+ python -m lidar_slam --no-model /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/72c4f4b7-97ea-4ff3-ae43-ebdac9d7e672 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 0.025779523 Adjusted end_distance from 9.223372036854776e+18 to 109.115779523 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.025779523 meters 0.041993900608169564 Centerline is valid? [0, True] SLAMing on 0.055779523 meters 0.04674594427118309 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99980024e-01 -4.55714830e-03 -4.38001231e-03 3.01238033e-02] [ 4.55860178e-03 9.99989558e-01 3.21917972e-04 -4.83528949e-03] [ 4.37849954e-03 -3.41878273e-04 9.99990356e-01 6.93038006e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.085779523 meters 0.04902346363488436 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:-0.01 [[ 9.99891726e-01 -1.06738231e-02 -1.01294337e-02 5.99391340e-02] [ 1.06821528e-02 9.99942649e-01 7.68570269e-04 -3.76909355e-03] [ 1.01206492e-02 -8.76691211e-04 9.99948401e-01 -7.84398431e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.115779523 meters 0.052236731649101094 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.01, Z:-0.01 [[ 9.99829683e-01 -1.34001641e-02 -1.26901619e-02 8.80115202e-02] [ 1.34134411e-02 9.99909573e-01 9.61706064e-04 -6.46120259e-03] [ 1.26761274e-02 -1.13176101e-03 9.99919014e-01 -7.87900320e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.145779523 meters 0.052843512438940435 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.00, Z:-0.01 [[ 0.9997599 -0.01616327 -0.01479521 0.11705705] [ 0.01618163 0.99986844 0.00112198 -0.00210811] [ 0.01477513 -0.00136112 0.99988992 -0.01114606] [ 0. 0. 0. 1. ]] SLAMing on 0.175779523 meters 0.05613087861270037 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.00, Z:-0.01 [[ 0.999615 -0.01952942 -0.01970914 0.14677614] [ 0.01956268 0.99980751 0.00149578 -0.00163318] [ 0.01967613 -0.00188077 0.99980464 -0.01474474] [ 0. 0. 0. 1. ]] SLAMing on 0.205779523 meters 0.057814547474743724 Centerline is valid? [True, True] Translation: X:0.18, Y:0.00, Z:-0.02 [[ 0.99940878 -0.02126521 -0.02701628 0.17860674] [ 0.02132755 0.9997705 0.0020214 0.00343457] [ 0.0269671 -0.00259639 0.99963295 -0.02214576] [ 0. 0. 0. 1. ]] SLAMing on 0.235779523 meters 0.06392747291641768 Centerline is valid? [True, True] Translation: X:0.21, Y:0.02, Z:-0.04 [[ 0.99843473 -0.0248897 -0.05008588 0.21163853] [ 0.02510867 0.9996777 0.00374738 0.01532117] [ 0.04997647 -0.00499911 0.99873788 -0.04153297] [ 0. 0. 0. 1. ]] SLAMing on 0.26577952299999996 meters 0.06906835249099447 Centerline is valid? [True, True] Translation: X:0.24, Y:0.02, Z:-0.05 [[ 0.9976649 -0.02730493 -0.06260335 0.24145336] [ 0.02765201 0.99960663 0.00468432 0.01776522] [ 0.06245082 -0.00640449 0.99802749 -0.05002552] [ 0. 0. 0. 1. ]] SLAMing on 0.295779523 meters 0.07831870311687099 Centerline is valid? [True, True] Translation: X:0.27, Y:0.02, Z:-0.06 [[ 0.99677132 -0.02783981 -0.07531187 0.27156799] [ 0.02834372 0.99958238 0.00563017 0.01995316] [ 0.07512367 -0.00774661 0.99714413 -0.0582883 ] [ 0. 0. 0. 1. ]] SLAMing on 0.325779523 meters 0.08308347331893084 Centerline is valid? [True, True] Translation: X:0.30, Y:0.03, Z:-0.07 [[ 0.99570204 -0.02697014 -0.08860057 0.30273697] [ 0.02766466 0.99959534 0.00662004 0.02708285] [ 0.08838617 -0.00904269 0.99604524 -0.06809575] [ 0. 0. 0. 1. ]] SLAMing on 0.35577952299999993 meters 0.09135557715146567 Centerline is valid? [True, True] Translation: X:0.34, Y:0.05, Z:-0.10 [[ 0.99233065 -0.02463732 -0.12113167 0.33573695] [ 0.02592264 0.99962302 0.00904637 0.04560617] [ 0.12086313 -0.01211704 0.99259523 -0.0955682 ] [ 0. 0. 0. 1. ]] SLAMing on 0.38577952299999996 meters 0.09170068055198906 Centerline is valid? [True, True] Translation: X:0.37, Y:0.06, Z:-0.11 [[ 0.98995775 -0.02105914 -0.13978613 0.36702361] [ 0.02273989 0.99968693 0.01043722 0.0571319 ] [ 0.13952257 -0.01351113 0.99012671 -0.11148495] [ 0. 0. 0. 1. ]] SLAMing on 0.415779523 meters 0.09031100093691508 Centerline is valid? [True, True] Translation: X:0.40, Y:0.08, Z:-0.12 [[ 0.98726423 -0.01486198 -0.15839338 0.39937524] [ 0.01694703 0.99978651 0.01182113 0.07641337] [ 0.15818388 -0.01435487 0.98730532 -0.12463307] [ 0. 0. 0. 1. ]] SLAMing on 0.445779523 meters 0.09403562076995078 Centerline is valid? [True, True] Translation: X:0.43, Y:0.10, Z:-0.14 [[ 0.98492016 -0.00577759 -0.172913 0.43213146] [ 0.00812975 0.99988377 0.01289806 0.10011271] [ 0.17281838 -0.0141093 0.98485265 -0.13931441] [ 0. 0. 0. 1. ]] SLAMing on 0.4757795229999999 meters 0.052416425591656046 Centerline is valid? [True, True] Translation: X:0.47, Y:0.17, Z:-0.15 [[ 0.97554552 -0.05685681 -0.21231637 0.46814109] [ 0.06160867 0.99797488 0.0158273 0.16597856] [ 0.21098652 -0.02852078 0.9770728 -0.14581712] [ 0. 0. 0. 1. ]] SLAMing on 0.505779523 meters 0.09352744383202106 Centerline is valid? [True, True] Translation: X:0.50, Y:0.13, Z:-0.19 [[ 0.94859677 -0.01799837 -0.31597503 0.49895041] [ 0.0267962 0.99936417 0.02352041 0.12670613] [ 0.3153508 -0.03077832 0.94847592 -0.18942657] [ 0. 0. 0. 1. ]] SLAMing on 0.535779523 meters 0.04830571824728682 Centerline is valid? [True, True] Translation: X:0.55, Y:0.10, Z:-0.40 [[ 0.97900093 0.05730355 -0.19563609 0.54570292] [-0.05553177 0.99835113 0.01453417 0.10366594] [ 0.19614637 -0.00336495 0.98056885 -0.39712446] [ 0. 0. 0. 1. ]] SLAMing on 0.565779523 meters 0.002818607236446784 Centerline is valid? [True, True] Translation: X:0.57, Y:0.30, Z:-0.21 [[ 0.99152586 -0.03156778 -0.12601565 0.57209676] [ 0.03291359 0.9994211 0.00861137 0.30243494] [ 0.12567086 -0.01268602 0.99199088 -0.21366052] [ 0. 0. 0. 1. ]] SLAMing on 0.5957795229999999 meters 0.08499510223240188 Centerline is valid? [True, True] Translation: X:-0.25, Y:0.81, Z:1.49 [[-0.03644652 0.99556802 0.08669472 -0.24532896] [ 0.98414477 0.05082584 -0.16992882 0.80789267] [-0.17358203 0.07912684 -0.98163548 1.49001562] [ 0. 0. 0. 1. ]] SLAMing on 0.625779523 meters 0.03819393078188414 Centerline is valid? [True, True] Translation: X:0.13, Y:0.83, Z:-0.22 [[-2.62912884e-01 -9.64819562e-01 1.70615992e-04 1.25632279e-01] [ 9.32645032e-01 -2.54190618e-01 -2.56047601e-01 8.26758769e-01] [ 2.47083103e-01 -6.71590890e-02 9.66664159e-01 -2.16489823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.655779523 meters 0.07172891165569537 Centerline is valid? [True, True] Translation: X:0.08, Y:0.86, Z:-0.33 [[-1.20710545e-01 -9.92687746e-01 5.33473467e-05 8.38807049e-02] [ 9.91337038e-01 -1.20549101e-01 -5.21420317e-02 8.55243795e-01] [ 5.17671869e-02 -6.24120785e-03 9.98639678e-01 -3.33372823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6857795229999999 meters 0.1429494661266092 Centerline is valid? [True, False] Translation: X:0.91, Y:0.17, Z:-0.18 [[ 0.96029615 -0.1359789 -0.24360016 0.91267381] [ 0.08878354 0.97673196 -0.19522336 0.17462405] [ 0.26447832 0.16584456 0.95002463 -0.18324237] [ 0. 0. 0. 1. ]] SLAMing on 0.7157795229999999 meters 0.06135146479769253 Centerline is valid? [False, True] Translation: X:1.10, Y:-0.23, Z:-0.59 [[ 0.77772825 0.58544662 -0.22889086 1.09718617] [-0.62451505 0.67818081 -0.38736513 -0.22940536] [-0.07155222 0.44421059 0.8930606 -0.58957272] [ 0. 0. 0. 1. ]] SLAMing on 0.7457795229999999 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 0.775779523 meters 0.015089620029422051 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.68, Z:-0.25 [[ 0.28878131 -0.90820635 0.30292999 0.7316289 ] [ 0.84325626 0.09145781 -0.52967381 -0.67516304] [ 0.45334781 0.40840751 0.792262 -0.24756647] [ 0. 0. 0. 1. ]] SLAMing on 0.805779523 meters 0.04956536171854669 Centerline is valid? [True, True] SLAMing on 0.8357795229999999 meters 0.068231208491215 Centerline is valid? [True, True] SLAMing on 0.8657795229999999 meters 0.09990324792616231 Centerline is valid? [True, True] SLAMing on 0.895779523 meters 0.11703347038755665 Centerline is valid? [True, False] Translation: X:0.56, Y:-1.57, Z:0.07 [[ 0.56709574 -0.70120277 -0.43210775 0.55745721] [ 0.81189462 0.38757011 0.43659653 -1.57041784] [-0.13867064 -0.59841799 0.78909211 0.07362227] [ 0. 0. 0. 1. ]] SLAMing on 0.9257795229999999 meters 0.12362878818393397 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.56, Z:0.24 [[ 0.7347197 -0.67334509 0.08242176 0.24187182] [ 0.67807918 0.72540072 -0.11833183 -0.56288124] [ 0.01988936 0.14282921 0.98954749 0.24406295] [ 0. 0. 0. 1. ]] SLAMing on 0.9557795229999999 meters 0.11685544920253203 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.70, Z:0.32 [[ 7.75489743e-01 -6.30658372e-01 2.97603099e-02 3.43901144e-01] [ 6.31359875e-01 7.74672618e-01 -3.55955638e-02 -7.04174856e-01] [-6.05856809e-04 4.63934602e-02 9.98923060e-01 3.21495172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9857795229999999 meters 0.19126923704195867 Centerline is valid? [False, False] Translation: X:0.53, Y:-0.63, Z:0.35 [[ 0.82614183 -0.56180671 -0.04316128 0.52534373] [ 0.56036041 0.82720647 -0.04154124 -0.62543739] [ 0.05904144 0.01013308 0.9982041 0.35240701] [ 0. 0. 0. 1. ]] SLAMing on 1.015779523 meters 0.17707965673310483 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.96, Z:0.66 [[ 0.87566096 -0.45856214 -0.15145509 0.19405212] [ 0.44705004 0.88833351 -0.1049278 -0.96232441] [ 0.18265855 0.02417318 0.98287919 0.65811095] [ 0. 0. 0. 1. ]] SLAMing on 1.045779523 meters 0.17707965673310483 Centerline is valid? [False, False] Translation: X:0.18, Y:-1.02, Z:0.64 [[ 0.89991219 -0.42016832 -0.11669037 0.17641524] [ 0.42001539 0.90711214 -0.02710433 -1.0188582 ] [ 0.11723963 -0.02462024 0.99279843 0.64241564] [ 0. 0. 0. 1. ]] SLAMing on 1.075779523 meters 0.18410330940630037 Centerline is valid? [False, False] Translation: X:0.27, Y:-1.01, Z:0.71 [[ 0.9134019 -0.38810262 -0.12277345 0.27381721] [ 0.39081616 0.92046626 -0.00214335 -1.00584967] [ 0.11384066 -0.04602411 0.99243241 0.70703106] [ 0. 0. 0. 