+ python -m lidar_slam --no-model /working/fc071ed3-786a-4448-952c-097abdcf9849 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/fc071ed3-786a-4448-952c-097abdcf9849 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 0.00528557 Adjusted end_distance from 9.223372036854776e+18 to 42.00672557 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00528557 meters 0.04875225440843387 Centerline is valid? [0, True] SLAMing on 0.03528557 meters 0.0567636997254802 Centerline is valid? [True, True] Translation: X:-0.03, Y:-0.03, Z:0.00 [[ 9.99989089e-01 -4.53465001e-03 -1.12175380e-03 -3.30360595e-02] [ 4.53476957e-03 9.99989712e-01 1.04061648e-04 -2.71979911e-02] [ 1.12127038e-03 -1.09147407e-04 9.99999365e-01 1.18591685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06528557 meters 0.049621560025095206 Centerline is valid? [True, True] Translation: X:-0.06, Y:-0.02, Z:0.01 [[ 9.99986633e-01 -4.29249960e-03 -2.88230159e-03 -6.23812897e-02] [ 4.29328533e-03 9.99990748e-01 2.66471468e-04 -1.89630325e-02] [ 2.88113110e-03 -2.78842449e-04 9.99995811e-01 8.80277418e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09528557000000001 meters 0.052526639722526275 Centerline is valid? [True, True] Translation: X:-0.09, Y:-0.02, Z:0.01 [[ 9.99984465e-01 -4.33734273e-03 -3.50110569e-03 -9.16546726e-02] [ 4.33851009e-03 9.99990536e-01 3.25899679e-04 -2.22979604e-02] [ 3.49965901e-03 -3.41084199e-04 9.99993818e-01 9.23061746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12528557 meters 0.051705092456082416 Centerline is valid? [True, True] Translation: X:-0.12, Y:-0.03, Z:0.01 [[ 9.99988756e-01 -3.03921933e-03 -3.64021163e-03 -1.21668040e-01] [ 3.04047184e-03 9.99995320e-01 3.38591423e-04 -2.76370113e-02] [ 3.63916554e-03 -3.49655576e-04 9.99993317e-01 7.89709742e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.15528557 meters 0.05259341495517257 Centerline is valid? [True, True] Translation: X:-0.15, Y:-0.04, Z:0.02 [[ 9.99998676e-01 -1.42700466e-03 7.82598787e-04 -1.53291089e-01] [ 1.42706183e-03 9.99998979e-01 -7.25046824e-05 -4.08647997e-02] [-7.82494523e-04 7.36214032e-05 9.99999691e-01 1.55068351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18528557 meters 0.05417465036342986 Centerline is valid? [True, True] Translation: X:-0.19, Y:-0.05, Z:0.02 [[ 9.99992699e-01 -2.69337080e-03 2.71070539e-03 -1.85516152e-01] [ 2.69406429e-03 9.99996339e-01 -2.52213824e-04 -5.16111163e-02] [-2.71001616e-03 2.59514797e-04 9.99996294e-01 2.06611550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21528557 meters 0.04843505639626495 Centerline is valid? [True, True] Translation: X:-0.22, Y:-0.04, Z:0.03 [[ 9.99989262e-01 -3.90784890e-03 2.49078312e-03 -2.15108843e-01] [ 3.90843747e-03 9.99992335e-01 -2.31478113e-04 -4.09609041e-02] [-2.48985945e-03 2.41210698e-04 9.99996871e-01 2.57071244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24528557 meters 0.05184804750703956 Centerline is valid? [True, True] Translation: X:-0.25, Y:-0.05, Z:0.03 [[ 9.99972912e-01 -7.10618384e-03 1.91765885e-03 -2.47026388e-01] [ 7.10653806e-03 9.99974732e-01 -1.77961940e-04 -5.26366471e-02] [-1.91634577e-03 1.91585035e-04 9.99998145e-01 2.69507775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27528557000000003 meters 0.05607385798992544 Centerline is valid? [True, True] Translation: X:-0.28, Y:-0.07, Z:0.02 [[ 9.99954846e-01 -9.07393709e-03 2.82318385e-03 -2.79374162e-01] [ 9.07471101e-03 9.99958790e-01 -2.61438784e-04 -7.23926629e-02] [-2.82069522e-03 2.87046556e-04 9.99995981e-01 2.45101450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.30528557000000006 meters 0.05009334703306401 Centerline is valid? [True, True] Translation: X:-0.31, Y:-0.06, Z:0.03 [[ 9.99951768e-01 -8.12657652e-03 5.51543510e-03 -3.08813069e-01] [ 8.12951767e-03 9.99966824e-01 -5.11047781e-04 -6.38050545e-02] [-5.51109905e-03 5.55860960e-04 9.99984659e-01 3.30880740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33528557000000003 meters 0.05285476885989544 Centerline is valid? [True, True] Translation: X:-0.34, Y:-0.07, Z:0.04 [[ 9.99965786e-01 -4.07431614e-03 7.19906569e-03 -3.40001699e-01] [ 4.07922056e-03 9.99991458e-01 -6.66705983e-04 -7.24657326e-02] [-7.19628782e-03 6.96049749e-04 9.99973864e-01 3.94311792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.36528557000000006 meters 0.049607684112291 Centerline is valid? [True, True] Translation: X:-0.37, Y:-0.07, Z:0.04 [[ 9.99964108e-01 2.42534394e-03 8.11793939e-03 -3.69443689e-01] [-2.41932476e-03 9.99996791e-01 -7.51203943e-04 -7.37779495e-02] [-8.11973527e-03 7.31537049e-04 9.99966767e-01 3.75312626e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.39528557000000003 meters 0.04285427137178355 Centerline is valid? [True, True] Translation: X:-0.40, Y:-0.07, Z:0.04 [[ 9.99927499e-01 8.83378342e-03 8.18291784e-03 -3.97904341e-01] [-8.82786933e-03 9.99960746e-01 -7.58575258e-04 -6.57596973e-02] [-8.18929772e-03 6.86282532e-04 9.99966232e-01 4.05413398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.42528557000000006 meters 0.043123429631054824 Centerline is valid? [True, True] Translation: X:-0.43, Y:-0.07, Z:0.04 [[ 9.99894154e-01 1.20346272e-02 8.17612087e-03 -4.28588067e-01] [-1.20288394e-02 9.99927365e-01 -7.56702569e-04 -6.94182914e-02] [-8.18463362e-03 6.58273230e-04 9.99966289e-01 4.45340201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45528557000000003 meters 0.045465246169570074 Centerline is valid? [True, True] Translation: X:-0.46, Y:-0.08, Z:0.04 [[ 9.99867792e-01 1.44461099e-02 7.46377200e-03 -4.61227702e-01] [-1.44413500e-02 9.99895479e-01 -6.91239514e-04 -7.98135976e-02] [-7.47297760e-03 5.83361183e-04 9.99971907e-01 4.22246392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48528557000000005 meters 0.048449933607085466 Centerline is valid? [True, True] Translation: X:-0.49, Y:-0.10, Z:0.04 [[ 9.99867783e-01 1.48996590e-02 6.51278680e-03 -4.94522138e-01] [-1.48960435e-02 9.99888866e-01 -6.03295340e-04 -9.55549947e-02] [-6.52105191e-03 5.06200819e-04 9.99978610e-01 4.13723182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.51528557 meters 0.04525333669132329 Centerline is valid? [True, True] Translation: X:-0.53, Y:-0.10, Z:0.05 [[ 9.99875657e-01 1.34750472e-02 8.19113179e-03 -5.25211548e-01] [-1.34692835e-02 9.99908997e-01 -7.58412350e-04 -9.77912467e-02] [-8.20060602e-03 6.47989370e-04 9.99966165e-01 4.69374663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54528557 meters 0.045393867832080534 Centerline is valid? [True, True] Translation: X:-0.56, Y:-0.10, Z:0.05 [[ 9.99900491e-01 1.03461620e-02 9.58987498e-03 -5.55162065e-01] [-1.03381386e-02 9.99946168e-01 -8.85850743e-04 -1.04566998e-01] [-9.59852389e-03 7.86621137e-04 9.99953624e-01 5.11488415e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.57528557 meters 0.04643213733663674 Centerline is valid? [True, True] Translation: X:-0.59, Y:-0.11, Z:0.05 [[ 9.99928603e-01 7.78384924e-03 9.06644770e-03 -5.87170829e-01] [-7.77656953e-03 9.99969411e-01 -8.37905604e-04 -1.12654900e-01] [-9.07269250e-03 7.67339919e-04 9.99958548e-01 5.42561689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.60528557 meters 0.04741302773320716 Centerline is valid? [True, True] Translation: X:-0.62, Y:-0.12, Z:0.05 [[ 9.99960645e-01 4.97983619e-03 7.34232249e-03 -6.19106257e-01] [-4.97498708e-03 9.99987394e-01 -6.78549279e-04 -1.22574270e-01] [-7.34560900e-03 6.41994615e-04 9.99972815e-01 5.31413836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63528557 meters 0.04977633056699593 Centerline is valid? [True, True] Translation: X:-0.65, Y:-0.13, Z:0.06 [[ 9.99961242e-01 1.99610717e-03 8.57493928e-03 -6.49776590e-01] [-1.98939023e-03 9.99997708e-01 -7.91780013e-04 -1.29607739e-01] [-8.57650010e-03 7.74690425e-04 9.99962921e-01 5.68584508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.66528557 meters 0.04857208251068349 Centerline is valid? [True, True] Translation: X:-0.68, Y:-0.14, Z:0.06 [[ 9.99952425e-01 1.39367577e-04 9.75342307e-03 -6.81964401e-01] [-1.30582333e-04 9.99999585e-01 -9.01365460e-04 -1.40375398e-01] [-9.75354464e-03 9.00048953e-04 9.99952028e-01 5.88916323e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.69528557 meters 0.04714079719721966 Centerline is valid? [True, True] Translation: X:-0.71, Y:-0.14, Z:0.06 [[ 9.99925348e-01 -5.53743634e-04 1.22062588e-02 -7.14632247e-01] [ 5.67553834e-04 9.99999203e-01 -1.12796823e-03 -1.43548895e-01] [-1.22056245e-02 1.13481174e-03 9.99924865e-01 6.19519596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.72528557 meters 0.0491348456301454 Centerline is valid? [True, True] Translation: X:-0.75, Y:-0.15, Z:0.07 [[ 9.99900317e-01 -5.14575607e-04 1.41099551e-02 -7.46837217e-01] [ 5.33022905e-04 9.99999008e-01 -1.30366647e-03 -1.49065986e-01] [-1.41092703e-02 1.31105744e-03 9.99899600e-01 6.58602584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7552855700000001 meters 0.04925039090928017 Centerline is valid? [True, True] Translation: X:-0.78, Y:-0.16, Z:0.07 [[ 9.99929322e-01 5.74300844e-04 1.18752608e-02 -7.79643682e-01] [-5.61353325e-04 9.99999244e-01 -1.09359792e-03 -1.56018012e-01] [-1.18758799e-02 1.08685441e-03 9.99928889e-01 6.54782427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78528557 meters 0.045625593950845623 Centerline is valid? [True, True] Translation: X:-0.81, Y:-0.16, Z:0.06 [[ 9.99944350e-01 6.61754373e-04 1.05289859e-02 -8.10507101e-01] [-6.51565736e-04 9.99999316e-01 -9.71075849e-04 -1.55361481e-01] [-1.05296213e-02 9.64161482e-04 9.99944097e-01 6.37684014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.81528557 meters 0.04719886243483932 Centerline is valid? [True, True] Translation: X:-0.84, Y:-0.17, Z:0.07 [[ 9.99950900e-01 2.65254632e-03 9.54786581e-03 -8.42446497e-01] [-2.64430131e-03 9.99996120e-01 -8.76065283e-04 -1.68774161e-01] [-9.55015257e-03 8.50774834e-04 9.99954034e-01 6.55458155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.84528557 meters 0.046583692908796596 Centerline is valid? [True, True] Translation: X:-0.87, Y:-0.17, Z:0.07 [[ 9.99945931e-01 3.16858838e-03 9.90427040e-03 -8.74070251e-01] [-3.15971610e-03 9.99994593e-01 -9.11323423e-04 -1.68718531e-01] [-9.90710445e-03 8.79979467e-04 9.99950536e-01 6.59462567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8752855700000001 meters 0.04690078182884733 Centerline is valid? [True, True] Translation: X:-0.91, Y:-0.17, Z:0.07 [[ 9.99932113e-01 4.13705709e-03 1.08928456e-02 -9.06202968e-01] [-4.12641468e-03 9.99990987e-01 -9.99302480e-04 -1.73145497e-01] [-1.08968816e-02 9.54286243e-04 9.99940172e-01 6.80926252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.90528557 meters 0.051786059916132304 Centerline is valid? [True, True] Translation: X:-0.94, Y:-0.19, Z:0.07 [[ 0.99992275 0.00305304 0.01204863 -0.9386007 ] [-0.00304 0.99999477 -0.00110002 -0.18505466] [-0.01205193 0.00106331 0.99992681 0.07174311] [ 0. 0. 0. 1. ]] SLAMing on 0.93528557 meters 0.045945234989076454 Centerline is valid? [True, True] Translation: X:-0.97, Y:-0.18, Z:0.07 [[ 0.9999034 0.003995 0.01331288 -0.96913135] [-0.00397917 0.99999135 -0.00121492 -0.18323717] [-0.01331762 0.00116183 0.99991064 0.073163 ] [ 0. 0. 0. 1. ]] SLAMing on 0.96528557 meters 0.045945234989076454 Centerline is valid? [True, True] Translation: X:-1.00, Y:-0.18, Z:0.07 [[ 0.99990444 0.00372626 0.01331271 -1.00146854] [-0.00371039 0.99999238 -0.00121681 -0.18012505] [-0.01331714 0.0011673 0.99991064 0.07392168] [ 0. 0. 0. 1. ]] SLAMing on 0.9952855700000001 meters 0.04845115043379652 Centerline is valid? [True, True] Translation: X:-1.03, Y:-0.19, Z:0.07 [[ 0.99990838 0.00196801 0.01339246 -1.03262369] [-0.00195188 0.99999735 -0.00121776 -0.18663286] [-0.01339483 0.00119151 0.99990958 0.07283739] [ 0. 0. 0. 1. ]] SLAMing on 1.02528557 meters 0.04994668527683619 Centerline is valid? [True, True] Translation: X:-1.06, Y:-0.19, Z:0.08 [[ 9.99903148e-01 4.91681984e-04 1.39087013e-02 -1.06430600e+00] [-4.74132744e-04 9.99999087e-01 -1.26501468e-03 -1.92923267e-01] [-1.39093106e-02 1.25829759e-03 9.99902469e-01 7.53064866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0552855700000001 meters 0.05058938854134362 Centerline is valid? [True, True] Translation: X:-1.09, Y:-0.20, Z:0.08 [[ 0.99986668 -0.00207241 0.01619629 -1.09443477] [ 0.00209652 0.99999672 -0.00147218 -0.19701731] [-0.01619318 0.00150594 0.99986775 0.08034997] [ 0. 0. 0. 1. ]] SLAMing on 1.0852855700000001 meters 0.05048682840530684 Centerline is valid? [True, True] Translation: X:-1.13, Y:-0.21, Z:0.08 [[ 0.99985208 -0.00327929 0.01688397 -1.12665379] [ 0.00330568 0.99999336 -0.0015349 -0.20717861] [-0.01687882 0.00159049 0.99985628 0.08009596] [ 0. 0. 0. 1. ]] SLAMing on 1.1152855700000002 meters 0.047260193909906406 Centerline is valid? [True, True] Translation: X:-1.16, Y:-0.21, Z:0.08 [[ 0.99985852 -0.00642104 0.01554686 -1.15662513] [ 0.00644378 0.99997824 -0.00141267 -0.20536975] [-0.01553745 0.00151265 0.99987814 0.08262121] [ 0. 0. 0. 1. ]] SLAMing on 1.1452855700000002 meters 0.05036900942924984 Centerline is valid? [True, True] Translation: X:-1.19, Y:-0.21, Z:0.08 [[ 0.99983475 -0.00758406 0.01652126 -1.18866531] [ 0.0076099 0.99996992 -0.00150132 -0.2147358 ] [-0.01650938 0.00162679 0.99986239 0.082096 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1752855700000002 meters 0.04649706733939242 Centerline is valid? [True, True] Translation: X:-1.22, Y:-0.21, Z:0.08 [[ 0.99984883 -0.00712893 0.0158589 -1.21929729] [ 0.00715269 0.99997338 -0.00144202 -0.21163745] [-0.0158482 0.00155523 0.9998732 0.08062032] [ 0. 0. 0. 1. ]] SLAMing on 1.2052855700000003 meters 0.056288183695326406 Centerline is valid? [True, True] Translation: X:-1.25, Y:-0.24, Z:0.08 [[ 0.99984734 -0.00733626 0.01585827 -1.25433321] [ 0.00735998 0.99997188 -0.00143736 -0.23674157] [-0.01584728 0.00155386 0.99987322 0.08116979] [ 0. 0. 0. 1. ]] SLAMing on 1.2352855700000003 meters 0.05378854730590924 Centerline is valid? [True, True] Translation: X:-1.28, Y:-0.23, Z:0.09 [[ 0.99983239 -0.00785969 0.01653549 -1.28482648] [ 0.00788553 0.99996779 -0.00149813 -0.2316942 ] [-0.01652319 0.00162827 0.99986216 0.08531589] [ 0. 0. 0. 1. ]] SLAMing on 1.26528557 meters 0.04668241988518531 Centerline is valid? [True, True] Translation: X:-1.32, Y:-0.23, Z:0.09 [[ 0.99982499 -0.0073024 0.01722379 -1.31535039] [ 0.00733029 0.99997192 -0.00155635 -0.22730911] [-0.01721194 0.00168233 0.99985045 0.08844437] [ 0. 0. 0. 1. ]] SLAMing on 1.29528557 meters 0.05339171636858081 Centerline is valid? [True, True] Translation: X:-1.35, Y:-0.25, Z:0.09 [[ 0.999848 -0.00557777 0.01651848 -1.34826604] [ 0.0056031 0.9999832 -0.00148774 -0.2455474 ] [-0.0165099 0.00158007 0.99986245 0.08838673] [ 0. 0. 0. 1. ]] SLAMing on 1.3252855700000001 meters 0.048036539216643706 Centerline is valid? [True, True] Translation: X:-1.38, Y:-0.24, Z:0.09 [[ 9.99879858e-01 -4.52801955e-03 1.48245052e-02 -1.37837664e+00] [ 4.54833041e-03 9.99988763e-01 -1.33665879e-03 -2.37525648e-01] [-1.48182862e-02 1.40392495e-03 9.99889218e-01 9.36876553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3552855700000002 meters 0.047051947072376615 Centerline is valid? [True, True] Translation: X:-1.41, Y:-0.24, Z:0.10 [[ 9.99883882e-01 -4.06862149e-03 1.46856529e-02 -1.41032322e+00] [ 4.08844579e-03 9.99990771e-01 -1.32013911e-03 -2.39132935e-01] [-1.46801462e-02 1.38002731e-03 9.99891289e-01 9.57410536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3852855700000002 meters 0.04843848117069956 Centerline is valid? [True, True] Translation: X:-1.44, Y:-0.24, Z:0.10 [[ 9.99867156e-01 -4.19403052e-03 1.57505439e-02 -1.44268402e+00] [ 4.21682991e-03 9.99990109e-01 -1.41459821e-03 -2.43127030e-01] [-1.57444552e-02 1.48082765e-03 9.99874952e-01 9.68861621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4152855700000002 meters 0.05042404286314149 Centerline is valid? [True, True] Translation: X:-1.48, Y:-0.25, Z:0.10 [[ 9.99866622e-01 -2.72445131e-03 1.61032775e-02 -1.47501772e+00] [ 2.74800740e-03 9.99995186e-01 -1.44086679e-03 -2.52198854e-01] [-1.60992744e-02 1.48492654e-03 9.99869296e-01 1.01689736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4452855700000002 meters 0.04842557826388444 Centerline is valid? [True, True] Translation: X:-1.51, Y:-0.25, Z:0.10 [[ 9.99902743e-01 -9.06858244e-04 1.39169880e-02 -1.50560732e+00] [ 9.24269879e-04 9.99998798e-01 -1.24472571e-03 -2.53650619e-01] [-1.39158425e-02 1.25746770e-03 9.99902379e-01 1.02240205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4752855700000003 meters 0.04712811325180725 Centerline is valid? [True, True] Translation: X:-1.54, Y:-0.25, Z:0.11 [[ 9.99908904e-01 -9.80450002e-04 1.34619184e-02 -1.53732109e+00] [ 9.96764869e-04 9.99998777e-01 -1.20527137e-03 -2.53642832e-01] [-1.34607202e-02 1.21857994e-03 9.99908658e-01 1.06076768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5052855700000003 meters 0.05433336000967116 Centerline is valid? [True, True] Translation: X:-1.57, Y:-0.27, Z:0.11 [[ 9.99893343e-01 -5.99819711e-04 1.45925509e-02 -1.57129271e+00] [ 6.18919138e-04 9.99998958e-01 -1.30436692e-03 -2.72481699e-01] [-1.45917533e-02 1.31325941e-03 9.99892672e-01 1.11860250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.53528557 meters 0.04455780612218789 Centerline is valid? [True, True] Translation: X:-1.60, Y:-0.25, Z:0.12 [[ 9.99886190e-01 -5.51726667e-04 1.50765713e-02 -1.59999922e+00] [ 5.72051388e-04 9.99998933e-01 -1.34382041e-03 -2.50623071e-01] [-1.50758138e-02 1.35229205e-03 9.99885439e-01 1.16024984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5652855700000001 meters 0.04468274945910097 Centerline is valid? [True, True] Translation: X:-1.63, Y:-0.26, Z:0.11 [[ 9.99916770e-01 5.30507513e-04 1.28907835e-02 -1.63304813e+00] [-5.15786300e-04 9.99999211e-01 -1.14529298e-03 -2.57594933e-01] [-1.28913809e-02 1.13854877e-03 9.99916254e-01 1.14410473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5952855700000002 meters 0.043797634763951314 Centerline is valid? [True, True] Translation: X:-1.66, Y:-0.26, Z:0.12 [[ 9.99919148e-01 9.49552268e-04 1.26805275e-02 -1.66465819e+00] [-9.35343940e-04 9.99998928e-01 -1.12636757e-03 -2.59300437e-01] [-1.26815835e-02 1.11441585e-03 9.99918964e-01 1.20013130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6252855700000002 meters 0.047130672331252225 Centerline is valid? [True, True] Translation: X:-1.70, Y:-0.26, Z:0.13 [[ 9.99909413e-01 6.62706837e-04 1.34434852e-02 -1.69781435e+00] [-6.46716631e-04 9.99999078e-01 -1.19375149e-03 -2.63607970e-01] [-1.34442639e-02 1.18494923e-03 9.99908920e-01 1.28418863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6552855700000002 meters 0.044224360004320035 Centerline is valid? [True, True] Translation: X:-1.73, Y:-0.26, Z:0.13 [[ 9.99915531e-01 2.79053636e-03 1.26942525e-02 -1.72873152e+00] [-2.77652361e-03 9.99995517e-01 -1.12135526e-03 -2.64784008e-01] [-1.26973248e-02 1.08601465e-03 9.99918796e-01 1.26003382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6852855700000002 meters 0.04368337852688909 Centerline is valid? [True, True] Translation: X:-1.76, Y:-0.27, Z:0.13 [[ 9.99934775e-01 3.39155329e-03 1.09061189e-02 -1.76045752e+00] [-3.38121998e-03 9.99993817e-01 -9.65776901e-04 -2.66432745e-01] [-1.09093270e-02 9.28837921e-04 9.99940060e-01 1.27811363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7152855700000003 meters 0.04221344485350109 Centerline is valid? [True, True] Translation: X:-1.79, Y:-0.27, Z:0.13 [[ 9.99938601e-01 4.06333524e-03 1.03093668e-02 -1.79152691e+00] [-4.05415715e-03 9.99991367e-01 -9.11009500e-04 -2.65082995e-01] [-1.03129795e-02 8.69157772e-04 9.99946442e-01 1.34519391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7452855700000003 meters 0.03998173068911459 Centerline is valid? [True, True] Translation: X:-1.82, Y:-0.26, Z:0.14 [[ 9.99904721e-01 6.24314402e-03 1.23114576e-02 -1.82107602e+00] [-6.23028759e-03 9.99980006e-01 -1.08234300e-03 -2.63569031e-01] [-1.23179687e-02 1.00553595e-03 9.99923625e-01 1.36955134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7752855700000003 meters 0.04485071201789938 Centerline is valid? [True, True] Translation: X:-1.85, Y:-0.28, Z:0.14 [[ 9.99894837e-01 7.23515529e-03 1.25685046e-02 -1.85445069e+00] [-7.22184312e-03 9.99973312e-01 -1.10423238e-03 -2.75908788e-01] [-1.25761585e-02 1.01334848e-03 9.99920404e-01 1.42037504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8052855700000001 meters 0.04598602042730317 Centerline is valid? [True, True] Translation: X:-1.89, Y:-0.28, Z:0.14 [[ 9.99920562e-01 8.68652760e-03 9.13310560e-03 -1.88781740e+00] [-8.67956081e-03 9.99962010e-01 -8.02166795e-04 -2.84251685e-01] [-9.13972668e-03 7.22831728e-04 9.99957971e-01 1.40715484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8352855700000001 meters 0.041493084902320475 Centerline is valid? [True, True] Translation: X:-1.92, Y:-0.28, Z:0.14 [[ 9.99940037e-01 7.82293491e-03 7.66317615e-03 -1.91724467e+00] [-7.81800311e-03 9.99969212e-01 -6.73316793e-04 -2.75133671e-01] [-7.66820753e-03 6.13365684e-04 9.99970411e-01 1.43783079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8652855700000002 meters 0.042591777768274 Centerline is valid? [True, True] Translation: X:-1.95, Y:-0.28, Z:0.15 [[ 9.99942581e-01 7.60253663e-03 7.55220290e-03 -1.94936344e+00] [-7.59774944e-03 9.99970917e-01 -6.62368101e-04 -2.77871808e-01] [-7.55701894e-03 6.04950324e-04 9.99971262e-01 1.46273733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8952855700000002 meters 0.04225186484682619 Centerline is valid? [True, True] Translation: X:-1.98, Y:-0.28, Z:0.15 [[ 9.99925314e-01 7.93298668e-03 9.29703518e-03 -1.98155369e+00] [-7.92575571e-03 9.99968259e-01 -8.14358600e-04 -2.79849027e-01] [-9.30320038e-03 7.40611749e-04 9.99956450e-01 1.51759413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9252855700000002 meters 0.0473420965319786 Centerline is valid? [True, True] Translation: X:-2.01, Y:-0.29, Z:0.15 [[ 9.99931715e-01 6.78847502e-03 9.51216118e-03 -2.01454105e+00] [-6.78086274e-03 9.99976663e-01 -8.32291392e-04 -2.91129759e-01] [-9.51758919e-03 7.67733900e-04 9.99954412e-01 1.51569453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9552855700000003 meters 0.04289990660942901 Centerline is valid? [True, True] Translation: X:-2.05, Y:-0.28, Z:0.16 [[ 9.99940199e-01 6.69302980e-03 8.64876460e-03 -2.04508149e+00] [-6.68673615e-03 9.99977357e-01 -7.56404709e-04 -2.81636370e-01] [-8.65363141e-03 6.98527468e-04 9.99962313e-01 1.55648215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9852855700000003 meters 0.04220373910515372 Centerline is valid? [True, True] Translation: X:-2.08, Y:-0.28, Z:0.15 [[ 9.99930822e-01 7.79266962e-03 8.81054691e-03 -2.07689495e+00] [-7.78618476e-03 9.99969391e-01 -7.70095536e-04 -2.83760633e-01] [-8.81627832e-03 7.01441716e-04 9.99960890e-01 1.54104925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.01528557 meters 0.04099879406107944 Centerline is valid? [True, True] Translation: X:-2.11, Y:-0.28, Z:0.16 [[ 9.99917032e-01 1.00771808e-02 8.02372907e-03 -2.10727574e+00] [-1.00718793e-02 9.99949032e-01 -7.00862207e-04 -2.80350844e-01] [-8.03038283e-03 6.19990027e-04 9.99967564e-01 1.60403394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04528557 meters 0.04195912000515178 Centerline is valid? [True, True] Translation: X:-2.14, Y:-0.28, Z:0.16 [[ 9.99889720e-01 1.29742149e-02 7.22623346e-03 -2.13877475e+00] [-1.29699923e-02 9.99915687e-01 -6.30891581e-04 -2.79832721e-01] [-7.23380952e-03 5.37097813e-04 9.99973691e-01 1.60681970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.07528557 meters 0.04151072483826146 Centerline is valid? [True, True] Translation: X:-2.17, Y:-0.28, Z:0.16 [[ 9.99849751e-01 1.60536507e-02 6.53873047e-03 -2.16848427e+00] [-1.60502668e-02 9.99871024e-01 -5.69670949e-04 -2.79218859e-01] [-6.54703243e-03 4.64636988e-04 9.99978460e-01 1.62541884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.10528557 meters 0.038989070242224456 Centerline is valid? [True, True] Translation: X:-2.20, Y:-0.27, Z:0.16 [[ 9.99774524e-01 2.02783647e-02 6.29992219e-03 -2.19775304e+00] [-2.02753029e-02 9.99794284e-01 -5.49503389e-04 -2.72799155e-01] [-6.30976922e-03 4.21646659e-04 9.99980004e-01 1.61123099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.13528557 meters 0.037416765285526635 Centerline is valid? [True, True] Translation: X:-2.23, Y:-0.27, Z:0.16 [[ 9.99666267e-01 2.50174109e-02 6.44075751e-03 -2.22748857e+00] [-2.50143104e-02 9.99686935e-01 -5.61506174e-04 -2.68911875e-01] [-6.45278857e-03 4.00207674e-04 9.99979100e-01 1.64784330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16528557 meters 0.03913928056263183 Centerline is valid? [True, True] Translation: X:-2.26, Y:-0.27, Z:0.16 [[ 9.99543451e-01 2.97241175e-02 5.41911138e-03 -2.25795602e+00] [-2.97219900e-02 9.99558092e-01 -4.72722280e-04 -2.71805529e-01] [-5.43076788e-03 3.11439685e-04 9.99985205e-01 1.64274304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1952855700000002 meters 0.03738788774560366 Centerline is valid? [True, True] Translation: X:-2.29, Y:-0.27, Z:0.17 [[ 9.99419769e-01 3.35471481e-02 5.89193028e-03 -2.28639424e+00] [-3.35447017e-02 9.99437086e-01 -5.13580311e-04 -2.66364332e-01] [-5.90584279e-03 3.15639272e-04 9.99982511e-01 1.65933359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.22528557 meters 0.03759103631782139 Centerline is valid? [True, True] Translation: X:-2.31, Y:-0.26, Z:0.17 [[ 9.99305415e-01 3.65750768e-02 7.13798662e-03 -2.31465713e+00] [-3.65715595e-02 9.99330843e-01 -6.22706530e-04 -2.57691305e-01] [-7.15598572e-03 3.61226705e-04 9.99974330e-01 1.70395800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.25528557 meters 0.03460763059698352 Centerline is valid? [True, True] Translation: X:-2.35, Y:-0.26, Z:0.17 [[ 9.99147455e-01 4.07667041e-02 6.51449563e-03 -2.34501328e+00] [-4.07638638e-02 9.99168647e-01 -5.68235622e-04 -2.57048562e-01] [-6.53224487e-03 3.02195163e-04 9.99978619e-01 1.69472742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28528557 meters 0.03724507012604709 Centerline is valid? [True, True] Translation: X:-2.37, Y:-0.25, Z:0.18 [[ 9.99069058e-01 4.24992557e-02 7.40471200e-03 -2.37312788e+00] [-4.24956352e-02 9.99096444e-01 -6.45662825e-04 -2.53132632e-01] [-7.42546162e-03 3.30393810e-04 9.99972376e-01 1.75320704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.31528557 meters 0.03315856499893624 Centerline is valid? [True, True] Translation: X:-2.40, Y:-0.25, Z:0.17 [[ 9.98960801e-01 4.52200198e-02 5.69808857e-03 -2.40264370e+00] [-4.52179184e-02 9.98977023e-01 -4.97155341e-04 -2.49982805e-01] [-5.71474093e-03 2.38982994e-04 9.99983642e-01 1.74295896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34528557 meters 0.031881600218616836 Centerline is valid? [True, True] Translation: X:-2.43, Y:-0.25, Z:0.18 [[ 9.98806627e-01 4.85986291e-02 4.84714245e-03 -2.43237777e+00] [-4.85971480e-02 9.98818371e-01 -4.22955587e-04 -2.47623495e-01] [-4.86196999e-03 1.86893545e-04 9.99988163e-01 1.76095285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.37528557 meters 0.03208327620776232 Centerline is valid? [True, True] Translation: X:-2.46, Y:-0.25, Z:0.18 [[ 9.98682374e-01 5.10824155e-02 4.90943275e-03 -2.46160641e+00] [-5.10809281e-02 9.98694426e-01 -4.27976970e-04 -2.46984264e-01] [-4.92488522e-03 1.76634675e-04 9.99987857e-01 1.77739793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.40528557 meters 0.03292839419681937 Centerline is valid? [True, True] Translation: X:-2.49, Y:-0.25, Z:0.18 [[ 9.98638965e-01 5.19330957e-02 4.81365766e-03 -2.48901913e+00] [-5.19316769e-02 9.98650552e-01 -4.19350602e-04 -2.47093187e-01] [-4.82894005e-03 1.68798537e-04 9.99988326e-01 1.81799537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.43528557 meters 0.030880626313907873 Centerline is valid? [True, True] Translation: X:-2.52, Y:-0.24, Z:0.18 [[ 9.98582370e-01 5.30171912e-02 4.73571915e-03 -2.51617460e+00] [-5.30158284e-02 9.98593587e-01 -4.12922349e-04 -2.43394017e-01] [-4.75095075e-03 1.61268904e-04 9.99988701e-01 1.82495526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4652855700000003 meters 0.03127668454309313 Centerline is valid? [True, True] Translation: X:-2.55, Y:-0.25, Z:0.18 [[ 9.98524359e-01 5.40721696e-02 5.03034568e-03 -2.54561468e+00] [-5.40706545e-02 9.98537017e-01 -4.36806535e-04 -2.45925652e-01] [-5.04660544e-03 1.64167883e-04 9.99987252e-01 1.83265697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.49528557 meters 0.030669564683214995 Centerline is valid? [True, True] Translation: X:-2.57, Y:-0.24, Z:0.18 [[ 9.98553715e-01 5.35740123e-02 4.50586635e-03 -2.57351216e+00] [-5.35727766e-02 9.98563870e-01 -3.94590492e-04 -2.43639470e-01] [-4.52053514e-03 1.52628031e-04 9.99989771e-01 1.84923419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52528557 meters 0.030665823066311715 Centerline is valid? [True, True] Translation: X:-2.60, Y:-0.24, Z:0.19 [[ 9.98615925e-01 5.24575656e-02 3.79980335e-03 -2.60191770e+00] [-5.24566788e-02 9.98623145e-01 -3.32743560e-04 -2.44098414e-01] [-3.81202649e-03 1.32957954e-04 9.99992725e-01 1.85558422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.55528557 meters 0.03155733954489083 Centerline is valid? [True, True] Translation: X:-2.63, Y:-0.25, Z:0.19 [[ 9.98648830e-01 5.18196932e-02 3.90296682e-03 -2.63072082e+00] [-5.18187629e-02 9.98656448e-01 -3.39176540e-04 -2.46945341e-01] [-3.91529900e-03 1.36471343e-04 9.99992326e-01 1.91646139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58528557 meters 0.031932584437696726 Centerline is valid? [True, True] Translation: X:-2.66, Y:-0.25, Z:0.19 [[ 9.98812916e-01 4.85203399e-02 4.30528439e-03 -2.66034275e+00] [-4.85191536e-02 9.98822180e-01 -3.79636908e-04 -2.48351162e-01] [-4.31863366e-03 1.70297493e-04 9.99990660e-01 1.93983828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.61528557 meters 0.03341692842639609 Centerline is valid? [True, True] Translation: X:-2.69, Y:-0.26, Z:0.19 [[ 9.98960858e-01 4.53103621e-02 4.91688867e-03 -2.69065724e+00] [-4.53087745e-02 9.98972936e-01 -4.33839427e-04 -2.55373983e-01] [-4.93149613e-03 2.10610406e-04 9.99987818e-01 1.93054420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.64528557 meters 0.03325842191431581 Centerline is valid? [True, True] Translation: X:-2.72, Y:-0.26, Z:0.20 [[ 9.99135159e-01 4.13211148e-02 4.63674179e-03 -2.71962142e+00] [-4.13196611e-02 9.99145894e-01 -4.08916846e-04 -2.59104407e-01] [-4.64967843e-03 2.16974598e-04 9.99989167e-01 1.96046925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6752855700000002 meters 0.03689307263986573 Centerline is valid? [True, True] Translation: X:-2.75, Y:-0.27, Z:0.19 [[ 9.99246776e-01 3.86126266e-02 3.86598923e-03 -2.75054881e+00] [-3.86115946e-02 9.99254236e-01 -3.41262786e-04 -2.72789497e-01] [-3.87628317e-03 1.91733729e-04 9.99992469e-01 1.94223570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70528557 meters 0.036454395110938745 Centerline is valid? [True, True] Translation: X:-2.78, Y:-0.27, Z:0.20 [[ 9.99425165e-01 3.38307591e-02 2.19543950e-03 -2.77997940e+00] [-3.38304148e-02 9.99427569e-01 -1.93785018e-04 -2.73600758e-01] [-2.20073865e-03 1.19400994e-04 9.99997571e-01 1.96811732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7352855700000003 meters 0.04014700363017446 Centerline is valid? [True, True] Translation: X:-2.81, Y:-0.29, Z:0.20 [[ 9.99598457e-01 2.81649523e-02 3.10814955e-03 -2.81121092e+00] [-2.81642332e-02 9.99603272e-01 -2.74880630e-04 -2.86865776e-01] [-3.11465846e-03 1.87231604e-04 9.99995132e-01 1.95626898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76528557 meters 0.04004909825559861 Centerline is valid? [True, True] Translation: X:-2.84, Y:-0.29, Z:0.20 [[ 9.99719849e-01 2.35225209e-02 2.62969913e-03 -2.84057024e+00] [-2.35219909e-02 9.99723293e-01 -2.32299447e-04 -2.89262816e-01] [-2.63443574e-03 1.70378609e-04 9.99996515e-01 2.04223998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.79528557 meters 0.045363818682051055 Centerline is valid? [True, True] Translation: X:-2.87, Y:-0.30, Z:0.21 [[ 9.99776745e-01 2.07980987e-02 3.72828459e-03 -2.87138032e+00] [-2.07970142e-02 9.99783664e-01 -3.29424272e-04 -2.99899145e-01] [-3.73432943e-03 2.51813538e-04 9.99992996e-01 2.06342715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82528557 meters 0.03902816569498233 Centerline is valid? [True, True] Translation: X:-2.90, Y:-0.29, Z:0.21 [[ 9.99806443e-01 1.95900975e-02 1.81770154e-03 -2.89969762e+00] [-1.95898384e-02 9.99808088e-01 -1.60247041e-04 -2.91465882e-01] [-1.82049196e-03 1.24607544e-04 9.99998335e-01 2.11184512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85528557 meters 0.04268962189784557 Centerline is valid? [True, True] Translation: X:-2.93, Y:-0.30, Z:0.21 [[ 9.99837600e-01 1.79637908e-02 1.44103796e-03 -2.93077947e+00] [-1.79636259e-02 9.99838633e-01 -1.27296193e-04 -3.02593124e-01] [-1.44309215e-03 1.01389253e-04 9.99998954e-01 2.11809902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88528557 meters 0.04268962189784557 Centerline is valid? [True, True] Translation: X:-2.96, Y:-0.30, Z:0.21 [[ 9.99832913e-01 1.82227323e-02 1.44150380e-03 -2.95845179e+00] [-1.82225752e-02 9.99833948e-01 -1.22047719e-04 -3.00304005e-01] [-1.44348848e-03 9.57594147e-05 9.99998954e-01 2.12457655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.91528557 meters 0.042263467683268635 Centerline is valid? [True, True] Translation: X:-2.99, Y:-0.30, Z:0.22 [[ 9.99854860e-01 1.68934027e-02 2.20720865e-03 -2.98648308e+00] [-1.68930138e-02 9.99857284e-01 -1.94725008e-04 -2.98033194e-01] [-2.21018321e-03 1.57410340e-04 9.99997545e-01 2.16772113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9452855700000002 meters 0.04010395042736204 Centerline is valid? [True, True] Translation: X:-3.01, Y:-0.30, Z:0.22 [[ 9.99846844e-01 1.74745941e-02 9.62992074e-04 -3.01475721e+00] [-1.74745256e-02 9.99847306e-01 -7.95083562e-05 -2.99286137e-01] [-9.64234407e-04 6.26683493e-05 9.99999533e-01 2.20888122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.97528557 meters 0.040512381313684453 Centerline is valid? [True, True] Translation: X:-3.04, Y:-0.30, Z:0.22 [[ 9.99827197e-01 1.84949056e-02 1.87464897e-03 -3.04459865e+00] [-1.84946341e-02 9.99828946e-01 -1.62093725e-04 -3.04190357e-01] [-1.87732621e-03 1.27394768e-04 9.99998230e-01 2.21568448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0052855700000003 meters 0.040456077491835475 Centerline is valid? [True, True] Translation: X:-3.07, Y:-0.31, Z:0.22 [[ 9.99819200e-01 1.88542034e-02 2.46715132e-03 -3.07381481e+00] [-1.88537280e-02 9.99822229e-01 -2.15790897e-04 -3.08370387e-01] [-2.47078130e-03 1.69236882e-04 9.99996933e-01 2.24804712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.03528557 meters 0.04162135200582249 Centerline is valid? [True, True] Translation: X:-3.10, Y:-0.31, Z:0.22 [[ 9.99797650e-01 1.98155599e-02 3.46459533e-03 -3.10376371e+00] [-1.98146037e-02 9.99803623e-01 -3.10102285e-04 -3.11247698e-01] [-3.47005981e-03 2.41389952e-04 9.99993950e-01 2.24042429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06528557 meters 0.03920094315146161 Centerline is valid? [True, True] Translation: X:-3.13, Y:-0.31, Z:0.23 [[ 9.99743068e-01 2.26386582e-02 1.13544430e-03 -3.13178470e+00] [-2.26385590e-02 9.99743710e-01 -1.00076243e-04 -3.07979000e-01] [-1.13741889e-03 7.43457073e-05 9.99999350e-01 2.28700957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.09528557 meters 0.03886805987897167 Centerline is valid? [True, True] Translation: X:-3.16, Y:-0.31, Z:0.23 [[ 9.99655714e-01 2.62239308e-02 8.71015238e-04 -3.16201547e+00] [-2.62238728e-02 9.99656092e-01 -7.78537302e-05 -3.05256356e-01] [-8.72757319e-04 5.49855335e-05 9.99999618e-01 2.29847267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12528557 meters 0.03805473648385201 Centerline is valid? [True, True] Translation: X:-3.19, Y:-0.30, Z:0.23 [[ 9.99567791e-01 2.93903641e-02 6.61992589e-04 -3.19239521e+00] [-2.93903312e-02 9.99568009e-01 -5.94692128e-05 -3.01043882e-01] [-6.63454436e-04 3.99873282e-05 9.99999779e-01 2.30639828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.15528557 meters 0.037520924354510383 Centerline is valid? [True, True] Translation: X:-3.22, Y:-0.30, Z:0.23 [[ 9.99355240e-01 3.58983125e-02 6.45041761e-04 -3.22304624e+00] [-3.58982827e-02 9.99355447e-01 -5.77294986e-05 -3.04038079e-01] [-6.46698389e-04 3.45363854e-05 9.99999790e-01 2.29670047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18528557 meters 0.03452237822677489 Centerline is valid? [True, True] Translation: X:-3.25, Y:-0.30, Z:0.23 [[ 9.99223435e-01 3.94009484e-02 3.03523520e-04 -3.25212996e+00] [-3.94009420e-02 9.99223481e-01 -2.68818847e-05 -2.98816239e-01] [-3.04347000e-04 1.49018966e-05 9.99999954e-01 2.30779684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2152855700000003 meters 0.03546195519465727 Centerline is valid? [True, True] Translation: X:-3.28, Y:-0.30, Z:0.23 [[ 9.99111600e-01 4.21336524e-02 8.75432012e-04 -3.28247046e+00] [-4.21336003e-02 9.99111983e-01 -7.79004344e-05 -3.01534592e-01] [-8.77936843e-04 4.09461252e-05 9.99999614e-01 2.30286266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.24528557 meters 0.036042354416914835 Centerline is valid? [True, True] Translation: X:-3.31, Y:-0.31, Z:0.23 [[ 9.99038192e-01 4.38208995e-02 1.55531066e-03 -3.31218392e+00] [-4.38207365e-02 9.99039401e-01 -1.38725045e-04 -3.05584247e-01] [-1.55989569e-03 7.04367596e-05 9.99998781e-01 2.29357685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2752855700000003 meters 0.033215722448083 Centerline is valid? [True, True] Translation: X:-3.34, Y:-0.30, Z:0.24 [[ 9.98967638e-01 4.53397766e-02 2.82188918e-03 -3.33976393e+00] [-4.53392432e-02 9.98971616e-01 -2.52772305e-04 -2.96631720e-01] [-2.83044783e-03 1.24569033e-04 9.99995987e-01 2.41940807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.30528557 meters 0.03277747979186079 Centerline is valid? [True, True] Translation: X:-3.37, Y:-0.30, Z:0.24 [[ 9.98824304e-01 4.83611610e-02 3.34768806e-03 -3.36906967e+00] [-4.83604258e-02 9.98829905e-01 -3.00258765e-04 -2.95973182e-01] [-3.35829181e-03 1.38010132e-04 9.99994351e-01 2.41458199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.33528557 meters 0.0347144129122204 Centerline is valid? [True, True] Translation: X:-3.40, Y:-0.30, Z:0.24 [[ 9.98814083e-01 4.85872951e-02 3.11473704e-03 -3.39829095e+00] [-4.85866734e-02 9.98818932e-01 -2.75009289e-04 -2.99964556e-01] [-3.12442028e-03 1.23348440e-04 9.99995111e-01 2.36044718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36528557 meters 0.03261160992587958 Centerline is valid? [True, True] Translation: X:-3.43, Y:-0.30, Z:0.23 [[ 9.98812021e-01 4.87291634e-02 1.20434971e-04 -3.42607127e+00] [-4.87291628e-02 9.98812029e-01 -8.00260655e-06 -2.95356262e-01] [-1.20681858e-04 2.12440434e-06 9.99999993e-01 2.34649395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.39528557 meters 0.033637637668307664 Centerline is valid? [True, True] Translation: X:-3.46, Y:-0.30, Z:0.23 [[ 9.98898737e-01 4.68890350e-02 -1.65251497e-03 -3.45668976e+00] [-4.68888510e-02 9.98900102e-01 1.49881787e-04 -2.99987759e-01] [ 1.65772519e-03 -7.22321991e-05 9.99998623e-01 2.30488190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4252855700000002 meters 0.03398557677461291 Centerline is valid? [True, True] Translation: X:-3.49, Y:-0.30, Z:0.24 [[ 9.99080236e-01 4.28766181e-02 -5.27298245e-04 -3.48596158e+00] [-4.28765985e-02 9.99080375e-01 4.84909411e-05 -3.04290125e-01] [ 5.28892455e-04 -2.58375857e-05 9.99999860e-01 2.36968778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.45528557 meters 0.037242918768384994 Centerline is valid? [True, True] Translation: X:-3.52, Y:-0.31, Z:0.24 [[ 9.99298949e-01 3.72446109e-02 3.80123557e-03 -3.51701995e+00] [-3.72435723e-02 9.99306158e-01 -3.43658523e-04 -3.10787862e-01] [-3.81139754e-03 2.01846009e-04 9.99992716e-01 2.43002839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4852855700000003 meters 0.03590002595818062 Centerline is valid? [True, True] Translation: X:-3.55, Y:-0.31, Z:0.25 [[ 9.99452968e-01 3.28202748e-02 4.07355115e-03 -3.54629599e+00] [-3.28190456e-02 9.99461242e-01 -3.68237528e-04 -3.12083554e-01] [-4.08344215e-03 2.34346029e-04 9.99991635e-01 2.46682178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.51528557 meters 0.04019101668624186 Centerline is valid? [True, True] Translation: X:-3.58, Y:-0.33, Z:0.24 [[ 9.99622166e-01 2.74323792e-02 1.72934525e-03 -3.57751598e+00] [-2.74321503e-02 9.99623656e-01 -1.55967795e-04 -3.25559856e-01] [-1.73297298e-03 1.08469207e-04 9.99998493e-01 2.42342922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5452855700000003 meters 0.042408838903099114 Centerline is valid? [True, True] Translation: X:-3.61, Y:-0.33, Z:0.24 [[ 9.99760925e-01 2.18329875e-02 1.18900958e-03 -3.60845547e+00] [-2.18328751e-02 9.99761629e-01 -1.07429566e-04 -3.32221695e-01] [-1.19107166e-03 8.14443842e-05 9.99999287e-01 2.43271357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.57528557 meters 0.042511017225422526 Centerline is valid? [True, True] Translation: X:-3.64, Y:-0.33, Z:0.25 [[ 9.99831459e-01 1.81863516e-02 2.51198909e-03 -3.63852062e+00] [-1.81858382e-02 9.99834598e-01 -2.27082846e-04 -3.33767190e-01] [-2.51570341e-03 1.81361947e-04 9.99996819e-01 2.47592907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.60528557 meters 0.04342941312396044 Centerline is valid? [True, True] Translation: X:-3.67, Y:-0.33, Z:0.25 [[ 9.99889093e-01 1.46985188e-02 2.39911785e-03 -3.66840142e+00] [-1.46980395e-02 9.99891954e-01 -2.17285124e-04 -3.31574322e-01] [-2.40205240e-03 1.81998697e-04 9.99997099e-01 2.46519283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.63528557 meters 0.044794193470092954 Centerline is valid? [True, True] Translation: X:-3.70, Y:-0.34, Z:0.25 [[ 9.99933799e-01 1.14925227e-02 -5.65404509e-04 -3.69977239e+00] [-1.14924955e-02 9.99933958e-01 5.13092823e-05 -3.37190625e-01] [ 5.65956841e-04 -4.48079767e-05 9.99999839e-01 2.45736008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.66528557 meters 0.04433770609684453 Centerline is valid? [True, True] Translation: X:-3.73, Y:-0.34, Z:0.25 [[ 9.99957332e-01 9.22670306e-03 -4.50118354e-04 -3.72919485e+00] [-9.22668527e-03 9.99957432e-01 4.15749618e-05 -3.38223236e-01] [ 4.50482794e-04 -3.74200875e-05 9.99999898e-01 2.46772135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6952855700000002 meters 0.04515719017238893 Centerline is valid? [True, True] Translation: X:-3.76, Y:-0.34, Z:0.25 [[ 9.99984116e-01 5.55081997e-03 9.77535964e-04 -3.76041046e+00] [-5.55073605e-03 9.99984591e-01 -8.85318880e-05 -3.42411589e-01] [-9.78012325e-04 8.31044377e-05 9.99999518e-01 2.51655418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.72528557 meters 0.05121995082759632 Centerline is valid? [True, True] Translation: X:-3.79, Y:-0.35, Z:0.25 [[ 9.99992958e-01 2.51775994e-03 2.78283479e-03 -3.79146687e+00] [-2.51706899e-03 9.99996800e-01 -2.51766462e-04 -3.54029992e-01] [-2.78345977e-03 2.44760102e-04 9.99996096e-01 2.54642943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7552855700000003 meters 0.04488004982856917 Centerline is valid? [True, True] Translation: X:-3.82, Y:-0.34, Z:0.26 [[ 9.99996679e-01 1.73707135e-03 1.90404726e-03 -3.82144189e+00] [-1.73674441e-03 9.99998477e-01 -1.73348356e-04 -3.44721787e-01] [-1.90434548e-03 1.70040937e-04 9.99998172e-01 2.56968607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78528557 meters 0.046529588969163795 Centerline is valid? [True, True] Translation: X:-3.85, Y:-0.35, Z:0.26 [[ 9.99997516e-01 8.05302208e-04 2.07837193e-03 -3.85341980e+00] [-8.04911706e-04 9.99999658e-01 -1.88717955e-04 -3.53519676e-01] [-2.07852320e-03 1.87044580e-04 9.99997822e-01 2.58770242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8152855700000003 meters 0.04558453720628887 Centerline is valid? [True, True] Translation: X:-3.88, Y:-0.35, Z:0.26 [[ 9.99999006e-01 -2.78915335e-04 1.38209050e-03 -3.88422083e+00] [ 2.79089691e-04 9.99999953e-01 -1.25962455e-04 -3.52883530e-01] [-1.38205530e-03 1.26348057e-04 9.99999037e-01 2.60193689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84528557 meters 0.04656814033052952 Centerline is valid? [True, True] Translation: X:-3.92, Y:-0.36, Z:0.26 [[ 9.99994546e-01 -3.30147177e-03 -9.07303937e-05 -3.91514407e+00] [ 3.30147253e-03 9.99994550e-01 8.22510364e-06 -3.55619076e-01] [ 9.07027443e-05 -8.52460268e-06 9.99999996e-01 2.61248825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.87528557 meters 0.04728603289527966 Centerline is valid? [True, True] Translation: X:-3.95, Y:-0.36, Z:0.27 [[ 9.99988643e-01 -4.75584550e-03 3.08359109e-04 -3.94751275e+00] [ 4.75585487e-03 9.99988690e-01 -2.96356870e-05 -3.60139571e-01] [-3.08214679e-04 3.11018616e-05 9.99999952e-01 2.66145872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.90528557 meters 0.052980090250157666 Centerline is valid? [True, True] Translation: X:-3.98, Y:-0.37, Z:0.27 [[ 9.99968242e-01 -6.84567291e-03 4.08059767e-03 -3.98055215e+00] [ 6.84724038e-03 9.99976489e-01 -3.70280886e-04 -3.73915230e-01] [-4.07796691e-03 3.98209960e-04 9.99991606e-01 2.70008713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.93528557 meters 0.046687345587510524 Centerline is valid? [True, True] Translation: X:-4.01, Y:-0.37, Z:0.27 [[ 9.99967002e-01 -7.18357086e-03 3.79348006e-03 -4.01061744e+00] [ 7.18494011e-03 9.99974128e-01 -3.47445529e-04 -3.65248123e-01] [-3.79088601e-03 3.74689992e-04 9.99992744e-01 2.69692031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9652855700000003 meters 0.0484551721900209 Centerline is valid? [True, True] Translation: X:-4.04, Y:-0.37, Z:0.27 [[ 9.99955674e-01 -9.41486884e-03 9.90141187e-05 -4.04239918e+00] [ 9.41486981e-03 9.99955679e-01 -9.34095335e-06 -3.72945984e-01] [-9.89217865e-05 1.02727443e-05 9.99999995e-01 2.69077510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.99528557 meters 0.049833238164866435 Centerline is valid? [True, True] Translation: X:-4.07, Y:-0.38, Z:0.27 [[ 9.99927995e-01 -1.19705444e-02 8.42916471e-04 -4.07410608e+00] [ 1.19706129e-02 9.99928347e-01 -7.62394297e-05 -3.78171288e-01] [-8.41943446e-04 8.63241669e-05 9.99999642e-01 2.71186550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.02528557 meters 0.051323931870445635 Centerline is valid? [True, True] Translation: X:-4.11, Y:-0.38, Z:0.28 [[ 9.99871701e-01 -1.57667389e-02 2.82702240e-03 -4.10555316e+00] [ 1.57675226e-02 9.99875652e-01 -2.55131132e-04 -3.82882068e-01] [-2.82264828e-03 2.99673538e-04 9.99995971e-01 2.80020803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.055285570000001 meters 0.05301352092831745 Centerline is valid? [True, True] Translation: X:-4.14, Y:-0.39, Z:0.28 [[ 9.99789219e-01 -2.03530671e-02 2.69626032e-03 -4.13643219e+00] [ 2.03537955e-02 9.99792811e-01 -2.42956865e-04 -3.90206108e-01] [-2.69075676e-03 2.97784785e-04 9.99996336e-01 2.79263080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08528557 meters 0.0490647579553243 Centerline is valid? [True, True] Translation: X:-4.17, Y:-0.39, Z:0.28 [[ 9.99785800e-01 -2.06911657e-02 -4.80377290e-04 -4.16680036e+00] [ 2.06911862e-02 9.99785914e-01 3.78547591e-05 -3.85298554e-01] [ 4.79491189e-04 -4.77862265e-05 9.99999884e-01 2.78844547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.11528557 meters 0.05260546512422577 Centerline is valid? [True, True] Translation: X:-4.20, Y:-0.39, Z:0.29 [[ 9.99483829e-01 -3.21241765e-02 3.34945733e-04 -4.19711092e+00] [ 3.21241884e-02 9.99483885e-01 -3.02561175e-05 -3.94301702e-01] [-3.33800910e-04 4.10003600e-05 9.99999943e-01 2.86364778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.14528557 meters 0.0622145522449685 Centerline is valid? [True, True] Translation: X:-4.23, Y:-0.42, Z:0.29 [[ 9.99206117e-01 -3.96831753e-02 3.51876351e-03 -4.23039957e+00] [ 3.96845325e-02 9.99212208e-01 -3.16719469e-04 -4.18147488e-01] [-3.50342302e-03 4.56108516e-04 9.99993759e-01 2.87299577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.17528557 meters 0.05722384950389226 Centerline is valid? [True, True] Translation: X:-4.26, Y:-0.41, Z:0.29 [[ 9.99010766e-01 -4.43609621e-02 3.09745704e-03 -4.25965795e+00] [ 4.43620355e-02 9.99015481e-01 -2.78675047e-04 -4.07748962e-01] [-3.08204525e-03 4.15808872e-04 9.99995164e-01 2.92075273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.20528557 meters 0.058208310068702106 Centerline is valid? [True, True] Translation: X:-4.29, Y:-0.42, Z:0.29 [[ 9.98551562e-01 -5.37964979e-02 8.45691476e-04 -4.28983692e+00] [ 5.37965814e-02 9.98551913e-01 -7.63162588e-05 -4.15043931e-01] [-8.40361293e-04 1.21701030e-04 9.99999639e-01 2.89090466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.23528557 meters 0.0654192567496652 Centerline is valid? [True, True] Translation: X:-4.32, Y:-0.43, Z:0.29 [[ 9.98008423e-01 -6.30807027e-02 -1.16370816e-04 -4.32194373e+00] [ 6.30807043e-02 9.98008429e-01 9.99177879e-06 -4.30604595e-01] [ 1.15508767e-04 -1.73126324e-05 9.99999993e-01 2.88056014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2652855700000005 meters 0.06963879105274844 Centerline is valid? [True, True] Translation: X:-4.35, Y:-0.44, Z:0.29 [[ 9.97423922e-01 -7.17097131e-02 1.79898403e-03 -4.35317438e+00] [ 7.17101194e-02 9.97425502e-01 -1.62294093e-04 -4.38206924e-01] [-1.78271449e-03 2.90881370e-04 9.99998369e-01 2.90326009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.29528557 meters 0.06696412724202222 Centerline is valid? [True, True] Translation: X:-4.38, Y:-0.43, Z:0.30 [[ 9.96560902e-01 -8.28155082e-02 2.82150374e-03 -4.38252094e+00] [ 8.28165497e-02 9.96564777e-01 -2.54119476e-04 -4.34333858e-01] [-2.79076621e-03 4.86912738e-04 9.99995987e-01 2.97822691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32528557 meters 0.06750830771685765 Centerline is valid? [True, True] Translation: X:-4.41, Y:-0.44, Z:0.29 [[ 9.96467441e-01 -8.39328059e-02 2.81463067e-03 -4.41396946e+00] [ 8.39338465e-02 9.96471297e-01 -2.53430519e-04 -4.35432342e-01] [-2.78342753e-03 4.88778039e-04 9.99996007e-01 2.94589945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.35528557 meters 0.07325050276713317 Centerline is valid? [True, True] Translation: X:-4.45, Y:-0.45, Z:0.29 [[ 9.95964490e-01 -8.97380088e-02 1.35087952e-03 -4.44574503e+00] [ 8.97382543e-02 9.95965376e-01 -1.22136654e-04 -4.45532657e-01] [-1.33446892e-03 2.42869340e-04 9.99999080e-01 2.94715937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.385285570000001 meters 0.07624290002332594 Centerline is valid? [True, True] Translation: X:-4.48, Y:-0.45, Z:0.30 [[ 9.95756733e-01 -9.19964306e-02 2.27736876e-03 -4.47704962e+00] [ 9.19971320e-02 9.95759251e-01 -2.04951570e-04 -4.49588892e-01] [-2.24885620e-03 4.13593301e-04 9.99997386e-01 2.98152278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.41528557 meters 0.07301323664097652 Centerline is valid? [True, True] Translation: X:-4.51, Y:-0.44, Z:0.30 [[ 9.95764201e-01 -9.18386406e-02 4.39536943e-03 -4.50739773e+00] [ 9.18412676e-02 9.95773580e-01 -3.99194133e-04 -4.41186431e-01] [-4.34013130e-03 8.01179527e-04 9.99990261e-01 3.02269210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.44528557 meters 0.06828449878154803 Centerline is valid? [True, True] Translation: X:-4.54, Y:-0.43, Z:0.30 [[ 9.95897626e-01 -9.03678564e-02 4.64424083e-03 -4.53675529e+00] [ 9.03707524e-02 9.95908105e-01 -4.17109552e-04 -4.28563935e-01] [-4.58754379e-03 8.35101951e-04 9.99989128e-01 3.00379858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4752855700000005 meters 0.06961595314406463 Centerline is valid? [True, True] Translation: X:-4.57, Y:-0.43, Z:0.30 [[ 9.96396225e-01 -8.48188144e-02 5.75163497e-04 -4.56774435e+00] [ 8.48188585e-02 9.96396386e-01 -5.26584708e-05 -4.29967399e-01] [-5.68624401e-04 1.01253413e-04 9.99999833e-01 2.98393307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.50528557 meters 0.06652167956992773 Centerline is valid? [True, True] Translation: X:-4.60, Y:-0.42, Z:0.30 [[ 9.96777568e-01 -8.01835825e-02 2.25247591e-03 -4.59651351e+00] [ 8.01842369e-02 9.96780040e-01 -2.01573393e-04 -4.17859554e-01] [-2.22906015e-03 3.81536898e-04 9.99997443e-01 2.98750820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.53528557 meters 0.06884904208725046 Centerline is valid? [True, True] Translation: X:-4.63, Y:-0.42, Z:0.30 [[ 9.96895405e-01 -7.86560316e-02 3.57496033e-03 -4.62776216e+00] [ 7.86576715e-02 9.96901634e-01 -3.20239238e-04 -4.18258436e-01] [-3.53869504e-03 6.00443080e-04 9.99993559e-01 3.00396396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.56528557 meters 0.060214417661909436 Centerline is valid? [True, True] Translation: X:-4.66, Y:-0.40, Z:0.30 [[ 9.97564804e-01 -6.97232226e-02 1.77025256e-03 -4.65671354e+00] [ 6.97236124e-02 9.97566335e-01 -1.59374068e-04 -4.04223233e-01] [-1.75483229e-03 2.82414365e-04 9.99998420e-01 3.00456761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.595285570000001 meters 0.06381128755488089 Centerline is valid? [True, True] Translation: X:-4.69, Y:-0.41, Z:0.30 [[ 9.97973432e-01 -6.36319488e-02 -6.86361970e-05 -4.68829046e+00] [ 6.36319493e-02 9.97973434e-01 5.42905981e-06 -4.10160711e-01] [ 6.81516395e-05 -9.78551246e-06 9.99999998e-01 2.98622733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62528557 meters 0.06427094224340803 Centerline is valid? [True, True] Translation: X:-4.72, Y:-0.41, Z:0.30 [[ 9.98348225e-01 -5.74373751e-02 -1.33037877e-03 -4.71858534e+00] [ 5.74375822e-02 9.98349092e-01 1.17989120e-04 -4.08540228e-01] [ 1.32140546e-03 -1.94207969e-04 9.99999108e-01 3.01986288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.65528557 meters 0.06477463266846989 Centerline is valid? [True, True] Translation: X:-4.75, Y:-0.40, Z:0.30 [[ 9.98687749e-01 -5.11937782e-02 1.40599126e-03 -4.74865964e+00] [ 5.11940055e-02 9.98688719e-01 -1.26138273e-04 -4.04300108e-01] [-1.39769011e-03 1.97951072e-04 9.99999004e-01 3.02711332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6852855700000005 meters 0.05962703105872245 Centerline is valid? [True, True] Translation: X:-4.78, Y:-0.39, Z:0.30 [[ 9.98914689e-01 -4.64003484e-02 4.05599885e-03 -4.77729830e+00] [ 4.64021982e-02 9.98922772e-01 -3.63108257e-04 -3.91312998e-01] [-4.03478126e-03 5.50921434e-04 9.99991708e-01 3.02415498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71528557 meters 0.05424015010175446 Centerline is valid? [True, True] Translation: X:-4.81, Y:-0.39, Z:0.30 [[ 9.99154679e-01 -4.10907402e-02 1.21573930e-03 -4.80746617e+00] [ 4.10909029e-02 9.99155406e-01 -1.09177741e-04 -3.86882835e-01] [-1.21022630e-03 1.59041277e-04 9.99999255e-01 2.97579475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74528557 meters 0.059267726912807364 Centerline is valid? [True, True] Translation: X:-4.84, Y:-0.40, Z:0.29 [[ 9.99184870e-01 -4.03410520e-02 -1.48185028e-03 -4.84017466e+00] [ 4.03412831e-02 9.99185951e-01 1.26394258e-04 -3.97877786e-01] [ 1.47554511e-03 -1.86070972e-04 9.99998894e-01 2.93829384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.77528557 meters 0.059267726912807364 Centerline is valid? [True, True] Translation: X:-4.87, Y:-0.39, Z:0.29 [[ 9.99173688e-01 -4.06170515e-02 -1.48197492e-03 -4.87251507e+00] [ 4.06172809e-02 9.99174770e-01 1.24982872e-04 -3.94804140e-01] [ 1.47567551e-03 -1.85073389e-04 9.99998894e-01 2.94593632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.805285570000001 meters 0.05597802060978971 Centerline is valid? [True, True] Translation: X:-4.90, Y:-0.38, Z:0.30 [[ 9.99147304e-01 -4.12839218e-02 5.49760227e-04 -4.90269624e+00] [ 4.12839581e-02 9.99147452e-01 -5.47969756e-05 -3.82388461e-01] [-5.47029296e-04 7.74465287e-05 9.99999847e-01 3.03863715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.83528557 meters 0.05440258580894786 Centerline is valid? [True, True] Translation: X:-4.93, Y:-0.39, Z:0.31 [[ 9.99209261e-01 -3.96927265e-02 2.31087322e-03 -4.93405538e+00] [ 3.96933041e-02 9.99211889e-01 -2.04598711e-04 -3.87782739e-01] [-2.30093092e-03 2.96163120e-04 9.99997309e-01 3.06862710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.86528557 meters 0.05614681853374853 Centerline is valid? [True, True] Translation: X:-4.97, Y:-0.39, Z:0.30 [[ 9.99151922e-01 -4.11270486e-02 2.00069538e-03 -4.96521829e+00] [ 4.11274839e-02 9.99153891e-01 -1.76908561e-04 -3.93296291e-01] [-1.99172685e-03 2.59042096e-04 9.99997983e-01 3.02915395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.89528557 meters 0.058536787499215454 Centerline is valid? [True, True] Translation: X:-5.00, Y:-0.40, Z:0.30 [[ 9.99060728e-01 -4.33163908e-02 1.16320922e-03 -4.99702942e+00] [ 4.33165396e-02 9.99061393e-01 -1.02996688e-04 -4.03725170e-01] [-1.15765597e-03 1.53286144e-04 9.99999318e-01 3.02935555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.925285570000001 meters 0.05832629268743173 Centerline is valid? [True, True] Translation: X:-5.03, Y:-0.41, Z:0.30 [[ 9.99017221e-01 -4.42488277e-02 2.57564679e-03 -5.02885140e+00] [ 4.42495726e-02 9.99020481e-01 -2.32893758e-04 -4.05505721e-01] [-2.56281862e-03 3.46636144e-04 9.99996656e-01 3.04255554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.95528557 meters 0.06128842466341886 Centerline is valid? [True, True] Translation: X:-5.06, Y:-0.42, Z:0.31 [[ 9.99010223e-01 -4.44190679e-02 2.34977604e-03 -5.06200605e+00] [ 4.44196896e-02 9.99012936e-01 -2.13023865e-04 -4.15496685e-01] [-2.33799434e-03 3.17189341e-04 9.99997217e-01 3.08766169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.98528557 meters 0.053729495530633775 Centerline is valid? [True, True] Translation: X:-5.09, Y:-0.40, Z:0.31 [[ 9.99011774e-01 -4.44461938e-02 1.01901157e-04 -5.09203856e+00] [ 4.44461955e-02 9.99011779e-01 -1.44157851e-05 -4.03576193e-01] [-1.01159729e-04 1.89306578e-05 9.99999995e-01 3.07468504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0152855700000005 meters 0.05509179681690375 Centerline is valid? [True, True] Translation: X:-5.12, Y:-0.41, Z:0.30 [[ 9.99057894e-01 -4.33971523e-02 1.10432014e-04 -5.12412999e+00] [ 4.33971537e-02 9.99057900e-01 -1.05243006e-05 -4.09688329e-01] [-1.09871252e-04 1.53068207e-05 9.99999994e-01 3.04774011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04528557 meters 0.05303233740561121 Centerline is valid? [True, True] Translation: X:-5.15, Y:-0.41, Z:0.31 [[ 9.99051916e-01 -4.34057921e-02 3.34752300e-03 -5.15460314e+00] [ 4.34070297e-02 9.99057426e-01 -2.97910305e-04 -4.06156018e-01] [-3.33143668e-03 4.42933891e-04 9.99994353e-01 3.10480267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.07528557 meters 0.053065652784348605 Centerline is valid? [True, True] Translation: X:-5.19, Y:-0.41, Z:0.32 [[ 9.99012497e-01 -4.40406816e-02 5.86933411e-03 -5.18711094e+00] [ 4.40444711e-02 9.99029437e-01 -5.17888651e-04 -4.06922428e-01] [-5.84082938e-03 7.75888952e-04 9.99982641e-01 3.18649241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.10528557 meters 0.056535382285471454 Centerline is valid? [True, True] Translation: X:-5.22, Y:-0.42, Z:0.31 [[ 9.99020618e-01 -4.41035498e-02 3.56101588e-03 -5.22020853e+00] [ 4.41049482e-02 9.99026854e-01 -3.15110949e-04 -4.19637638e-01] [-3.54365298e-03 4.71860756e-04 9.99993610e-01 3.09567497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.135285570000001 meters 0.05456844100838655 Centerline is valid? [True, True] Translation: X:-5.25, Y:-0.43, Z:0.31 [[ 9.98940551e-01 -4.60051884e-02 1.13929746e-03 -5.25112695e+00] [ 4.60053308e-02 9.98941189e-01 -9.91375915e-05 -4.25869728e-01] [-1.13353031e-03 1.51446317e-04 9.99999346e-01 3.07371783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16528557 meters 0.054292473971404395 Centerline is valid? [True, True] Translation: X:-5.28, Y:-0.43, Z:0.31 [[ 9.98920015e-01 -4.64280595e-02 1.79971405e-03 -5.28337382e+00] [ 4.64284261e-02 9.98921606e-01 -1.62424740e-04 -4.25968884e-01] [-1.79023218e-03 2.45807215e-04 9.99998367e-01 3.12045135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.19528557 meters 0.055574741092125436 Centerline is valid? [True, True] Translation: X:-5.31, Y:-0.43, Z:0.31 [[ 9.99046653e-01 -4.36462415e-02 8.89318752e-04 -5.31464123e+00] [ 4.36463271e-02 9.99047042e-01 -7.71324635e-05 -4.30483634e-01] [-8.85104726e-04 1.15874427e-04 9.99999602e-01 3.09276250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2252855700000005 meters 0.05819862266465374 Centerline is valid? [True, True] Translation: X:-5.35, Y:-0.44, Z:0.31 [[ 9.99076810e-01 -4.29280608e-02 1.64580513e-03 -5.34696160e+00] [ 4.29283540e-02 9.99078143e-01 -1.43183627e-04 -4.40495318e-01] [-1.63814134e-03 2.13703147e-04 9.99998635e-01 3.08600992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.25528557 meters 0.053654225203525946 Centerline is valid? [True, True] Translation: X:-5.38, Y:-0.43, Z:0.31 [[ 9.99207249e-01 -3.96147564e-02 3.94258976e-03 -5.37608102e+00] [ 3.96164090e-02 9.99214903e-01 -3.41926933e-04 -4.32977847e-01] [-3.92594909e-03 4.97847119e-04 9.99992170e-01 3.13735199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.28528557 meters 0.04995585753451832 Centerline is valid? [True, True] Translation: X:-5.41, Y:-0.43, Z:0.31 [[ 9.99318695e-01 -3.67242508e-02 3.67093346e-03 -5.40606542e+00] [ 3.67256635e-02 9.99325335e-01 -3.18150013e-04 -4.26580480e-01] [-3.65677299e-03 4.52750723e-04 9.99993211e-01 3.14647982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.31528557 meters 0.05201087880408551 Centerline is valid? [True, True] Translation: X:-5.44, Y:-0.43, Z:0.31 [[ 9.99456087e-01 -3.29165429e-02 2.00779748e-03 -5.43834581e+00] [ 