 [[ 9.99915198e-01 -9.63301181e-03 8.76370367e-03 -2.68526527e+01] [ 9.62481806e-03 9.99953203e-01 9.76660511e-04 -1.62445168e+00] [-8.77270174e-03 -8.92228635e-04 9.99961121e-01 4.97130220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.338033873999997 meters 0.052961727838486024 Centerline is valid? [True, True] Translation: X:-26.88, Y:-1.62, Z:0.49 [[ 9.99893985e-01 -9.87114935e-03 1.07041712e-02 -2.68825360e+01] [ 9.85895644e-03 9.99950690e-01 1.19125120e-03 -1.61815630e+00] [-1.07154024e-02 -1.08559295e-03 9.99941999e-01 4.93193883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.368033873999998 meters 0.04997805269411338 Centerline is valid? [True, True] Translation: X:-26.91, Y:-1.62, Z:0.49 [[ 9.99891486e-01 -9.53392624e-03 1.12303281e-02 -2.69120157e+01] [ 9.52050028e-03 9.99953900e-01 1.24836515e-03 -1.62408114e+00] [-1.12417122e-02 -1.14131135e-03 9.99936159e-01 4.93135701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.398033873999996 meters 0.052713437588316446 Centerline is valid? [True, True] Translation: X:-26.94, Y:-1.62, Z:0.50 [[ 9.99895585e-01 -8.80579212e-03 1.14576404e-02 -2.69437801e+01] [ 8.79178637e-03 9.99960542e-01 1.27218986e-03 -1.62294505e+00] [-1.14683909e-02 -1.17132389e-03 9.99933550e-01 4.97608849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.428033873999997 meters 0.05552878030445831 Centerline is valid? [True, True] Translation: X:-26.98, Y:-1.60, Z:0.49 [[ 9.99923918e-01 -1.04453140e-02 6.56158813e-03 -2.69780462e+01] [ 1.04407575e-02 9.99945229e-01 7.28296385e-04 -1.60260011e+00] [-6.56883603e-03 -6.59733023e-04 9.99978207e-01 4.88097619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.458033873999998 meters 0.0541087700854967 Centerline is valid? [True, True] Translation: X:-27.01, Y:-1.59, Z:0.48 [[ 9.99884527e-01 -1.24592356e-02 8.70055188e-03 -2.70100700e+01] [ 1.24512853e-02 9.99922012e-01 9.67345778e-04 -1.59312635e+00] [-8.71192573e-03 -8.58901023e-04 9.99961682e-01 4.82723989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.488033873999996 meters 0.05725595664883289 Centerline is valid? [True, True] Translation: X:-27.04, Y:-1.59, Z:0.49 [[ 9.99846061e-01 -1.10671008e-02 1.36151622e-02 -2.70387523e+01] [ 1.10474856e-02 9.99937827e-01 1.51506108e-03 -1.59077351e+00] [-1.36310830e-02 -1.36441455e-03 9.99906162e-01 4.91061233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.518033873999997 meters 0.051128545910532244 Centerline is valid? [True, True] Translation: X:-27.07, Y:-1.61, Z:0.50 [[ 9.99858318e-01 -1.07724069e-02 1.29344324e-02 -2.70680940e+01] [ 1.07547707e-02 9.99941140e-01 1.43229369e-03 -1.61005895e+00] [-1.29491003e-02 -1.29298390e-03 9.99915321e-01 5.02203436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.548033873999998 meters 0.04980016583480153 Centerline is valid? [True, True] Translation: X:-27.10, Y:-1.61, Z:0.50 [[ 9.99898954e-01 -1.01063388e-02 9.99714165e-03 -2.70983714e+01] [ 1.00957153e-02 9.99948418e-01 1.11254911e-03 -1.61181347e+00] [-1.00078698e-02 -1.01150840e-03 9.99949408e-01 5.00618018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.578033874 meters 0.05579802711423349 Centerline is valid? [True, True] Translation: X:-27.13, Y:-1.59, Z:0.48 [[ 9.99947889e-01 -8.48490490e-03 5.67682474e-03 -2.71322360e+01] [ 8.48145118e-03 9.99963832e-01 6.32188206e-04 -1.59128756e+00] [-5.68198348e-03 -5.84007550e-04 9.99983687e-01 4.83830871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.608033873999997 meters 0.05440854298893451 Centerline is valid? [True, True] Translation: X:-27.16, Y:-1.60, Z:0.50 [[ 9.99923206e-01 -5.40125893e-03 1.11538487e-02 -2.71606876e+01] [ 5.38772915e-03 9.99984714e-01 1.24270701e-03 -1.59738257e+00] [-1.11603903e-02 -1.18251767e-03 9.99937022e-01 4.96350283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.638033873999998 meters 0.05528173123661434 Centerline is valid? [True, True] Translation: X:-27.19, Y:-1.60, Z:0.50 [[ 9.99946698e-01 -1.97399469e-03 1.01343604e-02 -2.71911325e+01] [ 1.96266177e-03 9.99997438e-01 1.12809086e-03 -1.59670142e+00] [-1.01365613e-02 -1.10814041e-03 9.99948010e-01 5.04691631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.668033874 meters 0.05649114419775642 Centerline is valid? [True, True] Translation: X:-27.22, Y:-1.59, Z:0.50 [[ 9.99961485e-01 9.49952554e-04 8.72500394e-03 -2.72230813e+01] [-9.58460129e-04 9.99999069e-01 9.70950204e-04 -1.58562953e+00] [-8.72407346e-03 -9.79275376e-04 9.99961465e-01 4.96033212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.698033873999997 meters 0.055863417331587145 Centerline is valid? [True, True] Translation: X:-27.25, Y:-1.59, Z:0.50 [[ 9.99934523e-01 4.46252581e-03 1.05373860e-02 -2.72525664e+01] [-4.47513607e-03 9.99989298e-01 1.17344066e-03 -1.58732757e+00] [-1.05320368e-02 -1.22052006e-03 9.99943792e-01 4.96109968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.728033873999998 meters 0.05385261384047462 Centerline is valid? [True, True] Translation: X:-27.28, Y:-1.60, Z:0.50 [[ 9.99886527e-01 8.43876154e-03 1.24788169e-02 -2.72808449e+01] [-8.45674319e-03 9.99963277e-01 1.38890854e-03 -1.60167928e+00] [-1.24666380e-02 -1.49428108e-03 9.99921172e-01 5.03879854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.758033874 meters 0.05566733550717649 Centerline is valid? [True, True] Translation: X:-27.31, Y:-1.60, Z:0.50 [[ 9.99902597e-01 9.51294256e-03 1.02127152e-02 -2.73111293e+01] [-9.52504087e-03 9.99953990e-01 1.13664606e-03 -1.60317848e+00] [-1.02014325e-02 -1.23381187e-03 9.99947203e-01 5.04923477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.788033873999996 meters 0.060260342772830114 Centerline is valid? [True, True] Translation: X:-27.34, Y:-1.60, Z:0.50 [[ 9.99938013e-01 8.99474472e-03 6.56235348e-03 -2.73445289e+01] [-8.99968232e-03 9.99959240e-01 7.23272076e-04 -1.59876273e+00] [-6.55558035e-03 -7.82286339e-04 9.99978206e-01 4.97203847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.818033873999997 meters 0.05680740145725195 Centerline is valid? [True, True] Translation: X:-27.37, Y:-1.61, Z:0.50 [[ 9.99960049e-01 4.44423756e-03 7.75557912e-03 -2.73729429e+01] [-4.45107713e-03 9.99989720e-01 8.64851922e-04 -1.61033293e+00] [-7.75165578e-03 -8.99338051e-04 9.99969551e-01 4.98672134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.848033874 meters 0.052174925656536496 Centerline is valid? [True, True] Translation: X:-27.40, Y:-1.63, Z:0.51 [[ 9.99909377e-01 -1.58374449e-03 1.33689963e-02 -2.74004805e+01] [ 1.56394717e-03 9.99997665e-01 1.49116312e-03 -1.62722475e+00] [-1.33713267e-02 -1.47011958e-03 9.99909519e-01 5.07703664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.878033873999996 meters 0.052766775164663764 Centerline is valid? [True, True] Translation: X:-27.43, Y:-1.63, Z:0.51 [[ 9.99865427e-01 -8.72835182e-03 1.38904215e-02 -2.74305617e+01] [ 8.70765675e-03 9.99960887e-01 1.54966380e-03 -1.63377612e+00] [-1.39034042e-02 -1.42850223e-03 9.99902323e-01 5.07337433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.908033873999997 meters 0.049747071388683686 Centerline is valid? [True, True] Translation: X:-27.46, Y:-1.65, Z:0.51 [[ 9.99846885e-01 -1.44172227e-02 9.91721512e-03 -2.74585568e+01] [ 1.44069495e-02 9.99895602e-01 1.10655856e-03 -1.65372987e+00] [-9.93213329e-03 -9.63512311e-04 9.99950211e-01 5.09162608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.938033874 meters 0.049768782239532 Centerline is valid? [True, True] Translation: X:-27.49, Y:-1.67, Z:0.51 [[ 9.99742217e-01 -2.13408941e-02 7.75023210e-03 -2.74878702e+01] [ 2.13348262e-02 9.99772013e-01 8.64769686e-04 -1.66788250e+00] [-7.76692010e-03 -6.99196908e-04 9.99969593e-01 5.08622898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.968033873999996 meters 0.04671322626397802 Centerline is valid? [True, True] Translation: X:-27.52, Y:-1.68, Z:0.51 [[ 9.99480400e-01 -3.06662435e-02 9.92530452e-03 -2.75170075e+01] [ 3.06567461e-02 9.99529358e-01 1.10765357e-03 -1.68012479e+00] [-9.95460083e-03 -8.02800497e-04 9.99950129e-01 5.09849282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.998033873999997 meters 0.04628482332771257 Centerline is valid? [True, True] Translation: X:-27.55, Y:-1.68, Z:0.51 [[ 9.99270023e-01 -3.60181612e-02 1.27323842e-02 -2.75470739e+01] [ 3.60029648e-02 9.99350673e-01 1.42079931e-03 -1.68148698e+00] [-1.27752913e-02 -9.61358573e-04 9.99917930e-01 5.08169217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.028033874 meters 0.04247055995540242 Centerline is valid? [True, True] Translation: X:-27.57, Y:-1.69, Z:0.51 [[ 9.99272061e-01 -3.63063553e-02 1.17131075e-02 -2.75741091e+01] [ 3.62934824e-02 9.99340316e-01 1.30978423e-03 -1.69244151e+00] [-1.17529341e-02 -8.83721323e-04 9.99930541e-01 5.09794340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.058033873999996 meters 0.04297253776551347 Centerline is valid? [True, True] Translation: X:-27.60, Y:-1.70, Z:0.52 [[ 9.99363970e-01 -3.42612099e-02 9.89062073e-03 -2.76026444e+01] [ 3.42519607e-02 9.99412621e-01 1.10308215e-03 -1.69996258e+00] [-9.92260412e-03 -7.63607403e-04 9.99950478e-01 5.16053092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.088033873999997 meters 0.0442932103134766 Centerline is valid? [True, True] Translation: X:-27.63, Y:-1.71, Z:0.52 [[ 9.99515599e-01 -2.95589491e-02 9.73840549e-03 -2.76324265e+01] [ 2.95497630e-02 9.99562721e-01 1.08586356e-03 -1.70503907e+00] [-9.76624408e-03 -7.97569996e-04 9.99951991e-01 5.20983562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.118033873999998 meters 0.05193075694816843 Centerline is valid? [True, True] Translation: X:-27.67, Y:-1.68, Z:0.52 [[ 9.99689093e-01 -2.33890616e-02 8.64113535e-03 -2.76654052e+01] [ 2.33816087e-02 9.99726149e-01 9.62520711e-04 -1.68412788e+00] [-8.66128143e-03 -7.60177811e-04 9.99962201e-01 5.17235218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.148033873999996 meters 0.051488487250789944 Centerline is valid? [True, True] Translation: X:-27.70, Y:-1.68, Z:0.51 [[ 9.99837773e-01 -1.60287341e-02 8.21632517e-03 -2.76960885e+01] [ 1.60217473e-02 9.99871224e-01 9.15480208e-04 -1.67946389e+00] [-8.22994110e-03 -7.83691806e-04 9.99965826e-01 5.11124333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.178033873999997 meters 0.05133056221319897 Centerline is valid? [True, True] Translation: X:-27.72, Y:-1.68, Z:0.51 [[ 9.99943072e-01 -9.12940163e-03 5.52334278e-03 -2.77247392e+01] [ 9.12613645e-03 9.99958166e-01 6.16075746e-04 -1.68358925e+00] [-5.52873612e-03 -5.65633894e-04 9.99984556e-01 5.11653357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.208033873999998 meters 0.05934559845336689 Centerline is valid? [True, True] Translation: X:-27.76, Y:-1.68, Z:0.51 [[ 9.99975792e-01 -6.06151440e-03 3.41662883e-03 -2.77550766e+01] [ 6.06024693e-03 9.99981564e-01 3.81202696e-04 -1.67841029e+00] [-3.41887651e-03 -3.60487853e-04 9.99994091e-01 5.11913934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.238033873999996 meters 0.05467492255467891 Centerline is valid? [True, True] Translation: X:-27.78, Y:-1.69, Z:0.53 [[ 9.99937532e-01 -7.83008843e-03 7.97637210e-03 -2.77820437e+01] [ 7.82326258e-03 9.99969005e-01 8.86601722e-04 -1.69474762e+00] [-7.98306704e-03 -8.24145084e-04 9.99967795e-01 5.27563307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.268033873999997 meters 0.05274195263198597 Centerline is valid? [True, True] Translation: X:-27.81, Y:-1.70, Z:0.52 [[ 9.99860063e-01 -1.29749714e-02 1.05596052e-02 -2.78121216e+01] [ 1.29632690e-02 9.99915282e-01 1.17591620e-03 -1.69819955e+00] [-1.05739681e-02 -1.03886464e-03 9.99943554e-01 5.23776159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.298033873999998 meters 0.053137934524648156 Centerline is valid? [True, True] Translation: X:-27.84, Y:-1.70, Z:0.51 [[ 9.99783929e-01 -1.91333700e-02 8.12466420e-03 -2.78430553e+01] [ 1.91266462e-02 9.99816660e-01 9.04479608e-04 -1.70345000e+00] [-8.14048036e-03 -7.48886598e-04 9.99966585e-01 5.12503182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.328033874 meters 0.051263864403006044 Centerline is valid? [True, True] Translation: X:-27.87, Y:-1.72, Z:0.52 [[ 9.99677379e-01 -2.36432194e-02 9.28091690e-03 -2.78715321e+01] [ 2.36346363e-02 9.99720129e-01 1.03341759e-03 -1.71786848e+00] [-9.30275276e-03 -8.13733097e-04 9.99956397e-01 5.24762792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.358033873999997 meters 0.04955828081204765 Centerline is valid? [True, True] Translation: X:-27.90, Y:-1.72, Z:0.53 [[ 9.99629493e-01 -2.56997172e-02 8.96671030e-03 -2.79014790e+01] [ 2.56917883e-02 9.99669413e-01 9.98347294e-04 -1.72083329e+00] [-8.98940327e-03 -7.67606576e-04 9.99959300e-01 5.32164754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.388033873999998 meters 0.05115579433174449 Centerline is valid? [True, True] Translation: X:-27.93, Y:-1.71, Z:0.52 [[ 9.99669561e-01 -2.46849216e-02 7.17107697e-03 -2.79330669e+01] [ 2.46798218e-02 9.99695088e-01 7.98802095e-04 -1.70763600e+00] [-7.18860879e-03 -6.21557238e-04 9.99973968e-01 5.23422516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.418033874 meters 0.0525455458507817 Centerline is valid? [True, True] Translation: X:-27.96, Y:-1.70, Z:0.52 [[ 9.99758448e-01 -2.01560274e-02 8.76240323e-03 -2.79643473e+01] [ 2.01482502e-02 9.99796528e-01 9.74940040e-04 -1.70280133e+00] [-8.78027125e-03 -7.98157448e-04 9.99961134e-01 5.21278532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.448033873999997 meters 0.05320781438958115 Centerline is valid? [True, True] Translation: X:-27.99, Y:-1.70, Z:0.53 [[ 9.99845879e-01 -1.45405371e-02 9.83829130e-03 -2.79931329e+01] [ 1.45304624e-02 9.99893828e-01 1.09473574e-03 -1.70362829e+00] [-9.85316479e-03 -9.51612093e-04 9.99951004e-01 5.30907510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.478033873999998 meters 0.05434824409613775 Centerline is valid? [True, True] Translation: X:-28.02, Y:-1.70, Z:0.53 [[ 9.99928394e-01 -8.98529161e-03 7.90384921e-03 -2.80232158e+01] [ 8.97861737e-03 9.99959305e-01 8.79507943e-04 -1.69791851e+00] [-7.91143020e-03 -8.08479327e-04 9.99968377e-01 5.33658727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.508033874 meters 0.05421852337021217 Centerline is valid? [True, True] Translation: X:-28.05, Y:-1.69, Z:0.53 [[ 9.99948804e-01 -5.39261879e-03 8.56207052e-03 -2.80528755e+01] [ 5.38465343e-03 9.99985048e-01 9.53087639e-04 -1.69392594e+00] [-8.56708214e-03 -9.06935062e-04 9.99962891e-01 5.33700606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.538033873999996 meters 0.053330520833114174 Centerline is valid? [True, True] Translation: X:-28.08, Y:-1.70, Z:0.53 [[ 9.99950072e-01 -3.98365051e-03 9.16431543e-03 -2.80836152e+01] [ 3.97448953e-03 9.99991584e-01 1.01763098e-03 -1.69606969e+00] [-9.16829219e-03 -9.81156694e-04 9.99957489e-01 5.31852646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.568033873999997 meters 0.055465825953139994 Centerline is valid? [True, True] Translation: X:-28.12, Y:-1.69, Z:0.54 [[ 9.99959959e-01 -3.80648311e-03 8.09889285e-03 -2.81165816e+01] [ 3.79936666e-03 9.99992383e-01 8.93898270e-04 -1.69359501e+00] [-8.10223377e-03 -8.63091813e-04 9.99966804e-01 5.35845128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.598033874 meters 0.05372862106738697 Centerline is valid? [True, True] Translation: X:-28.15, Y:-1.70, Z:0.54 [[ 9.99940092e-01 -4.93463924e-03 9.77049950e-03 -2.81464845e+01] [ 4.92425442e-03 9.99987285e-01 1.08664711e-03 -1.69529097e+00] [-9.77573748e-03 -1.03846959e-03 9.99951677e-01 5.39818788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.628033873999996 meters 0.05297343920525413 Centerline is valid? [True, True] Translation: X:-28.18, Y:-1.70, Z:0.54 [[ 9.99951555e-01 -5.06320872e-03 8.44109891e-03 -2.81776366e+01] [ 5.05549209e-03 9.99986784e-01 9.35260825e-04 -1.70144832e+00] [-8.44572277e-03 -8.92541607e-04 9.99963936e-01 5.35356290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.658033873999997 meters 0.05297343920525413 Centerline is valid? [True, True] Translation: X:-28.21, Y:-1.70, Z:0.54 [[ 9.99950119e-01 -5.33925124e-03 8.44104735e-03 -2.82104969e+01] [ 5.33154040e-03 9.99985349e-01 9.35731371e-04 -1.70493282e+00] [-8.44591979e-03 -8.90680911e-04 9.99963936e-01 5.36498438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.688033874 meters 0.05191899191809666 Centerline is valid? [True, True] Translation: X:-28.24, Y:-1.71, Z:0.54 [[ 9.99914758e-01 -8.69685847e-03 9.73868463e-03 -2.82404725e+01] [ 8.68665202e-03 9.99961676e-01 1.08984207e-03 -1.71168249e+00] [-9.74778961e-03 -1.00515261e-03 9.99951984e-01 5.42862405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.718033873999996 meters 0.053369136212242325 Centerline is valid? [True, True] Translation: X:-28.27, Y:-1.71, Z:0.55 [[ 9.99845146e-01 -1.20060473e-02 1.28662049e-02 -2.82706904e+01] [ 1.19884823e-02 9.99927097e-01 1.44146583e-03 -1.71319072e+00] [-1.28825732e-02 -1.28699634e-03 9.99916188e-01 5.50208857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.748033873999997 meters 0.05213297925563104 Centerline is valid? [True, True] Translation: X:-28.30, Y:-1.72, Z:0.55 [[ 9.99878372e-01 -1.05152155e-02 1.15183145e-02 -2.82998721e+01] [ 1.05010338e-02 9.99944029e-01 1.29101561e-03 -1.71791518e+00] [-1.15312451e-02 -1.16990438e-03 9.99932829e-01 5.45439421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.778033874 meters 0.0530939698020768 Centerline is valid? [True, True] Translation: X:-28.33, Y:-1.72, Z:0.54 [[ 9.99929014e-01 -1.00154695e-02 6.45424863e-03 -2.83303028e+01] [ 1.00110043e-02 9.99949627e-01 7.23765190e-04 -1.71805546e+00] [-6.46117235e-03 -6.59100302e-04 9.99978909e-01 5.35503510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.808033873999996 meters 0.05570166428903084 Centerline is valid? [True, True] Translation: X:-28.36, Y:-1.72, Z:0.54 [[ 9.99958934e-01 -7.12153114e-03 5.60480592e-03 -2.83605128e+01] [ 7.11812311e-03 9.99974469e-01 6.27768459e-04 -1.72139977e+00] [-5.60913349e-03 -5.87846981e-04 9.99984096e-01 5.41012481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.838033873999997 meters 0.052405313960996326 Centerline is valid? [True, True] Translation: X:-28.39, Y:-1.73, Z:0.56 [[ 9.99921758e-01 -6.26971198e-03 1.08244807e-02 -2.83879807e+01] [ 6.25694165e-03 9.99979689e-01 1.21322637e-03 -1.73252309e+00] [-1.08318674e-02 -1.14540330e-03 9.99940678e-01 5.55368298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.868033873999998 meters 0.05410896794333797 Centerline is valid? [True, True] Translation: X:-28.42, Y:-1.73, Z:0.56 [[ 9.99887459e-01 -2.38558099e-03 1.48114229e-02 -2.84190435e+01] [ 2.36127888e-03 9.99995838e-01 1.65803958e-03 -1.72776551e+00] [-1.48153167e-02 -1.62287909e-03 9.99888930e-01 5.63022637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.898033873999996 meters 0.05393036968293346 Centerline is valid? [True, True] Translation: X:-28.45, Y:-1.73, Z:0.55 [[ 9.99903542e-01 2.90457125e-03 1.35820149e-02 -2.84488518e+01] [-2.92548821e-03 9.99994565e-01 1.52043396e-03 -1.72651745e+00] [-1.35775249e-02 -1.56002132e-03 9.99906604e-01 5.54317928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.928033873999997 meters 0.05834359988807373 Centerline is valid? [True, True] Translation: X:-28.48, Y:-1.72, Z:0.55 [[ 9.99931881e-01 9.40159199e-03 6.91695139e-03 -2.84805071e+01] [-9.40716808e-03 9.99955452e-01 7.74055633e-04 -1.72254897e+00] [-6.90936590e-03 -8.39071829e-04 9.99975778e-01 5.47965239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.958033873999998 meters 0.05991551022080969 Centerline is valid? [True, True] Translation: X:-28.51, Y:-1.73, Z:0.56 [[ 9.99890693e-01 1.15926470e-02 9.17678019e-03 -2.85111677e+01] [-1.16025523e-02 9.99932161e-01 1.02688341e-03 -1.72732864e+00] [-9.16425335e-03 -1.13324524e-03 9.99957365e-01 5.55435661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.988033873999996 meters 0.05720025597743333 Centerline is valid? [True, True] Translation: X:-28.54, Y:-1.74, Z:0.57 [[ 9.99835762e-01 1.06109687e-02 1.46920827e-02 -2.85395114e+01] [-1.06362731e-02 9.99942080e-01 1.64525061e-03 -1.73979072e+00] [-1.46737740e-02 -1.80124940e-03 9.99890712e-01 5.65419852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.018033873999997 meters 0.06140909505782584 Centerline is valid? [True, True] Translation: X:-28.57, Y:-1.73, Z:0.57 [[ 9.99852383e-01 1.20407022e-02 1.22569956e-02 -2.85708829e+01] [-1.20584101e-02 9.99926354e-01 1.37184295e-03 -1.73411472e+00] [-1.22395750e-02 -1.51944032e-03 9.99923939e-01 5.65510751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.048033873999998 meters 0.062207546559104133 Centerline is valid? [True, True] Translation: X:-28.60, Y:-1.74, Z:0.56 [[ 9.99863541e-01 1.06651707e-02 1.26156342e-02 -2.86014373e+01] [-1.06838256e-02 9.99941929e-01 1.41223822e-03 -1.73930300e+00] [-1.25998399e-02 -1.54682875e-03 9.99919422e-01 5.64523870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.078033874 meters 0.055474957890465616 Centerline is valid? [True, True] Translation: X:-28.63, Y:-1.76, Z:0.57 [[ 9.99869198e-01 1.02664474e-02 1.24975081e-02 -2.86311972e+01] [-1.02846668e-02 9.99946139e-01 1.39444258e-03 -1.75578271e+00] [-1.24825190e-02 -1.52279289e-03 9.99920931e-01 5.70035425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.108033873999997 meters 0.05596906829126782 Centerline