1. ]] SLAMing on 1.105779523 meters 0.186354972777843 Centerline is valid? [False, False] Translation: X:0.28, Y:-1.02, Z:0.70 [[ 0.92026701 -0.37736523 -0.1034607 0.27772973] [ 0.38141935 0.92414203 0.02192697 -1.01971051] [ 0.08733791 -0.05964058 0.99439182 0.70167208] [ 0. 0. 0. 1. ]] SLAMing on 1.1357795229999998 meters 0.19784261895237246 Centerline is valid? [False, False] Translation: X:0.30, Y:-1.03, Z:0.70 [[ 0.9263666 -0.36871813 -0.07675849 0.2959348 ] [ 0.37251085 0.92705592 0.04246157 -1.03172409] [ 0.05550306 -0.06792835 0.99614514 0.70382013] [ 0. 0. 0. 1. ]] SLAMing on 1.1657795229999999 meters 0.2034464743925948 Centerline is valid? [False, False] Translation: X:0.31, Y:-1.03, Z:0.71 [[ 0.93032687 -0.36105665 -0.06426522 0.31294281] [ 0.36382263 0.93069357 0.0379812 -1.03095631] [ 0.04609786 -0.05871608 0.99720981 0.70611129] [ 0. 0. 0. 1. ]] SLAMing on 1.195779523 meters 0.20640022786124457 Centerline is valid? [False, False] Translation: X:0.33, Y:-1.04, Z:0.71 [[ 0.93324011 -0.35435763 -0.05910638 0.33273774] [ 0.35688067 0.93332067 0.03935362 -1.03681654] [ 0.04121995 -0.0578203 0.99747568 0.71281696] [ 0. 0. 0. 1. ]] SLAMing on 1.225779523 meters 0.2112330094363928 Centerline is valid? [False, False] Translation: X:0.36, Y:-1.04, Z:0.72 [[ 0.93795218 -0.34278213 -0.05240336 0.3608915 ] [ 0.34488754 0.93786385 0.03826196 -1.04209685] [ 0.03603171 -0.05396115 0.99789273 0.71731472] [ 0. 0. 0. 1. ]] SLAMing on 1.255779523 meters 0.2175369931708979 Centerline is valid? [False, False] Translation: X:0.39, Y:-1.05, Z:0.72 [[ 0.94249134 -0.33189414 -0.03945074 0.39253099] [ 0.33322277 0.94224011 0.03385502 -1.05131582] [ 0.02593578 -0.04505394 0.99864782 0.72180506] [ 0. 0. 0. 1. ]] SLAMing on 1.285779523 meters 0.216476081941033 Centerline is valid? [False, False] Translation: X:0.41, Y:-1.06, Z:0.72 [[ 0.94460187 -0.32654318 -0.03311874 0.40637675] [ 0.32774476 0.9438434 0.04174942 -1.06027291] [ 0.01762591 -0.05029108 0.99857906 0.72282002] [ 0. 0. 0. 1. ]] SLAMing on 1.315779523 meters 0.21858690589072843 Centerline is valid? [False, False] Translation: X:0.43, Y:-1.06, Z:0.72 [[ 0.94898446 -0.31359904 -0.03292613 0.42826152] [ 0.3148121 0.9482087 0.04235092 -1.0642458 ] [ 0.01793964 -0.05055591 0.9985601 0.72280611] [ 0. 0. 0. 1. ]] SLAMing on 1.3457795229999998 meters 0.2182640950814587 Centerline is valid? [False, False] Translation: X:0.45, Y:-1.07, Z:0.72 [[ 0.95273338 -0.30205174 -0.03261659 0.44845171] [ 0.3032953 0.95186188 0.0443951 -1.06841309] [ 0.01763687 -0.05218915 0.99848146 0.72201881] [ 0. 0. 0. 1. ]] SLAMing on 1.3757795229999998 meters 0.22111547986999977 Centerline is valid? [False, False] Translation: X:0.47, Y:-1.07, Z:0.72 [[ 0.95628601 -0.29098423 -0.02907313 0.47308136] [ 0.2921349 0.95506624 0.05005676 -1.07488275] [ 0.01320104 -0.05636186 0.99832313 0.723516 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4057795229999999 meters 0.22300712591515615 Centerline is valid? [False, False] Translation: X:0.50, Y:-1.09, Z:0.73 [[ 0.95909472 -0.2820825 -0.02380706 0.49767005] [ 0.28297109 0.95770048 0.05231779 -1.08870187] [ 0.0080421 -0.05691443 0.99834667 0.72835604] [ 0. 0. 0. 1. ]] SLAMing on 1.435779523 meters 0.2231620228363222 Centerline is valid? [False, False] Translation: X:0.52, Y:-1.09, Z:0.73 [[ 0.96209522 -0.27184039 -0.02180812 0.51752877] [ 0.27257698 0.96106544 0.04533216 -1.09462887] [ 0.00863592 -0.04955825 0.9987339 0.73138699] [ 0. 0. 0. 1. ]] SLAMing on 1.465779523 meters 0.22598559509680077 Centerline is valid? [False, False] Translation: X:0.54, Y:-1.11, Z:0.74 [[ 0.96403397 -0.26525166 -0.01673508 0.5441617 ] [ 0.26573999 0.96305911 0.0435821 -1.11101401] [ 0.00455665 -0.0464618 0.99890967 0.73729099] [ 0. 0. 0. 1. ]] SLAMing on 1.495779523 meters 0.22598559509680077 Centerline is valid? [False, False] Translation: X:0.55, Y:-1.11, Z:0.74 [[ 0.96515297 -0.26105186 -0.01821158 0.54919593] [ 0.26159823 0.96429448 0.04126165 -1.11033866] [ 0.00678989 -0.04458792 0.99898239 0.73980738] [ 0. 0. 0. 1. ]] SLAMing on 1.525779523 meters 0.22508304888962252 Centerline is valid? [False, False] Translation: X:0.57, Y:-1.12, Z:0.74 [[ 0.96591721 -0.25761144 -0.02530409 0.56906281] [ 0.25849846 0.96508264 0.04235615 -1.11862288] [ 0.0135091 -0.0474536 0.99878209 0.74093305] [ 0. 0. 0. 1. ]] SLAMing on 1.555779523 meters 0.22719387356451823 Centerline is valid? [False, False] Translation: X:0.59, Y:-1.12, Z:0.74 [[ 0.96701653 -0.25268274 -0.03210082 0.5897352 ] [ 0.25388502 0.96634279 0.0415212 -1.11930701] [ 0.0205287 -0.04830161 0.99862181 0.74223949] [ 0. 0. 0. 1. ]] SLAMing on 1.585779523 meters 0.2265395582417128 Centerline is valid? [False, False] Translation: X:0.62, Y:-1.12, Z:0.74 [[ 0.96870241 -0.24523194 -0.03843097 0.61600574] [ 0.24656275 0.96850066 0.03483213 -1.11760261] [ 0.02867847 -0.04321761 0.99865399 0.7448811 ] [ 0. 0. 0. 1. ]] SLAMing on 1.6157795229999998 meters 0.2256650624367341 Centerline is valid? [False, False] Translation: X:0.64, Y:-1.12, Z:0.75 [[ 0.96984962 -0.23986973 -0.04306074 0.63878696] [ 0.24114791 0.970102 0.02738252 -1.11747451] [ 0.03520507 -0.03694094 0.99869714 0.74753434] [ 0. 0. 0. 1. ]] SLAMing on 1.6457795229999999 meters 0.22560710651927016 Centerline is valid? [False, False] Translation: X:0.67, Y:-1.12, Z:0.75 [[ 0.97048481 -0.23584059 -0.05038296 0.66740737] [ 0.23702743 0.9713179 0.01896158 -1.11634295] [ 0.04446596 -0.03034406 0.99854996 0.74833633] [ 0. 0. 0. 1. ]] SLAMing on 1.6757795229999999 meters 0.22435698482068078 Centerline is valid? [False, False] Translation: X:0.68, Y:-1.12, Z:0.75 [[ 0.97163736 -0.22987503 -0.05548243 0.68390338] [ 0.23110952 0.97278131 0.01687945 -1.11581411] [ 0.05009211 -0.02922322 0.99831698 0.74942745] [ 0. 0. 0. 1. ]] SLAMing on 1.705779523 meters 0.22392113441078176 Centerline is valid? [False, False] Translation: X:0.70, Y:-1.11, Z:0.75 [[ 0.97314057 -0.22250981 -0.05904919 0.6996951 ] [ 0.22368587 0.97456028 0.0140319 -1.11265901] [ 0.05442476 -0.02686348 0.99815645 0.74940913] [ 0. 0. 0. 1. ]] SLAMing on 1.735779523 meters 0.22250975975525675 Centerline is valid? [False, False] Translation: X:0.71, Y:-1.10, Z:0.75 [[ 0.97529162 -0.21444846 -0.05308583 0.71402749] [ 0.21570887 0.97626876 0.01920895 -1.10303529] [ 0.04770671 -0.03018541 0.99840518 0.74712582] [ 0. 0. 0. 1. ]] SLAMing on 1.765779523 meters 0.220308309270531 Centerline is valid? [False, False] Translation: X:0.73, Y:-1.10, Z:0.75 [[ 0.97673656 -0.20784294 -0.05279216 0.72752214] [ 0.20880059 0.97786831 0.01326239 -1.09877383] [ 0.04886729 -0.02397689 0.99851745 0.74594373] [ 0. 0. 0. 1. ]] SLAMing on 1.795779523 meters 0.22003734963617533 Centerline is valid? [False, False] Translation: X:0.74, Y:-1.09, Z:0.74 [[ 0.97782712 -0.20261554 -0.05292518 0.74181399] [ 0.20318708 0.97912395 0.00559482 -1.09478427] [ 0.05068671 -0.01622448 0.99858281 0.74497178] [ 0. 0. 0. 1. ]] SLAMing on 1.8257795229999998 meters 0.2187602565327793 Centerline is valid? [False, False] Translation: X:0.76, Y:-1.09, Z:0.74 [[ 9.78991294e-01 -1.97061551e-01 -5.23716690e-02 7.55029372e-01] [ 1.97282847e-01 9.80346140e-01 -9.61236196e-04 -1.09116474e+00] [ 5.15317863e-02 -9.39099010e-03 9.98627200e-01 7.43232346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8557795229999998 meters 0.2151298149076041 Centerline is valid? [False, False] Translation: X:0.78, Y:-1.08, Z:0.74 [[ 0.98129162 -0.18686179 -0.04636194 0.78230232] [ 0.18680566 0.98238105 -0.00557911 -1.08267691] [ 0.04658762 -0.00318594 0.99890913 0.7400095 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8857795229999998 meters 0.21211648270560776 Centerline is valid? [False, False] Translation: X:0.80, Y:-1.08, Z:0.74 [[ 0.98409198 -0.1739901 -0.03592252 0.80113732] [ 0.17374115 0.98474095 -0.00996329 -1.0771755 ] [ 0.03710789 0.00356357 0.99930491 0.73725879] [ 0. 0. 0. 1. ]] SLAMing on 1.9157795229999999 meters 0.20898675333300384 Centerline is valid? [False, False] Translation: X:0.82, Y:-1.07, Z:0.73 [[ 0.98672773 -0.16043727 -0.02506539 0.81956489] [ 0.16011638 0.98699403 -0.01433654 -1.07176318] [ 0.0270395 0.01013288 0.99958301 0.73465037] [ 0. 0. 0. 1. ]] SLAMing on 1.945779523 meters 0.20610726197728352 Centerline is valid? [False, False] Translation: X:0.84, Y:-1.07, Z:0.73 [[ 0.98920879 -0.14582569 -0.01417165 0.8373826 ] [ 0.14556342 0.98918419 -0.01805375 -1.06650059] [ 0.01665107 0.01579606 0.99973658 0.73231073] [ 0. 0. 0. 1. ]] SLAMing on 1.975779523 meters 0.20119283076408698 Centerline is valid? [False, False] Translation: X:0.86, Y:-1.06, Z:0.73 [[ 0.99158765 -0.12936138 -0.00442402 0.85854712] [ 0.12924554 0.99140074 -0.02049795 -1.05994962] [ 0.00703762 0.01975373 0.99978011 0.72857351] [ 0. 0. 0. 1. ]] SLAMing on 2.005779523 meters 0.19629548780980238 Centerline is valid? [False, False] Translation: X:0.87, Y:-1.06, Z:0.73 [[ 9.92763913e-01 -1.20080064e-01 -7.68861069e-04 8.67867813e-01] [ 1.20029431e-01 9.92495007e-01 -2.33793877e-02 -1.05707828e+00] [ 3.57048913e-03 2.31179265e-02 9.99726369e-01 7.27133637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.035779523 meters 0.19366441563397552 Centerline is valid? [False, False] Translation: X:0.88, Y:-1.06, Z:0.73 [[ 0.99392625 -0.10974188 0.00820587 0.87643268] [ 0.10987916 0.99376823 -0.01874231 -1.05554325] [-0.00609792 0.01953013 0.99979067 0.7253289 ] [ 0. 0. 0. 1. ]] SLAMing on 2.0657795230000002 meters 0.1903772704412642 Centerline is valid? [False, False] Translation: X:0.88, Y:-1.06, Z:0.73 [[ 0.99442501 -0.10518202 0.00745899 0.87669956] [ 0.10527351 0.9943561 -0.01316918 -1.05922724] [-0.00603173 0.013881 0.99988546 0.72623038] [ 0. 0. 0. 1. ]] SLAMing on 2.095779523 meters 0.18852229342576576 Centerline is valid? [False, False] Translation: X:0.88, Y:-1.06, Z:0.72 [[ 0.99481678 -0.10149177 0.0062451 0.87961325] [ 0.10154462 0.99479186 -0.00882337 -1.0613044 ] [-0.00531707 0.0094118 0.99994157 0.72459895] [ 0. 0. 0. 1. ]] SLAMing on 2.1257795230000003 meters 0.1855139351462138 Centerline is valid? [False, False] Translation: X:0.88, Y:-1.06, Z:0.72 [[ 0.99494736 -0.1002452 0.00553607 0.88313926] [ 0.10028544 0.9949301 -0.0075449 -1.06159313] [-0.00475166 0.00806196 0.99995621 0.72146967] [ 0. 