3.29169581e-02 9.99458075e-01 -1.74099894e-04 -4.34603172e-01] [-2.00097863e-03 2.40095784e-04 9.99997969e-01 3.10351343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.345285570000001 meters 0.050468376232333925 Centerline is valid? [True, True] Translation: X:-5.47, Y:-0.44, Z:0.31 [[ 9.99532858e-01 -3.05526065e-02 7.77485342e-04 -5.46786956e+00] [ 3.05526684e-02 9.99533156e-01 -6.78642512e-05 -4.35457358e-01] [-7.75048948e-04 9.15868008e-05 9.99999695e-01 3.08895257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.37528557 meters 0.04574103226347424 Centerline is valid? [True, True] Translation: X:-5.50, Y:-0.43, Z:0.32 [[ 9.99619590e-01 -2.75377448e-02 1.53226483e-03 -5.49745950e+00] [ 2.75379799e-02 9.99620749e-01 -1.32532007e-04 -4.28382554e-01] [-1.52803408e-03 1.74677068e-04 9.99998817e-01 3.18256277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.40528557 meters 0.04450263452458071 Centerline is valid? [True, True] Translation: X:-5.53, Y:-0.43, Z:0.32 [[ 9.99716969e-01 -2.34427313e-02 4.05211763e-03 -5.52775182e+00] [ 2.34443411e-02 9.99725082e-01 -3.50213344e-04 -4.27253219e-01] [-4.04279367e-03 4.45113451e-04 9.99991729e-01 3.19023441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4352855700000005 meters 0.05005895971669643 Centerline is valid? [True, True] Translation: X:-5.56, Y:-0.44, Z:0.32 [[ 9.99747616e-01 -2.19504191e-02 4.78357307e-03 -5.56065328e+00] [ 2.19526467e-02 9.99758926e-01 -4.13654807e-04 -4.43264287e-01] [-4.77333998e-03 5.18562497e-04 9.99988473e-01 3.16735362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.465285570000001 meters 0.04794984018031729 Centerline is valid? [True, True] Translation: X:-5.59, Y:-0.44, Z:0.31 [[ 9.99796374e-01 -1.99801160e-02 2.82922541e-03 -5.59088177e+00] [ 1.99808860e-02 9.99800332e-01 -2.44155287e-04 -4.44073093e-01] [-2.82378225e-03 3.00636001e-04 9.99995968e-01 3.13825915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.49528557 meters 0.050861841521515516 Centerline is valid? [True, True] Translation: X:-5.62, Y:-0.45, Z:0.31 [[ 9.99803274e-01 -1.97084952e-02 2.23341568e-03 -5.62404460e+00] [ 1.97089857e-02 9.99805740e-01 -1.97820477e-04 -4.53651156e-01] [-2.22908307e-03 2.41799918e-04 9.99997486e-01 3.12748314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.52528557 meters 0.04790022520505769 Centerline is valid? [True, True] Translation: X:-5.65, Y:-0.45, Z:0.31 [[ 9.99862310e-01 -1.63902272e-02 2.59271313e-03 -5.65327290e+00] [ 1.63908644e-02 9.99865636e-01 -2.24715684e-04 -4.49286905e-01] [-2.58868162e-03 2.67181552e-04 9.99996614e-01 3.14664857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.555285570000001 meters 0.0413203992784711 Centerline is valid? [True, True] Translation: X:-5.68, Y:-0.44, Z:0.32 [[ 9.99866546e-01 -1.60685449e-02 2.94826783e-03 -5.68341305e+00] [ 1.60693755e-02 9.99870846e-01 -2.58267382e-04 -4.36319523e-01] [-2.94373707e-03 3.05609738e-04 9.99995620e-01 3.20753068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58528557 meters 0.04394625370457799 Centerline is valid? [True, True] Translation: X:-5.72, Y:-0.45, Z:0.32 [[ 9.99871799e-01 -1.54362033e-02 4.25542813e-03 -5.71582137e+00] [ 1.54379137e-02 9.99880760e-01 -3.69374644e-04 -4.45858392e-01] [-4.24921897e-03 4.35022222e-04 9.99990877e-01 3.17505958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.61528557 meters 0.04538879408596741 Centerline is valid? [True, True] Translation: X:-5.75, Y:-0.46, Z:0.32 [[ 9.99839357e-01 -1.75146171e-02 3.80764163e-03 -5.74773165e+00] [ 1.75159839e-02 9.99846530e-01 -3.25916043e-04 -4.55808652e-01] [-3.80134897e-03 3.92558276e-04 9.99992698e-01 3.16272675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.64528557 meters 0.04273930616365629 Centerline is valid? [True, True] Translation: X:-5.78, Y:-0.45, Z:0.32 [[ 9.99827589e-01 -1.83233770e-02 3.00767074e-03 -5.77746410e+00] [ 1.83242336e-02 9.99832064e-01 -2.57480404e-04 -4.50509309e-01] [-3.00244773e-03 3.12549272e-04 9.99995444e-01 3.21092461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.675285570000001 meters 0.04394762801676586 Centerline is valid? [True, True] Translation: X:-5.81, Y:-0.45, Z:0.32 [[ 9.99792476e-01 -1.99271430e-02 4.23258489e-03 -5.80933713e+00] [ 1.99288540e-02 9.99801335e-01 -3.62446884e-04 -4.54921361e-01] [-4.22452149e-03 4.46722233e-04 9.99990977e-01 3.23340753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.70528557 meters 0.04419423461852621 Centerline is valid? [True, True] Translation: X:-5.84, Y:-0.46, Z:0.32 [[ 9.99762683e-01 -2.14466607e-02 3.82350041e-03 -5.84066197e+00] [ 2.14480663e-02 9.99769910e-01 -3.27008795e-04 -4.56017925e-01] [-3.81560742e-03 4.08937880e-04 9.99992637e-01 3.22392365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.73528557 meters 0.04510213813483056 Centerline is valid? [True, True] Translation: X:-5.87, Y:-0.46, Z:0.33 [[ 9.99632594e-01 -2.68957493e-02 3.36100588e-03 -5.87068753e+00] [ 2.68968647e-02 9.99638173e-01 -2.87109031e-04 -4.61350552e-01] [-3.35206776e-03 3.77404066e-04 9.99994311e-01 3.29572034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7652855700000005 meters 0.043924478333006924 Centerline is valid? [True, True] Translation: X:-5.90, Y:-0.46, Z:0.32 [[ 9.99598599e-01 -2.78871758e-02 4.99472375e-03 -5.90254238e+00] [ 2.78896748e-02 9.99610914e-01 -4.31350507e-04 -4.62892847e-01] [-4.98075122e-03 5.70478583e-04 9.99987433e-01 3.23731922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.79528557 meters 0.04830655664674918 Centerline is valid? [True, True] Translation: X:-5.93, Y:-0.47, Z:0.33 [[ 9.99505971e-01 -3.06620877e-02 6.90286820e-03 -5.93374326e+00] [ 3.06668697e-02 9.99529488e-01 -5.87946133e-04 -4.71488709e-01] [-6.88159266e-03 7.99345030e-04 9.99976002e-01 3.27985224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.82528557 meters 0.0472711733002699 Centerline is valid? [True, True] Translation: X:-5.97, Y:-0.47, Z:0.33 [[ 9.99514091e-01 -3.10211909e-02 3.04433561e-03 -5.96564008e+00] [ 3.10221375e-02 9.99518663e-01 -2.64200268e-04 -4.67421115e-01] [-3.03467445e-03 3.58513689e-04 9.99995331e-01 3.30939918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.85528557 meters 0.048786911934893894 Centerline is valid? [True, True] Translation: X:-6.00, Y:-0.46, Z:0.32 [[ 9.99517441e-01 -3.10440463e-02 -1.07375965e-03 -5.99719612e+00] [ 3.10441610e-02 9.99518010e-01 9.02996880e-05 -4.64277167e-01] [ 1.07043885e-03 -1.23590081e-04 9.99999419e-01 3.18078285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.885285570000001 meters 0.04943952424868252 Centerline is valid? [True, True] Translation: X:-6.03, Y:-0.47, Z:0.32 [[ 9.99560650e-01 -2.95987993e-02 1.55505512e-03 -6.02849036e+00] [ 2.95990404e-02 9.99561844e-01 -1.32275954e-04 -4.67282756e-01] [-1.55045856e-03 1.78245978e-04 9.99998782e-01 3.15579606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.91528557 meters 0.04355863515477373 Centerline is valid? [True, True] Translation: X:-6.06, Y:-0.45, Z:0.33 [[ 9.99554737e-01 -2.90072345e-02 6.99340331e-03 -6.05705732e+00] [ 2.90120871e-02 9.99578885e-01 -5.93404012e-04 -4.54724560e-01] [-6.97324528e-03 7.96033017e-04 9.99975370e-01 3.28725085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.94528557 meters 0.05319667643980286 Centerline is valid? [True, True] Translation: X:-6.09, Y:-0.47, Z:0.32 [[ 9.99539720e-01 -2.97589675e-02 5.89516530e-03 -6.09056199e+00] [ 2.97624342e-02 9.99556875e-01 -5.01175485e-04 -4.74473428e-01] [-5.87763854e-03 6.76399273e-04 9.99982498e-01 3.24405590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9752855700000005 meters 0.051280674684705145 Centerline is valid? [True, True] Translation: X:-6.12, Y:-0.46, Z:0.32 [[ 9.99444884e-01 -3.32641881e-02 1.84850361e-03 -6.11997292e+00] [ 3.32645339e-02 9.99446570e-01 -1.56668763e-04 -4.64096375e-01] [-1.84226913e-03 2.18071404e-04 9.99998279e-01 3.20034458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.005285570000001 meters 0.04443237809868143 Centerline is valid? [True, True] Translation: X:-6.15, Y:-0.45, Z:0.33 [[ 9.99384446e-01 -3.50579656e-02 1.29125329e-03 -6.14835764e+00] [ 3.50581359e-02 9.99385269e-01 -1.09498727e-04 -4.48365520e-01] [-1.28662071e-03 1.54700258e-04 9.99999160e-01 3.29601734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.03528557 meters 0.052128371549727597 Centerline is valid? [True, True] Translation: X:-6.18, Y:-0.47, Z:0.33 [[ 9.99239917e-01 -3.87396885e-02 4.33872329e-03 -6.18073741e+00] [ 3.87416473e-02 9.99249193e-01 -3.68294436e-04 -4.65149238e-01] [-4.32119813e-03 5.36103789e-04 9.99990520e-01 3.31096684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.06528557 meters 0.04939725104378074 Centerline is valid? [True, True] Translation: X:-6.21, Y:-0.46, Z:0.33 [[ 9.99046898e-01 -4.33984469e-02 4.67668524e-03 -6.21013627e+00] [ 4.34007698e-02 9.99057664e-01 -3.96306420e-04 -4.60052491e-01] [-4.65507915e-03 5.98900439e-04 9.99988986e-01 3.33476257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.095285570000001 meters 0.05826310666347085 Centerline is valid? [True, True] Translation: X:-6.24, Y:-0.48, Z:0.32 [[ 9.98831460e-01 -4.81712011e-02 3.90515726e-03 -6.24280839e+00] [ 4.81728578e-02 9.98838959e-01 -3.31228371e-04 -4.78227627e-01] [-3.88466754e-03 5.18963903e-04 9.99992320e-01 3.23567154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12528557 meters 0.05373182689608848 Centerline is valid? [True, True] Translation: X:-6.27, Y:-0.47, Z:0.33 [[ 9.98633538e-01 -5.21238959e-02 3.76256770e-03 -6.27150180e+00] [ 5.21254606e-02 9.98640493e-01 -3.18928491e-04 -4.66938649e-01] [-3.74082867e-03 5.14618262e-04 9.99992871e-01 3.33244856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.15528557 meters 0.05510240155802793 Centerline is valid? [True, True] Translation: X:-6.30, Y:-0.46, Z:0.33 [[ 9.98491736e-01 -5.47844255e-02 3.59441994e-03 -6.30221923e+00] [ 5.47858713e-02 9.98498080e-01 -3.04925945e-04 -4.63326459e-01] [-3.57231622e-03 5.01389464e-04 9.99993494e-01 3.33723436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1852855700000005 meters 0.05266735166509518 Centerline is valid? [True, True] Translation: X:-6.33, Y:-0.46, Z:0.33 [[ 9.98300638e-01 -5.81690354e-02 3.49271857e-03 -6.33128725e+00] [ 5.81704189e-02 9.98306624e-01 -2.95755056e-04 -4.57980757e-01] [-3.46960030e-03 4.98425364e-04 9.99993857e-01 3.33007458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.215285570000001 meters 0.05686665951899186 Centerline is valid? [True, True] Translation: X:-6.36, Y:-0.47, Z:0.33 [[ 9.98127991e-01 -6.10475087e-02 3.70330087e-03 -6.36274849e+00] [ 6.10490856e-02 9.98134716e-01 -3.14164528e-04 -4.66282215e-01] [-3.67721420e-03 5.39659541e-04 9.99993093e-01 3.28860267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24528557 meters 0.0572145798230307 Centerline is valid? [True, True] Translation: X:-6.39, Y:-0.47, Z:0.33 [[ 9.98147726e-01 -6.06774689e-02 4.40029848e-03 -6.39399331e+00] [ 6.06797102e-02 9.98157217e-01 -3.77524231e-04 -4.65278278e-01] [-4.36928247e-03 6.43833788e-04 9.99990247e-01 3.32708755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.27528557 meters 0.05523410011604885 Centerline is valid? [True, True] Translation: X:-6.42, Y:-0.46, Z:0.34 [[ 9.98155162e-01 -6.05357730e-02 4.65754972e-03 -6.42496657e+00] [ 6.05382775e-02 9.98165797e-01 -3.98518749e-04 -4.58634164e-01] [-4.62488219e-03 6.79743584e-04 9.99989074e-01 3.37967632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.305285570000001 meters 0.05465792556340386 Centerline is valid? [True, True] Translation: X:-6.46, Y:-0.45, Z:0.34 [[ 9.98290552e-01 -5.82561698e-02 4.71096381e-03 -6.45525409e+00] [ 5.82586818e-02 9.98301441e-01 -3.97654898e-04 -4.51057062e-01] [-4.67979611e-03 6.71429669e-04 9.99988824e-01 3.37959536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.33528557 meters 0.053871017725833296 Centerline is valid? [True, True] Translation: X:-6.49, Y:-0.45, Z:0.33 [[ 9.98287224e-01 -5.84110276e-02 3.28174852e-03 -6.48735500e+00] [ 5.84122626e-02 9.98292506e-01 -2.81656402e-04 -4.49402145e-01] [-3.25969312e-03 4.72868344e-04 9.99994575e-01 3.31482372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.36528557 meters 0.05629554251855101 Centerline is valid? [True, True] Translation: X:-6.52, Y:-0.45, Z:0.33 [[ 9.98318678e-01 -5.78430282e-02 3.74189500e-03 -6.51985891e+00] [ 5.78446102e-02 9.98325549e-01 -3.15846939e-04 -4.49323098e-01] [-3.71735983e-03 5.31764356e-04 9.99992949e-01 3.27998092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.39528557 meters 0.058387051346741554 Centerline is valid? [True, True] Translation: X:-6.55, Y:-0.45, Z:0.33 [[ 9.98529654e-01 -5.40589075e-02 4.02039962e-03 -6.55121525e+00] [ 5.40606985e-02 9.98537594e-01 -3.38061515e-04 -4.54716548e-01] [-3.99624492e-03 5.54910059e-04 9.99991861e-01 3.34046784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.425285570000001 meters 0.05658236873472839 Centerline is valid? [True, True] Translation: X:-6.58, Y:-0.45, Z:0.33 [[ 9.98607953e-01 -5.26270425e-02 3.54277639e-03 -6.58133650e+00] [ 5.26284236e-02 9.98614120e-01 -2.97682146e-04 -4.47882601e-01] [-3.52220039e-03 4.83718495e-04 9.99993680e-01 3.34805943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.45528557 meters 0.05278368401376968 Centerline is valid? [True, True] Translation: X:-6.61, Y:-0.44, Z:0.33 [[ 9.98695034e-01 -5.09792974e-02 3.05616457e-03 -6.61031706e+00] [ 5.09803165e-02 9.98699625e-01 -2.56445828e-04 -4.40168847e-01] [-3.03911698e-03 4.11915413e-04 9.99995297e-01 3.34312279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.48528557 meters 0.05211847975647065 Centerline is valid? [True, True] Translation: X:-6.64, Y:-0.44, Z:0.33 [[ 9.98798812e-01 -4.89404427e-02 2.40142103e-03 -6.64109430e+00] [ 4.89410669e-02 9.98801648e-01 -2.01812303e-04 -4.41567564e-01] [-2.38866650e-03 3.19097996e-04 9.99997096e-01 3.34765653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5152855700000005 meters 0.05050825907237957 Centerline is valid? [True, True] Translation: X:-6.67, Y:-0.44, Z:0.33 [[ 9.98807161e-01 -4.87097296e-02 3.40847490e-03 -6.67202534e+00] [ 4.87109927e-02 9.98812873e-01 -2.88512280e-04 -4.38906364e-01] [-3.39037526e-03 4.54198328e-04 9.99994150e-01 3.34950866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.545285570000001 meters 0.04931961492506794 Centerline is valid? [True, True] Translation: X:-6.70, Y:-0.44, Z:0.34 [[ 9.98831824e-01 -4.82593492e-02 2.45417378e-03 -6.70363919e+00] [ 4.82600104e-02 9.98834785e-01 -2.10898244e-04 -4.38451607e-01] [-2.44113633e-03 3.29090330e-04 9.99996966e-01 3.41061518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.57528557 meters 0.05285109237610888 Centerline is valid? [True, True] Translation: X:-6.74, Y:-0.45, Z:0.34 [[ 9.98828884e-01 -4.82264585e-02 3.88185562e-03 -6.73623949e+00] [ 4.82280956e-02 9.98836294e-01 -3.29166077e-04 -4.45593467e-01] [-3.86146377e-03 5.15995089e-04 9.99992411e-01 3.36280034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.60528557 meters 0.051459031266844917 Centerline is valid? [True, True] Translation: X:-6.77, Y:-0.45, Z:0.34 [[ 9.98787723e-01 -4.90325265e-02 4.34689958e-03 -6.76640615e+00] [ 4.90345593e-02 9.98797017e-01 -3.62236388e-04 -4.46719346e-01] [-4.32390897e-03 5.74945562e-04 9.99990487e-01 3.38998635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.635285570000001 meters 0.050775869158282916 Centerline is valid? [True, True] Translation: X:-6.80, Y:-0.45, Z:0.34 [[ 9.98563800e-01 -5.35428418e-02 1.87134917e-03 -6.79636068e+00] [ 5.35432255e-02 9.98565521e-01 -1.55506086e-04 -4.52567374e-01] [-1.86033852e-03 2.55480819e-04 9.99998237e-01 3.44697191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66528557 meters 0.05037771060260997 Centerline is valid? [True, True] Translation: X:-6.83, Y:-0.45, Z:0.34 [[ 9.98393240e-01 -5.66331392e-02 1.90401562e-03 -6.82623391e+00] [ 5.66335419e-02 9.98395020e-01 -1.58186445e-04 -4.53581762e-01] [-1.89200112e-03 2.65763426e-04 9.99998175e-01 3.44530271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.69528557 meters 0.05037771060260997 Centerline is valid? [True, True] Translation: X:-6.86, Y:-0.45, Z:0.35 [[ 9.98376343e-01 -5.69302640e-02 1.90345851e-03 -6.85854657e+00] [ 5.69306797e-02 9.98378120e-01 -1.64888821e-04 -4.50722442e-01] [-1.89098416e-03 2.72986285e-04 9.99998175e-01 3.45286948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7252855700000005 meters 0.05639227577117466 Centerline is valid? [True, True] Translation: X:-6.89, Y:-0.47, Z:0.34 [[ 9.98287590e-01 -5.83896701e-02 3.54041499e-03 -6.89101725e+00] [ 5.83910742e-02 9.98293742e-01 -2.94443115e-04 -4.65002809e-01] [-3.51718169e-03 5.00667541e-04 9.99993689e-01 3.42136428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.755285570000001 meters 0.052723554442365275 Centerline is valid? [True, True] Translation: X:-6.92, Y:-0.46, Z:0.34 [[ 9.98218189e-01 -5.95773590e-02 3.31452185e-03 -6.92087280e+00] [ 5.95785940e-02 9.98223580e-01 -2.75033694e-04 -4.58459018e-01] [-3.29224808e-03 4.72018188e-04 9.99994469e-01 3.43564626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.78528557 meters 0.052526729828365246 Centerline is valid? [True, True] Translation: X:-6.95, Y:-0.46, Z:0.34 [[ 9.98136179e-01 -6.09786331e-02 2.40302626e-03 -6.95180569e+00] [ 6.09792868e-02 9.98139012e-01 -1.99639472e-04 -4.60439595e-01] [-2.38638051e-03 3.45802207e-04 9.99997093e-01 3.42578582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.81528557 meters 0.05103865830661575 Centerline is valid? [True, True] Translation: X:-6.98, Y:-0.46, Z:0.35 [[ 9.98188221e-01 -6.01292425e-02 2.17916412e-03 -6.98305204e+00] [ 6.01297790e-02 9.98190551e-01 -1.81434841e-04 -4.62342191e-01] [-2.16431150e-03 3.12138779e-04 9.99997609e-01 3.48853892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.845285570000001 meters 0.05452286479124442 Centerline is valid? [True, True] Translation: X:-7.01, Y:-0.46, Z:0.34 [[ 9.98307257e-01 -5.80175117e-02 4.07287650e-03 -7.01449845e+00] [ 5.80193640e-02 9.98315401e-01 -3.38004650e-04 -4.63923753e-01] [-4.04640514e-03 5.73738199e-04 9.99991649e-01 3.40400855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87528557 meters 0.05285149676015341 Centerline is valid? [True, True] Translation: X:-7.04, Y:-0.46, Z:0.35 [[ 9.98388650e-01 -5.66208875e-02 3.76550214e-03 -7.04442958e+00] [ 5.66224588e-02 9.98395613e-01 -3.11922236e-04 -4.61116518e-01] [-3.74179951e-03 5.24631610e-04 9.99992862e-01 3.45079013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.90528557 meters 0.05200499507893859 Centerline is valid? [True, True] Translation: X:-7.08, Y:-0.46, Z:0.34 [[ 9.98479952e-01 -5.49534132e-02 4.23170908e-03 -7.07500512e+00] [ 5.49553844e-02 9.98488749e-01 -3.50856243e-04 -4.60739162e-01] [-4.20603316e-03 5.82878123e-04 9.99990985e-01 3.44179483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9352855700000005 meters 0.04860696119053308 Centerline is valid? [True, True] Translation: X:-7.11, Y:-0.45, Z:0.34 [[ 9.98509097e-01 -5.44485458e-02 3.86503227e-03 -7.10531922e+00] [ 5.44502031e-02 9.98516434e-01 -3.24802103e-04 -4.53798969e-01] [-3.84161324e-03 5.34769647e-04 9.99992478e-01 3.41728755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.965285570000001 meters 0.05314441359370919 Centerline is valid? [True, True] Translation: X:-7.14, Y:-0.46, Z:0.34 [[ 9.98683983e-01 -5.10120565e-02 5.29838912e-03 -7.13756435e+00] [ 5.10150860e-02 9.98697787e-01 -4.38130974e-04 -4.62952511e-01] [-5.26913953e-03 7.07852163e-04 9.99985867e-01 3.39930419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.99528557 meters 0.05200012042499488 Centerline is valid? [True, True] Translation: X:-7.17, Y:-0.46, Z:0.34 [[ 9.98681222e-01 -5.11819869e-02 4.02759393e-03 -7.16844828e+00] [ 5.11837475e-02 9.98689197e-01 -3.35213745e-04 -4.61262190e-01] [-4.00515764e-03 5.40919023e-04 9.99991833e-01 3.44960342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.02528557 meters 0.04835715915959994 Centerline is valid? [True, True] Translation: X:-7.20, Y:-0.45, Z:0.34 [[ 9.98784226e-01 -4.91729846e-02 3.47669028e-03 -7.19720399e+00] [ 4.91742744e-02 9.98790173e-01 -2.86433057e-04 -4.51341960e-01] [-3.45839931e-03 4.57048541e-04 9.99993915e-01 3.43337396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.055285570000001 meters 0.04817509286767693 Centerline is valid? [True, True] Translation: X:-7.23, Y:-0.45, Z:0.34 [[ 9.98843527e-01 -4.78400552e-02 4.78925402e-03 -7.22860102e+00] [ 4.78424913e-02 9.98854814e-01 -3.95326530e-04 -4.50029807e-01] [-4.76485699e-03 6.23999189e-04 9.99988453e-01 3.38010404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.085285570000001 meters 0.04699660664993506 Centerline is valid? [True, True] Translation: X:-7.26, Y:-0.45, Z:0.35 [[ 9.98794711e-01 -4.86370028e-02 6.60054991e-03 -7.26126128e+00] [ 4.86416495e-02 9.98816146e-01 -5.45192861e-04 -4.52853796e-01] [-6.56621927e-03 8.65597381e-04 9.99978068e-01 3.45068581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.11528557 meters 0.05465980128782675 Centerline is valid? [True, True] Translation: X:-7.30, Y:-0.47, Z:0.34 [[ 9.98776803e-01 -4.89538494e-02 6.95829200e-03 -7.29561904e+00] [ 4.89590389e-02 9.98800620e-01 -5.77319353e-04 -4.69234526e-01] [-6.92168436e-03 9.17284467e-04 9.99975624e-01 3.41969772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.14528557 meters 0.04728712556739308 Centerline is valid? [True, True] Translation: X:-7.33, Y:-0.45, Z:0.34 [[ 9.98770944e-01 -4.91816481e-02 6.14549528e-03 -7.32506244e+00] [ 4.91856785e-02 9.98789524e-01 -5.06324269e-04 -4.50801541e-01] [-6.11315444e-03 8.07972322e-04 9.99980988e-01 3.39005861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.175285570000001 meters 0.0480105577251239 Centerline is valid? [True, True] Translation: X:-7.36, Y:-0.46, Z:0.33 [[ 9.98758472e-01 -4.97176928e-02 3.10908513e-03 -7.35770809e+00] [ 4.97187250e-02 9.98763227e-01 -2.55547758e-04 -4.58484775e-01] [-3.09253466e-03 4.09810237e-04 9.99995134e-01 3.32173232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.20528557 meters 0.05410121599388229 Centerline is valid? [True, True] Translation: X:-7.39, Y:-0.47, Z:0.33 [[ 9.98706954e-01 -5.05929836e-02 4.97690557e-03 -7.39036839e+00] [ 5.05956524e-02 9.98719135e-01 -4.11720284e-04 -4.71917737e-01] [-4.94970067e-03 6.62997695e-04 9.99987530e-01 3.30474919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.23528557 meters 0.04949959688341602 Centerline is valid? [True, True] Translation: X:-7.42, Y:-0.46, Z:0.35 [[ 9.98612722e-01 -5.22954941e-02 6.14922075e-03 -7.41952844e+00] [ 5.22995545e-02 9.98631316e-01 -5.01263221e-04 -4.63692419e-01] [-6.11459060e-03 8.22169335e-04 9.99980968e-01 3.46512196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2652855700000005 meters 0.045918414916415594 Centerline is valid? [True, True] Translation: X:-7.45, Y:-0.45, Z:0.34 [[ 9.98624017e-01 -5.18408816e-02 7.91172997e-03 -7.44996667e+00] [ 5.18476184e-02 9.98654797e-01 -6.48643956e-04 -4.53211738e-01] [-7.86746082e-03 1.05795579e-03 9.99968491e-01 3.44162899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.295285570000001 meters 0.05042382393696055 Centerline is valid? [True, True] Translation: X:-7.48, Y:-0.47, Z:0.34 [[ 9.98667724e-01 -5.11585984e-02 6.75090913e-03 -7.48381221e+00] [ 5.11634641e-02 9.98690141e-01 -5.49916982e-04 -4.71900534e-01] [-6.71393341e-03 8.94584238e-04 9.99977061e-01 3.42285783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.32528557 meters 0.049066387231787065 Centerline is valid? [True, True] Translation: X:-7.51, Y:-0.47, Z:0.34 [[ 9.98769695e-01 -4.89197565e-02 8.12119430e-03 -7.51368382e+00] [ 4.89267138e-02 9.98802153e-01 -6.60120238e-04 -4.65494683e-01] [-8.07917343e-03 1.05665144e-03 9.99966805e-01 3.36140648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.35528557 meters 0.04750085912649891 Centerline is valid? [True, True] Translation: X:-7.54, Y:-0.46, Z:0.34 [[ 9.98847588e-01 -4.73851383e-02 7.62531913e-03 -7.54300716e+00] [ 4.73912205e-02 9.98876213e-01 -6.18833120e-04 -4.61167927e-01] [-7.58742641e-03 9.79493150e-04 9.99970735e-01 3.42548352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.385285570000001 meters 0.0517035209343951 Centerline is valid? [True, True] Translation: X:-7.58, Y:-0.47, Z:0.33 [[ 9.98996417e-01 -4.45768386e-02 4.36621905e-03 -7.57542457e+00] [ 4.45788081e-02 9.99005808e-01 -3.54753430e-04 -4.73309166e-01] [-4.34606441e-03 5.49038247e-04 9.99990405e-01 3.32265982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.41528557 meters 0.05016952758782121 Centerline is valid? [True, True] Translation: X:-7.61, Y:-0.47, Z:0.33 [[ 9.99044203e-01 -4.34055410e-02 5.16128196e-03 -7.60555633e+00] [ 4.34082786e-02 9.99057328e-01 -4.19525529e-04 -4.69978763e-01] [-5.13820683e-03 6.43166913e-04 9.99986592e-01 3.30981030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.44528557 meters 0.04921508499984417 Centerline is valid? [True, True] Translation: X:-7.64, Y:-0.47, Z:0.34 [[ 9.99093135e-01 -4.22227793e-02 5.49032379e-03 -7.63658495e+00] [ 4.22258572e-02 9.99107991e-01 -4.45833146e-04 -4.67017986e-01] [-5.46660206e-03 6.77262464e-04 9.99984829e-01 3.42327939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4752855700000005 meters 0.049276219884689214 Centerline is valid? [True, True] Translation: X:-7.67, Y:-0.46, Z:0.34 [[ 9.99159073e-01 -4.04345767e-02 6.79648799e-03 -7.66659886e+00] [ 4.04392504e-02 9.99181847e-01 -5.51592753e-04 -4.63415676e-01] [-6.76862400e-03 8.25973784e-04 9.99976751e-01 3.39540528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.505285570000001 meters 0.045491960337871735 Centerline is valid? [True, True] Translation: X:-7.70, Y:-0.46, Z:0.34 [[ 9.99214811e-01 -3.90404623e-02 6.75310086e-03 -7.69631891e+00] [ 3.90450385e-02 9.99237302e-01 -5.47088419e-04 -4.59002290e-01] [-6.72659170e-03 8.10333934e-04 9.99977048e-01 3.37552757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.53528557 meters 0.047447669503162176 Centerline is valid? [True, True] Translation: X:-7.73, Y:-0.46, Z:0.34 [[ 9.99284085e-01 -3.69461313e-02 8.14254734e-03 -7.72734919e+00] [ 3.69527175e-02 9.99316797e-01 -6.59854329e-04 -4.59193388e-01] [-8.11260527e-03 9.60271182e-04 9.99966631e-01 3.37969257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.56528557 meters 0.047275615823947646 Centerline is valid? [True, True] Translation: X:-7.76, Y:-0.46, Z:0.34 [[ 9.99414649e-01 -3.38087032e-02 5.22787992e-03 -7.75891575e+00] [ 3.38113769e-02 9.99428142e-01 -4.23870822e-04 -4.60012267e-01] [-5.21055979e-03 6.00384527e-04 9.99986245e-01 3.39435797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.595285570000001 meters 0.047353955191135035 Centerline is valid? [True, True] Translation: X:-7.79, Y:-0.46, Z:0.33 [[ 9.99448084e-01 -3.30970298e-02 2.84849374e-03 -7.79104617e+00] [ 3.30978340e-02 9.99452089e-01 -2.35629403e-04 -4.61907972e-01] [-2.83913439e-03 3.29778328e-04 9.99995915e-01 3.30136948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.625285570000001 meters 0.04837764574050137 Centerline is valid? [True, True] Translation: X:-7.82, Y:-0.46, Z:0.34 [[ 9.99426155e-01 -3.32817016e-02 6.29994505e-03 -7.82227310e+00] [ 3.32855844e-02 9.99445750e-01 -5.12447129e-04 -4.61643770e-01] [-6.27939820e-03 7.21850417e-04 9.99980024e-01 3.35808693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.65528557 meters 0.04478938164924782 Centerline is valid? [True, True] Translation: X:-7.85, Y:-0.45, Z:0.34 [[ 9.99399134e-01 -3.38209686e-02 7.58373051e-03 -7.85215054e+00] [ 3.38265897e-02 9.99427528e-01 -6.14123814e-04 -4.51383422e-01] [-7.55861878e-03 8.70286548e-04 9.99971055e-01 3.43718624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6852855700000005 meters 0.04573893231067452 Centerline is valid? [True, True] Translation: X:-7.88, Y:-0.45, Z:0.33 [[ 9.99412883e-01 -3.36098874e-02 6.65324286e-03 -7.88453018e+00] [ 3.36142055e-02 9.99434738e-01 -5.38234382e-04 -4.49363400e-01] [-6.63139203e-03 7.61561848e-04 9.99977722e-01 3.33097200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.715285570000001 meters 0.042692099389235474 Centerline is valid? [True, True] Translation: X:-7.92, Y:-0.44, Z:0.33 [[ 9.99397947e-01 -3.42825738e-02 5.33380219e-03 -7.91536941e+00] [ 3.42853564e-02 9.99411991e-01 -4.31110773e-04 -4.44016218e-01] [-5.31588628e-03 6.13722530e-04 9.99985682e-01 3.34514004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.74528557 meters 0.04612959410083445 Centerline is valid? [True, True] Translation: X:-7.95, Y:-0.45, Z:0.33 [[ 9.99342857e-01 -3.57618267e-02 5.91144543e-03 -7.94758416e+00] [ 3.57652399e-02 9.99360107e-01 -4.72651322e-04 -4.51045145e-01] [-5.89075986e-03 6.83764987e-04 9.99982416e-01 3.33808958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.77528557 meters 0.0446102254158359 Centerline is valid? [True, True] Translation: X:-7.98, Y:-0.45, Z:0.34 [[ 9.99220181e-01 -3.91474275e-02 5.14874264e-03 -7.97704052e+00] [ 3.91500537e-02 9.99233259e-01 -4.10238827e-04 -4.50096572e-01] [-5.12873509e-03 6.11492465e-04 9.99986661e-01 3.38119667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.805285570000001 meters 0.04658934368051999 Centerline is valid? [True, True] Translation: X:-8.01, Y:-0.46, Z:0.34 [[ 9.99080926e-01 -4.25181842e-02 5.43207130e-03 -8.00870016e+00] [ 4.25211606e-02 9.99095472e-01 -4.33578116e-04 -4.56011946e-01] [-5.40872289e-03 6.64157602e-04 9.99985152e-01 3.35652926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.835285570000001 meters 0.053002484388930744 Centerline is valid? [True, True] Translation: X:-8.04, Y:-0.47, Z:0.34 [[ 9.98911359e-01 -4.61604383e-02 6.73130002e-03 -8.04074982e+00] [ 4.61650887e-02 9.98933680e-01 -5.37035094e-04 -4.68903886e-01] [-6.69933253e-03 8.47201518e-04 9.99977200e-01 3.37096452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.86528557 meters 0.051022011391243995 Centerline is valid? [True, True] Translation: X:-8.07, Y:-0.46, Z:0.34 [[ 9.98722501e-01 -4.99495456e-02 7.64252446e-03 -8.07039115e+00] [ 4.99556455e-02 9.98751251e-01 -6.09234975e-04 -4.59041205e-01] [-7.60254985e-03 9.90243921e-04 9.99970610e-01 3.35235153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.89528557 meters 0.054113884596111037 Centerline is valid? [True, True] Translation: X:-8.10, Y:-0.47, Z:0.33 [[ 9.98361756e-01 -5.69538190e-02 5.48324740e-03 -8.10173440e+00] [ 5.69570631e-02 9.98376533e-01 -4.37192820e-04 -4.66577157e-01] [-5.44944573e-03 7.48786260e-04 9.99984871e-01 3.29803588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.925285570000001 meters 0.050369089932989206 Centerline is valid? [True, True] Translation: X:-8.13, Y:-0.46, Z:0.34 [[ 9.98022259e-01 -6.25753961e-02 5.99085149e-03 -8.13123712e+00] [ 6.25793696e-02 9.98039876e-01 -4.77926824e-04 -4.62204072e-01] [-5.94920222e-03 8.51885318e-04 9.99981940e-01 3.37259588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.955285570000001 meters 0.04630063372290164 Centerline is valid? [True, True] Translation: X:-8.16, Y:-0.45, Z:0.35 [[ 9.97528476e-01 -6.99240559e-02 6.89680512e-03 -8.16017782e+00] [ 6.99294929e-02 9.97551785e-01 -5.50063642e-04 -4.51491307e-01] [-6.84145757e-03 1.03099423e-03 9.99976065e-01 3.46707713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.98528557 meters 0.05349421298131318 Centerline is valid? [True, True] Translation: X:-8.19, Y:-0.47, Z:0.35 [[ 9.97010859e-01 -7.69690337e-02 6.71673185e-03 -8.19295334e+00] [ 7.69743468e-02 9.97032930e-01 -5.35748624e-04 -4.67639695e-01] [-6.65556678e-03 1.05116324e-03 9.99977299e-01 3.49319201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01528557 meters 0.06509150474465875 Centerline is valid? [True, True] Translation: X:-8.23, Y:-0.49, Z:0.34 [[ 9.96330719e-01 -8.53714972e-02 6.06675746e-03 -8.22641867e+00] [ 8.53759826e-02 9.96348688e-01 -4.83776651e-04 -4.93725888e-01] [-6.00330509e-03 9.99956917e-04 9.99981480e-01 3.40372162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04528557 meters 0.06235960392281096 Centerline is valid? [True, True] Translation: X:-8.26, Y:-0.49, Z:0.34 [[ 9.95646064e-01 -9.29960239e-02 6.37609158e-03 -8.25642203e+00] [ 9.30011250e-02 9.95665874e-01 -5.07612230e-04 -4.87602015e-01] [-6.30125088e-03 1.09838581e-03 9.99979544e-01 3.43127195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07528557 meters 0.05391777231294143 Centerline is valid? [True, True] Translation: X:-8.28, Y:-0.46, Z:0.35 [[ 9.94982885e-01 -9.98699988e-02 5.91969379e-03 -8.28426038e+00] [ 9.98745128e-02 9.94999930e-01 -4.71137753e-04 -4.60965491e-01] [-5.84304238e-03 1.06000053e-03 9.99982367e-01 3.52037596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.105285570000001 meters 0.06353739240398555 Centerline is valid? [True, True] Translation: X:-8.32, Y:-0.48, Z:0.35 [[ 9.94245095e-01 -1.06934483e-01 6.45815749e-03 -8.31709016e+00] [ 1.06940004e-01 9.94265342e-01 -5.14689654e-04 -4.80291058e-01] [-6.36608409e-03 1.20236305e-03 9.99979013e-01 3.48076798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.13528557 meters 0.06017281179621525 Centerline is valid? [True, True] Translation: X:-8.35, Y:-0.47, Z:0.35 [[ 9.93965806e-01 -1.09499306e-01 6.47130367e-03 -8.34637368e+00] [ 1.09504897e-01 9.93986123e-01 -5.14916939e-04 -4.68961021e-01] [-6.37600300e-03 1.22044927e-03 9.99978928e-01 3.49117182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16528557 meters 0.06534304207898371 Centerline is valid? [True, True] Translation: X:-8.38, Y:-0.48, Z:0.35 [[ 9.93490350e-01 -1.13674909e-01 7.41214645e-03 -8.37920961e+00] [ 1.13682355e-01 9.93516972e-01 -5.89803579e-04 -4.81026843e-01] [-7.29704744e-03 1.42859443e-03 9.99972356e-01 3.46995171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.195285570000001 meters 0.06512756812436755 Centerline is valid? [True, True] Translation: X:-8.41, Y:-0.47, Z:0.35 [[ 9.93214433e-01 -1.16092673e-01 6.89797917e-03 -8.40933929e+00] [ 1.16099176e-01 9.93237474e-01 -5.48535409e-04 -4.73570096e-01] [-6.78765047e-03 1.34566298e-03 9.99976058e-01 3.49849605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.22528557 meters 0.06436874215459838 Centerline is valid? [True, True] Translation: X:-8.44, Y:-0.47, Z:0.35 [[ 9.92846827e-01 -1.19273944e-01 5.37626386e-03 -8.44042031e+00] [ 1.19277942e-01 9.92860811e-01 -4.28128191e-04 -4.67408154e-01] [-5.28681715e-03 1.06633540e-03 9.99985456e-01 3.52768898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25528557 meters 0.07122649216992473 Centerline is valid? [True, True] Translation: X:-8.47, Y:-0.48, Z:0.35 [[ 9.92833472e-01 -1.19404738e-01 4.91996046e-03 -8.47362454e+00] [ 1.19408104e-01 9.92845179e-01 -3.95224130e-04 -4.76747021e-01] [-4.83756738e-03 9.79874895e-04 9.99987819e-01 3.47797311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.285285570000001 meters 0.06730333948121618 Centerline is valid? [True, True] Translation: X:-8.50, Y:-0.46, Z:0.35 [[ 9.92832692e-01 -1.19412718e-01 4.88352740e-03 -8.50306128e+00] [ 1.19416018e-01 9.92844229e-01 -3.88745450e-04 -4.58254225e-01] [-4.80216085e-03 9.69130587e-04 9.99988000e-01 3.50717667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31528557 meters 0.0667359445440911 Centerline is valid? [True, True] Translation: X:-8.53, Y:-0.45, Z:0.35 [[ 9.93065986e-01 -1.17406337e-01 5.97491489e-03 -8.53424307e+00] [ 1.17411222e-01 9.93083270e-01 -4.72362008e-04 -4.53428205e-01] [-5.87812972e-03 1.17060870e-03 9.99982038e-01 3.54995551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34528557 meters 0.06456818647134406 Centerline is valid? [True, True] Translation: X:-8.56, Y:-0.44, Z:0.36 [[ 9.93391094e-01 -1.14609351e-01 6.23138814e-03 -8.56305917e+00] [ 1.14614614e-01 9.93409909e-01 -4.93021548e-04 -4.39606517e-01] [-6.13381785e-03 1.20397136e-03 9.99980463e-01 3.55601321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.37528557 meters 0.06395677200819559 Centerline is valid? [True, True] Translation: X:-8.59, Y:-0.43, Z:0.35 [[ 9.93779574e-01 -1.11297592e-01 3.87364694e-03 -8.59450375e+00] [ 1.11299600e-01 9.93786851e-01 -3.06015024e-04 -4.34904262e-01] [-3.81552066e-03 7.35246836e-04 9.99992451e-01 3.51340829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.40528557 meters 0.06321019637305529 Centerline is valid? [True, True] Translation: X:-8.62, Y:-0.43, Z:0.35 [[ 9.94002748e-01 -1.09295342e-01 3.61466676e-03 -8.62461674e+00] [ 1.09297083e-01 9.94009087e-01 -2.86909351e-04 -4.25591558e-01] [-3.56165376e-03 6.80261215e-04 9.99993426e-01 3.52333217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.435285570000001 meters 0.06344367717333778 Centerline is valid? [True, True] Translation: X:-8.66, Y:-0.42, Z:0.36 [[ 9.94540042e-01 -1.04251397e-01 4.66389992e-03 -8.65532909e+00] [ 1.04254229e-01 9.94550612e-01 -3.67813611e-04 -4.17702952e-01] [-4.60013944e-03 8.52036657e-04 9.99989056e-01 3.56049719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.46528557 meters 0.05931748690607733 Centerline is valid? [True, True] Translation: X:-8.68, Y:-0.40, Z:0.35 [[ 9.94700976e-01 -1.02716460e-01 4.39281023e-03 -8.68468696e+00] [ 1.02718955e-01 9.94710358e-01 -3.45560256e-04 -4.03007082e-01] [-4.33407911e-03 7.94954001e-04 9.99990292e-01 3.53122799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49528557 meters 0.05805484229319651 Centerline is valid? [True, True] Translation: X:-8.71, Y:-0.39, Z:0.35 [[ 9.94905523e-01 -1.00746908e-01 3.61410257e-03 -8.71442617e+00] [ 1.00748588e-01 9.94911876e-01 -2.85336310e-04 -3.94498742e-01] [-3.56696681e-03 6.47998402e-04 9.99993428e-01 3.53866974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.525285570000001 meters 0.05733577858276575 Centerline is valid? [True, True] Translation: X:-8.74, Y:-0.38, Z:0.35 [[ 9.94912154e-01 -1.00685408e-01 3.50073256e-03 -8.74447727e+00] [ 1.00686989e-01 9.94918114e-01 -2.77754064e-04 -3.84376621e-01] [-3.45497645e-03 6.28819113e-04 9.99993834e-01 3.50855968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.55528557 meters 0.061090980428715115 Centerline is valid? [True, True] Translation: X:-8.78, Y:-0.39, Z:0.35 [[ 9.95062800e-01 -9.92309772e-02 1.79920508e-03 -8.77529645e+00] [ 9.92313903e-02 9.95064375e-01 -1.41592163e-04 -3.85084531e-01] [-1.77627455e-03 3.19430715e-04 9.99998371e-01 3.50259992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58528557 meters 0.061090980428715115 Centerline is valid? [True, True] Translation: X:-8.81, Y:-0.38, Z:0.35 [[ 9.95033080e-01 -9.95285550e-02 1.79875063e-03 -8.80778993e+00] [ 9.95289788e-02 9.95034653e-01 -1.47404148e-04 -3.82342809e-01] [-1.77514829e-03 3.25699817e-04 9.99998371e-01 3.51021967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.615285570000001 meters 0.05817901188571568 Centerline is valid? [True, True] Translation: X:-8.84, Y:-0.37, Z:0.35 [[ 9.95193421e-01 -9.79129238e-02 1.76494420e-03 -8.83720800e+00] [ 9.79133178e-02 9.95194937e-01 -1.38013136e-04 -3.72036725e-01] [-1.74295027e-03 3.10161308e-04 9.99998433e-01 3.54466886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64528557 meters 0.05616459741531037 Centerline is valid? [True, True] Translation: X:-8.87, Y:-0.36, Z:0.36 [[ 9.95177769e-01 -9.80410343e-02 3.02709252e-03 -8.86768360e+00] [ 9.80422074e-02 9.95182228e-01 -2.41261828e-04 -3.61283032e-01] [-2.98885512e-03 5.36881241e-04 9.99995389e-01 3.58853444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67528557 meters 0.055732610140230905 Centerline is valid? [True, True] Translation: X:-8.90, Y:-0.35, Z:0.36 [[ 9.95296195e-01 -9.67701547e-02 4.58484712e-03 -8.89860228e+00] [ 9.67727975e-02 9.95306434e-01 -3.57603509e-04 -3.53098721e-01] [-4.52872249e-03 7.99609894e-04 9.99989426e-01 3.57174870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.705285570000001 meters 0.056912496099931875 Centerline is valid? [True, True] Translation: X:-8.93, Y:-0.35, Z:0.36 [[ 9.95196431e-01 -9.78485611e-02 3.11822777e-03 -8.92951157e+00] [ 9.78497885e-02 9.95201165e-01 -2.43141406e-04 -3.49011225e-01] [-3.07947287e-03 5.47091387e-04 9.99995109e-01 3.57516680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73528557 meters 0.05810447745616363 Centerline is valid? [True, True] Translation: X:-8.96, Y:-0.34, Z:0.35 [[ 9.95208880e-01 -9.77573579e-02 1.66884338e-03 -8.96158930e+00] [ 9.77577182e-02 9.95210234e-01 -1.35537392e-04 -3.44148613e-01] [-1.64760024e-03 2.98030338e-04 9.99998598e-01 3.53087037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.765285570000001 meters 0.05602620679753914 Centerline is valid? [True, True] Translation: X:-8.99, Y:-0.33, Z:0.36 [[ 9.95147898e-01 -9.83803890e-02 1.39989165e-03 -8.99161614e+00] [ 9.83806435e-02 9.95148851e-01 -1.13936445e-04 -3.34463302e-01] [-1.38189145e-03 2.51105855e-04 9.99999014e-01 3.56978597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.79528557 meters 0.0569722886390253 Centerline is valid? [True, True] Translation: X:-9.02, Y:-0.33, Z:0.36 [[ 9.95249278e-01 -9.73371498e-02 2.08667318e-03 -9.02254236e+00] [ 9.73376989e-02 9.95251398e-01 -1.62943509e-04 -3.34239571e-01] [-2.06090395e-03 3.65281376e-04 9.99997810e-01 3.57167805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82528557 meters 0.05680435786485111 Centerline is valid? [True, True] Translation: X:-9.05, Y:-0.33, Z:0.36 [[ 9.95230507e-01 -9.74902338e-02 3.44862698e-03 -9.05386582e+00] [ 9.74917395e-02 9.95236297e-01 -2.70845274e-04 -3.33060203e-01] [-3.40579398e-03 6.05766122e-04 9.99994017e-01 3.57815408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.855285570000001 meters 0.06182860831839284 Centerline is valid? [True, True] Translation: X:-9.09, Y:-0.34, Z:0.35 [[ 9.95278186e-01 -9.70148567e-02 3.07397579e-03 -9.08602619e+00] [ 9.70160505e-02 9.95282788e-01 -2.41302486e-04 -3.42120648e-01] [-3.03606527e-03 5.38388091e-04 9.99995246e-01 3.53585386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.88528557 meters 0.057501976856476275 Centerline is valid? [True, True] Translation: X:-9.12, Y:-0.33, Z:0.36 [[ 9.95002543e-01 -9.98136455e-02 2.67866656e-03 -9.11588460e+00] [ 9.98145507e-02 9.95006037e-01 -2.06047973e-04 -3.32279135e-01] [-2.64472300e-03 4.72388156e-04 9.99996391e-01 3.56102728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91528557 meters 0.057008185975962654 Centerline is valid? [True, True] Translation: X:-9.15, Y:-0.33, Z:0.36 [[ 9.94834965e-01 -1.01477080e-01 2.40738097e-03 -9.14685189e+00] [ 1.01477815e-01 9.94837785e-01 -1.84937741e-04 -3.30316263e-01] [-2.37618661e-03 4.28278293e-04 9.99997085e-01 3.61044489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.945285570000001 meters 0.06800384118262488 Centerline is valid? [True, True] Translation: X:-9.18, Y:-0.35, Z:0.36 [[ 9.94275388e-01 -1.06825421e-01 2.18686801e-03 -9.17937369e+00] [ 1.06826041e-01 9.94277712e-01 -1.68406310e-04 -3.50304821e-01] [-2.15636405e-03 4.01056700e-04 9.99997595e-01 3.57813192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.97528557 meters 0.06494351013766647 Centerline is valid? [True, True] Translation: X:-9.21, Y:-0.34, Z:0.36 [[ 9.93874281e-01 -1.10502986e-01 1.73311445e-03 -9.20937409e+00] [ 1.10503380e-01 9.93875739e-01 -1.33102123e-04 -3.42051132e-01] [-1.70779222e-03 3.23801781e-04 9.99998489e-01 3.61193862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.00528557 meters 0.05717597621477068 Centerline is valid? [True, True] Translation: X:-9.24, Y:-0.32, Z:0.37 [[ 9.93119008e-01 -1.17094942e-01 1.84671131e-03 -9.23777421e+00] [ 1.17095400e-01 9.93120661e-01 -1.41385004e-04 -3.21732787e-01] [-1.81745169e-03 3.56653535e-04 9.99998285e-01 3.68837443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.035285570000001 meters 0.05991040034918196 Centerline is valid? [True, True] Translation: X:-9.27, Y:-0.32, Z:0.37 [[ 9.92294037e-01 -1.23874295e-01 2.77538582e-03 -9.26887340e+00] [ 1.23875357e-01 9.92297763e-01 -2.13289122e-04 -3.22843354e-01] [-2.72758810e-03 5.55447433e-04 9.99996126e-01 3.68194604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06528557 meters 0.06543800594323283 Centerline is valid? [True, True] Translation: X:-9.30, Y:-0.33, Z:0.37 [[ 9.91311853e-01 -1.31510133e-01 2.42777973e-03 -9.30077658e+00] [ 1.31510968e-01 9.91314698e-01 -1.86710808e-04 -3.34925930e-01] [-2.38213937e-03 5.04368300e-04 9.99997036e-01 3.68846799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09528557 meters 0.07898055927820238 Centerline is valid? [True, True] Translation: X:-9.34, Y:-0.37, Z:0.36 [[ 9.90413730e-01 -1.38121545e-01 1.75576194e-03 -9.33520744e+00] [ 1.38121992e-01 9.90415214e-01 -1.35509936e-04 -3.67614893e-01] [-1.72021650e-03 3.76720238e-04 9.99998449e-01 3.61558298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12528557 meters 0.0681574283306134 Centerline is valid? [True, True] Translation: X:-9.36, Y:-0.34, Z:0.36 [[ 9.89811537e-01 -1.42379606e-01 1.08070418e-03 -9.36316292e+00] [ 1.42379778e-01 9.89812099e-01 -8.35419662e-05 -3.39528271e-01] [-1.05779940e-03 2.36561224e-04 9.99999413e-01 3.64909041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15528557 meters 0.06911549735650092 Centerline is valid? [True, True] Translation: X:-9.39, Y:-0.34, Z:0.37 [[ 9.89038464e-01 -1.47656751e-01 6.32687539e-04 -9.39479436e+00] [ 1.47656812e-01 9.89038656e-01 -4.98128280e-05 -3.36206507e-01] [-6.18397233e-04 1.42687428e-04 9.99999799e-01 3.65120995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.185285570000001 meters 0.07269742698956855 Centerline is valid? [True, True] Translation: X:-9.43, Y:-0.34, Z:0.37 [[ 9.88617961e-01 -1.50438986e-01 1.62429267e-03 -9.42649019e+00] [ 1.50439389e-01 9.88619226e-01 -1.28315847e-04 -3.40730220e-01] [-1.58650326e-03 3.71212948e-04 9.99998673e-01 3.68353817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.21528557 meters 0.07074061738947097 Centerline is valid? [True, True] Translation: X:-9.46, Y:-0.33, Z:0.37 [[ 9.88364050e-01 -1.52078297e-01 2.94908164e-03 -9.45637228e+00] [ 1.52079616e-01 9.88368220e-01 -2.27116721e-04 -3.30736992e-01] [-2.88023905e-03 6.72969205e-04 9.99995626e-01 3.71575149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24528557 meters 0.0763583606434788 Centerline is valid? [True, True] Translation: X:-9.49, Y:-0.34, Z:0.37 [[ 9.88782811e-01 -1.49303853e-01 4.11249403e-03 -9.48844153e+00] [ 1.49306379e-01 9.88790932e-01 -3.12533049e-04 -3.41319864e-01] [-4.01973441e-03 9.23048900e-04 9.99991495e-01 3.72846093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.275285570000001 meters 0.06949896343855608 Centerline is valid? [True, True] Translation: X:-9.52, Y:-0.32, Z:0.37 [[ 9.89082123e-01 -1.47359642e-01 1.30033505e-03 -9.51740595e+00] [ 1.47359895e-01 9.89082934e-01 -1.00824004e-04 -3.24737178e-01] [-1.27128182e-03 2.91340458e-04 9.99999149e-01 3.68731286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.30528557 meters 0.07087880772064702 Centerline is valid? [True, True] Translation: X:-9.55, Y:-0.33, Z:0.37 [[ 9.88996970e-01 -1.47933773e-01 7.68946734e-04 -9.54967912e+00] [ 1.47933865e-01 9.88997253e-01 -6.43988519e-05 -3.25553075e-01] [-7.50959443e-04 1.77443532e-04 9.99999702e-01 3.68338210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33528557 meters 0.07066303889825595 Centerline is valid? [True, True] Translation: X:-9.58, Y:-0.32, Z:0.37 [[ 9.88979954e-01 -1.48043142e-01 1.37089561e-03 -9.58114118e+00] [ 1.48043428e-01 9.88980855e-01 -1.09266163e-04 -3.19665957e-01] [-1.33961340e-03 3.11014130e-04 9.99999054e-01 3.68730142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.365285570000001 meters 0.06990694454946152 Centerline is valid? [True, True] Translation: X:-9.61, Y:-0.31, Z:0.38 [[ 9.89175263e-01 -1.46684704e-01 3.98711438e-03 -9.61197152e+00] [ 1.46687047e-01 9.89182905e-01 -3.00133492e-04 -3.13351808e-01] [-3.89996039e-03 8.81742658e-04 9.99992006e-01 3.75921042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.39528557 meters 0.06930652178801576 Centerline is valid? [True, True] Translation: X:-9.64, Y:-0.31, Z:0.37 [[ 9.89476339e-01 -1.44626458e-01 4.44538392e-03 -9.64262695e+00] [ 1.44629365e-01 9.89485843e-01 -3.37867425e-04 -3.10118542e-01] [-4.34977989e-03 9.77244877e-04 9.99990062e-01 3.72717092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42528557 meters 0.07187275279478714 Centerline is valid? [True, True] Translation: X:-9.67, Y:-0.31, Z:0.37 [[ 9.89605320e-01 -1.43787920e-01 2.51905375e-03 -9.67486922e+00] [ 1.43788846e-01 9.89608373e-01 -1.89636115e-04 -3.13485381e-01] [-2.46560930e-03 5.49876740e-04 9.99996809e-01 3.73644921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.455285570000001 meters 0.06972441718075141 Centerline is valid? [True, True] Translation: X:-9.70, Y:-0.30, Z:0.37 [[ 9.89782001e-01 -1.42586372e-01 8.47237024e-04 -9.70416511e+00] [ 1.42586478e-01 9.89782346e-01 -6.57570244e-05 -3.04821722e-01] [-8.29204193e-04 1.85889662e-04 9.99999639e-01 3.73398286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48528557 meters 0.06967970662093265 Centerline is valid? [True, True] Translation: X:-9.74, Y:-0.30, Z:0.38 [[ 9.90156315e-01 -1.39965496e-01 -3.62412644e-04 -9.73581365e+00] [ 1.39965514e-01 9.90156379e-01 2.56137482e-05 -3.01624562e-01] [ 3.55260150e-04 -7.60868867e-05 9.99999934e-01 3.75763136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.515285570000001 meters 0.07277330159866842 Centerline is valid? [True, True] Translation: X:-9.77, Y:-0.30, Z:0.38 [[ 9.90930181e-01 -1.34366367e-01 1.74789708e-03 -9.76721098e+00] [ 1.34366800e-01 9.90931655e-01 -1.32008916e-04 -3.04579176e-01] [-1.71430899e-03 3.65670956e-04 9.99998464e-01 3.75246810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54528557 meters 0.06390372148387513 Centerline is valid? [True, True] Translation: X:-9.80, Y:-0.29, Z:0.38 [[ 9.91770221e-01 -1.27985944e-01 3.38045634e-03 -9.79641396e+00] [ 1.27987520e-01 9.91775746e-01 -2.53036431e-04 -2.85095368e-01] [-3.32026950e-03 6.83610219e-04 9.99994254e-01 3.77043137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57528557 meters 0.06322993804193941 Centerline is valid? [True, True] Translation: X:-9.83, Y:-0.28, Z:0.37 [[ 9.92973363e-01 -1.18336596e-01 -5.91155308e-04 -9.82798975e+00] [ 1.18336642e-01 9.92973533e-01 4.25347495e-05 -2.82277118e-01] [ 5.81968157e-04 -1.12191207e-04 9.99999824e-01 3.71538959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.605285570000001 meters 0.06117253366853111 Centerline is valid? [True, True] Translation: X:-9.86, Y:-0.27, Z:0.37 [[ 9.93849483e-01 -1.10719372e-01 -2.10389062e-03 -9.85726256e+00] [ 1.10719938e-01 9.93851635e-01 1.54135837e-04 -2.74669217e-01] [ 2.07388931e-03 -3.86130461e-04 9.99997775e-01 3.71393074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.63528557 meters 0.06946050527227308 Centerline is valid? [True, True] Translation: X:-9.89, Y:-0.29, Z:0.37 [[ 9.94469388e-01 -1.05012717e-01 -1.72225452e-03 -9.88924785e+00] [ 1.05013088e-01 9.94470832e-01 1.26400933e-04 -2.91217297e-01] [ 1.69945818e-03 -3.06561124e-04 9.99998509e-01 3.71805005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66528557 meters 0.05745449431681434 Centerline is valid? [True, True] Translation: X:-9.92, Y:-0.25, Z:0.38 [[ 9.96130030e-01 -8.78393344e-02 3.03569509e-03 -9.91602393e+00] [ 8.78404207e-02 9.96134534e-01 -2.26154843e-04 -2.52441536e-01] [-3.00409543e-03 4.91936365e-04 9.99995367e-01 3.81557910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.695285570000001 meters 0.052916063905101375 Centerline is valid? [True, True] Translation: X:-9.95, Y:-0.24, Z:0.38 [[ 9.97414987e-01 -7.18322792e-02 1.86225645e-03 -9.94574819e+00] [ 7.18326611e-02 9.97416688e-01 -1.38898305e-04 -2.40032776e-01] [-1.84746828e-03 2.72310087e-04 9.99998256e-01 3.81245915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.72528557 meters 0.05176758721267789 Centerline is valid? [True, True] Translation: X:-9.98, Y:-0.23, Z:0.38 [[ 9.98450681e-01 -5.56195238e-02 -1.64511469e-03 -9.97643187e+00] [ 5.56197975e-02 9.98452014e-01 1.21018800e-04 -2.30752345e-01] [ 1.63583707e-03 -2.12332250e-04 9.99998639e-01 3.77510365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75528557 meters 0.04837989805149689 Centerline is valid? [True, True] Translation: X:-10.01, Y:-0.21, Z:0.38 [[ 9.99175442e-01 -4.05581709e-02 -1.86315492e-03 -1.00059245e+01] [ 4.05584966e-02 9.99177156e-01 1.37303227e-04 -2.10889816e-01] [ 1.85605306e-03 -2.12756775e-04 9.99998255e-01 3.76568639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.785285570000001 meters 0.041875579346389614 Centerline is valid? [True, True] Translation: X:-10.03, Y:-0.19, Z:0.38 [[ 9.99661163e-01 -2.60185784e-02 -7.70541383e-04 -1.00342974e+01] [ 2.60186297e-02 9.99661457e-01 5.65973307e-05 -1.92361227e-01] [ 7.68807940e-04 -7.66265843e-05 9.99999702e-01 3.83567554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81528557 meters 0.042479245219655445 Centerline is valid? [True, True] Translation: X:-10.06, Y:-0.19, Z:0.38 [[ 9.99855197e-01 -1.66393644e-02 3.56611452e-03 -1.00648030e+01] [ 1.66404108e-02 9.99861504e-01 -2.63961641e-04 -1.85315349e-01] [-3.56122847e-03 3.23265029e-04 9.99993607e-01 3.78289591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.845285570000001 meters 0.03936020273571353 Centerline is valid? [True, True] Translation: X:-10.10, Y:-0.19, Z:0.37 [[ 9.99964389e-01 -7.80716953e-03 3.20440550e-03 -1.00959176e+01] [ 7.80796944e-03 9.99969489e-01 -2.37195379e-04 -1.86890111e-01] [-3.20245590e-03 2.62206832e-04 9.99994838e-01 3.74704356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87528557 meters 0.03663339220129748 Centerline is valid? [True, True] Translation: X:-10.13, Y:-0.18, Z:0.38 [[ 9.99999112e-01 -7.70772304e-04 1.08735881e-03 -1.01259118e+01] [ 7.70860307e-04 9.99999700e-01 -8.05165377e-05 -1.83740831e-01] [-1.08729643e-03 8.13546679e-05 9.99999406e-01 3.75199715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90528557 meters 0.038969658196213675 Centerline is valid? [True, True] Translation: X:-10.16, Y:-0.18, Z:0.37 [[ 9.99997660e-01 2.77704749e-04 -2.14521307e-03 -1.01579018e+01] [-2.77378060e-04 9.99999950e-01 1.52583546e-04 -1.84427869e-01] [ 2.14525533e-03 -1.51988154e-04 9.99997687e-01 3.73938979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.935285570000001 meters 0.03684542452110291 Centerline is valid? [True, True] Translation: X:-10.18, Y:-0.18, Z:0.38 [[ 9.99998452e-01 -1.72521570e-05 -1.75945785e-03 -1.01848329e+01] [ 1.74843055e-05 9.99999991e-01 1.31927899e-04 -1.75458608e-01] [ 1.75945555e-03 -1.31958457e-04 9.99998443e-01 3.77530680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.96528557 meters 0.03523240932214919 Centerline is valid? [True, True] Translation: X:-10.21, Y:-0.18, Z:0.38 [[ 9.99999965e-01 -1.22823001e-04 -2.35113047e-04 -1.02138100e+01] [ 1.22828438e-04 9.99999992e-01 2.31136005e-05 -1.75372607e-01] [ 2.35110206e-04 -2.31424782e-05 9.99999972e-01 3.80245605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99528557 meters 0.0366271159654375 Centerline is valid? [True, True] Translation: X:-10.24, Y:-0.18, Z:0.38 [[ 9.99998350e-01 -1.54522403e-03 9.55411795e-04 -1.02445125e+01] [ 1.54529235e-03 9.99998804e-01 -7.07743738e-05 -1.78636343e-01] [-9.55301289e-04 7.22506475e-05 9.99999541e-01 3.82509620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.025285570000001 meters 0.03538811690109486 Centerline is valid? [True, True] Translation: X:-10.28, Y:-0.18, Z:0.39 [[ 9.99992031e-01 -3.59327022e-03 1.73941316e-03 -1.02753626e+01] [ 3.59350108e-03 9.99993535e-01 -1.29616829e-04 -1.77643186e-01] [-1.73893617e-03 1.35866379e-04 9.99998479e-01 3.87759421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.05528557 meters 0.03770536000345304 Centerline is valid? [True, True] Translation: X:-10.31, Y:-0.18, Z:0.39 [[ 9.99972103e-01 -7.46910891e-03 7.88810496e-05 -1.03065500e+01] [ 7.46910939e-03 9.99972106e-01 -5.82937220e-06 -1.83841766e-01] [-7.88353091e-05 6.41838077e-06 9.99999997e-01 3.86527774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08528557 meters 0.040124131221523585 Centerline is valid? [True, True] Translation: X:-10.34, Y:-0.19, Z:0.39 [[ 9.99945948e-01 -1.03306542e-02 -1.17403552e-03 -1.03378688e+01] [ 1.03307632e-02 9.99946632e-01 8.68495084e-05 -1.94543059e-01] [ 1.17307566e-03 -9.89734970e-05 9.99999307e-01 3.86785202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.115285570000001 meters 0.0397887503136498 Centerline is valid? [True, True] Translation: X:-10.37, Y:-0.20, Z:0.39 [[ 9.99896638e-01 -1.43457003e-02 -9.56511374e-04 -1.03677993e+01] [ 1.43457750e-02 9.99897092e-01 7.12662701e-05 -1.96994228e-01] [ 9.55390576e-04 -8.49808008e-05 9.99999540e-01 3.85454160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.14528557 meters 0.04069346256519953 Centerline is valid? [True, True] Translation: X:-10.40, Y:-0.21, Z:0.39 [[ 9.99791048e-01 -2.03277255e-02 2.15485602e-03 -1.03983291e+01] [ 2.03281161e-02 9.99793350e-01 -1.59545704e-04 -2.06379841e-01] [-2.15116752e-03 2.03316530e-04 9.99997666e-01 3.88125593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17528557 meters 0.04192537639090297 Centerline is valid? [True, True] Translation: X:-10.43, Y:-0.21, Z:0.39 [[ 9.99751271e-01 -2.21320104e-02 2.75134169e-03 -1.04303406e+01] [ 2.21326562e-02 9.99755022e-01 -2.04499141e-04 -2.13265260e-01] [-2.74614170e-03 2.65342776e-04 9.99996194e-01 3.90278613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.205285570000001 meters 0.042417945922705605 Centerline is valid? [True, True] Translation: X:-10.46, Y:-0.22, Z:0.39 [[ 9.99722095e-01 -2.34638457e-02 2.27619853e-03 -1.04628290e+01] [ 2.34642921e-02 9.99724661e-01 -1.69604374e-04 -2.20217313e-01] [-2.27159223e-03 2.22966627e-04 9.99997395e-01 3.88014909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23528557 meters 0.04293265446732934 Centerline is valid? [True, True] Translation: X:-10.49, Y:-0.22, Z:0.39 [[ 9.99665920e-01 -2.57499284e-02 2.23358375e-03 -1.04927496e+01] [ 2.57503612e-02 9.99668391e-01 -1.65218982e-04 -2.17754346e-01] [-2.22858869e-03 2.22679374e-04 9.99997492e-01 3.86517577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.265285570000001 meters 0.04228044598732931 Centerline is valid? [True, True] Translation: X:-10.52, Y:-0.23, Z:0.38 [[ 9.99637408e-01 -2.69261089e-02 1.92664352e-04 -1.05247408e+01] [ 2.69261123e-02 9.99637426e-01 -1.50610428e-05 -2.27409734e-01] [-1.92188961e-04 2.02432838e-05 9.99999981e-01 3.84071437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.29528557 meters 0.04479944693148459 Centerline is valid? [True, True] Translation: X:-10.56, Y:-0.23, Z:0.39 [[ 9.99499866e-01 -3.16152216e-02 7.04298503e-04 -1.05561035e+01] [ 3.16152664e-02 9.99500111e-01 -5.24331098e-05 -2.30255134e-01] [-7.02288748e-04 7.46734710e-05 9.99999751e-01 3.88735490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32528557 meters 0.042908312696286977 Centerline is valid? [True, True] Translation: X:-10.59, Y:-0.23, Z:0.40 [[ 9.99466673e-01 -3.26470468e-02 7.35325320e-04 -1.05864902e+01] [ 3.26470961e-02 9.99466940e-01 -5.51558666e-05 -2.28044018e-01] [-7.33132672e-04 7.91326868e-05 9.99999728e-01 3.97923925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.355285570000001 meters 0.04571640844217706 Centerline is valid? [True, True] Translation: X:-10.62, Y:-0.23, Z:0.40 [[ 9.99397792e-01 -3.46631310e-02 1.58759264e-03 -1.06174935e+01] [ 3.46633611e-02 9.99399038e-01 -1.17686190e-04 -2.33445181e-01] [-1.58255918e-03 1.72646615e-04 9.99998733e-01 4.01090983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.38528557 meters 0.04616674124744759 Centerline is valid? [True, True] Translation: X:-10.65, Y:-0.23, Z:0.40 [[ 9.99439253e-01 -3.33499716e-02 2.99301257e-03 -1.06485424e+01] [ 3.33507840e-02 9.99443683e-01 -2.21927563e-04 -2.31413342e-01] [-2.98394622e-03 3.21622434e-04 9.99995496e-01 3.99242222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41528557 meters 0.040031968640003454 Centerline is valid? [True, True] Translation: X:-10.68, Y:-0.23, Z:0.41 [[ 9.99469065e-01 -3.24631737e-02 2.78030736e-03 -1.06789057e+01] [ 3.24638825e-02 9.99472887e-01 -2.10170693e-04 -2.25649908e-01] [-2.77201902e-03 3.00318677e-04 9.99996113e-01 4.05025657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.445285570000001 meters 0.04593190860458743 Centerline is valid? [True, True] Translation: X:-10.71, Y:-0.24, Z:0.40 [[ 9.99428876e-01 -3.35031208e-02 4.41169475e-03 -1.07117475e+01] [ 3.35048979e-02 9.99438499e-01 -3.29519419e-04 -2.40109728e-01] [-4.39817765e-03 4.77144605e-04 9.99990214e-01 3.97759385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.47528557 meters 0.04253112402397078 Centerline is valid? [True, True] Translation: X:-10.74, Y:-0.24, Z:0.40 [[ 9.99390878e-01 -3.44925026e-02 5.30470056e-03 -1.07421285e+01] [ 3.44950492e-02 9.99404793e-01 -3.89287883e-04 -2.41863232e-01] [-5.28811565e-03 5.72036666e-04 9.99985854e-01 4.00538849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.50528557 meters 0.04253112402397078 Centerline is valid? [True, True] Translation: X:-10.77, Y:-0.24, Z:0.40 [[ 9.99380890e-01 -3.47807486e-02 5.30435175e-03 -1.07743194e+01] [ 3.47833242e-02 9.99394799e-01 -3.94056352e-04 -2.39349280e-01] [-5.28743598e-03 5.78315374e-04 9.99985854e-01 4.01293088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.535285570000001 meters 0.04836699169866357 Centerline is valid? [True, True] Translation: X:-10.81, Y:-0.26, Z:0.40 [[ 9.99355691e-01 -3.55731811e-02 4.76976541e-03 -1.08074793e+01] [ 3.55752660e-02 9.99366938e-01 -3.52969467e-04 -2.57069158e-01] [-4.75418960e-03 5.22427719e-04 9.99988562e-01 3.97813833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.56528557 meters 0.04528028159416665 Centerline is valid? [True, True] Translation: X:-10.84, Y:-0.25, Z:0.40 [[ 9.99366925e-01 -3.54802075e-02 2.62746451e-03 -1.08383446e+01] [ 3.54808453e-02 