is valid? [True, True] Translation: X:-28.66, Y:-1.76, Z:0.57 [[ 9.99879135e-01 9.70917600e-03 1.21428109e-02 -2.86634126e+01] [-9.72636137e-03 9.99951777e-01 1.35701665e-03 -1.75833178e+00] [-1.21290498e-02 -1.47495800e-03 9.99925353e-01 5.68496995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.138033873999998 meters 0.057521051324714814 Centerline is valid? [True, True] Translation: X:-28.69, Y:-1.76, Z:0.57 [[ 9.99937433e-01 7.48203983e-03 8.31564851e-03 -2.86941189e+01] [-7.49006921e-03 9.99971512e-01 9.34850675e-04 -1.76452721e+00] [-8.30841703e-03 -9.97076967e-04 9.99964987e-01 5.66892546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.168033874 meters 0.05919497037482543 Centerline is valid? [True, True] Translation: X:-28.72, Y:-1.77, Z:0.58 [[ 9.99962833e-01 3.97236731e-03 7.65202401e-03 -2.87245039e+01] [-3.97906693e-03 9.99991713e-01 8.60510702e-04 -1.76609950e+00] [-7.64854233e-03 -8.90926635e-04 9.99970353e-01 5.75955471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.198033873999997 meters 0.05537151169151778 Centerline is valid? [True, True] Translation: X:-28.76, Y:-1.77, Z:0.57 [[ 9.99971834e-01 2.64000683e-03 7.02575403e-03 -2.87553286e+01] [-2.64558006e-03 9.99996193e-01 7.84081712e-04 -1.77366642e+00] [-7.02365730e-03 -8.02646823e-04 9.99975012e-01 5.73376749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.228033873999998 meters 0.0587301761361297 Centerline is valid? [True, True] Translation: X:-28.79, Y:-1.77, Z:0.57 [[ 9.99959241e-01 3.24940497e-03 8.42363504e-03 -2.87889565e+01] [-3.25746339e-03 9.99994250e-01 9.43100436e-04 -1.76850015e+00] [-8.42052209e-03 -9.70501679e-04 9.99964076e-01 5.70577622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.258033874 meters 0.05412269304584475 Centerline is valid? [True, True] Translation: X:-28.82, Y:-1.79, Z:0.58 [[ 9.99927871e-01 1.92387918e-03 1.18554012e-02 -2.88159527e+01] [-1.93989791e-03 9.99997221e-01 1.33982399e-03 -1.78801230e+00] [-1.18527906e-02 -1.36272562e-03 9.99928825e-01 5.79865463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.288033873999996 meters 0.057303922880084894 Centerline is valid? [True, True] Translation: X:-28.85, Y:-1.79, Z:0.59 [[ 9.99931982e-01 3.24480892e-03 1.12027517e-02 -2.88468894e+01] [-3.25918943e-03 9.99993888e-01 1.26564148e-03 -1.78536376e+00] [-1.11985765e-02 -1.30206728e-03 9.99936446e-01 5.85523791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.318033873999997 meters 0.06120431806235824 Centerline is valid? [True, True] Translation: X:-28.88, Y:-1.78, Z:0.58 [[ 9.99942611e-01 5.57177825e-03 9.15040056e-03 -2.88796327e+01] [-5.58146748e-03 9.99983889e-01 1.03369106e-03 -1.77545218e+00] [-9.14449365e-03 -1.08470440e-03 9.99957600e-01 5.76146374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.348033874 meters 0.060275566273524005 Centerline is valid? [True, True] Translation: X:-28.91, Y:-1.78, Z:0.59 [[ 9.99880734e-01 1.02237892e-02 1.15755241e-02 -2.89086634e+01] [-1.02396071e-02 9.99946718e-01 1.30804863e-03 -1.78196739e+00] [-1.15615342e-02 -1.42642145e-03 9.99932146e-01 5.87526992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.378033873999996 meters 0.05803283142405422 Centerline is valid? [True, True] Translation: X:-28.94, Y:-1.78, Z:0.60 [[ 9.99795488e-01 1.32326158e-02 1.52931634e-02 -2.89374221e+01] [-1.32605703e-02 9.99910582e-01 1.72794986e-03 -1.78492149e+00] [-1.52689306e-02 -1.93039254e-03 9.99881560e-01 5.98934042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.408033873999997 meters 0.059887226062007796 Centerline is valid? [True, True] Translation: X:-28.97, Y:-1.77, Z:0.60 [[ 9.99762716e-01 1.74559506e-02 1.30307794e-02 -2.89702006e+01] [-1.74765905e-02 9.99846190e-01 1.47173555e-03 -1.77211910e+00] [-1.30030845e-02 -1.69911992e-03 9.99914013e-01 5.96029476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.438033874 meters 0.06595225654540796 Centerline is valid? [True, True] Translation: X:-29.00, Y:-1.75, Z:0.58 [[ 9.99786153e-01 1.86294708e-02 8.97724468e-03 -2.90045244e+01] [-1.86393116e-02 9.99825759e-01 1.01376783e-03 -1.75089678e+00] [-8.95679452e-03 -1.18088070e-03 9.99959190e-01 5.80924694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.468033873999996 meters 0.07368975143834128 Centerline is valid? [True, True] Translation: X:-29.04, Y:-1.74, Z:0.58 [[ 9.99795406e-01 1.85126465e-02 8.15036136e-03 -2.90378899e+01] [-1.85207052e-02 9.99828059e-01 9.14385515e-04 -1.74234538e+00] [-8.13203228e-03 -1.06514888e-03 9.99966367e-01 5.82174242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.498033873999997 meters 0.0646756466640959 Centerline is valid? [True, True] Translation: X:-29.06, Y:-1.77, Z:0.60 [[ 9.99827189e-01 1.68464570e-02 7.86066099e-03 -2.90639753e+01] [-1.68539524e-02 9.99857567e-01 8.88266006e-04 -1.77333549e+00] [-7.84457724e-03 -1.02059571e-03 9.99968710e-01 5.99671901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.528033874 meters 0.059213083007438966 Centerline is valid? [True, True] Translation: X:-29.09, Y:-1.78, Z:0.60 [[ 9.99885245e-01 1.38978013e-02 6.02893999e-03 -2.90931506e+01] [-1.39021635e-02 9.99903128e-01 6.82237887e-04 -1.78426519e+00] [-6.01887435e-03 -7.65974907e-04 9.99981593e-01 5.98748660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.558033873999996 meters 0.06843822275068535 Centerline is valid? [True, True] Translation: X:-29.13, Y:-1.76, Z:0.58 [[ 9.99876318e-01 1.43434900e-02 6.45086522e-03 -2.91296460e+01] [-1.43484529e-02 9.99896794e-01 7.23717487e-04 -1.75848700e+00] [-6.43981881e-03 -8.16187911e-04 9.99978931e-01 5.83864428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.588033873999997 meters 0.06423803186253664 Centerline is valid? [True, True] Translation: X:-29.16, Y:-1.77, Z:0.59 [[ 9.99792477e-01 1.72332570e-02 1.08635770e-02 -2.91573286e+01] [-1.72476631e-02 9.99850487e-01 1.23379560e-03 -1.77331627e+00] [-1.08406904e-02 -1.42091087e-03 9.99940228e-01 5.89463762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.618033873999998 meters 0.06283181652000196 Centerline is valid? [True, True] Translation: X:-29.18, Y:-1.79, Z:0.61 [[ 9.99727254e-01 1.98126549e-02 1.23643185e-02 -2.91843497e+01] [-1.98315087e-02 9.99802350e-01 1.40410683e-03 -1.78874081e+00] [-1.23340557e-02 -1.64892696e-03 9.99922573e-01 6.06843341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.648033873999996 meters 0.06407803788593971 Centerline is valid? [True, True] Translation: X:-29.22, Y:-1.79, Z:0.61 [[ 9.99687106e-01 2.23119496e-02 1.13078098e-02 -2.92151225e+01] [-2.23278704e-02 9.99749878e-01 1.28364982e-03 -1.78935285e+00] [-1.12763407e-02 -1.53572749e-03 9.99935241e-01 6.09196274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.678033873999997 meters 0.0638980259111395 Centerline is valid? [True, True] Translation: X:-29.25, Y:-1.79, Z:0.60 [[ 9.99656187e-01 2.38540270e-02 1.08854507e-02 -2.92460684e+01] [-2.38688702e-02 9.99714334e-01 1.23569474e-03 -1.78503230e+00] [-1.08528648e-02 -1.49509331e-03 9.99939988e-01 5.99242497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.708033873999998 meters 0.06252223512011207 Centerline is valid? [True, True] Translation: X:-29.28, Y:-1.79, Z:0.60 [[ 9.99643381e-01 2.39626160e-02 1.17857811e-02 -2.92772721e+01] [-2.39799616e-02 9.99711551e-01 1.33260834e-03 -1.78868823e+00] [-1.17504487e-02 -1.61475569e-03 9.99929657e-01 6.00263307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.738033873999996 meters 0.06407604257129963 Centerline is valid? [True, True] Translation: X:-29.31, Y:-1.79, Z:0.60 [[ 9.99783652e-01 1.77985565e-02 1.07638521e-02 -2.93077803e+01] [-1.78127498e-02 9.99840591e-01 1.22417611e-03 -1.79175211e+00] [-1.07403477e-02 -1.41564507e-03 9.99941319e-01 6.04483332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.768033873999997 meters 0.05709903856066939 Centerline is valid? [True, True] Translation: X:-29.34, Y:-1.81, Z:0.61 [[ 9.99937734e-01 5.11564224e-03 9.91762618e-03 -2.93352243e+01] [-5.12707733e-03 9.99986220e-01 1.12792542e-03 -1.81195190e+00] [-9.91171946e-03 -1.17870363e-03 9.99950183e-01 6.10685423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.798033873999998 meters 0.05928539015994158 Centerline is valid? [True, True] Translation: X:-29.37, Y:-1.81, Z:0.61 [[ 9.99918551e-01 1.35631290e-03 1.26905956e-02 -2.93662097e+01] [-1.37474266e-03 9.99998013e-01 1.44362669e-03 -1.81034215e+00] [-1.26886124e-02 -1.46095541e-03 9.99918429e-01 6.14273721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.828033873999996 meters 0.056341570578193625 Centerline is valid? [True, True] Translation: X:-29.40, Y:-1.81, Z:0.62 [[ 9.99899743e-01 -3.57419661e-03 1.37014447e-02 -2.93952620e+01] [ 3.55318177e-03 9.99992474e-01 1.55780472e-03 -1.81349589e+00] [-1.37069095e-02 -1.50896481e-03 9.99904917e-01 6.16558008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.858033873999997 meters 0.050961638631476396 Centerline is valid? [True, True] Translation: X:-29.42, Y:-1.82, Z:0.62 [[ 9.99898878e-01 -5.66838584e-03 1.30423473e-02 -2.94246832e+01] [ 5.64949712e-03 9.99982939e-01 1.48464827e-03 -1.82225115e+00] [-1.30505403e-02 -1.41081544e-03 9.99913843e-01 6.18450761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.888033873999998 meters 0.05346430405590297 Centerline is valid? [True, True] Translation: X:-29.46, Y:-1.82, Z:0.61 [[ 9.99916557e-01 -6.48410162e-03 1.11729625e-02 -2.94585875e+01] [ 6.47035631e-03 9.99978266e-01 1.26593899e-03 -1.81563492e+00] [-1.11809282e-02 -1.19354031e-03 9.99936779e-01 6.10625724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.918033874 meters 0.051642970911466066 Centerline is valid? [True, True] Translation: X:-29.49, Y:-1.83, Z:0.62 [[ 9.99937350e-01 -5.20069841e-03 9.91204149e-03 -2.94865051e+01] [ 5.18973714e-03 9.99985893e-01 1.13125413e-03 -1.82944780e+00] [-9.91778498e-03 -1.07974236e-03 9.99950235e-01 6.17003175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.948033873999997 meters 0.052713891591302124 Centerline is valid? [True, True] Translation: X:-29.52, Y:-1.83, Z:0.63 [[ 9.99910375e-01 -4.67647056e-03 1.25448566e-02 -2.95184121e+01] [ 4.65895111e-03 9.99988131e-01 1.42540518e-03 -1.83223189e+00] [-1.25513736e-02 -1.36683155e-03 9.99920294e-01 6.32085808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.978033873999998 meters 0.05552952482537982 Centerline is valid? [True, True] Translation: X:-29.55, Y:-1.82, Z:0.63 [[ 9.99898727e-01 -2.54015417e-03 1.40030049e-02 -2.95517541e+01] [ 2.51798690e-03 9.99995549e-01 1.60043979e-03 -1.81760144e+00] [-1.40070079e-02 -1.56501832e-03 9.99900672e-01 6.28393414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.008033874 meters 0.05311555010341677 