0. 0. 1. ]] SLAMing on 2.155779523 meters 0.183453040984001 Centerline is valid? [False, False] Translation: X:0.88, Y:-1.06, Z:0.72 [[ 0.99536875 -0.09601823 0.00464307 0.88422671] [ 0.09603058 0.99537521 -0.00251359 -1.06437569] [-0.00438025 0.00294782 0.99998606 0.72170088] [ 0. 0. 0. 1. ]] SLAMing on 2.1857795230000003 meters 0.17992320556007874 Centerline is valid? [False, False] Translation: X:0.89, Y:-1.06, Z:0.72 [[ 0.9962525 -0.08647056 -0.00194908 0.88598203] [ 0.08644541 0.99620068 -0.01055438 -1.06335751] [ 0.00285431 0.01034634 0.9999424 0.72362881] [ 0. 0. 0. 1. ]] SLAMing on 2.215779523 meters 0.17692514059977502 Centerline is valid? [False, False] Translation: X:0.89, Y:-1.07, Z:0.72 [[ 0.99630073 -0.08590849 -0.00214252 0.88578785] [ 0.085885 0.99626128 -0.00933976 -1.06642248] [ 0.00293687 0.0091212 0.99995409 0.72476515] [ 0. 0. 0. 1. ]] SLAMing on 2.245779523 meters 0.17624281540401568 Centerline is valid? [False, False] Translation: X:0.89, Y:-1.07, Z:0.73 [[ 0.99633466 -0.08550642 -0.00242952 0.88609347] [ 0.08548326 0.99630403 -0.00842011 -1.06892135] [ 0.00314051 0.00818157 0.9999616 0.72539453] [ 0. 0. 0. 1. ]] SLAMing on 2.275779523 meters 0.17403766918555136 Centerline is valid? [False, False] Translation: X:0.89, Y:-1.07, Z:0.73 [[ 0.99670593 -0.08104293 -0.00305501 0.88647439] [ 0.08103359 0.99670665 -0.00306797 -1.07216688] [ 0.00329359 0.00281031 0.99999063 0.72596994] [ 0. 0. 0. 1. ]] SLAMing on 2.305779523 meters 0.1718345039213225 Centerline is valid? [False, False] Translation: X:0.89, Y:-1.07, Z:0.73 [[ 0.99741998 -0.07113012 -0.0096898 0.88904039] [ 0.07103424 0.99742471 -0.00990379 -1.07094601] [ 0.0103693 0.00918993 0.99990401 0.72635122] [ 0. 0. 0. 1. ]] SLAMing on 2.3357795230000002 meters 0.16780886498922498 Centerline is valid? [False, False] Translation: X:0.89, Y:-1.08, Z:0.73 [[ 9.97866132e-01 -6.52852811e-02 1.00710474e-03 8.92299452e-01] [ 6.52918561e-02 9.97822422e-01 -9.34814044e-03 -1.07572377e+00] [-3.94615710e-04 9.39394848e-03 9.99955798e-01 7.28676545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.365779523 meters 0.165283827396615 Centerline is valid? [False, False] Translation: X:0.89, Y:-1.08, Z:0.73 [[ 9.98176117e-01 -6.03691200e-02 9.85311820e-05 8.93427125e-01] [ 6.03691351e-02 9.98171309e-01 -3.09923206e-03 -1.08103299e+00] [ 8.87469134e-05 3.09952767e-03 9.99995193e-01 7.29021860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3957795230000003 meters 0.1638988463740437 Centerline is valid? [False, False] Translation: X:0.90, Y:-1.08, Z:0.73 [[ 9.98192877e-01 -6.00897760e-02 -4.46454170e-04 8.97045243e-01] [ 6.00885598e-02 9.98190248e-01 -2.36520661e-03 -1.08339317e+00] [ 5.87770933e-04 2.33410560e-03 9.99997103e-01 7.25743302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.425779523 meters 0.16002023768341755 Centerline is valid? [False, False] Translation: X:0.90, Y:-1.09, Z:0.72 [[ 0.99821389 -0.05972446 -0.00141888 0.90179923] [ 0.05972244 0.99821401 -0.00142268 -1.08653837] [ 0.00150132 0.0013354 0.99999798 0.72195694] [ 0. 0. 0. 1. ]] SLAMing on 2.455779523 meters 0.1527099964447084 Centerline is valid? [False, False] Translation: X:0.90, Y:-1.09, Z:0.72 [[ 9.98215445e-01 -5.96963672e-02 -1.50663521e-03 9.02867528e-01] [ 5.96971566e-02 9.98216417e-01 4.84437247e-04 -1.09270928e+00] [ 1.47502886e-03 -5.73514580e-04 9.99998748e-01 7.21234986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.485779523 meters 0.150520283945291 Centerline is valid? [False, False] Translation: X:0.90, Y:-1.10, Z:0.72 [[ 0.99822611 -0.05950838 -0.00183984 0.90366503] [ 0.05951144 0.99822626 0.00165199 -1.09618113] [ 0.00173827 -0.00175855 0.99999694 0.72123504] [ 0. 0. 0. 1. ]] SLAMing on 2.515779523 meters 0.14548862649864847 Centerline is valid? [False, False] Translation: X:0.91, Y:-1.10, Z:0.72 [[ 0.99835548 -0.05696435 -0.00643422 0.90552091] [ 0.05692401 0.99835872 -0.00628658 -1.09831171] [ 0.00678177 0.00590998 0.99995954 0.71707779] [ 0. 0. 0. 1. ]] SLAMing on 2.545779523 meters 0.14007875826186178 Centerline is valid? [False, False] Translation: X:0.91, Y:-1.11, Z:0.72 [[ 0.9980437 -0.06216598 -0.00664603 0.90745169] [ 0.06210834 0.99803276 -0.00855315 -1.10884368] [ 0.00716467 0.00812364 0.99994134 0.71709936] [ 0. 0. 0. 1. ]] SLAMing on 2.575779523 meters 0.13782391259570842 Centerline is valid? [False, False] Translation: X:0.91, Y:-1.12, Z:0.72 [[ 0.99830399 -0.05779969 -0.00695326 0.9075192 ] [ 0.05778834 0.99832719 -0.00182293 -1.11624671] [ 0.007047 0.00141802 0.99997416 0.71821137] [ 0. 0. 0. 1. ]] SLAMing on 2.6057795230000003 meters 0.13201320977200243 Centerline is valid? [False, False] Translation: X:0.91, Y:-1.12, Z:0.72 [[ 9.98314566e-01 -5.75870275e-02 -7.19460224e-03 9.07996812e-01] [ 5.75842323e-02 9.98340474e-01 -5.95232855e-04 -1.11961709e+00] [ 7.21694031e-03 1.79933982e-04 9.99973941e-01 7.18378450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.635779523 meters 0.1270428933114995 Centerline is valid? [False, False] Translation: X:0.91, Y:-1.12, Z:0.72 [[ 0.99832932 -0.05731961 -0.00728228 0.90812987] [ 0.05732938 0.99835467 0.00113968 -1.12430921] [ 0.00720497 -0.00155526 0.99997283 0.71890209] [ 0. 0. 0. 1. ]] SLAMing on 2.665779523 meters 0.12141060653940748 Centerline is valid? [False, False] Translation: X:0.91, Y:-1.13, Z:0.72 [[ 0.99791079 -0.06421281 -0.00712594 0.90960174] [ 0.06418774 0.997931 -0.00369388 -1.13156977] [ 0.0073484 0.00322877 0.99996779 0.71837741] [ 0. 0. 0. 1. ]] SLAMing on 2.695779523 meters 0.11915715108977834 Centerline is valid? [False, False] Translation: X:0.91, Y:-1.14, Z:0.72 [[ 9.97960156e-01 -6.34263423e-02 -7.25445412e-03 9.09303631e-01] [ 6.34315425e-02 9.97986072e-01 4.88775231e-04 -1.14219547e+00] [ 7.20884295e-03 -9.47939420e-04 9.99973567e-01 7.21135842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.725779523 meters 0.11613180911569874 Centerline is valid? [False, False] Translation: X:0.91, Y:-1.15, Z:0.72 [[ 0.9982011 -0.0581125 -0.01474819 0.91273541] [ 0.05800493 0.99828721 -0.00762016 -1.14776665] [ 0.01516576 0.00675098 0.9998622 0.71953437] [ 0. 0. 0. 1. ]] SLAMing on 2.755779523 meters 0.11507654727475185 Centerline is valid? [False, False] Translation: X:0.91, Y:-1.15, Z:0.72 [[ 0.99826099 -0.05893085 -0.0014683 0.91399251] [ 0.05892526 0.99825592 -0.00359717 -1.1540002 ] [ 0.00167772 0.0035044 0.99999245 0.715264 ] [ 0. 0. 0. 1. ]] SLAMing on 2.785779523 meters 0.1109155950387588 Centerline is valid? [False, False] Translation: X:0.92, Y:-1.16, Z:0.71 [[ 0.99882571 -0.04757369 -0.00916174 0.91780882] [ 0.04749705 0.99883598 -0.00840915 -1.15532756] [ 0.00955113 0.00796412 0.99992267 0.7144068 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8157795230000002 meters 0.10724583624996549 Centerline is valid? [False, False] Translation: X:0.92, Y:-1.16, Z:0.71 [[ 9.99173040e-01 -3.96014068e-02 -9.21766280e-03 9.17692410e-01] [ 3.96073661e-02 9.99215212e-01 4.64793242e-04 -1.15753244e+00] [ 9.19202242e-03 -8.29496222e-04 9.99957408e-01 7.14187930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.845779523 meters 0.10321216537837943 Centerline is valid? [False, False] Translation: X:0.92, Y:-1.16, Z:0.71 [[ 0.9994751 -0.02788797 -0.01648597 0.92176216] [ 0.02779959 0.99959802 -0.00556606 -1.15713927] [ 0.01663457 0.00510484 0.9998486 0.71334337] [ 0. 0. 0. 1. ]] SLAMing on 2.8757795230000003 meters 0.10365467899844846 Centerline is valid? [False, False] Translation: X:0.92, Y:-1.16, Z:0.71 [[ 9.99700883e-01 -2.44298782e-02 -1.15113182e-03 9.20371593e-01] [ 2.44249031e-02 9.99693037e-01 -4.15404682e-03 -1.16047434e+00] [ 1.25226132e-03 4.12468800e-03 9.99990709e-01 7.09249892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.905779523 meters 0.10409551827881243 Centerline is valid? [False, False] Translation: X:0.92, Y:-1.16, Z:0.71 [[ 0.99970608 -0.02420239 -0.00141003 0.92101548] [ 0.02419737 0.99970117 -0.00347358 -1.16262074] [ 0.00149367 0.00343844 0.99999297 0.70911142] [ 0. 0. 0. 1. ]] SLAMing on 2.935779523 meters 0.10601559007197134 Centerline is valid? [False, False] Translation: X:0.93, Y:-1.16, Z:0.71 [[ 0.99983311 -0.01800495 0.00309343 0.93073809] [ 0.01803445 0.99978944 -0.00978956 -1.16207198] [-0.00291652 0.00984372 0.9999473 0.7055505 ] [ 0. 0. 0. 1. ]] SLAMing on 2.965779523 meters 0.10601559007197134 Centerline is valid? [False, False] Translation: X:0.93, Y:-1.17, Z:0.71 [[ 9.99951118e-01 -9.47751067e-03 2.81736317e-03 9.30584726e-01] [ 9.47702553e-03 9.99955075e-01 1.85499915e-04 -1.16684153e+00] [-2.81899468e-03 -1.58790625e-04 9.99996014e-01 7.06442693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.995779523 meters 0.10187126425284974 Centerline is valid? [False, False] Translation: X:0.93, Y:-1.16, Z:0.71 [[ 0.99997939 -0.00573808 0.00287909 0.93100615] [ 0.00572991 0.99997955 0.0028391 -1.16228064] [-0.00289532 -0.00282254 0.99999183 0.70503878] [ 0. 0. 0. 1. ]] SLAMing on 3.025779523 meters 0.09766163844595503 Centerline is valid? [False, True] Translation: X:0.93, Y:-1.16, Z:0.70 [[ 0.99999393 -0.00208598 0.00279014 0.93164303] [ 0.00206976 0.99998102 0.00580225 -1.15917735] [-0.00280219 -0.00579644 0.99997927 0.70400304] [ 0. 0. 0. 