9.99370337e-01 -1.96543285e-04 -2.49026091e-01] [-2.61883670e-03 2.89643520e-04 9.99996529e-01 4.00294498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.595285570000001 meters 0.044856636850170634 Centerline is valid? [True, True] Translation: X:-10.87, Y:-0.25, Z:0.40 [[ 9.99416751e-01 -3.41490392e-02 -5.60960899e-06 -1.08703815e+01] [ 3.41490392e-02 9.99416751e-01 -1.21942817e-06 -2.46550492e-01] [ 5.64797946e-06 1.02715419e-06 1.00000000e+00 3.99536923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62528557 meters 0.04393234394986494 Centerline is valid? [True, True] Translation: X:-10.90, Y:-0.24, Z:0.41 [[ 9.99519656e-01 -3.09812393e-02 7.87013276e-04 -1.09012474e+01] [ 3.09812942e-02 9.99519963e-01 -5.76060022e-05 -2.41516576e-01] [-7.84850775e-04 8.19610214e-05 9.99999689e-01 4.09109484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65528557 meters 0.045019671050226945 Centerline is valid? [True, True] Translation: X:-10.93, Y:-0.24, Z:0.41 [[ 9.99575777e-01 -2.90548645e-02 2.02025425e-03 -1.09318910e+01] [ 2.90552195e-02 9.99577797e-01 -1.46560353e-04 -2.42304146e-01] [-2.01514301e-03 2.05197109e-04 9.99997949e-01 4.10546737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.685285570000001 meters 0.04069544231187832 Centerline is valid? [True, True] Translation: X:-10.96, Y:-0.23, Z:0.41 [[ 9.99635111e-01 -2.68988270e-02 2.46927933e-03 -1.09609281e+01] [ 2.68993498e-02 9.99638131e-01 -1.78743528e-04 -2.33489082e-01] [-2.46357778e-03 2.45100314e-04 9.99996935e-01 4.13557221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.71528557 meters 0.04110110622673385 Centerline is valid? [True, True] Translation: X:-10.99, Y:-0.24, Z:0.41 [[ 9.99731698e-01 -2.27588796e-02 4.30866075e-03 -1.09918285e+01] [ 2.27604341e-02 9.99740899e-01 -3.12109881e-04 -2.36402250e-01] [-4.30044110e-03 4.10093130e-04 9.99990669e-01 4.11069315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74528557 meters 0.042146050918631814 Centerline is valid? [True, True] Translation: X:-11.02, Y:-0.24, Z:0.41 [[ 9.99785461e-01 -2.02543617e-02 4.33514721e-03 -1.10226429e+01] [ 2.02559120e-02 9.99794779e-01 -3.13997750e-04 -2.36352832e-01] [-4.32789773e-03 4.01742745e-04 9.99990554e-01 4.12110216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.775285570000001 meters 0.038755550660496886 Centerline is valid? [True, True] Translation: X:-11.05, Y:-0.23, Z:0.41 [[ 9.99864657e-01 -1.63618229e-02 1.71990688e-03 -1.10516686e+01] [ 1.63620634e-02 9.99866125e-01 -1.25839010e-04 -2.32832762e-01] [-1.71761768e-03 1.53963204e-04 9.99998513e-01 4.10570248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.80528557 meters 0.03745024780046893 Centerline is valid? [True, True] Translation: X:-11.08, Y:-0.23, Z:0.41 [[ 9.99907718e-01 -1.35286615e-02 -1.23706650e-03 -1.10812183e+01] [ 1.35287824e-02 9.99908478e-01 8.94521897e-05 -2.28762428e-01] [ 1.23574311e-03 -1.06179938e-04 9.99999231e-01 4.07144326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83528557 meters 0.0376959789669469 Centerline is valid? [True, True] Translation: X:-11.11, Y:-0.23, Z:0.41 [[ 9.99892078e-01 -1.46800606e-02 -5.72968476e-04 -1.11139665e+01] [ 1.46800855e-02 9.99892241e-01 3.93152778e-05 -2.32153273e-01] [ 5.72329583e-04 -4.77222610e-05 9.99999835e-01 4.13301486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.865285570000001 meters 0.03721002651144925 Centerline is valid? [True, True] Translation: X:-11.15, Y:-0.24, Z:0.42 [[ 9.99881909e-01 -1.52161540e-02 2.15319151e-03 -1.11463528e+01] [ 1.52165352e-02 9.99884209e-01 -1.60736077e-04 -2.35076599e-01] [-2.15049640e-03 1.93481209e-04 9.99997669e-01 4.18958019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.89528557 meters 0.036445917410281074 Centerline is valid? [True, True] Translation: X:-11.18, Y:-0.23, Z:0.42 [[ 9.99885280e-01 -1.45330758e-02 4.26819920e-03 -1.11767979e+01] [ 1.45345286e-02 9.99894320e-01 -3.09551721e-04 -2.33239996e-01] [-4.26324940e-03 3.71552472e-04 9.99990843e-01 4.18426765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.925285570000002 meters 0.04077259537529139 Centerline is valid? [True, True] Translation: X:-11.21, Y:-0.25, Z:0.42 [[ 9.99905454e-01 -1.32970539e-02 3.50310944e-03 -1.12096156e+01] [ 1.32980217e-02 9.99911545e-01 -2.53111734e-04 -2.45286322e-01] [-3.49943394e-03 2.99672228e-04 9.99993832e-01 4.20225368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.955285570000001 meters 0.04033569849761277 Centerline is valid? [True, True] Translation: X:-11.24, Y:-0.24, Z:0.42 [[ 9.99906156e-01 -1.34898914e-02 2.38786380e-03 -1.12404728e+01] [ 1.34903497e-02 9.99908986e-01 -1.75925850e-04 -2.41532350e-01] [-2.38527325e-03 2.08122459e-04 9.99997134e-01 4.20982346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98528557 meters 0.04126345349048348 Centerline is valid? [True, True] Translation: X:-11.27, Y:-0.24, Z:0.42 [[ 9.99900080e-01 -1.41124749e-02 8.17825702e-04 -1.12726587e+01] [ 1.41125284e-02 9.99900412e-01 -5.96607802e-05 -2.44891502e-01] [-8.16902295e-04 7.11964073e-05 9.99999664e-01 4.22812367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.015285570000001 meters 0.038652968705668374 Centerline is valid? [True, True] Translation: X:-11.30, Y:-0.24, Z:0.43 [[ 9.99894401e-01 -1.45321509e-02 -6.31508372e-05 -1.13033446e+01] [ 1.45321510e-02 9.99894403e-01 1.32544738e-06 -2.39966011e-01] [ 6.31249070e-05 -2.24302491e-06 9.99999998e-01 4.27111149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04528557 meters 0.03855662920521699 Centerline is valid? [True, True] Translation: X:-11.33, Y:-0.24, Z:0.43 [[ 9.99895606e-01 -1.43848794e-02 1.36136512e-03 -1.13349771e+01] [ 1.43850321e-02 9.99896525e-01 -1.02459778e-04 -2.41518220e-01] [-1.35975038e-03 1.22032363e-04 9.99999068e-01 4.32583052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07528557 meters 0.0370215326370883 Centerline is valid? [True, True] Translation: X:-11.37, Y:-0.24, Z:0.43 [[ 9.99878350e-01 -1.51566693e-02 3.68248273e-03 -1.13671775e+01] [ 1.51577485e-02 9.99885080e-01 -2.65326790e-04 -2.42114305e-01] [-3.67803807e-03 3.21112660e-04 9.99993184e-01 4.33944899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.105285570000001 meters 0.038461419048418106 Centerline is valid? [True, True] Translation: X:-11.40, Y:-0.25, Z:0.43 [[ 9.99896609e-01 -1.34795969e-02 5.00724051e-03 -1.13983627e+01] [ 1.34815479e-02 9.99909056e-01 -3.56080828e-04 -2.45963450e-01] [-5.00198531e-03 4.23549365e-04 9.99987400e-01 4.31527686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.13528557 meters 0.03815334143530663 Centerline is valid? [True, True] Translation: X:-11.43, Y:-0.25, Z:0.43 [[ 9.99898477e-01 -1.36552643e-02 4.07055809e-03 -1.14300410e+01] [ 1.36565704e-02 9.99906702e-01 -2.93245802e-04 -2.49693845e-01] [-4.06617397e-03 3.48805894e-04 9.99991672e-01 4.32508377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16528557 meters 0.038946299994426364 Centerline is valid? [True, True] Translation: X:-11.46, Y:-0.25, Z:0.43 [[ 9.99890015e-01 -1.48004173e-02 9.51628613e-04 -1.14607945e+01] [ 1.48004879e-02 9.99890465e-01 -6.72600630e-05 -2.53617099e-01] [-9.50528899e-04 8.13372333e-05 9.99999545e-01 4.27520140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.195285570000001 meters 0.0419620162483413 Centerline is valid? [True, True] Translation: X:-11.49, Y:-0.26, Z:0.43 [[ 9.99876507e-01 -1.57152991e-02 1.22458663e-05 -1.14930028e+01] [ 1.57152992e-02 9.99876507e-01 -6.43651357e-06 -2.60791678e-01] [-1.21432023e-05 6.62816616e-06 1.00000000e+00 4.25429468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.22528557 meters 0.03696739683443997 Centerline is valid? [True, True] Translation: X:-11.52, Y:-0.25, Z:0.43 [[ 9.99891615e-01 -1.44924578e-02 2.59372306e-03 -1.15220396e+01] [ 1.44929801e-02 9.99894955e-01 -1.82700211e-04 -2.48290688e-01] [-2.59080283e-03 2.20271186e-04 9.99996620e-01 4.33274178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25528557 meters 0.03869247255486027 Centerline is valid? [True, True] Translation: X:-11.55, Y:-0.25, Z:0.43 [[ 9.99922570e-01 -1.13203598e-02 5.16746578e-03 -1.15526808e+01] [ 1.13223916e-02 9.99935833e-01 -3.64119247e-04 -2.51111698e-01] [-5.16301224e-03 4.22599125e-04 9.99986582e-01 4.34978553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.285285570000001 meters 0.03589020995001089 Centerline is valid? [True, True] Translation: X:-11.58, Y:-0.24, Z:0.44 [[ 9.99943593e-01 -1.01227406e-02 3.21564100e-03 -1.15833183e+01] [ 1.01235357e-02 9.99948729e-01 -2.31073805e-04 -2.44765065e-01] [-3.21313703e-03 2.63614427e-04 9.99994803e-01 4.38802665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.31528557 meters 0.03740607502195153 Centerline is valid? [True, True] Translation: X:-11.62, Y:-0.25, Z:0.44 [[ 9.99945451e-01 -1.02149241e-02 2.17947936e-03 -1.16163142e+01] [ 1.02152858e-02 9.99947811e-01 -1.54876411e-04 -2.49420949e-01] [-2.17778356e-03 1.77131967e-04 9.99997613e-01 4.37472538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.345285570000001 meters 0.037239734908665036 Centerline is valid? [True, True] Translation: X:-11.65, Y:-0.25, Z:0.44 [[ 9.99926817e-01 -1.15638442e-02 3.55502510e-03 -1.16481446e+01] [ 1.15648200e-02 9.99933093e-01 -2.54047548e-04 -2.45680860e-01] [-3.55184947e-03 2.95142181e-04 9.99993649e-01 4.40133970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.37528557 meters 0.0353920272894201 Centerline is valid? [True, True] Translation: X:-11.68, Y:-0.24, Z:0.44 [[ 9.99912441e-01 -1.15626856e-02 6.43541629e-03 -1.16796775e+01] [ 1.15658310e-02 9.99933011e-01 -4.51754294e-04 -2.44149321e-01] [-6.42976170e-03 5.26145676e-04 9.99979190e-01 4.42599203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40528557 meters 0.038401207635193876 Centerline is valid? [True, True] Translation: X:-11.71, Y:-0.25, Z:0.45 [[ 9.99911105e-01 -1.22384026e-02 5.29189393e-03 -1.17127989e+01] [ 1.22405345e-02 9.99925013e-01 -3.70669448e-04 -2.54520357e-01] [-5.28696071e-03 4.35412108e-04 9.99985929e-01 4.46814435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.435285570000001 meters 0.03777418416278542 Centerline is valid? [True, True] Translation: X:-11.74, Y:-0.26, Z:0.44 [[ 9.99924523e-01 -1.20417141e-02 2.43814270e-03 -1.17438876e+01] [ 1.20421750e-02 9.99927475e-01 -1.74439716e-04 -2.56495558e-01] [-2.43586532e-03 2.03787091e-04 9.99997013e-01 4.39744474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.46528557 meters 0.03576153961883415 Centerline is valid? [True, True] Translation: X:-11.77, Y:-0.25, Z:0.44 [[ 9.99923533e-01 -1.23663174e-02 -4.27621191e-05 -1.17744506e+01] [ 1.23663173e-02 9.99923534e-01 -2.39029382e-06 -2.52524003e-01] [ 4.27884083e-05 1.86130111e-06 9.99999999e-01 4.39323719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49528557 meters 0.041039735487346525 Centerline is valid? [True, True] Translation: X:-11.81, Y:-0.26, Z:0.44 [[ 9.99901238e-01 -1.40220293e-02 9.47530932e-04 -1.18068107e+01] [ 1.40220988e-02 9.99901683e-01 -6.67721416e-05 -2.62567189e-01] [-9.46501493e-04 8.00519194e-05 9.99999549e-01 4.39992595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.525285570000001 meters 0.03839353654598578 Centerline is valid? [True, True] Translation: X:-11.84, Y:-0.26, Z:0.45 [[ 9.99888805e-01 -1.40102229e-02 5.10788428e-03 -1.18374279e+01] [ 1.40122195e-02 9.99901761e-01 -3.55320435e-04 -2.57678485e-01] [-5.10240437e-03 4.26853721e-04 9.99986892e-01 4.46685601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.55528557 meters 0.03673935525882499 Centerline is valid? [True, True] Translation: X:-11.87, Y:-0.26, Z:0.45 [[ 9.99862693e-01 -1.52063618e-02 6.58499750e-03 -1.18694964e+01] [ 1.52097101e-02 9.99884220e-01 -4.58701159e-04 -2.60011674e-01] [-6.57725992e-03 5.58794079e-04 9.99978213e-01 4.48433818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58528557 meters 0.03957225263848448 Centerline is valid? [True, True] Translation: X:-11.90, Y:-0.26, Z:0.45 [[ 9.99885149e-01 -1.49549107e-02 2.45751521e-03 -1.19018520e+01] [ 1.49553836e-02 9.99888147e-01 -1.74143920e-04 -2.63010664e-01] [-2.45463602e-03 2.10877002e-04 9.99996965e-01 4.45707725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.615285570000001 meters 0.03827053547353375 Centerline is valid? [True, True] Translation: X:-11.93, Y:-0.26, Z:0.45 [[ 9.99887635e-01 -1.49887375e-02 2.35861204e-04 -1.19324468e+01] [ 1.49887429e-02 9.99887662e-01 -2.12747492e-05 -2.59548203e-01] [-2.35515827e-04 2.48076216e-05 9.99999972e-01 4.54073338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.64528557 meters 0.03878953663540981 Centerline is valid? [True, True] Translation: X:-11.96, Y:-0.25, Z:0.45 [[ 9.99864638e-01 -1.64313201e-02 8.47496760e-04 -1.19626362e+01] [ 1.64313757e-02 9.99864994e-01 -5.87058440e-05 -2.49221778e-01] [-8.46417729e-04 7.26234351e-05 9.99999639e-01 4.49819202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.675285570000002 meters 0.038384640168635964 Centerline is valid? [True, True] Translation: X:-12.00, Y:-0.26, Z:0.45 [[ 9.99849264e-01 -1.71450938e-02 2.73787421e-03 -1.19961655e+01] [ 1.71456857e-02 9.99852983e-01 -1.92875544e-04 -2.58176547e-01] [-2.73416483e-03 2.39789201e-04 9.99996233e-01 4.54225907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.705285570000001 meters 0.04039225530541745 Centerline is valid? [True, True] Translation: X:-12.03, Y:-0.27, Z:0.45 [[ 9.99815105e-01 -1.89312332e-02 3.37120402e-03 -1.20288692e+01] [ 1.89321166e-02 9.99820745e-01 -2.30309410e-04 -2.69780622e-01] [-3.36623967e-03 2.94090855e-04 9.99994291e-01 4.47945603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73528557 meters 0.042062719632018 Centerline is valid? [True, True] Translation: X:-12.06, Y:-0.27, Z:0.45 [[ 9.99771688e-01 -2.12510677e-02 2.22803882e-03 -1.20585907e+01] [ 2.12514574e-02 9.99774151e-01 -1.51387655e-04 -2.67992527e-01] [-2.22431847e-03 1.98702164e-04 9.99997506e-01 4.48123406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.765285570000001 meters 0.04125662056420235 Centerline is valid? [True, True] Translation: X:-12.09, Y:-0.27, Z:0.46 [[ 9.99702956e-01 -2.42392650e-02 2.54126939e-03 -1.20892307e+01] [ 2.42397823e-02 9.99706158e-01 -1.72933862e-04 -2.68691588e-01] [-2.53633087e-03 2.34482309e-04 9.99996756e-01 4.56706502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.79528557 meters 0.04101050975546415 Centerline is valid? [True, True] Translation: X:-12.12, Y:-0.27, Z:0.46 [[ 9.99666383e-01 -2.54035132e-02 4.66736316e-03 -1.21207170e+01] [ 2.54052892e-02 9.99677182e-01 -3.21609230e-04 -2.65871319e-01] [-4.65768645e-03 4.40077646e-04 9.99989056e-01 4.55808261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82528557 meters 0.04428935440433261 Centerline is valid? [True, True] Translation: X:-12.15, Y:-0.28, Z:0.46 [[ 9.99612805e-01 -2.75122740e-02 4.16101432e-03 -1.21518939e+01] [ 2.75136830e-02 9.99621387e-01 -2.81743521e-04 -2.75641124e-01] [-4.15168750e-03 3.96119260e-04 9.99991303e-01 4.56762252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.855285570000001 meters 0.04135727865515004 Centerline is valid? [True, True] Translation: X:-12.18, Y:-0.27, Z:0.46 [[ 9.99604773e-01 -2.78941319e-02 3.49496363e-03 -1.21820263e+01] [ 2.78951436e-02 9.99610826e-01 -2.41054182e-04 -2.70872762e-01] [-3.48687949e-03 3.38451424e-04 9.99993864e-01 4.59376249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.88528557 meters 0.04434419323664269 Centerline is valid? [True, True] Translation: X:-12.21, Y:-0.28, Z:0.46 [[ 9.99534599e-01 -3.04124438e-02 2.38089779e-03 -1.22135480e+01] [ 3.04129125e-02 9.99537407e-01 -1.60874980e-04 -2.76028550e-01] [-2.37490381e-03 2.33210144e-04 9.99997153e-01 4.55113883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91528557 meters 0.043475684926746326 Centerline is valid? [True, True] Translation: X:-12.25, Y:-0.28, Z:0.46 [[ 9.99528457e-01 -3.06960238e-02 7.85481080e-04 -1.22450657e+01] [ 3.06960791e-02 9.99528763e-01 -5.84027126e-05 -2.79363127e-01] [-7.83318201e-04 8.24863626e-05 9.99999690e-01 4.55905023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.945285570000001 meters 0.04683957120183694 Centerline is valid? [True, True] Translation: X:-12.28, Y:-0.29, Z:0.45 [[ 9.99508907e-01 -3.13334051e-02 -4.03715449e-04 -1.22773750e+01] [ 3.13334181e-02 9.99508988e-01 2.59228151e-05 -2.86937932e-01] [ 4.02704969e-04 -3.85598696e-05 9.99999918e-01 4.50946124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.97528557 meters 0.04337610814151923 Centerline is valid? [True, True] Translation: X:-12.31, Y:-0.28, Z:0.46 [[ 9.99511682e-01 -3.12372032e-02 7.96213915e-04 -1.23078984e+01] [ 3.12372579e-02 9.99511996e-01 -5.63089945e-05 -2.79038486e-01] [-7.94066424e-04 8.11530373e-05 9.99999681e-01 4.57747014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.005285570000002 meters 0.0425057676381756 Centerline is valid? [True, True] Translation: X:-12.34, Y:-0.27, Z:0.47 [[ 9.99526467e-01 -3.05504952e-02 3.67538386e-03 -1.23390203e+01] [ 3.05516086e-02 9.99533160e-01 -2.47151578e-04 -2.74122977e-01] [-3.66611745e-03 3.59323433e-04 9.99993215e-01 4.65286937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.035285570000001 meters 0.04311457172160281 Centerline is valid? [True, True] Translation: X:-12.37, Y:-0.28, Z:0.47 [[ 9.99545989e-01 -2.98113843e-02 4.37012127e-03 -1.23703528e+01] [ 2.98129658e-02 9.99555451e-01 -2.97181523e-04 -2.75880930e-01] [-4.35931914e-03 4.27332875e-04 9.99990407e-01 4.67081657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.06528557 meters 0.041440579628087094 Centerline is valid? [True, True] Translation: X:-12.40, Y:-0.27, Z:0.47 [[ 9.99564002e-01 -2.94696286e-02 1.82960231e-03 -1.24019153e+01] [ 2.94699082e-02 9.99565660e-01 -1.26007095e-04 -2.67865901e-01] [-1.82509425e-03 1.79870368e-04 9.99998318e-01 4.65379744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.095285570000001 meters 0.04391453364563995 Centerline is valid? [True, True] Translation: X:-12.43, Y:-0.27, Z:0.46 [[ 9.99567859e-01 -2.93942158e-02 -2.72720876e-04 -1.24346683e+01] [ 2.93942203e-02 9.99567896e-01 1.23100139e-05 -2.74467586e-01] [ 2.72241189e-04 -2.03211117e-05 9.99999963e-01 4.62470255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12528557 meters 0.04152651380745096 Centerline is valid? [True, True] Translation: X:-12.47, Y:-0.27, Z:0.46 [[ 9.99533891e-01 -3.05281730e-02 1.74681784e-04 -1.24654873e+01] [ 3.05281764e-02 9.99533906e-01 -1.68328280e-05 -2.73048291e-01] [-1.74086490e-04 2.21576984e-05 9.99999985e-01 4.64254858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15528557 meters 0.04356643466407427 Centerline is valid? [True, True] Translation: X:-12.50, Y:-0.28, Z:0.46 [[ 9.99569162e-01 -2.92117505e-02 2.85740016e-03 -1.24969708e+01] [ 2.92124101e-02 9.99573209e-01 -1.89371534e-04 -2.84745912e-01] [-2.85064877e-03 2.72761491e-04 9.99995900e-01 4.61302138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.185285570000001 meters 0.04321037118810548 Centerline is valid? [True, True] Translation: X:-12.53, Y:-0.29, Z:0.46 [[ 9.99550951e-01 -2.99397566e-02 1.22812293e-03 -1.25278375e+01] [ 2.99398847e-02 9.99551697e-01 -8.60790594e-05 -2.88684932e-01] [-1.22499518e-03 1.22810265e-04 9.99999242e-01 4.58766736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.21528557 meters 0.05369797506511578 Centerline is valid? [True, True] Translation: X:-12.56, Y:-0.31, Z:0.45 [[ 9.99523779e-01 -3.08483354e-02 7.72256102e-04 -1.25606993e+01] [ 3.08483845e-02 9.99524074e-01 -5.16713512e-05 -3.08672078e-01] [-7.70294590e-04 7.54695974e-05 9.99999700e-01 4.53510654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24528557 meters 0.045668590220110224 Centerline is valid? [True, True] Translation: X:-12.59, Y:-0.29, Z:0.46 [[ 9.99426315e-01 -3.38448599e-02 1.25122655e-03 -1.25889431e+01] [ 3.38449890e-02 9.99427091e-01 -8.21958712e-05 -2.92202049e-01] [-1.24772780e-03 1.24496466e-04 9.99999214e-01 4.62296143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.275285570000001 meters 0.04545284663260729 Centerline is valid? [True, True] Translation: X:-12.62, Y:-0.29, Z:0.47 [[ 9.99371556e-01 -3.53596462e-02 2.48784456e-03 -1.26203325e+01] [ 3.53601644e-02 9.99374620e-01 -1.64622523e-04 -2.94472894e-01] [-2.48046772e-03 2.52489659e-04 9.99996892e-01 4.67794629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.30528557 meters 0.051309423861290525 Centerline is valid? [True, True] Translation: X:-12.65, Y:-0.31, Z:0.47 [[ 9.99287660e-01 -3.75754216e-02 3.50134610e-03 -1.26525752e+01] [ 3.75764593e-02 9.99293729e-01 -2.31020926e-04 -3.11228378e-01] [-3.49019249e-03 3.62424550e-04 9.99993844e-01 4.68359863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.335285570000002 meters 0.04384949258031916 Centerline is valid? [True, True] Translation: X:-12.68, Y:-0.29, Z:0.47 [[ 9.99267624e-01 -3.80387067e-02 4.15593102e-03 -1.26818326e+01] [ 3.80401876e-02 9.99276172e-01 -2.77838532e-04 -2.92974063e-01] [-4.14235422e-03 4.35727446e-04 9.99991325e-01 4.73501293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.365285570000001 meters 0.04783919033753548 Centerline is valid? [True, True] Translation: X:-12.71, Y:-0.30, Z:0.47 [[ 9.99252858e-01 -3.84978172e-02 3.41226804e-03 -1.27149368e+01] [ 3.84988125e-02 9.99258620e-01 -2.26446529e-04 -2.99214654e-01] [-3.40102055e-03 3.57645608e-04 9.99994153e-01 4.68661341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.39528557 meters 0.04783919033753548 Centerline is valid? [True, True] Translation: X:-12.75, Y:-0.30, Z:0.47 [[ 9.99242563e-01 -3.87641422e-02 3.41211854e-03 -1.27471112e+01] [ 3.87651468e-02 9.99248323e-01 -2.28740521e-04 -2.96927490e-01] [-3.40068680e-03 3.60838540e-04 9.99994153e-01 4.69419112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.425285570000002 meters 0.047391512782276976 Centerline is valid? [True, True] Translation: X:-12.78, Y:-0.30, Z:0.46 [[ 9.99210087e-01 -3.97376852e-02 -3.44008291e-04 -1.27776979e+01] [ 3.97376953e-02 9.99210146e-01 2.24331205e-05 -3.00060842e-01] [ 3.42845134e-04 -3.60854969e-05 9.99999941e-01 4.63741792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.455285570000001 meters 0.04849484594198999 Centerline is valid? [True, True] Translation: X:-12.81, Y:-0.31, Z:0.46 [[ 9.99046138e-01 -4.36375748e-02 -1.60500083e-03 -1.28095578e+01] [ 4.36377979e-02 9.99047412e-01 1.04264954e-04 -3.09349189e-01] [ 1.59892205e-03 -1.74204201e-04 9.99998707e-01 4.62942383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48528557 meters 0.048781113080947056 Centerline is valid? [True, True] Translation: X:-12.84, Y:-0.31, Z:0.47 [[ 9.98959809e-01 -4.55453971e-02 2.21731314e-03 -1.28412938e+01] [ 4.55458304e-02 9.98962240e-01 -1.45276878e-04 -3.12876357e-01] [-2.20839541e-03 2.46115131e-04 9.99997531e-01 4.66508052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.515285570000001 meters 0.051918079578480776 Centerline is valid? [True, True] Translation: X:-12.87, Y:-0.32, Z:0.47 [[ 9.98824813e-01 -4.81621960e-02 5.42187697e-03 -1.28730431e+01] [ 4.81648158e-02 9.98839339e-01 -3.53593426e-04 -3.20842109e-01] [-5.39855418e-03 6.14321593e-04 9.99985239e-01 4.69221126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54528557 meters 0.05065631127510327 Centerline is valid? [True, True] Translation: X:-12.90, Y:-0.32, Z:0.47 [[ 9.98802545e-01 -4.87564210e-02 4.03570837e-03 -1.29032578e+01] [ 4.87578837e-02 9.98810592e-01 -2.64781342e-04 -3.18686800e-01] [-4.01799848e-03 4.61236878e-04 9.99991821e-01 4.70806512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57528557 meters 0.046044455877417526 Centerline is valid? [True, True] Translation: X:-12.93, Y:-0.31, Z:0.47 [[ 9.98774367e-01 -4.94949414e-02 1.24628855e-04 -1.29329473e+01] [ 4.94949429e-02 9.98774374e-01 -8.53059764e-06 -3.10655493e-01] [-1.24053885e-04 1.46886403e-05 9.99999992e-01 4.66915610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.605285570000001 meters 0.05249392863430983 Centerline is valid? [True, True] Translation: X:-12.96, Y:-0.32, Z:0.47 [[ 9.98607740e-01 -5.27472332e-02 -5.57350528e-04 -1.29642922e+01] [ 5.27472614e-02 9.98607894e-01 3.60827198e-05 -3.24737811e-01] [ 5.54671374e-04 -6.54311973e-05 9.99999844e-01 4.67233222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.63528557 meters 0.05077012362092114 Centerline is valid? [True, True] Translation: X:-13.00, Y:-0.32, Z:0.47 [[ 9.98533350e-01 -5.41008221e-02 2.06138423e-03 -1.29951397e+01] [ 5.41012221e-02 9.98535447e-01 -1.38767952e-04 -3.24615451e-01] [-2.05085776e-03 2.50087834e-04 9.99997866e-01 4.72049753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66528557 meters 0.04836898648924095 Centerline is valid? [True, True] Translation: X:-13.03, Y:-0.32, Z:0.48 [[ 9.98466598e-01 -5.51723156e-02 4.52419072e-03 -1.30261317e+01] [ 5.51742139e-02 9.98476699e-01 -2.95762869e-04 -3.23607110e-01] [-4.50098109e-03 5.44928012e-04 9.99989722e-01 4.75886496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.695285570000001 meters 0.05473482781133263 Centerline is valid? [True, True] Translation: X:-13.06, Y:-0.34, Z:0.47 [[ 9.98398707e-01 -5.64850728e-02 3.07534756e-03 -1.30578482e+01] [ 5.64859506e-02 9.98403374e-01 -1.99234915e-04 -3.37215996e-01] [-3.05918358e-03 3.72629812e-04 9.99995251e-01 4.69418815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.72528557 meters 0.0527420813327501 Centerline is valid? [True, True] Translation: X:-13.09, Y:-0.34, Z:0.47 [[ 9.98538068e-01 -5.40328770e-02 1.47495807e-03 -1.30892482e+01] [ 5.40330770e-02 9.98539142e-01 -9.60410032e-05 -3.36424927e-01] [-1.46761400e-03 1.75597121e-04 9.99998908e-01 4.70818435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.755285570000002 meters 0.053318817456116156 Centerline is valid? [True, True] Translation: X:-13.12, Y:-0.33, Z:0.47 [[ 9.98480853e-01 -5.50540170e-02 2.24531759e-03 -1.31211781e+01] [ 5.50544914e-02 9.98483340e-01 -1.50001386e-04 -3.34667785e-01] [-2.23365402e-03 2.73388330e-04 9.99997468e-01 4.73702201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.785285570000001 meters 0.050032196970975655 Centerline is valid? [True, True] Translation: X:-13.15, Y:-0.33, Z:0.48 [[ 9.98620685e-01 -5.24247687e-02 2.89316225e-03 -1.31510472e+01] [ 5.24255258e-02 9.98624819e-01 -1.86433048e-04 -3.27472931e-01] [-2.87940992e-03 3.37851450e-04 9.99995797e-01 4.75737293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.81528557 meters 0.051349973143804725 Centerline is valid? [True, True] Translation: X:-13.18, Y:-0.33, Z:0.48 [[ 9.98643838e-01 -5.19987326e-02 2.57236225e-03 -1.31827557e+01] [ 5.19993358e-02 9.98647105e-01 -1.68120458e-04 -3.32382599e-01] [-2.56014006e-03 3.01653588e-04 9.99996677e-01 4.79096371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.845285570000001 meters 0.051130637937496226 Centerline is valid? [True, True] Translation: X:-13.21, Y:-0.33, Z:0.47 [[ 9.98788951e-01 -4.91998952e-02 -4.11164244e-05 -1.32145796e+01] [ 4.91998953e-02 9.98788952e-01 2.17402153e-06 -3.33897310e-01] [ 4.09596687e-05 -4.19431246e-06 9.99999999e-01 4.66776540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.87528557 meters 0.05966098060809431 Centerline is valid? [True, True] Translation: X:-13.25, Y:-0.35, Z:0.46 [[ 9.98890731e-01 -4.70749558e-02 -1.12081266e-03 -1.32467209e+01] [ 4.70750654e-02 9.98891352e-01 7.15854762e-05 -3.54947797e-01] [ 1.11620019e-03 -1.24268398e-04 9.99999369e-01 4.60522659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.90528557 meters 0.04774158711889016 Centerline is valid? [True, True] Translation: X:-13.28, Y:-0.34, Z:0.46 [[ 9.99101509e-01 -4.23469156e-02 1.70680161e-03 -1.32752704e+01] [ 4.23471652e-02 9.99102950e-01 -1.10387408e-04 -3.36930548e-01] [-1.70059595e-03 1.82566436e-04 9.99998537e-01 4.64976535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.935285570000001 meters 0.05060248350113292 Centerline is valid? [True, True] Translation: X:-13.31, Y:-0.34, Z:0.47 [[ 9.99196245e-01 -3.98276233e-02 4.54150193e-03 -1.33069456e+01] [ 3.98293569e-02 9.99206454e-01 -2.91882632e-04 -3.42296371e-01] [-4.52627304e-03 4.72533131e-04 9.99989645e-01 4.70628419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.96528557 meters 0.051270785279167175 Centerline is valid? [True, True] Translation: X:-13.34, Y:-0.34, Z:0.47 [[ 9.99244485e-01 -3.85882448e-02 4.62666187e-03 -1.33376542e+01] [ 3.85900296e-02 9.99255083e-01 -2.97069969e-04 -3.42143059e-01] [-4.61175198e-03 4.75388547e-04 9.99989253e-01 4.74247843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99528557 meters 0.05260593345010589 Centerline is valid? [True, True] Translation: X:-13.37, Y:-0.34, Z:0.47 [[ 9.99258913e-01 -3.84448885e-02 1.90165682e-03 -1.33694122e+01] [ 3.84451985e-02 9.99260702e-01 -1.26737101e-04 -3.41270388e-01] [-1.89537853e-03 1.99752752e-04 9.99998184e-01 4.73962412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.025285570000001 meters 0.04666612125003218 Centerline is valid? [True, True] Translation: X:-13.40, Y:-0.32, Z:0.47 [[ 9.99397947e-01 -3.46486831e-02 1.79241878e-03 -1.33983251e+01] [ 3.46489464e-02 9.99399538e-01 -1.16050251e-04 -3.24972100e-01] [-1.78732152e-03 1.78085805e-04 9.99998387e-01 4.73446898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.05528557 meters 0.0505001564624808 Centerline is valid? [True, True] Translation: X:-13.43, Y:-0.33, Z:0.47 [[ 9.99484378e-01 -3.20076018e-02 2.54797857e-03 -1.34295097e+01] [ 3.20081202e-02 9.99487596e-01 -1.62950416e-04 -3.33892656e-01] [-2.54145732e-03 2.44422399e-04 9.99996741e-01 4.72203351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.085285570000002 meters 0.04811732564874573 Centerline is valid? [True, True] Translation: X:-13.46, Y:-0.33, Z:0.47 [[ 9.99536307e-01 -3.03491267e-02 2.47014124e-03 -1.34598706e+01] [ 3.03496090e-02 9.99539332e-01 -1.57973098e-04 -3.31781039e-01] [-2.46420898e-03 2.32867667e-04 9.99996937e-01 4.69114001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.115285570000001 meters 0.04663638965511966 Centerline is valid? [True, True] Translation: X:-13.49, Y:-0.33, Z:0.47 [[ 9.99588997e-01 -2.86592391e-02 6.96566924e-04 -1.34904824e+01] [ 2.86592772e-02 9.99589238e-01 -4.48094652e-05 -3.31345362e-01] [-6.94996595e-04 6.47541530e-05 9.99999756e-01 4.66145371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.14528557 meters 0.05046444154450912 Centerline is valid? [True, True] Translation: X:-13.52, Y:-0.35, Z:0.46 [[ 9.99680216e-01 -2.52782159e-02 -6.91221918e-04 -1.35224659e+01] [ 2.52782522e-02 9.99680453e-01 4.37908073e-05 -3.46183756e-01] [ 6.89894087e-04 -6.12496857e-05 9.99999760e-01 4.58865466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.175285570000002 meters 0.041131038015423706 Centerline is valid? [True, True] Translation: X:-13.55, Y:-0.33, Z:0.47 [[ 9.99720217e-01 -2.36239250e-02 1.18214945e-03 -1.35509261e+01] [ 2.36240305e-02 9.99720911e-01 -7.53894028e-05 -3.26559704e-01] [-1.18003853e-03 1.03295445e-04 9.99999298e-01 4.67347246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.205285570000001 meters 0.04445112892812585 Centerline is valid? [True, True] Translation: X:-13.58, Y:-0.33, Z:0.47 [[ 9.99761646e-01 -2.12410119e-02 5.04685003e-03 -1.35818625e+01] [ 2.12429062e-02 9.99774292e-01 -3.22028139e-04 -3.31667720e-01] [-5.03887071e-03 4.29161144e-04 9.99987213e-01 4.71344278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.23528557 meters 0.04535332967364954 Centerline is valid? [True, True] Translation: X:-13.61, Y:-0.33, Z:0.47 [[ 9.99844634e-01 -1.68971038e-02 5.01957368e-03 -1.36126534e+01] [ 1.68989253e-02 9.99857152e-01 -3.20677736e-04 -3.30915083e-01] [-5.01343812e-03 4.05453314e-04 9.99987350e-01 4.70667730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.265285570000001 meters 0.042246323604546714 Centerline is valid? [True, True] Translation: X:-13.64, Y:-0.33, Z:0.46 [[ 9.99920512e-01 -1.26035846e-02 -3.46513679e-04 -1.36429333e+01] [ 1.26035928e-02 9.99920571e-01 2.14202442e-05 -3.29320211e-01] [ 3.46216184e-04 -2.57858588e-05 9.99999940e-01 4.57927537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29528557 meters 0.039668626478725315 Centerline is valid? [True, True] Translation: X:-13.67, Y:-0.33, Z:0.46 [[ 9.99921143e-01 -1.24697543e-02 1.48734073e-03 -1.36739302e+01] [ 1.24699158e-02 9.99922243e-01 -9.93441399e-05 -3.27758905e-01] [-1.48598628e-03 1.17883320e-04 9.99998889e-01 4.59025453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32528557 meters 0.041876184364639066 Centerline is valid? [True, True] Translation: X:-13.71, Y:-0.33, Z:0.47 [[ 9.99903306e-01 -1.25611573e-02 5.96616176e-03 -1.37064284e+01] [ 1.25636466e-02 9.99921002e-01 -3.79927709e-04 -3.33433917e-01] [-5.96091811e-03 4.54847720e-04 9.99982130e-01 4.67446698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.355285570000001 meters 0.04047955763290176 Centerline is valid? [True, True] Translation: X:-13.74, Y:-0.32, Z:0.47 [[ 9.99914150e-01 -1.09251193e-02 7.23427218e-03 -1.37359605e+01] [ 1.09287317e-02 9.99940174e-01 -4.59999756e-04 -3.24851527e-01] [-7.22881383e-03 5.39021685e-04 9.99973727e-01 4.70037434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.38528557 meters 0.04223878363255372 Centerline is valid? [True, True] Translation: X:-13.77, Y:-0.33, Z:0.46 [[ 9.99940393e-01 -1.07928699e-02 1.65047187e-03 -1.37686418e+01] [ 1.07930588e-02 9.99941748e-01 -1.05606506e-04 -3.33135159e-01] [-1.64923593e-03 1.23413851e-04 9.99998632e-01 4.60508463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.415285570000002 meters 0.039838272700972156 Centerline is valid? [True, True] Translation: X:-13.80, Y:-0.33, Z:0.45 [[ 9.99940247e-01 -1.08377311e-02 -1.43028475e-03 -1.37991692e+01] [ 1.08378642e-02 9.99941265e-01 8.53631329e-05 -3.29606909e-01] [ 1.42927560e-03 -1.00859264e-04 9.99998973e-01 4.50010270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.445285570000001 meters 0.04648030037127695 Centerline is valid? [True, True] Translation: X:-13.83, Y:-0.34, Z:0.45 [[ 9.99933984e-01 -1.14792320e-02 -5.04772440e-04 -1.38322838e+01] [ 1.14792468e-02 9.99934111e-01 2.64307176e-05 -3.43749135e-01] [ 5.04435776e-04 -3.22233802e-05 9.99999872e-01 4.48811835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.47528557 meters 0.04425771478061106 Centerline is valid? [True, True] Translation: X:-13.86, Y:-0.34, Z:0.45 [[ 9.99917056e-01 -1.27901721e-02 1.51388338e-03 -1.38637853e+01] [ 1.27903378e-02 9.99918195e-01 -9.98144435e-05 -3.42427790e-01] [-1.51248289e-03 1.19169244e-04 9.99998849e-01 4.54706038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.505285570000002 meters 0.04458680320617331 Centerline is valid? [True, True] Translation: X:-13.90, Y:-0.34, Z:0.46 [[ 9.99875167e-01 -1.52596531e-02 4.09788947e-03 -1.38950369e+01] [ 1.52608352e-02 9.99883514e-01 -2.57335531e-04 -3.43431093e-01] [-4.09348527e-03 3.19840623e-04 9.99991571e-01 4.59400092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.535285570000001 meters 0.04247137295604744 Centerline is valid? [True, True] Translation: X:-13.93, Y:-0.34, Z:0.46 [[ 9.99821911e-01 -1.82121790e-02 4.94598313e-03 -1.39251319e+01] [ 1.82139322e-02 9.99834065e-01 -3.09640189e-04 -3.42330895e-01] [-4.93952319e-03 3.99670847e-04 9.99987721e-01 4.62632355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.56528557 meters 0.04493906718599216 Centerline is valid? [True, True] Translation: X:-13.96, Y:-0.35, Z:0.46 [[ 9.99775579e-01 -2.06001216e-02 4.94230843e-03 -1.39571264e+01] [ 2.06019031e-02 9.99787710e-01 -3.09826005e-04 -3.50136795e-01] [-4.93487677e-03 4.11577433e-04 9.99987739e-01 4.57219152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.595285570000001 meters 0.054374469794132636 Centerline is valid? [True, True] Translation: X:-13.99, Y:-0.37, Z:0.45 [[ 9.99775026e-01 -2.07656218e-02 4.32285946e-03 -1.39911178e+01] [ 2.07670052e-02 9.99784305e-01 -2.75372640e-04 -3.69357494e-01] [-4.31620875e-03 3.65083533e-04 9.99990618e-01 4.49220139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62528557 meters 0.0455819014853532 Centerline is valid? [True, True] Translation: X:-14.02, Y:-0.35, Z:0.46 [[ 9.99758017e-01 -2.17404959e-02 3.35532851e-03 -1.40203999e+01] [ 2.17413208e-02 9.99763608e-01 -2.09570809e-04 -3.53856121e-01] [-3.34997917e-03 2.82469370e-04 9.99994349e-01 4.57253187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65528557 meters 0.045756907263464826 Centerline is valid? [True, True] Translation: X:-14.05, Y:-0.35, Z:0.46 [[ 9.99738067e-01 -2.27196934e-02 2.75898939e-03 -1.40520766e+01] [ 2.27202664e-02 9.99741846e-01 -1.76544320e-04 -3.53987504e-01] [-2.75426612e-03 2.39183052e-04 9.99996178e-01 4.55103563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.685285570000001 meters 0.04869757522047492 Centerline is valid? [True, True] Translation: X:-14.08, Y:-0.36, Z:0.45 [[ 9.99670457e-01 -2.55825674e-02 2.12355713e-03 -1.40832744e+01] [ 2.55829052e-02 9.99672695e-01 -1.32059887e-04 -3.62159579e-01] [-2.11948365e-03 1.86343129e-04 9.99997737e-01 4.53657646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.71528557 meters 0.0430679665437936 Centerline is valid? [True, True] Translation: X:-14.11, Y:-0.35, Z:0.46 [[ 9.99642169e-01 -2.67320147e-02 9.65881776e-04 -1.41131678e+01] [ 2.67320854e-02 9.99642632e-01 -6.03718276e-05 -3.51764535e-01] [-9.63922740e-04 8.61702588e-05 9.99999532e-01 4.55194010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74528557 meters 0.05086671313687606 Centerline is valid? [True, True] Translation: X:-14.15, Y:-0.37, Z:0.46 [[ 9.99619430e-01 -2.74922543e-02 2.27409889e-03 -1.41465865e+01] [ 2.74926501e-02 9.99621995e-01 -1.42983637e-04 -3.66398879e-01] [-2.26930833e-03 2.05450227e-04 9.99997404e-01 4.59829095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.775285570000001 meters 0.048982318631539096 Centerline is valid? [True, True] Translation: X:-14.18, Y:-0.36, Z:0.47 [[ 9.99685537e-01 -2.45765130e-02 4.98208799e-03 -1.41757030e+01] [ 2.45783622e-02 9.99697858e-01 -3.10290200e-04 -3.60736647e-01] [-4.97295684e-03 4.32644189e-04 9.99987541e-01 4.71021052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.80528557 meters 0.04630675679243409 Centerline is valid? [True, True] Translation: X:-14.21, Y:-0.36, Z:0.46 [[ 9.99662989e-01 -2.56325951e-02 4.10823217e-03 -1.42060156e+01] [ 2.56338634e-02 9.99671366e-01 -2.56344057e-04 -3.56452587e-01] [-4.10031131e-03 3.61567529e-04 9.99991528e-01 4.64007889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.835285570000002 meters 0.055609326048433036 Centerline is valid? [True, True] Translation: X:-14.24, Y:-0.38, Z:0.45 [[ 9.99678529e-01 -2.51947010e-02 2.84001835e-03 -1.42398598e+01] [ 2.51953139e-02 9.99682531e-01 -1.80237358e-04 -3.83005300e-01] [-2.83457571e-03 2.51734571e-04 9.99995951e-01 4.51438716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.865285570000001 meters 0.05543224977861077 Centerline is valid? [True, True] Translation: X:-14.27, Y:-0.38, Z:0.45 [[ 9.99663450e-01 -2.56746319e-02 3.71493913e-03 -1.42721787e+01] [ 2.56756753e-02 9.99670298e-01 -2.33440301e-04 -3.82827143e-01] [-3.70772081e-03 3.28745307e-04 9.99993072e-01 4.48164096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.89528557 meters 0.05428351252926495 Centerline is valid? [True, True] Translation: X:-14.30, Y:-0.38, Z:0.46 [[ 9.99689984e-01 -2.44829039e-02 4.53030320e-03 -1.43030520e+01] [ 2.44844166e-02 9.99700173e-01 -2.78732906e-04 -3.80720970e-01] [-4.52212071e-03 3.89568325e-04 9.99989699e-01 4.57184494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.925285570000002 meters 0.05041658926856281 Centerline is valid? [True, True] Translation: X:-14.33, Y:-0.37, Z:0.46 [[ 9.99699176e-01 -2.45104579e-02 8.91858954e-04 -1.43330980e+01] [ 2.45105203e-02 9.99699570e-01 -5.91271185e-05 -3.66544605e-01] [-8.90141780e-04 8.09692586e-05 9.99999601e-01 4.60284007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.955285570000001 meters 0.043098914585103815 Centerline is valid? [True, True] Translation: X:-14.36, Y:-0.35, Z:0.46 [[ 9.99668066e-01 -2.57516916e-02 -7.80511829e-04 -1.43628900e+01] [ 2.57517361e-02 9.99668368e-01 4.69666762e-05 -3.53341854e-01] [ 7.79043515e-04 -6.70506210e-05 9.99999694e-01 4.61046865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.98528557 meters 0.0478997266119008 Centerline is valid? [True, True] Translation: X:-14.39, Y:-0.37, Z:0.46 [[ 9.99681674e-01 -2.49338503e-02 3.85399045e-03 -1.43942846e+01] [ 2.49349440e-02 9.99689048e-01 -2.36000052e-04 -3.66065231e-01] [-3.84690765e-03 3.32023963e-04 9.99992546e-01 4.59904190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.015285570000001 meters 0.0454087549407507 Centerline is valid? [True, True] Translation: X:-14.42, Y:-0.37, Z:0.47 [[ 9.99619356e-01 -2.65099564e-02 7.63967708e-03 -1.44249647e+01] [ 2.65143089e-02 9.99648324e-01 -4.68989762e-04 -3.66657373e-01] [-7.62455749e-03 6.71372002e-04 9.99970707e-01 4.68025293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04528557 meters 0.0468887378249822 Centerline is valid? [True, True] Translation: X:-14.46, Y:-0.37, Z:0.47 [[ 9.99602188e-01 -2.71241460e-02 7.72960766e-03 -1.44570632e+01] [ 2.71286236e-02 9.99631838e-01 -4.74993956e-04 -3.71172300e-01] [-7.71387811e-03 6.84498615e-04 9.99970013e-01 4.65191745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07528557 meters 0.0481474803961 Centerline is valid? [True, True] Translation: X:-14.49, Y:-0.37, Z:0.46 [[ 9.99592636e-01 -2.82003371e-02 4.39346279e-03 -1.44878643e+01] [ 2.82017813e-02 9.99602215e-01 -2.67098449e-04 -3.73108257e-01] [-4.38418287e-03 3.90893119e-04 9.99990313e-01 4.61702320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.105285570000001 meters 0.042767428284538854 Centerline is valid? [True, True] Translation: X:-14.52, Y:-0.36, Z:0.46 [[ 9.99581486e-01 -2.88589022e-02 2.00433054e-03 -1.45179020e+01] [ 2.88592055e-02 9.99583479e-01 -1.22549378e-04 -3.58744680e-01] [-1.99995905e-03 1.80341476e-04 9.99997984e-01 4.64634020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.13528557 meters 0.05003546607806247 Centerline is valid? [True, True] Translation: X:-14.55, Y:-0.38, Z:0.47 [[ 9.99601600e-01 -2.81309394e-02 2.30054955e-03 -1.45514185e+01] [ 2.81313382e-02 9.99604226e-01 -1.41171135e-04 -3.76705809e-01] [-2.29566777e-03 2.05832429e-04 9.99997344e-01 4.67595173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.165285570000002 meters 0.052437035105800334 Centerline is valid? [True, True] Translation: X:-14.58, Y:-0.38, Z:0.47 [[ 9.99515200e-01 -3.07779294e-02 4.69943860e-03 -1.45828026e+01] [ 3.07796092e-02 9.99526155e-01 -2.85514700e-04 -3.79104896e-01] [-4.68842424e-03 4.30023166e-04 9.99988917e-01 4.69514624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.195285570000001 meters 0.05053954899809454 Centerline is valid? [True, True] Translation: X:-14.61, Y:-0.39, Z:0.46 [[ 9.99434585e-01 -3.31597241e-02 5.56269179e-03 -1.46129154e+01] [ 3.31621104e-02 9.99449929e-01 -3.37265299e-04 -3.86251893e-01] [-5.54844829e-03 5.21545203e-04 9.99984471e-01 4.61137857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.22528557 meters 0.05054218168674475 Centerline is valid? [True, True] Translation: X:-14.64, Y:-0.39, Z:0.46 [[ 9.99414391e-01 -3.37371814e-02 5.71649210e-03 -1.46447662e+01] [ 3.37397346e-02 9.99430592e-01 -3.50778036e-04 -3.87815070e-01] [-5.70140282e-03 5.43445544e-04 9.99983599e-01 4.63354910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.255285570000002 meters 0.05937798533935228 Centerline is valid? [True, True] Translation: X:-14.68, Y:-0.41, Z:0.46 [[ 9.99376387e-01 -3.47842820e-02 6.07377493e-03 -1.46775244e+01] [ 3.47871735e-02 9.99394674e-01 -3.71031498e-04 -4.06500586e-01] [-6.05719225e-03 5.82089580e-04 9.99981486e-01 4.59540237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.285285570000001 meters 0.049308454780349564 Centerline is valid? [True, True] Translation: X:-14.71, Y:-0.38, Z:0.47 [[ 9.99326027e-01 -3.62278426e-02 5.91909050e-03 -1.47067579e+01] [ 3.62305882e-02 9.99343393e-01 -3.57252490e-04 -3.83069378e-01] [-5.90226150e-03 5.71463842e-04 9.99982418e-01 4.67439684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.31528557 meters 0.049308454780349564 Centerline is valid? [True, True] Translation: X:-14.74, Y:-0.38, Z:0.47 [[ 9.99316926e-01 -3.64780421e-02 5.91887193e-03 -1.47388906e+01] [ 3.64808134e-02 9.99334288e-01 -3.60890277e-04 -3.80946541e-01] [-5.90176710e-03 5.76569025e-04 9.99982418e-01 4.68192625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.345285570000001 meters 0.04942593419874051 Centerline is valid? [True, True] Translation: X:-14.77, Y:-0.38, Z:0.47 [[ 9.99258878e-01 -3.82804795e-02 4.03716743e-03 -1.47701042e+01] [ 3.82817685e-02 9.99266955e-01 -2.42461311e-04 -3.81945779e-01] [-4.02492647e-03 3.96831526e-04 9.99991821e-01 4.72137493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.37528557 meters 0.05044206689323234 Centerline is valid? [True, True] Translation: X:-14.80, Y:-0.38, Z:0.47 [[ 9.99162821e-01 -4.05544522e-02 5.38447836e-03 -1.48013768e+01] [ 4.05567767e-02 9.99177183e-01 -3.23180040e-04 -3.81757043e-01] [-5.36694154e-03 5.41286567e-04 9.99985451e-01 4.71638050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.40528557 meters 0.05557915461381221 Centerline is valid? [True, True] Translation: X:-14.83, Y:-0.39, Z:0.47 [[ 9.99057485e-01 -4.28481761e-02 6.94080137e-03 -1.48334019e+01] [ 4.28520919e-02 9.99081340e-01 -4.16376576e-04 -3.93453786e-01] [-6.91658416e-03 7.13411993e-04 9.99975826e-01 4.66425094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.435285570000001 meters 0.053639603688273 Centerline is valid? [True, True] Translation: X:-14.86, Y:-0.39, Z:0.46 [[ 9.99004066e-01 -4.40690639e-02 6.98521646e-03 -1.48638683e+01] [ 4.40730587e-02 9.99028223e-01 -4.18919849e-04 -3.92303269e-01] [-6.95996698e-03 7.26362488e-04 9.99975515e-01 4.64685500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.46528557 meters 0.051788663239891126 Centerline is valid? [True, True] Translation: X:-14.89, Y:-0.39, Z:0.47 [[ 9.98872847e-01 -4.70501476e-02 6.27050003e-03 -1.48930737e+01] [ 4.70534224e-02 9.98892304e-01 -3.75676894e-04 -3.86811986e-01] [-6.24587857e-03 6.70301935e-04 9.99980270e-01 4.69687711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.495285570000002 meters 0.06078076595276571 Centerline is valid? [True, True] Translation: X:-14.92, Y:-0.40, Z:0.47 [[ 9.98615525e-01 -5.24635166e-02 3.82268716e-03 -1.49248921e+01] [ 5.24647746e-02 9.98622749e-01 -2.29509356e-04 -4.01300680e-01] [-3.80538149e-03 4.29748027e-04 9.99992667e-01 4.70965199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.525285570000001 meters 0.05658888447980185 Centerline is valid? [True, True] Translation: X:-14.95, Y:-0.39, Z:0.47 [[ 9.98075126e-01 -6.18910305e-02 3.94248112e-03 -1.49537149e+01] [ 6.18924404e-02 9.98082797e-01 -2.36512007e-04 -3.87343548e-01] [-3.92028461e-03 4.80066529e-04 9.99992200e-01 4.73877440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.55528557 meters 0.060987172143431 Centerline is valid? [True, True] Translation: X:-14.99, Y:-0.40, Z:0.48 [[ 9.97264854e-01 -7.36240142e-02 6.50498316e-03 -1.49854196e+01] [ 7.36280975e-02 9.97285692e-01 -3.90164649e-04 -3.97358400e-01] [-6.45860114e-03 8.68047027e-04 9.99978766e-01 4.77915658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.585285570000002 meters 0.07356207369947787 Centerline is valid? [True, True] Translation: X:-15.02, Y:-0.42, Z:0.47 [[ 9.96254439e-01 -8.60568458e-02 8.44468798e-03 -1.50178403e+01] [ 8.60641612e-02 9.96289468e-01 -5.06054824e-04 -4.22134325e-01] [-8.36980422e-03 1.23094435e-03 9.99964215e-01 4.74841576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.615285570000001 meters 0.07297873378166207 Centerline is valid? [True, True] Translation: X:-15.05, Y:-0.42, Z:0.47 [[ 9.94887594e-01 -1.00910187e-01 3.97607948e-03 -1.50477238e+01] [ 1.00911925e-01 9.94895334e-01 -2.38401162e-04 -4.19849205e-01] [-3.93172582e-03 6.38416192e-04 9.99992067e-01 4.71685966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.64528557 meters 0.0851187460898259 Centerline is valid? [True, True] Translation: X:-15.08, Y:-0.44, Z:0.47 [[ 9.93390620e-01 -1.14781693e-01 4.88674056e-04 -1.50807259e+01] [ 1.14781721e-01 9.93390737e-01 -3.05572045e-05 -4.41374070e-01] [-4.81936873e-04 8.64460897e-05 9.99999880e-01 4.68188448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.675285570000002 meters 0.09146128330575279 Centerline is valid? [True, True] Translation: X:-15.11, Y:-0.44, Z:0.47 [[ 9.91727213e-01 -1.28340622e-01 2.41221736e-03 -1.51123478e+01] [ 1.28341342e-01 9.91730043e-01 -1.45327741e-04 -4.41476916e-01] [-2.37361697e-03 4.53712688e-04 9.99997080e-01 4.72737240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.705285570000001 meters 0.08370617532306096 Centerline is valid? [True, True] Translation: X:-15.14, Y:-0.41, Z:0.49 [[ 9.91121077e-01 -1.32790591e-01 6.75786407e-03 -1.51408151e+01] [ 1.32796319e-01 9.91143266e-01 -4.04055971e-04 -4.09327265e-01] [-6.64435664e-03 1.29788786e-03 9.99977084e-01 4.91035381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.73528557 meters 0.08238583645240419 Centerline is valid? [True, True] Translation: X:-15.17, Y:-0.38, Z:0.50 [[ 9.91713034e-01 -1.28328687e-01 6.08330624e-03 -1.51699748e+01] [ 1.28333249e-01 9.91731034e-01 -3.63985341e-04 -3.79316113e-01] [-5.98629383e-03 1.14165946e-03 9.99981430e-01 5.02448890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.765285570000001 meters 0.07293975847824824 Centerline is valid? [True, True] Translation: X:-15.20, Y:-0.32, Z:0.50 [[ 9.94865645e-01 -1.01076675e-01 5.08469354e-03 -1.51978003e+01] [ 1.01079514e-01 9.94878304e-01 -3.03846215e-04 -3.20407381e-01] [-5.02793952e-03 8.16244511e-04 9.99987027e-01 5.02257394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.79528557 meters 0.06553461031070021 Centerline is valid? [True, True] Translation: X:-15.23, Y:-0.29, Z:0.50 [[ 9.96300963e-01 -8.57795990e-02 5.12357547e-03 -1.52263978e+01] [ 8.57822808e-02 9.96313860e-01 -3.05581391e-04 -2.93760319e-01] [-5.07847660e-03 7.43963024e-04 9.99986828e-01 5.03197093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82528557 meters 0.05511802674020641 Centerline is valid? [True, True] Translation: X:-15.25, Y:-0.24, Z:0.50 [[ 9.98257571e-01 -5.89128507e-02 3.33132263e-03 -1.52539472e+01] [ 5.89138374e-02 9.98263052e-01 -1.98756366e-04 -2.43905674e-01] [-3.31382699e-03 3.94671047e-04 9.99994431e-01 4.96669942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.855285570000001 meters 0.0465653721336211 Centerline is valid? [True, True] Translation: X:-15.28, Y:-0.19, Z:0.50 [[ 9.99607846e-01 -2.79359783e-02 1.93263557e-03 -1.52814075e+01] [ 2.79362532e-02 9.99609700e-01 -1.15354993e-04 -1.88945026e-01] [-1.92865871e-03 1.69300353e-04 9.99998126e-01 4.96829798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.88528557 meters 0.04554344747644096 Centerline is valid? [True, True] Translation: X:-15.31, Y:-0.16, Z:0.50 [[ 9.99735829e-01 -2.27944948e-02 2.94665450e-03 -1.53102734e+01] [ 2.27951092e-02 9.99740142e-01 -1.75081163e-04 -1.63786429e-01] [-2.94189790e-03 2.42204223e-04 9.99995643e-01 5.01690571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.915285570000002 meters 0.046438663907318364 Centerline is valid? [True, True] Translation: X:-15.34, Y:-0.15, Z:0.51 [[ 9.99663525e-01 -2.54525771e-02 5.00022503e-03 -1.53396480e+01] [ 2.54543761e-02 9.99675941e-01 -2.96452447e-04 -1.48691846e-01] [-4.99105918e-03 4.23630306e-04 9.99987455e-01 5.07018709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.945285570000001 meters 0.049187880968321274 Centerline is valid? [True, True] Translation: X:-15.37, Y:-0.14, Z:0.51 [[ 9.99270546e-01 -3.77741482e-02 5.61158279e-03 -1.53685749e+01] [ 3.77766048e-02 9.99286154e-01 -3.32390073e-04 -1.39634590e-01] [-5.59502123e-03 5.44134155e-04 9.99984200e-01 5.08585327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.97528557 meters 0.04864810267546991 Centerline is valid? [True, True] Translation: X:-15.40, Y:-0.13, Z:0.51 [[ 9.98642889e-01 -5.20178202e-02 2.55455282e-03 -1.53970927e+01] [ 5.20183760e-02 9.98646116e-01 -1.51586532e-04 -1.26563575e-01] [-2.54320905e-03 2.84264501e-04 9.99996726e-01 5.12742914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.005285570000002 meters 0.05265571730641365 Centerline is valid? [True, True] Translation: X:-15.43, Y:-0.12, Z:0.51 [[ 9.97800145e-01 -6.62921037e-02 -4.77776987e-04 -1.54274632e+01] [ 6.62921245e-02 9.97800257e-01 2.78095831e-05 -1.21368297e-01] [ 4.74882445e-04 -5.94212576e-05 9.99999885e-01 5.07903904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.035285570000001 meters 0.05467956557129263 Centerline is valid? [True, True] Translation: X:-15.46, Y:-0.11, Z:0.51 [[ 9.97248439e-01 -7.40930704e-02 -2.40158694e-03 -1.54576042e+01] [ 7.40936222e-02 9.97251280e-01 1.41484099e-04 -1.12242131e-01] [ 2.38450265e-03 -3.19037072e-04 9.99997106e-01 5.05953098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.06528557 meters 0.04897004809598941 Centerline is valid? [True, True] Translation: X:-15.49, Y:-0.08, Z:0.51 [[ 9.97236888e-01 -7.42871659e-02 8.24781620e-05 -1.54862886e+01] [ 7.42871668e-02 9.97236891e-01 -7.82063261e-06 -8.24426939e-02] [-8.16692933e-05 1.39260923e-05 9.99999997e-01 5.12327441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.095285570000001 meters 0.04667612638296228 Centerline is valid? [True, True] Translation: X:-15.52, Y:-0.05, Z:0.52 [[ 9.97777279e-01 -6.66370359e-02 -8.91459433e-05 -1.55158146e+01] [ 6.66370365e-02 9.97777282e-01 4.40515454e-06 -5.47906259e-02] [ 8.86542506e-05 -1.03357846e-05 9.99999996e-01 5.20772969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12528557 meters 0.04510689537611586 Centerline is valid? [True, True] Translation: X:-15.55, Y:-0.03, Z:0.52 [[ 9.98257535e-01 -5.89603739e-02 -2.35968226e-03 -1.55454271e+01] [ 5.89608643e-02 9.98260285e-01 1.38740811e-04 -2.65098760e-02] [ 2.34739688e-03 -2.77627966e-04 9.99997206e-01 5.18464241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.15528557 meters 0.0457766511323107 Centerline is valid? [True, True] Translation: X:-15.57, Y:0.00, Z:0.51 [[ 9.98736267e-01 -5.00930110e-02 -4.06938898e-03 -1.55745940e+01] [ 5.00943973e-02 9.98744459e-01 2.39375681e-04 1.03429598e-03] [ 4.05228864e-03 -4.42926762e-04 9.99991691e-01 5.05831751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.185285570000001 meters 0.041044078064144014 Centerline is valid? [True, True] Translation: X:-15.60, Y:0.03, Z:0.52 [[ 9.98675997e-01 -5.12647961e-02 -4.26314431e-03 -1.56024379e+01] [ 5.12663187e-02 9.98684987e-01 2.48568706e-04 3.49723582e-02] [ 4.24479539e-03 -4.66795315e-04 9.99990882e-01 5.16315035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.21528557 meters 0.04905959014574362 Centerline is valid? [True, True] Translation: X:-15.63, Y:0.04, Z:0.52 [[ 9.98438336e-01 -5.57723065e-02 -3.21557192e-03 -1.56326756e+01] [ 5.57732005e-02 9.98443446e-01 1.88940190e-04 4.22378670e-02] [ 3.20002908e-03 -3.67987866e-04 9.99994812e-01 5.17632211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.245285570000002 meters 0.05022358722628435 Centerline is valid? [True, True] Translation: X:-15.66, Y:0.06, Z:0.52 [[ 9.98083172e-01 -6.18517556e-02 -2.08399626e-03 -1.56631591e+01] [ 6.18521434e-02 9.98085316e-01 1.22121578e-04 5.50676937e-02] [ 2.07245263e-03 -2.50787128e-04 9.99997821e-01 5.16534166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.275285570000001 meters 0.047309542497788834 Centerline is valid? [True, True] Translation: X:-15.69, Y:0.08, Z:0.51 [[ 9.97713003e-01 -6.75847306e-02 -1.03327381e-03 -1.56916870e+01] [ 6.75848295e-02 9.97713530e-01 6.10739865e-05 7.52204308e-02] [ 1.02678360e-03 -1.30767945e-04 9.99999464e-01 5.12323003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.30528557 meters 0.0519020007180141 Centerline is valid? [True, True] Translation: X:-15.72, Y:0.09, Z:0.51 [[ 9.97527120e-01 -7.02504735e-02 -2.12507254e-03 -1.57221294e+01] [ 7.02508949e-02 9.97529346e-01 1.24205338e-04 8.51680043e-02] [ 2.11109673e-03 -2.73186440e-04 9.99997734e-01 5.08221626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.335285570000002 meters 0.05439372899928041 Centerline is valid? [True, True] Translation: X:-15.75, Y:0.10, Z:0.51 [[ 9.97636750e-01 -6.85839151e-02 -4.14275041e-03 -1.57524112e+01] [ 6.85855051e-02 9.97645212e-01 2.42789487e-04 1.01784026e-01] [ 4.11634366e-03 -5.26348344e-04 9.99991389e-01 5.07353248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.365285570000001 meters 0.056555320585907 Centerline is valid? [True, True] Translation: X:-15.78, Y:0.12, Z:0.51 [[ 9.97877998e-01 -6.50069737e-02 -3.68708368e-03 -1.57825526e+01] [ 6.50082086e-02 9.97884706e-01 2.15949213e-04 1.20633392e-01] [ 3.66524621e-03 -4.55181674e-04 9.99993179e-01 5.10053585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.39528557 meters 0.055776173861291634 Centerline is valid? [True, True] Translation: X:-15.81, Y:0.14, Z:0.51 [[ 9.98065155e-01 -6.20990528e-02 -3.10693457e-03 -1.58129966e+01] [ 6.20999152e-02 9.98069921e-01 1.81786593e-04 1.38809288e-01] [ 3.08964916e-03 -3.74375237e-04 9.99995157e-01 5.09873783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.425285570000002 meters 0.045603275407105945 Centerline is valid? [True, True] Translation: X:-15.84, Y:0.18, Z:0.51 [[ 9.98101400e-01 -6.15038377e-02 -3.29759842e-03 -1.58418454e+01] [ 6.15047877e-02 9.98106771e-01 1.87374630e-04 1.76572189e-01] [ 3.27983105e-03 -3.89836972e-04 9.99994545e-01 5.14776638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.455285570000001 meters 0.05955531402479304 Centerline is valid? [True, True] Translation: X:-15.87, Y:0.16, Z:0.51 [[ 9.98027907e-01 -6.26669935e-02 -3.62543907e-03 -1.58745872e+01] [ 6.26681678e-02 9.98034396e-01 2.11108449e-04 1.57782067e-01] [ 3.60508336e-03 -4.37891748e-04 9.99993406e-01 5.05567120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.48528557 meters 0.054795602696568406 Centerline is valid? [True, True] Translation: X:-15.90, Y:0.18, Z:0.51 [[ 9.97557510e-01 -6.96523066e-02 -5.25070258e-03 -1.59031460e+01] [ 6.96548682e-02 9.97571103e-01 3.06364019e-04 1.80688771e-01] [ 5.21661020e-03 -6.71352724e-04 9.99986168e-01 5.09305903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.515285570000001 meters 0.05688266929460942 Centerline is valid? [True, True] Translation: X:-15.93, Y:0.19, Z:0.51 [[ 9.96726462e-01 -8.07989306e-02 -2.80936577e-03 -1.59323238e+01] [ 8.07997069e-02 9.96730345e-01 1.63745149e-04 1.93107421e-01] [ 2.78694968e-03 -3.90205054e-04 9.99996040e-01 5.11442488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54528557 meters 0.06662775136730076 Centerline is valid? [True, True] Translation: X:-15.96, Y:0.18, Z:0.51 [[ 9.96361158e-01 -8.52133509e-02 -1.76853724e-03 -1.59638720e+01] [ 8.52136649e-02 9.96362695e-01 1.02829079e-04 1.80054106e-01] [ 1.75334212e-03 -2.53158440e-04 9.99998431e-01 5.05519424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.575285570000002 meters 0.060266126964166236 Centerline is valid? [True, True] Translation: X:-15.99, Y:0.21, Z:0.51 [[ 9.96068411e-01 -8.84847589e-02 -4.26228470e-03 -1.59921925e+01] [ 8.84866163e-02 9.96077335e-01 2.48825251e-04 2.10617936e-01] [ 4.22354794e-03 -6.25002124e-04 9.99990885e-01 5.11166494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.605285570000001 meters 0.0606257714760757 Centerline is valid? [True, True] Translation: X:-16.02, Y:0.23, Z:0.51 [[ 9.96008250e-01 -8.91038128e-02 -5.29881020e-03 -1.60231807e+01] [ 8.91066551e-02 9.96022044e-01 3.02306746e-04 2.25061925e-01] [ 5.25079508e-03 -7.73259266e-04 9.99985916e-01 5.11612141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.63528557 meters 0.06378604700665245 Centerline is valid? [True, True] Translation: X:-16.05, Y:0.23, Z:0.51 [[ 9.96210475e-01 -8.67729095e-02 -5.92881467e-03 -1.60538441e+01] [ 8.67764610e-02 9.96227749e-01 3.43947353e-04 2.33983338e-01] [ 5.87660438e-03 -8.57125511e-04 9.99982365e-01 5.14540385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.665285570000002 meters 0.05709932973716873 Centerline is valid? [True, True] Translation: X:-16.08, Y:0.27, Z:0.52 [[ 9.96389283e-01 -8.48956966e-02 -1.05666809e-03 -1.60817705e+01] [ 8.48958087e-02 9.96389832e-01 6.15314009e-05 2.67116232e-01] [ 1.04762959e-03 -1.51015921e-04 9.99999440e-01 5.20273312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.695285570000001 meters 0.05890308525860133 Centerline is valid? [True, True] Translation: X:-16.11, Y:0.28, Z:0.52 [[ 9.96514061e-01 -8.33613618e-02 3.25735991e-03 -1.61119721e+01] [ 8.33624196e-02 9.96519278e-01 -1.90099879e-04 2.78028823e-01] [-3.23017496e-03 4.60978606e-04 9.99994677e-01 5.19409119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.72528557 meters 0.05890358583999218 Centerline is valid? [True, True] Translation: X:-16.14, Y:0.29, Z:0.52 [[ 9.96637287e-01 -8.19209486e-02 1.75375993e-03 -1.61424797e+01] [ 8.19212529e-02 9.96638800e-01 -1.02259555e-04 2.90073073e-01] [-1.73948799e-03 2.45585896e-04 9.99998457e-01 5.20176769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.755285570000002 meters 0.06428513681063573 Centerline is valid? [True, True] Translation: X:-16.17, Y:0.29, Z:0.51 [[ 9.96689823e-01 -8.12943569e-02 -7.90493676e-04 -1.61744854e+01] [ 8.12944138e-02 9.96690131e-01 3.99525107e-05 2.91633993e-01] [ 7.84629331e-04 -1.04082981e-04 9.99999687e-01 5.11851197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.785285570000001 meters 0.05608892329420091 Centerline is valid? [True, True] Translation: X:-16.20, Y:0.31, Z:0.51 [[ 9.96545919e-01 -8.29504173e-02 -3.93186491e-03 -1.62033304e+01] [ 8.29519469e-02 9.96553522e-01 2.27258493e-04 3.13568960e-01] [ 3.89946263e-03 -5.52629372e-04 9.99992244e-01 