Centerline is valid? [True, True] Translation: X:-29.58, Y:-1.82, Z:0.63 [[ 9.99886235e-01 1.85975038e-03 1.49685794e-02 -2.95815405e+01] [-1.88558267e-03 9.99996757e-01 1.71184013e-03 -1.81611574e+00] [-1.49653472e-02 -1.73986988e-03 9.99886499e-01 6.29495097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.038033873999996 meters 0.052650650714661 Centerline is valid? [True, True] Translation: X:-29.61, Y:-1.82, Z:0.63 [[ 9.99862078e-01 4.34927005e-03 1.60283490e-02 -2.96127193e+01] [-4.37919281e-03 9.99988733e-01 1.83223959e-03 -1.81742470e+00] [-1.60201995e-02 -1.90217812e-03 9.99869859e-01 6.27690435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.068033873999997 meters 0.05784782051338513 Centerline is valid? [True, True] Translation: X:-29.64, Y:-1.82, Z:0.64 [[ 9.99852217e-01 5.30044616e-03 1.63538626e-02 -2.96446581e+01] [-5.33170815e-03 9.99984041e-01 1.86858859e-03 -1.81537811e+00] [-1.63436973e-02 -1.95550646e-03 9.99864521e-01 6.35204616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.098033874 meters 0.060746832492396326 Centerline is valid? [True, True] Translation: X:-29.68, Y:-1.82, Z:0.64 [[ 9.99912294e-01 5.71002352e-03 1.19498655e-02 -2.96758709e+01] [-5.72675010e-03 9.99982669e-01 1.36597937e-03 -1.81580247e+00] [-1.19418586e-02 -1.43429346e-03 9.99927665e-01 6.39216375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.128033873999996 meters 0.05799258539263538 Centerline is valid? [True, True] Translation: X:-29.71, Y:-1.82, Z:0.63 [[ 9.99931939e-01 4.53014237e-03 1.07515202e-02 -2.97062913e+01] [-4.54362663e-03 9.99988921e-01 1.23007748e-03 -1.81548345e+00] [-1.07458286e-02 -1.27884465e-03 9.99941444e-01 6.29173286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.158033873999997 meters 0.05615028858123544 Centerline is valid? [True, True] Translation: X:-29.74, Y:-1.81, Z:0.62 [[ 9.99898995e-01 4.48600146e-03 1.34861447e-02 -2.97382595e+01] [-4.50717805e-03 9.99988656e-01 1.54026448e-03 -1.81355913e+00] [-1.34790821e-02 -1.60089336e-03 9.99907871e-01 6.23341193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.188033874 meters 0.06024447019166848 Centerline is valid? [True, True] Translation: X:-29.77, Y:-1.82, Z:0.63 [[ 9.99859596e-01 7.97079209e-03 1.47395962e-02 -2.97682496e+01] [-7.99653278e-03 9.99966602e-01 1.68825175e-03 -1.81650100e+00] [-1.47256472e-02 -1.80588038e-03 9.99889941e-01 6.33290998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.218033873999996 meters 0.06083971883286618 Centerline is valid? [True, True] Translation: X:-29.80, Y:-1.83, Z:0.65 [[ 9.99832379e-01 1.06594770e-02 1.48858554e-02 -2.97969087e+01] [-1.06860219e-02 9.99941450e-01 1.70482920e-03 -1.83150284e+00] [-1.48668112e-02 -1.86361401e-03 9.99887746e-01 6.52465655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.248033873999997 meters 0.05669612731368808 Centerline is valid? [True, True] Translation: X:-29.83, Y:-1.84, Z:0.65 [[ 9.99855407e-01 1.23255850e-02 1.17151895e-02 -2.98256143e+01] [-1.23421433e-02 9.99922932e-01 1.34215727e-03 -1.83841613e+00] [-1.16977438e-02 -1.48655375e-03 9.99930474e-01 6.51138012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.278033874 meters 0.06448986482639119 Centerline is valid? [True, True] Translation: X:-29.86, Y:-1.81, Z:0.63 [[ 9.99850527e-01 1.26462899e-02 1.17896175e-02 -2.98623889e+01] [-1.26630075e-02 9.99918917e-01 1.34442110e-03 -1.81166018e+00] [-1.17716596e-02 -1.49351216e-03 9.99929596e-01 6.31299177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.308033873999996 meters 0.06022466798328318 Centerline is valid? [True, True] Translation: X:-29.89, Y:-1.83, Z:0.64 [[ 9.99768727e-01 1.66133111e-02 1.36561814e-02 -2.98905207e+01] [-1.66362414e-02 9.99860380e-01 1.56722711e-03 -1.82591605e+00] [-1.36282379e-02 -1.79405218e-03 9.99905522e-01 6.38497826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.338033873999997 meters 0.06027446726394202 Centerline is valid? [True, True] Translation: X:-29.92, Y:-1.84, Z:0.66 [[ 9.99692248e-01 1.83299520e-02 1.67158975e-02 -2.99193416e+01] [-1.83645558e-02 9.99829516e-01 1.91895408e-03 -1.83821741e+00] [-1.66778734e-02 -2.22534355e-03 9.99858438e-01 6.55458906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.368033873999998 meters 0.06113914129161516 Centerline is valid? [True, True] Translation: X:-29.95, Y:-1.84, Z:0.66 [[ 9.99678778e-01 2.04396267e-02 1.49854331e-02 -2.99503978e+01] [-2.04676661e-02 9.99789036e-01 1.72012180e-03 -1.83897375e+00] [-1.49471130e-02 -2.02628610e-03 9.99886233e-01 6.57512414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.398033873999996 meters 0.06380080727964464 Centerline is valid? [True, True] Translation: X:-29.98, Y:-1.83, Z:0.65 [[ 9.99658761e-01 2.33624655e-02 1.16857160e-02 -2.99824344e+01] [-2.33797092e-02 9.99725758e-01 1.34117967e-03 -1.83498890e+00] [-1.16511780e-02 -1.61393065e-03 9.99930820e-01 6.48975514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.428033873999997 meters 0.06128267439569056 Centerline is valid? [True, True] Translation: X:-30.01, Y:-1.85, Z:0.65 [[ 9.99589380e-01 2.68373727e-02 1.00412467e-02 -3.00105073e+01] [-2.68502793e-02 9.99638802e-01 1.15274323e-03 -1.84887982e+00] [-1.00066832e-02 -1.42188017e-03 9.99948921e-01 6.53758359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.458033873999998 meters 0.06195479787005159 Centerline is valid? [True, True] Translation: X:-30.04, Y:-1.85, Z:0.66 [[ 9.99539161e-01 2.84613269e-02 1.05555294e-02 -3.00416322e+01] [-2.84756775e-02 9.99593751e-01 1.21171396e-03 -1.85072757e+00] [-1.05167543e-02 -1.51173141e-03 9.99943555e-01 6.57305586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.488033873999996 meters 0.06614173128593208 Centerline is valid? [True, True] Translation: X:-30.07, Y:-1.84, Z:0.65 [[ 9.99555342e-01 2.72333583e-02 1.21434538e-02 -3.00741318e+01] [-2.72522619e-02 9.99627616e-01 1.39390865e-03 -1.84451394e+00] [-1.21009710e-02 -1.72422542e-03 9.99925294e-01 6.54629835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.518033873999997 meters 0.0661731692000356 Centerline is valid? [True, True] Translation: X:-30.11, Y:-1.85, Z:0.66 [[ 9.99527290e-01 2.70044464e-02 1.46954647e-02 -3.01058214e+01] [-2.70320576e-02 9.99633150e-01 1.68347568e-03 -1.84996519e+00] [-1.46446123e-02 -2.07992853e-03 9.99890599e-01 6.62953992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.548033873999998 meters 0.06803193209667117 Centerline is valid? [True, True] Translation: X:-30.14, Y:-1.85, Z:0.66 [[ 9.99543772e-01 2.56225693e-02 1.59915859e-02 -3.01366567e+01] [-2.56552358e-02 9.99669155e-01 1.84090437e-03 -1.84857545e+00] [-1.59391265e-02 -2.25033241e-03 9.99870432e-01 6.64393193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.578033873999996 meters 0.06803193209667117 Centerline is valid? [True, True] Translation: X:-30.17, Y:-1.85, Z:0.67 [[ 9.99550595e-01 2.53546902e-02 1.59920953e-02 -3.01696484e+01] [-2.53872538e-02 9.99676005e-01 1.83648675e-03 -1.85216634e+00] [-1.59403504e-02 -2.24165680e-03 9.99870432e-01 6.65549388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.608033873999997 meters 0.06427876191627295 Centerline is valid? [True, True] Translation: X:-30.20, Y:-1.87, Z:0.67 [[ 9.99638742e-01 2.15105308e-02 1.61146522e-02 -3.01980387e+01] [-2.15432599e-02 9.99766187e-01 1.86016195e-03 -1.86608810e+00] [-1.60708713e-02 -2.20665210e-03 9.99868420e-01 6.67407895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.638033873999998 meters 0.05262484150228382 Centerline is valid? [True, True] Translation: X:-30.22, Y:-1.89, Z:0.67 [[ 9.99803926e-01 1.28449845e-02 1.50703761e-02 -3.02243439e+01] [-1.28726295e-02 9.99915632e-01 1.73882070e-03 -1.89414788e+00] [-1.50467695e-02 -1.93247513e-03 9.99884924e-01 6.72362363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.668033874 meters 0.05587353963633647 Centerline is valid? [True, True] Translation: X:-30.26, Y:-1.89, Z:0.67 [[ 9.99903523e-01 3.40680924e-03 1.34661668e-02 -3.02563862e+01] [-3.42804786e-03 9.99992916e-01 1.55441622e-03 -1.88921968e+00] [-1.34607759e-02 -1.60042892e-03 9.99908119e-01 6.68197208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.698033873999997 meters 0.056298408427214 Centerline is valid? [True, True] Translation: X:-30.29, Y:-1.89, Z:0.67 [[ 9.99881693e-01 -6.49305114e-03 1.39441606e-02 -3.02866882e+01] [ 6.47122352e-03 9.99977765e-01 1.60990917e-03 -1.89149451e+00] [-1.39543037e-02 -1.51948293e-03 9.99901479e-01 6.71506832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.728033873999998 meters 0.04892970278918211 Centerline is valid? [True, True] Translation: X:-30.31, Y:-1.91, Z:0.68 [[ 9.99740357e-01 -1.65875485e-02 1.56227815e-02 -3.03136466e+01] [ 1.65613666e-02 9.99861224e-01 1.80377145e-03 -1.91398490e+00] [-1.56505336e-02 -1.54456850e-03 9.99876330e-01 6.78137888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.758033874 meters 0.04656918685878927 Centerline is valid? [True, True] Translation: X:-30.34, Y:-1.92, Z:0.69 [[ 9.99586279e-01 -2.26282886e-02 1.77547838e-02 -3.03417879e+01] [ 2.25954210e-02 9.99742590e-01 2.04965069e-03 -1.92128642e+00] [-1.77965936e-02 -1.64762589e-03 9.99840271e-01 6.89966173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.788033873999996 meters 0.04269257149199812 Centerline is valid? [True, True] Translation: X:-30.37, Y:-1.93, Z:0.69 [[ 9.99331940e-01 -2.85475903e-02 2.28190536e-02 -3.03714770e+01] [ 2.84947936e-02 9.99590466e-01 2.63559259e-03 -1.92607177e+00] [-2.28849482e-02 -1.98360763e-03 9.99736137e-01 6.94882743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.818033873999997 meters 0.04070692514712215 Centerline is valid? [True, True] Translation: X:-30.40, Y:-1.93, Z:0.70 [[ 9.99174163e-01 -3.00669414e-02 2.73307809e-02 -3.04002914e+01] [ 2.99917603e-02 9.99545161e-01 3.15665509e-03 -1.93156034e+00] [-2.74132608e-02 -2.33434997e-03 9.99621460e-01 7.04411901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.848033874 meters 0.04127038318896152 Centerline is valid? [True, True] Translation: X:-30.43, Y:-1.94, Z:0.71 [[ 9.99363780e-01 -2.06483929e-02 2.90805647e-02 -3.04291053e+01] [ 2.05593352e-02 9.99782995e-01 3.35815935e-03 -1.93502688e+00] [-2.91435947e-02 -2.75814575e-03 9.99571430e-01 7.09255715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.878033873999996 meters 0.044912606006643416 Centerline is valid? [True, True] Translation: X:-30.46, Y:-1.93, Z:0.72 [[ 9.99567751e-01 -1.13110737e-02 2.71361414e-02 -3.04604838e+01] [ 1.12301344e-02 9.99932031e-01 3.13326408e-03 -1.93192536e+00] [-2.71697375e-02 -2.82716722e-03 9.99626837e-01 7.15102886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.908033873999997 meters 0.0477808253786788 