1. ]] SLAMing on 3.055779523 meters 0.09361109855616444 Centerline is valid? [True, True] Translation: X:0.96, Y:-1.15, Z:0.70 [[ 9.99997943e-01 1.87578577e-03 7.71955203e-04 9.63091509e-01] [-1.87575633e-03 9.99998240e-01 -3.88482132e-05 -1.15227646e+00] [-7.72026715e-04 3.74001334e-05 9.99999701e-01 6.96791576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0857795230000002 meters 0.0881089319992623 Centerline is valid? [True, True] Translation: X:0.99, Y:-1.15, Z:0.70 [[ 9.99971782e-01 6.76607249e-03 3.26422062e-03 9.94021748e-01] [-6.76553596e-03 9.99977098e-01 -1.75381768e-04 -1.14999751e+00] [-3.26533251e-03 1.53292617e-04 9.99994657e-01 6.99929491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.115779523 meters 0.08719908342496951 Centerline is valid? [True, True] Translation: X:1.02, Y:-1.15, Z:0.70 [[ 9.99928747e-01 1.09290190e-02 4.80176984e-03 1.02467537e+00] [-1.09279066e-02 9.99940255e-01 -2.57831207e-04 -1.15018253e+00] [-4.80430080e-03 2.05339543e-04 9.99988438e-01 7.01064729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1457795230000003 meters 0.08065488047659486 Centerline is valid? [True, True] Translation: X:1.06, Y:-1.15, Z:0.70 [[ 9.99864853e-01 1.40656533e-02 8.51073459e-03 1.05620816e+00] [-1.40622816e-02 9.99901017e-01 -4.55884223e-04 -1.14976561e+00] [-8.51630448e-03 3.36142265e-04 9.99963679e-01 7.03955924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.175779523 meters 0.07042304215169792 Centerline is valid? [True, True] Translation: X:1.09, Y:-1.14, Z:0.71 [[ 9.99646176e-01 1.95642189e-02 1.80212019e-02 1.08841867e+00] [-1.95499574e-02 9.99808413e-01 -9.67221540e-04 -1.14303469e+00] [-1.80366722e-02 6.14565585e-04 9.99837137e-01 7.11564910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.205779523 meters 0.06760544174614849 Centerline is valid? [True, True] Translation: X:1.12, Y:-1.14, Z:0.71 [[ 9.99497898e-01 2.35835216e-02 2.11605728e-02 1.11924963e+00] [-2.35647481e-02 9.99721667e-01 -1.13613915e-03 -1.13951973e+00] [-2.11814773e-02 6.36925119e-04 9.99775444e-01 7.11724758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.235779523 meters 0.06678176525258474 Centerline is valid? [True, True] Translation: X:1.15, Y:-1.14, Z:0.71 [[ 9.99286282e-01 2.85538042e-02 2.47307063e-02 1.15040532e+00] [-2.85296845e-02 9.99592064e-01 -1.32764967e-03 -1.13820962e+00] [-2.47585272e-02 6.21142852e-04 9.99693268e-01 7.13005075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.265779523 meters 0.061857640402009126 Centerline is valid? [True, True] Translation: X:1.18, Y:-1.14, Z:0.72 [[ 9.99028226e-01 3.41581490e-02 2.78536229e-02 1.18127329e+00] [-3.41296902e-02 9.99416292e-01 -1.49663558e-03 -1.13738849e+00] [-2.78884868e-02 5.44545664e-04 9.99610892e-01 7.19667186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.295779523 meters 0.05819556413287606 Centerline is valid? [True, True] Translation: X:1.21, Y:-1.14, Z:0.72 [[ 9.98643010e-01 3.99430586e-02 3.34169156e-02 1.21218131e+00] [-3.99053248e-02 9.99201852e-01 -1.79562935e-03 -1.13659044e+00] [-3.34619669e-02 4.59679822e-04 9.99439886e-01 7.23343343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.325779523 meters 0.057281721291141875 Centerline is valid? [True, True] Translation: X:1.24, Y:-1.12, Z:0.72 [[ 9.97910903e-01 5.34606677e-02 3.62737876e-02 1.24254038e+00] [-5.34251170e-02 9.98569956e-01 -1.94933992e-03 -1.12359203e+00] [-3.63261275e-02 7.33620924e-06 9.99339988e-01 7.22838415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3557795230000003 meters 0.056727469341500296 Centerline is valid? [True, True] Translation: X:1.28, Y:-1.12, Z:0.72 [[ 9.97529135e-01 5.94401240e-02 3.74499262e-02 1.27548482e+00] [-5.94066595e-02 9.98231848e-01 -2.00671112e-03 -1.11631815e+00] [-3.75029882e-02 -2.23022211e-04 9.99296491e-01 7.19282133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.385779523 meters 0.05545038830750409 Centerline is valid? [True, True] Translation: X:1.31, Y:-1.11, Z:0.72 [[ 9.97312730e-01 6.31285518e-02 3.71766644e-02 1.30814355e+00] [-6.30981640e-02 9.98005339e-01 -1.99129054e-03 -1.11315883e+00] [-3.72282168e-02 -3.59839856e-04 9.99306725e-01 7.21517106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.415779523 meters 0.055021786200766996 Centerline is valid? [True, True] Translation: X:1.34, Y:-1.11, Z:0.71 [[ 9.97286671e-01 6.35526488e-02 3.71531407e-02 1.33983349e+00] [-6.35221555e-02 9.97978421e-01 -2.00179932e-03 -1.11188632e+00] [-3.72052523e-02 -3.63679796e-04 9.99307579e-01 7.11942415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.445779523 meters 0.050516830048977016 Centerline is valid? [True, True] Translation: X:1.37, Y:-1.12, Z:0.72 [[ 9.97380827e-01 6.06152346e-02 3.94623826e-02 1.37221382e+00] [-6.05780448e-02 9.98161173e-01 -2.13857533e-03 -1.11996805e+00] [-3.95194484e-02 -2.57579957e-04 9.99218768e-01 7.22083871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.475779523 meters 0.0491085952856956 Centerline is valid? [True, True] Translation: X:1.40, Y:-1.13, Z:0.73 [[ 9.97442241e-01 5.75291300e-02 4.24190531e-02 1.40387017e+00] [-5.74832622e-02 9.98343818e-01 -2.30126460e-03 -1.12609051e+00] [-4.24811892e-02 -1.43007035e-04 9.99097257e-01 7.25099479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.505779523 meters 0.04837546932668833 Centerline is valid? [True, True] Translation: X:1.43, Y:-1.13, Z:0.72 [[ 9.97478540e-01 5.39097008e-02 4.61552382e-02 1.43376243e+00] [-5.38513369e-02 9.98545815e-01 -2.50791041e-03 -1.13178209e+00] [-4.62233206e-02 1.60655343e-05 9.98931131e-01 7.20740203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.535779523 meters 0.048256776569868536 Centerline is valid? [True, True] Translation: X:1.47, Y:-1.14, Z:0.72 [[ 9.97465307e-01 5.07035738e-02 4.99210299e-02 1.46569908e+00] [-5.06312733e-02 9.98713731e-01 -2.71262000e-03 -1.13770308e+00] [-4.99943576e-02 1.78179035e-04 9.98749484e-01 7.24989557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5657795230000002 meters 0.045668969522853674 Centerline is valid? [True, True] Translation: X:1.50, Y:-1.14, Z:0.74 [[ 9.97544701e-01 4.69529897e-02 5.19613908e-02 1.49865491e+00] [-4.68697297e-02 9.98897029e-01 -2.82039052e-03 -1.14187903e+00] [-5.20365046e-02 3.78049277e-04 9.98645112e-01 7.36089839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.595779523 meters 0.043736355379451926 Centerline is valid? [True, True] Translation: X:1.53, Y:-1.14, Z:0.74 [[ 9.97606208e-01 4.24547730e-02 5.45843079e-02 1.52969093e+00] [-4.23552411e-02 9.99098171e-01 -2.97951170e-03 -1.14253239e+00] [-5.46615767e-02 6.60447842e-04 9.98504720e-01 7.37972098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.625779523 meters 0.045381146884031075 Centerline is valid? [True, True] Translation: X:1.56, Y:-1.15, Z:0.73 [[ 9.97705159e-01 4.20685373e-02 5.30533132e-02 1.55985426e+00] [-4.19735828e-02 9.99114503e-01 -2.90322303e-03 -1.14554279e+00] [-5.31284690e-02 6.69722956e-04 9.98587461e-01 7.28848897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.655779523 meters 0.04140395520834835 Centerline is valid? [True, True] Translation: X:1.59, Y:-1.14, Z:0.73 [[ 9.97856514e-01 3.75510412e-02 5.35938161e-02 1.59215888e+00] [-3.74474125e-02 9.99294284e-01 -2.93683792e-03 -1.14173064e+00] [-5.36662754e-02 9.23593104e-04 9.98558500e-01 7.32810891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.685779523 meters 0.04262742984477878 Centerline is valid? [True, True] Translation: X:1.62, Y:-1.14, Z:0.73 [[ 9.98051412e-01 3.63746420e-02 5.06977689e-02 1.62298540e+00] [-3.62798868e-02 9.99337778e-01 -2.78832139e-03 -1.14293728e+00] [-5.07656199e-02 9.43578790e-04 9.98710149e-01 7.27745318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.715779523 meters 0.04264284181660273 Centerline is valid? [True, True] Translation: X:1.65, Y:-1.15, Z:0.72 [[ 9.98188682e-01 3.38507834e-02 4.97340839e-02 1.65473258e+00] [-3.37557143e-02 9.99426329e-01 -2.75047171e-03 -1.14623226e+00] [-4.97986585e-02 1.06668021e-03 9.98758707e-01 7.23406818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.745779523 meters 0.04098224506005929 Centerline is valid? [True, True] Translation: X:1.69, Y:-1.15, Z:0.72 [[ 9.98302976e-01 3.02368888e-02 4.97684465e-02 1.68599279e+00] [-3.01372763e-02 9.99541984e-01 -2.75088314e-03 -1.15017312e+00] [-4.98288299e-02 1.24632940e-03 9.98756995e-01 7.21458908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.775779523 meters 0.04263310851214017 Centerline is valid? [True, True] Translation: X:1.72, Y:-1.15, Z:0.71 [[ 9.98737845e-01 2.51238342e-02 4.34914843e-02 1.71554595e+00] [-2.50422791e-02 9.99683466e-01 -2.41908904e-03 -1.15468092e+00] [-4.35384946e-02 1.32690988e-03 9.99050869e-01 7.11830696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.805779523 meters 0.042944015047546746 Centerline is valid? [True, True] Translation: X:1.75, Y:-1.15, Z:0.71 [[ 9.98858060e-01 2.28571903e-02 4.19538427e-02 1.74608348e+00] [-2.27793488e-02 9.99737796e-01 -2.33258582e-03 -1.15475709e+00] [-4.19961586e-02 1.37424093e-03 9.99116827e-01 7.08566229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8357795230000002 meters 0.042757247922858066 Centerline is valid? [True, True] Translation: X:1.78, Y:-1.16, Z:0.71 [[ 9.98798143e-01 2.01236107e-02 4.46912705e-02 1.77750061e+00] [-2.00327689e-02 9.99796249e-01 -2.47963572e-03 -1.15677010e+00] [-4.47320639e-02 1.58136566e-03 9.98997769e-01 7.06565649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.865779523 meters 0.040761516722981936 Centerline is valid? [True, True] Translation: X:1.81, Y:-1.16, Z:0.71 [[ 0.99862247 0.01887018 0.04895988 1.80876412] [-0.0187586 0.99982029 -0.00273754 -1.15866674] [-0.04900274 0.00181535 0.99879699 0.7089146 ] [ 0. 0. 0. 1. ]] SLAMing on 3.895779523 meters 0.04038110134323313 Centerline is valid? [True, True] Translation: X:1.84, Y:-1.17, Z:0.71 [[ 0.99846968 0.0183488 0.05216909 1.84126904] [-0.01822136 0.99982972 -0.00291748 -1.16534141] [-0.05221374 0.00196243 0.998634 0.71156528] [ 0. 0. 0. 1. ]] SLAMing on 3.925779523 meters 0.03915534752246867 Centerline is valid? [True, True] Translation: X:1.87, Y:-1.17, Z:0.72 [[ 0.9982466 0.01687174 0.05673682 1.87365753] [-0.0167185 0.9998552 -0.00317462 -1.17496461] [-0.05678216 0.0022205 0.99838412 0.71588652] [ 0. 0. 0. 1. ]] SLAMing on 3.955779523 meters 0.0387574281862002 Centerline is valid? [True, True] Translation: X:1.91, Y:-1.19, Z:0.72 [[ 0.99826796 0.01489011 0.0569154 1.90571817] [-0.0147317 0.99988636 -0.00320189 -1.18548641] [-0.05695661 0.00235789 0.99837387 0.71725665] [ 0. 0. 0. 1. ]] SLAMing on 3.985779523 meters 0.03985088833552041 Centerline is valid? [True, True] Translation: X:1.94, Y:-1.19, Z:0.71 [[ 0.99851335 0.01383779 0.05272191 1.93663646] [-0.01370021 0.99990174 -0.00297001 -1.18704423] [-0.05275783 0.0022433 0.99860482 0.70874372] [ 0. 