5.13177679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.81528557 meters 0.060372466533477886 Centerline is valid? [True, True] Translation: X:-16.23, Y:0.31, Z:0.51 [[ 9.96379531e-01 -8.50077209e-02 -1.23155878e-03 -1.62342474e+01] [ 8.50078720e-02 9.96380277e-01 7.07658635e-05 3.11936055e-01] [ 1.22108524e-03 -1.75201849e-04 9.99999239e-01 5.10337864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.845285570000001 meters 0.06170923537824452 Centerline is valid? [True, True] Translation: X:-16.27, Y:0.31, Z:0.52 [[ 9.96208904e-01 -8.69496287e-02 2.75338821e-03 -1.62650898e+01] [ 8.69503953e-02 9.96212630e-01 -1.59719657e-04 3.14740055e-01] [-2.72907254e-03 3.98522337e-04 9.99996197e-01 5.17940667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.87528557 meters 0.06012675982102528 Centerline is valid? [True, True] Translation: X:-16.30, Y:0.32, Z:0.52 [[ 9.96172696e-01 -8.73861075e-02 1.90498082e-03 -1.62957676e+01] [ 8.73864837e-02 9.96174477e-01 -1.14959887e-04 3.24646428e-01] [-1.88764738e-03 2.80989476e-04 9.99998179e-01 5.21461428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.905285570000002 meters 0.058713859801128726 Centerline is valid? [True, True] Translation: X:-16.33, Y:0.34, Z:0.51 [[ 9.96038345e-01 -8.89230075e-02 -5.60450362e-04 -1.63257698e+01] [ 8.89230393e-02 9.96038499e-01 3.21368008e-05 3.37221690e-01] [ 5.55372436e-04 -8.18464354e-05 9.99999842e-01 5.14287246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.935285570000001 meters 0.061588341700532394 Centerline is valid? [True, True] Translation: X:-16.36, Y:0.33, Z:0.51 [[ 9.95940080e-01 -8.99492309e-02 -3.53445266e-03 -1.63576788e+01] [ 8.99505046e-02 9.95946216e-01 2.02757704e-04 3.31779541e-01] [ 3.50188686e-03 -5.19860324e-04 9.99993733e-01 5.09678335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.96528557 meters 0.06843792223285469 Centerline is valid? [True, True] Translation: X:-16.39, Y:0.33, Z:0.51 [[ 9.95694378e-01 -9.26961153e-02 -3.69633014e-04 -1.63891251e+01] [ 9.26961293e-02 9.95694445e-01 2.07275057e-05 3.25593034e-01] [ 3.66120180e-04 -5.49018106e-05 9.99999931e-01 5.09604908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.995285570000002 meters 0.06122859926975953 Centerline is valid? [True, True] Translation: X:-16.42, Y:0.35, Z:0.52 [[ 9.95747620e-01 -9.20964543e-02 2.21826638e-03 -1.64177472e+01] [ 9.20969619e-02 9.95750036e-01 -1.27544450e-04 3.49327259e-01] [-2.19709244e-03 3.31297676e-04 9.99997532e-01 5.18671507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02528557 meters 0.0584065916632819 Centerline is valid? [True, True] Translation: X:-16.45, Y:0.37, Z:0.52 [[ 9.96148896e-01 -8.76769122e-02 3.68445106e-04 -1.64481807e+01] [ 8.76769262e-02 9.96148963e-01 -2.18516017e-05 3.65390560e-01] [-3.65110330e-04 5.40715833e-05 9.99999932e-01 5.18610563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.055285570000002 meters 0.06109989617567893 Centerline is valid? [True, True] Translation: X:-16.48, Y:0.37, Z:0.51 [[ 9.96493734e-01 -8.36612095e-02 -1.02032426e-03 -1.64794829e+01] [ 8.36613116e-02 9.96494246e-01 5.77604104e-05 3.66152264e-01] [ 1.01191495e-03 -1.42919553e-04 9.99999478e-01 5.09878680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.085285570000003 meters 0.06038876917352523 Centerline is valid? [True, True] Translation: X:-16.51, Y:0.37, Z:0.51 [[ 9.96911704e-01 -7.85228986e-02 -1.09931069e-03 -1.65102428e+01] [ 7.85230142e-02 9.96912299e-01 6.22970006e-05 3.69891378e-01] [ 1.09102460e-03 -1.48425798e-04 9.99999394e-01 5.10333884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.115285570000005 meters 0.05758781609705643 Centerline is valid? [True, True] Translation: X:-16.54, Y:0.39, Z:0.52 [[ 9.97420498e-01 -7.17795176e-02 -2.27741005e-04 -1.65392690e+01] [ 7.17795222e-02 9.97420523e-01 1.22155597e-05 3.90507801e-01] [ 2.26276725e-04 -2.85311901e-05 9.99999974e-01 5.15726740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.145285570000002 meters 0.057584074313115206 Centerline is valid? [True, True] Translation: X:-16.57, Y:0.39, Z:0.52 [[ 9.97773707e-01 -6.66537814e-02 -2.21415763e-03 -1.65695682e+01] [ 6.66542227e-02 9.97776127e-01 1.25994714e-04 3.94917382e-01] [ 2.20083560e-03 -2.73297169e-04 9.99997541e-01 5.15705169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.175285570000003 meters 0.05854654963265341 Centerline is valid? [True, True] Translation: X:-16.60, Y:0.39, Z:0.51 [[ 9.97893402e-01 -6.48208682e-02 -2.64837756e-03 -1.66006498e+01] [ 6.48214940e-02 9.97896864e-01 1.51060755e-04 3.93885915e-01] [ 2.63301577e-03 -3.22414321e-04 9.99996482e-01 5.12531328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.205285570000004 meters 0.05854654963265341 Centerline is valid? [True, True] Translation: X:-16.63, Y:0.40, Z:0.51 [[ 9.97876064e-01 -6.50872041e-02 -2.64873504e-03 -1.66330326e+01] [ 6.50878145e-02 9.97879530e-01 1.44804995e-04 3.95928056e-01] [ 2.63369353e-03 -3.16897813e-04 9.99996482e-01 5.13289451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.235285570000002 meters 0.05372153617812764 Centerline is valid? [True, True] Translation: X:-16.66, Y:0.40, Z:0.51 [[ 9.97858613e-01 -6.54047005e-02 6.42397064e-04 -1.66637411e+01] [ 6.54047406e-02 9.97858817e-01 -4.17235988e-05 4.02228915e-01] [-6.38292654e-04 8.36500658e-05 9.99999793e-01 5.14372714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.265285570000003 meters 0.0587645479608661 Centerline is valid? [True, True] Translation: X:-16.70, Y:0.38, Z:0.52 [[ 9.97270174e-01 -7.32826095e-02 9.04761986e-03 -1.66957587e+01] [ 7.32902385e-02 9.97310522e-01 -5.14095339e-04 3.79676032e-01] [-8.98561224e-03 1.17579417e-03 9.99958937e-01 5.20830986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.295285570000004 meters 0.057660956660906246 Centerline is valid? [True, True] Translation: X:-16.73, Y:0.38, Z:0.52 [[ 9.96846424e-01 -7.92280848e-02 4.48516896e-03 -1.67259632e+01] [ 7.92300178e-02 9.96856328e-01 -2.54664700e-04 3.78788986e-01] [-4.45089246e-03 6.09221612e-04 9.99989909e-01 5.19503798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.325285570000002 meters 0.06000599543011852 Centerline is valid? [True, True] Translation: X:-16.76, Y:0.37, Z:0.50 [[ 9.96800646e-01 -7.98778934e-02 -2.82737086e-03 -1.67576064e+01] [ 7.98786626e-02 9.96804581e-01 1.59994411e-04 3.68674513e-01] [ 2.80555621e-03 -3.85329135e-04 9.99995990e-01 5.03183427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.355285570000003 meters 0.05942957389750381 Centerline is valid? [True, True] Translation: X:-16.79, Y:0.37, Z:0.50 [[ 9.96904770e-01 -7.86100428e-02 -1.15791974e-03 -1.67879260e+01] [ 7.86101696e-02 9.96905430e-01 6.43085887e-05 3.65790255e-01] [ 1.14928118e-03 -1.55133806e-04 9.99999328e-01 4.99654544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.385285570000004 meters 0.05606015716301298 Centerline is valid? [True, True] Translation: X:-16.82, Y:0.36, Z:0.51 [[ 9.97100543e-01 -7.60342438e-02 3.04958966e-03 -1.68184258e+01] [ 7.60351241e-02 9.97105125e-01 -1.73591430e-04 3.61232426e-01] [-3.02756259e-03 4.04964038e-04 9.99995335e-01 5.12919087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.41528557 meters 0.05563332875742069 Centerline is valid? [True, True] Translation: X:-16.85, Y:0.36, Z:0.51 [[ 9.97125068e-01 -7.56374363e-02 4.53614442e-03 -1.68505116e+01] [ 7.56393808e-02 9.97135205e-01 -2.58401163e-04 3.57560810e-01] [-4.50360450e-03 6.00769433e-04 9.99989678e-01 5.14125270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.445285570000003 meters 0.05322691177119612 Centerline is valid? [True, True] Translation: X:-16.88, Y:0.35, Z:0.51 [[ 9.97303823e-01 -7.33831302e-02 -3.42782018e-05 -1.68812566e+01] [ 7.33831303e-02 9.97303823e-01 1.52802908e-06 3.53676627e-01] [ 3.40736501e-05 -4.03935099e-06 9.99999999e-01 5.10909608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.475285570000004 meters 0.05202458013799274 Centerline is valid? [True, True] Translation: X:-16.91, Y:0.35, Z:0.51 [[ 9.97519804e-01 -7.03858899e-02 -2.60905971e-04 -1.69123150e+01] [ 7.03858960e-02 9.97519837e-01 1.44742542e-05 3.48318043e-01] [ 2.59240098e-04 -3.28024558e-05 9.99999966e-01 5.06072531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.50528557 meters 0.05352893718377635 Centerline is valid? [True, True] Translation: X:-16.94, Y:0.34, Z:0.51 [[ 9.97717761e-01 -6.74720731e-02 2.60537077e-03 -1.69433354e+01] [ 6.74726853e-02 9.97721111e-01 -1.47695183e-04 3.38923410e-01] [-2.58946812e-03 3.23149469e-04 9.99996595e-01 5.10325474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.535285570000003 meters 0.052091506045316226 Centerline is valid? [True, True] Translation: X:-16.98, Y:0.33, Z:0.51 [[ 9.97768895e-01 -6.63912647e-02 7.03086824e-03 -1.69750516e+01] [ 6.63956943e-02 9.97793292e-01 -3.98238776e-04 3.32501437e-01] [-6.98891359e-03 8.64169641e-04 9.99975204e-01 5.10307665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.565285570000004 meters 0.04803003381350539 Centerline is valid? [True, True] Translation: X:-17.01, Y:0.33, Z:0.51 [[ 9.97675668e-01 -6.79273047e-02 5.39842223e-03 -1.70058329e+01] [ 6.79299350e-02 9.97690047e-01 -3.05164790e-04 3.26752398e-01] [-5.36522311e-03 6.71169957e-04 9.99985382e-01 5.05609363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59528557 meters 0.052590001144479565 Centerline is valid? [True, True] Translation: X:-17.04, Y:0.30, Z:0.50 [[ 9.97480498e-01 -7.08881524e-02 2.74335994e-03 -1.70383230e+01] [ 7.08888446e-02 9.97484209e-01 -1.55803148e-04 3.04211596e-01] [-2.72541362e-03 3.49884218e-04 9.99996225e-01 5.02113399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.625285570000003 meters 0.0519483930459513 Centerline is valid? [True, True] Translation: X:-17.07, Y:0.30, Z:0.51 [[ 9.97317784e-01 -7.30365076e-02 4.78602230e-03 -1.70685934e+01] [ 7.30386320e-02 9.97329076e-01 -2.70381418e-04 3.03495716e-01] [-4.75349148e-03 6.19220718e-04 9.99988510e-01 5.07469617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.655285570000004 meters 0.05111324229603223 Centerline is valid? [True, True] Translation: X:-17.10, Y:0.30, Z:0.52 [[ 9.97218561e-01 -7.42078072e-02 6.95295543e-03 -1.70998774e+01] [ 7.42123229e-02 9.97242386e-01 -3.93378811e-04 3.01834222e-01] [-6.90459009e-03 9.08279626e-04 9.99975751e-01 5.19638161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68528557 meters 0.05036488030012521 Centerline is valid? [True, True] Translation: X:-17.13, Y:0.29, Z:0.52 [[ 9.97058432e-01 -7.62683023e-02 7.59134730e-03 -1.71318768e+01] [ 7.62737398e-02 9.97086823e-01 -4.28936806e-04 2.89421934e-01] [-7.53651808e-03 1.00669551e-03 9.99971093e-01 5.18060901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.715285570000002 meters 0.056321049502471986 Centerline is valid? [True, True] Translation: X:-17.16, Y:0.26, Z:0.50 [[ 9.96814809e-01 -7.95926281e-02 5.02490358e-03 -1.71649129e+01] [ 7.95950510e-02 9.96827240e-01 -2.83724830e-04 2.55919774e-01] [-4.98637837e-03 6.82778569e-04 9.99987335e-01 5.00986958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.745285570000004 meters 0.051492210843200034 Centerline is valid? [True, True] Translation: X:-17.19, Y:0.27, Z:0.51 [[ 9.96795487e-01 -7.98663481e-02 4.48593178e-03 -1.71949730e+01] [ 7.98682933e-02 9.96805392e-01 -2.55872713e-04 2.67365631e-01] [-4.45116536e-03 6.13336480e-04 9.99989905e-01 5.07464316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77528557 meters 0.05387460720216394 Centerline is valid? [True, True] Translation: X:-17.23, Y:0.26, Z:0.52 [[ 9.96960212e-01 -7.76494231e-02 6.39559960e-03 -1.72261401e+01] [ 7.76533056e-02 9.96980358e-01 -3.60620566e-04 2.63498581e-01] [-6.34828519e-03 8.56163806e-04 9.99979483e-01 5.18599617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.805285570000002 meters 0.05113379257875501 Centerline is valid? [True, True] Translation: X:-17.26, Y:0.27, Z:0.52 [[ 9.97045600e-01 -7.65628927e-02 6.18019238e-03 -1.72563641e+01] [ 7.65664971e-02 9.97064416e-01 -3.48380679e-04 2.66812681e-01] [-6.13537687e-03 8.20547105e-04 9.99980842e-01 5.19751734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.835285570000003 meters 0.05328561261110592 Centerline is valid? [True, True] Translation: X:-17.29, Y:0.24, Z:0.51 [[ 9.97099405e-01 -7.60057177e-02 3.98838568e-03 -1.72899429e+01] [ 7.60072309e-02 9.97107240e-01 -2.28984147e-04 2.44081764e-01] [-3.95944414e-03 5.31466108e-04 9.99992020e-01 5.07631587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.865285570000005 meters 0.05320861990378828 Centerline is valid? [True, True] Translation: X:-17.32, Y:0.23, Z:0.50 [[ 9.97031725e-01 -7.68327627e-02 4.94631954e-03 -1.73228844e+01] [ 7.68350864e-02 9.97043776e-01 -2.81199357e-04 2.30061247e-01] [-4.91009178e-03 6.60415569e-04 9.99987727e-01 5.04277270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.895285570000002 meters 0.05185526078588873 Centerline is valid? [True, True] Translation: X:-17.35, Y:0.23, Z:0.52 [[ 9.97034336e-01 -7.66650411e-02 6.70846317e-03 -1.73533704e+01] [ 7.66692855e-02 9.97056507e-01 -3.77458207e-04 2.34016695e-01] [-6.65977901e-03 8.90671871e-04 9.99977427e-01 5.18721520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.925285570000003 meters 0.05334989981053262 Centerline is valid? [True, True] Translation: X:-17.38, Y:0.23, Z:0.52 [[ 9.96898137e-01 -7.84210073e-02 6.65203930e-03 -1.73845157e+01] [ 7.84251867e-02 9.96919933e-01 -3.69389745e-04 2.30520320e-01] [-6.60258266e-03 8.89931372e-04 9.99977807e-01 5.20186136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.955285570000004 meters 0.053641072500178855 Centerline is valid? [True, True] Translation: X:-17.42, Y:0.22, Z:0.51 [[ 9.96763983e-01 -8.02788242e-02 4.10757592e-03 -1.74163272e+01] [ 8.02804337e-02 9.96772291e-01 -2.28210973e-04 2.18724835e-01] [-4.07599735e-03 5.57230455e-04 9.99991538e-01 5.06662093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.985285570000002 meters 0.05251804289486101 Centerline is valid? [True, True] Translation: X:-17.45, Y:0.21, Z:0.51 [[ 9.96638568e-01 -8.18197051e-02 4.13519711e-03 -1.74485532e+01] [ 8.18213490e-02 9.96646986e-01 -2.29635768e-04 2.05177458e-01] [-4.10254300e-03 5.67211269e-04 9.99991424e-01 5.05173177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.015285570000003 meters 0.051759305576317555 Centerline is valid? [True, True] Translation: X:-17.48, Y:0.21, Z:0.51 [[ 9.96605201e-01 -8.21719275e-02 5.08413667e-03 -1.74793750e+01] [ 8.21744264e-02 9.96617922e-01 -2.84231088e-04 2.07200871e-01] [-5.04358590e-03 7.01052194e-04 9.99987035e-01 5.10185835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.045285570000004 meters 0.0557879057806121 Centerline is valid? [True, True] Translation: X:-17.51, Y:0.20, Z:0.52 [[ 9.96590410e-01 -8.23900184e-02 4.40894316e-03 -1.75123490e+01] [ 8.23918947e-02 9.96599978e-01 -2.45326281e-04 1.96806959e-01] [-4.37374022e-03 6.07751000e-04 9.99990250e-01 5.19980172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.075285570000002 meters 0.0520769143267761 Centerline is valid? [True, True] Translation: X:-17.54, Y:0.20, Z:0.52 [[ 9.96594494e-01 -8.23140110e-02 4.88040005e-03 -1.75429737e+01] [ 8.23163184e-02 9.96606216e-01 -2.73467115e-04 2.04591831e-01] [-4.84132685e-03 6.74272386e-04 9.99988053e-01 5.23277832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.105285570000003 meters 0.053100079768515177 Centerline is valid? [True, True] Translation: X:-17.57, Y:0.20, Z:0.52 [[ 9.96657723e-01 -8.13621418e-02 7.32013126e-03 -1.75742292e+01] [ 8.13672511e-02 9.96684107e-01 -4.02396448e-04 1.95145850e-01] [-7.26311865e-03 9.96670486e-04 9.99973127e-01 5.20448978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.135285570000004 meters 0.05143265476188321 Centerline is valid? [True, True] Translation: X:-17.61, Y:0.19, Z:0.52 [[ 9.96742642e-01 -7.98781635e-02 1.11168926e-02 -1.76057101e+01] [ 7.98898558e-02 9.96803510e-01 -6.10978842e-04 1.90958931e-01] [-1.10325537e-02 1.49711561e-03 9.99938019e-01 5.20765607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16528557 meters 0.047752468640757814 Centerline is valid? [True, True] Translation: X:-17.64, Y:0.20, Z:0.52 [[ 9.96816353e-01 -7.92333194e-02 8.90165481e-03 -1.76357502e+01] [ 7.92408002e-02 9.96855383e-01 -4.90305588e-04 1.97972522e-01] [-8.83481398e-03 1.19411888e-03 9.99960259e-01 5.23414483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.195285570000003 meters 0.04530811568072615 Centerline is valid? [True, True] Translation: X:-17.67, Y:0.20, Z:0.52 [[ 9.96782833e-01 -7.99945790e-02 4.98519230e-03 -1.76658070e+01] [ 7.99969279e-02 9.96795073e-01 -2.73254725e-04 2.00511416e-01] [-4.94735622e-03 6.71175687e-04 9.99987537e-01 5.23803419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.225285570000004 meters 0.055765972211129104 Centerline is valid? [True, True] Translation: X:-17.70, Y:0.17, Z:0.52 [[ 9.96623507e-01 -8.20734694e-02 2.35197629e-03 -1.76990337e+01] [ 8.20739999e-02 9.96626230e-01 -1.29753286e-04 1.73074655e-01] [-2.33339196e-03 3.22351276e-04 9.99997226e-01 5.16599283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25528557 meters 0.05396457238149067 Centerline is valid? [True, True] Translation: X:-17.73, Y:0.17, Z:0.52 [[ 9.96308444e-01 -8.57432351e-02 4.19298094e-03 -1.77290694e+01] [ 8.57449471e-02 9.96317094e-01 -2.29921557e-04 1.69800240e-01] [-4.15782437e-03 5.88599718e-04 9.99991183e-01 5.16642397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.285285570000003 meters 0.05228857201372542 Centerline is valid? [True, True] Translation: X:-17.76, Y:0.17, Z:0.52 [[ 9.95971154e-01 -8.94812943e-02 5.87857697e-03 -1.77596881e+01] [ 8.94847178e-02 9.95988143e-01 -3.21414989e-04 1.67528323e-01] [-5.82623233e-03 8.46162858e-04 9.99982669e-01 5.19417798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.315285570000004 meters 0.05033485077104512 Centerline is valid? [True, True] Translation: X:-17.79, Y:0.17, Z:0.52 [[ 9.95651911e-01 -9.28881137e-02 7.00502584e-03 -1.77892712e+01] [ 9.28930549e-02 9.95676019e-01 -3.82654235e-04 1.72315395e-01] [-6.93919221e-03 1.03170867e-03 9.99975391e-01 5.18924992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34528557 meters 0.058646295025180394 Centerline is valid? [True, True] Translation: X:-17.82, Y:0.16, Z:0.52 [[ 9.95445822e-01 -9.49590654e-02 8.38991895e-03 -1.78210835e+01] [ 9.49662300e-02 9.95480389e-01 -4.58832812e-04 1.58127098e-01] [-8.30842944e-03 1.25350218e-03 9.99964699e-01 5.15994142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.375285570000003 meters 0.05011725342522849 Centerline is valid? [True, True] Translation: X:-17.85, Y:0.18, Z:0.53 [[ 9.95692582e-01 -9.24503064e-02 7.01597773e-03 -1.78499015e+01] [ 9.24552582e-02 9.95716766e-01 -3.84079267e-04 1.79708445e-01] [-6.95041841e-03 1.03108891e-03 9.99975314e-01 5.29312735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.405285570000004 meters 0.052003194226366435 Centerline is valid? [True, True] Translation: X:-17.88, Y:0.18, Z:0.52 [[ 9.96156600e-01 -8.73315147e-02 6.72564339e-03 -1.78808430e+01] [ 8.73359475e-02 9.96178848e-01 -3.67681440e-04 1.80707259e-01] [-6.66783351e-03 9.53658732e-04 9.99977315e-01 5.22811599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43528557 meters 0.052115020481426536 Centerline is valid? [True, True] Translation: X:-17.91, Y:0.18, Z:0.52 [[ 9.96315038e-01 -8.56594653e-02 4.33605405e-03 -1.79122398e+01] [ 8.56612928e-02 9.96324288e-01 -2.37192102e-04 1.81283768e-01] [-4.29979822e-03 6.07750054e-04 9.99990571e-01 5.17599729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.465285570000002 meters 0.05022125824461249 Centerline is valid? [True, True] Translation: X:-17.94, Y:0.19, Z:0.52 [[ 9.96508548e-01 -8.32955576e-02 5.70650723e-03 -1.79433885e+01] [ 8.32986798e-02 9.96524577e-01 -3.11251248e-04 1.85000676e-01] [-5.66074886e-03 7.85509048e-04 9.99983669e-01 5.20682161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.495285570000004 meters 0.04765709927705005 Centerline is valid? [True, True] Translation: X:-17.97, Y:0.19, Z:0.53 [[ 9.96683838e-01 -8.10487927e-02 7.24012241e-03 -1.79732338e+01] [ 8.10537602e-02 9.96709653e-01 -3.94845352e-04 1.94641906e-01] [-7.18429816e-03 9.80375126e-04 9.99973712e-01 5.26005894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.525285570000005 meters 0.05172750661588672 Centerline is valid? [True, True] Translation: X:-18.00, Y:0.19, Z:0.52 [[ 9.96489676e-01 -8.33646738e-02 7.65876372e-03 -1.80048146e+01] [ 8.33702920e-02 9.96518550e-01 -4.16697794e-04 1.90356289e-01] [-7.59736224e-03 1.05374842e-03 9.99970584e-01 5.18590481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.555285570000002 meters 0.05287717596282175 Centerline is valid? [True, True] Translation: X:-18.04, Y:0.19, Z:0.52 [[ 9.96266973e-01 -8.60868365e-02 6.41681847e-03 -1.80362117e+01] [ 8.60908349e-02 9.96287231e-01 -3.49012257e-04 1.85155980e-01] [-6.36294894e-03 9.00138645e-04 9.99979351e-01 5.17674328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.585285570000003 meters 0.053103810924941305 Centerline is valid? [True, True] Translation: X:-18.07, Y:0.19, Z:0.52 [[ 9.95842821e-01 -9.08322634e-02 6.82462470e-03 -1.80668282e+01] [ 9.08368961e-02 9.95865714e-01 -3.71309515e-04 1.87094595e-01] [-6.76268286e-03 9.89693639e-04 9.99976643e-01 5.19182460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.615285570000005 meters 0.053071625866457126 Centerline is valid? [True, True] Translation: X:-18.10, Y:0.19, Z:0.52 [[ 9.95349032e-01 -9.60801855e-02 6.99303930e-03 -1.80969138e+01] [ 9.60851710e-02 9.95373044e-01 -3.79706251e-04 1.94730325e-01] [-6.92420057e-03 1.04986763e-03 9.99975476e-01 5.24161674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.645285570000002 meters 0.05126791271402618 Centerline is valid? [True, True] Translation: X:-18.13, Y:0.21, Z:0.53 [[ 9.94821622e-01 -1.01466898e-01 5.86585918e-03 -1.81262879e+01] [ 1.01470497e-01 9.94838498e-01 -3.18436290e-04 2.08220994e-01] [-5.80327179e-03 9.11998954e-04 9.99982745e-01 5.29144183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.675285570000003 meters 0.05419500742680291 Centerline is valid? [True, True] Translation: X:-18.16, Y:0.21, Z:0.53 [[ 9.94580546e-01 -1.03744468e-01 6.82806183e-03 -1.81575710e+01] [ 1.03749398e-01 9.94603401e-01 -3.70842116e-04 2.05305011e-01] [-6.75274070e-03 1.07723966e-03 9.99976620e-01 5.27410893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.705285570000004 meters 0.05512457893330881 Centerline is valid? [True, True] Translation: X:-18.19, Y:0.21, Z:0.53 [[ 9.94346076e-01 -1.05935138e-01 7.32305662e-03 -1.81889524e+01] [ 1.05940865e-01 9.94372352e-01 -3.97444804e-04 2.08103784e-01] [-7.23974167e-03 1.17100863e-03 9.99973107e-01 5.26356524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.735285570000002 meters 0.05475362005416977 Centerline is valid? [True, True] Translation: X:-18.22, Y:0.23, Z:0.53 [[ 9.94334546e-01 -1.06217931e-01 4.06963166e-03 -1.82182352e+01] [ 1.06219702e-01 9.94342660e-01 -2.20847499e-04 2.27403021e-01] [-4.02315040e-03 6.51871361e-04 9.99991695e-01 5.28384068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.765285570000003 meters 0.05651026349191074 Centerline is valid? [True, True] Translation: X:-18.25, Y:0.24, Z:0.53 [[ 9.94440932e-01 -1.05274979e-01 2.10033779e-03 -1.82499317e+01] [ 1.05275451e-01 9.94443093e-01 -1.15203948e-04 2.35968364e-01] [-2.07653832e-03 3.35677529e-04 9.99997788e-01 5.26708869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.795285570000004 meters 0.053030554655440036 Centerline is valid? [True, True] Translation: X:-18.28, Y:0.27, Z:0.53 [[ 9.94825894e-01 -1.01560799e-01 2.61638976e-03 -1.82783042e+01] [ 1.01561518e-01 9.94829251e-01 -1.42941007e-04 2.70729544e-01] [-2.58834387e-03 4.07925930e-04 9.99996567e-01 5.32107078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.825285570000002 meters 0.05679124712677128 Centerline is valid? [True, True] Translation: X:-18.31, Y:0.27, Z:0.53 [[ 9.94934789e-01 -1.00471753e-01 3.19252339e-03 -1.83090649e+01] [ 1.00472819e-01 9.94939788e-01 -1.74743472e-04 2.68529127e-01] [-3.15881176e-03 4.94620183e-04 9.99994889e-01 5.32565175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.855285570000003 meters 0.05473691389427978 Centerline is valid? [True, True] Translation: X:-18.34, Y:0.29, Z:0.53 [[ 9.94877924e-01 -1.00983728e-01 4.49480224e-03 -1.83399620e+01] [ 1.00985854e-01 9.94887831e-01 -2.47969997e-04 2.94814635e-01] [-4.44678312e-03 7.00611318e-04 9.99989868e-01 5.26196252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.885285570000004 meters 0.054458372748801956 Centerline is valid? [True, True] Translation: X:-18.37, Y:0.31, Z:0.53 [[ 9.94788033e-01 -1.01924120e-01 2.87106068e-03 -1.83707831e+01] [ 1.01924984e-01 9.94792076e-01 -1.55590504e-04 3.13213900e-01] [-2.84024999e-03 4.47412385e-04 9.99995866e-01 5.28241056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91528557 meters 0.05601980473698229 Centerline is valid? [True, True] Translation: X:-18.40, Y:0.33, Z:0.53 [[ 9.94340714e-01 -1.06198395e-01 2.90593539e-03 -1.84010455e+01] [ 1.06199293e-01 9.94344853e-01 -1.56055481e-04 3.29260133e-01] [-2.87292905e-03 4.63780602e-04 9.99995766e-01 5.28502498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.945285570000003 meters 0.05453423165842196 Centerline is valid? [True, True] Translation: X:-18.43, Y:0.34, Z:0.53 [[ 9.93939165e-01 -1.09895865e-01 2.79923300e-03 -1.84315334e+01] [ 1.09896714e-01 9.93943001e-01 -1.50797233e-04 3.43636498e-01] [-2.76570606e-03 4.57509784e-04 9.99996071e-01 5.30758498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.975285570000004 meters 0.0619102270000271 Centerline is valid? [True, True] Translation: X:-18.46, Y:0.34, Z:0.53 [[ 9.93537221e-01 -1.13470453e-01 2.87159198e-03 -1.84624020e+01] [ 1.13471359e-01 9.93541256e-01 -1.54144825e-04 3.44446167e-01] [-2.83555422e-03 4.78992066e-04 9.99995865e-01 5.26200068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00528557 meters 0.06663960805777898 Centerline is valid? [True, True] Translation: X:-18.49, Y:0.35, Z:0.53 [[ 9.93351666e-01 -1.15115207e-01 9.78048538e-04 -1.84930835e+01] [ 1.15115315e-01 9.93352134e-01 -5.46934864e-05 3.52152232e-01] [-9.65250550e-04 1.66918231e-04 9.99999520e-01 5.28412297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.035285570000003 meters 0.06925647873269646 Centerline is valid? [True, True] Translation: X:-18.52, Y:0.37, Z:0.53 [[ 9.93174291e-01 -1.16617155e-01 -2.29495367e-03 -1.85235994e+01] [ 1.16617739e-01 9.93176867e-01 1.21616754e-04 3.68782449e-01] [ 2.26511229e-03 -3.88418941e-04 9.99997359e-01 5.27780983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.065285570000004 meters 0.0638633430392614 Centerline is valid? [True, True] Translation: X:-18.55, Y:0.40, Z:0.53 [[ 9.92680915e-01 -1.20737431e-01 -2.65967776e-03 -1.85516051e+01] [ 1.20738230e-01 9.92684371e-01 1.41597722e-04 4.03123690e-01] [ 2.62312439e-03 -4.61686142e-04 9.99996453e-01 5.28569458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09528557 meters 0.06416154235911488 Centerline is valid? [True, True] Translation: X:-18.58, Y:0.44, Z:0.54 [[ 9.92263294e-01 -1.24145597e-01 1.19452606e-03 -1.85809200e+01] [ 1.24145762e-01 9.92263990e-01 -6.44558607e-05 4.38597193e-01] [-1.17728328e-03 2.12252533e-04 9.99999284e-01 5.42815346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.125285570000003 meters 0.06416154235911488 Centerline is valid? [True, True] Translation: X:-18.61, Y:0.44, Z:0.54 [[ 9.92225627e-01 -1.24446286e-01 1.19421589e-03 -1.86135194e+01] [ 1.24446458e-01 9.92226322e-01 -7.03007238e-05 4.40524476e-01] [-1.17618378e-03 2.18370117e-04 9.99999284e-01 5.43578630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.155285570000004 meters 0.06402856643763259 Centerline is valid? [True, True] Translation: X:-18.65, Y:0.45, Z:0.55 [[ 9.92268156e-01 -1.24089790e-01 2.37285330e-03 -1.86452587e+01] [ 1.24090438e-01 9.92270904e-01 -1.27196591e-04 4.53039471e-01] [-2.33872950e-03 4.20661533e-04 9.99997177e-01 5.46295670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18528557 meters 0.06989234159290598 Centerline is valid? [True, True] Translation: X:-18.68, Y:0.46, Z:0.55 [[ 9.92242000e-01 -1.24266099e-01 3.70813216e-03 -1.86766763e+01] [ 1.24267691e-01 9.92248709e-01 -2.01170158e-04 4.62001145e-01] [-3.65439072e-03 6.60410500e-04 9.99993105e-01 5.45834591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.215285570000002 meters 0.06530935326620936 Centerline is valid? [True, True] Translation: X:-18.71, Y:0.49, Z:0.53 [[ 9.92131666e-01 -1.25167053e-01 2.82228997e-03 -1.87061538e+01] [ 1.25167967e-01 9.92135554e-01 -1.49163929e-04 4.92134181e-01] [-2.78142381e-03 5.01250556e-04 9.99996006e-01 5.30762791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.245285570000004 meters 0.07228609891846341 Centerline is valid? [True, True] Translation: X:-18.74, Y:0.49, Z:0.53 [[ 9.92096799e-01 -1.25465596e-01 -1.52506441e-03 -1.87380767e+01] [ 1.25465860e-01 9.92097935e-01 7.87389875e-05 4.87400268e-01] [ 1.50313422e-03 -2.69460216e-04 9.99998834e-01 5.31599868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.275285570000005 meters 0.07193133397882312 Centerline is valid? [True, True] Translation: X:-18.77, Y:0.50, Z:0.54 [[ 9.91757946e-01 -1.28118960e-01 -1.30737275e-03 -1.87684685e+01] [ 1.28119157e-01 9.91758780e-01 6.77217236e-05 5.03396812e-01] [ 1.28792196e-03 -2.34663051e-04 9.99999143e-01 5.39114836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.305285570000002 meters 0.06939499817041055 Centerline is valid? [True, True] Translation: X:-18.80, Y:0.52, Z:0.55 [[ 9.91520863e-01 -1.29939586e-01 1.44326382e-03 -1.87978540e+01] [ 1.29939830e-01 9.91521878e-01 -7.60481569e-05 5.21501303e-01] [-1.42114599e-03 2.62940790e-04 9.99998956e-01 5.46919218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.335285570000003 meters 0.07414547772220488 Centerline is valid? [True, True] Translation: X:-18.83, Y:0.52, Z:0.55 [[ 9.91403348e-01 -1.30790238e-01 3.64899187e-03 -1.88298782e+01] [ 1.30791803e-01 9.91409838e-01 -1.92498578e-04 5.19202493e-01] [-3.59246950e-03 6.68101959e-04 9.99993324e-01 5.48197719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.365285570000005 meters 0.07439450272393691 Centerline is valid? [True, True] Translation: X:-18.86, Y:0.52, Z:0.55 [[ 9.91099539e-01 -1.33102245e-01 2.34448858e-03 -1.88612997e+01] [ 1.33102898e-01 9.91102216e-01 -1.24093896e-04 5.24330899e-01] [-2.30711065e-03 4.35047626e-04 9.99997244e-01 5.47979934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.395285570000002 meters 0.07198682735699279 Centerline is valid? [True, True] Translation: X:-18.89, Y:0.54, Z:0.55 [[ 9.90950015e-01 -1.34230950e-01 -3.46879564e-04 -1.88909923e+01] [ 1.34230964e-01 9.90950073e-01 1.77930866e-05 5.39013938e-01] [ 3.41351947e-04 -6.41940378e-05 9.99999940e-01 5.50455148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.425285570000003 meters 0.07357731470735651 Centerline is valid? [True, True] Translation: X:-18.92, Y:0.55, Z:0.55 [[ 9.90680604e-01 -1.36199820e-01 -1.24511515e-03 -1.89219018e+01] [ 1.36200005e-01 9.90681359e-01 6.44275367e-05 5.48730618e-01] [ 1.22473735e-03 -2.33411801e-04 9.99999223e-01 5.50990481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.455285570000004 meters 0.08522444037636534 Centerline is valid? [True, True] Translation: X:-18.95, Y:0.53, Z:0.55 [[ 9.90568038e-01 -1.37021719e-01 -1.01105428e-04 -1.89547230e+01] [ 1.37021720e-01 9.90568043e-01 3.96957310e-06 5.27564714e-01] [ 9.96078877e-05 -1.77857719e-05 9.99999995e-01 5.53932645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.485285570000002 meters 0.0818375611204254 Centerline is valid? [True, True] Translation: X:-18.98, Y:0.54, Z:0.56 [[ 9.90417803e-01 -1.38056065e-01 3.61928588e-03 -1.89843570e+01] [ 1.38057652e-01 9.90424176e-01 -1.91126368e-04 5.37942426e-01] [-3.55824208e-03 6.88965067e-04 9.99993432e-01 5.56458759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.515285570000003 meters 0.0736790850634324 Centerline is valid? [True, True] Translation: X:-19.01, Y:0.56, Z:0.56 [[ 9.90252705e-01 -1.39213144e-01 4.39092700e-03 -1.90132531e+01] [ 1.39215480e-01 9.90262085e-01 -2.29309758e-04 5.59150320e-01] [-4.31624560e-03 8.38359617e-04 9.99990334e-01 5.64721045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.545285570000004 meters 0.07913093450544298 Centerline is valid? [True, True] Translation: X:-19.05, Y:0.56, Z:0.56 [[ 9.90215540e-01 -1.39531902e-01 2.00830924e-03 -1.90451490e+01] [ 1.39532401e-01 9.90217500e-01 -1.10141639e-04 5.59945691e-01] [-1.97329468e-03 3.89288174e-04 9.99997977e-01 5.59383539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.575285570000002 meters 0.08420462140738577 Centerline is valid? [True, True] Translation: X:-19.08, Y:0.55, Z:0.56 [[ 9.90068530e-01 -1.40580067e-01 1.24553679e-03 -1.90765071e+01] [ 1.40580257e-01 9.90069284e-01 -6.58148617e-05 5.54181300e-01] [-1.22391546e-03 2.40259105e-04 9.99999222e-01 5.57733289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.605285570000003 meters 0.07933216233046383 Centerline is valid? [True, True] Translation: X:-19.11, Y:0.57, Z:0.56 [[ 9.90227912e-01 -1.39436170e-01 -2.49727386e-03 -1.91057671e+01] [ 1.39436922e-01 9.90230947e-01 1.28838849e-04 5.68625211e-01] [ 2.45491306e-03 -4.75792005e-04 9.99996874e-01 5.59976378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.635285570000004 meters 0.07727296771592729 Centerline is valid? [True, True] Translation: X:-19.14, Y:0.58, Z:0.57 [[ 9.90281618e-01 -1.39075524e-01 -5.60984277e-04 -1.91356797e+01] [ 1.39075559e-01 9.90281772e-01 2.41221821e-05 5.75254497e-01] [ 5.52177698e-04 -1.01906956e-04 9.99999842e-01 5.65329154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66528557 meters 0.07725608621128646 Centerline is valid? [True, True] Translation: X:-19.17, Y:0.58, Z:0.57 [[ 9.90256573e-01 -1.39248198e-01 1.36312422e-03 -1.91678511e+01] [ 1.39248430e-01 9.90257476e-01 -7.59167306e-05 5.76615609e-01] [-1.33927268e-03 2.64989949e-04 9.99999068e-01 5.67742347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.695285570000003 meters 0.07743897907370119 Centerline is valid? [True, True] Translation: X:-19.20, Y:0.58, Z:0.57 [[ 9.90216058e-01 -1.39454076e-01 4.97184785e-03 -1.91993710e+01] [ 1.39457072e-01 9.90228084e-01 -2.59448563e-04 5.75779490e-01] [-4.88708221e-03 9.50269477e-04 9.99987607e-01 5.68542502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.725285570000004 meters 0.07565535378433257 Centerline is valid? [True, True] Translation: X:-19.23, Y:0.58, Z:0.57 [[ 9.90066722e-01 -1.40480050e-01 5.76554982e-03 -1.92293549e+01] [ 1.40484071e-01 9.90082895e-01 -2.96387504e-04 5.76865288e-01] [-5.66673572e-03 1.10341131e-03 9.99983335e-01 5.67009563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75528557 meters 0.07244725402517825 Centerline is valid? [True, True] Translation: X:-19.26, Y:0.58, Z:0.57 [[ 9.90103228e-01 -1.40282803e-01 4.04137661e-03 -1.92597140e+01] [ 1.40284778e-01 9.90111175e-01 -2.07895157e-04 5.80455455e-01] [-3.97224803e-03 7.72781285e-04 9.99991812e-01 5.70674279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.785285570000003 meters 0.0824505259403337 Centerline is valid? [True, True] Translation: X:-19.29, Y:0.55, Z:0.57 [[ 9.90047576e-01 -1.40707431e-01 2.68622839e-03 -1.92926943e+01] [ 1.40708303e-01 9.90051087e-01 -1.37435417e-04 5.50981192e-01] [-2.64016515e-03 5.14042238e-04 9.99996383e-01 5.70695426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.815285570000004 meters 0.07687221421974527 Centerline is valid? [True, True] Translation: X:-19.32, Y:0.56, Z:0.57 [[ 9.89557563e-01 -1.44127494e-01 1.75920582e-03 -1.93229437e+01] [ 1.44127876e-01 9.89559067e-01 -9.12047992e-05 5.55140308e-01] [-1.72769295e-03 3.43802996e-04 9.99998448e-01 5.72524079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84528557 meters 0.08029995843879552 Centerline is valid? [True, True] Translation: X:-19.35, Y:0.54, Z:0.57 [[ 9.89130944e-01 -1.47036225e-01 5.69612169e-04 -1.93548139e+01] [ 1.47036268e-01 9.89131101e-01 -3.39374672e-05 5.35813733e-01] [-5.58431075e-04 1.17322246e-04 9.99999837e-01 5.68572115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.875285570000003 meters 0.07839469657457135 Centerline is valid? [True, True] Translation: X:-19.39, Y:0.53, Z:0.57 [[ 9.88626144e-01 -1.50393924e-01 1.20350889e-04 -1.93853716e+01] [ 1.50393926e-01 9.88626151e-01 -7.10523431e-06 5.28828635e-01] [-1.17913452e-04 2.51244632e-05 9.99999993e-01 5.70526503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.905285570000004 meters 0.07443839009439145 Centerline is valid? [True, True] Translation: X:-19.42, Y:0.54, Z:0.57 [[ 9.88429599e-01 -1.51675518e-01 1.21040553e-03 -1.94157028e+01] [ 1.51675704e-01 9.88430310e-01 -6.29846328e-05 5.36461638e-01] [-1.18684829e-03 2.45844986e-04 9.99999265e-01 5.74150169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93528557 meters 0.0787751446771191 Centerline is valid? [True, True] Translation: X:-19.45, Y:0.53, Z:0.58 [[ 9.88787701e-01 -1.49293106e-01 3.23272390e-03 -1.94469112e+01] [ 1.49294419e-01 9.88792773e-01 -1.67510031e-04 5.30318924e-01] [-3.17148594e-03 6.48259496e-04 9.99994761e-01 5.82725756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.965285570000002 meters 0.07485956302566278 Centerline is valid? [True, True] Translation: X:-19.48, Y:0.54, Z:0.58 [[ 9.89053668e-01 -1.47538205e-01 2.30667092e-03 -1.94762395e+01] [ 1.47538864e-01 9.89056252e-01 -1.17290421e-04 5.44324251e-01] [-2.26412248e-03 4.56330128e-04 9.99997333e-01 5.84282492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.995285570000004 meters 0.08301591270443215 Centerline is valid? [True, True] Translation: X:-19.51, Y:0.53, Z:0.57 [[ 9.88977881e-01 -1.48013910e-01 -3.82536677e-03 -1.95090747e+01] [ 1.48015711e-01 9.88984991e-01 1.90472683e-04 5.29117624e-01] [ 3.75503772e-03 -7.54587651e-04 9.99992665e-01 5.73565937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.025285570000005 meters 0.07807735098684493 Centerline is valid? [True, True] Translation: X:-19.54, Y:0.54, Z:0.57 [[ 9.88782898e-01 -1.49324348e-01 -3.25877483e-03 -1.95392947e+01] [ 1.49325658e-01 9.88788057e-01 1.60945027e-04 5.37857895e-01] [ 3.19820463e-03 -6.45758386e-04 9.99994677e-01 5.74017944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.055285570000002 meters 0.08470983931188401 Centerline is valid? [True, True] Translation: X:-19.57, Y:0.52, Z:0.58 [[ 9.88293507e-01 -1.52471126e-01 5.33854437e-03 -1.95712862e+01] [ 1.52474706e-01 9.88307337e-01 -2.67632748e-04 5.23257798e-01] [-5.23531631e-03 1.07849269e-03 9.99985714e-01 5.80439739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.085285570000003 meters 0.07853301531675837 Centerline is valid? [True, True] Translation: X:-19.60, Y:0.54, Z:0.59 [[ 9.88457486e-01 -1.51232619e-01 8.97182879e-03 -1.96005735e+01] [ 1.51242684e-01 9.88496559e-01 -4.50261936e-04 5.35331901e-01] [-8.80052759e-03 1.80198825e-03 9.99959651e-01 5.90939447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.115285570000005 meters 0.0798888643711751 Centerline is valid? [True, True] Translation: X:-19.63, Y:0.53, Z:0.59 [[ 9.88366256e-01 -1.51961058e-01 6.32299260e-03 -1.96320872e+01] [ 1.51966065e-01 9.88385661e-01 -3.16455990e-04 5.29247973e-01] [-6.20146623e-03 1.27365473e-03 9.99979960e-01 5.90946267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.145285570000002 meters 0.07615144231490552 Centerline is valid? [True, True] Translation: X:-19.66, Y:0.53, Z:0.59 [[ 9.88378879e-01 -1.51979263e-01 3.08157108e-03 -1.96633247e+01] [ 1.51980463e-01 9.88383485e-01 -1.57887898e-04 5.26253339e-01] [-3.02177827e-03 6.24391663e-04 9.99995239e-01 5.87208391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.175285570000003 meters 0.07484387456550665 Centerline is valid? [True, True] Translation: X:-19.70, Y:0.52, Z:0.59 [[ 9.88326728e-01 -1.52312401e-01 3.34821167e-03 -1.96964225e+01] [ 1.52313820e-01 9.88332166e-01 -1.71408598e-04 5.21997755e-01] [-3.28303764e-03 6.79386608e-04 9.99994380e-01 5.86269873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.205285570000004 meters 0.08830100310577257 Centerline is valid? [True, True] Translation: X:-19.73, Y:0.48, Z:0.59 [[ 9.88123986e-01 -1.53595165e-01 4.41747994e-03 -1.97291882e+01] [ 1.53597617e-01 9.88133455e-01 -2.19225980e-04 4.83838368e-01] [-4.33138766e-03 8.95136842e-04 9.99990219e-01 5.89338285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.235285570000002 meters 0.06727937540013773 Centerline is valid? [True, True] Translation: X:-19.76, Y:0.52, Z:0.60 [[ 9.88062602e-01 -1.53935140e-01 6.02224945e-03 -1.97582247e+01] [ 1.53939696e-01 9.88080200e-01 -2.97748353e-04 5.23131513e-01] [-5.90463151e-03 1.22125726e-03 9.99981822e-01 5.96861409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.265285570000003 meters 0.08151565937270999 Centerline is valid? [True, True] Translation: X:-19.79, Y:0.49, Z:0.59 [[ 9.87747622e-01 -1.56059564e-01 -2.16786440e-04 -1.97915315e+01] [ 1.56059570e-01 9.87747645e-01 8.89219412e-06 4.85131343e-01] [ 2.12742584e-04 -4.26148422e-05 9.99999976e-01 5.91103851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.295285570000004 meters 0.07960685457723178 Centerline is valid? [True, True] Translation: X:-19.82, Y:0.49, Z:0.59 [[ 9.87746237e-01 -1.56035240e-01 -3.22098849e-03 -1.98224525e+01] [ 1.56036528e-01 9.87751274e-01 1.50801524e-04 4.88222676e-01] [ 3.15800513e-03 -6.51545498e-04 9.99994801e-01 5.89401987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.325285570000002 meters 0.07400377879255568 Centerline is valid? [True, True] Translation: X:-19.85, Y:0.51, Z:0.60 [[ 9.87691035e-01 -1.56417408e-01 1.20169351e-04 -1.98528572e+01] [ 1.56417410e-01 9.87691042e-01 -9.13281982e-06 5.05110661e-01] [-1.17261660e-04 2.78169830e-05 9.99999993e-01 5.99325975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.355285570000003 meters 0.06895107350191405 Centerline is valid? [True, True] Translation: X:-19.88, Y:0.52, Z:0.61 [[ 9.87955493e-01 -1.54621381e-01 6.01443199e-03 -1.98817420e+01] [ 1.54625910e-01 9.87973047e-01 -2.92734778e-04 5.23153710e-01] [-5.89683365e-03 1.21919595e-03 9.99981870e-01 6.09750715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.385285570000004 meters 0.07369939960573295 Centerline is valid? [True, True] Translation: X:-19.91, Y:0.51, Z:0.61 [[ 9.88150888e-01 -1.53204398e-01 9.28624939e-03 -1.99135396e+01] [ 1.53215113e-01 9.88192758e-01 -4.49483171e-04 5.12595086e-01] [-9.10774160e-03 1.86695095e-03 9.99956781e-01 6.13221278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41528557 meters 0.07348845756150749 Centerline is valid? [True, True] Translation: X:-19.94, Y:0.51, Z:0.61 [[ 9.87534216e-01 -1.57295194e-01 5.86463522e-03 -1.99436456e+01] [ 1.57299543e-01 9.87550896e-01 -2.84892997e-04 5.12170531e-01] [-5.74681346e-03 1.20384602e-03 9.99982762e-01 6.06591929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.445285570000003 meters 0.07352584656099931 Centerline is valid? [True, True] Translation: X:-19.98, Y:0.51, Z:0.60 [[ 9.86646323e-01 -1.62816357e-01 4.45721334e-03 -1.99758020e+01] [ 1.62818920e-01 9.86655944e-01 -2.15943348e-04 5.06739109e-01] [-4.36257693e-03 9.38778373e-04 9.99990043e-01 6.04702471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.475285570000004 meters 0.08319414631126039 Centerline is valid? [True, True] Translation: X:-20.01, Y:0.48, Z:0.61 [[ 9.85576976e-01 -1.69113978e-01 6.20372628e-03 -2.00083284e+01] [ 1.69119055e-01 9.85595584e-01 -2.99341739e-04 4.84334415e-01] [-6.06374235e-03 1.34419265e-03 9.99980712e-01 6.09122184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.50528557 meters 0.07288803061405598 Centerline is valid? [True, True] Translation: X:-20.04, Y:0.51, Z:0.62 [[ 9.85057680e-01 -1.72118371e-01 6.05263560e-03 -2.00369236e+01] [ 1.72123262e-01 9.85075376e-01 -2.92814951e-04 5.11058420e-01] [-5.91190346e-03 1.33023900e-03 9.99981640e-01 6.16741663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.535285570000003 meters 0.07833053226373264 Centerline is valid? [True, True] Translation: X:-20.07, Y:0.50, Z:0.62 [[ 9.85355746e-01 -1.70424541e-01 5.43406234e-03 -2.00684986e+01] [ 1.70428448e-01 9.85370020e-01 -2.60821821e-04 5.04061813e-01] [-5.31011168e-03 1.18312109e-03 9.99985201e-01 6.21693510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.565285570000004 meters 0.07621407352185404 Centerline is valid? [True, True] Translation: X:-20.10, Y:0.52, Z:0.62 [[ 9.85719431e-01 -1.68341729e-01 4.27394059e-03 -2.00992848e+01] [ 1.68344141e-01 9.85728262e-01 -2.08508262e-04 5.15714983e-01] [-4.17784339e-03 9.25023503e-04 9.99990845e-01 6.24425831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59528557 meters 0.06710214583433521 Centerline is valid? [True, True] Translation: X:-20.13, Y:0.54, Z:0.63 [[ 9.85975307e-01 -1.66835758e-01 4.30388755e-03 -2.01289162e+01] [ 1.66838185e-01 9.85984268e-01 -2.08573767e-04 5.38185878e-01] [-4.20876786e-03 9.23701371e-04 9.99990716e-01 6.26982056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.625285570000003 meters 0.07876646775755555 Centerline is valid? [True, True] Translation: X:-20.16, Y:0.51, Z:0.63 [[ 9.85915815e-01 -1.67107621e-01 6.71181968e-03 -2.01622346e+01] [ 1.67113509e-01 9.85937610e-01 -3.22329412e-04 5.12544225e-01] [-6.56357176e-03 1.43942540e-03 9.99977424e-01 6.28295202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.655285570000004 meters 0.07341579134898286 Centerline is valid? [True, True] Translation: X:-20.19, Y:0.53, Z:0.63 [[ 9.85298447e-01 -1.70721845e-01 6.40481698e-03 -2.01912459e+01] [ 1.70727252e-01 9.85318280e-01 -3.03151211e-04 5.32259875e-01] [-6.25902872e-03 1.39217122e-03 9.99979443e-01 6.32115799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.685285570000005 meters 0.07576807577893031 Centerline is valid? [True, True] Translation: X:-20.22, Y:0.53, Z:0.63 [[ 9.85049927e-01 -1.72174120e-01 5.71953805e-03 -2.02221519e+01] [ 1.72178467e-01 9.85065734e-01 -2.72731987e-04 5.32866701e-01] [-5.58716356e-03 1.25343592e-03 9.99983606e-01 6.32509026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.715285570000002 meters 0.07309883375402884 Centerline is valid? [True, True] Translation: X:-20.25, Y:0.54, Z:0.63 [[ 9.85477361e-01 -1.69730972e-01 5.07630827e-03 -2.02523869e+01] [ 1.69734355e-01 9.85489823e-01 -2.40201506e-04 5.44080815e-01] [-4.96188050e-03 1.09833706e-03 9.99987087e-01 6.33131878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.745285570000004 meters 0.07518449267337243 Centerline is valid? [True, True] Translation: X:-20.28, Y:0.54, Z:0.64 [[ 9.85970355e-01 -1.66789332e-01 6.61642221e-03 -2.02835937e+01] [ 1.66794993e-01 9.85991549e-01 -3.09434750e-04 5.40831789e-01] [-6.47212596e-03 1.40867959e-03 9.99978063e-01 6.35986507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.775285570000005 meters 0.07340526325140713 Centerline is valid? [True, True] Translation: X:-20.31, Y:0.54, Z:0.64 [[ 9.86521232e-01 -1.63528144e-01 5.86561658e-03 -2.03134262e+01] [ 1.63532539e-01 9.86537903e-01 -2.74457092e-04 5.44585616e-01] [-5.74177162e-03 1.22997692e-03 9.99982759e-01 6.40089737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.805285570000002 meters 0.07690089129977673 Centerline is valid? [True, True] Translation: X:-20.35, Y:0.54, Z:0.64 [[ 9.86610795e-01 -1.63032316e-01 4.42742715e-03 -2.03450829e+01] [ 1.63034828e-01 9.86620292e-01 -2.09888046e-04 5.37648078e-01] [-4.33397094e-03 9.28902634e-04 9.99990177e-01 6.42308303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.835285570000003 meters 0.08169389610936342 Centerline is valid? [True, True] Translation: X:-20.38, Y:0.54, Z:0.63 [[ 9.85794421e-01 -1.67918773e-01 -3.55603446e-03 -2.03763472e+01] [ 1.67920402e-01 9.85800544e-01 1.62212072e-04 5.35199604e-01] [ 3.47830225e-03 -7.57038490e-04 9.99993664e-01 6.33896455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.865285570000005 meters 0.08310926289271503 Centerline is valid? [True, True] Translation: X:-20.41, Y:0.53, Z:0.64 [[ 9.85411034e-01 -1.70181011e-01 1.87536561e-03 -2.04082730e+01] [ 1.70181471e-01 9.85412735e-01 -8.74853402e-05 5.28040036e-01] [-1.83312082e-03 4.05361499e-04 9.99998238e-01 6.40126407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.895285570000002 meters 0.07329093949807289 Centerline is valid? [True, True] Translation: X:-20.44, Y:0.55, Z:0.65 [[ 9.85421166e-01 -1.69790910e-01 1.07783180e-02 -2.04375630e+01] [ 1.69806048e-01 9.85477375e-01 -4.98579312e-04 5.46690880e-01] [-1.05371343e-02 2.32153419e-03 9.99941788e-01 6.51960014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.925285570000003 meters 0.06855463219549046 Centerline is valid? [True, True] Translation: X:-20.47, Y:0.55, Z:0.66 [[ 9.87868002e-01 -1.54813231e-01 1.22341586e-02 -2.04675670e+01] [ 1.54831574e-01 9.87940721e-01 -5.60898785e-04 5.49082755e-01] [-1.19997889e-02 2.44832800e-03 9.99925003e-01 6.58390562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.955285570000004 meters 0.07152864321893018 Centerline is valid? [True, True] Translation: X:-20.50, Y:0.54, Z:0.65 [[ 9.88484364e-01 -1.50968261e-01 1.03560173e-02 -2.04999945e+01] [ 1.50981189e-01 9.88536522e-01 -4.73703346e-04 5.41217409e-01] [-1.01657872e-02 2.03181217e-03 9.99946263e-01 6.53145782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.985285570000002 meters 0.06274792579418796 Centerline is valid? [True, True] Translation: X:-20.53, Y:0.55, Z:0.65 [[ 9.89640388e-01 -1.43371528e-01 7.51716129e-03 -2.05303245e+01] [ 1.43378132e-01 9.89667920e-01 -3.44352545e-04 5.51951498e-01] [-7.39012303e-03 1.41858173e-03 9.99971686e-01 6.47738404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.015285570000003 meters 0.06274792579418796 Centerline is valid? [True, True] Translation: X:-20.56, Y:0.55, Z:0.65 [[ 9.89596287e-01 -1.43675617e-01 7.51703853e-03 -2.05630039e+01] [ 1.43682250e-01 9.89623813e-01 -3.47065636e-04 5.53632655e-01] [-7.38917546e-03 1.42351987e-03 9.99971686e-01 6.48504821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.045285570000004 meters 0.06601142255194135 Centerline is valid? [True, True] Translation: X:-20.60, Y:0.54, Z:0.65 [[ 9.89723055e-01 -1.42904192e-01 5.16400904e-03 -2.05952194e+01] [ 1.42907309e-01 9.89736048e-01 -2.37768348e-04 5.36473303e-01] [-5.07702780e-03 9.73299450e-04 9.99986638e-01 6.45854339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.075285570000002 meters 0.0689754242446663 Centerline is valid? [True, True] Translation: X:-20.63, Y:0.51, Z:0.65 [[ 9.88536924e-01 -1.50947011e-01 3.12248360e-03 -2.06276035e+01] [ 1.50948183e-01 9.88541666e-01 -1.41857252e-04 5.08373474e-01] [-3.06529221e-03 6.11564357e-04 9.99995115e-01 6.53761323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.105285570000003 meters 0.06520455857123564 Centerline is valid? [True, True] Translation: X:-20.66, Y:0.51, Z:0.66 [[ 9.87943996e-01 -1.54728734e-01 5.06757464e-03 -2.06574616e+01] [ 1.54731862e-01 9.87956476e-01 -2.28879015e-04 5.09412508e-01] [-4.97112902e-03 1.01023491e-03 9.99987134e-01 6.56196649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.135285570000004 meters 0.080053350732612 Centerline is valid? [True, True] Translation: X:-20.69, Y:0.45, Z:0.66 [[ 9.86026099e-01 -1.66441560e-01 7.05253732e-03 -2.06917807e+01] [ 1.66447899e-01 9.86050200e-01 -3.17418013e-04 4.51735080e-01] [-6.90132428e-03 1.48686246e-03 9.99975080e-01 6.55633200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16528557 meters 0.06841538682227705 Centerline is valid? [True, True] Translation: X:-20.72, Y:0.46, Z:0.66 [[ 9.85753881e-01 -1.68070456e-01 6.45047805e-03 -2.07216147e+01] [ 1.68075799e-01 9.85774031e-01 -2.91523426e-04 4.62919607e-01] [-6.30971727e-03 1.37153960e-03 9.99979153e-01 6.60439404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.195285570000003 meters 0.06567082210361282 Centerline is valid? [True, True] Translation: X:-20.75, Y:0.46, Z:0.66 [[ 9.86162714e-01 -1.65675236e-01 5.90072406e-03 -2.07516550e+01] [ 1.65679658e-01 9.86179588e-01 -2.65262381e-04 4.61202078e-01] [-5.77522622e-03 1.23922181e-03 9.99982555e-01 6.60509428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.225285570000004 meters 0.06806471111068492 Centerline is valid? [True, True] Translation: X:-20.78, Y:0.45, Z:0.66 [[ 9.86738054e-01 -1.62068000e-01 9.05407180e-03 -2.07837392e+01] [ 1.62078239e-01 9.86777828e-01 -4.03941568e-04 4.47632836e-01] [-8.86889130e-03 1.86605253e-03 9.99958929e-01 6.64545642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25528557 meters 0.06131382643727046 Centerline is valid? [True, True] Translation: X:-20.81, Y:0.45, Z:0.67 [[ 9.87915152e-01 -1.54527205e-01 1.20414372e-02 -2.08144652e+01] [ 1.54544757e-01 9.87985643e-01 -5.35463193e-04 4.51118054e-01] [-1.18140235e-02 2.38993320e-03 9.99927356e-01 6.65355730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.285285570000003 meters 0.059699433659442774 Centerline is valid? [True, True] Translation: X:-20.85, Y:0.44, Z:0.66 [[ 9.88971647e-01 -1.47652510e-01 1.15679863e-02 -2.08464367e+01] [ 1.47668249e-01 9.89036816e-01 -5.13704728e-04 4.40225534e-01] [-1.13653145e-02 2.21626369e-03 9.99932957e-01 6.62611906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.315285570000004 meters 0.06516611786340801 Centerline is valid? [True, True] Translation: X:-20.88, Y:0.42, Z:0.66 [[ 9.89822142e-01 -1.41950237e-01 1.01122300e-02 -2.08790744e+01] [ 1.41961969e-01 9.89872011e-01 -4.48325745e-04 4.19037956e-01] [-9.94617347e-03 1.87931482e-03 9.99948770e-01 6.64005288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34528557 meters 0.05977016363701715 Centerline is valid? [True, True] Translation: X:-20.91, Y:0.43, Z:0.67 [[ 9.90546630e-01 -1.37091827e-01 4.81708658e-03 -2.09089678e+01] [ 1.37094439e-01 9.90557958e-01 -2.14695033e-04 4.27744800e-01] [-4.74217052e-03 8.73061223e-04 9.99988375e-01 6.70521066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.375285570000003 meters 0.06192884857998331 Centerline is valid? [True, True] Translation: X:-20.94, Y:0.41, Z:0.67 [[ 9.90608980e-01 -1.36675283e-01 3.70357301e-03 -2.09410935e+01] [ 1.36676835e-01 9.90615674e-01 -1.68145386e-04 4.10563717e-01] [-3.64583616e-03 6.72758967e-04 9.99993128e-01 6.69668560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.405285570000004 meters 0.060531069022462504 Centerline is valid? [True, True] Translation: X:-20.97, Y:0.39, Z:0.67 [[ 9.90113248e-01 -1.40095903e-01 6.99245216e-03 -2.09729325e+01] [ 1.40101463e-01 9.90137104e-01 -3.09330743e-04 3.93339145e-01] [-6.88015036e-03 1.28592525e-03 9.99975505e-01 6.67073166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.435285570000005 meters 0.05488774106908953 Centerline is valid? [True, True] Translation: X:-21.00, Y:0.39, Z:0.67 [[ 9.89357191e-01 -1.45156774e-01 1.00925435e-02 -2.10030732e+01] [ 1.45168568e-01 9.89406838e-01 -4.42174777e-04 3.88338979e-01] [-9.92144690e-03 1.90258889e-03 9.99948971e-01 6.66120228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.465285570000002 meters 0.056083612344530936 Centerline is valid? [True, True] Translation: X:-21.04, Y:0.37, Z:0.67 [[ 9.88658556e-01 -1.49773204e-01 1.10565523e-02 -2.10351799e+01] [ 1.49787613e-01 9.88718078e-01 -4.82087200e-04 3.67233976e-01] [-1.08596094e-02 2.13275421e-03 9.99938758e-01 6.70653024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.495285570000004 meters 0.06242453353760451 Centerline is valid? [True, True] Translation: X:-21.07, Y:0.33, Z:0.67 [[ 9.88605768e-01 -1.50091377e-01 1.14548412e-02 -2.10695896e+01] [ 1.50106885e-01 9.88669647e-01 -5.01359702e-04 3.28496159e-01] [-1.12498041e-02 2.21509763e-03 9.99934265e-01 6.73624607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.525285570000005 meters 0.05939695744802465 Centerline is valid? [True, True] Translation: X:-21.10, Y:0.32, Z:0.68 [[ 9.89374097e-01 -1.44758117e-01 1.35640696e-02 -2.10998692e+01] [ 1.44779276e-01 9.89463803e-01 -5.86007526e-04 3.20995432e-01] [-1.33363266e-02 2.54357685e-03 9.99907832e-01 6.77885720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.555285570000002 meters 0.05235453404386431 Centerline is valid? [True, True] Translation: X:-21.13, Y:0.32, Z:0.68 [[ 9.91031270e-01 -1.33116417e-01 1.17065082e-02 -2.11301481e+01] [ 1.33131375e-01 9.91098271e-01 -5.04449460e-04 3.23670027e-01] [-1.15351495e-02 2.05842872e-03 9.99931349e-01 6.82522775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.585285570000003 meters 0.05280305516750096 Centerline is valid? [True, True] Translation: X:-21.16, Y:0.31, Z:0.68 [[ 9.92229277e-01 -1.24163239e-01 8.03440248e-03 -2.11626045e+01] [ 1.24169997e-01 9.92260899e-01 -3.45961338e-04 3.07519449e-01] [-7.92926775e-03 1.34090470e-03 9.99967664e-01 6.79337176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.615285570000005 meters 0.04929765806804498 Centerline is valid? [True, True] Translation: X:-21.19, Y:0.30, Z:0.68 [[ 9.92575691e-01 -1.21484574e-01 5.91577820e-03 -2.11931122e+01] [ 1.21488206e-01 9.92592842e-01 -2.57253974e-04 3.03700857e-01] [-5.84070671e-03 9.74041325e-04 9.99982469e-01 6.81112430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.645285570000002 meters 0.05016885181422055 Centerline is valid? [True, True] Translation: X:-21.22, Y:0.29, Z:0.68 [[ 9.91896724e-01 -1.26881067e-01 6.48723295e-03 -2.12248520e+01] [ 1.26885519e-01 9.91917329e-01 -2.77729414e-04 2.86675017e-01] [-6.39956018e-03 1.09861482e-03 9.99978919e-01 6.84118430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.675285570000003 meters 0.05921457450858188 Centerline is valid? [True, True] Translation: X:-21.26, Y:0.25, Z:0.68 [[ 9.90004769e-01 -1.40861537e-01 6.97028836e-03 -2.12581559e+01] [ 1.40867010e-01 9.90028483e-01 -2.97982704e-04 2.46061641e-01] [-6.85880971e-03 1.27688798e-03 9.99975663e-01 6.82817718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.705285570000004 meters 0.06486040438281097 Centerline is valid? [True, True] Translation: X:-21.29, Y:0.22, Z:0.68 [[ 9.87595214e-01 -1.56765577e-01 8.95808394e-03 -2.12907408e+01] [ 1.56775234e-01 9.87634234e-01 -3.81797218e-04 2.15025284e-01] [-8.78745771e-03 1.78146681e-03 9.99959803e-01 6.82417810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.735285570000002 meters 0.05959666908365782 Centerline is valid? [True, True] Translation: X:-21.32, Y:0.22, Z:0.69 [[ 9.86314658e-01 -1.64491025e-01 1.12293793e-02 -2.13207570e+01] [ 1.64506666e-01 9.86375856e-01 -4.77331835e-04 2.15975012e-01] [-1.09978718e-02 2.31810713e-03 9.99936835e-01 6.91417331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.765285570000003 meters 0.06443067636456547 Centerline is valid? [True, True] Translation: X:-21.35, Y:0.20, Z:0.70 [[ 9.86949455e-01 -1.60618187e-01 1.15139626e-02 -2.13525379e+01] [ 1.60634393e-01 9.87013855e-01 -4.90787566e-04 2.03784042e-01] [-1.12856112e-02 2.33392092e-03 9.99933592e-01 6.96898740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.795285570000004 meters 0.06342691662414794 Centerline is valid? [True, True] Translation: X:-21.38, Y:0.22, Z:0.69 [[ 9.89087827e-01 -1.47232055e-01 5.29080348e-03 -2.13835602e+01] [ 1.47235286e-01 9.89101471e-01 -2.24386619e-04 2.16338899e-01] [-5.20010461e-03 1.00093104e-03 9.99985978e-01 6.91740732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.825285570000002 meters 0.05918337230318979 Centerline is valid? [True, True] Translation: X:-21.41, Y:0.23, Z:0.69 [[ 9.89390951e-01 -1.45250855e-01 2.78115750e-03 -2.14131134e+01] [ 1.45251744e-01 9.89394722e-01 -1.19128638e-04 2.27842585e-01] [-2.73435902e-03 5.21832774e-04 9.99996125e-01 6.87806514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.855285570000003 meters 0.0577641361846494 Centerline is valid? [True, True] Translation: X:-21.44, Y:0.24, Z:0.69 [[ 9.88884276e-01 -1.48653177e-01 3.18142815e-03 -2.14435981e+01] [ 1.48654352e-01 9.88889208e-01 -1.34875471e-04 2.35496794e-01] [-3.12603029e-03 6.06309372e-04 9.99994930e-01 6.88675820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.885285570000004 meters 0.056823368541728494 Centerline is valid? [True, True] Translation: X:-21.47, Y:0.25, Z:0.71 [[ 9.87317327e-01 -1.58227146e-01 1.29871867e-02 -2.14738175e+01] [ 1.58247449e-01 9.87399336e-01 -5.44350845e-04 2.50379509e-01] [-1.27374085e-02 2.59263619e-03 9.99915515e-01 7.09985502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91528557 meters 0.0548808263008896 Centerline is valid? [True, True] Translation: X:-21.50, Y:0.26, Z:0.71 [[ 9.87838107e-01 -1.54524701e-01 1.72624013e-02 -2.15045470e+01] [ 1.54559999e-01 9.87983141e-01 -7.21601697e-04 2.62278737e-01] [-1.69434561e-02 3.38090237e-03 9.99850733e-01 7.13045137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.945285570000003 meters 0.0561915744753737 Centerline is valid? [True, True] Translation: X:-21.54, Y:0.27, Z:0.71 [[ 9.88408536e-01 -1.51124270e-01 1.44920840e-02 -2.15364318e+01] [ 1.51148779e-01 9.88510840e-01 -6.04728283e-04 2.65840418e-01] [-1.42341930e-02 2.78817940e-03 9.99894801e-01 7.05832602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.975285570000004 meters 0.059886739499649316 Centerline is valid? [True, True] Translation: X:-21.57, Y:0.26, Z:0.70 [[ 9.88339022e-01 -1.51948911e-01 9.87452522e-03 -2.15688238e+01] [ 1.51960322e-01 9.88386509e-01 -4.11449500e-04 2.61141364e-01] [-9.69732821e-03 1.90718763e-03 9.99951161e-01 6.99146559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.00528557 meters 0.057293197770949274 Centerline is valid? [True, True] Translation: X:-21.60, Y:0.27, Z:0.70 [[ 9.87631834e-01 -1.56555425e-01 8.58827623e-03 -2.15989683e+01] [ 1.56564224e-01 9.87667715e-01 -3.57708395e-04 2.73189862e-01] [-8.42636198e-03 1.69790100e-03 9.99963056e-01 