Centerline is valid? [True, True] Translation: X:-30.49, Y:-1.93, Z:0.71 [[ 9.99646605e-01 -4.76593807e-03 2.61524521e-02 -3.04923568e+01] [ 4.68854655e-03 9.99984449e-01 3.01976711e-03 -1.92802275e+00] [-2.61664374e-02 -2.89608295e-03 9.99653405e-01 7.13140365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.938033874 meters 0.049410756631087266 Centerline is valid? [True, True] Translation: X:-30.52, Y:-1.93, Z:0.71 [[ 9.99682229e-01 4.25512629e-04 2.52043619e-02 -3.05230588e+01] [-4.99034269e-04 9.99995639e-01 2.91080237e-03 -1.92566529e+00] [-2.52030134e-02 -2.92245524e-03 9.99678082e-01 7.10554031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.968033873999996 meters 0.05320870231242397 Centerline is valid? [True, True] Translation: X:-30.55, Y:-1.92, Z:0.71 [[ 9.99685580e-01 4.06760259e-03 2.47425826e-02 -3.05548913e+01] [-4.13955075e-03 9.99987350e-01 2.85734347e-03 -1.92220083e+00] [-2.47306471e-02 -2.95886824e-03 9.99689772e-01 7.11317682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.998033873999997 meters 0.05656179887563171 Centerline is valid? [True, True] Translation: X:-30.59, Y:-1.92, Z:0.71 [[ 9.99700918e-01 5.00369389e-03 2.39381931e-02 -3.05874001e+01] [-5.07130113e-03 9.99983320e-01 2.76436744e-03 -1.91919390e+00] [-2.39239618e-02 -2.88493846e-03 9.99709618e-01 7.13264277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.028033874 meters 0.049521095120331454 Centerline is valid? [True, True] Translation: X:-30.62, Y:-1.93, Z:0.72 [[ 9.99624570e-01 3.67916872e-04 2.73967983e-02 -3.06151985e+01] [-4.54822162e-04 9.99994885e-01 3.16593262e-03 -1.93406007e+00] [-2.73954934e-02 -3.17720470e-03 9.99619624e-01 7.19796859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.058033873999996 meters 0.04726530229515768 Centerline is valid? [True, True] Translation: X:-30.65, Y:-1.92, Z:0.75 [[ 9.98747972e-01 -1.35440723e-03 5.00065369e-02 -3.06475212e+01] [ 1.06672273e-03 9.99982731e-01 5.77917809e-03 -1.92354064e+00] [-5.00135007e-02 -5.71859929e-03 9.98732170e-01 7.45897819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.088033873999997 meters 0.048111485257279055 Centerline is valid? [True, True] Translation: X:-30.68, Y:-1.92, Z:0.74 [[ 9.98536432e-01 1.00703915e-02 5.31373735e-02 -3.06781712e+01] [-1.04113656e-02 9.99926925e-01 6.14392898e-03 -1.91973539e+00] [-5.30716187e-02 -6.68816955e-03 9.98568311e-01 7.44703929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.118033873999998 meters 0.04795148797336103 Centerline is valid? [True, True] Translation: X:-30.71, Y:-1.93, Z:0.75 [[ 9.98739958e-01 1.95563601e-02 4.62173694e-02 -3.07074905e+01] [-1.98242253e-02 9.99789196e-01 5.34449376e-03 -1.92879472e+00] [-4.61031078e-02 -6.25398302e-03 9.98917109e-01 7.45568544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.148033873999996 meters 0.05548747904041853 Centerline is valid? [True, True] Translation: X:-30.74, Y:-1.91, Z:0.75 [[ 9.98773727e-01 1.81463616e-02 4.60624754e-02 -3.07408356e+01] [-1.84110109e-02 9.99816308e-01 5.32767168e-03 -1.90977098e+00] [-4.59573362e-02 -6.16919523e-03 9.98924354e-01 7.50899461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.178033873999997 meters 0.0482470036810267 Centerline is valid? [True, True] Translation: X:-30.77, Y:-1.93, Z:0.75 [[ 9.98753823e-01 1.56877914e-02 4.73782109e-02 -3.07687680e+01] [-1.59651790e-02 9.99857520e-01 5.48200064e-03 -1.93269572e+00] [-4.72854600e-02 -6.23157072e-03 9.98861979e-01 7.51464386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.208033873999998 meters 0.05508702696502109 Centerline is valid? [True, True] Translation: X:-30.80, Y:-1.92, Z:0.75 [[ 9.98804430e-01 1.56114266e-02 4.63248746e-02 -3.08035340e+01] [-1.58767322e-02 9.99859565e-01 5.36463854e-03 -1.91923055e+00] [-4.62346193e-02 -6.09371236e-03 9.98912021e-01 7.52835796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.238033873999996 meters 0.04716343611106873 Centerline is valid? [True, True] Translation: X:-30.83, Y:-1.94, Z:0.75 [[ 9.98793406e-01 1.57964868e-02 4.64995063e-02 -3.08325849e+01] [-1.60645386e-02 9.99856394e-01 5.39654936e-03 -1.94112255e+00] [-4.64075821e-02 -6.13703102e-03 9.98903736e-01 7.49820225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.268033873999997 meters 0.04978042273282845 Centerline is valid? [True, True] Translation: X:-30.87, Y:-1.94, Z:0.75 [[ 9.98989352e-01 1.57976997e-02 4.20797816e-02 -3.08663602e+01] [-1.60175803e-02 9.99859737e-01 4.89328502e-03 -1.94166132e+00] [-4.19965767e-02 -5.56235591e-03 9.99102271e-01 7.53081779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.298033873999998 meters 0.0515868019018093 Centerline is valid? [True, True] Translation: X:-30.90, Y:-1.94, Z:0.75 [[ 9.99011919e-01 1.54508282e-02 4.16708263e-02 -3.08991287e+01] [-1.56666538e-02 9.99865470e-01 4.85769810e-03 -1.93936685e+00] [-4.15901649e-02 -5.50574071e-03 9.99119585e-01 7.54690028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.328033873999996 meters 0.049986417841679155 Centerline is valid? [True, True] Translation: X:-30.93, Y:-1.95, Z:0.75 [[ 9.99176774e-01 1.42881543e-02 3.79687164e-02 -3.09289327e+01] [-1.44667945e-02 9.99885518e-01 4.43434812e-03 -1.94851411e+00] [-3.79010110e-02 -4.97998327e-03 9.99269089e-01 7.52576919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.358033873999997 meters 0.04993484850236063 Centerline is valid? [True, True] Translation: X:-30.96, Y:-1.95, Z:0.75 [[ 9.99250239e-01 1.36298127e-02 3.62379267e-02 -3.09610491e+01] [-1.37921592e-02 9.99895920e-01 4.23380464e-03 -1.95187712e+00] [-3.61764491e-02 -4.73042955e-03 9.99334222e-01 7.54581636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.388033873999998 meters 0.05370162036674362 Centerline is valid? [True, True] Translation: X:-30.99, Y:-1.95, Z:0.75 [[ 9.99364499e-01 1.51363411e-02 3.22721190e-02 -3.09920618e+01] [-1.52659242e-02 9.99876351e-01 3.77270313e-03 -1.94895751e+00] [-3.22110236e-02 -4.26296929e-03 9.99471999e-01 7.53662094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.418033874 meters 0.051351445979388524 Centerline is valid? [True, True] Translation: X:-31.02, Y:-1.96, Z:0.75 [[ 9.99416686e-01 1.35789027e-02 3.13353027e-02 -3.10215356e+01] [-1.37003158e-02 9.99899436e-01 3.66318663e-03 -1.95719229e+00] [-3.12824095e-02 -4.09035338e-03 9.99502216e-01 7.51877455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.448033873999997 meters 0.05344877289152928 Centerline is valid? [True, True] Translation: X:-31.05, Y:-1.96, Z:0.75 [[ 9.99492353e-01 1.37943715e-02 2.87184856e-02 -3.10546625e+01] [-1.38963887e-02 9.99897809e-01 3.35576284e-03 -1.95618070e+00] [-2.86692602e-02 -3.75314253e-03 9.99581906e-01 7.52283533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.478033873999998 meters 0.057599160487848806 Centerline is valid? [True, True] Translation: X:-31.09, Y:-1.93, Z:0.77 [[ 9.99164612e-01 1.31834359e-02 3.86817041e-02 -3.10890029e+01] [-1.33686295e-02 9.99900361e-01 4.53287199e-03 -1.93197859e+00] [-3.86180911e-02 -5.04620665e-03 9.99241302e-01 7.73909741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.508033874 meters 0.05095307930388435 Centerline is valid? [True, True] Translation: X:-31.12, Y:-1.90, Z:0.78 [[ 9.96539157e-01 2.18845868e-02 8.01920988e-02 -3.11232277e+01] [-2.27115539e-02 9.99697729e-01 9.41465660e-03 -1.89654875e+00] [-7.99618232e-02 -1.12033611e-02 9.96734966e-01 7.77456847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.538033873999996 meters 0.04597258158003129 Centerline is valid? [True, True] Translation: X:-31.15, Y:-1.91, Z:0.78 [[ 9.97018942e-01 2.19692509e-02 7.39633785e-02 -3.11511895e+01] [-2.26726757e-02 9.99705224e-01 8.68419255e-03 -1.91291651e+00] [-7.37507906e-02 -1.03352522e-02 9.97223146e-01 7.75774696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.568033873999997 meters 0.04815184950721938 Centerline is valid? [True, True] Translation: X:-31.18, Y:-1.91, Z:0.78 [[ 9.97474948e-01 1.74905216e-02 6.88317544e-02 -3.11821944e+01] [-1.80891464e-02 9.99803703e-01 8.08321758e-03 -1.91085884e+00] [-6.86768632e-02 -9.30791471e-03 9.97595535e-01 7.83949738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.598033874 meters 0.052538082655094125 Centerline is valid? [True, True] Translation: X:-31.21, Y:-1.90, Z:0.78 [[ 9.97899289e-01 1.73065736e-02 6.24298956e-02 -3.12141257e+01] [-1.77985628e-02 9.99814701e-01 7.33312846e-03 -1.90315413e+00] [-6.22914161e-02 -8.42888609e-03 9.98022411e-01 7.83195518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.628033873999996 meters 0.04651866632069215 Centerline is valid? [True, True] Translation: X:-31.24, Y:-1.93, Z:0.78 [[ 9.98022405e-01 1.42622627e-02 6.12198320e-02 -3.12421534e+01] [-1.47297681e-02 9.99865646e-01 7.19198513e-03 -1.92582218e+00] [-6.11090328e-02 -8.07951622e-03 9.98098396e-01 7.82378541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.658033873999997 meters 0.048674535134678135 Centerline is valid? [True, True] Translation: X:-31.27, Y:-1.92, Z:0.78 [[ 9.97868399e-01 1.74482663e-02 6.28825662e-02 -3.12738515e+01] [-1.79478414e-02 9.99811625e-01 7.38844345e-03 -1.92200564e+00] [-6.27418052e-02 -8.50130056e-03 9.97993584e-01 7.82518273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.688033874 meters 0.04414692984133262 Centerline is valid? [True, True] Translation: X:-31.30, Y:-1.94, Z:0.78 [[ 9.98016856e-01 2.08034771e-02 5.94101854e-02 -3.13020166e+01] [-2.12551744e-02 9.99749709e-01 6.98116140e-03 -1.93900762e+00] [-5.92500831e-02 -8.23009060e-03 9.98209243e-01 7.79400448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.718033873999996 meters 0.048755860243386406 Centerline is valid? [True, True] Translation: X:-31.33, Y:-1.93, Z:0.78 [[ 9.98393550e-01 2.02209133e-02 5.29285652e-02 -3.13341848e+01] [-2.05785084e-02 9.99768892e-01 6.21989279e-03 -1.93142776e+00] [-5.27905610e-02 -7.29909177e-03 9.98578930e-01 7.81713061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.748033873999997 meters 0.04629369630854568 Centerline is valid? [True, True] Translation: X:-31.37, Y:-1.93, Z:0.80 [[ 9.97793929e-01 1.56874603e-02 6.45071951e-02 -3.13650982e+01] [-1.62098427e-02 9.99839859e-01 7.58263657e-03 -1.93138022e+00] [-6.43779126e-02 -8.61156023e-03 9.97888433e-01 7.96297151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.778033874 meters 0.045452223225018726 Centerline is valid? [True, True] Translation: X:-31.39, Y:-1.94, Z:0.79 [[ 9.98109224e-01 1.32518307e-02 6.00197097e-02 -3.13941748e+01] [-1.36998002e-02 9.99881241e-01 7.05834691e-03 -1.94148988e+00] [-5.99190457e-02 -7.86725919e-03 9.98172237e-01 7.93480470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.808033873999996 meters 