0. 0. 1. ]] SLAMing on 4.015779523 meters 0.04068295244507763 Centerline is valid? [True, True] Translation: X:1.97, Y:-1.19, Z:0.70 [[ 0.99860593 0.01155021 0.05150526 1.96586372] [-0.01141575 0.99993062 -0.00290407 -1.18811512] [-0.05153523 0.00231205 0.9986685 0.70054808] [ 0. 0. 0. 1. ]] SLAMing on 4.045779522999999 meters 0.041615993429518536 Centerline is valid? [True, True] Translation: X:2.00, Y:-1.19, Z:0.69 [[ 0.99865155 0.00904454 0.05112017 1.9960768 ] [-0.00890884 0.99995616 -0.00288187 -1.18978065] [-0.05114399 0.00242256 0.99868835 0.69402124] [ 0. 0. 0. 1. ]] SLAMing on 4.075779523 meters 0.04246308583562625 Centerline is valid? [True, True] Translation: X:2.03, Y:-1.19, Z:0.69 [[ 0.99867752 0.0062711 0.05102825 2.02709011] [-0.00613226 0.99997706 -0.00287703 -1.19340382] [-0.05104512 0.0025603 0.99869307 0.69027745] [ 0. 0. 0. 1. ]] SLAMing on 4.105779523 meters 0.043852985182511676 Centerline is valid? [True, True] Translation: X:2.06, Y:-1.20, Z:0.69 [[ 0.99869046 0.00257459 0.05109537 2.05755521] [-0.00243045 0.99999289 -0.00288294 -1.20017181] [-0.05110243 0.00275498 0.99868962 0.6877042 ] [ 0. 0. 0. 1. ]] SLAMing on 4.135779522999999 meters 0.04782379552042249 Centerline is valid? [True, True] Translation: X:2.09, Y:-1.22, Z:0.69 [[ 0.99851682 -0.00789887 0.05386801 2.08642189] [ 0.00807437 0.99996278 -0.00304099 -1.21723086] [-0.05384198 0.00347143 0.99854343 0.68786041] [ 0. 0. 0. 1. ]] SLAMing on 4.165779522999999 meters 0.05047115001603052 Centerline is valid? [True, True] Translation: X:2.12, Y:-1.23, Z:0.69 [[ 0.99847005 -0.01323358 0.05368835 2.11679085] [ 0.01341549 0.99990542 -0.00302924 -1.22752234] [-0.05364318 0.00374486 0.99855315 0.68597179] [ 0. 0. 0. 1. ]] SLAMing on 4.195779523 meters 0.05293502266189239 Centerline is valid? [True, True] Translation: X:2.15, Y:-1.24, Z:0.68 [[ 0.99840436 -0.01830885 0.05341826 2.14753364] [ 0.01849626 0.99982438 -0.00301606 -1.2371478 ] [-0.05335366 0.00399928 0.99856767 0.68451201] [ 0. 0. 0. 1. ]] SLAMing on 4.225779523 meters 0.055168479095855046 Centerline is valid? [True, True] Translation: X:2.18, Y:-1.25, Z:0.68 [[ 0.99831252 -0.02205359 0.05371923 2.17716591] [ 0.02224862 0.99974786 -0.00303504 -1.2469547 ] [-0.05363875 0.0042251 0.99855147 0.68415886] [ 0. 0. 0. 1. ]] SLAMing on 4.255779522999999 meters 0.058769147572615955 Centerline is valid? [True, True] Translation: X:2.21, Y:-1.26, Z:0.69 [[ 0.99805249 -0.0286006 0.05543675 2.20649284] [ 0.0288183 0.99957976 -0.00313141 -1.26319134] [-0.05532389 0.0047229 0.99845729 0.68728944] [ 0. 0. 0. 1. ]] SLAMing on 4.2857795229999995 meters 0.060847562483276836 Centerline is valid? [True, True] Translation: X:2.24, Y:-1.27, Z:0.68 [[ 0.99795295 -0.03144992 0.05568492 2.23637869] [ 0.03167392 0.99949331 -0.00314435 -1.26925055] [-0.05555782 0.00490168 0.99844344 0.68391814] [ 0. 0. 0. 1. ]] SLAMing on 4.315779523 meters 0.06190411676094254 Centerline is valid? [True, True] Translation: X:2.27, Y:-1.27, Z:0.68 [[ 0.99794238 -0.03269108 0.05515711 2.26699022] [ 0.03291271 0.99945338 -0.00311439 -1.27302606] [-0.05502515 0.00492336 0.99847283 0.67967389] [ 0. 0. 0. 1. ]] SLAMing on 4.345779523 meters 0.06382854646500838 Centerline is valid? [True, True] Translation: X:2.30, Y:-1.28, Z:0.68 [[ 0.9977947 -0.0353316 0.05619095 2.29707839] [ 0.03556585 0.99936229 -0.00317395 -1.27835336] [-0.05604298 0.00516543 0.998415 0.67614007] [ 0. 0. 0. 1. ]] SLAMing on 4.375779522999999 meters 0.06739031688497203 Centerline is valid? [True, True] Translation: X:2.33, Y:-1.29, Z:0.67 [[ 0.9977199 -0.03961705 0.05463961 2.32594183] [ 0.03984487 0.99920111 -0.00308613 -1.28729625] [-0.0544737 0.0052562 0.99850137 0.66877264] [ 0. 0. 0. 1. ]] SLAMing on 4.405779523 meters 0.06953391600982944 Centerline is valid? [True, True] Translation: X:2.36, Y:-1.30, Z:0.66 [[ 0.99789972 -0.04067833 0.0504126 2.35581588] [ 0.04087362 0.99916026 -0.00284852 -1.29500635] [-0.0502544 0.00490308 0.99872441 0.66323064] [ 0. 0. 0. 1. ]] SLAMing on 4.435779523 meters 0.07139739761992159 Centerline is valid? [True, True] Translation: X:2.39, Y:-1.30, Z:0.66 [[ 0.9979368 -0.04216388 0.04841852 2.3858798 ] [ 0.04234573 0.99909927 -0.0027358 -1.30219291] [-0.04825955 0.00478048 0.99882339 0.65934635] [ 0. 0. 0. 1. ]] SLAMing on 4.465779522999999 meters 0.07236423415422016 Centerline is valid? [True, True] Translation: X:2.42, Y:-1.31, Z:0.66 [[ 0.99786131 -0.04301762 0.04921667 2.41800725] [ 0.0432065 0.9990623 -0.00277967 -1.30702803] [-0.04905094 0.0049002 0.99878426 0.65685482] [ 0. 0. 0. 1. ]] SLAMing on 4.4957795229999995 meters 0.07185083200829959 Centerline is valid? [True, True] Translation: X:2.45, Y:-1.31, Z:0.66 [[ 0.99779449 -0.03980891 0.05311697 2.44764536] [ 0.04002475 0.99919417 -0.00300541 -1.30973519] [-0.05295453 0.00512477 0.99858377 0.65974437] [ 0. 0. 0. 1. ]] SLAMing on 4.525779523 meters 0.07032465744820311 Centerline is valid? [True, True] Translation: X:2.48, Y:-1.31, Z:0.66 [[ 0.99763691 -0.03700419 0.05789033 2.47894201] [ 0.03725589 0.99930039 -0.00327426 -1.31156372] [-0.05772866 0.00542327 0.99831758 0.66421403] [ 0. 0. 0. 1. ]] SLAMing on 4.555779523 meters 0.06758768526774325 Centerline is valid? [True, True] Translation: X:2.51, Y:-1.31, Z:0.67 [[ 0.99757599 -0.03220491 0.06168465 2.51019063] [ 0.03248173 0.99946624 -0.00349001 -1.3118843 ] [-0.06153933 0.00548517 0.99808959 0.66952011] [ 0. 0. 0. 1. ]] SLAMing on 4.585779522999999 meters 0.06461506102350016 Centerline is valid? [True, True] Translation: X:2.54, Y:-1.31, Z:0.67 [[ 0.9976296 -0.02630439 0.06358665 2.54147512] [ 0.02658669 0.99964004 -0.00359737 -1.31071259] [-0.06346913 0.0052794 0.99796984 0.67221373] [ 0. 0. 0. 1. ]] SLAMing on 4.615779523 meters 0.06082640795993782 Centerline is valid? [True, True] Translation: X:2.57, Y:-1.31, Z:0.67 [[ 0.99774827 -0.02023554 0.06394463 2.57254977] [ 0.0205087 0.99978313 -0.00361828 -1.30732553] [-0.06385754 0.00492156 0.99794689 0.67132548] [ 0. 0. 0. 1. ]] SLAMing on 4.645779523 meters 0.04852935195838643 Centerline is valid? [True, True] Translation: X:2.60, Y:-1.29, Z:0.67 [[ 0.99784791 -0.00942661 0.06488985 2.60407871] [ 0.0096852 0.99994636 -0.00367176 -1.29185022] [-0.06485175 0.00429233 0.99788568 0.67233887] [ 0. 0. 0. 1. ]] SLAMing on 4.675779522999999 meters 0.04011739400414844 Centerline is valid? [True, True] Translation: X:2.64, Y:-1.28, Z:0.67 [[ 0.99781875 -0.00468939 0.06584637 2.63513371] [ 0.00494541 0.99998083 -0.00372561 -1.28058937] [-0.06582764 0.00404312 0.99782282 0.6724593 ] [ 0. 0. 0. 1. ]] SLAMing on 4.7057795229999995 meters 0.03902975013346104 Centerline is valid? [True, True] Translation: X:2.67, Y:-1.28, Z:0.67 [[ 9.97752447e-01 -1.67792058e-03 6.69868602e-02 2.66608056e+00] [ 1.93616616e-03 9.99990942e-01 -3.79043204e-03 -1.27830127e+00] [-6.69798933e-02 3.91161054e-03 9.97746658e-01 6.69156335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.735779523 meters 0.04069953937309732 Centerline is valid? [True, True] Translation: X:2.70, Y:-1.28, Z:0.66 [[ 9.97806543e-01 -2.40125768e-04 6.61970112e-02 2.69677826e+00] [ 4.89033968e-04 9.99992872e-01 -3.74393393e-03 -1.27933919e+00] [-6.61956404e-02 3.76809436e-03 9.97799548e-01 6.63167618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.765779523 meters 0.04189924830296533 Centerline is valid? [True, True] Translation: X:2.73, Y:-1.28, Z:0.66 [[ 9.97840604e-01 -1.56020369e-03 6.56634901e-02 2.72832971e+00] [ 1.80898983e-03 9.99991409e-01 -3.72951874e-03 -1.28156302e+00] [-6.56571072e-02 3.84024982e-03 9.97834854e-01 6.57395417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.795779522999999 meters 0.04549794579440938 Centerline is valid? [True, True] Translation: X:2.76, Y:-1.29, Z:0.65 [[ 0.99797674 -0.01023743 0.06275043 2.75815252] [ 0.01048195 0.9999387 -0.0035686 -1.29113871] [-0.06271005 0.00421913 0.99802287 0.65351194] [ 0. 0. 0. 1. ]] SLAMing on 4.825779523 meters 0.04901827535435833 Centerline is valid? [True, True] Translation: X:2.79, Y:-1.30, Z:0.65 [[ 0.99798401 -0.01568846 0.06149618 2.78727973] [ 0.0159336 0.99986693 -0.00349787 -1.29874824] [-0.06143312 0.00447068 0.99810119 0.65109027] [ 0. 0. 0. 1. ]] SLAMing on 4.855779523 meters 0.04901827535435833 Centerline is valid? [True, True] Translation: X:2.82, Y:-1.30, Z:0.65 [[ 0.99798785 -0.01544217 0.06149629 2.81963209] [ 0.01568673 0.99987084 -0.00349598 -1.30070168] [-0.06143436 0.00445363 0.99810119 0.64844815] [ 0. 0. 0. 1. ]] SLAMing on 4.885779522999999 meters 0.05331167202493837 Centerline is valid? [True, True] Translation: X:2.85, Y:-1.31, Z:0.65 [[ 0.99793562 -0.02208472 0.06030552 2.84900091] [ 0.0223331 0.99974464 -0.00344785 -1.30838238] [-0.06021397 0.00478754 0.99817401 0.64570412] [ 0. 0. 0. 1. ]] SLAMing on 4.915779522999999 meters 0.06432588551032822 Centerline is valid? [True, True] Translation: X:2.88, Y:-1.33, Z:0.65 [[ 0.9974525 -0.0361929 0.06147018 2.87722889] [ 0.03647759 0.99932829 -0.00351509 -1.33020221] [-0.06130166 0.00574842 0.99810273 0.64588901] [ 0. 0. 0. 1. ]] SLAMing on 4.945779523 meters 0.0679888142774845 Centerline is valid? [True, True] Translation: X:2.91, Y:-1.34, Z:0.65 [[ 0.99718616 -0.0424817 0.06176616 2.90778881] [ 0.0427811 0.99907823 -0.0035323 -1.34078702] [-0.06155917 0.00616479 0.9980844 0.64549214] [ 0. 0. 0. 1. ]] SLAMing on 4.975779523 meters 0.06764323268951768 Centerline is valid? [True, True] Translation: X:2.94, Y:-1.34, Z:0.64 [[ 0.99709766 -0.04559498 0.06097012 2.93879128] [ 0.04589248 0.9989403 -0.00348727 -1.34437604] [-0.06074651 0.00627522 0.9981335 0.64278538] [ 0. 0. 0. 1. ]] SLAMing on 5.005779522999999 meters 0.07049282688957564 Centerline is valid? [True, True] Translation: X:2.97, Y:-1.35, Z:0.64 [[ 0.99699283 -0.04756291 0.06118058 2.96738164] [ 0.04786627 0.99884762 -0.00350154 -1.348499 ] [-0.06094353 0.0064195 0.99812057 0.63702963] [ 0. 0. 0. 