6.99716445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.035285570000003 meters 0.05596985319001378 Centerline is valid? [True, True] Translation: X:-21.63, Y:0.27, Z:0.70 [[ 9.87373632e-01 -1.58187309e-01 8.37179755e-03 -2.16301964e+01] [ 1.58195744e-01 9.87407709e-01 -3.50915866e-04 2.74460941e-01] [-8.21086700e-03 1.67086781e-03 9.99964894e-01 7.04233255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.065285570000004 meters 0.05554216144947977 Centerline is valid? [True, True] Translation: X:-21.66, Y:0.28, Z:0.71 [[ 9.86304971e-01 -1.64526744e-01 1.15522985e-02 -2.16601671e+01] [ 1.64543141e-01 9.86369772e-01 -4.77027924e-04 2.82069290e-01] [-1.13163542e-02 2.37134650e-03 9.99933156e-01 7.14328589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.095285570000005 meters 0.0550663295555881 Centerline is valid? [True, True] Translation: X:-21.69, Y:0.29, Z:0.73 [[ 9.85664258e-01 -1.68269088e-01 1.23079374e-02 -2.16907108e+01] [ 1.68287970e-01 9.85737745e-01 -5.07435025e-04 2.92125804e-01] [-1.20470128e-02 2.57143837e-03 9.99924126e-01 7.26012697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.125285570000003 meters 0.06220392063046663 Centerline is valid? [True, True] Translation: X:-21.72, Y:0.29, Z:0.73 [[ 9.84613010e-01 -1.74322823e-01 1.21972932e-02 -2.17225119e+01] [ 1.74341803e-01 9.84685068e-01 -5.02229171e-04 2.90693582e-01] [-1.19229425e-02 2.62099946e-03 9.99925484e-01 7.32827589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.155285570000004 meters 0.05582903547010836 Centerline is valid? [True, True] Translation: X:-21.75, Y:0.32, Z:0.73 [[ 9.84477812e-01 -1.74895142e-01 1.46672009e-02 -2.17524236e+01] [ 1.74922638e-01 9.84581996e-01 -6.03272650e-04 3.16123347e-01] [-1.43355525e-02 3.15953401e-03 9.99892249e-01 7.34390744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.185285570000005 meters 0.05825209687998771 Centerline is valid? [True, True] Translation: X:-21.78, Y:0.31, Z:0.73 [[ 9.84617646e-01 -1.74035834e-01 1.54796759e-02 -2.17840558e+01] [ 1.74066275e-01 9.84733738e-01 -6.31057444e-04 3.14622541e-01] [-1.51335325e-02 3.31583982e-03 9.99879983e-01 7.26179673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.215285570000002 meters 0.05900249980546216 Centerline is valid? [True, True] Translation: X:-21.82, Y:0.32, Z:0.72 [[ 9.84429396e-01 -1.75268165e-01 1.34102249e-02 -2.18157388e+01] [ 1.75291104e-01 9.84516496e-01 -5.45545265e-04 3.16550432e-01] [-1.31069709e-02 2.88774392e-03 9.99909930e-01 7.22851175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.245285570000004 meters 0.057409153739071406 Centerline is valid? [True, True] Translation: X:-21.85, Y:0.33, Z:0.73 [[ 9.84110447e-01 -1.77073224e-01 1.31035244e-02 -2.18456950e+01] [ 1.77095277e-01 9.84193568e-01 -5.33011025e-04 3.28377388e-01] [-1.28020225e-02 2.84511401e-03 9.99914003e-01 7.31721741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.275285570000005 meters 0.06274388333837445 Centerline is valid? [True, True] Translation: X:-21.88, Y:0.33, Z:0.74 [[ 9.83301783e-01 -1.81227918e-01 1.65542989e-02 -2.18766141e+01] [ 1.81263586e-01 9.83434323e-01 -6.67636098e-04 3.31760730e-01] [-1.61590715e-02 3.65717935e-03 9.99862745e-01 7.38139630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.305285570000002 meters 0.06464680696727285 Centerline is valid? [True, True] Translation: X:-21.91, Y:0.33, Z:0.74 [[ 9.83093687e-01 -1.82216113e-01 1.80025006e-02 -2.19074143e+01] [ 1.82258438e-01 9.83250393e-01 -7.25201423e-04 3.31651562e-01] [-1.75688225e-02 3.99404859e-03 9.99837679e-01 7.42862677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.335285570000003 meters 0.05822124541858841 Centerline is valid? [True, True] Translation: X:-21.94, Y:0.36, Z:0.75 [[ 9.82607275e-01 -1.85036849e-01 1.56303644e-02 -2.19369433e+01] [ 1.85069047e-01 9.82725320e-01 -6.26673733e-04 3.56080351e-01] [-1.52443971e-02 3.50847081e-03 9.99877642e-01 7.45955394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.365285570000005 meters 0.061737551045908196 Centerline is valid? [True, True] Translation: X:-21.97, Y:0.36, Z:0.75 [[ 9.81998597e-01 -1.88297586e-01 1.49256116e-02 -2.19686322e+01] [ 1.88327236e-01 9.82106155e-01 -5.93863138e-04 3.59347915e-01] [-1.45467120e-02 3.39407195e-03 9.99888430e-01 7.52724221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.395285570000002 meters 0.06802696490817876 Centerline is valid? [True, True] Translation: X:-22.00, Y:0.35, Z:0.76 [[ 9.81425900e-01 -1.90936875e-01 1.86094760e-02 -2.20002987e+01] [ 1.90983406e-01 9.81592987e-01 -7.39649591e-04 3.54166989e-01] [-1.81257047e-02 4.28001238e-03 9.99826555e-01 7.57207630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.425285570000003 meters 0.05582384974571489 Centerline is valid? [True, True] Translation: X:-22.03, Y:0.38, Z:0.77 [[ 9.81463451e-01 -1.90486050e-01 2.10845696e-02 -2.20294904e+01] [ 1.90545554e-01 9.81678003e-01 -8.31502843e-04 3.82797525e-01] [-2.05398685e-02 4.83366064e-03 9.99777350e-01 7.69248684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.455285570000004 meters 0.05859983925987673 Centerline is valid? [True, True] Translation: X:-22.06, Y:0.37, Z:0.77 [[ 9.80866610e-01 -1.93418074e-01 2.21391561e-02 -2.20612482e+01] [ 1.93484274e-01 9.81102993e-01 -8.67821464e-04 3.72978757e-01] [-2.15529399e-02 5.13479564e-03 9.99754522e-01 7.70684330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.485285570000002 meters 0.05829925064168219 Centerline is valid? [True, True] Translation: X:-22.09, Y:0.38, Z:0.77 [[ 9.79933269e-01 -1.98228646e-01 2.08852336e-02 -2.20911690e+01] [ 1.98288555e-01 9.80143347e-01 -8.16991007e-04 3.77473582e-01] [-2.03085718e-02 4.94189947e-03 9.99781546e-01 7.68196573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.515285570000003 meters 0.05611029408888828 Centerline is valid? [True, True] Translation: X:-22.12, Y:0.38, Z:0.78 [[ 9.79514220e-01 -2.00644117e-01 1.71414999e-02 -2.21210943e+01] [ 2.00684779e-01 9.79655640e-01 -6.68195714e-04 3.81992859e-01] [-1.66586975e-02 4.09454532e-03 9.99852850e-01 7.79651148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.545285570000004 meters 0.05949231136759924 Centerline is valid? [True, True] Translation: X:-22.15, Y:0.38, Z:0.78 [[ 9.79579621e-01 -2.00540894e-01 1.43915225e-02 -2.21533312e+01] [ 2.00569511e-01 9.79679315e-01 -5.58616559e-04 3.76384765e-01] [-1.39870515e-02 3.43371003e-03 9.99896281e-01 7.84282323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.575285570000002 meters 0.0640523905885378 Centerline is valid? [True, True] Translation: X:-22.18, Y:0.37, Z:0.78 [[ 9.79933075e-01 -1.98910267e-01 1.28792143e-02 -2.21847549e+01] [ 1.98932991e-01 9.80012969e-01 -4.95066969e-04 3.72491785e-01] [-1.25233231e-02 3.04723311e-03 9.99916937e-01 7.84104317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.605285570000003 meters 0.0753244262317389 Centerline is valid? [True, True] Translation: X:-22.22, Y:0.36, Z:0.79 [[ 9.80842617e-01 -1.94405270e-01 1.24238684e-02 -2.22167569e+01] [ 1.94426053e-01 9.80917062e-01 -4.75902590e-04 3.59724025e-01] [-1.20942665e-02 2.88230924e-03 9.99922708e-01 7.89265402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.635285570000004 meters 0.060520458405471 Centerline is valid? [True, True] Translation: X:-22.25, Y:0.41, Z:0.80 [[ 9.81446216e-01 -1.91069481e-01 1.59930472e-02 -2.22456848e+01] [ 1.91103464e-01 9.81569709e-01 -6.10031067e-04 4.06533510e-01] [-1.55817324e-02 3.65503939e-03 9.99871917e-01 7.96459988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66528557 meters 0.060669633377543775 Centerline is valid? [True, True] Translation: X:-22.28, Y:0.41, Z:0.80 [[ 9.81645343e-01 -1.89495757e-01 2.15355187e-02 -2.22767819e+01] [ 1.89556965e-01 9.81869384e-01 -8.18615463e-04 4.10251033e-01] [-2.09899423e-02 4.88579762e-03 9.99767749e-01 7.96562445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.695285570000003 meters 0.06866971335936396 Centerline is valid? [True, True] Translation: X:-22.31, Y:0.39, Z:0.79 [[ 9.81507692e-01 -1.90220187e-01 2.14226801e-02 -2.23095595e+01] [ 1.90280798e-01 9.81729374e-01 -8.08560275e-04 3.86058276e-01] [-2.08774698e-02 4.86993279e-03 9.99770181e-01 7.94006837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.725285570000004 meters 0.06331546813220122 Centerline is valid? [True, True] Translation: X:-22.34, Y:0.40, Z:0.79 [[ 9.80892594e-01 -1.93606057e-01 1.91419236e-02 -2.23398486e+01] [ 1.93655052e-01 9.81069416e-01 -7.22259778e-04 3.96756027e-01] [-1.86397220e-02 4.41538948e-03 9.99816516e-01 7.90477068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75528557 meters 0.0765419436694344 Centerline is valid? [True, True] Translation: X:-22.37, Y:0.36, Z:0.79 [[ 9.80202194e-01 -1.97271947e-01 1.69540102e-02 -2.23728501e+01] [ 1.97310825e-01 9.80340775e-01 -6.35265738e-04 3.61003354e-01] [-1.64953874e-02 3.96789861e-03 9.99856069e-01 7.92658371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.785285570000003 meters 0.06706457811286831 Centerline is valid? [True, True] Translation: X:-22.40, Y:0.39, Z:0.80 [[ 9.79574536e-01 -2.00345939e-01 1.71823474e-02 -2.24016636e+01] [ 2.00386298e-01 9.79716754e-01 -6.42620602e-04 3.86745135e-01] [-1.67050872e-02 4.07260178e-03 9.99852166e-01 8.04527132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.815285570000004 meters 0.07373299764517992 Centerline is valid? [True, True] Translation: X:-22.43, Y:0.37, Z:0.81 [[ 9.78993271e-01 -2.03040088e-01 1.86252189e-02 -2.24338138e+01] [ 2.03087883e-01 9.79160270e-01 -6.91727055e-04 3.70756097e-01] [-1.80966261e-02 4.45975241e-03 9.99826296e-01 8.14575460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.845285570000005 meters 0.06771719590344857 Centerline is valid? [True, True] Translation: X:-22.46, Y:0.39, Z:0.82 [[ 9.78147159e-01 -2.07262914e-01 1.64383939e-02 -2.24640852e+01] [ 2.07300697e-01 9.78277082e-01 -6.10119280e-04 3.87011251e-01] [-1.59548490e-02 4.00447696e-03 9.99864694e-01 8.20460801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.875285570000003 meters 0.07326581520017994 Centerline is valid? [True, True] Translation: X:-22.50, Y:0.37, Z:0.82 [[ 9.76657766e-01 -2.14251136e-01 1.53642392e-02 -2.24969573e+01] [ 2.14284884e-01 9.76771042e-01 -5.65662329e-04 3.71897012e-01] [-1.48861501e-02 3.84478272e-03 9.99881803e-01 8.15101971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.905285570000004 meters 0.07265670865899643 Centerline is valid? [True, True] Translation: X:-22.53, Y:0.37, Z:0.81 [[ 9.74898418e-01 -2.22031900e-01 1.65803984e-02 -2.25273705e+01] [ 2.22072222e-01 9.75030029e-01 -6.08429159e-04 3.71286399e-01] [-1.60312956e-02 4.27520253e-03 9.99862351e-01 8.11903149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.935285570000005 meters 0.07265670865899643 Centerline is valid? [True, True] Translation: X:-22.56, Y:0.37, Z:0.81 [[ 9.74827838e-01 -2.22341574e-01 1.65804122e-02 -2.25594686e+01] [ 2.22381932e-01 9.74959438e-01 -6.08059968e-04 3.72706306e-01] [-1.60300324e-02 4.27993789e-03 9.99862351e-01 8.12656847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.965285570000002 meters 0.07388979055864184 Centerline is valid? [True, True] Translation: X:-22.59, Y:0.37, Z:0.81 [[ 9.73790089e-01 -2.26779721e-01 1.74304353e-02 -2.25917614e+01] [ 2.26824866e-01 9.73935357e-01 -6.32123476e-04 3.74341590e-01] [-1.68327645e-02 4.56921173e-03 9.99847879e-01 8.13098554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.995285570000004 meters 0.06822346877523731 Centerline is valid? [True, True] Translation: X:-22.62, Y:0.40, Z:0.82 [[ 9.73489438e-01 -2.28263685e-01 1.46288866e-02 -2.26218219e+01] [ 2.28295616e-01 9.73591717e-01 -5.28960647e-04 3.97328640e-01] [-1.41218204e-02 3.85464829e-03 9.99892852e-01 8.22121872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.025285570000005 meters 0.07093353988409908 Centerline is valid? [True, True] Translation: X:-22.65, Y:0.41, Z:0.82 [[ 9.74365104e-01 -2.24633983e-01 1.23376173e-02 -2.26535855e+01] [ 2.24656435e-01 9.74437934e-01 -4.47111369e-04 4.07257245e-01] [-1.19218059e-02 3.20737483e-03 9.99923789e-01 8.16734767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.055285570000002 meters 0.06873563851685632 Centerline is valid? [True, True] Translation: X:-22.68, Y:0.43, Z:0.82 [[ 9.76045272e-01 -2.17282449e-01 1.11339328e-02 -2.26830694e+01] [ 2.17300249e-01 9.76104729e-01 -4.00107904e-04 4.27823967e-01] [-1.07809481e-02 2.80992980e-03 9.99937936e-01 8.24437099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.085285570000003 meters 0.06927505595524139 Centerline is valid? [True, True] Translation: X:-22.71, Y:0.45, Z:0.83 [[ 9.77040199e-01 -2.12508968e-01 1.52442653e-02 -2.27137198e+01] [ 2.12541741e-01 9.77151837e-01 -5.44230223e-04 4.50567757e-01] [-1.47803080e-02 3.77177749e-03 9.99883651e-01 8.32346683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.115285570000005 meters 0.06712523460628525 Centerline is valid? [True, True] Translation: X:-22.74, Y:0.48, Z:0.85 [[ 9.77098022e-01 -2.11929015e-01 1.91193092e-02 -2.27446542e+01] [ 2.11980416e-01 9.77273678e-01 -6.79841775e-04 4.75655399e-01] [-1.85407194e-02 4.71719119e-03 9.99816978e-01 8.45820613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.145285570000002 meters 0.0738571258587805 Centerline is valid? [True, True] Translation: X:-22.78, Y:0.47, Z:0.83 [[ 9.76356351e-01 -2.15670225e-01 1.46502189e-02 -2.27774293e+01] [ 2.15700793e-01 9.76459368e-01 -5.20602638e-04 4.67896166e-01] [-1.41930650e-02 3.66835753e-03 9.99892544e-01 8.31167875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.175285570000003 meters 0.06670663450999834 Centerline is valid? [True, True] Translation: X:-22.81, Y:0.49, Z:0.83 [[ 9.75077824e-01 -2.21692724e-01 8.69325980e-03 -2.28076582e+01] [ 2.21703707e-01 9.75114030e-01 -3.08678743e-04 4.93049591e-01] [-8.40848776e-03 2.22831372e-03 9.99962165e-01 8.29597094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.205285570000004 meters 0.0810300484758004 Centerline is valid? [True, True] Translation: X:-22.84, Y:0.47, Z:0.83 [[ 9.73858168e-01 -2.26944468e-01 9.82231514e-03 -2.28402720e+01] [ 2.26958728e-01 9.73904315e-01 -3.47688874e-04 4.69446205e-01] [-9.48708903e-03 2.56785981e-03 9.99951699e-01 8.30755622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.235285570000002 meters 0.07999564162874725 Centerline is valid? [True, True] Translation: X:-22.87, Y:0.49, Z:0.84 [[ 9.72802505e-01 -2.31251531e-01 1.33422410e-02 -2.28708678e+01] [ 2.31278190e-01 9.72887546e-01 -4.69813633e-04 4.86195716e-01] [-1.28718550e-02 3.54280524e-03 9.99910878e-01 8.39059367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.265285570000003 meters 0.07887162994622071 Centerline is valid? [True, True] Translation: X:-22.90, Y:0.51, Z:0.84 [[ 9.72516442e-01 -2.32520026e-01 1.20916690e-02 -2.29019022e+01] [ 2.32542015e-01 9.72586258e-01 -4.25964197e-04 5.05778992e-01] [-1.16611459e-02 3.22607825e-03 9.99926802e-01 8.44718109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.295285570000004 meters 0.07541110943157063 Centerline is valid? [True, True] Translation: X:-22.93, Y:0.54, Z:0.85 [[ 9.72587638e-01 -2.32297846e-01 1.05355297e-02 -2.29316617e+01] [ 2.32314507e-01 9.72640650e-01 -3.69222887e-04 5.37585320e-01] [-1.01615148e-02 2.80665800e-03 9.99944432e-01 8.45371114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.325285570000002 meters 0.07593797691719972 Centerline is valid? [True, True] Translation: X:-22.96, Y:0.57, Z:0.85 [[ 9.72427574e-01 -2.32980567e-01 1.02308165e-02 -2.29626216e+01] [ 2.32996273e-01 9.72477563e-01 -3.54479437e-04 5.66095628e-01] [-9.86665264e-03 2.72844769e-03 9.99947601e-01 8.47176711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.355285570000003 meters 0.08388399881935278 Centerline is valid? [True, True] Translation: X:-22.99, Y:0.57, Z:0.85 [[ 9.72237077e-01 -2.33653712e-01 1.26888997e-02 -2.29940888e+01] [ 2.33677922e-01 9.72313959e-01 -4.39249982e-04 5.68219120e-01] [-1.22349619e-02 3.39217084e-03 9.99919396e-01 8.53113473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.385285570000004 meters 0.07219159964003177 Centerline is valid? [True, True] Translation: X:-23.02, Y:0.62, Z:0.85 [[ 9.71357760e-01 -2.37344847e-01 1.14685066e-02 -2.30233156e+01] [ 2.37364814e-01 9.71420501e-01 -3.92737119e-04 6.21110994e-01] [-1.10475283e-02 3.10370818e-03 9.99934157e-01 8.53445860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41528557 meters 0.06784680157595693 Centerline is valid? [True, True] Translation: X:-23.05, Y:0.65, Z:0.85 [[ 9.70685520e-01 -2.40130640e-01 1.03391215e-02 -2.30530544e+01] [ 2.40147021e-01 9.70736464e-01 -3.54702153e-04 6.53326270e-01] [-9.95138737e-03 2.82721346e-03 9.99946487e-01 8.49238588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.445285570000003 meters 0.0708178851451428 Centerline is valid? [True, True] Translation: X:-23.08, Y:0.65, Z:0.85 [[ 9.70568653e-01 -2.40588670e-01 1.06574969e-02 -2.30849875e+01] [ 2.40606054e-01 9.70622788e-01 -3.61076110e-04 6.53756416e-01] [-1.02575385e-02 2.91470742e-03 9.99943142e-01 8.48696825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.475285570000004 meters 0.07379768093815112 Centerline is valid? [True, True] Translation: X:-23.12, Y:0.66, Z:0.85 [[ 9.71057124e-01 -2.38410521e-01 1.44390370e-02 -2.31164169e+01] [ 2.38442198e-01 9.71156568e-01 -4.88363310e-04 6.58949548e-01] [-1.39061347e-02 3.91710440e-03 9.99895632e-01 8.50940629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50528557 meters 0.06734680119703966 Centerline is valid? [True, True] Translation: X:-23.15, Y:0.70, Z:0.86 [[ 9.70426697e-01 -2.41240349e-01 8.66719642e-03 -2.31453416e+01] [ 2.41251883e-01 9.70462489e-01 -2.95205452e-04 6.97550192e-01] [-8.33997354e-03 2.37745271e-03 9.99962396e-01 8.63321745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.535285570000003 meters 0.07570296889787696 Centerline is valid? [True, True] Translation: X:-23.18, Y:0.69, Z:0.86 [[ 9.69484377e-01 -2.44987031e-01 9.02204598e-03 -2.31774883e+01] [ 2.44999639e-01 9.69523123e-01 -3.02668694e-04 6.91966875e-01] [-8.67293228e-03 2.50383058e-03 9.99959255e-01 8.58190792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.565285570000004 meters 0.07868174715215284 Centerline is valid? [True, True] Translation: X:-23.21, Y:0.69, Z:0.87 [[ 9.68808503e-01 -2.47609122e-01 9.99031725e-03 -2.32094413e+01] [ 2.47624697e-01 9.68855974e-01 -3.33855562e-04 6.87720990e-01] [-9.59651286e-03 2.79729139e-03 9.99950040e-01 8.65149069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.595285570000005 meters 0.059484724141562306 Centerline is valid? [True, True] Translation: X:-23.24, Y:0.74, Z:0.86 [[ 9.68493482e-01 -2.48770167e-01 1.15662689e-02 -2.32383540e+01] [ 2.48791102e-01 9.68557091e-01 -3.84907744e-04 7.42509359e-01] [-1.11068382e-02 3.25036544e-03 9.99933034e-01 8.61958737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.625285570000003 meters 0.07569095618855773 Centerline is valid? [True, True] Translation: X:-23.27, Y:0.71, Z:0.86 [[ 9.68534920e-01 -2.48608438e-01 1.15737912e-02 -2.32710525e+01] [ 2.48629399e-01 9.68598613e-01 -3.85880337e-04 7.10588146e-01] [-1.11144250e-02 3.25132332e-03 9.99932947e-01 8.57765256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.655285570000004 meters 0.09129345236715294 Centerline is valid? [True, True] Translation: X:-23.30, Y:0.69, Z:0.86 [[ 9.68910311e-01 -2.47082976e-01 1.27597871e-02 -2.33039099e+01] [ 2.47108282e-01 9.68987781e-01 -4.21395208e-04 6.86084287e-01] [-1.22599582e-02 3.56134322e-03 9.99918502e-01 8.59823670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.685285570000005 meters 0.07492404048766033 Centerline is valid? [True, True] Translation: X:-23.33, Y:0.74, Z:0.87 [[ 9.68883329e-01 -2.47276083e-01 1.09377124e-02 -2.33335454e+01] [ 2.47294657e-01 9.68940258e-01 -3.58201004e-04 7.39072972e-01] [-1.05094153e-02 3.05189280e-03 9.99940117e-01 8.65886395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.715285570000002 meters 0.06978443923730597 Centerline is valid? [True, True] Translation: X:-23.36, Y:0.77, Z:0.86 [[ 9.69733342e-01 -2.43998875e-01 9.04403287e-03 -2.33638048e+01] [ 2.44011429e-01 9.69772311e-01 -2.94675590e-04 7.69079986e-01] [-8.69875215e-03 2.49260413e-03 9.99959058e-01 8.58808861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.745285570000004 meters 0.08130755210556309 Centerline is valid? [True, True] Translation: X:-23.40, Y:0.75, Z:0.87 [[ 9.70310228e-01 -2.41770557e-01 6.71264800e-03 -2.33962834e+01] [ 2.41777435e-01 9.70331708e-01 -2.20563148e-04 7.51220061e-01] [-6.46016952e-03 1.83698149e-03 9.99977446e-01 8.66351095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.775285570000005 meters 0.07958024318813264 Centerline is valid? [True, True] Translation: X:-23.43, Y:0.77, Z:0.87 [[ 9.71042013e-01 -2.38671633e-01 1.06424124e-02 -2.34258318e+01] [ 2.38688687e-01 9.71096078e-01 -3.43543242e-04 7.71087625e-01] [-1.02528109e-02 2.87381837e-03 9.99943309e-01 8.67139924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.805285570000002 meters 0.07760424256938227 Centerline is valid? [True, True] Translation: X:-23.46, Y:0.78, Z:0.87 [[ 9.71256955e-01 -2.37693045e-01 1.27256750e-02 -2.34573957e+01] [ 2.37717323e-01 9.71334292e-01 -4.08433532e-04 7.81409889e-01] [-1.22638027e-02 3.42180731e-03 9.99918942e-01 8.74146767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.835285570000003 meters 0.07862239671808581 Centerline is valid? [True, True] Translation: X:-23.49, Y:0.79, Z:0.86 [[ 9.71595906e-01 -2.36306376e-01 1.26764227e-02 -2.34889494e+01] [ 2.36330361e-01 9.71672679e-01 -4.07208736e-04 7.87710636e-01] [-1.22211076e-02 3.39146589e-03 9.99919568e-01 8.64758461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.865285570000005 meters 0.08504319600858405 Centerline is valid? [True, True] Translation: X:-23.52, Y:0.78, Z:0.86 [[ 9.70605026e-01 -2.40434895e-01 1.08140868e-02 -2.35208670e+01] [ 2.40452551e-01 9.70660833e-01 -3.43885505e-04 7.77711169e-01] [-1.04141285e-02 2.93405177e-03 9.99941467e-01 8.63330285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.895285570000002 meters 0.08672356084126408 Centerline is valid? [True, True] Translation: X:-23.55, Y:0.78, Z:0.86 [[ 9.69422016e-01 -2.45075401e-01 1.26096127e-02 -2.35521644e+01] [ 2.45099754e-01 9.69497783e-01 -3.99654470e-04 7.84141310e-01] [-1.21270461e-02 3.47804682e-03 9.99920416e-01 8.62821669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.925285570000003 meters 0.0852580309480989 Centerline is valid? [True, True] Translation: X:-23.58, Y:0.80, Z:0.87 [[ 9.68716053e-01 -2.47775234e-01 1.40228963e-02 -2.35833334e+01] [ 2.47805595e-01 9.68809677e-01 -4.43116842e-04 8.00263968e-01] [-1.34757243e-02 3.90420657e-03 9.99901576e-01 8.66146335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.955285570000004 meters 0.07308546222524046 Centerline is valid? [True, True] Translation: X:-23.61, Y:0.83, Z:0.87 [[ 9.67835921e-01 -2.51299643e-01 1.19213612e-02 -2.36130427e+01] [ 2.51321837e-01 9.67903504e-01 -3.77134300e-04 8.33142107e-01] [-1.14439536e-02 3.36110251e-03 9.99928867e-01 8.66767381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.985285570000002 meters 0.07895905601735083 Centerline is valid? [True, True] Translation: X:-23.65, Y:0.82, Z:0.86 [[ 9.67148422e-01 -2.54077978e-01 8.26500290e-03 -2.36453842e+01] [ 2.54088739e-01 9.67180875e-01 -2.61502295e-04 8.17052690e-01] [-7.92731076e-03 2.35295569e-03 9.99965810e-01 8.62439235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.015285570000003 meters 0.08708366216975967 Centerline is valid? [True, True] Translation: X:-23.68, Y:0.80, Z:0.86 [[ 9.68011897e-01 -2.50638415e-01 1.15478500e-02 -2.36774798e+01] [ 2.50659122e-01 9.68075346e-01 -3.58681802e-04 8.02234785e-01] [-1.10892894e-02 3.24178219e-03 9.99933257e-01 8.56178445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.045285570000004 meters 0.06715289583817821 Centerline is valid? [True, True] Translation: X:-23.71, Y:0.85, Z:0.87 [[ 9.67249822e-01 -2.53513504e-01 1.25970494e-02 -2.37063738e+01] [ 2.53538372e-01 9.67325251e-01 -3.91511063e-04 8.53073993e-01] [-1.20861906e-02 3.57252440e-03 9.99920577e-01 8.71491114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.075285570000002 meters 0.0670239385460639 Centerline is valid? [True, True] Translation: X:-23.74, Y:0.86, Z:0.87 [[ 9.67329131e-01 -2.53203867e-01 1.27339976e-02 -2.37382647e+01] [ 2.53229195e-01 9.67406234e-01 -3.90884544e-04 8.62721647e-01] [-1.22199752e-02 3.60273397e-03 9.99918843e-01 8.71207199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.105285570000003 meters 0.07692774846074507 Centerline is valid? [True, True] Translation: X:-23.77, Y:0.84, Z:0.86 [[ 9.67529829e-01 -2.52477855e-01 1.18727468e-02 -2.37709652e+01] [ 2.52499836e-01 9.67596868e-01 -3.65632954e-04 8.39751384e-01] [-1.13957183e-02 3.35162740e-03 9.99929450e-01 8.62869119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.135285570000004 meters 0.08775511770688194 Centerline is valid? [True, True] Translation: X:-23.80, Y:0.81, Z:0.86 [[ 9.67774227e-01 -2.51625593e-01 9.87964869e-03 -2.38032587e+01] [ 2.51640739e-01 9.67820669e-01 -3.00764637e-04 8.13032279e-01] [-9.48604813e-03 2.77719436e-03 9.99951150e-01 8.57109514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16528557 meters 0.08530516243352708 Centerline is valid? [True, True] Translation: X:-23.83, Y:0.83, Z:0.85 [[ 9.67604914e-01 -2.52278347e-01 9.81659533e-03 -2.38333239e+01] [ 2.52293337e-01 9.67650754e-01 -2.99469300e-04 8.25990242e-01] [-9.42348626e-03 2.76642956e-03 9.99951771e-01 8.53627199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.195285570000003 meters 0.06931102057579909 Centerline is valid? [True, True] Translation: X:-23.86, Y:0.86, Z:0.86 [[ 9.67213691e-01 -2.53686352e-01 1.18705680e-02 -2.38628645e+01] [ 2.53708329e-01 9.67280701e-01 -3.58630300e-04 8.61756379e-01] [-1.13911918e-02 3.35853412e-03 9.99929478e-01 8.59463293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.225285570000004 meters 0.07077758149158224 Centerline is valid? [True, True] Translation: X:-23.90, Y:0.85, Z:0.86 [[ 9.67433480e-01 -2.52783778e-01 1.31462075e-02 -2.38956081e+01] [ 2.52810604e-01 9.67515707e-01 -3.92978602e-04 8.49320899e-01] [-1.26198237e-02 3.70368132e-03 9.99913508e-01 8.55332227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.255285570000005 meters 0.08653167701702577 Centerline is valid? [True, True] Translation: X:-23.93, Y:0.81, Z:0.84 [[ 9.67604229e-01 -2.52145157e-01 1.28404037e-02 -2.39288899e+01] [ 2.52170684e-01 9.67682696e-01 -3.82757194e-04 8.06429603e-01] [-1.23289260e-02 3.60833085e-03 9.99917485e-01 8.42010238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.285285570000003 meters 0.07062401170842636 Centerline is valid? [True, True] Translation: X:-23.96, Y:0.84, Z:0.85 [[ 9.67671086e-01 -2.51978738e-01 1.09262964e-02 -2.39582782e+01] [ 2.51997210e-01 9.67727906e-01 -3.25555683e-04 8.41988154e-01] [-1.04916488e-02 3.06842703e-03 9.99940253e-01 8.46749572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.315285570000004 meters 0.07105019495636646 Centerline is valid? [True, True] Translation: X:-23.99, Y:0.84, Z:0.85 [[ 9.67410966e-01 -2.52935652e-01 1.18143205e-02 -2.39897563e+01] [ 2.52957302e-01 9.67477380e-01 -3.50968135e-04 8.43145654e-01] [-1.13413155e-02 3.32804907e-03 9.99930147e-01 8.48275776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.345285570000005 meters 0.07125156631492482 Centerline is valid? [True, True] Translation: X:-24.02, Y:0.85, Z:0.85 [[ 9.66698805e-01 -2.55424361e-01 1.58686953e-02 -2.40213574e+01] [ 2.55463628e-01 9.66818555e-01 -4.64579499e-04 8.47446779e-01] [-1.52234842e-02 4.50298293e-03 9.99873976e-01 8.50353122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.375285570000003 meters 0.09688235988792551 Centerline is valid? [True, True] Translation: X:-24.05, Y:0.78, Z:0.84 [[ 9.67320801e-01 -2.53001087e-01 1.67605886e-02 -2.40549887e+01] [ 2.53044559e-01 9.67454500e-01 -4.90724674e-04 7.82931056e-01] [-1.60909530e-02 4.71586394e-03 9.99859411e-01 8.43749976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.405285570000004 meters 0.07836700998200284 Centerline is valid? [True, True] Translation: X:-24.08, Y:0.82, Z:0.84 [[ 9.66161850e-01 -2.57655612e-01 1.20359937e-02 -2.40845978e+01] [ 2.57678324e-01 9.66230697e-01 -3.49359973e-04 8.21793221e-01] [-1.15395320e-02 3.43895296e-03 9.99927504e-01 8.35451601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.435285570000005 meters 0.08285850677051566 Centerline is valid? [True, True] Translation: X:-24.12, Y:0.81, Z:0.83 [[ 9.66606741e-01 -2.56061599e-01 1.01914414e-02 -2.41173139e+01] [ 2.56077793e-01 9.66656132e-01 -2.94980937e-04 8.06978466e-01] [-9.77608601e-03 2.89493238e-03 9.99948022e-01 8.32811956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.465285570000002 meters 0.09782893310531471 Centerline is valid? [True, True] Translation: X:-24.15, Y:0.77, Z:0.83 [[ 9.66231820e-01 -2.57403707e-01 1.18068377e-02 -2.41501237e+01] [ 2.57425543e-01 9.66298076e-01 -3.42488061e-04 7.70526187e-01] [-1.13207668e-02 3.37030446e-03 9.99930238e-01 8.32911511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.495285570000004 meters 0.07091983674005296 Centerline is valid? [True, True] Translation: X:-24.18, Y:0.83, Z:0.84 [[ 9.66289011e-01 -2.57060718e-01 1.43294749e-02 -2.41784584e+01] [ 2.57092774e-01 9.66386640e-01 -4.10250508e-04 8.34995510e-01] [-1.37423538e-02 4.08042501e-03 9.99897244e-01 8.37464479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.525285570000005 meters 0.06388937602551341 Centerline is valid? [True, True] Translation: X:-24.21, Y:0.85, Z:0.84 [[ 9.66852773e-01 -2.54878903e-01 1.52466176e-02 -2.42089293e+01] [ 2.54914912e-01 9.66963391e-01 -4.34266753e-04 8.48837747e-01] [-1.46322356e-02 4.30646220e-03 9.99883669e-01 8.37420888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.555285570000002 meters 0.08015149745405553 Centerline is valid? [True, True] Translation: X:-24.24, Y:0.81, Z:0.83 [[ 9.68513677e-01 -2.48348614e-01 1.74419880e-02 -2.42425167e+01] [ 2.48394723e-01 9.68658772e-01 -4.94388359e-04 8.07123825e-01] [-1.67725540e-02 4.81131968e-03 9.99847755e-01 8.30954430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.585285570000003 meters 0.07725092802603296 Centerline is valid? [True, True] Translation: X:-24.27, Y:0.81, Z:0.83 [[ 9.69062150e-01 -2.46346373e-01 1.52319793e-02 -2.42726760e+01] [ 2.46381294e-01 9.69172881e-01 -4.30797467e-04 8.10284319e-01] [-1.46562958e-02 4.17034427e-03 9.99883894e-01 8.31520245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.615285570000005 meters 0.09700659294442976 Centerline is valid? [True, True] Translation: X:-24.31, Y:0.76, Z:0.82 [[ 9.70558328e-01 -2.40440291e-01 1.43177506e-02 -2.43059017e+01] [ 2.40470525e-01 9.70656357e-01 -4.03280356e-04 7.60683079e-01] [-1.38006508e-02 3.83440411e-03 9.99897414e-01 8.23026795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.645285570000002 meters 0.08238337196911268 Centerline is valid? [True, True] Translation: X:-24.34, Y:0.80, Z:0.82 [[ 9.71037972e-01 -2.38455061e-01 1.49813359e-02 -2.43360241e+01] [ 2.38487937e-01 9.71145368e-01 -4.21494691e-04 7.96562151e-01] [-1.44485474e-02 3.98215523e-03 9.99887685e-01 8.16861219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.675285570000003 meters 0.08760328732901361 Centerline is valid? [True, True] Translation: X:-24.37, Y:0.78, Z:0.82 [[ 9.72378243e-01 -2.32769249e-01 1.72924638e-02 -2.43677797e+01] [ 2.32812125e-01 9.72521611e-01 -4.81137912e-04 7.82937365e-01] [-1.67053007e-02 4.49374329e-03 9.99850358e-01 8.24031080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.705285570000004 meters 0.0836201597975746 Centerline is valid? [True, True] Translation: X:-24.40, Y:0.80, Z:0.83 [[ 9.71798985e-01 -2.35019085e-01 1.93070534e-02 -2.43978729e+01] [ 2.35072920e-01 9.71977590e-01 -5.35604479e-04 7.97112389e-01] [-1.86401459e-02 5.05906530e-03 9.99813458e-01 8.32742661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.735285570000002 meters 0.08395493607436405 Centerline is valid? [True, True] Translation: X:-24.43, Y:0.80, Z:0.83 [[ 9.73097410e-01 -2.29490350e-01 2.03865357e-02 -2.44289670e+01] [ 2.29549151e-01 9.73296909e-01 -5.60945228e-04 8.04984475e-01] [-1.97134207e-02 5.22556630e-03 9.99792016e-01 8.34518544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.765285570000003 meters 0.09067292654545639 Centerline is valid? [True, True] Translation: X:-24.46, Y:0.79, Z:0.83 [[ 9.73629809e-01 -2.27631032e-01 1.51363257e-02 -2.44615780e+01] [ 2.27663236e-01 9.73739841e-01 -4.16773268e-04 7.91018300e-01] [-1.46439728e-02 3.85176777e-03 9.99885352e-01 8.29993211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.795285570000004 meters 0.08206699714205663 Centerline is valid? [True, True] Translation: X:-24.49, Y:0.81, Z:0.83 [[ 9.73163539e-01 -2.29840488e-01 1.12284030e-02 -2.44919157e+01] [ 2.29858329e-01 9.73224051e-01 -3.07564029e-04 8.05645471e-01] [-1.08570611e-02 2.88025204e-03 9.99936912e-01 8.27404580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.825285570000002 meters 0.08206699714205663 Centerline is valid? [True, True] Translation: X:-24.52, Y:0.81, Z:0.83 [[ 9.73098437e-01 -2.30115959e-01 1.12284344e-02 -2.45241709e+01] [ 2.30133804e-01 9.73158948e-01 -3.06416521e-04 8.06712204e-01] [-1.08565401e-02 2.88221576e-03 9.99936912e-01 8.28163077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.855285570000003 meters 0.07908478113469723 Centerline is valid? [True, True] Translation: X:-24.56, Y:0.81, Z:0.83 [[ 9.72509458e-01 -2.32464271e-01 1.36278059e-02 -2.45550012e+01] [ 2.32490679e-01 9.72598556e-01 -3.64677334e-04 8.13960558e-01] [-1.31696099e-02 3.52299000e-03 9.99907071e-01 8.26570262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.885285570000004 meters 0.07718905719705557 Centerline is valid? [True, True] Translation: X:-24.59, Y:0.82, Z:0.83 [[ 9.73153882e-01 -2.29408419e-01 1.85283388e-02 -2.45867178e+01] [ 2.29456682e-01 9.73318749e-01 -4.93586888e-04 8.21528478e-01] [-1.79207466e-02 4.73178714e-03 9.99828214e-01 8.31095111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91528557 meters 0.09644301851150258 Centerline is valid? [True, True] Translation: X:-24.62, Y:0.78, Z:0.83 [[ 9.72926777e-01 -2.30298200e-01 1.93965125e-02 -2.46196985e+01] [ 2.30351227e-01 9.73107418e-01 -5.15023908e-04 7.79820314e-01] [-1.87562811e-02 4.96909100e-03 9.99811737e-01 8.29450272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.945285570000003 meters 0.07065596005456704 Centerline is valid? [True, True] Translation: X:-24.65, Y:0.84, Z:0.84 [[ 9.72554778e-01 -2.32042212e-01 1.71352163e-02 -2.46482143e+01] [ 2.32083833e-01 9.72695681e-01 -4.54267611e-04 8.42081503e-01] [-1.65619416e-02 4.41860682e-03 9.99853078e-01 8.35571977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.975285570000004 meters 0.0816118728341738 Centerline is valid? [True, True] Translation: X:-24.68, Y:0.82, Z:0.84 [[ 9.72263898e-01 -2.33515492e-01 1.31692094e-02 -2.46807235e+01] [ 2.33540168e-01 9.72347093e-01 -3.46586021e-04 8.19556435e-01] [-1.27241093e-02 3.41251245e-03 9.99913222e-01 8.37240826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.005285570000005 meters 0.09275306640900681 Centerline is valid? [True, True] Translation: X:-24.71, Y:0.80, Z:0.84 [[ 9.74253724e-01 -2.24884009e-01 1.60269545e-02 -2.47134246e+01] [ 2.24919446e-01 9.74377271e-01 -4.20595469e-04 7.99350486e-01] [-1.55217149e-02 4.01454042e-03 9.99871472e-01 8.36239570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.035285570000003 meters 0.08019304734880761 Centerline is valid? [True, True] Translation: X:-24.74, Y:0.83, Z:0.84 [[ 9.75192567e-01 -2.20718323e-01 1.68190178e-02 -2.47438488e+01] [ 2.20756745e-01 9.75328799e-01 -4.40009398e-04 8.25406856e-01] [-1.63069542e-02 4.14200551e-03 9.99858453e-01 8.39054051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.065285570000004 meters 0.0878859504756373 Centerline is valid? [True, True] Translation: X:-24.78, Y:0.81, Z:0.83 [[ 9.76731596e-01 -2.13657326e-01 1.85993436e-02 -2.47764533e+01] [ 2.13703067e-01 9.76898544e-01 -4.84252313e-04 8.05449240e-01] [-1.80662076e-02 4.44772130e-03 9.99826900e-01 8.32047438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.095285570000005 meters 0.07594661615632577 Centerline is valid? [True, True] Translation: X:-24.81, Y:0.84, Z:0.83 [[ 9.78406933e-01 -2.05900913e-01 1.80190845e-02 -2.48067820e+01] [ 2.05942572e-01 9.78563967e-01 -4.67623250e-04 8.35580559e-01] [-1.75365428e-02 4.16842244e-03 9.99837534e-01 8.31822241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.125285570000003 meters 0.09069681281589735 Centerline is valid? [True, True] Translation: X:-24.84, Y:0.80, Z:0.83 [[ 9.79169840e-01 -2.02576673e-01 1.37519577e-02 -2.48388050e+01] [ 2.02600614e-01 9.79261387e-01 -3.56020852e-04 8.04751153e-01] [-1.33946396e-02 3.13475994e-03 9.99905374e-01 8.33950194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.155285570000004 meters 0.07669564743141925 Centerline is valid? [True, True] Translation: X:-24.87, Y:0.85, Z:0.84 [[ 9.79760174e-01 -1.99745246e-01 1.31086969e-02 -2.48680398e+01] [ 1.99766748e-01 9.79843422e-01 -3.38613358e-04 8.45357067e-01] [-1.27768340e-02 2.95044163e-03 9.99914020e-01 8.41759982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.185285570000005 meters 0.08031589515378863 Centerline is valid? [True, True] Translation: X:-24.90, Y:0.83, Z:0.84 [[ 9.81623226e-01 -1.90272564e-01 1.45668768e-02 -2.48997185e+01] [ 1.90298091e-01 9.81726284e-01 -3.74067974e-04 8.32745154e-01] [-1.42295110e-02 3.13924266e-03 9.99893827e-01 8.41974740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.215285570000002 meters 0.08960949667968417 Centerline is valid? [True, True] Translation: X:-24.93, Y:0.80, Z:0.84 [[ 9.82700068e-01 -1.84679569e-01 1.39295695e-02 -2.49320719e+01] [ 1.84702361e-01 9.82794440e-01 -3.56722140e-04 7.96798891e-01] [-1.36240241e-02 2.92337523e-03 9.99902915e-01 8.35074655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.245285570000004 meters 0.08179484053761081 Centerline is valid? [True, True] Translation: X:-24.96, Y:0.80, Z:0.83 [[ 9.84476195e-01 -1.75251565e-01 9.67006800e-03 -2.49628994e+01] [ 1.75262109e-01 9.84521778e-01 -2.47410492e-04 8.03099306e-01] [-9.47703347e-03 1.93836626e-03 9.99953213e-01 8.31191026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.275285570000005 meters 0.07919173954897757 Centerline is valid? [True, True] Translation: X:-24.99, Y:0.81, Z:0.83 [[ 9.85099357e-01 -1.71762278e-01 8.77366063e-03 -2.49926039e+01] [ 1.71770823e-01 9.85136911e-01 -2.24260954e-04 8.11284292e-01] [-8.60473736e-03 1.72797823e-03 9.99961486e-01 8.31444949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.305285570000002 meters 0.08146939006248985 Centerline is valid? [True, True] Translation: X:-25.02, Y:0.81, Z:0.84 [[ 9.85952884e-01 -1.66766508e-01 9.26510039e-03 -2.50237512e+01] [ 1.66775810e-01 9.85994814e-01 -2.35219459e-04 8.12613822e-01] [-9.09611421e-03 1.77710993e-03 9.99957050e-01 8.37799246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.335285570000003 meters 0.08016655284526915 Centerline is valid? [True, True] Translation: X:-25.05, Y:0.82, Z:0.84 [[ 9.86477553e-01 -1.63467482e-01 1.18498748e-02 -2.50541926e+01] [ 1.63482455e-01 9.86546196e-01 -2.99574178e-04 8.23775759e-01] [-1.16414783e-02 2.23276983e-03 9.99929743e-01 8.41290278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.365285570000005 meters 0.07657645548207201 Centerline is valid? [True, True] Translation: X:-25.09, Y:0.82, Z:0.84 [[ 9.87748663e-01 -1.55771977e-01 9.36322681e-03 -2.50857382e+01] [ 1.55780986e-01 9.87791592e-01 -2.36242549e-04 8.22790350e-01] [-9.21211674e-03 1.69196097e-03 9.99956136e-01 8.38428494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.395285570000002 meters 0.07802997174523903 Centerline is valid? [True, True] Translation: X:-25.12, Y:0.81, Z:0.83 [[ 9.88605609e-01 -1.50446800e-01 4.97096890e-03 -2.51176291e+01] [ 1.50449275e-01 9.88617722e-01 -1.25731024e-04 8.14576461e-01] [-4.89547212e-03 8.72177065e-04 9.99987637e-01 8.30737212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.425285570000003 meters 0.0758452698229309 Centerline is valid? [True, True] Translation: X:-25.15, Y:0.82, Z:0.82 [[ 9.90101754e-01 -1.40218665e-01 6.10260866e-03 -2.51479833e+01] [ 1.40222204e-01 9.90120048e-01 -1.53894987e-04 8.22501091e-01] [-6.02073623e-03 1.00809293e-03 9.99981367e-01 8.23712330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.455285570000004 meters 0.07085627566404355 Centerline is valid? [True, True] Translation: X:-25.18, Y:0.84, Z:0.84 [[ 9.90240170e-01 -1.39161986e-01 7.63850251e-03 -2.51776635e+01] [ 1.39167486e-01 9.90268840e-01 -1.90712225e-04 8.35531112e-01] [-7.53763113e-03 1.25188210e-03 9.99970808e-01 8.43780641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.485285570000002 meters 0.06712961741216535 Centerline is valid? [True, True] Translation: X:-25.21, Y:0.85, Z:0.85 [[ 9.91499314e-01 -1.29564942e-01 1.19178681e-02 -2.52081268e+01] [ 1.29577657e-01 9.91569232e-01 -2.97657844e-04 8.54055254e-01] [-1.17788253e-02 1.83941697e-03 9.99928935e-01 8.48472217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.515285570000003 meters 0.066172029451348 Centerline is valid? [True, True] Translation: X:-25.24, Y:0.86, Z:0.84 [[ 9.92175422e-01 -1.24634428e-01 7.36149926e-03 -2.52379115e+01] [ 1.24639152e-01 9.92202120e-01 -1.84578933e-04 8.60514564e-01] [-7.28109028e-03 1.10066570e-03 9.99972887e-01 8.43591483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.545285570000004 meters 0.061954971265897094 Centerline is valid? [True, True] Translation: X:-25.27, Y:0.87, Z:0.83 [[ 9.93537935e-01 -1.13472994e-01 2.50023461e-03 -2.52683459e+01] [ 1.13473505e-01 9.93541021e-01 -6.30343234e-05 8.66681301e-01] [-2.47693295e-03 3.46337377e-04 9.99996872e-01 8.30158618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.575285570000002 meters 0.06504282861297653 Centerline is valid? [True, True] Translation: X:-25.30, Y:0.85, Z:0.82 [[ 9.94088715e-01 -1.08559641e-01 1.55926055e-03 -2.52999647e+01] [ 1.08559834e-01 9.94089916e-01 -3.92957627e-05 8.54076990e-01] [-1.54577925e-03 2.08336540e-04 9.99998784e-01 8.24600194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.605285570000003 meters 0.05854122475764704 Centerline is valid? [True, True] Translation: X:-25.33, Y:0.87, Z:0.84 [[ 9.94594220e-01 -1.03583456e-01 7.26666445e-03 -2.53290650e+01] [ 1.03587494e-01 9.94620329e-01 -1.80476675e-04 8.66671135e-01] [-7.20887779e-03 9.32236619e-04 9.99973581e-01 8.37681348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.635285570000004 meters 0.05505220215535008 Centerline is valid? [True, True] Translation: X:-25.36, Y:0.88, Z:0.85 [[ 9.95010680e-01 -9.93555352e-02 9.06780413e-03 -2.53590652e+01] [ 9.93616403e-02 9.95051363e-01 -2.24147424e-04 8.76645577e-01] [-9.00066057e-03 1.12402097e-03 9.99958861e-01 8.46120106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.665285570000005 meters 0.05485853620848183 Centerline is valid? [True, True] Translation: X:-25.39, Y:0.87, Z:0.83 [[ 9.95827731e-01 -9.09800350e-02 7.05432308e-03 -2.53904432e+01] [ 9.09835201e-02 9.95852383e-01 -1.74027670e-04 8.72315988e-01] [-7.00923140e-03 8.15128725e-04 9.99975103e-01 8.32286534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.695285570000003 meters 0.05643418956383684 Centerline is valid? [True, True] Translation: X:-25.42, Y:0.86, Z:0.81 [[ 9.96292405e-01 -8.60311834e-02 2.81433159e-04 -2.54225920e+01] [ 8.60311890e-02 9.96292444e-01 -7.66323787e-06 8.63657335e-01] [-2.79730452e-04 3.18468550e-05 9.99999960e-01 8.13446694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.725285570000004 meters 0.05399343472658646 Centerline is valid? [True, True] Translation: X:-25.45, Y:0.86, Z:0.81 [[ 9.96806748e-01 -7.98492557e-02 6.35728048e-04 -2.54534613e+01] [ 7.98492822e-02 9.96806948e-01 -1.63809936e-05 8.63945063e-01] [-6.32390125e-04 6.70911133e-05 9.99999798e-01 8.09432694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.755285570000005 meters 0.05117768500028577 Centerline is valid? [True, True] Translation: X:-25.48, Y:0.87, Z:0.82 [[ 9.97113479e-01 -7.58555137e-02 3.26347030e-03 -2.54824905e+01] [ 7.58561770e-02 9.97118766e-01 -7.97770291e-05 8.72595653e-01] [-3.24801595e-03 3.27101132e-04 9.99994672e-01 8.24541242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.785285570000003 meters 0.05043242366364269 Centerline is valid? [True, True] Translation: X:-25.51, Y:0.88, Z:0.83 [[ 9.97652863e-01 -6.83544411e-02 4.05394215e-03 -2.55128699e+01] [ 6.83554058e-02 9.97661029e-01 -9.97290649e-05 8.78488698e-01] [-4.03764317e-03 3.76603848e-04 9.99991778e-01 8.26439692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.815285570000004 meters 0.049431677209088754 Centerline is valid? [True, True] Translation: X:-25.54, Y:0.88, Z:0.81 [[ 9.98078342e-01 -6.19645058e-02 -1.51386320e-04 -2.55440551e+01] [ 6.19645070e-02 9.98078354e-01 3.09186654e-06 8.79457553e-01] [ 1.50903823e-04 -1.24665037e-05 9.99999989e-01 8.11104088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.845285570000005 meters 0.049437160007111174 Centerline is valid? [True, True] Translation: X:-25.58, Y:0.86, Z:0.80 [[ 9.98140032e-01 -6.08256612e-02 -4.08840874e-03 -2.55763645e+01] [ 6.08265501e-02 9.98148347e-01 9.33026064e-05 8.64621256e-01] [ 4.07516324e-03 -3.41812866e-04 9.99991638e-01 8.00815464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.875285570000003 meters 0.04541617133552778 Centerline is valid? [True, True] Translation: X:-25.61, Y:0.88, Z:0.80 [[ 9.98685523e-01 -5.09759638e-02 5.35505730e-03 -2.56055415e+01] [ 5.09773898e-02 9.98699799e-01 -1.30037034e-04 8.75093154e-01] [-5.34146589e-03 4.02852947e-04 9.99985653e-01 8.03910342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.905285570000004 meters 0.04353903244796353 Centerline is valid? [True, True] Translation: X:-25.64, Y:0.88, Z:0.81 [[ 9.98583504e-01 -5.28743474e-02 5.94041042e-03 -2.56353995e+01] [ 5.28761320e-02 9.98601069e-01 -1.43651521e-04 8.81421358e-01] [-5.92450472e-03 4.57553965e-04 9.99982345e-01 8.13821579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.935285570000005 meters 0.043390558826831946 Centerline is valid? [True, True] Translation: X:-25.67, Y:0.88, Z:0.80 [[ 9.98891971e-01 -4.67576443e-02 5.34354351e-03 -2.56663473e+01] [ 4.67590021e-02 9.98906191e-01 -1.29378879e-04 8.79231426e-01] [-5.33164924e-03 3.79094285e-04 9.99985715e-01 8.04282700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.965285570000002 meters 0.0407986613655629 Centerline is valid? [True, True] Translation: X:-25.70, Y:0.88, Z:0.78 [[ 9.99391119e-01 -3.47323363e-02 -3.32493542e-03 -2.56963829e+01] [ 3.47327881e-02 9.99396632e-01 7.82155353e-05 8.83178947e-01] [ 3.32021265e-03 -1.93652189e-04 9.99994469e-01 7.78426234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.995285570000004 meters 0.03910251278012936 Centerline is valid? [True, True] Translation: X:-25.73, Y:0.88, Z:0.78 [[ 9.99444178e-01 -3.29354381e-02 -5.15673667e-03 -2.57277849e+01] [ 3.29364829e-02 9.99457440e-01 1.17783493e-04 8.82331069e-01] [ 5.15005958e-03 -2.87562796e-04 9.99986697e-01 7.78229380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.025285570000005 meters 0.03465514901175853 Centerline is valid? [True, True] Translation: X:-25.76, Y:0.89, Z:0.78 [[ 9.99657948e-01 -2.60835091e-02 -1.90714831e-03 -2.57575805e+01] [ 2.60836428e-02 9.99659763e-01 4.52234749e-05 8.93420379e-01] [ 1.90531984e-03 -9.49533814e-05 9.99998180e-01 7.78809207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.055285570000002 meters 0.035604839915094506 Centerline is valid? [True, True] Translation: X:-25.79, Y:0.89, Z:0.78 [[ 9.99755907e-01 -2.20868779e-02 -5.45154661e-04 -2.57881586e+01] [ 2.20868881e-02 9.99756055e-01 1.25189118e-05 8.90662003e-01] [ 5.44745170e-04 -2.45566260e-05 9.99999851e-01 7.77805541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.085285570000003 meters 0.03449173977433665 Centerline is valid? [True, True] Translation: X:-25.82, Y:0.90, Z:0.78 [[ 9.99765223e-01 -2.15552475e-02 -2.20697254e-03 -2.58193087e+01] [ 2.15554041e-02 9.99767654e-01 4.71808796e-05 8.96309920e-01] [ 2.20544276e-03 -9.47419873e-05 9.99997564e-01 7.83023843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.115285570000005 meters 0.032356190031312765 Centerline is valid? [True, True] Translation: X:-25.85, Y:0.91, Z:0.78 [[ 9.99839105e-01 -1.77931628e-02 -2.27319519e-03 -2.58488073e+01] [ 1.77933305e-02 9.99841685e-01 5.35793131e-05 9.09695141e-01] [ 2.27188196e-03 -9.40184058e-05 9.99997415e-01 7.81344929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.145285570000002 meters 0.03596475481356472 Centerline is valid? [True, True] Translation: X:-25.88, Y:0.90, Z:0.77 [[ 9.99837104e-01 -1.74267392e-02 -4.69832395e-03 -2.58815476e+01] [ 1.74274206e-02 9.99848126e-01 1.04112911e-04 9.03996856e-01] [ 4.69579604e-03 -1.85975619e-04 9.99988957e-01 7.65891787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.175285570000003 meters 0.034887330475241965 Centerline is valid? [True, True] Translation: X:-25.91, Y:0.91, Z:0.77 [[ 9.99827176e-01 -1.75492512e-02 -6.13532586e-03 -2.59128178e+01] [ 1.75504369e-02 9.99845969e-01 1.39466020e-04 9.07673122e-01] [ 6.13193331e-03 -2.47119567e-04 9.99981169e-01 7.69627285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.205285570000004 meters 0.03233318477860698 Centerline is valid? [True, True] Translation: X:-25.94, Y:0.92, Z:0.78 [[ 9.99873920e-01 -1.53111502e-02 -4.20869247e-03 -2.59423109e+01] [ 1.53116968e-02 9.99882764e-01 9.76759304e-05 9.19700803e-01] [ 4.20670353e-03 -1.62105838e-04 9.99991139e-01 7.81527388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.235285570000002 meters 0.0312682471574629 Centerline is valid? [True, True] Translation: X:-25.97, Y:0.92, Z:0.79 [[ 9.99906406e-01 -1.36761488e-02 3.78201093e-04 -2.59735571e+01] [ 1.36761534e-02 9.99906477e-01 -9.56882967e-06 9.23356391e-01] [-3.78034858e-04 1.47402703e-05 9.99999928e-01 7.85995991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.265285570000003 meters 0.0301131549750412 Centerline is valid? [True, True] Translation: X:-26.01, Y:0.93, Z:0.79 [[ 9.99926895e-01 -1.19829682e-02 1.61622241e-03 -2.60057353e+01] [ 1.19830468e-02 9.99928200e-01 -3.89167469e-05 9.25834048e-01] [-1.61564003e-03 5.82811706e-05 9.99998693e-01 7.86866274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.295285570000004 meters 0.030610086752214744 Centerline is valid? [True, True] Translation: X:-26.04, Y:0.93, Z:0.78 [[ 9.99979413e-01 -6.27206411e-03 1.35424120e-03 -2.60370666e+01] [ 6.27211273e-03 9.99980330e-01 -3.16600922e-05 9.29667223e-01] [-1.35401599e-03 4.01533939e-05 9.99999083e-01 7.76171774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.325285570000002 meters 0.02880275320583184 Centerline is valid? [True, True] Translation: X:-26.07, Y:0.94, Z:0.78 [[ 9.99993116e-01 -1.71013212e-03 -3.29307874e-03 -2.60678707e+01] [ 1.71037324e-03 9.99998535e-01 7.04030811e-05 9.38960584e-01] [ 3.29295351e-03 -7.60349901e-05 9.99994575e-01 7.79563263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.355285570000003 meters 0.027278074105255304 Centerline is valid? [True, True] Translation: X:-26.10, Y:0.95, Z:0.77 [[ 9.99965518e-01 7.83179404e-03 -2.76155222e-03 -2.60980257e+01] [-7.83164825e-03 9.99969330e-01 6.36031994e-05 9.49589412e-01] [ 2.76196565e-03 -4.19735006e-05 9.99996185e-01 7.67545129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.385285570000004 meters 0.025969054615084274 Centerline is valid? [True, True] Translation: X:-26.13, Y:0.95, Z:0.77 [[ 9.99934043e-01 1.13606815e-02 -1.68654104e-03 -2.61259643e+01] [-1.13606292e-02 9.99935465e-01 4.06220345e-05 9.49246298e-01] [ 1.68689370e-03 -2.14591879e-05 9.99998577e-01 7.66479081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.415285570000005 meters 0.026423563849669308 Centerline is valid? [True, True] Translation: X:-26.16, Y:0.95, Z:0.76 [[ 9.99830144e-01 1.83875948e-02 1.25642102e-03 -2.61550956e+01] [-1.83875744e-02 9.99830934e-01 -2.77755272e-05 9.49728214e-01] [-1.25671932e-03 4.66827449e-06 9.99999210e-01 7.60588741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.445285570000003 meters 0.027151823734263676 Centerline is valid? [True, True] Translation: X:-26.18, Y:0.96, Z:0.75 [[ 9.99755132e-01 2.20819042e-02 1.43737151e-03 -2.61846192e+01] [-2.20818867e-02 9.99756165e-01 -2.80375188e-05 9.57413098e-01] [-1.43764016e-03 -3.70922161e-06 9.99998967e-01 7.50894908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.475285570000004 meters 0.026239868759511367 Centerline is valid? [True, True] Translation: X:-26.21, Y:0.97, Z:0.75 [[ 9.99685810e-01 2.49610934e-02 -2.28574860e-03 -2.62133073e+01] [-2.49610334e-02 9.99688423e-01 5.47900470e-05 9.66257431e-01] [ 2.28640404e-03 2.28181461e-06 9.99997386e-01 7.47769480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.505285570000005 meters 0.02500661132114578 Centerline is valid? [True, True] Translation: X:-26.24, Y:0.97, Z:0.75 [[ 9.99627940e-01 2.69217911e-02 -4.38160828e-03 -2.62419280e+01] [-2.69215749e-02 9.99637543e-01 1.08328373e-04 9.73995803e-01] [ 4.38293653e-03 9.67172704e-06 9.99990395e-01 7.46870270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.535285570000003 meters 0.02476358423607634 Centerline is valid? [True, True] Translation: X:-26.27, Y:0.98, Z:0.75 [[ 9.99573546e-01 2.90742498e-02 -2.72299967e-03 -2.62693612e+01] [-2.90741772e-02 9.99577255e-01 6.62714923e-05 9.77902263e-01] [ 2.72377533e-03 1.29257443e-05 9.99996290e-01 7.48562254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.565285570000004 meters 0.02642164067661926 Centerline is valid? [True, True] Translation: X:-26.30, Y:0.98, Z:0.75 [[ 9.99526753e-01 3.06832813e-02 2.19210293e-03 -2.62979962e+01] [-3.06832439e-02 9.99529157e-01 -5.07122703e-05 9.77857961e-01] [-2.19262682e-03 -1.65725580e-05 9.99997596e-01 7.45704345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.595285570000005 meters 0.024626584570551627 Centerline is valid? [True, True] Translation: X:-26.33, Y:0.98, Z:0.75 [[ 9.99532193e-01 3.02902302e-02 4.23043161e-03 -2.63262253e+01] [-3.02900845e-02 9.99541145e-01 -9.85189366e-05 9.75591845e-01] [-4.23147462e-03 -2.96672823e-05 9.99991047e-01 7.47066075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.625285570000003 meters 0.024852203099878616 Centerline is valid? [True, True] Translation: X:-26.36, Y:0.98, Z:0.75 [[ 9.99522148e-01 3.05162189e-02 4.92306205e-03 -2.63554480e+01] [-3.05160347e-02 9.99534271e-01 -1.12534545e-04 9.77744820e-01] [-4.92420337e-03 -3.77515619e-05 9.99987875e-01 7.47392600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.655285570000004 meters 0.02596886350699145 Centerline is valid? [True, True] Translation: X:-26.38, Y:0.98, Z:0.74 [[ 9.99581295e-01 2.86514675e-02 4.04076583e-03 -2.63835497e+01] [-2.86513309e-02 9.99589462e-01 -9.16866211e-05 9.83285989e-01] [-4.04173390e-03 -2.41250877e-05 9.99991832e-01 7.43868626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.685285570000005 meters 0.024977027350957942 Centerline is valid? [True, True] Translation: X:-26.41, Y:0.99, Z:0.75 [[ 9.99536863e-01 3.03296630e-02 2.48433365e-03 -2.64120035e+01] [-3.03296189e-02 9.99539950e-01 -5.54322750e-05 9.87561082e-01] [-2.48487197e-03 -1.99422904e-05 9.99996913e-01 7.45750685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.715285570000002 meters 0.024563920653855775 Centerline is valid? [True, True] Translation: X:-26.44, Y:0.99, Z:0.74 [[ 9.99546677e-01 2.99781614e-02 2.78381112e-03 -2.64395046e+01] [-2.99780935e-02 9.99550554e-01 -6.61450767e-05 9.88141711e-01] [-2.78454286e-03 -1.73382584e-05 9.99996123e-01 7.42812588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.745285570000004 meters 0.024563920653855775 Centerline is valid? [True, True] Translation: X:-26.47, Y:0.99, Z:0.74 [[ 9.99538444e-01 3.02514191e-02 2.78389176e-03 -2.64672560e+01] [-3.02513613e-02 9.99542321e-01 -6.29001174e-05 9.88718674e-01] [-2.78452045e-03 -2.13454298e-05 9.99996123e-01 7.43458054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.775285570000005 meters 0.025173436778887667 Centerline is valid? [True, True] Translation: X:-26.50, Y:0.99, Z:0.74 [[ 9.99535636e-01 3.02106038e-02 3.97897934e-03 -2.64963261e+01] [-3.02104674e-02 9.99543555e-01 -9.43949861e-05 9.89382707e-01] [-3.98001488e-03 -2.58556733e-05 9.99992079e-01 7.43916401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.805285570000002 meters 0.027114251617692008 Centerline is valid? [True, True] Translation: X:-26.53, Y:0.99, Z:0.75 [[ 9.99580721e-01 2.82238733e-02 6.46484299e-03 -2.65255834e+01] [-2.82234386e-02 9.99601627e-01 -1.58481740e-04 9.92788429e-01] [-6.46674054e-03 -2.40448071e-05 9.99979090e-01 7.47974906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.835285570000003 meters 0.0271976407514205 Centerline is valid? [True, True] Translation: X:-26.55, Y:1.00, Z:0.75 [[ 9.99619790e-01 2.67816459e-02 6.55885429e-03 -2.65534697e+01] [-2.67811403e-02 9.99641307e-01 -1.64929930e-04 9.98640516e-01] [-6.56091877e-03 -1.07863742e-05 9.99978477e-01 7.52739078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.865285570000005 meters 0.02475771764009029 Centerline is valid? [True, True] Translation: X:-26.58, Y:1.00, Z:0.75 [[ 9.99634096e-01 2.65204888e-02 5.32328270e-03 -2.65823614e+01] [-2.65201662e-02 9.99648270e-01 -1.31194734e-04 9.99567076e-01] [-5.32488969e-03 -1.00276126e-05 9.99985823e-01 7.51559123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.895285570000002 meters 0.024982956501460634 Centerline is valid? [True, True] Translation: X:-26.61, Y:1.00, Z:0.75 [[ 9.99708573e-01 2.35569985e-02 5.27600904e-03 -2.66097194e+01] [-2.35566281e-02 9.99722495e-01 -1.32328860e-04 9.95323457e-01] [-5.27766219e-03 8.00531297e-06 9.99986073e-01 7.49073920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.925285570000003 meters 0.025636512731884588 Centerline is valid? [True, True] Translation: X:-26.64, Y:0.99, Z:0.75 [[ 9.99851451e-01 1.61383384e-02 6.05221278e-03 -2.66391596e+01] [-1.61377102e-02 9.99869767e-01 -1.52616661e-04 9.86447149e-01] [-6.05388756e-03 5.49251340e-05 9.99981674e-01 7.47379040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.955285570000004 meters 0.026080757968923035 Centerline is valid? [True, True] Translation: X:-26.67, Y:0.98, Z:0.75 [[ 9.99907834e-01 1.26026920e-02 5.04927053e-03 -2.66687977e+01] [-1.26021984e-02 9.99920581e-01 -1.29570160e-04 9.83183827e-01] [-5.05050245e-03 6.59263090e-05 9.99987244e-01 7.47249303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.985285570000002 meters 0.02610738633929452 Centerline is valid? [True, True] Translation: X:-26.70, Y:0.99, Z:0.75 [[ 9.99918625e-01 1.12544254e-02 6.00678895e-03 -2.66970969e+01] [-1.12537098e-02 9.99936663e-01 -1.52913061e-04 9.85311541e-01] [-6.00812945e-03 8.53019581e-05 9.99981947e-01 7.51884732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.015285570000003 meters 0.02628361119562549 Centerline is valid? [True, True] Translation: X:-26.73, Y:0.99, Z:0.76 [[ 9.99929987e-01 9.10112126e-03 7.56239407e-03 -2.67256708e+01] [-9.09989543e-03 9.99958576e-01 -1.96488977e-04 9.88212289e-01] [-7.56386908e-03 1.27658225e-04 9.99971385e-01 7.57845421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.045285570000004 meters 0.02733214366692752 Centerline is valid? [True, True] Translation: X:-26.76, Y:0.99, Z:0.76 [[ 9.99942553e-01 7.14788761e-03 7.98740005e-03 -2.67561049e+01] [-7.14641137e-03 9.99974441e-01 -2.13348052e-04 9.89258905e-01] [-7.98872089e-03 1.56254550e-04 9.99968077e-01 7.59726745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.075285570000002 meters 0.0293778374985684 Centerline is valid? [True, True] Translation: X:-26.79, Y:0.98, Z:0.75 [[ 9.99950633e-01 7.03677044e-03 7.01540064e-03 -2.67883483e+01] [-7.03562353e-03 9.99975232e-01 -1.88149823e-04 9.80472759e-01] [-7.01655085e-03 1.38782817e-04 9.99975374e-01 7.48581940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.105285570000003 meters 0.026332143720335672 Centerline is valid? [True, True] Translation: X:-26.82, Y:0.98, Z:0.75 [[ 9.99925593e-01 1.01922779e-02 6.70271234e-03 -2.68188292e+01] [-1.01912998e-02 9.99948051e-01 -1.80072666e-04 9.83674387e-01] [-6.70419949e-03 1.11749916e-04 9.99977520e-01 7.51861393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.135285570000004 meters 0.026853484410924666 Centerline is valid? [True, True] Translation: X:-26.85, Y:0.99, Z:0.76 [[ 9.99909423e-01 1.01659845e-02 8.82037413e-03 -2.68467649e+01] [-1.01643263e-02 9.99948315e-01 -2.32811564e-04 9.92196682e-01] [-8.82228500e-03 1.43137316e-04 9.99961073e-01 7.58061426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.165285570000005 meters 0.025405740387264234 Centerline is valid? [True, True] Translation: X:-26.88, Y:1.00, Z:0.76 [[ 9.99877909e-01 1.29746251e-02 8.70778731e-03 -2.68774714e+01] [-1.29731004e-02 9.99915819e-01 -2.31561792e-04 1.00195403e+00] [-8.71005871e-03 1.18566522e-04 9.99962060e-01 7.62257507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.195285570000003 meters 0.02550275494480833 Centerline is valid? [True, True] Translation: X:-26.91, Y:1.01, Z:0.76 [[ 9.99848630e-01 1.61264137e-02 6.53117192e-03 -2.69064730e+01] [-1.61256519e-02 9.99869959e-01 -1.69296230e-04 1.00661951e+00] [-6.53305274e-03 6.39511990e-05 9.99978657e-01 7.58608447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.225285570000004 meters 0.025851536164515673 Centerline is valid? [True, True] Translation: X:-26.93, Y:1.01, Z:0.75 [[ 9.99762627e-01 2.11049991e-02 5.41012628e-03 -2.69339481e+01] [-2.11045332e-02 9.99777264e-01 -1.43190518e-04 1.01216272e+00] [-5.41194329e-03 2.89783384e-05 9.99985355e-01 7.54467958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.255285570000005 meters 0.025240055609936602 Centerline is valid? [True, True] Translation: X:-26.96, Y:1.02, Z:0.76 [[ 9.99708459e-01 2.36445129e-02 4.89221859e-03 -2.69611904e+01] [-2.36441651e-02 9.99720429e-01 -1.28919604e-04 1.01593067e+00] [-4.89389911e-03 1.32095948e-05 9.99988025e-01 7.61826652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.285285570000003 meters 0.024891362027648325 Centerline is valid? [True, True] Translation: X:-26.99, Y:1.02, Z:0.76 [[ 9.99642801e-01 2.59324472e-02 6.46360983e-03 -2.69901379e+01] [-2.59318903e-02 9.99663698e-01 -1.69966985e-04 1.02337577e+00] [-6.46584376e-03 2.29265131e-06 9.99979096e-01 7.64013129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.315285570000004 meters 0.0262941118331345 Centerline is valid? [True, True] Translation: X:-27.02, Y:1.03, Z:0.76 [[ 9.99593375e-01 2.75971031e-02 7.17529183e-03 -2.70187437e+01] [-2.75964412e-02 9.99619127e-01 -1.91261853e-04 1.03176251e+00] [-7.17783723e-03 -6.82843820e-06 9.99974239e-01 7.64184095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.345285570000005 meters 0.02524608960909775 Centerline is valid? [True, True] Translation: X:-27.05, Y:1.03, Z:0.76 [[ 9.99553068e-01 2.95559450e-02 4.48453253e-03 -2.70474345e+01] [-2.95557098e-02 9.99563128e-01 -1.18717407e-04 1.03453966e+00] [-4.48608216e-03 -1.38791937e-05 9.99989937e-01 7.60941699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.375285570000003 meters 0.02624685558546605 Centerline is valid? [True, True] Translation: X:-27.08, Y:1.04, Z:0.76 [[ 9.99569206e-01 2.88475575e-02 5.40569121e-03 -2.70761553e+01] [-2.88471929e-02 9.99583823e-01 -1.45418916e-04 1.03605561e+00] [-5.40763647e-03 -1.05827468e-05 9.99985379e-01 7.58236308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.405285570000004 meters 0.026739100192728394 Centerline is valid? [True, True] Translation: X:-27.10, Y:1.03, Z:0.76 [[ 9.99596526e-01 2.75553232e-02 6.89127658e-03 -2.71038951e+01] [-2.75546636e-02 9.99620280e-01 -1.90657374e-04 1.03498269e+00] [-6.89391345e-03 6.93640403e-07 9.99976237e-01 7.58263996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.435285570000005 meters 0.026090611450636715 Centerline is valid? [True, True] Translation: X:-27.13, Y:1.04, Z:0.76 [[ 9.99636440e-01 2.67711778e-02 3.20805395e-03 -2.71319468e+01] [-2.67710337e-02 9.99641588e-01 -8.78755106e-05 1.03605867e+00] [-3.20925667e-03 1.96064225e-06 9.99994850e-01 7.58609156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.465285570000002 meters 0.025251248256320486 Centerline is valid? [True, True] Translation: X:-27.16, Y:1.04, Z:0.76 [[ 9.99685958e-01 2.47400750e-02 -3.98922066e-03 -2.71620923e+01] [-2.47398213e-02 9.99693917e-01 1.12939089e-04 1.04255972e+00] [ 3.99079376e-03 -1.42110153e-05 9.99992037e-01 7.56098697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.495285570000004 meters 0.02568992098666372 Centerline is valid? [True, True] Translation: X:-27.19, Y:1.05, Z:0.76 [[ 9.99695110e-01 2.45022181e-02 -3.05423844e-03 -2.71910304e+01] [-2.45020512e-02 9.99699775e-01 9.20586594e-05 1.05059120e+00] [ 3.05557712e-03 -1.71954849e-05 9.99995332e-01 7.57603213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.525285570000005 meters 0.0260072056367385 Centerline is valid? [True, True] Translation: X:-27.22, Y:1.06, Z:0.76 [[ 9.99610648e-01 2.78999987e-02 -3.78378528e-04 -2.72187656e+01] [-2.78999959e-02 9.99610719e-01 1.26794163e-05 1.05916094e+00] [ 3.78584988e-04 -2.11772012e-06 9.99999928e-01 7.62406714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.555285570000002 meters 0.025286885076363595 Centerline is valid? [True, True] Translation: X:-27.25, Y:1.07, Z:0.76 [[ 9.99399325e-01 3.46165781e-02 -1.63746999e-03 -2.72473366e+01] [-3.46165388e-02 9.99400667e-01 5.23154202e-05 1.06888265e+00] [ 1.63829958e-03 4.39954793e-06 9.99998658e-01 7.56212608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.585285570000003 meters 0.027679998428820476 Centerline is valid? [True, True] Translation: X:-27.28, Y:1.07, Z:0.76 [[ 9.99389854e-01 3.49270122e-02 -1.51128857e-04 -2.72766139e+01] [-3.49270111e-02 9.99389866e-01 9.50694146e-06 1.07166508e+00] [ 1.51368697e-04 -4.22266156e-06 9.99999989e-01 7.56772821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.615285570000005 meters 0.02676155053969478 Centerline is valid? [True, True] Translation: X:-27.31, Y:1.08, Z:0.77 [[ 9.99343578e-01 3.57528031e-02 5.84380636e-03 -2.73055055e+01] [-3.57524336e-02 9.99360663e-01 -1.67717847e-04 1.08107316e+00] [-5.84606658e-03 -4.13225452e-05 9.99982911e-01 7.65260547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.645285570000002 meters 0.02578823294226155 Centerline is valid? [True, True] Translation: X:-27.33, Y:1.09, Z:0.77 [[ 9.99445168e-01 3.27114126e-02 6.27061132e-03 -2.73330123e+01] [-3.27109284e-02 9.99464838e-01 -1.79792825e-04 1.08791995e+00] [-6.27313681e-03 -2.54244477e-05 9.99980323e-01 7.70534896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.675285570000003 meters 0.02625007879553635 Centerline is valid? [True, True] Translation: X:-27.36, Y:1.09, Z:0.76 [[ 9.99590274e-01 2.86187648e-02 4.99627256e-04 -2.73630854e+01] [-2.86187615e-02 9.99590399e-01 -1.37371717e-05 1.08923530e+00] [-4.99815750e-04 -5.67170056e-07 9.99999875e-01 7.58004344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.705285570000004 meters 0.03000611602510009 Centerline is valid? [True, True] Translation: X:-27.39, Y:1.09, Z:0.76 [[ 9.99737343e-01 2.28895962e-02 -1.14548406e-03 -2.73924348e+01] [-2.28895700e-02 9.99737999e-01 3.60218612e-05 1.09036752e+00] [ 1.14600847e-03 -9.79276209e-06 9.99999343e-01 7.56725138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.735285570000002 meters 0.027464252400482867 Centerline is valid? [True, True] Translation: X:-27.42, Y:1.10, Z:0.77 [[ 9.99737356e-01 2.20458630e-02 6.26091146e-03 -2.74225705e+01] [-2.20451537e-02 9.99756959e-01 -1.82297938e-04 1.09787335e+00] [-6.26340872e-03 4.42273031e-05 9.99980384e-01 7.71399012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.765285570000003 meters 0.025137587647666326 Centerline is valid? [True, True] Translation: X:-27.45, Y:1.10, Z:0.78 [[ 9.99717109e-01 2.17136672e-02 9.70664695e-03 -2.74511370e+01] [-2.17119751e-02 9.99764228e-01 -2.79673557e-04 1.10274190e+00] [-9.71043113e-03 6.88439627e-05 9.99952850e-01 7.78727719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.795285570000004 meters 0.026090931993731716 Centerline is valid? [True, True] Translation: X:-27.48, Y:1.10, Z:0.77 [[ 9.99832414e-01 1.80693168e-02 2.93992446e-03 -2.74813664e+01] [-1.80691423e-02 9.99836736e-01 -8.59202516e-05 1.10361312e+00] [-2.94099700e-03 3.27839394e-05 9.99995675e-01 7.69938772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.825285570000005 meters 0.02888588357571807 Centerline is valid? [True, True] Translation: X:-27.51, Y:1.11, Z:0.77 [[ 9.99883939e-01 1.52092952e-02 8.86818651e-04 -2.75090812e+01] [-1.52092797e-02 9.99884332e-01 -2.41740153e-05 1.11453497e+00] [-8.87083744e-04 1.06833367e-05 9.99999606e-01 7.70547861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.855285570000003 meters 0.02593956252775881 Centerline is valid? [True, True] Translation: X:-27.54, Y:1.13, Z:0.77 [[ 9.99876361e-01 1.56776839e-02 -1.21348056e-03 -2.75377163e+01] [-1.56776451e-02 9.99877097e-01 4.14230251e-05 1.12841425e+00] [ 1.21398084e-03 -2.23933860e-05 9.99999263e-01 7.74343989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.885285570000004 meters 0.027448504863451552 Centerline is valid? [True, True] Translation: X:-27.57, Y:1.15, Z:0.78 [[ 9.99829923e-01 1.80005935e-02 4.01304401e-03 -2.75651595e+01] [-1.80002659e-02 9.99837975e-01 -1.17747406e-04 1.14679226e+00] [-4.01451332e-03 4.54915208e-05 9.99991941e-01 7.81424411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.915285570000005 meters 0.02481813209119853 Centerline is valid? [True, True] Translation: X:-27.59, Y:1.16, Z:0.79 [[ 9.99700895e-01 2.35873051e-02 6.46211580e-03 -2.75943201e+01] [-2.35865596e-02 9.99721780e-01 -1.91559369e-04 1.15781681e+00] [-6.46483628e-03 3.90829931e-05 9.99979102e-01 7.85120011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.945285570000003 meters 0.0249797192760745 Centerline is valid? [True, True] Translation: X:-27.62, Y:1.17, Z:0.78 [[ 9.99671988e-01 2.53168774e-02 3.86925902e-03 -2.76217125e+01] [-2.53166275e-02 9.99679476e-01 -1.13563974e-04 1.16705884e+00] [-3.87089392e-03 1.55701346e-05 9.99992508e-01 7.82595421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.975285570000004 meters 0.025413145851336978 Centerline is valid? [True, True] Translation: X:-27.65, Y:1.18, Z:0.78 [[ 9.99710169e-01 2.40743331e-02 -6.94947656e-05 -2.76505194e+01] [-2.40743329e-02 9.99710171e-01 3.64277885e-06 1.17721842e+00] [ 6.95623214e-05 -1.96868292e-06 9.99999998e-01 7.83734248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.005285570000005 meters 0.025574174619392633 Centerline is valid? [True, True] Translation: X:-27.68, Y:1.19, Z:0.79 [[ 9.99738745e-01 2.27720270e-02 -1.96870408e-03 -2.76792357e+01] [-2.27719434e-02 9.99740684e-01 6.48287132e-05 1.19033020e+00] [ 1.96966985e-03 -1.99805584e-05 9.99998060e-01 7.87390742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.035285570000003 meters 0.02628918915325934 Centerline is valid? [True, True] Translation: X:-27.71, Y:1.20, Z:0.79 [[ 9.99756787e-01 2.20233512e-02 1.15672951e-03 -2.77079636e+01] [-2.20233315e-02 9.99757457e-01 -2.97803423e-05 1.20271118e+00] [-1.15710482e-03 4.29806186e-06 9.99999331e-01 7.92901272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.065285570000004 meters 0.029105849452932844 Centerline is valid? [True, True] Translation: X:-27.74, Y:1.21, Z:0.79 [[ 9.99779040e-01 2.03086679e-02 5.42487561e-03 -2.77354697e+01] [-2.03080807e-02 9.99793756e-01 -1.63302828e-04 1.21218755e+00] [-5.42707323e-03 5.30979325e-05 9.99985272e-01 7.94350449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.095285570000005 meters 0.029069706500447094 Centerline is valid? [True, True] Translation: X:-27.76, Y:1.22, Z:0.79 [[ 9.99772111e-01 2.09142748e-02 4.28004385e-03 -2.77644419e+01] [-2.09139276e-02 9.99781272e-01 -1.25868575e-04 1.21927319e+00] [-4.28174014e-03 3.63273635e-05 9.99990833e-01 7.92928280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.125285570000003 meters 0.025940327374718384 Centerline is valid? [True, True] Translation: X:-27.79, Y:1.23, Z:0.79 [[ 9.99777248e-01 2.11051444e-02 1.62433612e-04 -2.77921040e+01] [-2.11051443e-02 9.99777262e-01 -2.33210881e-06 1.22915154e+00] [-1.62446652e-04 -1.09659549e-06 9.99999987e-01 7.93980200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.155285570000004 meters 0.02564379436619905 Centerline is valid? [True, True] Translation: X:-27.82, Y:1.24, Z:0.80 [[ 9.99779275e-01 2.09701510e-02 -1.28630300e-03 -2.78198670e+01] [-2.09701148e-02 9.99780102e-01 4.16545988e-05 1.24089259e+00] [ 1.28689364e-03 -1.46714831e-05 9.99999172e-01 7.99746406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.185285570000005 meters 0.025475547092902524 Centerline is valid? [True, True] Translation: X:-27.85, Y:1.25, Z:0.80 [[ 9.99740443e-01 2.27824233e-02 8.60198869e-05 -2.78473077e+01] [-2.27824234e-02 9.99740447e-01 -6.59970707e-07 1.25332747e+00] [-8.60125960e-05 -1.29994206e-06 9.99999996e-01 8.03348052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.215285570000002 meters 0.025770627665277508 Centerline is valid? [True, True] Translation: X:-27.88, Y:1.26, Z:0.80 [[ 9.99721636e-01 2.33752740e-02 3.20101936e-03 -2.78760970e+01] [-2.33750918e-02 9.99726761e-01 -9.43106279e-05 1.25971541e+00] [-3.20234925e-03 1.94602538e-05 9.99994872e-01 8.04750930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.245285570000004 meters 0.02589675044847598 Centerline is valid? [True, True] Translation: X:-27.90, Y:1.27, Z:0.81 [[ 9.99733693e-01 2.26950851e-02 4.18040500e-03 -2.79036739e+01] [-2.26947443e-02 9.99742433e-01 -1.28957665e-04 1.26529167e+00] [-4.18225497e-03 3.40501004e-05 9.99991254e-01 8.08172349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.275285570000005 meters 0.025968577888319553 Centerline is valid? [True, True] Translation: X:-27.93, Y:1.27, Z:0.81 [[ 9.99722696e-01 2.34847679e-02 1.73107081e-03 -2.79320984e+01] [-2.34847180e-02 9.99724195e-01 -4.91728002e-05 1.27228781e+00] [-1.73174819e-03 8.50545456e-06 9.99998500e-01 8.06708382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.305285570000002 meters 0.025710667136145792 Centerline is valid? [True, True] Translation: X:-27.96, Y:1.29, Z:0.81 [[ 9.99721191e-01 2.34523559e-02 2.74369395e-03 -2.79594536e+01] [-2.34522114e-02 9.99724955e-01 -8.48538319e-05 1.28643963e+00] [-2.74492933e-03 2.04844835e-05 9.99996232e-01 8.11062574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.335285570000003 meters 0.025664764282579078 Centerline is valid? [True, True] Translation: X:-27.99, Y:1.30, Z:0.82 [[ 9.99662945e-01 2.55349978e-02 4.68620907e-03 -2.79876006e+01] [-2.55346038e-02 9.99673928e-01 -1.43916468e-04 1.30030276e+00] [-4.68835593e-03 2.42074682e-05 9.99989009e-01 8.18815962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.365285570000005 meters 0.02561636553697331 Centerline is valid? [True, True] Translation: X:-28.02, Y:1.31, Z:0.82 [[ 9.99638653e-01 2.65083075e-02 4.45800951e-03 -2.80158983e+01] [-2.65079599e-02 9.99648593e-01 -1.37035328e-04 1.30750706e+00] [-4.46007551e-03 1.88130733e-05 9.99990054e-01 8.18121293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.395285570000002 meters 0.025494555635469478 Centerline is valid? [True, True] Translation: X:-28.05, Y:1.31, Z:0.81 [[ 9.99622470e-01 2.74559645e-02 1.04242789e-03 -2.80450842e+01] [-2.74559498e-02 9.99623014e-01 -2.83726058e-05 1.30784759e+00] [-1.04281391e-03 -2.58953547e-07 9.99999456e-01 8.06975185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.425285570000003 meters 0.0277898113143659 Centerline is valid? [True, True] Translation: X:-28.07, Y:1.31, Z:0.81 [[ 9.99638531e-01 2.68778482e-02 6.23450671e-04 -2.80731299e+01] [-2.68778420e-02 9.99638725e-01 -1.82934251e-05 1.31131191e+00] [-6.23717122e-04 1.52980395e-06 9.99999805e-01 8.08968691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.455285570000004 meters 0.0280214077667854 Centerline is valid? [True, True] Translation: X:-28.10, Y:1.33, Z:0.82 [[ 9.99642032e-01 2.61084515e-02 5.84439444e-03 -2.81008591e+01] [-2.61077970e-02 9.99659116e-01 -1.88272192e-04 1.32606149e+00] [-5.84731767e-03 3.56205331e-05 9.99982904e-01 8.23116654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.485285570000002 meters 0.026902792199098993 Centerline is valid? [True, True] Translation: X:-28.13, Y:1.34, Z:0.83 [[ 9.99618592e-01 2.63655422e-02 8.21761809e-03 -2.81295401e+01] [-2.63642667e-02 9.99652368e-01 -2.63523419e-04 1.34228191e+00] [-8.22170931e-03 4.67714342e-05 9.99966200e-01 8.33171674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.515285570000003 meters 0.026835254311752436 Centerline is valid? [True, True] Translation: X:-28.16, Y:1.35, Z:0.83 [[ 9.99713197e-01 2.38997792e-02 1.52427034e-03 -2.81590144e+01] [-2.38997320e-02 9.99714359e-01 -4.91654676e-05 1.35413855e+00] [-1.52500999e-03 1.27217142e-05 9.99998837e-01 8.28865480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.545285570000004 meters 0.029305078754361478 Centerline is valid? [True, True] Translation: X:-28.19, Y:1.35, Z:0.82 [[ 9.99743850e-01 2.26307686e-02 -2.88123892e-04 -2.81881655e+01] [-2.26307652e-02 9.99743891e-01 1.50223129e-05 1.35456390e+00] [ 2.88390068e-04 -8.49800074e-06 9.99999958e-01 8.24573196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.575285570000005 meters 0.02556607517604069 Centerline is valid? [True, True] Translation: X:-28.22, Y:1.36, Z:0.83 [[ 9.99822581e-01 1.87097145e-02 2.18037671e-03 -2.82158273e+01] [-1.87096061e-02 9.99824958e-01 -7.01410092e-05 1.35670135e+00] [-2.18130737e-03 2.93345755e-05 9.99997621e-01 8.32853661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.605285570000003 meters 0.0263758846367171 Centerline is valid? [True, True] Translation: X:-28.24, Y:1.36, Z:0.84 [[ 9.99869338e-01 1.52490131e-02 5.36417066e-03 -2.82440627e+01] [-1.52483070e-02 9.99883723e-01 -1.72495813e-04 1.36495252e+00] [-5.36617733e-03 9.06787527e-05 9.99985598e-01 8.39815323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.635285570000004 meters 0.0263758846367171 Centerline is valid? [True, True] Translation: X:-28.27, Y:1.37, Z:0.84 [[ 9.99865290e-01 1.55122196e-02 5.36411173e-03 -2.82717152e+01] [-1.55115078e-02 9.99879674e-01 -1.74280416e-04 1.36573478e+00] [-5.36616977e-03 9.10514776e-05 9.99985598e-01 8.40456540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.665285570000005 meters 0.026703394270143288 Centerline is valid? [True, True] Translation: X:-28.30, Y:1.38, Z:0.85 [[ 9.99904940e-01 1.32441436e-02 3.83442143e-03 -2.83005701e+01] [-1.32437624e-02 9.99912290e-01 -1.24782788e-04 1.37808455e+00] [-3.83573776e-03 7.39887597e-05 9.99992641e-01 8.46561344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.695285570000003 meters 0.026664518028420795 Centerline is valid? [True, True] Translation: X:-28.33, Y:1.39, Z:0.85 [[ 9.99908593e-01 1.32051596e-02 2.90350655e-03 -2.83283212e+01] [-1.32049348e-02 9.99912806e-01 -9.65879533e-05 1.38680836e+00] [-2.90452885e-03 5.82385097e-05 9.99995780e-01 8.45025930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.725285570000004 meters 0.026158350925464986 Centerline is valid? [True, True] Translation: X:-28.36, Y:1.39, Z:0.84 [[ 9.99908163e-01 1.27993336e-02 4.45443226e-03 -2.83569281e+01] [-1.27988069e-02 9.99918081e-01 -1.46722802e-04 1.38933132e+00] [-4.45594531e-03 8.96979097e-05 9.99990068e-01 8.43852089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.755285570000005 meters 0.02700781360822591 Centerline is valid? [True, True] Translation: X:-28.38, Y:1.40, Z:0.85 [[ 9.99903659e-01 1.26667679e-02 5.67682179e-03 -2.83848166e+01] [-1.26658792e-02 9.99919766e-01 -1.92471039e-04 1.39734598e+00] [-5.67880430e-03 1.20550557e-04 9.99983868e-01 8.48848146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.785285570000003 meters 0.028019970451281684 Centerline is valid? [True, True] Translation: X:-28.41, Y:1.41, Z:0.85 [[ 9.99914911e-01 1.28143393e-02 2.44217354e-03 -2.84146545e+01] [-1.28141740e-02 9.99917892e-01 -8.32961277e-05 1.40692780e+00] [-2.44304040e-03 5.19946034e-05 9.99997014e-01 8.48157217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.815285570000004 meters 0.026462227020953265 Centerline is valid? [True, True] Translation: X:-28.44, Y:1.41, Z:0.85 [[ 9.99887845e-01 1.49763091e-02 -9.03101981e-05 -2.84437941e+01] [-1.49763084e-02 9.99887849e-01 8.20004629e-06 1.41451581e+00] [ 9.04228760e-05 -6.84661322e-06 9.99999996e-01 8.50158402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.845285570000005 meters 0.02616948675941212 Centerline is valid? [True, True] Translation: X:-28.47, Y:1.42, Z:0.85 [[ 9.99843806e-01 1.73608405e-02 3.31120053e-03 -2.84733513e+01] [-1.73605596e-02 9.99849288e-01 -1.13537985e-04 1.42056361e+00] [-3.31267260e-03 5.60359568e-05 9.99994512e-01 8.48468720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.875285570000003 meters 0.02628616439832958 Centerline is valid? [True, True] Translation: X:-28.50, Y:1.44, Z:0.86 [[ 9.99805331e-01 1.88105188e-02 5.95512479e-03 -2.85006473e+01] [-1.88096365e-02 9.99823062e-01 -2.04142236e-04 1.43515242e+00] [-5.95791113e-03 9.20887640e-05 9.99982247e-01 8.64029818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.905285570000004 meters 0.02541799272728393 Centerline is valid? [True, True] Translation: X:-28.53, Y:1.46, Z:0.87 [[ 9.99738316e-01 2.24779929e-02 4.24716240e-03 -2.85289254e+01] [-2.24775904e-02 9.99747337e-01 -1.42482055e-04 1.45609184e+00] [-4.24929201e-03 4.69787934e-05 9.99990971e-01 8.67423262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.935285570000005 meters 0.028437197161805997 Centerline is valid? [True, True] Translation: X:-28.56, Y:1.46, Z:0.86 [[ 9.99723525e-01 2.29602990e-02 5.06924588e-03 -2.85581261e+01] [-2.29597204e-02 9.99736376e-01 -1.72312924e-04 1.45792043e+00] [-5.07186587e-03 5.58768161e-05 9.99987136e-01 8.64617116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.965285570000002 meters 0.025510166572933313 Centerline is valid? [True, True] Translation: X:-28.59, Y:1.46, Z:0.86 [[ 9.99692753e-01 2.43024884e-02 4.87741531e-03 -2.85867705e+01] [-2.43019639e-02 9.99704650e-01 -1.66794457e-04 1.45709357e+00] [-4.88002829e-03 4.82124388e-05 9.99988091e-01 8.60948486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.995285570000004 meters 0.025625646746455902 Centerline is valid? [True, True] Translation: X:-28.61, Y:1.46, Z:0.87 [[ 9.99736335e-01 2.27290798e-02 3.26346917e-03 -2.86143964e+01] [-2.27288302e-02 9.99741660e-01 -1.13564402e-04 1.45729324e+00] [-3.26520730e-03 3.93596227e-05 9.99994668e-01 8.66945520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.025285570000005 meters 0.025416277372467228 Centerline is valid? [True, True] Translation: X:-28.64, Y:1.48, Z:0.88 [[ 9.99760924e-01 2.16538821e-02 3.03381262e-03 -2.86413868e+01] [-2.16536613e-02 9.99765526e-01 -1.05603088e-04 1.47513058e+00] [-3.03538799e-03 3.98846902e-05 9.99995392e-01 8.75582675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.055285570000002 meters 0.029839275747734168 Centerline is valid? [True, True] Translation: X:-28.67, Y:1.49, Z:0.88 [[ 9.99782889e-01 1.99619126e-02 5.97465976e-03 -2.86698116e+01] [-1.99610277e-02 9.99800737e-01 -2.07707991e-04 1.48523121e+00] [-5.97761548e-03 8.84025461e-05 9.99982130e-01 8.80867626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.085285570000003 meters 0.029643730544135456 Centerline is valid? [True, True] Translation: X:-28.70, Y:1.49, Z:0.88 [[ 9.99772611e-01 1.98956568e-02 7.67390319e-03 -2.86985949e+01] [-1.98941662e-02 9.99802055e-01 -2.70524942e-04 1.48700360e+00] [-7.67776645e-03 1.17797522e-04 9.99970519e-01 8.79437370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.115285570000005 meters 0.026026278627629046 Centerline is valid? [True, True] Translation: X:-28.73, Y:1.49, Z:0.88 [[ 9.99813522e-01 1.86493482e-02 5.01232882e-03 -2.87281123e+01] [-1.86486804e-02 9.99826082e-01 -1.79934343e-04 1.48938529e+00] [-5.01481275e-03 8.64274706e-05 9.99987422e-01 8.77226061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.145285570000002 meters 0.0265480596868805 Centerline is valid? [True, True] Translation: X:-28.76, Y:1.49, Z:0.88 [[ 9.99860978e-01 1.63902295e-02 3.06362696e-03 -2.87568909e+01] [-1.63899729e-02 9.99865669e-01 -1.08851273e-04 1.49302038e+00] [-3.06499952e-03 5.86233778e-05 9.99995301e-01 8.84390388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.175285570000003 meters 0.027593049625784995 Centerline is valid? [True, True] Translation: X:-28.79, Y:1.51, Z:0.89 [[ 9.99888474e-01 1.47202082e-02 2.52091754e-03 -2.87856681e+01] [-1.47200381e-02 9.99891651e-01 -8.60220118e-05 1.50508578e+00] [-2.52191066e-03 4.89044158e-05 9.99996819e-01 8.88801676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.205285570000004 meters 0.027237068758186798 Centerline is valid? [True, True] Translation: X:-28.81, Y:1.52, Z:0.90 [[ 9.99900189e-01 1.35821950e-02 3.89049794e-03 -2.88117215e+01] [-1.35817575e-02 9.99907754e-01 -1.38855906e-04 1.51530263e+00] [-3.89202502e-03 8.60022466e-05 9.99992422e-01 8.96016214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.235285570000006 meters 0.029712668313883563 Centerline is valid? [True, True] Translation: X:-28.84, Y:1.52, Z:0.90 [[ 9.99915219e-01 1.11934275e-02 6.65302806e-03 -2.88410381e+01] [-1.11920904e-02 9.99937338e-01 -2.38178299e-04 1.51544681e+00] [-6.65527720e-03 1.63696815e-04 9.99977840e-01 8.95538359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.265285570000003 meters 0.027919494044661968 Centerline is valid? [True, True] Translation: X:-28.87, Y:1.52, Z:0.90 [[ 9.99930687e-01 1.00084488e-02 6.20096365e-03 -2.88727099e+01] [-1.00072254e-02 9.99949900e-01 -2.28281239e-04 1.51999118e+00] [-6.20293773e-03 1.66210975e-04 9.99980748e-01 8.98210687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.295285570000004 meters 0.028155039936221288 Centerline is valid? [True, True] Translation: X:-28.90, Y:1.53, Z:0.90 [[ 9.99934561e-01 1.00793230e-02 5.41113019e-03 -2.89043073e+01] [-1.00783934e-02 9.99949192e-01 -1.99040283e-04 1.52729766e+00] [-5.41286146e-03 1.44491760e-04 9.99985340e-01 8.99154888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.325285570000005 meters 0.028060067905601744 Centerline is valid? [True, True] Translation: X:-28.93, Y:1.55, Z:0.90 [[ 9.99953108e-01 8.90323708e-03 3.80965013e-03 -2.89335236e+01] [-8.90277071e-03 9.99960360e-01 -1.39359898e-04 1.54792808e+00] [-3.81073987e-03 1.05436922e-04 9.99992734e-01 9.04310675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.355285570000003 meters 0.027732260385492032 Centerline is valid? [True, True] Translation: X:-28.96, Y:1.55, Z:0.90 [[ 9.99942075e-01 9.66242305e-03 4.74168862e-03 -2.89647900e+01] [-9.66170840e-03 9.99953310e-01 -1.73598317e-04 1.54916999e+00] [-4.74314461e-03 1.27775449e-04 9.99988743e-01 9.03550392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.385285570000004 meters 0.02773767886087146 Centerline is valid? [True, True] Translation: X:-29.00, Y:1.55, Z:0.91 [[ 9.99934961e-01 1.00466641e-02 5.39801854e-03 -2.89969615e+01] [-1.00457417e-02 9.99949521e-01 -1.97956996e-04 1.54864373e+00] [-5.39973486e-03 1.43717021e-04 9.99985411e-01 9.05441190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.415285570000005 meters 0.027155095122317566 Centerline is valid? [True, True] Translation: X:-29.03, Y:1.56, Z:0.91 [[ 9.99906378e-01 1.21287707e-02 6.33472887e-03 -2.90284894e+01] [-1.21275458e-02 9.99926432e-01 -2.31739062e-04 1.55662071e+00] [-6.33707354e-03 1.54892652e-04 9.99979909e-01 9.07084375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.445285570000003 meters 0.02695579019590282 Centerline is valid? [True, True] Translation: X:-29.06, Y:1.57, Z:0.91 [[ 9.99879380e-01 1.38634082e-02 7.00228977e-03 -2.90602579e+01] [-1.38619604e-02 9.99903886e-01 -2.55265246e-04 1.57332653e+00] [-7.00515559e-03 1.58168992e-04 9.99975451e-01 9.12001224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.475285570000004 meters 0.02741382279235682 Centerline is valid? [True, True] Translation: X:-29.09, Y:1.58, Z:0.91 [[ 9.99864068e-01 1.56770778e-02 5.10641152e-03 -2.90924927e+01] [-1.56763310e-02 9.99877101e-01 -1.86235217e-04 1.58435644e+00] [-5.10870357e-03 1.06160105e-04 9.99986945e-01 9.10904454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.505285570000005 meters 0.026386259744934148 Centerline is valid? [True, True] Translation: X:-29.12, Y:1.59, Z:0.91 [[ 9.99821973e-01 1.83351964e-02 4.45444969e-03 -2.91221220e+01] [-1.83346619e-02 9.99831893e-01 -1.60803610e-04 1.59177915e+00] [-4.45664924e-03 7.91041542e-05 9.99990066e-01 9.12474772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.535285570000003 meters 0.026091189721394754 Centerline is valid? [True, True] Translation: X:-29.15, Y:1.59, Z:0.91 [[ 9.99766636e-01 2.05792831e-02 6.57007488e-03 -2.91513525e+01] [-2.05781906e-02 9.99788219e-01 -2.33855090e-04 1.59349724e+00] [-6.57349604e-03 9.86002639e-05 9.99978389e-01 9.11416467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.565285570000004 meters 0.027033560179119304 Centerline is valid? [True, True] Translation: X:-29.18, Y:1.60, Z:0.92 [[ 9.99760223e-01 2.06760940e-02 7.21084842e-03 -2.91802734e+01] [-2.06747396e-02 9.99786220e-01 -2.62336817e-04 1.60471832e+00] [-7.21473098e-03 1.13191501e-04 9.99973967e-01 9.18041535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.595285570000005 meters 0.025869794368721267 Centerline is valid? [True, True] Translation: X:-29.21, Y:1.62, Z:0.92 [[ 9.99790455e-01 1.94616515e-02 6.34742270e-03 -2.92107752e+01] [-1.94605717e-02 9.99810598e-01 -2.31836810e-04 1.61627919e+00] [-6.35073241e-03 1.08263755e-04 9.99979828e-01 9.20279710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.625285570000003 meters 0.02588428167139793 Centerline is valid? [True, True] Translation: X:-29.24, Y:1.62, Z:0.92 [[ 9.99824851e-01 1.75369068e-02 6.53638097e-03 -2.92414367e+01] [-1.75357241e-02 9.99846209e-01 -2.38209680e-04 1.62163102e+00] [-6.53955319e-03 1.23547784e-04 9.99978609e-01 9.22855158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.655285570000004 meters 0.028095195698353153 Centerline is valid? [True, True] Translation: X:-29.27, Y:1.62, Z:0.92 [[ 9.99807171e-01 1.74771713e-02 8.95372628e-03 -2.92728390e+01] [-1.74749501e-02 9.99847248e-01 -3.26247780e-04 1.61974408e+00] [-8.95806047e-03 1.69718950e-04 9.99959861e-01 9.24077985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.685285570000005 meters 0.026397291190391144 Centerline is valid? [True, True] Translation: X:-29.30, Y:1.62, Z:0.93 [[ 9.99807498e-01 1.76224881e-02 8.62644169e-03 -2.93033847e+01] [-1.76204249e-02 9.99844699e-01 -3.15117684e-04 1.62363457e+00] [-8.63065515e-03 1.63055455e-04 9.99962742e-01 9.27473526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.715285570000002 meters 0.025877202406151992 Centerline is valid? [True, True] Translation: X:-29.33, Y:1.64, Z:0.93 [[ 9.99803289e-01 1.77373374e-02 8.87529243e-03 -2.93343876e+01] [-1.77351738e-02 9.99842667e-01 -3.22429312e-04 1.63721989e+00] [-8.87961510e-03 1.64961032e-04 9.99960562e-01 9.33083726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.745285570000004 meters 0.02610330294765254 Centerline is valid? [True, True] Translation: X:-29.37, Y:1.65, Z:0.93 [[ 9.99815927e-01 1.74653959e-02 7.94180919e-03 -2.93667319e+01] [-1.74636529e-02 9.99847457e-01 -2.88770297e-04 1.64630621e+00] [-7.94564121e-03 1.50024143e-04 9.99968422e-01 9.33105841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.775285570000005 meters 0.026046214104093322 Centerline is valid? [True, True] Translation: X:-29.40, Y:1.65, Z:0.93 [[ 9.99843018e-01 1.54687759e-02 8.64042185e-03 -2.93985600e+01] [-1.54666485e-02 9.99880335e-01 -3.12991194e-04 1.65122659e+00] [-8.64422949e-03 1.79303692e-04 9.99962622e-01 9.33377509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.805285570000002 meters 0.029271826977129208 Centerline is valid? [True, True] Translation: X:-29.43, Y:1.65, Z:0.93 [[ 9.99837454e-01 1.46162234e-02 1.05561357e-02 -2.94301693e+01] [-1.46130118e-02 9.99893152e-01 -3.81312507e-04 1.65360006e+00] [-1.05605811e-02 2.26993590e-04 9.99944210e-01 9.34625974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.835285570000003 meters 0.025803205154045075 Centerline is valid? [True, True] Translation: X:-29.46, Y:1.66, Z:0.94 [[ 9.99835658e-01 1.52823774e-02 9.75226469e-03 -2.94618053e+01] [-1.52796733e-02 9.99883197e-01 -3.51725611e-04 1.65970652e+00] [-9.75650080e-03 2.02656390e-04 9.99952384e-01 9.38001983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.865285570000005 meters 0.026439875083645002 Centerline is valid? [True, True] Translation: X:-29.49, Y:1.67, Z:0.94 [[ 9.99837361e-01 1.65031881e-02 7.27300824e-03 -2.94936604e+01] [-1.65017173e-02 9.99863803e-01 -2.62186058e-04 1.66915870e+00] [-7.27634458e-03 1.42126290e-04 9.99973517e-01 9.42670338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.895285570000002 meters 0.025919694749619762 Centerline is valid? [True, True] Translation: X:-29.52, Y:1.68, Z:0.94 [[ 9.99906018e-01 1.31140714e-02 3.99702199e-03 -2.95244124e+01] [-1.31136008e-02 9.99914003e-01 -1.43922668e-04 1.67513547e+00] [-3.99856567e-03 9.14937913e-05 9.99992002e-01 9.40492736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.925285570000003 meters 0.02711685663506025 Centerline is valid? [True, True] Translation: X:-29.56, Y:1.67, Z:0.94 [[ 9.99956920e-01 8.72830423e-03 3.15841629e-03 -2.95553026e+01] [-8.72799049e-03 9.99961904e-01 -1.13104253e-04 1.67158438e+00] [-3.15928318e-03 8.55327528e-05 9.99995006e-01 9.36320356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.955285570000004 meters 0.026947876613151366 Centerline is valid? [True, True] Translation: X:-29.59, Y:1.68, Z:0.94 [[ 9.99962026e-01 6.04288469e-03 6.27931450e-03 -2.95857296e+01] [-6.04158986e-03 9.99981724e-01 -2.25154046e-04 1.67564341e+00] [-6.28056032e-03 1.87208453e-04 9.99980260e-01 9.41867355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.985285570000006 meters 0.02757713869946853 Centerline is valid? [True, True] Translation: X:-29.62, Y:1.69, Z:0.95 [[ 9.99933486e-01 6.14195525e-03 9.76218685e-03 -2.96165777e+01] [-6.13882952e-03 9.99981096e-01 -3.50120744e-04 1.69136332e+00] [-9.76415273e-03 2.90169055e-04 9.99952287e-01 9.49434706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.015285570000003 meters 0.027310668527014005 Centerline is valid? [True, True] Translation: X:-29.65, Y:1.70, Z:0.95 [[ 9.99918726e-01 7.35103318e-03 1.04164667e-02 -2.96480626e+01] [-7.34752494e-03 9.99972936e-01 -3.75026035e-04 1.69753627e+00] [-1.04189417e-02 2.98460306e-04 9.99945677e-01 9.47532151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.045285570000004 meters 0.026797793706170282 Centerline is valid? [True, True] Translation: X:-29.68, Y:1.71, Z:0.95 [[ 9.99917065e-01 8.42561780e-03 9.74025327e-03 -2.96789669e+01] [-8.42261803e-03 9.99964468e-01 -3.48956154e-04 1.70668705e+00] [-9.74284736e-03 2.66888780e-04 9.99952502e-01 9.52066114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.075285570000005 meters 0.026079843978175414 Centerline is valid? [True, True] Translation: X:-29.71, Y:1.72, Z:0.95 [[ 9.99887252e-01 1.15892978e-02 9.54842328e-03 -2.97105563e+01] [-1.15865968e-02 9.99932816e-01 -3.38148027e-04 1.71650424e+00] [-9.55170068e-03 2.27476170e-04 9.99954356e-01 9.49655244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.105285570000003 meters 0.026320622222457103 Centerline is valid? [True, True] Translation: X:-29.74, Y:1.73, Z:0.95 [[ 9.99852678e-01 1.36430126e-02 1.04159165e-02 -2.97418822e+01] [-1.36399207e-02 9.99906904e-01 -3.67828374e-04 1.72551860e+00] [-1.04199652e-02 2.25701909e-04 9.99945685e-01 9.51681329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.135285570000004 meters 0.027222957609593076 Centerline is valid? [True, True] Translation: X:-29.77, Y:1.73, Z:0.96 [[ 9.99792629e-01 1.59705699e-02 1.26348880e-02 -2.97740179e+01] [-1.59662145e-02 9.99872433e-01 -4.45508458e-04 1.73388172e+00] [-1.26403913e-02 2.43684739e-04 9.99920077e-01 9.55726573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.165285570000005 meters 0.024717367203899394 Centerline is valid? [True, True] Translation: X:-29.80, Y:1.75, Z:0.96 [[ 9.99773709e-01 1.81127411e-02 1.11561263e-02 -2.98048858e+01] [-1.81094642e-02 9.99835932e-01 -3.94683626e-04 1.74659391e+00] [-1.11614448e-02 1.92562842e-04 9.99937691e-01 9.61521916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.195285570000003 meters 0.02686690174041851 Centerline is valid? [True, True] Translation: X:-29.84, Y:1.75, Z:0.96 [[ 9.99766185e-01 1.94083347e-02 9.53372522e-03 -2.98371389e+01] [-1.94060288e-02 9.99811629e-01 -3.34329022e-04 1.75451636e+00] [-9.53841812e-03 1.49239105e-04 9.99954497e-01 9.62315854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.225285570000004 meters 0.027825789518220918 Centerline is valid? [True, True] Translation: X:-29.87, Y:1.76, Z:0.96 [[ 9.99770074e-01 1.92364053e-02 9.47420812e-03 -2.98680916e+01] [-1.92341362e-02 9.99814952e-01 -3.30575102e-04 1.76336797e+00] [-9.47881402e-03 1.48270885e-04 9.99955064e-01 9.60928050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.255285570000005 meters 0.024978846897781903 Centerline is valid? [True, True] Translation: X:-29.90, Y:1.77, Z:0.97 [[ 9.99789786e-01 1.83015010e-02 9.24332384e-03 -2.98995810e+01] [-1.82993030e-02 9.99832502e-01 -3.22320756e-04 1.76712799e+00] [-9.24767455e-03 1.53106616e-04 9.99957228e-01 9.65381716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.285285570000003 meters 0.025059567932508815 Centerline is valid? [True, True] Translation: X:-29.93, Y:1.77, Z:0.97 [[ 9.99845463e-01 1.52566826e-02 8.73408910e-03 -2.99302951e+01] [-1.52546013e-02 9.99883595e-01 -3.04869631e-04 1.77133902e+00] [-8.73772371e-03 1.71587470e-04 9.99961811e-01 9.72542380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.315285570000004 meters 0.02552346324781626 Centerline is valid? [True, True] Translation: X:-29.96, Y:1.77, Z:0.97 [[ 9.99871454e-01 1.42149583e-02 7.41687426e-03 -2.99624013e+01] [-1.42134391e-02 9.99898951e-01 -2.57506371e-04 1.77484623e+00] [-7.41978524e-03 1.52053980e-04 9.99972461e-01 9.73537547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.345285570000005 meters 0.025288608026184968 Centerline is valid? [True, True] Translation: X:-29.99, Y:1.79, Z:0.98 [[ 9.99886222e-01 1.30704287e-02 7.53036849e-03 -2.99934439e+01] [-1.30688343e-02 9.99914565e-01 -2.60906899e-04 1.78506011e+00] [-7.53313530e-03 1.62464076e-04 9.99971612e-01 9.77862184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.375285570000003 meters 0.026233813904896108 Centerline is valid? [True, True] Translation: X:-30.02, Y:1.79, Z:0.98 [[ 9.99896975e-01 1.13158197e-02 8.83133158e-03 -3.00241187e+01] [-1.13135681e-02 9.99935953e-01 -3.04871323e-04 1.78723437e+00] [-8.83421582e-03 2.04926042e-04 9.99960957e-01 9.78653405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.405285570000004 meters 0.027010821637262657 Centerline is valid? [True, True] Translation: X:-30.06, Y:1.79, Z:0.98 [[ 9.99904031e-01 1.04876380e-02 9.05201310e-03 -3.00560404e+01] [-1.04852407e-02 9.99944980e-01 -3.12246854e-04 1.78879042e+00] [-9.05478979e-03 2.17304351e-04 9.99958981e-01 9.79779882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.435285570000005 meters 0.0269938803103499 Centerline is valid? [True, True] Translation: X:-30.09, Y:1.80, Z:0.98 [[ 9.99960965e-01 5.31750714e-03 7.05642866e-03 -3.00865015e+01] [-5.31592872e-03 9.99985841e-01 -2.42422301e-04 1.80124765e+00] [-7.05761783e-03 2.04901366e-04 9.99975074e-01 9.83131475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.465285570000002 meters 0.027097779501198488 Centerline is valid? [True, True] Translation: X:-30.12, Y:1.81, Z:0.98 [[ 9.99973408e-01 4.15250928e-03 5.99496051e-03 -3.01183400e+01] [-4.15134400e-03 9.99991362e-01 -2.06808164e-04 1.81099860e+00] [-5.99576750e-03 1.81915521e-04 9.99982009e-01 9.83069490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.495285570000004 meters 0.027100571595739458 Centerline is valid? [True, True] Translation: X:-30.15, Y:1.82, Z:0.99 [[ 9.99966421e-01 5.24092458e-03 6.29990392e-03 -3.01500450e+01] [-5.23966254e-03 9.99986249e-01 -2.16814540e-04 1.81781534e+00] [-6.30095360e-03 1.83797890e-04 9.99980132e-01 9.87722289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.525285570000005 meters 0.02609760186272294 Centerline is valid? [True, True] Translation: X:-30.18, Y:1.83, Z:0.99 [[ 9.99937197e-01 7.35063623e-03 8.45991014e-03 -3.01822121e+01] [-7.34844545e-03 9.99972958e-01 -2.90015713e-04 1.82511709e+00] [-8.46181316e-03 2.27830311e-04 9.99964172e-01 9.90379221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.555285570000002 meters 0.02609760186272294 Centerline is valid? [True, True] Translation: X:-30.21, Y:1.83, Z:0.99 [[ 9.99937949e-01 7.24761133e-03 8.45991250e-03 -3.02146709e+01] [-7.24541743e-03 9.99973710e-01 -2.89948664e-04 1.82634391e+00] [-8.46179152e-03 2.28635075e-04 9.99964172e-01 9.91137836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.585285570000003 meters 0.026243934281813975 Centerline is valid? [True, True] Translation: X:-30.25, Y:1.83, Z:0.99 [[ 9.99883960e-01 9.17586849e-03 1.21601690e-02 -3.02460264e+01] [-9.17150466e-03 9.99957855e-01 -4.14580592e-04 1.83462994e+00] [-1.21634607e-02 3.03005437e-04 9.99925976e-01 9.94381640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.615285570000005 meters 0.025624854451514363 Centerline is valid? [True, True] Translation: X:-30.28, Y:1.85, Z:1.00 [[ 9.99846781e-01 1.11499486e-02 1.34941556e-02 -3.02773422e+01] [-1.11447661e-02 9.99937790e-01 -4.59195635e-04 1.84555483e+00] [-1.34984362e-02 3.08736070e-04 9.99908844e-01 9.95745513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.645285570000002 meters 0.030679042312517713 Centerline is valid? [True, True] Translation: X:-30.31, Y:1.86, Z:0.99 [[ 9.99841624e-01 1.37580852e-02 1.12890325e-02 -3.03080554e+01] [-1.37546410e-02 9.99905327e-01 -3.82679258e-04 1.85974685e+00] [-1.12932287e-02 2.27342062e-04 9.99936204e-01 9.94110588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.675285570000003 meters 0.025451746456552172 Centerline is valid? [True, True] Translation: X:-30.34, Y:1.87, Z:0.99 [[ 9.99874290e-01 1.46368929e-02 6.09630404e-03 -3.03402898e+01] [-1.46359128e-02 9.99892868e-01 -2.05349140e-04 1.87012933e+00] [-6.09865661e-03 1.16098351e-04 9.99981396e-01 9.94733698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.705285570000004 meters 0.02519408975929398 Centerline is valid? [True, True] Translation: X:-30.37, Y:1.88, Z:1.00 [[ 9.99846749e-01 1.55622812e-02 8.01841036e-03 -3.03710760e+01] [-1.55606301e-02 9.99878890e-01 -2.68271197e-04 1.87756434e+00] [-8.02161417e-03 1.43458567e-04 9.99967816e-01 1.00068481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.735285570000006 meters 0.025089413591507907 Centerline is valid? [True, True] Translation: X:-30.40, Y:1.88, Z:1.01 [[ 9.99793836e-01 1.60879788e-02 1.23880025e-02 -3.04026864e+01] [-1.60840916e-02 9.99870557e-01 -4.13355529e-04 1.88133294e+00] [-1.23930490e-02 2.14020543e-04 9.99923180e-01 1.00528617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.765285570000003 meters 0.03113845151496499 Centerline is valid? [True, True] Translation: X:-30.43, Y:1.89, Z:1.01 [[ 9.99780227e-01 1.57589879e-02 1.38257758e-02 -3.04338583e+01] [-1.57541104e-02 9.99875790e-01 -4.61629330e-04 1.89137441e+00] [-1.38313333e-02 2.43715078e-04 9.99904313e-01 1.00698446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.795285570000004 meters 0.02504761913790775 Centerline is valid? [True, True] Translation: X:-30.46, Y:1.90, Z:1.00 [[ 9.99868330e-01 1.43998559e-02 7.48108394e-03 -3.04648036e+01] [-1.43984069e-02 9.99896307e-01 -2.47512456e-04 1.89671746e+00] [-7.48387235e-03 1.39764175e-04 9.99971986e-01 1.00319529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.825285570000005 meters 0.026090673737988793 Centerline is valid? [True, True] Translation: X:-30.50, Y:1.90, Z:1.00 [[ 9.99914689e-01 1.21856614e-02 4.70374569e-03 -3.04966785e+01] [-1.21850620e-02 9.99925747e-01 -1.56062419e-04 1.89734540e+00] [-4.70529815e-03 9.87336721e-05 9.99988925e-01 1.00251864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.855285570000003 meters 0.025742488899110984 Centerline is valid? [True, True] Translation: X:-30.53, Y:1.90, Z:1.00 [[ 9.99930655e-01 1.03210317e-02 5.67113821e-03 -3.05287376e+01] [-1.03201320e-02 9.99946728e-01 -1.87899885e-04 1.89669297e+00] [-5.67277542e-03 1.29359961e-04 9.99983901e-01 1.00456017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.885285570000004 meters 0.025645191934899787 Centerline is valid? [True, True] Translation: X:-30.56, Y:1.90, Z:1.01 [[ 9.99935512e-01 7.20630205e-03 8.77725112e-03 -3.05599338e+01] [-7.20404149e-03 9.99974009e-01 -2.89137020e-04 1.90085115e+00] [-8.77910659e-03 2.25886694e-04 9.99961437e-01 1.01277847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.915285570000005 meters 0.025005338796029553 Centerline is valid? [True, True] Translation: X:-30.59, Y:1.91, Z:1.01 [[ 9.99924080e-01 5.72673288e-03 1.09104943e-02 -3.05908845e+01] [-5.72316058e-03 9.99983558e-01 -3.58613085e-04 1.90966874e+00] [-1.09123686e-02 2.96143348e-04 9.99940414e-01 1.01391040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.945285570000003 meters 0.025943560024563852 Centerline is valid? [True, True] Translation: X:-30.62, Y:1.91, Z:1.01 [[ 9.99938175e-01 5.00601553e-03 9.92908762e-03 -3.06233245e+01] [-5.00302072e-03 9.99987432e-01 -3.26435481e-04 1.91439710e+00] [-9.93059697e-03 2.76739868e-04 9.99950652e-01 1.01483556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.975285570000004 meters 0.025659508133102606 Centerline is valid? [True, True] Translation: X:-30.65, Y:1.92, Z:1.02 [[ 9.99951681e-01 5.24377050e-03 8.31496348e-03 -3.06539502e+01] [-5.24167552e-03 9.99986225e-01 -2.73725591e-04 1.92320903e+00] [-8.31628430e-03 2.30128025e-04 9.99965393e-01 1.01776859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.005285570000005 meters 0.026334014587916434 Centerline is valid? [True, True] Translation: X:-30.69, Y:1.93, Z:1.02 [[ 9.99958048e-01 5.49809237e-03 7.32615453e-03 -3.06858821e+01] [-5.49648553e-03 9.99984866e-01 -2.39444982e-04 1.92537521e+00] [-7.32736015e-03 1.99166834e-04 9.99973135e-01 1.01819182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.035285570000003 meters 0.025410550071310958 Centerline is valid? [True, True] Translation: X:-30.72, Y:1.93, Z:1.02 [[ 9.99934530e-01 9.40486908e-03 6.51805345e-03 -3.07176012e+01] [-9.40368233e-03 9.99955762e-01 -2.12696276e-04 1.93360091e+00] [-6.51976548e-03 1.51388647e-04 9.99978735e-01 1.01842576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.065285570000004 meters 0.028589273969061746 Centerline is valid? [True, True] Translation: X:-30.75, Y:1.94, Z:1.02 [[ 9.99900309e-01 1.10085575e-02 8.84216305e-03 -3.07479217e+01] [-1.10064506e-02 9.99939386e-01 -2.86909162e-04 1.94220364e+00] [-8.84478555e-03 1.89559729e-04 9.99960866e-01 1.02156727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.095285570000005 meters 0.023823851823019177 Centerline is valid? [True, True] Translation: X:-30.78, Y:1.96, Z:1.03 [[ 9.99821324e-01 1.67681974e-02 8.72620788e-03 -3.07794558e+01] [-1.67663626e-02 9.99859395e-01 -2.83377667e-04 1.96098555e+00] [-8.72973266e-03 1.37020269e-04 9.99961886e-01 1.02531401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.125285570000003 meters 0.023828954666628897 Centerline is valid? [True, True] Translation: X:-30.81, Y:1.97, Z:1.03 [[ 9.99732541e-01 2.11886903e-02 9.26743113e-03 -3.08110642e+01] [-2.11868177e-02 9.99775489e-01 -3.00201454e-04 1.96939710e+00] [-9.27171136e-03 1.03773788e-04 9.99957011e-01 1.02524685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.155285570000004 meters 0.02371534481043633 Centerline is valid? [True, True] Translation: X:-30.84, Y:1.97, Z:1.03 [[ 9.99648735e-01 2.51480615e-02 8.36547079e-03 -3.08424059e+01] [-2.51466703e-02 9.99683736e-01 -2.71462769e-04 1.97446892e+00] [-8.36965185e-03 6.10036775e-05 9.99964972e-01 1.02819558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.185285570000005 meters 0.023309415390214094 Centerline is valid? [True, True] Translation: X:-30.87, Y:1.98, Z:1.03 [[ 9.99604766e-01 2.72687080e-02 6.83589161e-03 -3.08745950e+01] [-2.72678379e-02 9.99628139e-01 -2.20474143e-04 1.98198234e+00] [-6.83936165e-03 3.39870200e-05 9.99976611e-01 1.02531553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.215285570000002 meters 0.022935706064798188 Centerline is valid? [True, True] Translation: X:-30.91, Y:1.99, Z:1.03 [[ 9.99546555e-01 2.93855816e-02 6.57053906e-03 -3.09057996e+01] [-2.93848281e-02 9.99568150e-01 -2.11205256e-04 1.99344247e+00] [-6.57390796e-03 1.80353253e-05 9.99978391e-01 1.02690491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.245285570000004 meters 0.025103541771666023 Centerline is valid? [True, True] Translation: X:-30.94, Y:2.00, Z:1.03 [[ 9.99437845e-01 3.21807446e-02 9.40180783e-03 -3.09379504e+01] [-3.21793324e-02 9.99482066e-01 -3.01487159e-04 2.00378813e+00] [-9.40664039e-03 -1.22622208e-06 9.99955757e-01 1.03092357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.275285570000005 meters 0.023122050732838954 Centerline is valid? [True, True] Translation: X:-30.97, Y:2.01, Z:1.03 [[ 9.99377887e-01 3.38325115e-02 9.95990861e-03 -3.09691340e+01] [-3.38310184e-02 9.99427517e-01 -3.18396891e-04 2.00922068e+00] [-9.96497889e-03 -1.87550401e-05 9.99950348e-01 1.03320025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.305285570000002 meters 0.02336346813481575 Centerline is valid? [True, True] Translation: X:-31.00, Y:2.01, Z:1.03 [[ 9.99404177e-01 3.35594842e-02 8.06542339e-03 -3.10003190e+01] [-3.35584973e-02 9.99436722e-01 -2.57701971e-04 2.01045219e+00] [-8.06952866e-03 -1.31150628e-05 9.99967441e-01 1.03210563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.335285570000003 meters 0.025225971090329823 Centerline is valid? [True, True] Translation: X:-31.03, Y:2.01, Z:1.03 [[ 9.99457565e-01 3.21018394e-02 7.35172389e-03 -3.10327834e+01] [-3.21009799e-02 9.99484603e-01 -2.34905060e-04 2.01062833e+00] [-7.35547572e-03 -1.21990193e-06 9.99972948e-01 1.03089341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.365285570000005 meters 0.023107534624970817 Centerline is valid? [True, True] Translation: X:-31.07, Y:2.01, Z:1.03 [[ 9.99567537e-01 2.90794318e-02 4.37333544e-03 -3.10650544e+01] [-2.90790973e-02 9.99577104e-01 -1.40064843e-04 2.00983398e+00] [-4.37555898e-03 1.28316234e-05 9.99990427e-01 1.02704246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.395285570000006 meters 0.02523362106679455 Centerline is valid? [True, True] Translation: X:-31.10, Y:2.01, Z:1.03 [[ 9.99703395e-01 2.32091524e-02 7.37957596e-03 -3.10960324e+01] [-2.32080560e-02 9.99730629e-01 -2.34184863e-04 2.00787418e+00] [-7.38302335e-03 6.28497902e-05 9.99972743e-01 1.03047179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.425285570000003 meters 0.02380964482643894 Centerline is valid? [True, True] Translation: X:-31.13, Y:2.01, Z:1.04 [[ 9.99719438e-01 2.09710412e-02 1.10118438e-02 -3.11270766e+01] [-2.09684702e-02 9.99780077e-01 -3.48892719e-04 2.01252684e+00] [-1.10167387e-02 1.17893315e-04 9.99939307e-01 1.04203788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.455285570000004 meters 0.028180336672798137 Centerline is valid? [True, True] Translation: X:-31.16, Y:2.02, Z:1.04 [[ 9.99727734e-01 1.89862237e-02 1.35639968e-02 -3.11586778e+01] [-1.89821511e-02 9.99819731e-01 -4.28942538e-04 2.01690281e+00] [-1.35696957e-02 1.71351915e-04 9.99907913e-01 1.04051469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.485285570000006 meters 0.023590252139068603 Centerline is valid? [True, True] Translation: X:-31.19, Y:2.02, Z:1.04 [[ 9.99755603e-01 1.89631273e-02 1.13637298e-02 -3.11908515e+01] [-1.89602502e-02 9.99820173e-01 -3.60871903e-04 2.01763846e+00] [-1.13685295e-02 1.45324546e-04 9.99935366e-01 1.03741412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.515285570000003 meters 0.027644325394884144 Centerline is valid? [True, True] Translation: X:-31.22, Y:2.02, Z:1.04 [[ 9.99743595e-01 1.97572259e-02 1.10632617e-02 -3.12230884e+01] [-1.97545731e-02 9.99804798e-01 -3.49026030e-04 2.01638038e+00] [-1.10679979e-02 1.30386526e-04 9.99938739e-01 1.03520149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.545285570000004 meters 0.026850052464648295 Centerline is valid? [True, True] Translation: X:-31.26, Y:2.02, Z:1.04 [[ 9.99723298e-01 2.07898411e-02 1.10049512e-02 -3.12556046e+01] [-2.07873351e-02 9.99783861e-01 -3.42061325e-04 2.01573655e+00] [-1.10096840e-02 1.13203067e-04 9.99939385e-01 1.03803789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.575285570000005 meters 0.023416528116331825 Centerline is valid? [True, True] Translation: X:-31.29, Y:2.03, Z:1.05 [[ 9.99701282e-01 2.26635496e-02 9.14932327e-03 -3.12867742e+01] [-2.26618993e-02 9.99743146e-01 -2.84020900e-04 2.02608006e+00] [-9.15341015e-03 7.65950154e-05 9.99958104e-01 1.04662340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.605285570000003 meters 0.025336820476161797 Centerline is valid? [True, True] Translation: X:-31.32, Y:2.04, Z:1.05 [[ 9.99636553e-01 2.44778611e-02 1.12958515e-02 -3.13182472e+01] [-2.44754744e-02 9.99700370e-01 -3.49497638e-04 2.03721942e+00] [-1.13010219e-02 7.28992891e-05 9.99936139e-01 1.04522330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.635285570000004 meters 0.022498580357908544 Centerline is valid? [True, True] Translation: X:-31.35, Y:2.05, Z:1.04 [[ 9.99534709e-01 2.80487412e-02 1.19847250e-02 -3.13506503e+01] [-2.80463226e-02 9.99606556e-01 -3.69862722e-04 2.04530662e+00] [-1.19903839e-02 3.35631641e-05 9.99928112e-01 1.04444670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.665285570000005 meters 0.022547284573825946 Centerline is valid? [True, True] Translation: X:-31.38, Y:2.05, Z:1.05 [[ 9.99480618e-01 3.03582976e-02 1.08105345e-02 -3.13831289e+01] [-3.03564714e-02 9.99539081e-01 -3.33015404e-04 2.04712174e+00] [-1.08156615e-02 4.67275990e-06 9.99941509e-01 1.04747123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.695285570000003 meters 0.022513235757169934 Centerline is valid? [True, True] Translation: X:-31.41, Y:2.05, Z:1.05 [[ 9.99405808e-01 3.32444291e-02 9.10163081e-03 -3.14147818e+01] [-3.32432572e-02 9.99447251e-01 -2.80061383e-04 2.04993568e+00] [-9.10591037e-03 -2.26728811e-05 9.99958540e-01 1.04625280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.725285570000004 meters 0.029804699848050342 Centerline is valid? [True, True] Translation: X:-31.45, Y:2.06, Z:1.04 [[ 9.99306798e-01 3.66100398e-02 6.75483017e-03 -3.14469111e+01] [-3.66094715e-02 9.99329627e-01 -2.07805746e-04 2.05966303e+00] [-6.75790969e-03 -3.96290681e-05 9.99977164e-01 1.04202074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.755285570000005 meters 0.022573407152542736 Centerline is valid? [True, True] Translation: X:-31.48, Y:2.06, Z:1.05 [[ 9.99286416e-01 3.74859749e-02 4.63252078e-03 -3.14793495e+01] [-3.74857148e-02 9.99297153e-01 -1.43000894e-04 2.06484092e+00] [-4.63462536e-03 -3.07545022e-05 9.99989260e-01 1.04701695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.785285570000003 meters 0.025958320339058018 Centerline is valid? [True, True] Translation: X:-31.51, Y:2.07, Z:1.05 [[ 9.99299311e-01 3.68614124e-02 6.49028740e-03 -3.15109560e+01] [-3.68609013e-02 9.99320386e-01 -1.98389615e-04 2.06654710e+00] [-6.49318944e-03 -4.09872374e-05 9.99978918e-01 1.05078978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.815285570000004 meters 0.022733002786703576 Centerline is valid? [True, True] Translation: X:-31.54, Y:2.07, Z:1.06 [[ 9.99337479e-01 3.53298383e-02 8.74105945e-03 -3.15431984e+01] [-3.53288581e-02 9.99375705e-01 -2.66564407e-04 2.06875462e+00] [-8.74502013e-03 -4.24238461e-05 9.99961761e-01 1.05743787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.845285570000005 meters 0.027082269051833335 Centerline is valid? [True, True] Translation: X:-31.58, Y:2.07, Z:1.06 [[ 9.99330196e-01 3.46186422e-02 1.18620432e-02 -3.15756524e+01] [-3.46168040e-02 9.99400594e-01 -3.60313307e-04 2.06894349e+00] [-1.18674066e-02 -5.05540566e-05 9.99929579e-01 1.05770560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.875285570000003 meters 0.02212519275223966 Centerline is valid? [True, True] Translation: X:-31.61, Y:2.07, Z:1.06 [[ 9.99384106e-01 3.32140129e-02 1.13242328e-02 -3.16089892e+01] [-3.32122509e-02 9.99448262e-01 -3.43669466e-04 2.06790286e+00] [-1.13293994e-02 -3.26454590e-05 9.99935820e-01 1.05780073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.905285570000004 meters 0.025478740505188478 Centerline is valid? [True, True] Translation: X:-31.64, Y:2.07, Z:1.05 [[ 9.99501727e-01 2.95043241e-02 1.12156993e-02 -3.16399704e+01] [-2.95023823e-02 9.99564653e-01 -3.38581287e-04 2.06638075e+00] [-1.12208062e-02 7.52273306e-06 9.99937045e-01 1.05473135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.935285570000005 meters 0.028980585079609843 Centerline is valid? [True, True] Translation: X:-31.67, Y:2.07, Z:1.06 [[ 9.99616586e-01 2.52288240e-02 1.14099675e-02 -3.16723607e+01] [-2.52265404e-02 9.99681701e-01 -3.44042538e-04 2.06777819e+00] [-1.14150155e-02 5.60766214e-05 9.99934845e-01 1.05659551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.965285570000002 meters 0.022785474800245776 Centerline is valid? [True, True] Translation: X:-31.70, Y:2.07, Z:1.06 [[ 9.99670377e-01 2.35878511e-02 1.01365652e-02 -3.17048745e+01] [-2.35859699e-02 9.99721766e-01 -3.05107238e-04 2.06838277e+00] [-1.01409417e-02 6.59259457e-05 9.99948577e-01 1.05990492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.995285570000004 meters 0.023118511984028624 Centerline is valid? [True, True] Translation: X:-31.74, Y:2.07, Z:1.06 [[ 9.99674507e-01 2.27673726e-02 1.15120112e-02 -3.17370786e+01] [-2.27649039e-02 9.99740786e-01 -3.45457121e-04 2.06624970e+00] [-1.15168923e-02 8.32748482e-05 9.99933675e-01 1.06297399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.025285570000005 meters 0.022674816169193125 Centerline is valid? [True, True] Translation: X:-31.77, Y:2.06, Z:1.07 [[ 9.99695499e-01 2.22533265e-02 1.06629491e-02 -3.17683898e+01] [-2.22511882e-02 9.99752361e-01 -3.19145834e-04 2.06466214e+00] [-1.06674106e-02 8.17853680e-05 9.99943098e-01 1.06595833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.055285570000002 meters 0.022271988851975885 Centerline is valid? [True, True] Translation: X:-31.80, Y:2.06, Z:1.06 [[ 9.99702847e-01 2.21266092e-02 1.02289288e-02 -3.18009699e+01] [-2.21246373e-02 9.99755173e-01 -3.05907229e-04 2.06494299e+00] [-1.02331932e-02 7.95049891e-05 9.99947636e-01 1.06308702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.085285570000003 meters 0.026888032121352726 Centerline is valid? [True, True] Translation: X:-31.83, Y:2.07, Z:1.07 [[ 9.99689714e-01 2.28116335e-02 1.00052377e-02 -3.18324423e+01] [-2.28097857e-02 9.99739778e-01 -2.98775975e-04 2.07411097e+00] [-1.00094497e-02 7.04659414e-05 9.99949902e-01 1.06634190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.115285570000005 meters 0.02247366838554603 Centerline is valid? [True, True] Translation: X:-31.86, Y:2.08, Z:1.07 [[ 9.99605232e-01 2.64992142e-02 9.33661501e-03 -3.18628335e+01] [-2.64977542e-02 9.99648834e-01 -2.80062763e-04 2.08433695e+00] [-9.34075775e-03 3.25528729e-05 9.99956374e-01 1.07072407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.145285570000006 meters 0.02223479012729967 Centerline is valid? [True, True] Translation: X:-31.89, Y:2.09, Z:1.07 [[ 9.99539933e-01 2.87940390e-02 9.53025608e-03 -3.18946682e+01] [-2.87926633e-02 9.99585366e-01 -2.81546163e-04 2.08831752e+00] [-9.53441136e-03 7.01517844e-06 9.99954546e-01 1.07075144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.175285570000003 meters 0.022516421795866798 Centerline is valid? [True, True] Translation: X:-31.93, Y:2.09, Z:1.07 [[ 9.99405107e-01 3.34900467e-02 8.23707999e-03 -3.19268295e+01] [-3.34891814e-02 9.99439051e-01 -2.42999226e-04 2.08637841e+00] [-8.24059746e-03 -3.29983983e-05 9.99966045e-01 1.06907185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.205285570000004 meters 0.02413046432217877 Centerline is valid? [True, True] Translation: X:-31.96, Y:2.09, Z:1.07 [[ 9.99293073e-01 3.63263007e-02 9.68266489e-03 -3.19581602e+01] [-3.63252496e-02 9.99339980e-01 -2.84458531e-04 2.08718404e+00] [-9.68660746e-03 -6.74677795e-05 9.99953081e-01 1.07364765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.235285570000006 meters 0.02292479323155834 Centerline is valid? [True, True] Translation: X:-31.99, Y:2.10, Z:1.08 [[ 9.99196652e-01 3.88390532e-02 9.87816891e-03 -3.19892185e+01] [-3.88380869e-02 9.99245475e-01 -2.89707259e-04 2.09621228e+00] [-9.88196754e-03 -9.41746589e-05 9.99951168e-01 1.08162153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.265285570000003 meters 0.022858099013417732 Centerline is valid? [True, True] Translation: X:-32.02, Y:2.11, Z:1.08 [[ 9.99095437e-01 4.12634318e-02 1.02779834e-02 -3.20207797e+01] [-4.12625175e-02 9.99148294e-01 -3.01080654e-04 2.10668425e+00] [-1.02816532e-02 -1.23287161e-04 9.99947135e-01 1.08085382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.295285570000004 meters 0.02283629902111325 Centerline is valid? [True, True] Translation: X:-32.05, Y:2.11, Z:1.08 [[ 9.99084812e-01 4.18540344e-02 8.81915167e-03 -3.20532738e+01] [-4.18533877e-02 9.99123730e-01 -2.57954300e-04 2.11186058e+00] [-8.82222014e-03 -1.11393150e-04 9.99961077e-01 1.07660914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.325285570000005 meters 0.026394022339724963 Centerline is valid? [True, True] Translation: X:-32.08, Y:2.11, Z:1.08 [[ 9.99052129e-01 4.29926571e-02 6.81729799e-03 -3.20846107e+01] [-4.29922906e-02 9.99075384e-01 -2.00371156e-04 2.10991617e+00] [-6.81960909e-03 -9.29100261e-05 9.99976742e-01 1.07869882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.355285570000003 meters 0.022808478235498236 Centerline is valid? [True, True] Translation: X:-32.12, Y:2.11, Z:1.08 [[ 9.99078336e-01 4.25148054e-02 5.91352858e-03 -3.21166827e+01] [-4.25145305e-02 9.99095834e-01 -1.72249896e-04 2.11065391e+00] [-5.91550494e-03 -7.93197518e-05 9.99982500e-01 1.08104523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.385285570000004 meters 0.02266858427900844 Centerline is valid? [True, True] Translation: X:-32.15, Y:2.12, Z:1.09 [[ 9.99121550e-01 4.03540775e-02 1.12994451e-02 -3.21480115e+01] [-4.03529630e-02 9.99185434e-01 -3.26702248e-04 2.11552168e+00] [-1.13034248e-02 -1.29550835e-04 9.99936106e-01 1.08587574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.415285570000005 meters 0.022564724245595972 Centerline is valid? [True, True] Translation: X:-32.18, Y:2.12, Z:1.09 [[ 9.99188836e-01 3.83450053e-02 1.23016552e-02 -3.21794248e+01] [-3.83435413e-02 9.99264553e-01 -3.54925328e-04 2.11857295e+00] [-1.23062176e-02 -1.17051599e-04 9.99924269e-01 1.08813857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.445285570000003 meters 