0.045790092042453795 Centerline is valid? [True, True] Translation: X:-31.43, Y:-1.94, Z:0.80 [[ 9.97950357e-01 1.48719710e-02 6.22407396e-02 -3.14250844e+01] [-1.53570616e-02 9.99855259e-01 7.32264268e-03 -1.94472563e+00] [-6.21228287e-02 -8.26346875e-03 9.98034303e-01 7.96847858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.838033873999997 meters 0.05401261024103168 Centerline is valid? [True, True] Translation: X:-31.46, Y:-1.92, Z:0.80 [[ 9.97916803e-01 1.48691789e-02 6.27770740e-02 -3.14598284e+01] [-1.53631681e-02 9.99854644e-01 7.39356024e-03 -1.92299398e+00] [-6.26580127e-02 -8.34261274e-03 9.98000188e-01 8.04603588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.868033873999998 meters 0.044891189677187845 Centerline is valid? [True, True] Translation: X:-31.49, Y:-1.95, Z:0.80 [[ 9.97936401e-01 1.50965747e-02 6.24102034e-02 -3.14887353e+01] [-1.55862170e-02 9.99851394e-01 7.36613651e-03 -1.95185652e+00] [-6.22897254e-02 -8.32367473e-03 9.98023400e-01 8.01812675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.898033873999996 meters 0.04621272816703146 Centerline is valid? [True, True] Translation: X:-31.52, Y:-1.95, Z:0.80 [[ 9.97850342e-01 1.40585312e-02 6.40082222e-02 -3.15213492e+01] [-1.45722401e-02 9.99865195e-01 7.56588386e-03 -1.95127905e+00] [-6.38932283e-02 -8.48236298e-03 9.97920691e-01 8.04958305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.928033873999997 meters 0.04461603473194784 Centerline is valid? [True, True] Translation: X:-31.55, Y:-1.96, Z:0.80 [[ 9.97788035e-01 1.55467000e-02 6.46323296e-02 -3.15501195e+01] [-1.60737247e-02 9.99841604e-01 7.64219182e-03 -1.96211453e+00] [-6.45032813e-02 -8.66416983e-03 9.97879882e-01 7.98878695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.958033873999998 meters 0.04314746452506847 Centerline is valid? [True, True] Translation: X:-31.58, Y:-1.97, Z:0.80 [[ 9.97859401e-01 1.37987472e-02 6.39234658e-02 -3.15805901e+01] [-1.43107653e-02 9.99869024e-01 7.55891148e-03 -1.96620477e+00] [-6.38107899e-02 -8.45752460e-03 9.97926176e-01 8.04294469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.988033873999996 meters 0.04716158682566572 Centerline is valid? [True, True] Translation: X:-31.61, Y:-1.96, Z:0.80 [[ 9.97819613e-01 1.57664509e-02 6.40892970e-02 -3.16123977e+01] [-1.62851953e-02 9.99838657e-01 7.57974046e-03 -1.96109143e+00] [-6.39594510e-02 -8.60692042e-03 9.97915382e-01 8.04136147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.018033873999997 meters 0.04621773969321552 Centerline is valid? [True, True] Translation: X:-31.64, Y:-1.97, Z:0.81 [[ 9.97855196e-01 1.41148248e-02 6.39201005e-02 -3.16428533e+01] [-1.46276101e-02 9.99864420e-01 7.56140257e-03 -1.96567518e+00] [-6.38047064e-02 -8.48018315e-03 9.97926373e-01 8.06272990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.048033873999998 meters 0.04659734008364527 Centerline is valid? [True, True] Translation: X:-31.67, Y:-1.97, Z:0.81 [[ 9.97788638e-01 1.66347532e-02 6.43515317e-02 -3.16737755e+01] [-1.71597497e-02 9.99823768e-01 7.61414152e-03 -1.96958142e+00] [-6.42135315e-02 -8.70156008e-03 9.97898244e-01 8.06670652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.078033873999996 meters 0.04713867444458214 Centerline is valid? [True, True] Translation: X:-31.71, Y:-1.97, Z:0.81 [[ 9.97846331e-01 1.59425153e-02 6.36281059e-02 -3.17061934e+01] [-1.64545404e-02 9.99836251e-01 7.53123279e-03 -1.96947230e+00] [-6.34976201e-02 -8.56198425e-03 9.97945261e-01 8.11311381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.108033873999997 meters 0.04521646058222623 Centerline is valid? [True, True] Translation: X:-31.74, Y:-1.98, Z:0.81 [[ 9.97817234e-01 1.57828112e-02 6.41223150e-02 -3.17373517e+01] [-1.63031514e-02 9.99838213e-01 7.59965681e-03 -1.97935961e+00] [-6.39919969e-02 -8.62846434e-03 9.97913109e-01 8.09649032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.138033873999998 meters 0.06137335994438863 Centerline is valid? [True, True] Translation: X:-31.61, Y:-3.31, Z:0.76 [[ 9.98280679e-01 -5.52955709e-02 1.94444372e-02 -3.16129964e+01] [ 5.52610860e-02 9.98469274e-01 2.30678219e-03 -3.30813727e+00] [-1.95422280e-02 -1.22829537e-03 9.99808278e-01 7.55897315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.168033874 meters 0.05514325942494889 Centerline is valid? [True, True] Translation: X:-31.64, Y:-3.31, Z:0.76 [[ 9.98384971e-01 -5.33031650e-02 1.96525449e-02 -3.16436872e+01] [ 5.32675455e-02 9.98577554e-01 2.33187184e-03 -3.31049526e+00] [-1.97488864e-02 -1.28126297e-03 9.99804151e-01 7.60528860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.198033873999997 meters 0.059043612246602525 Centerline is valid? [True, True] Translation: X:-31.68, Y:-3.30, Z:0.75 [[ 9.98596016e-01 -5.00123867e-02 1.74573404e-02 -3.16761696e+01] [ 4.99837651e-02 9.98747881e-01 2.07228191e-03 -3.29559237e+00] [-1.75391214e-02 -1.19678886e-03 9.99845462e-01 7.52583616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.228033873999998 meters 0.06692250362584229 Centerline is valid? [True, True] Translation: X:-31.71, Y:-3.29, Z:0.75 [[ 9.98714414e-01 -4.84443783e-02 1.49218653e-02 -3.17084589e+01] [ 4.84232971e-02 9.98825334e-01 1.77106632e-03 -3.28869648e+00] [-1.49901353e-02 -1.04622355e-03 9.99887094e-01 7.52175679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.258033874 meters 0.06566806052586392 Centerline is valid? [True, True] Translation: X:-31.74, Y:-3.28, Z:0.75 [[ 9.98795745e-01 -4.67888574e-02 1.47601498e-02 -3.17415229e+01] [ 4.67680543e-02 9.98904240e-01 1.75163441e-03 -3.27918838e+00] [-1.48259332e-02 -1.05922151e-03 9.99889529e-01 7.50721484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.288033873999996 meters 0.06535266490917509 Centerline is valid? [True, True] Translation: X:-31.77, Y:-3.28, Z:0.75 [[ 9.98799967e-01 -4.59948505e-02 1.68255615e-02 -3.17730186e+01] [ 4.59677105e-02 9.98940931e-01 1.99642581e-03 -3.27792928e+00] [-1.68995674e-02 -1.22059750e-03 9.99856447e-01 7.52607406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.318033873999997 meters 0.06516865700059228 Centerline is valid? [True, True] Translation: X:-31.80, Y:-3.27, Z:0.76 [[ 9.98839812e-01 -4.38922716e-02 1.98115762e-02 -3.18041168e+01] [ 4.38541449e-02 9.99035168e-01 2.35504067e-03 -3.27382164e+00] [-1.98958295e-02 -1.48348864e-03 9.99800958e-01 7.58401566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.348033874 meters 0.07052372382294399 Centerline is valid? [True, True] Translation: X:-31.84, Y:-3.27, Z:0.76 [[ 9.98898487e-01 -4.31173438e-02 1.85123756e-02 -3.18358475e+01] [ 4.30839132e-02 9.99069032e-01 2.20107890e-03 -3.26953160e+00] [-1.85900458e-02 -1.40106880e-03 9.99826208e-01 7.59302680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.378033873999996 meters 0.073917767690308 Centerline is valid? [True, True] Translation: X:-31.87, Y:-3.27, Z:0.75 [[ 9.99065694e-01 -4.11588332e-02 1.31791497e-02 -3.18663953e+01] [ 4.11417083e-02 9.99152091e-01 1.56800075e-03 -3.26572258e+00] [-1.32325120e-02 -1.02432303e-03 9.99911922e-01 7.51808053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.408033873999997 meters 0.07098558706007582 Centerline is valid? [True, True] Translation: X:-31.90, Y:-3.26, Z:0.75 [[ 9.99155626e-01 -3.91781444e-02 1.23736588e-02 -3.18973908e+01] [ 3.91629038e-02 9.99231755e-01 1.47170711e-03 -3.26269838e+00] [-1.24218116e-02 -9.85876028e-04 9.99922360e-01 7.51664553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.438033874 meters 0.07077335822527768 Centerline is valid? [True, True] Translation: X:-31.93, Y:-3.26, Z:0.76 [[ 9.99191117e-01 -3.67122605e-02 1.64110345e-02 -3.19280591e+01] [ 3.66851286e-02 9.99324969e-01 1.95137262e-03 -3.26362088e+00] [-1.64715958e-02 -1.34775328e-03 9.99863426e-01 7.59209274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.468033873999996 meters 0.07077335822527768 Centerline is valid? [True, True] Translation: X:-31.96, Y:-3.27, Z:0.76 [[ 9.99182503e-01 -3.69457928e-02 1.64114217e-02 -3.19604919e+01] [ 3.69187452e-02 9.99316372e-01 1.94812256e-03 -3.26734172e+00] [-1.64721773e-02 -1.34064088e-03 9.99863426e-01 7.60347254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.498033873999997 meters 0.07002344214957912 Centerline is valid? [True, True] Translation: X:-31.99, Y:-3.27, Z:0.76 [[ 9.99219606e-01 -3.50400701e-02 1.82311101e-02 -3.19912559e+01] [ 3.50062181e-02 9.99384733e-01 2.17274999e-03 -3.27123629e+00] [-1.82960264e-02 -1.53285217e-03 9.99831439e-01 7.61943716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.528033874 meters 0.0691647205018814 Centerline is valid? [True, True] Translation: X:-32.02, Y:-3.27, Z:0.76 [[ 9.99356453e-01 -3.27443884e-02 1.46452966e-02 -3.20217047e+01] [ 3.27222875e-02 9.99462957e-01 1.74623539e-03 -3.27245129e+00] [-1.46946108e-02 -1.26588400e-03 9.99891227e-01 7.57836640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.558033873999996 meters 0.07618299344894339 Centerline is valid? [True, True] Translation: X:-32.05, Y:-3.27, Z:0.76 [[ 9.99284454e-01 -3.44699743e-02 1.55692338e-02 -3.20534097e+01] [ 3.44452131e-02 9.99404864e-01 1.85584060e-03 -3.27226174e+00] [-1.56239388e-02 -1.31822708e-03 9.99877070e-01 7.56887545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.588033873999997 meters 0.07084201769256565 Centerline is valid? [True, True] Translation: X:-32.08, Y:-3.28, Z:0.76 [[ 9.99107593e-01 -3.66845344e-02 2.09347254e-02 -3.20815104e+01] [ 3.66402290e-02 9.99325404e-01 2.49614530e-03 -3.28016405e+00] [-2.10121728e-02 -1.72686459e-03 9.99777729e-01 7.64401626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.618033873999998 meters 0.07727413868225198 Centerline is valid? [True, True] Translation: X:-32.11, Y:-3.28, Z:0.77 [[ 9.99048040e-01 -3.82581642e-02 2.09601058e-02 -3.21125943e+01] [ 3.82140684e-02 9.99266447e-01 2.50044683e-03 -3.28286973e+00] [-2.10403930e-02 -1.69709559e-03 9.99777186e-01 7.65646338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.648033873999996 meters 0.0700858636524904 Centerline is valid? [True, True] Translation: X:-32.14, Y:-3.29, Z:0.76 [[ 9.98989965e-01 -4.15075578e-02 1.72096735e-02 -3.21429477e+01] [ 4.14782989e-02 9.99137294e-01 2.05376747e-03 -3.29151318e+00] [-1.72800734e-02 -1.33786511e-03 9.99849793e-01 7.61429352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.678033873999997 meters 0.07400369902605357 Centerline is valid? [True, True] Translation: X:-32.17, Y:-3.30, Z:0.76 [[ 9.98821360e-01 -4.48394699e-02 1.85825919e-02 -3.21721684e+01] [ 4.48059220e-02 9.98993248e-01 2.21797889e-03 -3.29965352e+00] [-1.86633369e-02 -1.38275453e-03 9.99824869e-01 7.64172820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.708033873999998 