1. ]] SLAMing on 5.0357795229999995 meters 0.0714720224560261 Centerline is valid? [True, True] Translation: X:3.00, Y:-1.35, Z:0.63 [[ 0.99678066 -0.04612078 0.06558349 2.99620153] [ 0.04646635 0.99891281 -0.00375275 -1.34973969] [-0.06533911 0.00678809 0.99784003 0.63210648] [ 0. 0. 0. 1. ]] SLAMing on 5.065779523 meters 0.06966676876360049 Centerline is valid? [True, True] Translation: X:3.03, Y:-1.35, Z:0.63 [[ 0.99662681 -0.04286962 0.06998 3.02731299] [ 0.04325519 0.99905604 -0.00400305 -1.35293536] [-0.06974234 0.00701655 0.99754036 0.63393775] [ 0. 0. 0. 1. ]] SLAMing on 5.095779522999999 meters 0.06775791495660051 Centerline is valid? [True, True] Translation: X:3.06, Y:-1.36, Z:0.64 [[ 0.99665662 -0.03900068 0.07179503 3.05800251] [ 0.03939673 0.9992152 -0.00410799 -1.35733494] [-0.07157847 0.00692274 0.99741095 0.63583632] [ 0. 0. 0. 1. ]] SLAMing on 5.125779522999999 meters 0.06614205048659819 Centerline is valid? [True, True] Translation: X:3.09, Y:-1.36, Z:0.64 [[ 0.99689241 -0.03504538 0.07055036 3.08813987] [ 0.03541804 0.99936443 -0.00403782 -1.3610704 ] [-0.07036401 0.00652403 0.99750005 0.63514795] [ 0. 0. 0. 1. ]] SLAMing on 5.155779523 meters 0.06337351249951485 Centerline is valid? [True, True] Translation: X:3.12, Y:-1.36, Z:0.63 [[ 0.99751501 -0.02758698 0.06482874 3.11774742] [ 0.02788589 0.99960423 -0.00371029 -1.36105282] [-0.06470072 0.00550888 0.99788951 0.62683706] [ 0. 0. 0. 1. ]] SLAMing on 5.185779523 meters 0.06236995961477125 Centerline is valid? [True, True] Translation: X:3.15, Y:-1.36, Z:0.62 [[ 0.99763171 -0.02521475 0.0639936 3.14842891] [ 0.02550112 0.99966809 -0.00366205 -1.36062964] [-0.06388002 0.00528528 0.99794359 0.62245593] [ 0. 0. 0. 1. ]] SLAMing on 5.215779522999999 meters 0.061843585855962425 Centerline is valid? [True, True] Translation: X:3.18, Y:-1.36, Z:0.62 [[ 0.99753265 -0.02341579 0.06618393 3.17891318] [ 0.0237183 0.9997115 -0.0037886 -1.36145133] [-0.06607612 0.00534902 0.99780025 0.62118775] [ 0. 0. 0. 1. ]] SLAMing on 5.2457795229999995 meters 0.06305440038783905 Centerline is valid? [True, True] Translation: X:3.21, Y:-1.37, Z:0.63 [[ 0.99706387 -0.02424601 0.07263456 3.21086585] [ 0.02461263 0.99968842 -0.00415665 -1.3685686 ] [-0.07251114 0.00593217 0.99734996 0.62540265] [ 0. 0. 0. 1. ]] SLAMing on 5.275779523 meters 0.06566380386523175 Centerline is valid? [True, True] Translation: X:3.24, Y:-1.38, Z:0.63 [[ 0.99684663 -0.02773391 0.07434797 3.24142816] [ 0.02812858 0.99959521 -0.00426645 -1.3766345 ] [-0.07419955 0.0063443 0.99722323 0.62503182] [ 0. 0. 0. 1. ]] SLAMing on 5.305779522999999 meters 0.0690727833086733 Centerline is valid? [True, True] Translation: X:3.27, Y:-1.39, Z:0.62 [[ 0.99669531 -0.03105053 0.07506214 3.27082345] [ 0.03146229 0.99949565 -0.00430912 -1.38544021] [-0.07489048 0.0066565 0.99716955 0.62372589] [ 0. 0. 0. 1. ]] SLAMing on 5.335779522999999 meters 0.07208394990123906 Centerline is valid? [True, True] Translation: X:3.30, Y:-1.39, Z:0.62 [[ 0.99664013 -0.03445337 0.0743063 3.30124181] [ 0.03486626 0.99938288 -0.00426624 -1.39149836] [-0.07411346 0.00684269 0.99722634 0.6198126 ] [ 0. 0. 0. 1. ]] SLAMing on 5.365779523 meters 0.08308718920178888 Centerline is valid? [True, True] Translation: X:3.33, Y:-1.40, Z:0.61 [[ 0.99659109 -0.04073711 0.07174037 3.32983603] [ 0.04113805 0.99914498 -0.00411949 -1.40157923] [-0.07151122 0.0070567 0.99741483 0.60985686] [ 0. 0. 0. 1. ]] SLAMing on 5.395779523 meters 0.08308718920178888 Centerline is valid? [True, True] Translation: X:3.36, Y:-1.40, Z:0.61 [[ 0.99659439 -0.04065642 0.07174034 3.36229788] [ 0.04105719 0.9991483 -0.00412004 -1.40356396] [-0.07151173 0.00705146 0.99741483 0.60720621] [ 0. 0. 0. 1. ]] SLAMing on 5.425779522999999 meters 0.08105481561207895 Centerline is valid? [True, True] Translation: X:3.39, Y:-1.39, Z:0.60 [[ 0.99659877 -0.04323172 0.07015628 3.39298517] [ 0.0436217 0.99903997 -0.00403545 -1.3943289 ] [-0.06991447 0.00708206 0.99752785 0.60055797] [ 0. 0. 0. 1. ]] SLAMing on 5.4557795229999995 meters 0.07993526120244107 Centerline is valid? [True, True] Translation: X:3.42, Y:-1.39, Z:0.60 [[ 0.99668302 -0.04233484 0.06950342 3.42472298] [ 0.04271542 0.99907928 -0.00399795 -1.39102934] [-0.06927017 0.00695356 0.9975737 0.59652565] [ 0. 0. 0. 1. ]] SLAMing on 5.485779523 meters 0.08122144001126318 Centerline is valid? [True, True] Translation: X:3.45, Y:-1.39, Z:0.59 [[ 0.99675262 -0.04073448 0.06946163 3.45451959] [ 0.04111099 0.99914658 -0.00399892 -1.39088819] [-0.06923946 0.00684157 0.99757661 0.59356147] [ 0. 0. 0. 1. ]] SLAMing on 5.515779523 meters 0.07982077761587515 Centerline is valid? [True, True] Translation: X:3.48, Y:-1.39, Z:0.59 [[ 0.99679941 -0.03792809 0.07037329 3.48498695] [ 0.03830766 0.99925778 -0.00405142 -1.38722224] [-0.0701674 0.00673429 0.9975125 0.59189126] [ 0. 0. 0. 1. ]] SLAMing on 5.545779522999999 meters 0.07394221236924733 Centerline is valid? [True, True] Translation: X:3.52, Y:-1.38, Z:0.60 [[ 0.99679667 -0.03041546 0.07396819 3.51678301] [ 0.03081442 0.99951605 -0.00425821 -1.37712403] [-0.07380288 0.00652385 0.99725151 0.59613488] [ 0. 0. 0. 1. ]] SLAMing on 5.575779523 meters 0.07213253489391375 Centerline is valid? [True, True] Translation: X:3.55, Y:-1.37, Z:0.60 [[ 0.9966466 -0.0274046 0.07710089 3.54770949] [ 0.02782933 0.99960283 -0.00443953 -1.37384634] [-0.0769486 0.00657031 0.99701341 0.59872384] [ 0. 0. 0. 1. ]] SLAMing on 5.605779523 meters 0.06977345296227011 Centerline is valid? [True, True] Translation: X:3.58, Y:-1.37, Z:0.60 [[ 0.99655933 -0.02400086 0.07933127 3.57892024] [ 0.02443991 0.99969086 -0.00456788 -1.36779276] [-0.07919712 0.00649102 0.99683784 0.6001379 ] [ 0. 0. 0. 1. ]] SLAMing on 5.635779522999999 meters 0.03403608972809966 Centerline is valid? [True, True] Translation: X:3.61, Y:-1.31, Z:0.60 [[ 0.99628452 -0.01472056 0.08485555 3.61327883] [ 0.01518978 0.99987269 -0.00488656 -1.30904564] [-0.08477282 0.00615734 0.99638128 0.60108769] [ 0. 0. 0. 1. ]] SLAMing on 5.665779522999999 meters 0.03133359378207204 Centerline is valid? [True, True] Translation: X:3.64, Y:-1.30, Z:0.60 [[ 0.99628157 -0.00865219 0.08572149 3.64477209] [ 0.00910886 0.99994632 -0.00493768 -1.30209329] [-0.08567417 0.00570015 0.9963069 0.59927795] [ 0. 0. 0. 1. ]] SLAMing on 5.695779523 meters 0.02970331260034833 Centerline is valid? [True, True] Translation: X:3.68, Y:-1.30, Z:0.60 [[ 9.96286334e-01 -2.78860435e-03 8.60567461e-02 3.67558125e+00] [ 3.22722182e-03 9.99982501e-01 -4.95814057e-03 -1.29818863e+00] [-8.60414139e-02 5.21745191e-03 9.96277900e-01 5.96716906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.725779523 meters 0.027745188706966954 Centerline is valid? [True, True] Translation: X:3.71, Y:-1.30, Z:0.59 [[ 9.96412599e-01 1.67377746e-03 8.46116458e-02 3.70617785e+00] [-1.26576844e-03 9.99987313e-01 -4.87555350e-03 -1.29565403e+00] [-8.46187330e-02 4.75096418e-03 9.96402077e-01 5.93720895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.755779522999999 meters 0.02852688328764971 Centerline is valid? [True, True] Translation: X:3.74, Y:-1.30, Z:0.59 [[ 9.96691947e-01 1.99848625e-03 8.12475761e-02 3.73663783e+00] [-1.62340339e-03 9.99987720e-01 -4.68233810e-03 -1.29632703e+00] [-8.12559359e-02 4.53495109e-03 9.96682952e-01 5.89399114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7857795229999995 meters 0.02991704027637731 Centerline is valid? [True, True] Translation: X:3.77, Y:-1.30, Z:0.59 [[ 9.96818955e-01 -2.74501463e-03 7.96519634e-02 3.76748910e+00] [ 3.12198255e-03 9.99984507e-01 -4.60854029e-03 -1.29850484e+00] [-7.96380789e-02 4.84255235e-03 9.96812082e-01 5.85687112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.815779523 meters 0.03300594479379565 Centerline is valid? [True, True] Translation: X:3.80, Y:-1.30, Z:0.58 [[ 0.99682601 -0.00975119 0.07901154 3.79659282] [ 0.01014402 0.9999381 -0.004572 -1.30298113] [-0.07896207 0.00535898 0.99686322 0.58250907] [ 0. 0. 0. 1. ]] SLAMing on 5.845779522999999 meters 0.03448732668565298 Centerline is valid? [True, True] Translation: X:3.83, Y:-1.31, Z:0.58 [[ 0.99665892 -0.01732348 0.07981789 3.82746737] [ 0.01774881 0.99983179 -0.00462234 -1.30572258] [-0.07972439 0.00602357 0.99679875 0.58061096] [ 0. 0. 0. 1. ]] SLAMing on 5.875779522999999 meters 0.04036492768269421 Centerline is valid? [True, True] Translation: X:3.86, Y:-1.32, Z:0.58 [[ 0.99622604 -0.02519561 0.0830594 3.85628101] [ 0.02568351 0.99965855 -0.00481075 -1.31585766] [-0.08290983 0.00692585 0.99653299 0.5811785 ] [ 0. 0. 0. 1. ]] SLAMing on 5.905779523 meters 0.040535797772688516 Centerline is valid? [True, True] Translation: X:3.89, Y:-1.32, Z:0.58 [[ 0.99572868 -0.03288128 0.0862741 3.88692568] [ 0.03343685 0.99942831 -0.00500206 -1.32028363] [-0.0860603 0.00786543 0.99625888 0.58356252] [ 0. 0. 0. 1. ]] SLAMing on 5.935779523 meters 0.045572233568101896 Centerline is valid? [True, True] Translation: X:3.92, Y:-1.34, Z:0.59 [[ 0.99494359 -0.04339622 0.09057602 3.91630035] [ 0.04405193 0.99901544 -0.00525183 -1.33691796] [-0.09025893 0.00921532 0.9958757 0.58860812] [ 0. 0. 0. 1. ]] SLAMing on 5.965779522999999 meters 0.05132464182233184 Centerline is valid? [True, True] Translation: X:3.95, Y:-1.35, Z:0.59 [[ 0.99488358 -0.04466005 0.09062082 3.94528833] [ 0.04532178 0.99895861 -0.00525654 -1.35063809] [-0.09029169 0.00933674 0.9958716 0.58827481] [ 0. 0. 0. 1. ]] SLAMing on 5.9957795229999995 meters 0.04752997600551262 Centerline is valid? [True, True] Translation: X:3.98, Y:-1.35, Z:0.59 [[ 0.9948816 -0.04402576 0.09095233 3.97750205] [ 0.04469056 0.9989869 -0.00528465 -1.34978939] [-0.09062753 0.00932231 0.99584123 0.58590846] [ 0. 0. 0. 1. ]] SLAMing on 6.025779523 meters 0.046865887499055285 Centerline is valid? [True, True] Translation: X:4.01, Y:-1.35, Z:0.58 [[ 0.99494269 -0.03860257 0.0927302 4.00829573] [ 0.03927227 0.99921392 -0.00540736 -1.34978604] [-0.09244857 0.00902174 0.99567659 0.5829867 ] [ 0. 0. 0. 