0.022564724245595972 Centerline is valid? [True, True] Translation: X:-32.21, Y:2.12, Z:1.09 [[ 9.99192654e-01 3.82453798e-02 1.23016568e-02 -3.22119013e+01] [-3.82439089e-02 9.99268371e-01 -3.54870473e-04 2.11962725e+00] [-1.23062287e-02 -1.15879474e-04 9.99924269e-01 1.08889706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.475285570000004 meters 0.027135616500002357 Centerline is valid? [True, True] Translation: X:-32.24, Y:2.12, Z:1.08 [[ 9.99248039e-01 3.70856119e-02 1.13142943e-02 -3.22444919e+01] [-3.70842831e-02 9.99312088e-01 -3.27294771e-04 2.11974461e+00] [-1.13186490e-02 -9.25338344e-05 9.99935938e-01 1.08418435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.505285570000005 meters 0.023764379144217637 Centerline is valid? [True, True] Translation: X:-32.28, Y:2.12, Z:1.08 [[ 9.99399386e-01 3.38879311e-02 7.24393089e-03 -3.22762819e+01] [-3.38873219e-02 9.99425638e-01 -2.06853221e-04 2.11606002e+00] [-7.24678008e-03 -3.87484359e-05 9.99973741e-01 1.08449324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.535285570000003 meters 0.023973645739023868 Centerline is valid? [True, True] Translation: X:-32.31, Y:2.11, Z:1.08 [[ 9.99530509e-01 3.00193036e-02 6.13217939e-03 -3.23077287e+01] [-3.00187892e-02 9.99549319e-01 -1.75928719e-04 2.11218246e+00] [-6.13469700e-03 -8.23447915e-06 9.99981183e-01 1.08375499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.565285570000004 meters 0.02203650792758448 Centerline is valid? [True, True] Translation: X:-32.34, Y:2.11, Z:1.09 [[ 9.99671854e-01 2.47577077e-02 6.57571031e-03 -3.23403204e+01] [-2.47570155e-02 9.99693481e-01 -1.86667524e-04 2.11045994e+00] [-6.57831619e-03 2.38113084e-05 9.99978362e-01 1.08761656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.595285570000005 meters 0.022736090543327554 Centerline is valid? [True, True] Translation: X:-32.37, Y:2.11, Z:1.09 [[ 9.99802641e-01 1.84002699e-02 7.49065031e-03 -3.23720407e+01] [-1.83991987e-02 9.99830698e-01 -2.11900709e-04 2.10880938e+00] [-7.49328116e-03 7.40369251e-05 9.99971922e-01 1.09167460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.625285570000003 meters 0.023339306749863953 Centerline is valid? [True, True] Translation: X:-32.40, Y:2.11, Z:1.09 [[ 9.99907664e-01 1.03569111e-02 8.79764477e-03 -3.24022901e+01] [-1.03551368e-02 9.99946354e-01 -2.47210252e-04 2.10518344e+00] [-8.79973314e-03 1.56086610e-04 9.99961269e-01 1.09222141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.655285570000004 meters 0.02392683879308801 Centerline is valid? [True, True] Translation: X:-32.43, Y:2.10, Z:1.09 [[ 9.99947886e-01 4.08593167e-03 9.35582122e-03 -3.24336808e+01] [-4.08365014e-03 9.99991627e-01 -2.62952887e-04 2.10003977e+00] [-9.35681730e-03 2.24733283e-04 9.99956199e-01 1.09096596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.685285570000005 meters 0.025073706060594055 Centerline is valid? [True, True] Translation: X:-32.47, Y:2.10, Z:1.09 [[ 9.99962872e-01 -3.65689022e-04 8.60937193e-03 -3.24650985e+01] [ 3.67783822e-04 9.99999903e-01 -2.41734311e-04 2.09570640e+00] [-8.60928269e-03 2.44891724e-04 9.99962909e-01 1.09245881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.715285570000002 meters 0.02701000273571671 Centerline is valid? [True, True] Translation: X:-32.50, Y:2.09, Z:1.09 [[ 9.99956557e-01 -3.41746606e-03 8.67205028e-03 -3.24963137e+01] [ 3.41970349e-03 9.99994123e-01 -2.43189064e-04 2.09110475e+00] [-8.67116823e-03 2.72834340e-04 9.99962367e-01 1.09261214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.745285570000004 meters 0.027750934913901577 Centerline is valid? [True, True] Translation: X:-32.53, Y:2.10, Z:1.10 [[ 9.99935274e-01 -5.14993801e-03 1.01452251e-02 -3.25282816e+01] [ 5.15309031e-03 9.99986682e-01 -2.84602306e-04 2.09916618e+00] [-1.01436243e-02 3.36863147e-04 9.99948495e-01 1.09617297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.775285570000005 meters 0.025319717642088117 Centerline is valid? [True, True] Translation: X:-32.56, Y:2.12, Z:1.10 [[ 9.99933267e-01 -3.50548803e-03 1.10078285e-02 -3.25591464e+01] [ 3.50910745e-03 9.99993795e-01 -3.09506960e-04 2.12080176e+00] [-1.10066752e-02 3.48113959e-04 9.99939364e-01 1.10061214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.805285570000006 meters 0.03133680969239242 Centerline is valid? [True, True] Translation: X:-32.59, Y:2.12, Z:1.10 [[ 9.99923639e-01 4.58503667e-04 1.23493255e-02 -3.25903489e+01] [-4.54318148e-04 9.99999838e-01 -3.41730167e-04 2.12443552e+00] [-1.23494802e-02 3.36093549e-04 9.99923686e-01 1.09889166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.835285570000003 meters 0.02447773924890379 Centerline is valid? [True, True] Translation: X:-32.62, Y:2.14, Z:1.10 [[ 9.99908633e-01 8.47412673e-03 1.05315971e-02 -3.26211991e+01] [-8.47152998e-03 9.99964074e-01 -2.91153959e-04 2.14036758e+00] [-1.05336860e-02 2.01908616e-04 9.99944499e-01 1.10184679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.865285570000005 meters 0.025376985533080574 Centerline is valid? [True, True] Translation: X:-32.65, Y:2.15, Z:1.10 [[ 9.99834759e-01 1.44259075e-02 1.10610965e-02 -3.26517502e+01] [-1.44233867e-02 9.99895930e-01 -3.07638981e-04 2.15452981e+00] [-1.10643833e-02 1.48049674e-04 9.99938777e-01 1.10342717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.895285570000006 meters 0.02236354576197056 Centerline is valid? [True, True] Translation: X:-32.68, Y:2.17, Z:1.10 [[ 9.99775263e-01 1.84790725e-02 1.03897261e-02 -3.26838751e+01] [-1.84770850e-02 9.99829243e-01 -2.87255670e-04 2.16689295e+00] [-1.03932602e-02 9.52192603e-05 9.99945984e-01 1.10308036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.925285570000003 meters 0.02269811050509886 Centerline is valid? [True, True] Translation: X:-32.72, Y:2.18, Z:1.10 [[ 9.99760088e-01 2.04753222e-02 7.77992720e-03 -3.27156538e+01] [-2.04742921e-02 9.99790357e-01 -2.12042646e-04 2.17957969e+00] [-7.78263784e-03 5.27032727e-05 9.99969713e-01 1.10278702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.955285570000004 meters 0.0228512198708154 Centerline is valid? [True, True] Translation: X:-32.75, Y:2.19, Z:1.10 [[ 9.99771363e-01 2.04998363e-02 6.08092906e-03 -3.27469594e+01] [-2.04992077e-02 9.99789855e-01 -1.65689561e-04 2.19164501e+00] [-6.08304780e-03 4.09974508e-05 9.99981497e-01 1.10414662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.985285570000006 meters 0.0229472483648063 Centerline is valid? [True, True] Translation: X:-32.78, Y:2.20, Z:1.11 [[ 9.99813412e-01 1.83985384e-02 5.88507572e-03 -3.27784581e+01] [-1.83979152e-02 9.99830731e-01 -1.60013835e-04 2.19940593e+00] [-5.88702358e-03 5.17108540e-05 9.99982670e-01 1.10658840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01528557 meters 0.025473012183256184 Centerline is valid? [True, True] Translation: X:-32.81, Y:2.20, Z:1.11 [[ 9.99842516e-01 1.55912611e-02 8.47677997e-03 -3.28108867e+01] [-1.55898781e-02 9.99878444e-01 -2.29197064e-04 2.20097579e+00] [-8.47932304e-03 9.70090024e-05 9.99964045e-01 1.10630105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04528557 meters 0.02441082980349488 Centerline is valid? [True, True] Translation: X:-32.84, Y:2.20, Z:1.11 [[ 9.99899404e-01 1.01405519e-02 9.91721998e-03 -3.28423773e+01] [-1.01384009e-02 9.99948569e-01 -2.67143772e-04 2.20211326e+00] [-9.91941892e-03 1.66572146e-04 9.99950787e-01 1.11008699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07528557 meters 0.024967612364042643 Centerline is valid? [True, True] Translation: X:-32.87, Y:2.21, Z:1.12 [[ 9.99951025e-01 3.79729847e-03 9.13935639e-03 -3.28727782e+01] [-3.79521545e-03 9.99992768e-01 -2.45249382e-04 2.20782954e+00] [-9.14022158e-03 2.10551544e-04 9.99958205e-01 1.11521432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10528557 meters 0.02703867342049519 Centerline is valid? [True, True] Translation: X:-32.90, Y:2.21, Z:1.12 [[ 9.99951204e-01 2.36530316e-03 9.59135394e-03 -3.29036490e+01] [-2.36292081e-03 9.99997175e-01 -2.59709234e-04 2.21265573e+00] [-9.59194113e-03 2.37032952e-04 9.99953968e-01 1.11703383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13528557 meters 0.025467068536332148 Centerline is valid? [True, True] Translation: X:-32.93, Y:2.22, Z:1.12 [[ 9.99964986e-01 2.52587939e-04 8.36441905e-03 -3.29348952e+01] [-2.50712366e-04 9.99999943e-01 -2.25280078e-04 2.21917224e+00] [-8.36447548e-03 2.23175127e-04 9.99964992e-01 1.11842435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16528557 meters 0.025575444985699445 Centerline is valid? [True, True] Translation: X:-32.97, Y:2.23, Z:1.12 [[ 9.99946695e-01 -4.10944023e-04 1.03169065e-02 -3.29670268e+01] [ 4.13797592e-04 9.99999877e-01 -2.74458368e-04 2.22796029e+00] [-1.03167924e-02 2.78712849e-04 9.99946742e-01 1.12447451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19528557 meters 0.02515105491599537 Centerline is valid? [True, True] Translation: X:-33.00, Y:2.23, Z:1.12 [[ 9.99943344e-01 8.22573615e-04 1.06128303e-02 -3.29985935e+01] [-8.19655509e-04 9.99999625e-01 -2.79306873e-04 2.23362303e+00] [-1.06130561e-02 2.70592183e-04 9.99943643e-01 1.12274062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.225285570000004 meters 0.0307635014302054 Centerline is valid? [True, True] Translation: X:-33.03, Y:2.24, Z:1.12 [[ 9.99962072e-01 2.09604620e-03 8.45346206e-03 -3.30319010e+01] [-2.09424424e-03 9.99997782e-01 -2.22008664e-04 2.24152202e+00] [-8.45390865e-03 2.04296629e-04 9.99964244e-01 1.12096865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25528557 meters 0.027969006231893245 Centerline is valid? [True, True] Translation: X:-33.06, Y:2.25, Z:1.12 [[ 9.99991325e-01 9.37776056e-04 4.05839903e-03 -3.30624320e+01] [-9.37360724e-04 9.99999555e-01 -1.04239705e-04 2.25234945e+00] [-4.05849498e-03 1.00434616e-04 9.99991759e-01 1.12208013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28528557 meters 0.02544486889591583 Centerline is valid? [True, True] Translation: X:-33.09, Y:2.26, Z:1.12 [[ 9.99993211e-01 -2.02741977e-04 3.67927667e-03 -3.30948992e+01] [ 2.03093422e-04 9.99999975e-01 -9.51466257e-05 2.25663391e+00] [-3.67925729e-03 9.58932166e-05 9.99993227e-01 1.12219030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31528557 meters 0.025859848892214016 Centerline is valid? [True, True] Translation: X:-33.13, Y:2.26, Z:1.13 [[ 9.99973214e-01 -1.24564027e-03 7.21247829e-03 -3.31271576e+01] [ 1.24700724e-03 9.99999205e-01 -1.85034599e-04 2.25694071e+00] [-7.21224208e-03 1.94023655e-04 9.99973973e-01 1.12843989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.34528557 meters 0.026809049174166273 Centerline is valid? [True, True] Translation: X:-33.16, Y:2.26, Z:1.13 [[ 9.99955662e-01 -2.26476511e-03 9.14030736e-03 -3.31599501e+01] [ 2.26700861e-03 9.99997403e-01 -2.35098041e-04 2.25801337e+00] [-9.13975118e-03 2.55808772e-04 9.99958199e-01 1.13471226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.37528557 meters 0.02568124427538856 Centerline is valid? [True, True] Translation: X:-33.19, Y:2.27, Z:1.14 [[ 9.99968595e-01 -3.02243288e-03 7.32627601e-03 -3.31907722e+01] [ 3.02388656e-03 9.99995410e-01 -1.87350783e-04 2.27209833e+00] [-7.32567613e-03 2.09498727e-04 9.99973145e-01 1.13797128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.405285570000004 meters 0.02583517693545355 Centerline is valid? [True, True] Translation: X:-33.22, Y:2.28, Z:1.14 [[ 9.99971124e-01 -2.86866689e-03 7.03719102e-03 -3.32234005e+01] [ 2.86999789e-03 9.99995866e-01 -1.79046792e-04 2.28127683e+00] [-7.03664830e-03 1.99238345e-04 9.99975223e-01 1.13502702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43528557 meters 0.026027594540807848 Centerline is valid? [True, True] Translation: X:-33.26, Y:2.28, Z:1.13 [[ 9.99964224e-01 -3.40363308e-03 7.74380865e-03 -3.32564683e+01] [ 3.40521879e-03 9.99994184e-01 -1.91595667e-04 2.28495958e+00] [-7.74311149e-03 2.17958176e-04 9.99969998e-01 1.13292599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46528557 meters 0.02568572608018787 Centerline is valid? [True, True] Translation: X:-33.29, Y:2.30, Z:1.14 [[ 9.99959650e-01 -1.52278880e-03 8.85323442e-03 -3.32869745e+01] [ 1.52478739e-03 9.99998814e-01 -2.19001285e-04 2.29649460e+00] [-8.85289042e-03 2.32491748e-04 9.99960785e-01 1.14275256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49528557 meters 0.025837337207796605 Centerline is valid? [True, True] Translation: X:-33.32, Y:2.30, Z:1.15 [[ 9.99973542e-01 -2.68150372e-04 7.26932152e-03 -3.33183828e+01] [ 2.69460475e-04 9.99999948e-01 -1.79244849e-04 2.30119511e+00] [-7.26927308e-03 1.81198901e-04 9.99973562e-01 1.14527462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.52528557 meters 0.030365464580840763 Centerline is valid? [True, True] Translation: X:-33.35, Y:2.31, Z:1.14 [[ 9.99969629e-01 1.90189255e-03 7.55806292e-03 -3.33508523e+01] [-1.90055036e-03 9.99998177e-01 -1.84761281e-04 2.30693242e+00] [-7.55840054e-03 1.70391190e-04 9.99971420e-01 1.14369817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55528557 meters 0.028821506112714553 Centerline is valid? [True, True] Translation: X:-33.38, Y:2.31, Z:1.15 [[ 9.99969675e-01 3.49153276e-03 6.96119596e-03 -3.33829897e+01] [-3.49044116e-03 9.99993894e-01 -1.68955375e-04 2.31299498e+00] [-6.96174337e-03 1.44652607e-04 9.99975756e-01 1.14680190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58528557 meters 0.027426283363768546 Centerline is valid? [True, True] Translation: X:-33.41, Y:2.33, Z:1.15 [[ 9.99966270e-01 5.50120586e-03 6.09886695e-03 -3.34134036e+01] [-5.50042248e-03 9.99984862e-01 -1.45212464e-04 2.32506998e+00] [-6.09957347e-03 1.11661221e-04 9.99981391e-01 1.15291367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61528557 meters 0.025286457760082103 Centerline is valid? [True, True] Translation: X:-33.45, Y:2.33, Z:1.15 [[ 9.99964039e-01 6.56685358e-03 5.36626990e-03 -3.34456354e+01] [-6.56625102e-03 9.99978434e-01 -1.29897009e-04 2.33437059e+00] [-5.36700718e-03 9.46560621e-05 9.99985593e-01 1.15447442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64528557 meters 0.02502333986961062 Centerline is valid? [True, True] Translation: X:-33.48, Y:2.34, Z:1.15 [[ 9.99963158e-01 7.00193469e-03 4.96550791e-03 -3.34784103e+01] [-7.00144278e-03 9.99975483e-01 -1.16440779e-04 2.33972743e+00] [-4.96620148e-03 8.16707694e-05 9.99987665e-01 1.15438896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67528557 meters 0.026215075989291625 Centerline is valid? [True, True] Translation: X:-33.51, Y:2.34, Z:1.15 [[ 9.99968414e-01 6.34213497e-03 4.79051101e-03 -3.35106465e+01] [-6.34167497e-03 9.99979885e-01 -1.11205715e-04 2.34477661e+00] [-4.79111993e-03 8.08223383e-05 9.99988519e-01 1.15445579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.70528557 meters 0.024615580086615234 Centerline is valid? [True, True] Translation: X:-33.54, Y:2.35, Z:1.16 [[ 9.99969231e-01 5.91960863e-03 5.14728357e-03 -3.35437063e+01] [-5.91907119e-03 9.99982475e-01 -1.19639303e-04 2.34918425e+00] [-5.14790158e-03 8.91684835e-05 9.99986745e-01 1.15581870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73528557 meters 0.027687515637390688 Centerline is valid? [True, True] Translation: X:-33.58, Y:2.35, Z:1.16 [[ 9.99955199e-01 7.09291701e-03 6.26817645e-03 -3.35761074e+01] [-7.09215415e-03 9.99974840e-01 -1.43922601e-04 2.35433176e+00] [-6.26903958e-03 9.94612795e-05 9.99980344e-01 1.15828544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76528557 meters 0.024971391150146887 Centerline is valid? [True, True] Translation: X:-33.61, Y:2.36, Z:1.16 [[ 9.99956932e-01 6.75143035e-03 6.36808827e-03 -3.36092608e+01] [-6.75063553e-03 9.99977204e-01 -1.46299444e-04 2.35658519e+00] [-6.36893083e-03 1.03304500e-04 9.99979713e-01 1.15737992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79528557 meters 0.02511642518259406 Centerline is valid? [True, True] Translation: X:-33.64, Y:2.37, Z:1.16 [[ 9.99942408e-01 7.46396591e-03 7.71168464e-03 -3.36410263e+01] [-7.46283572e-03 9.99972137e-01 -1.75321422e-04 2.36551542e+00] [-7.71277836e-03 1.17760289e-04 9.99970249e-01 1.16302088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82528557 meters 0.025217051958187707 Centerline is valid? [True, True] Translation: X:-33.67, Y:2.37, Z:1.16 [[ 9.99952189e-01 7.07450124e-03 6.75063089e-03 -3.36733010e+01] [-7.07360942e-03 9.99974970e-01 -1.55976679e-04 2.37220545e+00] [-6.75156538e-03 1.08217896e-04 9.99977202e-01 1.16316122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85528557 meters 0.025616430748714614 Centerline is valid? [True, True] Translation: X:-33.71, Y:2.38, Z:1.16 [[ 9.99951169e-01 8.02919121e-03 5.76130192e-03 -3.37061061e+01] [-8.02857426e-03 9.99967762e-01 -1.30204670e-04 2.37917103e+00] [-5.76216163e-03 8.39432717e-05 9.99983395e-01 1.16384381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88528557 meters 0.02518361741200156 Centerline is valid? [True, True] Translation: X:-33.74, Y:2.39, Z:1.17 [[ 9.99937489e-01 9.47367763e-03 5.93857707e-03 -3.37371610e+01] [-9.47303844e-03 9.99955121e-01 -1.35754209e-04 2.38766542e+00] [-5.93959664e-03 7.94893537e-05 9.99982357e-01 1.16922579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91528557 meters 0.025125443292925466 Centerline is valid? [True, True] Translation: X:-33.77, Y:2.40, Z:1.17 [[ 9.99908493e-01 1.20858391e-02 6.07769296e-03 -3.37693327e+01] [-1.20852431e-02 9.99926962e-01 -1.34775642e-04 2.39750460e+00] [-6.07887793e-03 6.13129117e-05 9.99981522e-01 1.17037383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94528557 meters 0.026519681785514695 Centerline is valid? [True, True] Translation: X:-33.80, Y:2.41, Z:1.17 [[ 9.99879123e-01 1.44824279e-02 5.65677811e-03 -3.38015552e+01] [-1.44819517e-02 9.99895123e-01 -1.25142866e-04 2.41002786e+00] [-5.65799722e-03 4.32065514e-05 9.99983992e-01 1.16843860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.975285570000004 meters 0.024720645339940152 Centerline is valid? [True, True] Translation: X:-33.83, Y:2.42, Z:1.17 [[ 9.99843509e-01 1.66825928e-02 5.88637175e-03 -3.38325425e+01] [-1.66821197e-02 9.99860835e-01 -1.29466766e-04 2.41763318e+00] [-5.88771242e-03 3.12493481e-05 9.99982667e-01 1.17101165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00528557 meters 0.024942999776478108 Centerline is valid? [True, True] Translation: X:-33.86, Y:2.42, Z:1.17 [[ 9.99788757e-01 1.94232394e-02 6.72161433e-03 -3.38643608e+01] [-1.94226859e-02 9.99811351e-01 -1.47615089e-04 2.41873972e+00] [-6.72321347e-03 1.70321021e-05 9.99977399e-01 1.17286993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03528557 meters 0.02540457431506754 Centerline is valid? [True, True] Translation: X:-33.90, Y:2.43, Z:1.18 [[ 9.99788188e-01 1.98188720e-02 5.54903147e-03 -3.38965282e+01] [-1.98185017e-02 9.99803587e-01 -1.21713554e-04 2.42609213e+00] [-5.55035380e-03 1.17142841e-05 9.99984597e-01 1.17602219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06528557 meters 0.02689431636916305 Centerline is valid? [True, True] Translation: X:-33.93, Y:2.44, Z:1.18 [[ 9.99799931e-01 1.92602094e-02 5.39835456e-03 -3.39282978e+01] [-1.92598426e-02 9.99814505e-01 -1.19918975e-04 2.43997820e+00] [-5.39966285e-03 1.59235233e-05 9.99985422e-01 1.17863174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.09528557 meters 0.025305822352017764 Centerline is valid? [True, True] Translation: X:-33.96, Y:2.45, Z:1.17 [[ 9.99828471e-01 1.77377821e-02 5.32921660e-03 -3.39614929e+01] [-1.77374064e-02 9.99842673e-01 -1.17768582e-04 2.44829739e+00] [-5.33046713e-03 2.32219006e-05 9.99985793e-01 1.17357991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12528557 meters 0.025631614729370696 Centerline is valid? [True, True] Translation: X:-33.99, Y:2.45, Z:1.18 [[ 9.99843372e-01 1.68953201e-02 5.27067218e-03 -3.39924067e+01] [-1.68949584e-02 9.99857264e-01 -1.13131472e-04 2.44873588e+00] [-5.27183126e-03 2.40659650e-05 9.99986104e-01 1.17648710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.155285570000004 meters 0.027196130411594348 Centerline is valid? [True, True] Translation: X:-34.02, Y:2.45, Z:1.18 [[ 9.99855633e-01 1.63481730e-02 4.63143336e-03 -3.40232672e+01] [-1.63478880e-02 9.99866359e-01 -9.93912399e-05 2.44761394e+00] [-4.63243928e-03 2.36627373e-05 9.99989270e-01 1.17949939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18528557 meters 0.030506189076212848 Centerline is valid? [True, True] Translation: X:-34.06, Y:2.45, Z:1.18 [[ 9.99896227e-01 1.32566476e-02 5.63886184e-03 -3.40563362e+01] [-1.32561739e-02 9.99912126e-01 -1.21380475e-04 2.44865812e+00] [-5.63997542e-03 4.66181465e-05 9.99984094e-01 1.18202182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21528557 meters 0.025923944501931386 Centerline is valid? [True, True] Translation: X:-34.09, Y:2.45, Z:1.18 [[ 9.99933889e-01 9.94656955e-03 5.76919509e-03 -3.40887922e+01] [-9.94602420e-03 9.99950529e-01 -1.23211789e-04 2.45299914e+00] [-5.77013522e-03 6.58230898e-05 9.99983350e-01 1.18341491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24528557 meters 0.026008575046760775 Centerline is valid? [True, True] Translation: X:-34.12, Y:2.46, Z:1.19 [[ 9.99948006e-01 8.83877387e-03 5.08545814e-03 -3.41201115e+01] [-8.83832389e-03 9.99960935e-01 -1.10949892e-04 2.45845668e+00] [-5.08624014e-03 6.59971973e-05 9.99987063e-01 1.18565855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.27528557 meters 0.029941549289129683 Centerline is valid? [True, True] Translation: X:-34.15, Y:2.47, Z:1.18 [[ 9.99956177e-01 9.01976764e-03 2.50741118e-03 -3.41517460e+01] [-9.01966166e-03 9.99959321e-01 -5.35702850e-05 2.46580551e+00] [-2.50779237e-03 3.09519369e-05 9.99996855e-01 1.18207242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30528557 meters 0.026927048081035417 Centerline is valid? [True, True] Translation: X:-34.18, Y:2.47, Z:1.18 [[ 9.99970947e-01 7.57232544e-03 8.74981321e-04 -3.41841830e+01] [-7.57231109e-03 9.99971329e-01 -1.97053995e-05 2.46894694e+00] [-8.75105451e-04 1.30791963e-05 9.99999617e-01 1.18354405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.33528557 meters 0.02683237855277614 Centerline is valid? [True, True] Translation: X:-34.22, Y:2.48, Z:1.19 [[ 9.99965134e-01 7.70401295e-03 3.22175198e-03 -3.42150538e+01] [-7.70383524e-03 9.99970323e-01 -6.75657056e-05 2.47731905e+00] [-3.22217690e-03 4.27435033e-05 9.99994808e-01 1.19136152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36528557 meters 0.02683237855277614 Centerline is valid? [True, True] Translation: X:-34.25, Y:2.48, Z:1.19 [[ 9.99965937e-01 7.59898390e-03 3.22173363e-03 -3.42475748e+01] [-7.59880276e-03 9.99971126e-01 -6.84624359e-05 2.47810869e+00] [-3.22216085e-03 4.39787855e-05 9.99994808e-01 1.19212052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39528557 meters 0.02626698465268664 Centerline is valid? [True, True] Translation: X:-34.28, Y:2.48, Z:1.19 [[ 9.99948439e-01 7.76052176e-03 6.54939066e-03 -3.42783485e+01] [-7.75980156e-03 9.99969883e-01 -1.35368551e-04 2.48400440e+00] [-6.55024394e-03 8.45395995e-05 9.99978543e-01 1.19480702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42528557 meters 0.0261827386912792 Centerline is valid? [True, True] Translation: X:-34.31, Y:2.49, Z:1.19 [[ 9.99937168e-01 9.16834500e-03 6.44993572e-03 -3.43101599e+01] [-9.16767848e-03 9.99957967e-01 -1.32896656e-04 2.48733659e+00] [-6.45088305e-03 7.37573693e-05 9.99979190e-01 1.19203690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.45528557 meters 0.026635069242743642 Centerline is valid? [True, True] Translation: X:-34.34, Y:2.49, Z:1.19 [[ 9.99949465e-01 9.20983434e-03 4.03072264e-03 -3.43411271e+01] [-9.20956793e-03 9.99957587e-01 -8.46514197e-05 2.49272756e+00] [-4.03133131e-03 4.75259279e-05 9.99991873e-01 1.19349847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48528557 meters 0.026950478931195645 Centerline is valid? [True, True] Translation: X:-34.37, Y:2.50, Z:1.19 [[ 9.99953951e-01 8.83171217e-03 3.75460854e-03 -3.43733344e+01] [-8.83148440e-03 9.99960999e-01 -7.72395696e-05 2.49532029e+00] [-3.75514426e-03 4.40772461e-05 9.99992948e-01 1.18864611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51528557 meters 0.026603336020972385 Centerline is valid? [True, True] Translation: X:-34.40, Y:2.50, Z:1.20 [[ 9.99944479e-01 9.73963947e-03 4.02226989e-03 -3.44043382e+01] [-9.73938833e-03 9.99952568e-01 -8.20211102e-05 2.50445830e+00] [-4.02287797e-03 4.28421078e-05 9.99991907e-01 1.19618642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54528557 meters 0.026969307310851533 Centerline is valid? [True, True] Translation: X:-34.44, Y:2.52, Z:1.20 [[ 9.99928548e-01 1.11678300e-02 4.26369409e-03 -3.44365858e+01] [-1.11675606e-02 9.99937637e-01 -8.69906746e-05 2.51775140e+00] [-4.26439969e-03 3.93693967e-05 9.99990907e-01 1.19919338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57528557 meters 0.027078099133550727 Centerline is valid? [True, True] Translation: X:-34.47, Y:2.53, Z:1.20 [[ 9.99914222e-01 1.19028116e-02 5.46541457e-03 -3.44679988e+01] [-1.19023845e-02 9.99929158e-01 -1.10666571e-04 2.52637726e+00] [-5.46634464e-03 4.56056127e-05 9.99985058e-01 1.20187914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.60528557 meters 0.027176798049963986 Centerline is valid? [True, True] Translation: X:-34.50, Y:2.53, Z:1.20 [[ 9.99905236e-01 1.25783074e-02 5.59504075e-03 -3.45000073e+01] [-1.25778726e-02 9.99920889e-01 -1.12888674e-04 2.53172041e+00] [-5.59601807e-03 4.25042661e-05 9.99984341e-01 1.20264495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63528557 meters 0.030073619668925265 Centerline is valid? [True, True] Translation: X:-34.53, Y:2.54, Z:1.20 [[ 9.99867539e-01 1.52370326e-02 5.72167786e-03 -3.45324700e+01] [-1.52366245e-02 9.99883909e-01 -1.14907812e-04 2.53830756e+00] [-5.72276448e-03 2.77135337e-05 9.99983624e-01 1.19526837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66528557 meters 0.026632769984039805 Centerline is valid? [True, True] Translation: X:-34.56, Y:2.54, Z:1.19 [[ 9.99886920e-01 1.49685703e-02 1.44557345e-03 -3.45631715e+01] [-1.49685435e-02 9.99887965e-01 -2.93736378e-05 2.54214856e+00] [-1.44585117e-03 7.73218715e-06 9.99998955e-01 1.19492402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69528557 meters 0.0269997325395042 Centerline is valid? [True, True] Translation: X:-34.60, Y:2.55, Z:1.19 [[ 9.99875015e-01 1.57966888e-02 6.46913014e-04 -3.45953092e+01] [-1.57966828e-02 9.99875225e-01 -1.43192446e-05 2.54575970e+00] [-6.47058492e-04 4.09837524e-06 9.99999791e-01 1.19469755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.725285570000004 meters 0.02652713703918658 Centerline is valid? [True, True] Translation: X:-34.63, Y:2.55, Z:1.20 [[ 9.99876562e-01 1.55717803e-02 2.09282844e-03 -3.46263599e+01] [-1.55717259e-02 9.99878752e-01 -4.22993507e-05 2.55134071e+00] [-2.09323337e-03 9.70517852e-06 9.99997809e-01 1.19857219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75528557 meters 0.027643253054134967 Centerline is valid? [True, True] Translation: X:-34.66, Y:2.56, Z:1.20 [[ 9.99861076e-01 1.57607126e-02 5.42475567e-03 -3.46569463e+01] [-1.57603546e-02 9.99875792e-01 -1.08744221e-04 2.55970884e+00] [-5.42579576e-03 2.32330407e-05 9.99985280e-01 1.19900814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78528557 meters 0.029085984443633098 Centerline is valid? [True, True] Translation: X:-34.69, Y:2.57, Z:1.20 [[ 9.99844264e-01 1.64792406e-02 6.31523001e-03 -3.46891979e+01] [-1.64787823e-02 9.99864208e-01 -1.24594024e-04 2.56748778e+00] [-6.31642567e-03 2.05073196e-05 9.99980051e-01 1.20028617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81528557 meters 0.030401953660234432 Centerline is valid? [True, True] Translation: X:-34.72, Y:2.57, Z:1.20 [[ 9.99853242e-01 1.64294734e-02 4.85462963e-03 -3.47203780e+01] [-1.64291890e-02 9.99865027e-01 -9.84635081e-05 2.57135806e+00] [-4.85559209e-03 1.86914302e-05 9.99988211e-01 1.19839302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.84528557 meters 0.02798528481642387 Centerline is valid? [True, True] Translation: X:-34.75, Y:2.57, Z:1.20 [[ 9.99880811e-01 1.52079202e-02 2.66130067e-03 -3.47516906e+01] [-1.52078303e-02 9.99884353e-01 -5.40102936e-05 2.57330967e+00] [-2.66181428e-03 1.35312474e-05 9.99996457e-01 1.19778082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.87528557 meters 0.031818441252261194 Centerline is valid? [True, True] Translation: X:-34.78, Y:2.58, Z:1.20 [[ 9.99870263e-01 1.57429582e-02 3.40819858e-03 -3.47823686e+01] [-1.57428250e-02 9.99876072e-01 -6.59026893e-05 2.57589348e+00] [-3.40881372e-03 1.22394655e-05 9.99994190e-01 1.19653441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.905285570000004 meters 0.02807675278791625 Centerline is valid? [True, True] Translation: X:-34.81, Y:2.58, Z:1.20 [[ 9.99911441e-01 1.27625060e-02 3.77209616e-03 -3.48141459e+01] [-1.27623200e-02 9.99918556e-01 -7.33948236e-05 2.57587961e+00] [-3.77272564e-03 2.52476258e-05 9.99992883e-01 1.20114871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93528557 meters 0.02693255162848402 Centerline is valid? [True, True] Translation: X:-34.85, Y:2.58, Z:1.20 [[ 9.99961915e-01 8.03106638e-03 3.41620866e-03 -3.48458440e+01] [-8.03088642e-03 9.99967750e-01 -6.63930377e-05 2.57806135e+00] [-3.41663170e-03 3.89553254e-05 9.99994163e-01 1.20195238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96528557 meters 0.029838502596117707 Centerline is valid? [True, True] Translation: X:-34.88, Y:2.59, Z:1.20 [[ 9.99952841e-01 9.28633406e-03 2.84235829e-03 -3.48781229e+01] [-9.28621331e-03 9.99956881e-01 -5.56768492e-05 2.58542673e+00] [-2.84275276e-03 2.92794782e-05 9.99995959e-01 1.20029703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99528557 meters 0.027327497181711652 Centerline is valid? [True, True] Translation: X:-34.91, Y:2.59, Z:1.20 [[ 9.99975595e-01 6.85986844e-03 1.32313302e-03 -3.49104270e+01] [-6.85983889e-03 9.99976471e-01 -2.68680658e-05 2.58887145e+00] [-1.32328620e-03 1.77909308e-05 9.99999124e-01 1.20142712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.02528557 meters 0.02650467546377723 Centerline is valid? [True, True] Translation: X:-34.94, Y:2.59, Z:1.20 [[ 9.99967079e-01 7.81078013e-03 2.19810928e-03 -3.49411370e+01] [-7.81070575e-03 9.99969495e-01 -4.24181694e-05 2.59477467e+00] [-2.19837355e-03 2.52479882e-05 9.99997583e-01 1.20064574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.05528557 meters 0.026953053228410642 Centerline is valid? [True, True] Translation: X:-34.97, Y:2.60, Z:1.21 [[ 9.99962120e-01 7.95522362e-03 3.53158126e-03 -3.49732017e+01] [-7.95503448e-03 9.99968356e-01 -6.76016229e-05 2.59712989e+00] [-3.53200730e-03 3.95052115e-05 9.99993762e-01 1.20536666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08528557 meters 0.02642256926858526 Centerline is valid? [True, True] Translation: X:-35.00, Y:2.60, Z:1.20 [[ 9.99958100e-01 8.63341895e-03 3.04355534e-03 -3.50043148e+01] [-8.63328272e-03 9.99962731e-01 -5.78949735e-05 2.60311887e+00] [-3.04394174e-03 3.16166739e-05 9.99995367e-01 1.20332350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11528557 meters 0.02688511916040266 Centerline is valid? [True, True] Translation: X:-35.04, Y:2.61, Z:1.20 [[ 9.99961376e-01 8.70903145e-03 1.18299629e-03 -3.50362260e+01] [-8.70900968e-03 9.99962076e-01 -2.35554171e-05 2.61074415e+00] [-1.18315657e-03 1.32517811e-05 9.99999300e-01 1.20030764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14528557 meters 0.027459857216702598 Centerline is valid? [True, True] Translation: X:-35.07, Y:2.62, Z:1.21 [[ 9.99946211e-01 1.01563059e-02 2.10350951e-03 -3.50673351e+01] [-1.01562439e-02 9.99948423e-01 -4.01302248e-05 2.61824281e+00] [-2.10380860e-03 1.87643105e-05 9.99997787e-01 1.20695418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17528557 meters 0.02650022165578214 Centerline is valid? [True, True] Translation: X:-35.10, Y:2.62, Z:1.21 [[ 9.99918537e-01 1.21961546e-02 3.76474608e-03 -3.50984121e+01] [-1.21959748e-02 9.99925624e-01 -7.07155360e-05 2.62065092e+00] [-3.76532853e-03 2.47950268e-05 9.99992911e-01 1.21005636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.20528557 meters 0.02669063324870171 Centerline is valid? [True, True] Translation: X:-35.13, Y:2.62, Z:1.21 [[ 9.99899723e-01 1.37451198e-02 3.40820886e-03 -3.51312767e+01] [-1.37449780e-02 9.99905531e-01 -6.50272868e-05 2.62441362e+00] [-3.40878070e-03 1.81750103e-05 9.99994190e-01 1.21158158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23528557 meters 0.026373222983611343 Centerline is valid? [True, True] Translation: X:-35.16, Y:2.63, Z:1.20 [[ 9.99906005e-01 1.37049312e-02 3.94609311e-04 -3.51637637e+01] [-1.37049288e-02 9.99906083e-01 -8.81719025e-06 2.63061993e+00] [-3.94693089e-04 3.40826899e-06 9.99999922e-01 1.20273315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26528557 meters 0.026943033063712107 Centerline is valid? [True, True] Translation: X:-35.19, Y:2.64, Z:1.20 [[ 9.99913420e-01 1.30836309e-02 -1.40393636e-03 -3.51947600e+01] [-1.30836095e-02 9.99914406e-01 2.44414183e-05 2.63970228e+00] [ 1.40413598e-03 -6.07074709e-06 9.99999014e-01 1.20451231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29528557 meters 0.027361499397134188 Centerline is valid? [True, True] Translation: X:-35.23, Y:2.64, Z:1.21 [[ 9.99935718e-01 1.13182761e-02 -6.75239863e-04 -3.52257253e+01] [-1.13182721e-02 9.99935946e-01 9.75237325e-06 2.64336207e+00] [ 6.75306991e-04 -2.10919781e-06 9.99999772e-01 1.20932651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32528557 meters 0.02849836821386686 Centerline is valid? [True, True] Translation: X:-35.26, Y:2.64, Z:1.21 [[ 9.99939153e-01 1.07791493e-02 2.34528318e-03 -3.52574576e+01] [-1.07790767e-02 9.99941903e-01 -4.35999328e-05 2.64260634e+00] [-2.34561689e-03 1.83172926e-05 9.99997249e-01 1.21381417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35528557 meters 0.027306639974795942 Centerline is valid? [True, True] Translation: X:-35.29, Y:2.64, Z:1.21 [[ 9.99959505e-01 8.84441519e-03 1.66271401e-03 -3.52892535e+01] [-8.84437500e-03 9.99960887e-01 -3.15228673e-05 2.64396368e+00] [-1.66292778e-03 1.68159246e-05 9.99998617e-01 1.21358159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38528557 meters 0.027587277475321068 Centerline is valid? [True, True] Translation: X:-35.32, Y:2.65, Z:1.21 [[ 9.99966523e-01 7.98117267e-03 1.80355469e-03 -3.53202350e+01] [-7.98112510e-03 9.99968150e-01 -3.35683176e-05 2.64885132e+00] [-1.80376516e-03 1.91727982e-05 9.99998373e-01 1.21400881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41528557 meters 0.02974952392258771 Centerline is valid? [True, True] Translation: X:-35.35, Y:2.65, Z:1.21 [[ 9.99963323e-01 7.84396799e-03 3.43858731e-03 -3.53519417e+01] [-7.84379852e-03 9.99969235e-01 -6.27687585e-05 2.65156661e+00] [-3.43897388e-03 3.57948703e-05 9.99994086e-01 1.21222591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44528557 meters 0.027437861739546054 Centerline is valid? [True, True] Translation: X:-35.38, Y:2.66, Z:1.22 [[ 9.99977295e-01 6.72787136e-03 -3.81438744e-04 -3.53820332e+01] [-6.72786940e-03 9.99977368e-01 6.42701402e-06 2.65612405e+00] [ 3.81473351e-04 -3.86059803e-06 9.99999927e-01 1.21638521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.475285570000004 meters 0.027386051707026092 Centerline is valid? [True, True] Translation: X:-35.41, Y:2.66, Z:1.22 [[ 9.99973098e-01 7.33486165e-03 -6.34475723e-05 -3.54142948e+01] [-7.33486169e-03 9.99973100e-01 -4.87271974e-07 2.65708569e+00] [ 6.34422913e-05 9.52638044e-07 9.99999998e-01 1.21583135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50528557 meters 0.03098953997237732 Centerline is valid? [True, True] Translation: X:-35.45, Y:2.66, Z:1.22 [[ 9.99959877e-01 7.65842696e-03 4.64675202e-03 -3.54457592e+01] [-7.65811882e-03 9.99970673e-01 -8.41026275e-05 2.66111255e+00] [-4.64725984e-03 4.85138740e-05 9.99989200e-01 1.22063530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53528557 meters 0.028126653132403204 Centerline is valid? [True, True] Translation: X:-35.48, Y:2.67, Z:1.22 [[ 9.99963218e-01 6.97806586e-03 4.98691235e-03 -3.54791605e+01] [-6.97770177e-03 9.99975651e-01 -9.04040595e-05 2.66562915e+00] [-4.98742177e-03 5.56035471e-05 9.99987561e-01 1.22098241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56528557 meters 0.027472289397631945 Centerline is valid? [True, True] Translation: X:-35.51, Y:2.67, Z:1.22 [[ 9.99971980e-01 7.37998291e-03 1.25521183e-03 -3.55104920e+01] [-7.37995482e-03 9.99972767e-01 -2.70141513e-05 2.67175931e+00] [-1.25537701e-03 1.77499878e-05 9.99999212e-01 1.21856883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.59528557 meters 0.031174571514607494 Centerline is valid? [True, True] Translation: X:-35.54, Y:2.68, Z:1.21 [[ 9.99966389e-01 8.18669741e-03 4.46435764e-04 -3.55421752e+01] [-8.18669363e-03 9.99966488e-01 -1.03093376e-05 2.67501659e+00] [-4.46505203e-04 6.65415831e-06 9.99999900e-01 1.21367413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62528557 meters 0.028010250830240748 Centerline is valid? [True, True] Translation: X:-35.57, Y:2.68, Z:1.22 [[ 9.99960139e-01 8.74795329e-03 1.78682166e-03 -3.55745901e+01] [-8.74790851e-03 9.99961736e-01 -3.28769237e-05 2.68018719e+00] [-1.78704089e-03 1.72446608e-05 9.99998403e-01 1.21705113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.655285570000004 meters 0.03029398990901291 Centerline is valid? [True, True] Translation: X:-35.61, Y:2.69, Z:1.22 [[ 9.99951282e-01 9.25355217e-03 3.43590485e-03 -3.56054036e+01] [-9.25339541e-03 9.99957185e-01 -6.15197937e-05 2.68605515e+00] [-3.43632702e-03 2.97230104e-05 9.99994095e-01 1.22232696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68528557 meters 0.027803485406865905 Centerline is valid? [True, True] Translation: X:-35.64, Y:2.69, Z:1.22 [[ 9.99960079e-01 8.85023475e-03 1.22999053e-03 -3.56360911e+01] [-8.85021415e-03 9.99960836e-01 -2.21922892e-05 2.69071780e+00] [-1.23013876e-03 1.13057237e-05 9.99999243e-01 1.22456624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71528557 meters 0.030016439034712673 Centerline is valid? [True, True] Translation: X:-35.67, Y:2.69, Z:1.22 [[ 9.99956734e-01 9.27548170e-03 7.03646552e-04 -3.56681376e+01] [-9.27547444e-03 9.99956982e-01 -1.35782181e-05 2.69490369e+00] [-7.03742227e-04 7.05097508e-06 9.99999752e-01 1.22117075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74528557 meters 0.02972629194009715 Centerline is valid? [True, True] Translation: X:-35.70, Y:2.70, Z:1.23 [[ 9.99960099e-01 8.85160322e-03 1.20408651e-03 -3.57004363e+01] [-8.85158320e-03 9.99960824e-01 -2.19548064e-05 2.70351332e+00] [-1.20423368e-03 1.12958584e-05 9.99999275e-01 1.22517305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.77528557 meters 0.028631581359470776 Centerline is valid? [True, True] Translation: X:-35.73, Y:2.71, Z:1.22 [[ 9.99961043e-01 8.78047510e-03 9.02850600e-04 -3.57322177e+01] [-8.78046353e-03 9.99961451e-01 -1.67821292e-05 2.71316047e+00] [-9.02963151e-04 8.85402869e-06 9.99999592e-01 1.22478209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80528557 meters 0.027956211429641952 Centerline is valid? [True, True] Translation: X:-35.76, Y:2.72, Z:1.22 [[ 9.99958331e-01 9.11269501e-03 -5.43925290e-04 -3.57631414e+01] [-9.11269204e-03 9.99958479e-01 7.93588692e-06 2.71883797e+00] [ 5.43975023e-04 -2.97893256e-06 9.99999852e-01 1.22347003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.83528557 meters 0.028163228023416597 Centerline is valid? [True, True] Translation: X:-35.80, Y:2.72, Z:1.22 [[ 9.99957203e-01 9.24435394e-03 -3.65832013e-04 -3.57953574e+01] [-9.24435306e-03 9.99957270e-01 4.10421096e-06 2.71976485e+00] [ 3.65854322e-04 -7.22155011e-07 9.99999933e-01 1.22400426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86528557 meters 0.0309681833263012 Centerline is valid? [True, True] Translation: X:-35.83, Y:2.72, Z:1.23 [[ 9.99936669e-01 1.09122833e-02 2.75318233e-03 -3.58275752e+01] [-1.09121942e-02 9.99940459e-01 -4.73988386e-05 2.72115928e+00] [-2.75353563e-03 1.73525767e-05 9.99996209e-01 1.22648166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89528557 meters 0.028477887319348017 Centerline is valid? [True, True] Translation: X:-35.86, Y:2.73, Z:1.23 [[ 9.99943592e-01 1.03923400e-02 2.19344694e-03 -3.58588665e+01] [-1.03922824e-02 9.99945998e-01 -3.76225594e-05 2.72620620e+00] [-2.19371948e-03 1.48255171e-05 9.99997594e-01 1.23280723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92528557 meters 0.028707381466449612 Centerline is valid? [True, True] Translation: X:-35.89, Y:2.73, Z:1.23 [[ 9.99948584e-01 1.01202280e-02 -6.41264014e-04 -3.58912680e+01] [-1.01202243e-02 9.99948789e-01 8.98368907e-06 2.73487179e+00] [ 6.41322091e-04 -2.49349151e-06 9.99999794e-01 1.22591746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.95528557 meters 0.030568435605099403 Centerline is valid? [True, True] Translation: X:-35.92, Y:2.74, Z:1.22 [[ 9.99917775e-01 1.26846058e-02 -1.88268784e-03 -3.59225958e+01] [-1.26845720e-02 9.99919547e-01 2.98523551e-05 2.74165809e+00] [ 1.88291504e-03 -5.96881095e-06 9.99998227e-01 1.22260957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98528557 meters 0.028231805552305228 Centerline is valid? [True, True] Translation: X:-35.95, Y:2.74, Z:1.22 [[ 9.99933623e-01 1.14859651e-02 -9.06393938e-04 -3.59543461e+01] [-1.14859574e-02 9.99934034e-01 1.36951763e-05 2.74164966e+00] [ 9.06491449e-04 -3.28346506e-06 9.99999589e-01 1.22074349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01528557 meters 0.028582757838265454 Centerline is valid? [True, True] Translation: X:-35.99, Y:2.74, Z:1.23 [[ 9.99927576e-01 1.18443384e-02 2.13416670e-03 -3.59850817e+01] [-1.18442865e-02 9.99929853e-01 -3.69831075e-05 2.74323200e+00] [-2.13445504e-03 1.17027473e-05 9.99997722e-01 1.22885886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.045285570000004 meters 0.02815758209616641 Centerline is valid? [True, True] Translation: X:-36.02, Y:2.74, Z:1.23 [[ 9.99925922e-01 1.17710223e-02 3.09719731e-03 -3.60170989e+01] [-1.17709177e-02 9.99930719e-01 -5.19883686e-05 2.74475172e+00] [-3.09759469e-03 1.55276627e-05 9.99995202e-01 1.23065968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07528557 meters 0.028066383724129867 Centerline is valid? [True, True] Translation: X:-36.05, Y:2.75, Z:1.23 [[ 9.99927505e-01 1.19893019e-02 1.11435321e-03 -3.60485475e+01] [-1.19892879e-02 9.99928126e-01 -1.92553156e-05 2.74645469e+00] [-1.11450398e-03 5.89361824e-06 9.99999379e-01 1.22900415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10528557 meters 0.028405747706549373 Centerline is valid? [True, True] Translation: X:-36.08, Y:2.75, Z:1.23 [[ 9.99923777e-01 1.23085476e-02 -9.69595976e-04 -3.60809763e+01] [-1.23085398e-02 9.99924247e-01 1.40895579e-05 2.74696955e+00] [ 9.69695948e-04 -2.15417331e-06 9.99999530e-01 1.22990601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13528557 meters 0.028347177733481103 Centerline is valid? [True, True] Translation: X:-36.11, Y:2.76, Z:1.23 [[ 9.99893870e-01 1.44495544e-02 1.86005645e-03 -3.61131565e+01] [-1.44495209e-02 9.99895600e-01 -3.14877938e-05 2.75549967e+00] [-1.86031724e-03 4.60752761e-06 9.99998270e-01 1.23436897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16528557 meters 0.028227384734537883 Centerline is valid? [True, True] Translation: X:-36.14, Y:2.77, Z:1.23 [[ 9.99862034e-01 1.64506412e-02 2.29969928e-03 -3.61444326e+01] [-1.64505971e-02 9.99864679e-01 -3.80776758e-05 2.76543376e+00] [-2.30001448e-03 2.40996008e-07 9.99997355e-01 1.23417510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19528557 meters 0.028355839654264487 Centerline is valid? [True, True] Translation: X:-36.18, Y:2.77, Z:1.23 [[ 9.99840884e-01 1.78311892e-02 -5.05199782e-04 -3.61769261e+01] [-1.78311882e-02 9.99841012e-01 6.47121453e-06 2.76885178e+00] [ 5.05234850e-04 2.53812753e-06 9.99999872e-01 1.22883931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.225285570000004 meters 0.02867693954888161 Centerline is valid? [True, True] Translation: X:-36.21, Y:2.77, Z:1.23 [[ 9.99797827e-01 1.98770931e-02 -3.03422033e-03 -3.62092862e+01] [-1.98770431e-02 9.99802431e-01 4.66596413e-05 2.76925880e+00] [ 3.03454832e-03 1.36611203e-05 9.99995396e-01 1.23088699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25528557 meters 0.02867693954888161 Centerline is valid? [True, True] Translation: X:-36.24, Y:2.77, Z:1.23 [[ 9.99799149e-01 1.98104871e-02 -3.03422278e-03 -3.62409862e+01] [-1.98104372e-02 9.99803753e-01 4.65022420e-05 2.76984282e+00] [ 3.03454855e-03 1.36163779e-05 9.99995396e-01 1.23162623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28528557 meters 0.028637893257965962 Centerline is valid? [True, True] Translation: X:-36.27, Y:2.77, Z:1.24 [[ 9.99786576e-01 2.06112328e-02 1.40715139e-03 -3.62717188e+01] [-2.06112181e-02 9.99787566e-01 -2.49229729e-05 2.77054410e+00] [-1.40736615e-03 -4.08545048e-06 9.99999010e-01 1.23984030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31528557 meters 0.028144609090921795 Centerline is valid? [True, True] Translation: X:-36.30, Y:2.78, Z:1.24 [[ 9.99766519e-01 2.12690672e-02 3.81243149e-03 -3.63041052e+01] [-2.12689882e-02 9.99773788e-01 -6.12711314e-05 2.77765490e+00] [-3.81287225e-03 -1.98297347e-05 9.99992731e-01 1.23981208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.34528557 meters 0.028729260434449067 Centerline is valid? [True, True] Translation: X:-36.34, Y:2.78, Z:1.24 [[ 9.99772738e-01 2.12741974e-02 1.37116539e-03 -3.63350856e+01] [-2.12741815e-02 9.99773679e-01 -2.62177592e-05 2.78330690e+00] [-1.37141283e-03 -2.95862047e-06 9.99999060e-01 1.23640107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.37528557 meters 0.029911878819945916 Centerline is valid? [True, True] Translation: X:-36.37, Y:2.78, Z:1.23 [[ 9.99806036e-01 1.96773354e-02 -8.32448417e-04 -3.63679685e+01] [-1.96773336e-02 9.99806382e-01 1.04302965e-05 2.78304318e+00] [ 8.32492481e-04 5.95209182e-06 9.99999653e-01 1.23050973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.405285570000004 meters 0.028499540885183826 Centerline is valid? [True, True] Translation: X:-36.40, Y:2.78, Z:1.23 [[ 9.99830634e-01 1.83971240e-02 -4.99168758e-04 -3.63992892e+01] [-1.83971231e-02 9.99830759e-01 6.49271931e-06 2.78131190e+00] [ 4.99203726e-04 2.69164944e-06 9.99999875e-01 1.23448791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43528557 meters 0.028524717979140548 Centerline is valid? [True, True] Translation: X:-36.43, Y:2.78, Z:1.24 [[ 9.99828620e-01 1.83642512e-02 2.34210454e-03 -3.64301042e+01] [-1.83642153e-02 9.99831363e-01 -3.68619989e-05 2.78445324e+00] [-2.34238651e-03 -6.15523040e-06 9.99997257e-01 1.24248533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46528557 meters 0.02859503300285686 Centerline is valid? [True, True] Translation: X:-36.46, Y:2.79, Z:1.25 [[ 9.99846057e-01 1.71325647e-02 3.78659052e-03 -3.64624485e+01] [-1.71324641e-02 9.99853227e-01 -5.90165688e-05 2.78572069e+00] [-3.78704585e-03 -5.86614253e-06 9.99992829e-01 1.24614052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49528557 meters 0.0284835352510284 Centerline is valid? [True, True] Translation: X:-36.49, Y:2.78, Z:1.24 [[ 9.99886174e-01 1.50354600e-02 1.25455025e-03 -3.64942961e+01] [-1.50354457e-02 9.99886961e-01 -2.08153451e-05 2.78254333e+00] [-1.25472141e-03 1.95025364e-06 9.99999213e-01 1.24308784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.52528557 meters 0.02855248996998233 Centerline is valid? [True, True] Translation: X:-36.53, Y:2.78, Z:1.24 [[ 9.99898196e-01 1.42068516e-02 -1.32775072e-03 -3.65255408e+01] [-1.42068392e-02 9.99899078e-01 1.87712778e-05 2.78343348e+00] [ 1.32788340e-03 9.37741144e-08 9.99999118e-01 1.23889364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55528557 meters 0.028040960150338093 Centerline is valid? [True, True] Translation: X:-36.56, Y:2.78, Z:1.24 [[ 9.99895164e-01 1.44210045e-02 -1.30234912e-03 -3.65574058e+01] [-1.44209940e-02 9.99896012e-01 1.74709797e-05 2.78478449e+00] [ 1.30246564e-03 1.31202076e-06 9.99999152e-01 1.23809386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58528557 meters 0.030883884718063293 Centerline is valid? [True, True] Translation: X:-36.59, Y:2.79, Z:1.24 [[ 9.99893495e-01 1.44784307e-02 1.83700903e-03 -3.65898568e+01] [-1.44784019e-02 9.99895182e-01 -2.89322814e-05 2.78583503e+00] [-1.83723538e-03 2.33224482e-06 9.99998312e-01 1.23951254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61528557 meters 0.03068300365313115 Centerline is valid? [True, True] Translation: X:-36.62, Y:2.78, Z:1.25 [[ 9.99899044e-01 1.31606547e-02 5.35716494e-03 -3.66218443e+01] [-1.31604102e-02 9.99913395e-01 -8.08893513e-05 2.78474156e+00] [-5.35776553e-03 1.03786968e-05 9.99985647e-01 1.25179730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64528557 meters 0.028437169724253464 Centerline is valid? [True, True] Translation: X:-36.65, Y:2.78, Z:1.25 [[ 9.99890601e-01 1.43903260e-02 3.42124656e-03 -3.66533093e+01] [-1.43902220e-02 9.99896454e-01 -5.50179735e-05 2.78275486e+00] [-3.42168403e-03 5.77945730e-06 9.99994146e-01 1.24918200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67528557 meters 0.030823414880385442 Centerline is valid? [True, True] Translation: X:-36.69, Y:2.78, Z:1.25 [[ 9.99862805e-01 1.63589540e-02 2.59937130e-03 -3.66856861e+01] [-1.63589070e-02 9.99866183e-01 -3.93373739e-05 2.78454147e+00] [-2.59966698e-03 -3.19089640e-06 9.99996621e-01 1.24801165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.70528557 meters 0.03264206314268515 Centerline is valid? [True, True] Translation: X:-36.72, Y:2.79, Z:1.25 [[ 9.99850071e-01 1.70562089e-02 2.98700633e-03 -3.67177030e+01] [-1.70561397e-02 9.99854532e-01 -4.86589968e-05 2.78775274e+00] [-2.98740176e-03 -2.29509580e-06 9.99995538e-01 1.24849921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73528557 meters 0.02890268992606482 Centerline is valid? [True, True] Translation: X:-36.75, Y:2.79, Z:1.25 [[ 9.99864778e-01 1.62675498e-02 2.40661468e-03 -3.67496763e+01] [-1.62675108e-02 9.99867675e-01 -3.57857466e-05 2.79288152e+00] [-2.40687837e-03 -3.36872277e-06 9.99997103e-01 1.25414307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76528557 meters 0.028011816970292324 Centerline is valid? [True, True] Translation: X:-36.78, Y:2.80, Z:1.25 [[ 9.99856707e-01 1.63382280e-02 4.43038743e-03 -3.67814351e+01] [-1.63381053e-02 9.99866522e-01 -6.38863502e-05 2.79618870e+00] [-4.43083986e-03 -8.50694054e-06 9.99990184e-01 1.25020931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.795285570000004 meters 0.028458545943043284 Centerline is valid? [True, True] Translation: X:-36.81, Y:2.80, Z:1.25 [[ 9.99827520e-01 1.82385196e-02 3.50511541e-03 -3.68135837e+01] [-1.82384531e-02 9.99833664e-01 -5.09378467e-05 2.79695661e+00] [-3.50546142e-03 -1.29988219e-05 9.99993856e-01 1.25027446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82528557 meters 0.03013241256235427 Centerline is valid? [True, True] Translation: X:-36.84, Y:2.80, Z:1.25 [[ 9.99821707e-01 1.87233621e-02 2.44763213e-03 -3.68449040e+01] [-1.87233224e-02 9.99824702e-01 -3.91324742e-05 2.79517556e+00] [-2.44793576e-03 -6.70230835e-06 9.99997004e-01 1.25385316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85528557 meters 0.029690815850256996 Centerline is valid? [True, True] Translation: X:-36.88, Y:2.79, Z:1.25 [[ 9.99823753e-01 1.85758251e-02 2.72042843e-03 -3.68775351e+01] [-1.85757874e-02 9.99827454e-01 -3.91208432e-05 2.79436441e+00] [-2.72068574e-03 -1.14201520e-05 9.99996299e-01 1.25389181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88528557 meters 0.028713467459807338 Centerline is valid? [True, True] Translation: X:-36.91, Y:2.80, Z:1.26 [[ 9.99821621e-01 1.83805467e-02 4.34527730e-03 -3.69091121e+01] [-1.83804493e-02 9.99831063e-01 -6.23411421e-05 2.79742012e+00] [-4.34568909e-03 -1.75381274e-05 9.99990557e-01 1.25855902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91528557 meters 0.028152491252222182 Centerline is valid? [True, True] Translation: X:-36.94, Y:2.80, Z:1.26 [[ 9.99830593e-01 1.74677731e-02 5.80196752e-03 -3.69407524e+01] [-1.74675945e-02 9.99847427e-01 -8.14628472e-05 2.80280984e+00] [-5.80250527e-03 -1.98973693e-05 9.99983165e-01 1.26128233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94528557 meters 0.028208674419454308 Centerline is valid? [True, True] Translation: X:-36.97, Y:2.81, Z:1.26 [[ 9.99823516e-01 1.80127630e-02 5.33640374e-03 -3.69722039e+01] [-1.80126218e-02 9.99837757e-01 -7.45282846e-05 2.80739894e+00] [-5.33688040e-03 -2.16074908e-05 9.99985759e-01 1.26267097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.975285570000004 meters 0.027936153056592555 Centerline is valid? [True, True] Translation: X:-37.01, Y:2.81, Z:1.26 [[ 9.99811060e-01 1.85242516e-02 5.89029634e-03 -3.70051633e+01] [-1.85240804e-02 9.99828411e-01 -8.36136810e-05 2.80954571e+00] [-5.89083451e-03 -2.55144402e-05 9.99982649e-01 1.26047853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00528557 meters 0.027672942434127403 Centerline is valid? [True, True] Translation: X:-37.04, Y:2.81, Z:1.26 [[ 9.99842652e-01 1.68114875e-02 5.66084156e-03 -3.70371743e+01] [-1.68113110e-02 9.99858677e-01 -7.87553247e-05 2.80708451e+00] [-5.66136554e-03 -1.64232354e-05 9.99983974e-01 1.26194497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03528557 meters 0.03186349473610014 Centerline is valid? [True, True] Translation: X:-37.07, Y:2.80, Z:1.26 [[ 9.99844644e-01 1.67824431e-02 5.38861153e-03 -3.70705479e+01] [-1.67822867e-02 9.99859165e-01 -7.42488086e-05 2.80442390e+00] [-5.38909870e-03 -1.61959501e-05 9.99985479e-01 1.26292149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06528557 meters 0.027704470019850602 Centerline is valid? [True, True] Translation: X:-37.10, Y:2.80, Z:1.27 [[ 9.99867020e-01 1.56733357e-02 4.50431407e-03 -3.71012778e+01] [-1.56732202e-02 9.99877166e-01 -6.09351609e-05 2.80356125e+00] [-4.50471585e-03 -9.67004871e-06 9.99989854e-01 1.27072148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.09528557 meters 0.02791631109005868 Centerline is valid? [True, True] Translation: X:-37.13, Y:2.81, Z:1.28 [[ 9.99860509e-01 1.48220494e-02 7.69869445e-03 -3.71330248e+01] [-1.48217469e-02 9.99890147e-01 -9.63515101e-05 2.80609974e+00] [-7.69927685e-03 -1.77700305e-05 9.99970360e-01 1.27811837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12528557 meters 0.02717106787407513 Centerline is valid? [True, True] Translation: X:-37.17, Y:2.81, Z:1.28 [[ 9.99851726e-01 1.44059597e-02 9.43373161e-03 -3.71654236e+01] [-1.44054735e-02 9.99896229e-01 -1.19492732e-04 2.80988341e+00] [-9.43447407e-03 -1.64223566e-05 9.99955494e-01 1.27784687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.155285570000004 meters 0.027946948989128056 Centerline is valid? [True, True] Translation: X:-37.20, Y:2.81, Z:1.28 [[ 9.99891488e-01 1.32439815e-02 6.45055233e-03 -3.71981635e+01] [-1.32437440e-02 9.99912295e-01 -7.95269350e-05 2.81160942e+00] [-6.45103984e-03 -5.91115853e-06 9.99979192e-01 1.27611021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18528557 meters 0.028974341326172506 Centerline is valid? [True, True] Translation: X:-37.23, Y:2.81, Z:1.27 [[ 9.99925281e-01 1.17317287e-02 3.43495697e-03 -3.72310058e+01] [-1.17316512e-02 9.99931181e-01 -4.27313496e-05 2.80904558e+00] [-3.43522189e-03 2.43043983e-06 9.99994100e-01 1.27234188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21528557 meters 0.028008388311401004 Centerline is valid? [True, True] Translation: X:-37.26, Y:2.81, Z:1.28 [[ 9.99931228e-01 1.14958800e-02 2.32056255e-03 -3.72621842e+01] [-1.14958361e-02 9.99933920e-01 -3.22789704e-05 2.80635148e+00] [-2.32078028e-03 5.59994383e-06 9.99997307e-01 1.28248144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24528557 meters 0.02863104093695656 Centerline is valid? [True, True] Translation: X:-37.29, Y:2.80, Z:1.29 [[ 9.99914492e-01 1.11644566e-02 6.80906457e-03 -3.72926960e+01] [-1.11641712e-02 9.99937676e-01 -7.99196662e-05 2.80414969e+00] [-6.80953246e-03 3.89526993e-06 9.99976815e-01 1.29198261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.27528557 meters 0.030105318650083614 Centerline is valid? [True, True] Translation: X:-37.32, Y:2.81, Z:1.29 [[ 9.99880113e-01 1.20113877e-02 9.77168295e-03 -3.73246544e+01] [-1.20108190e-02 9.99927861e-01 -1.16883241e-04 2.80726362e+00] [-9.77238196e-03 -4.96687044e-07 9.99952249e-01 1.29433506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30528557 meters 0.0273094699997428 Centerline is valid? [True, True] Translation: X:-37.36, Y:2.81, Z:1.29 [[ 9.99915990e-01 1.08602406e-02 7.07594352e-03 -3.73568678e+01] [-1.08599152e-02 9.99941026e-01 -8.44042425e-05 2.81249791e+00] [-7.07644287e-03 7.55300507e-06 9.99974962e-01 1.29297387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33528557 meters 0.027336238196671907 Centerline is valid? [True, True] Translation: X:-37.39, Y:2.81, Z:1.29 [[ 9.99927634e-01 1.05181868e-02 5.83899944e-03 -3.73892471e+01] [-1.05179624e-02 9.99944682e-01 -6.91443659e-05 2.81201342e+00] [-5.83940371e-03 7.72498591e-06 9.99982951e-01 1.28811909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36528557 meters 0.027501841601327917 Centerline is valid? [True, True] Translation: X:-37.42, Y:2.81, Z:1.29 [[ 9.99955039e-01 8.25170138e-03 4.67222712e-03 -3.74210570e+01] [-8.25154779e-03 9.99965954e-01 -5.21496855e-05 2.80594247e+00] [-4.67249837e-03 1.35942354e-05 9.99989084e-01 1.28873432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39528557 meters 0.027368628987557733 Centerline is valid? [True, True] Translation: X:-37.45, Y:2.81, Z:1.29 [[ 9.99964458e-01 6.54628753e-03 5.31304833e-03 -3.74519731e+01] [-6.54606960e-03 9.99978573e-01 -5.84071295e-05 2.80546442e+00] [-5.31331683e-03 2.36254695e-05 9.99985884e-01 1.29424579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42528557 meters 0.02738754330402275 Centerline is valid? [True, True] Translation: X:-37.48, Y:2.81, Z:1.30 [[ 9.99946928e-01 5.46905993e-03 8.73103112e-03 -3.74830965e+01] [-5.46841894e-03 9.99985043e-01 -9.72858127e-05 2.80531385e+00] [-8.73143259e-03 4.95357135e-05 9.99961879e-01 1.30147832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.45528557 meters 0.02761573896174494 Centerline is valid? [True, True] Translation: X:-37.52, Y:2.81, Z:1.30 [[ 9.99950297e-01 3.63306066e-03 9.28457929e-03 -3.75164499e+01] [-3.63227197e-03 9.99993398e-01 -1.01807077e-04 2.80634191e+00] [-9.28488786e-03 6.80779003e-05 9.99956892e-01 1.30123570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48528557 meters 0.02767393702863104 Centerline is valid? [True, True] Translation: X:-37.55, Y:2.81, Z:1.30 [[ 9.99975272e-01 2.85318565e-03 6.42763250e-03 -3.75484809e+01] [-2.85279520e-03 9.99995928e-01 -6.99128199e-05 2.80788168e+00] [-6.42780581e-03 5.15743719e-05 9.99979340e-01 1.29667457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51528557 meters 0.027856535285463925 Centerline is valid? [True, True] Translation: X:-37.58, Y:2.81, Z:1.30 [[ 9.99990251e-01 1.17659408e-03 4.25591144e-03 -3.75797211e+01] [-1.17641227e-03 9.99999307e-01 -4.52241331e-05 2.81045144e+00] [-4.25596171e-03 4.02169858e-05 9.99990943e-01 1.29650874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.545285570000004 meters 0.030017855817454628 Centerline is valid? [True, True] Translation: X:-37.61, Y:2.81, Z:1.30 [[ 9.99975493e-01 -7.10901767e-05 7.00062505e-03 -3.76111622e+01] [ 7.15918996e-05 9.99999995e-01 -7.14177226e-05 2.81048794e+00] [-7.00061994e-03 7.19171604e-05 9.99975493e-01 1.30199790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57528557 meters 0.02776094884829791 Centerline is valid? [True, True] Translation: X:-37.64, Y:2.81, Z:1.31 [[ 9.99949045e-01 4.97614806e-04 1.00826718e-02 -3.76427101e+01] [-4.96615891e-04 9.99999872e-01 -1.01575931e-04 2.80830937e+00] [-1.00827211e-02 9.65635396e-05 9.99949163e-01 1.30974181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.60528557 meters 0.027721338848246332 Centerline is valid? [True, True] Translation: X:-37.68, Y:2.81, Z:1.31 [[ 9.99941314e-01 1.00316574e-03 1.07871421e-02 -3.76750673e+01] [-1.00207896e-03 9.99999492e-01 -1.06152292e-04 2.80798536e+00] [-1.07872431e-02 9.53364943e-05 9.99941811e-01 1.31388225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63528557 meters 0.029762623340172507 Centerline is valid? [True, True] Translation: X:-37.71, Y:2.81, Z:1.32 [[ 9.99962394e-01 1.17010422e-03 8.59307701e-03 -3.77074272e+01] [-1.16942851e-03 9.99999313e-01 -8.36581590e-05 2.81179628e+00] [-8.59316899e-03 7.36060237e-05 9.99963075e-01 1.31504655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66528557 meters 0.027778350174084268 Centerline is valid? [True, True] Translation: X:-37.74, Y:2.82, Z:1.31 [[ 9.99979167e-01 2.41464293e-03 5.98626401e-03 -3.77388441e+01] [-2.41433782e-03 9.99997084e-01 -5.81950223e-05 2.81789715e+00] [-5.98638708e-03 4.37409463e-05 9.99982080e-01 1.31187838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69528557 meters 0.027791459306450956 Centerline is valid? [True, True] Translation: X:-37.77, Y:2.82, Z:1.32 [[ 9.99967074e-01 5.03807240e-03 6.36152833e-03 -3.77711115e+01] [-5.03778998e-03 9.99987308e-01 -6.04181109e-05 2.82241159e+00] [-6.36175198e-03 2.83680779e-05 9.99979763e-01 1.31552868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.725285570000004 meters 0.028904305920549225 Centerline is valid? [True, True] Translation: X:-37.80, Y:2.82, Z:1.32 [[ 9.99937009e-01 6.83988069e-03 8.89905922e-03 -3.78027109e+01] [-6.83944003e-03 9.99976608e-01 -7.99496839e-05 2.82323546e+00] [-8.89939790e-03 