meters 0.07453628639521469 Centerline is valid? [True, True] Translation: X:-32.20, Y:-3.30, Z:0.77 [[ 9.98572754e-01 -4.91923345e-02 2.07982810e-02 -3.22015656e+01] [ 4.91512710e-02 9.98788264e-01 2.48127512e-03 -3.30220143e+00] [-2.08951387e-02 -1.45547178e-03 9.99780613e-01 7.68374951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.738033873999996 meters 0.07505820360675994 Centerline is valid? [True, True] Translation: X:-32.23, Y:-3.31, Z:0.77 [[ 9.98511593e-01 -5.03995587e-02 2.08442414e-02 -3.22320178e+01] [ 5.03585485e-02 9.98728104e-01 2.48803620e-03 -3.30978093e+00] [-2.09431256e-02 -1.43464725e-03 9.99779639e-01 7.70789520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.768033873999997 meters 0.07461414053529739 Centerline is valid? [True, True] Translation: X:-32.26, Y:-3.32, Z:0.77 [[ 9.98322522e-01 -5.36743752e-02 2.17072331e-02 -3.22617659e+01] [ 5.36306235e-02 9.98557476e-01 2.59311595e-03 -3.31564378e+00] [-2.18151038e-02 -1.42459361e-03 9.99761007e-01 7.70382623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.798033873999998 meters 0.08142557309373023 Centerline is valid? [True, True] Translation: X:-32.29, Y:-3.32, Z:0.78 [[ 9.98218207e-01 -5.57899906e-02 2.11633767e-02 -3.22922622e+01] [ 5.57488794e-02 9.98441621e-01 2.52805806e-03 -3.31820259e+00] [-2.12714364e-02 -1.34371906e-03 9.99772834e-01 7.75350830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.828033873999996 meters 0.08484423689529597 Centerline is valid? [True, True] Translation: X:-32.33, Y:-3.31, Z:0.77 [[ 9.98192085e-01 -5.66626312e-02 2.00476511e-02 -3.23252507e+01] [ 5.66259637e-02 9.98392596e-01 2.39243799e-03 -3.31145242e+00] [-2.01509883e-02 -1.25289510e-03 9.99796163e-01 7.69002331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.858033873999997 meters 0.07829755904619523 Centerline is valid? [True, True] Translation: X:-32.36, Y:-3.31, Z:0.77 [[ 9.98481503e-01 -5.24155764e-02 1.69498139e-02 -3.23551938e+01] [ 5.23886557e-02 9.98624711e-01 2.02870936e-03 -3.30900564e+00] [-1.70328390e-02 -1.13765080e-03 9.99854283e-01 7.65755955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.888033873999998 meters 0.083590358502381 Centerline is valid? [True, True] Translation: X:-32.38, Y:-3.32, Z:0.77 [[ 9.98635868e-01 -4.84824217e-02 1.93870811e-02 -3.23837474e+01] [ 4.84464716e-02 9.98823086e-01 2.31999145e-03 -3.31705548e+00] [-1.94767430e-02 -1.37759100e-03 9.99809361e-01 7.73956084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.918033874 meters 0.08274476171754422 Centerline is valid? [True, True] Translation: X:-32.42, Y:-3.30, Z:0.78 [[ 9.98673248e-01 -4.64033302e-02 2.23265454e-02 -3.24163820e+01] [ 4.63551525e-02 9.98921452e-01 2.67086716e-03 -3.30485831e+00] [-2.24264023e-02 -1.63237317e-03 9.99747164e-01 7.78183296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.948033873999997 meters 0.08467530843467494 Centerline is valid? [True, True] Translation: X:-32.45, Y:-3.31, Z:0.78 [[ 9.98854834e-01 -4.17485826e-02 2.33682637e-02 -3.24461059e+01] [ 4.16945137e-02 9.99126492e-01 2.79645581e-03 -3.30661105e+00] [-2.34645994e-02 -1.81892502e-03 9.99723014e-01 7.84615550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.978033873999998 meters 0.08620031164350671 Centerline is valid? [True, True] Translation: X:-32.48, Y:-3.31, Z:0.78 [[ 9.98987344e-01 -4.01359914e-02 2.03319521e-02 -3.24775588e+01] [ 4.00947269e-02 9.99192920e-01 2.43329915e-03 -3.30808308e+00] [-2.04132055e-02 -1.61563099e-03 9.99790323e-01 7.77395136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.008033874 meters 0.08597558749162626 Centerline is valid? [True, True] Translation: X:-32.51, Y:-3.31, Z:0.77 [[ 9.99023171e-01 -4.09933661e-02 1.64999170e-02 -3.25097702e+01] [ 4.09663638e-02 9.99158581e-01 1.97133205e-03 -3.30772003e+00] [-1.65668452e-02 -1.29346479e-03 9.99861924e-01 7.72593430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.038033874 meters 0.08942502503432598 Centerline is valid? [True, True] Translation: X:-32.54, Y:-3.32, Z:0.78 [[ 9.98796803e-01 -4.54684868e-02 1.83728831e-02 -3.25394826e+01] [ 4.54356101e-02 9.98964840e-01 2.20311075e-03 -3.31646938e+00] [-1.84540363e-02 -1.36567682e-03 9.99828777e-01 7.78063894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.068033874 meters 0.08804879630339632 Centerline is valid? [True, True] Translation: X:-32.57, Y:-3.34, Z:0.78 [[ 9.98571742e-01 -4.87708056e-02 2.18147796e-02 -3.25663407e+01] [ 4.87252292e-02 9.98808794e-01 2.61622934e-03 -3.33608470e+00] [-2.19163893e-02 -1.54956255e-03 9.99758606e-01 7.82720668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.098033874 meters 0.08785464733156251 Centerline is valid? [True, True] Translation: X:-32.60, Y:-3.35, Z:0.78 [[ 9.98213122e-01 -5.53953859e-02 2.24034354e-02 -3.25959855e+01] [ 5.53489961e-02 9.98463457e-01 2.68593694e-03 -3.34894838e+00] [-2.25178001e-02 -1.44112984e-03 9.99745404e-01 7.84957353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.128033874 meters 0.09503960317215138 Centerline is valid? [True, True] Translation: X:-32.63, Y:-3.35, Z:0.79 [[ 9.97798039e-01 -6.20956386e-02 2.33067783e-02 -3.26259791e+01] [ 6.20472516e-02 9.98069302e-01 2.79423614e-03 -3.35434372e+00] [-2.34352898e-02 -1.34196180e-03 9.99724455e-01 7.85317749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.158033874 meters 0.08654053167396819 Centerline is valid? [True, True] Translation: X:-32.65, Y:-3.37, Z:0.79 [[ 9.97537562e-01 -6.53899734e-02 2.53567417e-02 -3.26542725e+01] [ 6.53337448e-02 9.97858836e-01 3.04054654e-03 -3.36740131e+00] [-2.55012700e-02 -1.37640850e-03 9.99673842e-01 7.90307397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.188033874 meters 0.08226531444799082 Centerline is valid? [True, True] Translation: X:-32.69, Y:-3.37, Z:0.79 [[ 9.97372812e-01 -6.81105195e-02 2.46663795e-02 -3.26850692e+01] [ 6.80581582e-02 9.97676973e-01 2.95707153e-03 -3.37229784e+00] [-2.48104865e-02 -1.27055439e-03 9.99691365e-01 7.89667640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.218033874 meters 0.08592317011518646 Centerline is valid? [True, True] Translation: X:-32.72, Y:-3.37, Z:0.79 [[ 9.97287750e-01 -6.96562106e-02 2.37730143e-02 -3.27178487e+01] [ 6.96079974e-02 9.97570349e-01 2.85059382e-03 -3.37139133e+00] [-2.39138157e-02 -1.18807038e-03 9.99713318e-01 7.89263366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.248033874 meters 0.08761070247207396 Centerline is valid? [True, True] Translation: X:-32.75, Y:-3.37, Z:0.80 [[ 9.97323448e-01 -6.87017966e-02 2.50200730e-02 -3.27503608e+01] [ 6.86480866e-02 9.97636426e-01 3.00032882e-03 -3.37076289e+00] [-2.51670642e-02 -1.27471815e-03 9.99682447e-01 7.95444596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.278033874 meters 0.08933893417684612 Centerline is valid? [True, True] Translation: X:-32.78, Y:-3.37, Z:0.80 [[ 9.97422520e-01 -6.69385793e-02 2.58368572e-02 -3.27809783e+01] [ 6.68805275e-02 9.97756158e-01 3.10546409e-03 -3.37303534e+00] [-2.59867587e-02 -1.36947719e-03 9.99661349e-01 8.00453094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.308033874 meters 0.08780679452947093 Centerline is valid? [True, True] Translation: X:-32.81, Y:-3.37, Z:0.80 [[ 9.97558194e-01 -6.48074111e-02 2.60317103e-02 -3.28139275e+01] [ 6.47477395e-02 9.97896756e-01 3.12954100e-03 -3.36690082e+00] [-2.61797767e-02 -1.43640487e-03 9.99656219e-01 7.99173714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.338033874000004 meters 0.09675783967868248 Centerline is valid? [True, True] Translation: X:-32.85, Y:-3.35, Z:0.80 [[ 9.97636119e-01 -6.40431795e-02 2.49127496e-02 -3.28478233e+01] [ 6.39883044e-02 9.97946156e-01 2.99449915e-03 -3.35487077e+00] [-2.50533599e-02 -1.39329591e-03 9.99685144e-01 7.99045310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.368033874 meters 0.09269462307928333 Centerline is valid? [True, True] Translation: X:-32.88, Y:-3.36, Z:0.81 [[ 9.97661699e-01 -6.34143936e-02 2.54901571e-02 -3.28785568e+01] [ 6.33565987e-02 9.97986232e-01 3.06941385e-03 -3.36352182e+00] [-2.56334709e-02 -1.44726698e-03 9.99670361e-01 8.06281806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.398033874 meters 0.09288410158108419 Centerline is valid? [True, True] Translation: X:-32.91, Y:-3.36, Z:0.81 [[ 9.97722561e-01 -6.25680647e-02 2.51977940e-02 -3.29102700e+01] [ 6.25111870e-02 9.98039635e-01 3.03942768e-03 -3.35846107e+00] [-2.53385682e-02 -1.45736156e-03 9.99677865e-01 8.10700514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.428033874 meters 0.10194820084024749 Centerline is valid? [True, False] Translation: X:-32.90, Y:-3.37, Z:0.82 [[ 9.99667418e-01 -2.37216091e-02 1.01162414e-02 -3.28962324e+01] [ 2.37095510e-02 9.99718030e-01 1.31024485e-03 -3.37040997e+00] [-1.01444700e-02 -1.06995755e-03 9.99947971e-01 8.22842521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.458033874 meters 0.10026402817258759 Centerline is valid? [False, False] Translation: X:-32.85, Y:-3.37, Z:0.82 [[ 9.99835259e-01 -1.53593035e-02 9.67190929e-03 -3.28542757e+01] [ 1.54083562e-02 9.99868694e-01 -5.01772679e-03 -3.37166008e+00] [-9.59357052e-03 5.16592839e-03 9.99940637e-01 8.21705768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.488033874 meters 0.1034302833541007 Centerline is valid? [False, False] Translation: X:-32.81, Y:-3.36, Z:0.82 [[ 9.99845230e-01 -1.34066703e-02 1.13920118e-02 -3.28067821e+01] [ 1.34304056e-02 9.99907789e-01 -2.00955676e-03 -3.36087390e+00] [-1.13640198e-02 2.16224508e-03 9.99933090e-01 8.16624798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.518033874000004 meters 0.10097511732952114 Centerline is valid? [False, False] Translation: X:-32.85, Y:-3.36, Z:0.82 [[ 9.99863856e-01 -1.42973164e-02 8.23750454e-03 -3.28487991e+01] [ 1.43249307e-02 9.99891937e-01 -3.30306846e-03 -3.36496025e+00] [-8.18938936e-03 3.42062045e-03 9.99960616e-01 8.19954559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.548033874 meters 0.10284801358767047 Centerline is valid? [False, False] Translation: X:-32.88, Y:-3.37, Z:0.82 [[ 9.99861908e-01 -1.61371159e-02 3.96977076e-03 -3.28834444e+01] [ 1.61590505e-02 9.99853993e-01 -5.55680891e-03 -3.36978901e+00] [-3.87952028e-03 5.62018928e-03 9.99976681e-01 8.18740639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.578033874 meters 0.10221431458279817 Centerline is valid? [False, False] Translation: X:-32.88, Y:-3.37, Z:0.82 [[ 9.99918024e-01 -1.23510653e-02 3.37578310e-03 -3.28810637e+01] [ 1.23569960e-02 9.99922133e-01 -1.74165219e-03 -3.37004971e+00] [-3.35400898e-03 1.78322396e-03 9.99992785e-01 8.17029737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.608033874 meters 0.10631443481325617 