1. ]] SLAMing on 6.055779522999999 meters 0.046398075734590254 Centerline is valid? [True, True] Translation: X:4.04, Y:-1.35, Z:0.58 [[ 0.99513497 -0.03495907 0.09211001 4.03885195] [ 0.03560438 0.99935153 -0.0053715 -1.35055273] [-0.09186249 0.00862489 0.99573435 0.57938303] [ 0. 0. 0. 1. ]] SLAMing on 6.085779522999999 meters 0.04543948694750664 Centerline is valid? [True, True] Translation: X:4.07, Y:-1.35, Z:0.57 [[ 0.99581839 -0.02795661 0.08697216 4.06842569] [ 0.02850531 0.99958077 -0.00507313 -1.35213619] [-0.08679387 0.00753109 0.99619782 0.57337668] [ 0. 0. 0. 1. ]] SLAMing on 6.115779523 meters 0.04494457747920957 Centerline is valid? [True, True] Translation: X:4.10, Y:-1.35, Z:0.57 [[ 0.99607418 -0.02505236 0.08490354 4.09904324] [ 0.02556478 0.9996609 -0.00495335 -1.35322906] [-0.08475066 0.00710444 0.99637686 0.56937032] [ 0. 0. 0. 1. ]] SLAMing on 6.145779523 meters 0.044998887518471434 Centerline is valid? [True, True] Translation: X:4.13, Y:-1.36, Z:0.57 [[ 0.99606844 -0.02310191 0.08552176 4.12870747] [ 0.02361476 0.99970868 -0.00498991 -1.35518116] [-0.08538157 0.00698986 0.99632381 0.56817165] [ 0. 0. 0. 1. ]] SLAMing on 6.175779522999999 meters 0.04418423092741289 Centerline is valid? [True, True] Translation: X:4.16, Y:-1.36, Z:0.57 [[ 0.9959109 -0.02106456 0.08785079 4.16011037] [ 0.021598 0.9997536 -0.00512591 -1.35546267] [-0.08772117 0.00700235 0.99612046 0.56942096] [ 0. 0. 0. 1. ]] SLAMing on 6.2057795229999995 meters 0.04449248326030718 Centerline is valid? [True, True] Translation: X:4.19, Y:-1.36, Z:0.57 [[ 0.99571453 -0.01975452 0.09034562 4.19089328] [ 0.02031362 0.99977975 -0.00527297 -1.35770011] [-0.09022156 0.00708562 0.99589651 0.57118583] [ 0. 0. 0. 1. ]] SLAMing on 6.235779523 meters 0.044837584603162936 Centerline is valid? [True, True] Translation: X:4.22, Y:-1.36, Z:0.57 [[ 0.99577852 -0.01908519 0.08978254 4.2225096 ] [ 0.0196349 0.99979347 -0.00524336 -1.36034927] [-0.08966392 0.00698409 0.99594759 0.56987381] [ 0. 0. 0. 1. ]] SLAMing on 6.265779523 meters 0.0460759604124587 Centerline is valid? [True, True] Translation: X:4.25, Y:-1.36, Z:0.56 [[ 0.99613692 -0.01908831 0.08571391 4.25350553] [ 0.01959071 0.99979546 -0.00502397 -1.36344658] [-0.08560048 0.00668376 0.99630712 0.56361827] [ 0. 0. 0. 1. ]] SLAMing on 6.295779522999999 meters 0.04808379946661516 Centerline is valid? [True, True] Translation: X:4.28, Y:-1.37, Z:0.55 [[ 0.99693793 -0.01999826 0.07559652 4.28344662] [ 0.02039234 0.99978218 -0.00444455 -1.36610906] [-0.07549117 0.00597253 0.99712858 0.54823001] [ 0. 0. 0. 1. ]] SLAMing on 6.325779523 meters 0.04937165453804206 Centerline is valid? [True, True] Translation: X:4.31, Y:-1.37, Z:0.54 [[ 0.99707224 -0.02138617 0.07341373 4.31392783] [ 0.02176266 0.99975378 -0.00433218 -1.36951867] [-0.07330301 0.00591717 0.99729216 0.54162254] [ 0. 0. 0. 1. ]] SLAMing on 6.355779523 meters 0.05163695854463669 Centerline is valid? [True, True] Translation: X:4.34, Y:-1.38, Z:0.54 [[ 0.99695762 -0.02345917 0.07433153 4.34327412] [ 0.02385095 0.9997059 -0.00438721 -1.37570007] [-0.07420675 0.00614674 0.99722393 0.53936542] [ 0. 0. 0. 1. ]] SLAMing on 6.385779522999999 meters 0.053382583357227384 Centerline is valid? [True, True] Translation: X:4.37, Y:-1.38, Z:0.54 [[ 0.99671471 -0.0258484 0.07675711 4.37375738] [ 0.02627365 0.9996445 -0.00453538 -1.38192706] [-0.07661259 0.00653717 0.99703951 0.54035188] [ 0. 0. 0. 1. ]] SLAMing on 6.415779522999999 meters 0.05654232654194715 Centerline is valid? [True, True] Translation: X:4.40, Y:-1.39, Z:0.54 [[ 0.99643745 -0.0290726 0.07916558 4.40311595] [ 0.02953523 0.99955279 -0.00467894 -1.38813346] [-0.07899415 0.00700044 0.9968505 0.54306576] [ 0. 0. 0. 1. ]] SLAMing on 6.445779523 meters 0.058899905332961765 Centerline is valid? [True, True] Translation: X:4.43, Y:-1.39, Z:0.54 [[ 0.99645635 -0.03153599 0.07797581 4.43341925] [ 0.03199232 0.99947749 -0.00460953 -1.39104387] [-0.0777897 0.00708782 0.99694459 0.53931235] [ 0. 0. 0. 1. ]] SLAMing on 6.475779523 meters 0.045617981489106 Centerline is valid? [True, True] Translation: X:4.47, Y:-1.37, Z:0.53 [[ 0.99645794 -0.03444076 0.07671645 4.46516453] [ 0.03489096 0.99938083 -0.00453538 -1.37463358] [-0.07651275 0.00719603 0.99704263 0.53493947] [ 0. 0. 0. 1. ]] SLAMing on 6.505779522999999 meters 0.050372972039510126 Centerline is valid? [True, True] Translation: X:4.49, Y:-1.39, Z:0.53 [[ 0.99626465 -0.04082958 0.07609 4.49382412] [ 0.04129089 0.99913704 -0.00449869 -1.38967385] [-0.07584066 0.00762371 0.99709081 0.53158311] [ 0. 0. 0. 1. ]] SLAMing on 6.5357795229999995 meters 0.052099229247101156 Centerline is valid? [True, True] Translation: X:4.52, Y:-1.40, Z:0.53 [[ 9.96173461e-01 -4.31615759e-02 7.59968050e-02 4.52357729e+00] [ 4.36284301e-02 9.99037724e-01 -4.49284239e-03 -1.39947200e+00] [-7.57297570e-02 7.79127164e-03 9.97097939e-01 5.30288245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.565779523 meters 0.07139503392813637 Centerline is valid? [True, True] Translation: X:4.55, Y:-1.43, Z:0.53 [[ 9.96146425e-01 -4.43661845e-02 7.56567384e-02 4.55201568e+00] [ 4.48323215e-02 9.98984511e-01 -4.47317283e-03 -1.43048628e+00] [-7.53814522e-02 7.84780235e-03 9.97123888e-01 5.28357284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.595779522999999 meters 0.05387116824580855 Centerline is valid? [True, True] Translation: X:4.59, Y:-1.41, Z:0.53 [[ 9.96077117e-01 -4.51486906e-02 7.61050119e-02 4.58535921e+00] [ 4.56227179e-02 9.98948603e-01 -4.50067451e-03 -1.41139726e+00] [-7.58217957e-02 7.95513637e-03 9.97089650e-01 5.29101409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.625779522999999 meters 0.05448873717575253 Centerline is valid? [True, True] Translation: X:4.62, Y:-1.41, Z:0.53 [[ 9.96137089e-01 -4.44533221e-02 7.57284762e-02 4.61753763e+00] [ 4.49210421e-02 9.98980480e-01 -4.48332176e-03 -1.40775116e+00] [-7.54519710e-02 7.86780516e-03 9.97118397e-01 5.25055221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.655779523 meters 0.054885206352990976 Centerline is valid? [True, True] Translation: X:4.65, Y:-1.41, Z:0.52 [[ 9.96327440e-01 -4.25860703e-02 7.42836381e-02 4.64858195e+00] [ 4.30313041e-02 9.99064023e-01 -4.40283136e-03 -1.40533944e+00] [-7.40266110e-02 7.58318352e-03 9.97227435e-01 5.18916614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.685779523 meters 0.05395119258699339 Centerline is valid? [True, True] Translation: X:4.68, Y:-1.40, Z:0.51 [[ 9.96403438e-01 -4.07699046e-02 7.42832659e-02 4.67951590e+00] [ 4.12102334e-02 9.99140792e-01 -4.40399994e-03 -1.40395372e+00] [-7.40398904e-02 7.44939141e-03 9.97227457e-01 5.13868107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.715779522999999 meters 0.054905116599839675 Centerline is valid? [True, True] Translation: X:4.71, Y:-1.41, Z:0.51 [[ 9.96457707e-01 -3.91356819e-02 7.44341119e-02 4.70920655e+00] [ 3.95733952e-02 9.99206916e-01 -4.41424691e-03 -1.40828495e+00] [-7.42023248e-02 7.34422088e-03 9.97216164e-01 5.10561621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7457795229999995 meters 0.05461806524999876 Centerline is valid? [True, True] Translation: X:4.74, Y:-1.41, Z:0.51 [[ 9.96488682e-01 -3.69675551e-02 7.51246043e-02 4.73958045e+00] [ 3.74073525e-02 9.99290169e-01 -4.45511858e-03 -1.41242156e+00] [-7.49065837e-02 7.24968780e-03 9.97164202e-01 5.08943197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.775779523 meters 0.05461806524999876 Centerline is valid? [True, True] Translation: X:4.77, Y:-1.41, Z:0.51 [[ 9.96492194e-01 -3.68728214e-02 7.51245756e-02 4.77203376e+00] [ 3.73123886e-02 9.99293717e-01 -4.45560233e-03 -1.41444752e+00] [-7.49072258e-02 7.24305030e-03 9.97164202e-01 5.06293219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.805779522999999 meters 0.05312993785372408 Centerline is valid? [True, True] Translation: X:4.80, Y:-1.42, Z:0.50 [[ 9.96799236e-01 -3.05509647e-02 7.38777487e-02 4.80131432e+00] [ 3.09593989e-02 9.99511005e-01 -4.38941040e-03 -1.41661781e+00] [-7.37075221e-02 6.66257163e-03 9.97257645e-01 5.03288583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.835779522999999 meters 0.05210776347336641 Centerline is valid? [True, True] Translation: X:4.83, Y:-1.41, Z:0.50 [[ 9.97055008e-01 -2.64102535e-02 7.19986793e-02 4.83210072e+00] [ 2.67873087e-02 9.99632009e-01 -4.27626563e-03 -1.41430045e+00] [-7.18592472e-02 6.19232291e-03 9.97395560e-01 4.98896379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.865779523 meters 0.05115133640406026 Centerline is valid? [True, True] Translation: X:4.86, Y:-1.41, Z:0.49 [[ 9.97192047e-01 -2.22865192e-02 7.14935784e-02 4.86323295e+00] [ 2.26478213e-02 9.99734485e-01 -4.24689137e-03 -1.40952371e+00] [-7.13799473e-02 5.85414009e-03 9.97432019e-01 4.94418201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.895779523 meters 0.04973469257696064 Centerline is valid? [True, True] Translation: X:4.89, Y:-1.40, Z:0.49 [[ 9.97160807e-01 -1.88059463e-02 7.29154437e-02 4.89399126e+00] [ 1.91726578e-02 9.99806800e-01 -4.33255110e-03 -1.40370361e+00] [-7.28198787e-02 5.71823299e-03 9.97328716e-01 4.92499920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.925779522999999 meters 0.0412994748869151 Centerline is valid? [True, True] Translation: X:4.93, Y:-1.39, Z:0.49 [[ 9.96987760e-01 -1.66529797e-02 7.57501405e-02 4.92560855e+00] [ 1.70426765e-02 9.99844632e-01 -4.50094912e-03 -1.38959170e+00] [-7.56634172e-02 5.77837632e-03 9.97116672e-01 4.93794438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9557795229999995 meters 0.034370673532162825 Centerline is valid? [True, True] Translation: X:4.96, Y:-1.38, Z:0.50 [[ 9.96610580e-01 -1.43823501e-02 8.09969111e-02 4.95711134e+00] [ 1.48206514e-02 9.99878586e-01 -4.81270363e-03 -1.38082994e+00] [-8.09178589e-02 5.99681834e-03 9.96702733e-01 4.98274596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.985779523 meters 0.03330660088990197 Centerline is valid? [True, True] Translation: X:4.99, Y:-1.38, Z:0.50 [[ 9.96444619e-01 -1.41902970e-02 8.30467187e-02 4.99025382e+00] [ 1.46505297e-02 9.99880496e-01 -4.93505666e-03 -1.38352570e+00] [-8.29667644e-02 6.13418906e-03 9.96533435e-01 4.99982342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.015779522999999 meters 0.053022663172803276 Centerline is valid? [True, True] Translation: X:5.02, Y:-1.41, Z:0.51 [[ 0.99582694 -0.01821893 0.08942468 5.01992403] [ 0.01877121 0.99980955 -0.00533876 -1.41065919] [-0.08931039 0.00699509 0.99597928 0.50889036] [ 0. 