1.90800659e-05 9.99960399e-01 1.32380549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75528557 meters 0.027692579726528638 Centerline is valid? [True, True] Translation: X:-37.83, Y:2.82, Z:1.33 [[ 9.99922210e-01 7.85107937e-03 9.69193905e-03 -3.78336415e+01] [-7.85062935e-03 9.99969180e-01 -8.44775715e-05 2.82451927e+00] [-9.69230358e-03 8.38317889e-06 9.99953028e-01 1.33045132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78528557 meters 0.027386406890874626 Centerline is valid? [True, True] Translation: X:-37.87, Y:2.83, Z:1.33 [[ 9.99929449e-01 8.39261003e-03 8.40606294e-03 -3.78657295e+01] [-8.39229782e-03 9.99964781e-01 -7.24142456e-05 2.82609542e+00] [-8.40637463e-03 1.86295295e-06 9.99964666e-01 1.32815966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81528557 meters 0.02747158547006344 Centerline is valid? [True, True] Translation: X:-37.90, Y:2.83, Z:1.33 [[ 9.99958801e-01 7.74312038e-03 4.73719011e-03 -3.78985234e+01] [-7.74302144e-03 9.99970022e-01 -3.92243284e-05 2.82533930e+00] [-4.73735182e-03 2.54254776e-06 9.99988779e-01 1.32758969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.84528557 meters 0.027688430584918943 Centerline is valid? [True, True] Translation: X:-37.93, Y:2.83, Z:1.33 [[ 9.99971011e-01 6.95182025e-03 3.10648298e-03 -3.79305934e+01] [-6.95177363e-03 9.99975836e-01 -2.58045914e-05 2.82680304e+00] [-3.10658731e-03 4.20827685e-06 9.99995175e-01 1.33098054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87528557 meters 0.028207899115853557 Centerline is valid? [True, True] Translation: X:-37.96, Y:2.83, Z:1.34 [[ 9.99936532e-01 7.94898120e-03 7.98410912e-03 -3.79612937e+01] [-7.94873184e-03 9.99968406e-01 -6.29642400e-05 2.83258248e+00] [-7.98435737e-03 -5.03298572e-07 9.99968125e-01 1.33941797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.905285570000004 meters 0.027777630622328825 Centerline is valid? [True, True] Translation: X:-37.99, Y:2.83, Z:1.34 [[ 9.99926760e-01 7.17022947e-03 9.74998023e-03 -3.79932090e+01] [-7.16980303e-03 9.99974294e-01 -7.86907158e-05 2.83141772e+00] [-9.75029382e-03 8.77951474e-06 9.99952465e-01 1.33845881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93528557 meters 0.027914640304422245 Centerline is valid? [True, True] Translation: X:-38.02, Y:2.83, Z:1.35 [[ 9.99938495e-01 7.35656631e-03 8.29982283e-03 -3.80246198e+01] [-7.35627529e-03 9.99972940e-01 -6.55918578e-05 2.83000923e+00] [-8.30008077e-03 4.53204201e-06 9.99965554e-01 1.34520220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96528557 meters 0.03192367370521883 Centerline is valid? [True, True] Translation: X:-38.06, Y:2.83, Z:1.34 [[ 9.99961720e-01 7.31871683e-03 4.79540618e-03 -3.80571155e+01] [-7.31861202e-03 9.99973218e-01 -3.94032271e-05 2.82898434e+00] [-4.79556613e-03 4.30600137e-06 9.99988501e-01 1.34185833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99528557 meters 0.03134855026937129 Centerline is valid? [True, True] Translation: X:-38.09, Y:2.84, Z:1.34 [[ 9.99959067e-01 7.31452489e-03 5.32552937e-03 -3.80891675e+01] [-7.31442260e-03 9.99973249e-01 -3.86844456e-05 2.83521545e+00] [-5.32566987e-03 -2.70310279e-07 9.99985819e-01 1.34231466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.02528557 meters 0.02872329523112408 Centerline is valid? [True, True] Translation: X:-38.12, Y:2.84, Z:1.35 [[ 9.99942247e-01 8.52951622e-03 6.53838282e-03 -3.81205801e+01] [-8.52937816e-03 9.99963623e-01 -4.89999201e-05 2.83955545e+00] [-6.53856292e-03 -6.77124945e-06 9.99978623e-01 1.34823893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05528557 meters 0.02752445444224509 Centerline is valid? [True, True] Translation: X:-38.15, Y:2.84, Z:1.36 [[ 9.99934204e-01 8.91708665e-03 7.21612037e-03 -3.81530231e+01] [-8.91693682e-03 9.99960242e-01 -5.29368037e-05 2.83808913e+00] [-7.21630551e-03 -1.14123687e-05 9.99973962e-01 1.35708835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08528557 meters 0.029890165462573597 Centerline is valid? [True, True] Translation: X:-38.19, Y:2.84, Z:1.35 [[ 9.99928230e-01 1.03606062e-02 6.01610602e-03 -3.81855367e+01] [-1.03605331e-02 9.99946327e-01 -4.33070104e-05 2.83996454e+00] [-6.01623180e-03 -1.90261634e-05 9.99981902e-01 1.35320879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11528557 meters 0.030688090203672864 Centerline is valid? [True, True] Translation: X:-38.22, Y:2.84, Z:1.35 [[ 9.99943300e-01 9.62689049e-03 4.55200485e-03 -3.82177037e+01] [-9.62685483e-03 9.99953660e-01 -2.97457519e-05 2.84358388e+00] [-4.55208027e-03 -1.40774246e-05 9.99989639e-01 1.35380069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14528557 meters 0.027629010788075798 Centerline is valid? [True, True] Translation: X:-38.25, Y:2.85, Z:1.36 [[ 9.99932387e-01 1.09645801e-02 3.87291257e-03 -3.82485620e+01] [-1.09645535e-02 9.99939887e-01 -2.81208471e-05 2.84581514e+00] [-3.87298809e-03 -1.43458112e-05 9.99992500e-01 1.35619577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17528557 meters 0.027629010788075798 Centerline is valid? [True, True] Translation: X:-38.28, Y:2.85, Z:1.36 [[ 9.99933458e-01 1.08664175e-02 3.87293074e-03 -3.82811160e+01] [-1.08664018e-02 9.99940959e-01 -2.51019163e-05 2.84613591e+00] [-3.87297485e-03 -1.69845757e-05 9.99992500e-01 1.35695302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.20528557 meters 0.03022948662300439 Centerline is valid? [True, True] Translation: X:-38.31, Y:2.84, Z:1.37 [[ 9.99926656e-01 1.01375034e-02 6.62680288e-03 -3.83124043e+01] [-1.01374619e-02 9.99948614e-01 -3.98533956e-05 2.84467168e+00] [-6.62686637e-03 -2.73284890e-05 9.99978042e-01 1.36519046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23528557 meters 0.027942114250640623 Centerline is valid? [True, True] Translation: X:-38.35, Y:2.85, Z:1.37 [[ 9.99925074e-01 1.02372295e-02 6.71164856e-03 -3.83451004e+01] [-1.02371859e-02 9.99947598e-01 -4.08548155e-05 2.84569735e+00] [-6.71171510e-03 -2.78566394e-05 9.99977476e-01 1.36834945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26528557 meters 0.027801343144259433 Centerline is valid? [True, True] Translation: X:-38.38, Y:2.85, Z:1.37 [[ 9.99935524e-01 1.00203776e-02 5.34223460e-03 -3.83767072e+01] [-1.00203345e-02 9.99949795e-01 -3.48202428e-05 2.84944068e+00] [-5.34231531e-03 -1.87129802e-05 9.99985730e-01 1.36605378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.295285570000004 meters 0.028002728705189682 Centerline is valid? [True, True] Translation: X:-38.41, Y:2.85, Z:1.36 [[ 9.99929539e-01 1.08623195e-02 4.78826803e-03 -3.84092951e+01] [-1.08622969e-02 9.99941003e-01 -3.07244339e-05 2.85260064e+00] [-4.78831927e-03 -2.12893198e-05 9.99988536e-01 1.36336484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32528557 meters 0.02769993591830756 Centerline is valid? [True, True] Translation: X:-38.44, Y:2.85, Z:1.37 [[ 9.99933841e-01 1.05826873e-02 4.50774396e-03 -3.84413617e+01] [-1.05826819e-02 9.99944002e-01 -2.50425674e-05 2.85230983e+00] [-4.50775655e-03 -2.26631100e-05 9.99989840e-01 1.36950080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35528557 meters 0.029361252768920227 Centerline is valid? [True, True] Translation: X:-38.47, Y:2.85, Z:1.38 [[ 9.99922547e-01 1.01123440e-02 7.25537505e-03 -3.84725735e+01] [-1.01123213e-02 9.99948868e-01 -3.98152022e-05 2.84928644e+00] [-7.25540670e-03 -3.35565655e-05 9.99973679e-01 1.37614725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38528557 meters 0.027909813761293308 Centerline is valid? [True, True] Translation: X:-38.51, Y:2.85, Z:1.38 [[ 9.99933511e-01 1.00893643e-02 5.58373169e-03 -3.85052785e+01] [-1.00893503e-02 9.99949101e-01 -3.06869612e-05 2.85013752e+00] [-5.58375709e-03 -2.56513040e-05 9.99984410e-01 1.37655370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41528557 meters 0.027710617633973585 Centerline is valid? [True, True] Translation: X:-38.54, Y:2.85, Z:1.38 [[ 9.99929526e-01 1.17745680e-02 1.51719024e-03 -3.85366117e+01] [-1.17745690e-02 9.99930677e-01 -8.25913814e-06 2.85499632e+00] [-1.51718231e-03 -9.60570505e-06 9.99998849e-01 1.37535456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44528557 meters 0.027935208563329907 Centerline is valid? [True, True] Translation: X:-38.57, Y:2.86, Z:1.38 [[ 9.99932053e-01 1.15015166e-02 1.89880684e-03 -3.85681480e+01] [-1.15015174e-02 9.99933855e-01 -1.04540773e-05 2.85630952e+00] [-1.89880148e-03 -1.13857930e-05 9.99998197e-01 1.37690038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.475285570000004 meters 0.029050429709908402 Centerline is valid? [True, True] Translation: X:-38.60, Y:2.86, Z:1.38 [[ 9.99899065e-01 1.28002698e-02 6.16538523e-03 -3.86000859e+01] [-1.28003205e-02 9.99918072e-01 -3.12328381e-05 2.85544663e+00] [-6.16527990e-03 -4.76892216e-05 9.99980993e-01 1.38235380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50528557 meters 0.02785987870151871 Centerline is valid? [True, True] Translation: X:-38.63, Y:2.86, Z:1.39 [[ 9.99874195e-01 1.33484432e-02 8.56819211e-03 -3.86317288e+01] [-1.33485520e-02 9.99910903e-01 -4.44959602e-05 2.85720141e+00] [-8.56802266e-03 -6.98825954e-05 9.99963291e-01 1.38962780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53528557 meters 0.027692869714950212 Centerline is valid? [True, True] Translation: X:-38.66, Y:2.86, Z:1.39 [[ 9.99868093e-01 1.51574473e-02 5.83507625e-03 -3.86637271e+01] [-1.51575246e-02 9.99885118e-01 -3.09785143e-05 2.86263425e+00] [-5.83487546e-03 -5.74708839e-05 9.99982975e-01 1.38811636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56528557 meters 0.02952334792797683 Centerline is valid? [True, True] Translation: X:-38.70, Y:2.87, Z:1.38 [[ 9.99875620e-01 1.56576900e-02 1.89261468e-03 -3.86956225e+01] [-1.56577003e-02 9.99877411e-01 -9.33439507e-06 2.86789670e+00] [-1.89252882e-03 -2.03007594e-05 9.99998209e-01 1.37961309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.59528557 meters 0.030798725628233922 Centerline is valid? [True, True] Translation: X:-38.73, Y:2.87, Z:1.38 [[ 9.99868475e-01 1.59414006e-02 2.98402936e-03 -3.87271546e+01] [-1.59414257e-02 9.99872927e-01 -1.53793147e-05 2.86698851e+00] [-2.98389534e-03 -3.21923905e-05 9.99995548e-01 1.38461905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62528557 meters 0.028471072356170492 Centerline is valid? [True, True] Translation: X:-38.76, Y:2.87, Z:1.39 [[ 9.99830766e-01 1.66553582e-02 7.81277120e-03 -3.87595590e+01] [-1.66555991e-02 9.99861285e-01 -3.42276240e-05 2.86862112e+00] [-7.81225752e-03 -9.59045536e-05 9.99969479e-01 1.39168088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.655285570000004 meters 0.03185149689905584 Centerline is valid? [True, True] Translation: X:-38.79, Y:2.87, Z:1.39 [[ 9.99825561e-01 1.66110159e-02 8.53937653e-03 -3.87911786e+01] [-1.66112969e-02 9.99862022e-01 -3.80293997e-05 2.87298017e+00] [-8.53883000e-03 -1.03827353e-04 9.99963538e-01 1.39362691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68528557 meters 0.028488248500833584 Centerline is valid? [True, True] Translation: X:-38.82, Y:2.88, Z:1.39 [[ 9.99856868e-01 1.66502150e-02 3.00216028e-03 -3.88228108e+01] [-1.66502539e-02 9.99861375e-01 -1.20573503e-05 2.87848759e+00] [-3.00194487e-03 -3.79311063e-05 9.99995493e-01 1.39175017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71528557 meters 0.028355092367490037 Centerline is valid? [True, True] Translation: X:-38.85, Y:2.88, Z:1.39 [[ 9.99878063e-01 1.55967760e-02 7.73915112e-04 -3.88544344e+01] [-1.55967747e-02 9.99878363e-01 -7.69671799e-06 2.87743653e+00] [-7.73941019e-04 -4.37480018e-06 9.99999700e-01 1.39367459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74528557 meters 0.028270248688014234 Centerline is valid? [True, True] Translation: X:-38.89, Y:2.87, Z:1.40 [[ 9.99860165e-01 1.57327219e-02 5.66851186e-03 -3.88864894e+01] [-1.57328540e-02 9.99876231e-01 -2.12996913e-05 2.87442613e+00] [-5.66814537e-03 -6.78851565e-05 9.99983934e-01 1.40394602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.77528557 meters 0.027834007458231738 Centerline is valid? [True, True] Translation: X:-38.92, Y:2.88, Z:1.41 [[ 9.99871766e-01 1.46365761e-02 6.49788363e-03 -3.89175708e+01] [-1.46367145e-02 9.99892877e-01 -2.62677140e-05 2.87500683e+00] [-6.49757202e-03 -6.88433216e-05 9.99978888e-01 1.40598649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80528557 meters 0.028383716518239 Centerline is valid? [True, True] Translation: X:-38.95, Y:2.88, Z:1.41 [[ 9.99893901e-01 1.36627372e-02 5.05131290e-03 -3.89491036e+01] [-1.36628081e-02 9.99906659e-01 -2.04791412e-05 2.87936635e+00] [-5.05112120e-03 -4.85381501e-05 9.99987242e-01 1.40794801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83528557 meters 0.02827604204443103 Centerline is valid? [True, True] Translation: X:-38.98, Y:2.88, Z:1.41 [[ 9.99916429e-01 1.24343205e-02 3.53876636e-03 -3.89800833e+01] [-1.24343507e-02 9.99922690e-01 -1.34658332e-05 2.88117723e+00] [-3.53866022e-03 -3.05375542e-05 9.99993738e-01 1.40766554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86528557 meters 0.0307799388589296 Centerline is valid? [True, True] Translation: X:-39.01, Y:2.88, Z:1.41 [[ 9.99901407e-01 1.27443404e-02 5.89555182e-03 -3.90107293e+01] [-1.27444567e-02 9.99918786e-01 -1.78453768e-05 2.87893672e+00] [-5.89530045e-03 -5.72919874e-05 9.99982621e-01 1.40867738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89528557 meters 0.028843136138867558 Centerline is valid? [True, True] Translation: X:-39.04, Y:2.88, Z:1.41 [[ 9.99908349e-01 1.18323406e-02 6.57940625e-03 -3.90426623e+01] [-1.18324453e-02 9.99929994e-01 -2.30216838e-05 2.88035080e+00] [-6.57921805e-03 -5.48308907e-05 9.99978355e-01 1.41396296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92528557 meters 0.028561087201533376 Centerline is valid? [True, True] Translation: X:-39.07, Y:2.88, Z:1.41 [[ 9.99921226e-01 1.14959423e-02 5.03835378e-03 -3.90742105e+01] [-1.14960009e-02 9.99933919e-01 -1.73263890e-05 2.88255154e+00] [-5.03822002e-03 -4.05958953e-05 9.99987307e-01 1.41331536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.95528557 meters 0.0282010975839105 Centerline is valid? [True, True] Translation: X:-39.11, Y:2.89, Z:1.41 [[ 9.99950662e-01 9.47300996e-03 2.98923328e-03 -3.91067040e+01] [-9.47302544e-03 9.99955130e-01 -8.97973020e-06 2.88591695e+00] [-2.98918422e-03 -1.93377957e-05 9.99995532e-01 1.40633160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98528557 meters 0.02865718274459719 Centerline is valid? [True, True] Translation: X:-39.14, Y:2.89, Z:1.41 [[ 9.99960293e-01 8.38071690e-03 3.02907185e-03 -3.91393077e+01] [-8.38073025e-03 9.99964881e-01 -8.28533110e-06 2.88545910e+00] [-3.02903491e-03 -1.71008320e-05 9.99995412e-01 1.40603650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01528557 meters 0.02850166365769112 Centerline is valid? [True, True] Translation: X:-39.17, Y:2.89, Z:1.41 [[ 9.99966525e-01 7.90226114e-03 2.12190063e-03 -3.91708592e+01] [-7.90226667e-03 9.99968777e-01 -5.77814898e-06 2.88532762e+00] [-2.12188004e-03 -1.09898690e-05 9.99997749e-01 1.41038759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.045285570000004 meters 0.02927930315782104 Centerline is valid? [True, True] Translation: X:-39.20, Y:2.88, Z:1.41 [[ 9.99967671e-01 5.97032122e-03 5.38621981e-03 -3.92024438e+01] [-5.97033822e-03 9.99982177e-01 -1.29234992e-05 2.88256881e+00] [-5.38620097e-03 -1.92344726e-05 9.99985494e-01 1.41449332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07528557 meters 0.02824028500929439 Centerline is valid? [True, True] Translation: X:-39.23, Y:2.88, Z:1.42 [[ 9.99957542e-01 6.21920337e-03 6.79969553e-03 -3.92349245e+01] [-6.21923833e-03 9.99980660e-01 -1.60029646e-05 2.88262758e+00] [-6.79966355e-03 -2.62866419e-05 9.99976882e-01 1.41734805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10528557 meters 0.028658170230361785 Centerline is valid? [True, True] Translation: X:-39.27, Y:2.88, Z:1.41 [[ 9.99991782e-01 2.42469907e-03 3.24922798e-03 -3.92659589e+01] [-2.42467712e-03 9.99997060e-01 -1.06951057e-05 2.88148585e+00] [-3.24924436e-03 2.81668909e-06 9.99994721e-01 1.41458505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13528557 meters 0.02886571060763417 Centerline is valid? [True, True] Translation: X:-39.30, Y:2.88, Z:1.41 [[ 9.99997569e-01 7.66920504e-04 2.06720067e-03 -3.92987333e+01] [-7.66910561e-04 9.99999706e-01 -5.60284187e-06 2.88040724e+00] [-2.06720435e-03 4.01747024e-06 9.99997863e-01 1.41174878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16528557 meters 0.028531207425196218 Centerline is valid? [True, True] Translation: X:-39.33, Y:2.88, Z:1.41 [[ 9.99991794e-01 -1.51143853e-03 3.75856535e-03 -3.93309916e+01] [ 1.51148033e-03 9.99998858e-01 -8.28158540e-06 2.87895019e+00] [-3.75854854e-03 1.39625151e-05 9.99992937e-01 1.41342490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19528557 meters 0.029370253543797697 Centerline is valid? [True, True] Translation: X:-39.36, Y:2.88, Z:1.42 [[ 9.99971298e-01 -1.96209293e-03 7.31803609e-03 -3.93619273e+01] [ 1.96226642e-03 9.99998075e-01 -1.65270741e-05 2.88054702e+00] [-7.31798957e-03 3.08865363e-05 9.99973223e-01 1.42171730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.225285570000004 meters 0.028495356075115864 Centerline is valid? [True, True] Translation: X:-39.39, Y:2.88, Z:1.42 [[ 9.99960139e-01 -3.11207510e-03 8.36871920e-03 -3.93939293e+01] [ 3.11232575e-03 9.99995157e-01 -1.69278526e-05 2.88023884e+00] [-8.36862599e-03 4.29733581e-05 9.99964982e-01 1.42204318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25528557 meters 0.028794048170141417 Centerline is valid? [True, True] Translation: X:-39.42, Y:2.88, Z:1.42 [[ 9.99959333e-01 -4.51325982e-03 7.80781846e-03 -3.94248865e+01] [ 4.51350009e-03 9.99989814e-01 -1.31527396e-05 2.88082002e+00] [-7.80767956e-03 4.83927940e-05 9.99969518e-01 1.42097477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28528557 meters 0.029050896014831802 Centerline is valid? [True, True] Translation: X:-39.46, Y:2.88, Z:1.41 [[ 9.99987069e-01 -4.21859082e-03 2.83982067e-03 -3.94569530e+01] [ 4.21862204e-03 9.99991102e-01 -5.00464659e-06 2.88311729e+00] [-2.83977429e-03 1.69847120e-05 9.99995968e-01 1.41116640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31528557 meters 0.03003692041863143 Centerline is valid? [True, True] Translation: X:-39.49, Y:2.88, Z:1.41 [[ 9.99975195e-01 -6.90312992e-03 1.39892057e-03 -3.94880464e+01] [ 6.90314052e-03 9.99976173e-01 -2.74851733e-06 2.88015648e+00] [-1.39886826e-03 1.24053944e-05 9.99999022e-01 1.41429229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.34528557 meters 0.03077912933443334 Centerline is valid? [True, True] Translation: X:-39.52, Y:2.88, Z:1.42 [[ 9.99974721e-01 -5.94483815e-03 3.90068501e-03 -3.95178776e+01] [ 5.94489998e-03 9.99982329e-01 -4.25681096e-06 2.87798717e+00] [-3.90059078e-03 2.74458856e-05 9.99992392e-01 1.42271855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37528557 meters 0.029247040973017002 Centerline is valid? [True, True] Translation: X:-39.55, Y:2.88, Z:1.43 [[ 9.99956380e-01 -6.25858735e-03 6.93315072e-03 -3.95502437e+01] [ 6.25882213e-03 9.99980413e-01 -1.21669755e-05 2.88065842e+00] [-6.93293877e-03 5.55598019e-05 9.99975965e-01 1.42948740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.405285570000004 meters 0.029560261866747903 Centerline is valid? [True, True] Translation: X:-39.58, Y:2.89, Z:1.43 [[ 9.99973583e-01 -3.96921187e-03 6.08925587e-03 -3.95823944e+01] [ 3.96934040e-03 9.99992122e-01 -9.02245346e-06 2.88685543e+00] [-6.08917209e-03 3.31925445e-05 9.99981460e-01 1.43039835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43528557 meters 0.02913987931999488 Centerline is valid? [True, True] Translation: X:-39.61, Y:2.89, Z:1.42 [[ 9.99984507e-01 -3.83186916e-03 4.03773137e-03 -3.96141532e+01] [ 3.83193043e-03 9.99992658e-01 -7.43832251e-06 2.88969064e+00] [-4.03767322e-03 2.29105130e-05 9.99991848e-01 1.42292523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46528557 meters 0.029745765489019547 Centerline is valid? [True, True] Translation: X:-39.65, Y:2.89, Z:1.42 [[ 9.99994456e-01 -2.88544306e-03 1.66200193e-03 -3.96454287e+01] [ 2.88545611e-03 9.99995837e-01 -5.45252149e-06 2.89085250e+00] [-1.66197928e-03 1.02481249e-05 9.99998619e-01 1.42387847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49528557 meters 0.0335953172329225 Centerline is valid? [True, True] Translation: X:-39.68, Y:2.90, Z:1.42 [[ 9.99992274e-01 -2.78917563e-03 2.76986732e-03 -3.96765207e+01] [ 2.78920170e-03 9.99996110e-01 -5.54930065e-06 2.89513690e+00] [-2.76984107e-03 1.32749764e-05 9.99996164e-01 1.42329480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.52528557 meters 0.03133277829854212 Centerline is valid? [True, True] Translation: X:-39.71, Y:2.90, Z:1.43 [[ 9.99987516e-01 -3.13783334e-03 3.88874034e-03 -3.97083331e+01] [ 3.13787826e-03 9.99995077e-01 -5.45043325e-06 2.89618974e+00] [-3.88870409e-03 1.76527590e-05 9.99992439e-01 1.42695081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55528557 meters 0.0296766425535211 Centerline is valid? [True, True] Translation: X:-39.74, Y:2.90, Z:1.43 [[ 9.99991554e-01 -2.12645356e-04 4.10458670e-03 -3.97392311e+01] [ 2.12664810e-04 9.99999977e-01 -4.30297083e-06 2.90219863e+00] [-4.10458570e-03 5.17583565e-06 9.99991576e-01 1.42907383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58528557 meters 0.030603365705569992 Centerline is valid? [True, True] Translation: X:-39.77, Y:2.90, Z:1.43 [[ 9.99995461e-01 -1.75293697e-04 3.00787135e-03 -3.97719875e+01] [ 1.75307017e-04 9.99999985e-01 -4.16463244e-06 2.90462700e+00] [-3.00787057e-03 4.69191450e-06 9.99995476e-01 1.42780019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.615285570000005 meters 0.03302588704490561 Centerline is valid? [True, True] Translation: X:-39.80, Y:2.90, Z:1.43 [[ 9.99996731e-01 8.86199556e-05 2.55556068e-03 -3.98030687e+01] [-8.86113080e-05 9.99999996e-01 -3.49703101e-06 2.90481276e+00] [-2.55556098e-03 3.27056801e-06 9.99996735e-01 1.42743705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64528557 meters 0.03467887796625149 Centerline is valid? [True, True] Translation: X:-39.83, Y:2.91, Z:1.42 [[ 9.99999373e-01 3.32634444e-04 1.06940273e-03 -3.98349497e+01] [-3.32629906e-04 9.99999945e-01 -4.42141251e-06 2.90659348e+00] [-1.06940414e-03 4.06569441e-06 9.99999428e-01 1.42493010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67528557 meters 0.03226198904545653 Centerline is valid? [True, True] Translation: X:-39.87, Y:2.91, Z:1.43 [[ 9.99999657e-01 7.73297519e-04 2.95767623e-04 -3.98667483e+01] [-7.73296082e-04 9.99999701e-01 -4.97376504e-06 2.90975990e+00] [-2.95771380e-04 4.74504740e-06 9.99999956e-01 1.43109902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.70528557 meters 0.03516920625747572 Centerline is valid? [True, True] Translation: X:-39.90, Y:2.91, Z:1.43 [[ 9.99997132e-01 -1.08126544e-04 2.39238370e-03 -3.98980937e+01] [ 1.08122884e-04 9.99999994e-01 1.65943081e-06 2.91167676e+00] [-2.39238386e-03 -1.40075462e-06 9.99997138e-01 1.43402603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73528557 meters 0.03384817084829673 Centerline is valid? [True, True] Translation: X:-39.93, Y:2.91, Z:1.43 [[ 9.99993211e-01 2.08022129e-03 3.04135365e-03 -3.99304587e+01] [-2.08022501e-03 9.99997836e-01 -1.93881672e-06 2.91336396e+00] [-3.04135110e-03 -4.38789637e-06 9.99995375e-01 1.43012957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76528557 meters 0.03427504903121283 Centerline is valid? [True, True] Translation: X:-39.96, Y:2.92, Z:1.43 [[ 9.99994707e-01 3.03570358e-03 1.17104721e-03 -3.99621222e+01] [-3.03570567e-03 9.99995392e-01 6.52468243e-09 2.91852138e+00] [-1.17104179e-03 -3.56147929e-06 9.99999314e-01 1.43067794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.795285570000004 meters 0.03644734528849765 Centerline is valid? [True, True] Translation: X:-39.99, Y:2.92, Z:1.42 [[ 9.99994761e-01 2.80214450e-03 -1.62046226e-03 -3.99948882e+01] [-2.80215501e-03 9.99996074e-01 -4.21936610e-06 2.92441383e+00] [ 1.62044408e-03 8.76013046e-06 9.99998687e-01 1.42346395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82528557 meters 0.036519234389893414 Centerline is valid? [True, True] Translation: X:-40.02, Y:2.93, Z:1.42 [[ 9.99991894e-01 3.05080708e-03 -2.62783236e-03 -4.00247305e+01] [-3.05082502e-03 9.99995346e-01 -2.81996724e-06 2.92773826e+00] [ 2.62781152e-03 1.08370011e-05 9.99996547e-01 1.42062849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85528557 meters 0.03662474650743196 Centerline is valid? [True, True] Translation: X:-40.05, Y:2.93, Z:1.42 [[ 9.99992647e-01 3.72293705e-03 -9.19608694e-04 -4.00529955e+01] [-3.72293791e-03 9.99993070e-01 7.81405709e-07 2.92724113e+00] [ 9.19605230e-04 2.64224611e-06 9.99999577e-01 1.42246769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88528557 meters 0.03844832837121864 Centerline is valid? [True, True] Translation: X:-40.08, Y:2.93, Z:1.43 [[ 9.99989717e-01 4.37915277e-03 1.17820834e-03 -4.00830419e+01] [-4.37915716e-03 9.99990411e-01 1.14316237e-06 2.92607753e+00] [-1.17819204e-03 -6.30271010e-06 9.99999306e-01 1.42866021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91528557 meters 0.04042661689277557 Centerline is valid? [True, True] Translation: X:-40.11, Y:2.93, Z:1.44 [[ 9.99985156e-01 5.28999222e-03 1.30513048e-03 -4.01148073e+01] [-5.28999699e-03 9.99986008e-01 2.06697386e-07 2.92867133e+00] [-1.30511113e-03 -7.11083064e-06 9.99999148e-01 1.43752559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94528557 meters 0.04021662568457888 Centerline is valid? [True, True] Translation: X:-40.15, Y:2.93, Z:1.43 [[ 9.99986953e-01 4.87272091e-03 -1.53343217e-03 -4.01475546e+01] [-4.87273242e-03 9.99988128e-01 -3.76828337e-06 2.93293621e+00] [ 1.53339560e-03 1.12402388e-05 9.99998824e-01 1.42741911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.975285570000004 meters 0.04096380083622277 Centerline is valid? [True, True] Translation: X:-40.18, Y:2.93, Z:1.43 [[ 9.99987601e-01 4.66122106e-03 -1.75224130e-03 -4.01779481e+01] [-4.66123339e-03 9.99989136e-01 -2.95596040e-06 2.93461445e+00] [ 1.75220849e-03 1.11235294e-05 9.99998465e-01 1.42684033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00528557 meters 0.04205054581503966 Centerline is valid? [True, True] Translation: X:-40.21, Y:2.94, Z:1.43 [[ 9.99991412e-01 4.14325971e-03 9.35061249e-05 -4.02083877e+01] [-4.14325974e-03 9.99991417e-01 1.36116341e-07 2.93503415e+00] [-9.35047584e-05 -5.23535323e-07 9.99999996e-01 1.42684578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03528557 meters 0.04312615705593119 Centerline is valid? [True, True] Translation: X:-40.24, Y:2.93, Z:1.43 [[ 9.99993878e-01 3.42912213e-03 6.95837276e-04 -4.02401040e+01] [-3.42912289e-03 9.99994121e-01 -9.33763346e-08 2.93369343e+00] [-6.95833506e-04 -2.29273576e-06 9.99999758e-01 1.42755683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06528557 meters 0.04312615705593119 Centerline is valid? [True, True] Translation: X:-40.27, Y:2.93, Z:1.43 [[ 9.99994091e-01 3.36659342e-03 6.95837734e-04 -4.02718126e+01] [-3.36659398e-03 9.99994333e-01 -3.68411342e-07 2.93372822e+00] [-6.95835032e-04 -1.97419395e-06 9.99999758e-01 1.42829622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.09528557 meters 0.044447703082831004 Centerline is valid? [True, True] Translation: X:-40.30, Y:2.93, Z:1.43 [[ 9.99995325e-01 3.05741913e-03 -3.43305863e-05 -4.03026018e+01] [-3.05741922e-03 9.99995326e-01 -2.68278018e-06 2.93438144e+00] [ 3.43222233e-05 2.78773064e-06 9.99999999e-01 1.43069717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12528557 meters 0.04538035895473828 Centerline is valid? [True, True] Translation: X:-40.34, Y:2.94, Z:1.42 [[ 9.99997790e-01 1.61456313e-03 -1.34665687e-03 -4.03353445e+01] [-1.61456994e-03 9.99998697e-01 -3.96805546e-06 2.93993149e+00] [ 1.34664871e-03 6.14231841e-06 9.99999093e-01 1.42206717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.155285570000004 meters 0.04692815134614612 Centerline is valid? [True, True] Translation: X:-40.36, Y:2.94, Z:1.42 [[ 9.99999094e-01 6.37669215e-05 -1.34474919e-03 -4.03647117e+01] [-6.37690813e-05 9.99999998e-01 -1.56320826e-06 2.94175764e+00] [ 1.34474908e-03 1.64896028e-06 9.99999096e-01 1.42182218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18528557 meters 0.049215480100958074 Centerline is valid? [True, True] Translation: X:-40.39, Y:2.94, Z:1.43 [[ 9.99999417e-01 -8.56830691e-04 -6.56735047e-04 -4.03926547e+01] [ 8.56831405e-04 9.99999633e-01 8.04665213e-07 2.94103897e+00] [ 6.56734116e-04 -1.36737594e-06 9.99999784e-01 1.42762715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21528557 meters 0.04979138741439173 Centerline is valid? [True, True] Translation: X:-40.42, Y:2.94, Z:1.43 [[ 9.99998533e-01 -1.50601212e-03 8.16022617e-04 -4.04217007e+01] [ 1.50600738e-03 9.99998866e-01 6.43100951e-06 2.94018296e+00] [-8.16031377e-04 -5.20206398e-06 9.99999667e-01 1.42978397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24528557 meters 0.05004987126731484 Centerline is valid? [True, True] Translation: X:-40.45, Y:2.94, Z:1.43 [[ 9.99995350e-01 -2.97908875e-03 -6.51560881e-04 -4.04522087e+01] [ 2.97908878e-03 9.99995563e-01 -9.18647396e-07 2.93963700e+00] [ 6.51560726e-04 -1.02241458e-06 9.99999788e-01 1.42640485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.27528557 meters 0.05220084948844814 Centerline is valid? [True, True] Translation: X:-40.48, Y:2.94, Z:1.43 [[ 9.99990283e-01 -4.14685594e-03 -1.49550272e-03 -4.04813703e+01] [ 4.14685983e-03 9.99991402e-01 -4.93605267e-07 2.93941141e+00] [ 1.49549191e-03 -5.70803968e-06 9.99998882e-01 1.42880327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30528557 meters 0.05249468542609307 Centerline is valid? [True, True] Translation: X:-40.51, Y:2.94, Z:1.43 [[ 9.99985311e-01 -5.37323864e-03 -7.11378582e-04 -4.05090004e+01] [ 5.37324073e-03 9.99985564e-01 1.03123906e-06 2.94163784e+00] [ 7.11362771e-04 -4.85363228e-06 9.99999747e-01 1.43099747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33528557 meters 0.05331411411519545 Centerline is valid? [True, True] Translation: X:-40.54, Y:2.94, Z:1.43 [[ 9.99975907e-01 -6.89393936e-03 8.11618925e-04 -4.05379815e+01] [ 6.89393958e-03 9.99976237e-01 2.53388488e-06 2.94229668e+00] [-8.11617107e-04 3.06142801e-06 9.99999671e-01 1.43031798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.365285570000005 meters 0.05379811490742866 Centerline is valid? [True, True] Translation: X:-40.57, Y:2.94, Z:1.43 [[ 9.99964209e-01 -8.39041514e-03 -1.08679034e-03 -4.05661881e+01] [ 8.39042077e-03 9.99964800e-01 6.20080159e-07 2.94445094e+00] [ 1.08674688e-03 -9.73868619e-06 9.99999409e-01 1.42702455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39528557 meters 0.05619528116488566 Centerline is valid? [True, True] Translation: X:-40.59, Y:2.94, Z:1.43 [[ 9.99937872e-01 -1.10479225e-02 -1.48145547e-03 -4.05941996e+01] [ 1.10479364e-02 9.99938970e-01 1.20168436e-06 2.94207519e+00] [ 1.48135178e-03 -1.75686355e-05 9.99998903e-01 1.43055515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42528557 meters 0.054782931210962414 Centerline is valid? [True, True] Translation: X:-40.62, Y:2.94, Z:1.43 [[ 9.99845016e-01 -1.75966982e-02 -5.48484425e-04 -4.06233526e+01] [ 1.75967020e-02 9.99845166e-01 2.22808913e-06 2.93779680e+00] [ 5.48360294e-04 -1.18792608e-05 9.99999850e-01 1.43293832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.45528557 meters 0.05412072661034875 Centerline is valid? [True, True] Translation: X:-40.65, Y:2.94, Z:1.43 [[ 9.99743458e-01 -2.25712531e-02 1.88582646e-03 -4.06524884e+01] [ 2.25712815e-02 9.99745236e-01 6.22416566e-06 2.93500682e+00] [-1.88548650e-03 3.63429510e-05 9.99998222e-01 1.43359649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48528557 meters 0.05328330465780283 Centerline is valid? [True, True] Translation: X:-40.68, Y:2.94, Z:1.43 [[ 9.99722153e-01 -2.35553956e-02 8.71694376e-04 -4.06814050e+01] [ 2.35554028e-02 9.99722533e-01 2.03080243e-06 2.93561879e+00] [-8.71500346e-04 1.85028740e-05 9.99999620e-01 1.43358815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51528557 meters 0.053100251174489306 Centerline is valid? [True, True] Translation: X:-40.71, Y:2.94, Z:1.44 [[ 9.99652500e-01 -2.63203550e-02 1.45516900e-03 -4.07102091e+01] [ 2.63203795e-02 9.99653559e-01 2.29670577e-06 2.93778264e+00] [-1.45472532e-03 3.60046927e-05 9.99998941e-01 1.43586125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.545285570000004 meters 0.0536562443449295 Centerline is valid? [True, True] Translation: X:-40.74, Y:2.94, Z:1.43 [[ 9.99603097e-01 -2.81160108e-02 1.77152081e-03 -4.07377891e+01] [ 2.81160501e-02 9.99604666e-01 2.69854474e-06 2.93734244e+00] [-1.77089634e-03 4.71106944e-05 9.99998431e-01 1.43427708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57528557 meters 0.05255249295215217 Centerline is valid? [True, True] Translation: X:-40.77, Y:2.93, Z:1.44 [[ 9.99610998e-01 -2.78502572e-02 1.48874780e-03 -4.07658472e+01] [ 2.78502839e-02 9.99612106e-01 2.83931465e-06 2.93255530e+00] [-1.48824940e-03 3.86238388e-05 9.99998892e-01 1.44146669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60528557 meters 0.054506441809705805 Centerline is valid? [True, True] Translation: X:-40.79, Y:2.93, Z:1.44 [[ 9.99570614e-01 -2.92013142e-02 2.42311427e-03 -4.07946904e+01] [ 2.92013954e-02 9.99573548e-01 1.90269197e-06 2.93392641e+00] [-2.42213649e-03 6.88564428e-05 9.99997064e-01 1.44384229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63528557 meters 0.054332746943725085 Centerline is valid? [True, True] Translation: X:-40.82, Y:2.95, Z:1.44 [[ 9.99598137e-01 -2.83423901e-02 -5.22343251e-04 -4.08233759e+01] [ 2.83423947e-02 9.99598274e-01 1.38472528e-06 2.94513662e+00] [ 5.22094166e-04 -1.61886274e-05 9.99999864e-01 1.43891289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66528557 meters 0.05540080712578026 Centerline is valid? [True, True] Translation: X:-40.85, Y:2.95, Z:1.43 [[ 9.99682419e-01 -2.51956435e-02 -4.91270263e-04 -4.08524933e+01] [ 2.51956491e-02 9.99682539e-01 5.29028009e-06 2.95179747e+00] [ 4.90981012e-04 -1.76664732e-05 9.99999879e-01 1.43423088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69528557 meters 0.05804406726814203 Centerline is valid? [True, True] Translation: X:-40.88, Y:2.95, Z:1.44 [[ 9.99740447e-01 -2.27666147e-02 8.48367139e-04 -4.08819061e+01] [ 2.27666223e-02 9.99740807e-01 7.49185002e-07 2.95071820e+00] [-8.48164304e-04 1.85654636e-05 9.99999640e-01 1.43773256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.725285570000004 meters 0.06100480215315672 Centerline is valid? [True, True] Translation: X:-40.91, Y:2.95, Z:1.44 [[ 9.99808178e-01 -1.95346462e-02 1.41617420e-03 -4.09107972e+01] [ 1.95346643e-02 9.99809180e-01 1.05117968e-06 2.95049271e+00] [-1.41592450e-03 2.66135096e-05 9.99998997e-01 1.44246960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75528557 meters 0.0632665727063754 Centerline is valid? [True, True] Translation: X:-40.94, Y:2.96, Z:1.45 [[ 9.99824944e-01 -1.84482186e-02 3.12176566e-03 -4.09392872e+01] [ 1.84483049e-02 9.99829816e-01 1.14167580e-06 2.95591720e+00] [-3.12125545e-03 5.64498088e-05 9.99995127e-01 1.44707734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78528557 meters 0.06605791737032442 Centerline is valid? [True, True] Translation: X:-40.97, Y:2.97, Z:1.44 [[ 9.99881794e-01 -1.51900458e-02 2.37898673e-03 -4.09670460e+01] [ 1.51900853e-02 9.99884624e-01 1.47630855e-06 2.97070477e+00] [-2.37873468e-03 3.46608773e-05 9.99997170e-01 1.44366612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81528557 meters 0.06789062864609903 Centerline is valid? [True, True] Translation: X:-41.00, Y:2.97, Z:1.44 [[ 9.99908137e-01 -1.35080269e-02 1.11799977e-03 -4.09959101e+01] [ 1.35080339e-02 9.99908762e-01 1.27836890e-06 2.97155043e+00] [-1.11791504e-03 1.38237273e-05 9.99999375e-01 1.44419668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.84528557 meters 0.07169874122984736 Centerline is valid? [True, True] Translation: X:-41.02, Y:2.97, Z:1.44 [[ 9.99936427e-01 -1.10449851e-02 -2.26960325e-03 -4.10246917e+01] [ 1.10450188e-02 9.99939002e-01 2.29923057e-06 2.97225718e+00] [ 2.26943941e-03 -2.73668949e-05 9.99997424e-01 1.43900972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.87528557 meters 0.07556047363264305 Centerline is valid? [True, True] Translation: X:-41.05, Y:2.98, Z:1.45 [[ 9.99935491e-01 -1.13578869e-02 1.12417334e-04 -4.10525907e+01] [ 1.13578867e-02 9.99935497e-01 1.94342942e-06 2.97859346e+00] [-1.12432156e-04 -6.66480692e-07 9.99999994e-01 1.45081377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.905285570000004 meters 0.07750203697880888 Centerline is valid? [True, True] Translation: X:-41.08, Y:2.98, Z:1.45 [[ 9.99916090e-01 -1.24958132e-02 3.41566363e-03 -4.10812595e+01] [ 1.24958864e-02 9.99921923e-01 -7.78752444e-08 2.97976621e+00] [-3.41539597e-03 4.27596133e-05 9.99994167e-01 1.45224010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93528557 meters 0.07974837380400422 Centerline is valid? [True, True] Translation: X:-41.11, Y:2.98, Z:1.45 [[ 9.99888576e-01 -1.48649787e-02 1.36709100e-03 -4.11097622e+01] [ 1.48649921e-02 9.99889510e-01 4.15443103e-07 2.97804393e+00] [-1.36694613e-03 1.99064001e-05 9.99999066e-01 1.45034733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96528557 meters 0.07993548029025657 Centerline is valid? [True, True] Translation: X:-41.14, Y:2.97, Z:1.45 [[ 9.99785064e-01 -2.06924985e-02 -1.28316080e-03 -4.11402482e+01] [ 2.06925169e-02 9.99785887e-01 1.11084389e-06 2.97366442e+00] [ 1.28286307e-03 -2.76624317e-05 9.99999177e-01 1.44837039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99528557 meters 0.08040280448862187 Centerline is valid? [True, True] Translation: X:-41.17, Y:2.98, Z:1.45 [[ 9.99700688e-01 -2.44455304e-02 -9.74642619e-04 -4.11679177e+01] [ 2.44455441e-02 9.99701163e-01 2.14915951e-06 2.97663951e+00] [ 9.74298823e-04 -2.59741853e-05 9.99999525e-01 1.44943409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.02528557 meters 0.07960580353526363 Centerline is valid? [True, True] Translation: X:-41.20, Y:2.98, Z:1.45 [[ 9.99625410e-01 -2.72935661e-02 2.02503058e-03 -4.11960538e+01] [ 2.72936210e-02 9.99627460e-01 5.20656726e-07 2.97873784e+00] [-2.02429039e-03 5.47499555e-05 9.99997950e-01 1.45255630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05528557 meters 0.07931512364972167 Centerline is valid? [True, True] Translation: X:-41.23, Y:2.97, Z:1.46 [[ 9.99434289e-01 -3.31682129e-02 5.56517235e-03 -4.12257783e+01] [ 3.31687452e-02 9.99449766e-01 -3.35899375e-06 2.97035164e+00] [-5.56199879e-03 1.87946877e-04 9.99984514e-01 1.45673418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08528557 meters 0.08007261447046944 Centerline is valid? [True, True] Translation: X:-41.25, Y:2.98, Z:1.46 [[ 9.99409035e-01 -3.41749348e-02 3.69531203e-03 -4.12532372e+01] [ 3.41751704e-02 9.99415858e-01 -6.22025805e-07 2.97547171e+00] [-3.69313219e-03 1.26909577e-04 9.99993172e-01 1.45844370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.115285570000005 meters 0.07995728653364514 Centerline is valid? [True, True] Translation: X:-41.28, Y:2.98, Z:1.45 [[ 9.99413303e-01 -3.42475090e-02 3.98280705e-04 -4.12826182e+01] [ 3.42475114e-02 9.99413382e-01 7.70011020e-07 2.97972446e+00] [-3.98073437e-04 1.28705637e-05 9.99999921e-01 1.45400824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14528557 meters 0.08029813604072775 Centerline is valid? [True, True] Translation: X:-41.31, Y:2.99, Z:1.45 [[ 9.99452802e-01 -3.30624704e-02 9.85128260e-04 -4.13098665e+01] [ 3.30624852e-02 9.99453287e-01 1.31926674e-06 2.98982804e+00] [-9.84633296e-04 3.12522437e-05 9.99999515e-01 1.45444796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17528557 meters 0.08149261771861785 Centerline is valid? [True, True] Translation: X:-41.34, Y:3.00, Z:1.46 [[ 9.99533655e-01 -3.05316544e-02 5.38277904e-04 -4.13380182e+01] [ 3.05316581e-02 9.99533800e-01 1.35244588e-06 2.99850526e+00] [-5.38068251e-04 1.50827017e-05 9.99999855e-01 1.45608929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.20528557 meters 0.08002157683068943 Centerline is valid? [True, True] Translation: X:-41.37, Y:3.00, Z:1.46 [[ 9.99539944e-01 -3.03295109e-02 -1.44258917e-04 -4.13662003e+01] [ 3.03295115e-02 9.99539955e-01 2.07074192e-06 3.00194867e+00] [ 1.44129747e-04 -6.44509173e-06 9.99999990e-01 1.45544698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23528557 meters 0.08183479915445459 Centerline is valid? [True, True] Translation: X:-41.40, Y:3.01, Z:1.45 [[ 9.99641642e-01 -2.67665054e-02 3.76796477e-04 -4.13954086e+01] [ 2.67665071e-02 9.99641713e-01 6.95871576e-07 3.00772973e+00] [-3.76680102e-04 9.38990337e-06 9.99999929e-01 1.45396284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26528557 meters 0.08014550011816862 Centerline is valid? [True, True] Translation: X:-41.42, Y:3.02, Z:1.46 [[ 9.99729860e-01 -2.32423330e-02 -1.24587060e-05 -4.14238698e+01] [ 2.32423330e-02 9.99729860e-01 1.55475234e-06 3.02189673e+00] [ 1.24192043e-05 -1.84390173e-06 1.00000000e+00 1.45973673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.295285570000004 meters 0.08157500139901945 Centerline is valid? [True, True] Translation: X:-41.45, Y:3.03, Z:1.46 [[ 9.99796952e-01 -2.01279170e-02 9.60589364e-04 -4.14532326e+01] [ 2.01279264e-02 9.99797413e-01 -1.31746847e-07 3.03485518e+00] [-9.60392109e-04 1.94663921e-05 9.99999539e-01 1.45688302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32528557 meters 0.08162251016028729 Centerline is valid? [True, True] Translation: X:-41.48, Y:3.04, Z:1.46 [[ 9.99834805e-01 -1.81738267e-02 2.74263457e-04 -4.14813988e+01] [ 1.81738270e-02 9.99834842e-01 1.54095459e-06 3.04335822e+00] [-2.74246165e-04 3.44371659e-06 9.99999962e-01 1.45712169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35528557 meters 0.08306795784949249 Centerline is valid? [True, True] Translation: X:-41.51, Y:3.04, Z:1.45 [[ 9.99842241e-01 -1.77606430e-02 -2.27957676e-04 -4.15101437e+01] [ 1.77606439e-02 9.99842267e-01 1.88486344e-06 3.04372681e+00] [ 2.27888243e-04 -5.93324119e-06 9.99999974e-01 1.45466653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38528557 meters 0.0852078251925648 Centerline is valid? [True, True] Translation: X:-41.54, Y:3.05, Z:1.46 [[ 9.99831776e-01 -1.83360107e-02 -4.59159398e-04 -4.15387625e+01] [ 1.83360137e-02 9.99831881e-01 2.22635527e-06 3.04843928e+00] [ 4.59041382e-04 -1.06451337e-05 9.99999895e-01 1.45563900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41528557 meters 0.08775221548272917 Centerline is valid? [True, True] Translation: X:-41.57, Y:3.06, Z:1.46 [[ 9.99833694e-01 -1.82148182e-02 -8.97232760e-04 -4.15666395e+01] [ 1.82148285e-02 9.99834096e-01 3.37554981e-06 3.06144162e+00] [ 8.97022420e-04 -1.97179293e-05 9.99999597e-01 1.46040974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44528557 meters 0.09070423673246122 Centerline is valid? [True, True] Translation: X:-41.60, Y:3.07, Z:1.46 [[ 9.99833678e-01 -1.82200064e-02 8.05178270e-04 -4.15954296e+01] [ 1.82200122e-02 9.99834002e-01 1.77449896e-07 3.06851072e+00] [-8.05047845e-04 1.44929375e-05 9.99999676e-01 1.45715014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.475285570000004 meters 0.09441460377276925 Centerline is valid? [True, True] Translation: X:-41.62, Y:3.07, Z:1.46 [[ 9.99830345e-01 -1.83973207e-02 9.05113903e-04 -4.16220724e+01] [ 1.83973273e-02 9.99830755e-01 1.03527107e-06 3.07294694e+00] [-9.04979763e-04 1.56165813e-05 9.99999590e-01 1.45872788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50528557 meters 0.09939319447294273 Centerline is valid? [True, True] Translation: X:-41.65, Y:3.08, Z:1.46 [[ 9.99835688e-01 -1.80744405e-02 -1.38236654e-03 -4.16511238e+01] [ 1.80744635e-02 9.99836644e-01 4.13218845e-06 3.07767296e+00] [ 1.38206603e-03 -2.91170430e-05 9.99999045e-01 1.46249666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53528557 meters 0.0992601298990694 Centerline is valid? [True, True] Translation: X:-41.68, Y:3.08, Z:1.46 [[ 9.99842311e-01 -1.76665989e-02 -1.80114289e-03 -4.16794127e+01] [ 1.76666455e-02 9.99843933e-01 9.95504053e-06 3.08172474e+00] [ 1.80068592e-03 -4.17736236e-05 9.99998378e-01 1.46013683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56528557 meters 0.10397210454665047 Centerline is valid? [True, False] Translation: X:-41.71, Y:3.09, Z:1.46 [[ 9.99889952e-01 -1.46724662e-02 -2.19135951e-03 -4.17134459e+01] [ 1.46659986e-02 9.99888130e-01 -2.93886529e-03 3.09124277e+00] [ 2.23423476e-03 2.90640340e-03 9.99993280e-01 1.46166992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.59528557 meters 0.10578809358802649 Centerline is valid? [False, False] Translation: X:-41.73, Y:3.09, Z:1.47 [[ 9.99967183e-01 -7.27970161e-03 -3.55519340e-03 -4.17325227e+01] [ 7.25564515e-03 9.99951008e-01 -6.73322693e-03 3.09107692e+00] [ 3.60403511e-03 6.70721074e-03 9.99971012e-01 1.46658717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62528557 meters 0.10945470203101039 Centerline is valid? [False, False] Translation: X:-41.74, Y:3.10, Z:1.47 [[ 9.99975622e-01 -6.52742719e-03 -2.47957632e-03 -4.17437048e+01] [ 6.51542796e-03 9.99967173e-01 -4.81686734e-03 3.09884510e+00] [ 2.51093667e-03 4.80059442e-03 9.99985325e-01 1.47251833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.655285570000004 meters 0.1105659915666079 Centerline is valid? [False, False] Translation: X:-41.76, Y:3.10, Z:1.48 [[ 9.99985757e-01 -1.70837477e-03 -5.05634223e-03 -4.17634821e+01] [ 1.65216071e-03 9.99937018e-01 -1.11009085e-02 3.09755453e+00] [ 5.07498828e-03 1.10923965e-02 9.99925599e-01 1.47814954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68528557 meters 0.11468776638013281 Centerline is valid? [False, False] Translation: X:-41.79, Y:3.10, Z:1.48 [[ 9.99962902e-01 -7.36215139e-03 -4.47143826e-03 -4.17854257e+01] [ 7.31357270e-03 9.99915093e-01 -1.07851019e-02 3.10142956e+00] [ 4.55046016e-03 1.07519996e-02 9.99931842e-01 1.48306554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71528557 meters 0.12099995859816225 Centerline is valid? [False, False] Translation: X:-41.81, Y:3.11, Z:1.49 [[ 9.99932463e-01 -1.13662167e-02 -2.42446206e-03 -4.18071984e+01] [ 1.13448301e-02 9.99898147e-01 -8.65972478e-03 3.10618446e+00] [ 2.52264343e-03 8.63163482e-03 9.99959565e-01 1.48653844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74528557 meters 0.12569769936173622 Centerline is valid? [False, False] Translation: X:-41.83, Y:3.11, Z:1.49 [[ 9.99895797e-01 -1.43986906e-02 1.03609564e-03 -4.18284862e+01] [ 1.44055525e-02 9.99872068e-01 -6.95186255e-03 3.11193990e+00] [-9.35865375e-04 6.96606367e-03 9.99975299e-01 1.49185200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.77528557 meters 0.12398017046956868 Centerline is valid? [False, False] Translation: X:-41.85, Y:3.11, Z:1.50 [[ 9.99969426e-01 -7.77744762e-03 8.11011872e-04 -4.18518491e+01] [ 7.78580328e-03 9.99910651e-01 -1.08660936e-02 3.11130709e+00] [-7.26428935e-04 1.08720758e-02 9.99940633e-01 1.49857567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80528557 meters 0.13054723667681573 Centerline is valid? [False, False] Translation: X:-41.90, Y:3.12, Z:1.50 [[ 9.99885549e-01 -1.51054773e-02 8.44622264e-04 -4.18989104e+01] [ 1.51083692e-02 9.99879633e-01 -3.52935560e-03 3.12177268e+00] [-7.91207999e-04 3.54171253e-03 9.99993415e-01 1.49843282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83528557 meters 0.13386491987408192 Centerline is valid? [False, False] Translation: X:-41.92, Y:3.12, Z:1.50 [[ 9.99928721e-01 -1.15349429e-02 -3.08189901e-03 -4.19205997e+01] [ 1.15080199e-02 9.99896666e-01 -8.61527189e-03 3.12176547e+00] [ 3.18095722e-03 8.57919125e-03 9.99958139e-01 1.50116224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.865285570000005 meters 0.13719485754609687 Centerline is valid? [False, False] Translation: X:-41.92, Y:3.12, Z:1.50 [[ 9.99910966e-01 -1.29000972e-02 -3.41275076e-03 -4.19241031e+01] [ 1.28665856e-02 9.99870504e-01 -9.66570760e-03 3.12326140e+00] [ 3.53699739e-03 9.62093657e-03 9.99947462e-01 1.50462203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89528557 meters 0.1398246891256056 Centerline is valid? [False, False] Translation: X:-41.96, Y:3.12, Z:1.51 [[ 9.99937977e-01 -1.07245838e-02 -3.00432497e-03 -4.19615904e+01] [ 1.06893756e-02 9.99876738e-01 -1.14998290e-02 3.12259360e+00] [ 3.12728553e-03 1.14670014e-02 9.99929361e-01 1.50802815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92528557 meters 0.1414075831621032 Centerline is valid? [False, False] Translation: X:-41.97, Y:3.13, Z:1.51 [[ 9.99940454e-01 -1.07889122e-02 -1.63917313e-03 -4.19738199e+01] [ 1.07725550e-02 9.99895120e-01 -9.67992579e-03 3.12630645e+00] [ 1.74343708e-03 9.66169131e-03 9.99951805e-01 1.51416258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.95528557 meters 0.14328990919683662 Centerline is valid? [False, False] Translation: X:-41.99, Y:3.13, Z:1.52 [[ 9.99923125e-01 -1.22820143e-02 1.70199426e-03 -4.19909596e+01] [ 1.22938463e-02 9.99899042e-01 -7.12512031e-03 3.13159666e+00] [-1.61431160e-03 7.14549662e-03 9.99973168e-01 1.51803204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98528557 meters 0.14328990919683662 Centerline is valid? [False, False] Translation: X:-41.99, Y:3.13, Z:1.52 [[ 9.99923125e-01 -1.22820143e-02 1.70199426e-03 -4.19909596e+01] [ 1.22938463e-02 9.99899042e-01 -7.12512031e-03 3.13159666e+00] [-1.61431160e-03 7.14549662e-03 9.99973168e-01 1.51803204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01528557 meters 0.141457422436163 Centerline is valid? [False, False] Translation: X:-42.01, Y:3.13, Z:1.52 [[ 9.99986946e-01 -5.10627740e-03 -1.82385260e-04 -4.20112353e+01] [ 5.10405072e-03 9.99930494e-01 -1.06280366e-02 3.13072139e+00] [ 2.36642287e-04 1.06269670e-02 9.99943504e-01 1.52262873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.045285570000004 meters 0.1508516332128247 Centerline is valid? [False, False] Translation: X:-42.03, Y:3.13, Z:1.53 [[ 9.99965625e-01 -8.07310552e-03 1.89053481e-03 -4.20296637e+01] [ 8.08827888e-03 9.99933989e-01 -8.16078136e-03 3.13314203e+00] [-1.82452716e-03 8.17579200e-03 9.99964913e-01 1.52621213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07528557 meters 0.1510083989119474 Centerline is valid? [False, False] Translation: X:-42.05, Y:3.13, Z:1.53 [[ 9.99923145e-01 -1.19497954e-02 3.30259735e-03 -4.20460938e+01] [ 1.19763846e-02 9.99895050e-01 -8.15205560e-03 3.13347405e+00] [-3.20483534e-03 8.19098225e-03 9.99961318e-01 1.53280825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10528557 meters 0.14744117281711014 Centerline is valid? [False, False] Translation: X:-42.07, Y:3.13, Z:1.54 [[ 9.99987477e-01 -4.73019420e-03 1.63428741e-03 -4.20684836e+01] [ 4.74845203e-03 9.99924260e-01 -1.13545659e-02 3.13202675e+00] [-1.58045433e-03 1.13621840e-02 9.99934199e-01 1.53881129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13528557 meters 0.15265530004701364 Centerline is valid? [False, False] Translation: X:-42.09, Y:3.14, Z:1.54 [[ 9.99968796e-01 -6.34655051e-03 4.70409878e-03 -4.20852536e+01] [ 6.38970195e-03 9.99937120e-01 -9.21560648e-03 3.13685398e+00] [-4.64531568e-03 9.24537671e-03 9.99946471e-01 1.54340894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16528557 meters 0.15036773025807226 Centerline is valid? [False, False] Translation: X:-42.12, Y:3.14, Z:1.55 [[ 9.99899717e-01 -1.38625648e-02 2.89559265e-03 -4.21246357e+01] [ 1.38786787e-02 9.99887887e-01 -5.62104341e-03 3.14029692e+00] [-2.81734594e-03 5.66066671e-03 9.99980010e-01 1.54683136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19528557 meters 0.15626138446855412 Centerline is valid? [False, False] Translation: X:-42.15, Y:3.14, Z:1.55 [[ 9.99979743e-01 -6.35406969e-03 3.74580781e-04 -4.21465341e+01] [ 6.35658161e-03 9.99954328e-01 -7.13690913e-03 3.13718501e+00] [-3.29215255e-04 7.13914561e-03 9.99974462e-01 1.55102535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.225285570000004 meters 0.16357070607415258 Centerline is valid? [False, False] Translation: X:-42.17, Y:3.14, Z:1.56 [[ 9.99941536e-01 -1.02410770e-02 3.47065383e-03 -4.21680213e+01] [ 1.02565908e-02 9.99937355e-01 -4.48205008e-03 3.13786954e+00] [-3.42453539e-03 4.51738512e-03 9.99983933e-01 1.55503746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25528557 meters 0.1621543379186325 Centerline is valid? [False, False] Translation: X:-42.19, Y:3.14, Z:1.56 [[ 9.99975233e-01 -6.73610599e-03 2.03933734e-03 -4.21921658e+01] [ 6.75656419e-03 9.99925184e-01 -1.01968570e-02 3.13513184e+00] [-1.97049766e-03 1.02103833e-02 9.99945931e-01 1.56071191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28528557 meters 0.16960589035881515 Centerline is valid? [False, False] Translation: X:-42.22, Y:3.14, Z:1.57 [[ 9.99918032e-01 -1.19354330e-02 4.63413721e-03 -4.22160246e+01] [ 1.19736039e-02 9.99893879e-01 -8.29841642e-03 3.13569505e+00] [-4.53460024e-03 8.35322353e-03 9.99954830e-01 1.56536942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31528557 meters 0.17448872057654546 Centerline is valid? [False, False] Translation: X:-42.25, Y:3.14, Z:1.56 [[ 9.99843187e-01 -1.76483953e-02 1.46117471e-03 -4.22478175e+01] [ 1.76524495e-02 9.99840235e-01 -2.80986909e-03 3.13828902e+00] [-1.41135158e-03 2.83522178e-03 9.99994985e-01 1.56460718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.34528557 meters 0.18345826071240426 Centerline is valid? [False, False] Translation: X:-42.28, Y:3.14, Z:1.56 [[ 9.99885125e-01 -1.51475484e-02 -5.36583124e-04 -4.22788519e+01] [ 1.51454696e-02 9.99878504e-01 -3.68681156e-03 3.13555574e+00] [ 5.92364088e-04 3.67826124e-03 9.99993060e-01 1.56418826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37528557 meters 0.17963117411350987 Centerline is valid? [False, False] Translation: X:-42.30, Y:3.13, Z:1.57 [[ 9.99938109e-01 -1.07977105e-02 -2.68104381e-03 -4.22999133e+01] [ 1.07729831e-02 9.99900814e-01 -9.07225239e-03 3.13259466e+00] [ 2.77873744e-03 9.04280806e-03 9.99955252e-01 1.56921366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.405285570000004 meters 0.18843319139550915 Centerline is valid? [False, False] Translation: X:-42.32, Y:3.14, Z:1.57 [[ 9.99911348e-01 -1.32596636e-02 1.21565218e-03 -4.23202550e+01] [ 1.32664204e-02 9.99895581e-01 -5.72967646e-03 3.13671764e+00] [-1.13955166e-03 5.74529586e-03 9.99982846e-01 1.57220282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43528557 meters 0.18113476589708685 Centerline is valid? [False, False] Translation: X:-42.37, Y:3.13, Z:1.57 [[ 9.99894354e-01 -1.30692335e-02 6.36206504e-03 -4.23691214e+01] [ 1.31042673e-02 9.99899028e-01 -5.49648213e-03 3.13379779e+00] [-6.28958784e-03 5.57927165e-03 9.99964656e-01 1.57410583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46528557 meters 0.18190279537152038 Centerline is valid? [False, False] Translation: X:-42.37, Y:3.14, Z:1.58 [[ 9.99908585e-01 -1.17110903e-02 6.75811763e-03 -4.23738392e+01] [ 1.17358403e-02 9.99924528e-01 -3.63429364e-03 3.13594051e+00] [-6.71504604e-03 3.71327360e-03 9.99970559e-01 1.57704774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49528557 meters 0.1818245219629416 Centerline is valid? [False, False] Translation: X:-42.40, Y:3.13, Z:1.58 [[ 9.99979560e-01 -5.21001292e-03 3.70607466e-03 -4.23953455e+01] [ 5.23301910e-03 9.99966930e-01 -6.22532325e-03 3.13324505e+00] [-3.67351809e-03 6.24458996e-03 9.99973755e-01 1.58098943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.52528557 meters 0.17274919045076215 Centerline is valid? [False, False] Translation: X:-42.42, Y:3.13, Z:1.59 [[ 9.99937994e-01 -1.02417647e-02 4.37205747e-03 -4.24162362e+01] [ 1.02611713e-02 9.99937497e-01 -4.43966781e-03 3.13121529e+00] [-4.32631417e-03 4.48425496e-03 9.99980587e-01 1.58601630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55528557 meters 0.16888040564876383 Centerline is valid? [False, False] Translation: X:-42.46, Y:3.13, Z:1.59 [[ 9.99864930e-01 -1.63829888e-02 1.31120471e-03 -4.24588508e+01] [ 1.63841091e-02 9.99865412e-01 -8.48298817e-04 3.13298363e+00] [-1.29713057e-03 8.69667159e-04 9.99998781e-01 1.59032449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58528557 meters 0.17379364222950133 Centerline is valid? [False, False] Translation: X:-42.48, Y:3.13, Z:1.60 [[ 9.99956234e-01 -9.28944534e-03 1.11151606e-03 -4.24812822e+01] [ 9.29378286e-03 9.99948959e-01 -3.96298412e-03 3.13108651e+00] [-1.07464540e-03 3.97314087e-03 9.99991530e-01 1.59614190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.615285570000005 meters 0.16530520583306813 Centerline is valid? [False, False] Translation: X:-42.50, Y:3.13, Z:1.60 [[ 9.99994297e-01 -3.08159511e-03 1.38157671e-03 -4.25043506e+01] [ 3.09196076e-03 9.99966609e-01 -7.56448805e-03 3.12668081e+00] [-1.35821989e-03 7.56871669e-03 9.99970434e-01 1.60253018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64528557 meters 0.15092009277636795 Centerline is valid? [False, False] Translation: X:-42.52, Y:3.12, Z:1.61 [[ 9.99977526e-01 -6.50975344e-03 1.60314899e-03 -4.25180680e+01] [ 6.52256121e-03 9.99945777e-01 -8.11787071e-03 3.12324749e+00] [-1.55021673e-03 8.12814490e-03 9.99965764e-01 1.61088309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67528557 meters 0.15284510832297482 Centerline is valid? [False, False] Translation: X:-42.53, Y:3.12, Z:1.62 [[ 9.99940710e-01 -1.08440617e-02 9.91007950e-04 -4.25297575e+01] [ 1.08535586e-02 9.99889674e-01 -1.01410118e-02 3.11796766e+00] [-8.80928859e-04 1.01511665e-02 9.99948088e-01 1.61986623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.70528557 meters 0.14088617088260133 Centerline is valid? [False, False] Translation: X:-42.54, Y:3.12, Z:1.63 [[ 9.99934993e-01 -1.13381326e-02 1.20722672e-03 -4.25394321e+01] [ 1.13482987e-02 9.99897089e-01 -8.77647819e-03 3.11546903e+00] [-1.10759361e-03 8.78960763e-03 9.99960757e-01 1.62669712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73528557 meters 0.1379235607523995 Centerline is valid? [False, False] Translation: X:-42.55, Y:3.11, Z:1.63 [[ 9.99935961e-01 -1.11906150e-02 1.68655730e-03 -4.25489573e+01] [ 1.12022334e-02 9.99912439e-01 -7.04445410e-03 3.11455474e+00] [-1.60757785e-03 7.06289619e-03 9.99973765e-01 1.63337502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76528557 meters 0.14037714269372312 Centerline is valid? [False, False] Translation: X:-42.57, Y:3.12, Z:1.64 [[ 9.99873925e-01 -1.49761380e-02 5.27727381e-03 -4.25676613e+01] [ 1.50032072e-02 9.99874297e-01 -5.12767157e-03 3.11614235e+00] [-5.19981773e-03 5.20620113e-03 9.99972928e-01 1.63568583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.795285570000004 meters 0.12661513943969388 Centerline is valid? [False, False] Translation: X:-42.59, Y:3.11, Z:1.64 [[ 9.99931413e-01 -1.11592211e-02 3.55535594e-03 -4.25908719e+01] [ 1.11966826e-02 9.99880097e-01 -1.06969848e-02 3.11233630e+00] [-3.43555962e-03 1.07360593e-02 9.99936465e-01 1.64137444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82528557 meters 0.11559458898570768 Centerline is valid? [False, False] Translation: X:-42.61, Y:3.11, Z:1.65 [[ 9.99899626e-01 -1.36481683e-02 3.80331383e-03 -4.26052801e+01] [ 1.36859013e-02 9.99855552e-01 -1.00782448e-02 3.10848718e+00] [-3.66521486e-03 1.01292850e-02 9.99941980e-01 1.64971885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85528557 meters 0.10441541540820924 Centerline is valid? [False, False] Translation: X:-42.62, Y:3.10, Z:1.66 [[ 9.99885746e-01 -1.47246950e-02 3.41724829e-03 -4.26186448e+01] [ 1.47539378e-02 9.99853339e-01 -8.69609433e-03 3.10346703e+00] [-3.28869977e-03 8.74551864e-03 9.99956349e-01 1.65909115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88528557 meters 0.10083299600591361 Centerline is valid? [False, False] Translation: X:-42.64, Y:3.10, Z:1.66 [[ 9.99962843e-01 -8.51091981e-03 1.36988242e-03 -4.26427092e+01] [ 8.52595946e-03 9.99898950e-01 -1.13753451e-02 3.09728607e+00] [-1.27292934e-03 1.13866020e-02 9.99934360e-01 1.66497471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91528557 meters 0.08898987400846214 Centerline is valid? [False, True] Translation: X:-42.67, Y:3.10, Z:1.67 [[ 9.99909250e-01 -1.31301140e-02 3.01531527e-03 -4.26667609e+01] [ 1.31566910e-02 9.99873211e-01 -8.97012596e-03 3.09680609e+00] [-2.89715418e-03 9.00898349e-03 9.99955221e-01 1.66933925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94528557 meters 0.07464250022690876 Centerline is valid? [True, True] Translation: X:-42.70, Y:3.11, Z:1.67 [[ 9.99950088e-01 -9.98044883e-03 -4.61413293e-04 -4.26950083e+01] [ 9.98044491e-03 9.99950194e-01 -1.07988802e-05 3.10817782e+00] [ 4.61498090e-04 6.19323128e-06 9.99999893e-01 1.67317240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.975285570000004 meters 0.06375235978579549 Centerline is valid? [True, True] Translation: X:-42.72, Y:3.11, Z:1.68 [[ 9.99963735e-01 -8.50026727e-03 -5.23544300e-04 -4.27228617e+01] [ 8.50026200e-03 9.99963872e-01 -1.22942899e-05 3.10615612e+00] [ 5.23629891e-04 7.84358037e-06 9.99999863e-01 1.67805504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00528557 meters 0.059030787570873856 Centerline is valid? [True, True] Translation: X:-42.75, Y:3.11, Z:1.68 [[ 9.99970750e-01 -7.64424902e-03 -2.53694948e-04 -4.27515097e+01] [ 7.64424783e-03 9.99970782e-01 -5.67054474e-06 3.10726277e+00] [ 2.53730883e-04 3.73107182e-06 9.99999968e-01 1.67968022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 890.26 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%| | 0/1401 [00:00