Centerline is valid? [False, False] Translation: X:-32.84, Y:-3.37, Z:0.81 [[ 9.99903513e-01 -1.12588515e-02 8.13651661e-03 -3.28373970e+01] [ 1.12554275e-02 9.99936547e-01 4.66490830e-04 -3.36929562e+00] [-8.14125247e-03 -3.74865847e-04 9.99966789e-01 8.13397880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.638033874 meters 0.098156331376795 Centerline is valid? [False, True] Translation: X:-32.80, Y:-3.37, Z:0.81 [[ 9.99861670e-01 -1.13280620e-02 1.21785383e-02 -3.27985685e+01] [ 1.13154470e-02 9.99935369e-01 1.10424691e-03 -3.37079242e+00] [-1.21902602e-02 -9.66288559e-04 9.99925229e-01 8.12342518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.668033874 meters 0.10112637041694711 Centerline is valid? [True, False] Translation: X:-32.77, Y:-3.37, Z:0.81 [[ 9.99937493e-01 -4.78252532e-03 1.01063132e-02 -3.27701607e+01] [ 4.78131913e-03 9.99988559e-01 1.43507797e-04 -3.37152144e+00] [-1.01068839e-02 -9.51773180e-05 9.99948920e-01 8.06618545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.698033874000004 meters 0.10050368645744667 Centerline is valid? [False, False] Translation: X:-32.71, Y:-3.37, Z:0.80 [[ 9.99984437e-01 -4.01146282e-03 3.87726254e-03 -3.27119041e+01] [ 4.00353941e-03 9.99989886e-01 2.04916240e-03 -3.37153145e+00] [-3.88544347e-03 -2.03360774e-03 9.99990384e-01 7.95552472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.728033874 meters 0.10098080100847101 Centerline is valid? [False, False] Translation: X:-32.70, Y:-3.37, Z:0.78 [[ 9.99983075e-01 -2.39665637e-03 5.30149759e-03 -3.26961842e+01] [ 2.37781637e-03 9.99990846e-01 3.55716704e-03 -3.37035010e+00] [-5.30997437e-03 -3.54450084e-03 9.99979620e-01 7.83306485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.758033874 meters 0.09925289354356912 Centerline is valid? [False, True] Translation: X:-32.66, Y:-3.37, Z:0.78 [[ 9.99941810e-01 -1.68795532e-03 1.06549468e-02 -3.26559113e+01] [ 1.64409671e-03 9.99990146e-01 4.12368489e-03 -3.36802090e+00] [-1.06618024e-02 -4.10592717e-03 9.99934732e-01 7.81893829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.788033874 meters 0.10072490779044055 Centerline is valid? [True, False] Translation: X:-32.66, Y:-3.37, Z:0.78 [[ 9.99938426e-01 -1.55354758e-03 1.09877158e-02 -3.26558911e+01] [ 1.50648195e-03 9.99989661e-01 4.29045751e-03 -3.36834001e+00] [-1.09942676e-02 -4.27364053e-03 9.99930429e-01 7.81216435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.818033874 meters 0.09580366113883466 Centerline is valid? [False, True] Translation: X:-32.66, Y:-3.37, Z:0.78 [[ 9.99939315e-01 -1.58512038e-03 1.09019629e-02 -3.26568639e+01] [ 1.53827956e-03 9.99989556e-01 4.30359341e-03 -3.36872864e+00] [-1.09086707e-02 -4.28656198e-03 9.99931311e-01 7.82520528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.848033874 meters 0.10600985008201513 Centerline is valid? [True, False] Translation: X:-32.66, Y:-3.37, Z:0.78 [[ 9.99946388e-01 -1.80121849e-03 1.01968601e-02 -3.26561743e+01] [ 1.76169423e-03 9.99990906e-01 3.88377670e-03 -3.36699831e+00] [-1.02037629e-02 -3.86560473e-03 9.99940468e-01 7.83165130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.878033874 meters 0.09509226660225148 Centerline is valid? [False, True] Translation: X:-32.66, Y:-3.37, Z:0.78 [[ 9.99947092e-01 -1.92855186e-03 1.01041442e-02 -3.26572150e+01] [ 1.89021849e-03 9.99990986e-01 3.80200414e-03 -3.36747485e+00] [-1.01113855e-02 -3.78270394e-03 9.99941724e-01 7.84630916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.908033874 meters 0.09636753114055994 Centerline is valid? [True, True] Translation: X:-32.69, Y:-3.37, Z:0.79 [[ 9.99902875e-01 -1.63642693e-03 1.38406393e-02 -3.26889206e+01] [ 1.62680698e-03 9.99998427e-01 7.06280731e-04 -3.37329724e+00] [-1.38417734e-02 -6.83696085e-04 9.99903964e-01 7.94308703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.938033874 meters 0.1032393281413011 Centerline is valid? [True, False] Translation: X:-32.69, Y:-3.37, Z:0.80 [[ 9.99904988e-01 -1.86551860e-03 1.36578090e-02 -3.26902674e+01] [ 1.86172372e-03 9.99998225e-01 2.90562712e-04 -3.37172167e+00] [-1.36583268e-02 -2.65108038e-04 9.99906686e-01 7.96327278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.968033874 meters 0.10171671854941759 Centerline is valid? [False, False] Translation: X:-32.71, Y:-3.37, Z:0.80 [[ 9.99941957e-01 2.68615869e-03 1.04339876e-02 -3.27108981e+01] [-2.64278658e-03 9.99987820e-01 -4.16837651e-03 -3.37192828e+00] [-1.04450574e-02 4.14055976e-03 9.99936876e-01 7.98740035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.998033874 meters 0.10221689506636303 Centerline is valid? [False, False] Translation: X:-32.72, Y:-3.37, Z:0.80 [[ 9.99944335e-01 2.99831269e-03 1.01161281e-02 -3.27161948e+01] [-2.96078151e-03 9.99988687e-01 -3.72297308e-03 -3.37266600e+00] [-1.01271762e-02 3.69281420e-03 9.99941900e-01 8.04843632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.028033874 meters 0.10812078820090976 Centerline is valid? [False, False] Translation: X:-32.74, Y:-3.38, Z:0.82 [[ 9.99963896e-01 2.30741473e-03 8.17815958e-03 -3.27359731e+01] [-2.27135618e-03 9.99987671e-01 -4.41567647e-03 -3.37569131e+00] [-8.18824755e-03 4.39694153e-03 9.99956809e-01 8.17700130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.058033874 meters 0.10318786912618097 Centerline is valid? [False, False] Translation: X:-32.77, Y:-3.38, Z:0.83 [[ 9.99986234e-01 4.53877189e-03 2.63277017e-03 -3.27710231e+01] [-4.51194308e-03 9.99938730e-01 -1.01083025e-02 -3.37749755e+00] [-2.67848814e-03 1.00962844e-02 9.99945444e-01 8.27838367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.088033874000004 meters 0.10426702287546116 Centerline is valid? [False, False] Translation: X:-32.79, Y:-3.37, Z:0.83 [[ 9.99999264e-01 7.36292072e-04 9.64552958e-04 -3.27924429e+01] [-7.30696939e-04 9.99982981e-01 -5.78831765e-03 -3.37188129e+00] [-9.68798434e-04 5.78760859e-03 9.99982782e-01 8.30110611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.118033874 meters 0.10052245576281776 Centerline is valid? [False, False] Translation: X:-32.80, Y:-3.37, Z:0.84 [[ 9.99999606e-01 8.66307334e-04 1.92220624e-04 -3.28048706e+01] [-8.65232639e-04 9.99984378e-01 -5.52230923e-03 -3.37377555e+00] [-1.97001639e-04 5.52214074e-03 9.99984733e-01 8.40788467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.148033874 meters 0.09780076875273115 Centerline is valid? [False, True] Translation: X:-32.82, Y:-3.37, Z:0.85 [[ 9.99998905e-01 1.46355806e-03 -2.19478057e-04 -3.28162726e+01] [-1.46459965e-03 9.99987296e-01 -4.82314743e-03 -3.37265974e+00] [ 2.12416313e-04 4.82346360e-03 9.99988344e-01 8.51015908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.178033874 meters 0.10317548008330056 Centerline is valid? [True, False] Translation: X:-32.83, Y:-3.37, Z:0.86 [[ 9.99997582e-01 1.70807487e-03 -1.38508797e-03 -3.28289070e+01] [-1.71422527e-03 9.99988623e-01 -4.45147239e-03 -3.37166033e+00] [ 1.37746877e-03 4.45383598e-03 9.99989133e-01 8.62566016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.208033874 meters 0.10316644057805005 Centerline is valid? [False, False] Translation: X:-32.84, Y:-3.37, Z:0.87 [[ 9.99998634e-01 8.31146706e-04 -1.42865037e-03 -3.28361153e+01] [-8.38502243e-04 9.99986358e-01 -5.15572654e-03 -3.37263993e+00] [ 1.42434572e-03 5.15691742e-03 9.99985689e-01 8.69831644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.238033874 meters 0.10397406305461557 Centerline is valid? [False, False] Translation: X:-32.87, Y:-3.37, Z:0.88 [[ 9.99972373e-01 -2.35967783e-03 -7.04875851e-03 -3.28706940e+01] [ 2.34851265e-03 9.99995975e-01 -1.59185054e-03 -3.36818593e+00] [ 7.05248639e-03 1.57525247e-03 9.99973890e-01 8.77747037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.268033874000004 meters 0.10249890115918359 Centerline is valid? [False, False] Translation: X:-32.91, Y:-3.37, Z:0.88 [[ 9.99937654e-01 -3.44072431e-03 -1.06230835e-02 -3.29137324e+01] [ 3.40505918e-03 9.99988512e-01 -3.37358686e-03 -3.37169232e+00] [ 1.06345690e-02 3.33720430e-03 9.99937883e-01 8.81007630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.298033874 meters 0.10820979736573019 Centerline is valid? [False, False] Translation: X:-32.92, Y:-3.37, Z:0.89 [[ 9.99933346e-01 -2.59020464e-03 -1.12513857e-02 -3.29213422e+01] [ 2.56121102e-03 9.99993365e-01 -2.59053862e-03 -3.36926235e+00] [ 1.12580210e-02 2.56154878e-03 9.99933345e-01 8.88559864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.328033874 meters 0.10172531557976727 Centerline is valid? [False, False] Translation: X:-32.93, Y:-3.37, Z:0.90 [[ 9.99931675e-01 -1.99924731e-03 -1.15172722e-02 -3.29278616e+01] [ 1.97612827e-03 9.99996011e-01 -2.01836639e-03 -3.36842117e+00] [ 1.15212614e-02 1.99546887e-03 9.99931637e-01 8.95309772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.358033874 meters 0.09866902411751621 Centerline is valid? [False, True] Translation: X:-32.94, Y:-3.37, Z:0.91 [[ 9.99927884e-01 -1.85732029e-03 -1.18649464e-02 -3.29386169e+01] [ 1.83594492e-03 9.99996673e-01 -1.81219423e-03 -3.36686576e+00] [ 1.18682728e-02 1.79028016e-03 9.99927967e-01 9.05056057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.388033874 meters 0.09866902411751621 Centerline is valid? [True, True] Translation: X:-32.97, Y:-3.37, Z:0.90 [[ 9.99927631e-01 -1.62399639e-03 -1.19203792e-02 -3.29661129e+01] [ 1.61812806e-03 9.99998565e-01 -5.01921912e-04 -3.36661912e+00] [ 1.19211772e-02 4.82596888e-04 9.99928824e-01 9.04761054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.418033874 meters 0.1000828861352713 Centerline is valid? [True, False] Translation: X:-32.97, Y:-3.37, Z:0.91 [[ 9.99933268e-01 -1.95092724e-04 -1.15508011e-02 -3.29718740e+01] [ 2.04040108e-04 9.99999680e-01 7.73438189e-04 -3.36519391e+00] [ 1.15506465e-02 -7.75743403e-04 9.99932988e-01 9.10439830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.448033874000004 meters 0.09451385907346169 Centerline is valid? [False, True] Translation: X:-32.98, Y:-3.37, Z:0.92 [[ 9.99931439e-01 -2.36300425e-03 -1.14688412e-02 -3.29792727e+01] [ 2.34813013e-03 9.99996385e-01 -1.31020780e-03 -3.36540026e+00] [ 1.14718958e-02 1.28318764e-03 9.99933372e-01 9.17512128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.478033874 meters 0.07881004401638049 Centerline is valid? [True, True] Translation: X:-33.01, Y:-3.37, Z:0.92 [[ 9.99893481e-01 1.18459315e-04 -1.45949353e-02 -3.30078046e+01] [-1.28471130e-04 9.99999757e-01 -6.85043059e-04 -3.36516664e+00] [ 1.45948506e-02 6.86845117e-04 9.99893254e-01 9.15734127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 661.78 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%| | 0/1116 [00:00