0. 0. 1. ]] SLAMing on 7.045779522999999 meters 0.03712144178305859 Centerline is valid? [True, True] Translation: X:5.05, Y:-1.38, Z:0.50 [[ 0.99565605 -0.02056827 0.0908074 5.05184119] [ 0.0211476 0.99976166 -0.00542213 -1.38416184] [-0.09067423 0.00731894 0.99585371 0.50305257] [ 0. 0. 0. 1. ]] SLAMing on 7.075779523 meters 0.057102445817734354 Centerline is valid? [True, True] Translation: X:5.08, Y:-1.41, Z:0.50 [[ 0.99569101 -0.02275311 0.08989834 5.08039063] [ 0.0233298 0.9997134 -0.00536924 -1.40670643] [-0.08975041 0.00744342 0.99593647 0.50043565] [ 0. 0. 0. 1. ]] SLAMing on 7.105779523 meters 0.04028152691139103 Centerline is valid? [True, True] Translation: X:5.11, Y:-1.38, Z:0.49 [[ 0.9957698 -0.02550782 0.08827152 5.11254983] [ 0.02607448 0.9996461 -0.00527225 -1.38292588] [-0.0881058 0.00755158 0.9960825 0.49299808] [ 0. 0. 0. 1. ]] SLAMing on 7.135779522999999 meters 0.040567191192842224 Centerline is valid? [True, True] Translation: X:5.14, Y:-1.39, Z:0.49 [[ 0.99578653 -0.02931638 0.08688927 5.14274049] [ 0.02987988 0.99954001 -0.00519155 -1.38573506] [-0.0866971 0.00776591 0.99620445 0.49052361] [ 0. 0. 0. 1. ]] SLAMing on 7.165779522999999 meters 0.04479265317786131 Centerline is valid? [True, True] Translation: X:5.17, Y:-1.40, Z:0.49 [[ 9.95792277e-01 -3.37056286e-02 8.52154452e-02 5.17210811e+00] [ 3.42634501e-02 9.99399866e-01 -5.09154499e-03 -1.39536111e+00] [-8.49926907e-02 7.98989633e-03 9.96349539e-01 4.89730225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.195779523 meters 0.040796109602139294 Centerline is valid? [True, True] Translation: X:5.20, Y:-1.40, Z:0.49 [[ 9.95826065e-01 -4.21457577e-02 8.09579139e-02 5.20285453e+00] [ 4.26770433e-02 9.99077184e-01 -4.84260385e-03 -1.39598276e+00] [-8.06791095e-02 8.27743553e-03 9.96705757e-01 4.87031024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.225779522999999 meters 0.04143777300211163 Centerline is valid? [True, True] Translation: X:5.23, Y:-1.40, Z:0.48 [[ 9.95844821e-01 -4.64883344e-02 7.83066196e-02 5.23307620e+00] [ 4.69985704e-02 9.98883972e-01 -4.68454416e-03 -1.39605038e+00] [-7.80014506e-02 8.34537822e-03 9.96918316e-01 4.80687705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.255779522999999 meters 0.043874951325451814 Centerline is valid? [True, True] Translation: X:5.26, Y:-1.40, Z:0.48 [[ 9.95777619e-01 -4.90028105e-02 7.76251104e-02 5.26260268e+00] [ 4.95117349e-02 9.98762745e-01 -4.64406409e-03 -1.39865811e+00] [-7.73014961e-02 8.46780897e-03 9.96971802e-01 4.76323402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2857795229999995 meters 0.04520820908675769 Centerline is valid? [True, True] Translation: X:5.29, Y:-1.40, Z:0.47 [[ 9.95589887e-01 -5.10012180e-02 7.87378673e-02 5.29326196e+00] [ 5.15311487e-02 9.98660272e-01 -4.71184187e-03 -1.39834443e+00] [-7.83920703e-02 8.74851487e-03 9.96884219e-01 4.71649897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.315779523 meters 0.04677174742808603 Centerline is valid? [True, True] Translation: X:5.32, Y:-1.40, Z:0.47 [[ 9.95360795e-01 -5.00055712e-02 8.21968992e-02 5.32406857e+00] [ 5.05800604e-02 9.98707888e-01 -4.92051155e-03 -1.40468649e+00] [-8.18446386e-02 9.05520842e-03 9.96603963e-01 4.70405209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.345779522999999 meters 0.04569189220562802 Centerline is valid? [True, True] Translation: X:5.35, Y:-1.41, Z:0.47 [[ 9.95407836e-01 -4.73637030e-02 8.31860542e-02 5.35443587e+00] [ 4.79445824e-02 9.98837492e-01 -4.99808191e-03 -1.40793787e+00] [-8.28526221e-02 8.96345053e-03 9.96521500e-01 4.69868117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.375779522999999 meters 0.04578233864052132 Centerline is valid? [True, True] Translation: X:5.38, Y:-1.41, Z:0.47 [[ 9.95620064e-01 -4.32371679e-02 8.28929199e-02 5.38442887e+00] [ 4.37998564e-02 9.99027909e-01 -4.98086334e-03 -1.41093940e+00] [-8.25969820e-02 8.58974546e-03 9.96546012e-01 4.68135724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.405779523 meters 0.043620786359771097 Centerline is valid? [True, True] Translation: X:5.42, Y:-1.41, Z:0.47 [[ 9.95801944e-01 -3.93988626e-02 8.26209350e-02 5.41504961e+00] [ 3.99447841e-02 9.99189556e-01 -4.96437934e-03 -1.40892099e+00] [-8.23583845e-02 8.24381401e-03 9.96568681e-01 4.65751399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.435779523 meters 0.04260072371666137 Centerline is valid? [True, True] Translation: X:5.45, Y:-1.41, Z:0.46 [[ 9.96131596e-01 -3.27452932e-02 8.15450141e-02 5.44570136e+00] [ 3.32549711e-02 9.99434891e-01 -4.89961173e-03 -1.40500631e+00] [-8.13384930e-02 7.59243513e-03 9.96657616e-01 4.62122987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.465779522999999 meters 0.03749803278500274 Centerline is valid? [True, True] Translation: X:5.48, Y:-1.40, Z:0.46 [[ 9.96267822e-01 -2.97048168e-02 8.10435087e-02 5.47674859e+00] [ 3.01982460e-02 9.99532069e-01 -4.86928236e-03 -1.40027107e+00] [-8.08609448e-02 7.29848114e-03 9.96698671e-01 4.60343523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4957795229999995 meters 0.04171242895731086 Centerline is valid? [True, True] Translation: X:5.51, Y:-1.41, Z:0.46 [[ 9.96374327e-01 -2.61015745e-02 8.09747343e-02 5.50586329e+00] [ 2.65823945e-02 9.99634785e-01 -4.86538903e-03 -1.40901745e+00] [-8.08181668e-02 7.00025105e-03 9.96704279e-01 4.59400654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.525779523 meters 0.03498593876589519 Centerline is valid? [True, True] Translation: X:5.54, Y:-1.40, Z:0.46 [[ 9.96603859e-01 -1.70488373e-02 8.05610611e-02 5.53711360e+00] [ 1.74952864e-02 9.99835236e-01 -4.83908247e-03 -1.40064360e+00] [-8.04652868e-02 6.23208710e-03 9.96737929e-01 4.58963657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.555779522999999 meters 0.03420606892607301 Centerline is valid? [True, True] Translation: X:5.57, Y:-1.40, Z:0.46 [[ 9.96561727e-01 -1.20597183e-02 8.19712559e-02 5.56797775e+00] [ 1.25053283e-02 9.99909677e-01 -4.92492788e-03 -1.40043601e+00] [-8.19044587e-02 5.93307210e-03 9.96622525e-01 4.57578232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.585779522999999 meters 0.033301347995418625 Centerline is valid? [True, True] Translation: X:5.60, Y:-1.40, Z:0.46 [[ 9.96468213e-01 -7.67298535e-03 8.36195355e-02 5.59841261e+00] [ 8.12153147e-03 9.99954393e-01 -5.02529150e-03 -1.40133962e+00] [-8.35771628e-02 5.68666193e-03 9.96485083e-01 4.56962209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.615779523 meters 0.03262469833506412 Centerline is valid? [True, True] Translation: X:5.63, Y:-1.40, Z:0.46 [[ 9.96345791e-01 -3.71540042e-03 8.53302971e-02 5.62928414e+00] [ 4.16814494e-03 9.99978164e-01 -5.12824167e-03 -1.40297076e+00] [-8.53093803e-02 5.46517105e-03 9.96339521e-01 4.56709601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.645779523 meters 0.03131534840996891 Centerline is valid? [True, True] Translation: X:5.66, Y:-1.40, Z:0.45 [[ 9.96227409e-01 2.70259937e-03 8.67389453e-02 5.65895981e+00] [-2.25887247e-03 9.99983859e-01 -5.21340300e-03 -1.39780421e+00] [-8.67516349e-02 4.99780275e-03 9.96217434e-01 4.54049352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.675779522999999 meters 0.03000713580608301 Centerline is valid? [True, True] Translation: X:5.69, Y:-1.39, Z:0.45 [[ 9.96388057e-01 4.94742096e-03 8.47724156e-02 5.69009197e+00] [-4.53185446e-03 9.99976757e-01 -5.09387749e-03 -1.39315582e+00] [-8.47956468e-02 4.69130244e-03 9.96387319e-01 4.46119314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7057795229999995 meters 0.029774756254721313 Centerline is valid? [True, True] Translation: X:5.72, Y:-1.39, Z:0.44 [[ 9.96711772e-01 6.90940655e-03 8.07335372e-02 5.72104679e+00] [-6.53880940e-03 9.99966841e-01 -4.85385822e-03 -1.39258392e+00] [-8.07643974e-02 4.30999642e-03 9.96723902e-01 4.37134611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.735779523 meters 0.0290773922366687 Centerline is valid? [True, True] Translation: X:5.75, Y:-1.39, Z:0.43 [[ 9.97105161e-01 9.43991865e-03 7.54465721e-02 5.75144119e+00] [-9.12343118e-03 9.99948082e-01 -4.53841985e-03 -1.39449888e+00] [-7.54854974e-02 3.83695025e-03 9.97139518e-01 4.27606885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.765779522999999 meters 0.02863738449492985 Centerline is valid? [True, True] Translation: X:5.78, Y:-1.41, Z:0.42 [[ 9.97604895e-01 1.34583710e-02 6.78479586e-02 5.78035612e+00] [-1.32117386e-02 9.99904387e-01 -4.08249722e-03 -1.40556963e+00] [-6.78964152e-02 3.17632972e-03 9.97687320e-01 4.17665187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.795779522999999 meters 0.02923185127045782 Centerline is valid? [True, True] Translation: X:5.81, Y:-1.41, Z:0.42 [[ 9.97617716e-01 1.48453892e-02 6.73684380e-02 5.81160742e+00] [-1.46050503e-02 9.99885103e-01 -4.05867484e-03 -1.41235178e+00] [-6.74209502e-02 3.06508650e-03 9.97719911e-01 4.15744818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.825779523 meters 0.028705198645013908 Centerline is valid? [True, True] Translation: X:5.84, Y:-1.41, Z:0.41 [[ 9.97508557e-01 1.63746181e-02 6.86188775e-02 5.84307323e+00] [-1.61275466e-02 9.99861317e-01 -4.15310655e-03 -1.41331337e+00] [-6.86773668e-02 3.03610518e-03 9.97634302e-01 4.14605120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.855779523 meters 0.026397643786579685 Centerline is valid? [True, True] Translation: X:5.88, Y:-1.41, Z:0.41 [[ 9.97355198e-01 1.77804948e-02 7.04731417e-02 5.87546885e+00] [-1.75233405e-02 9.99837355e-01 -4.26557001e-03 -1.40817669e+00] [-7.05375236e-02 3.01936356e-03 9.97504557e-01 4.13122256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.885779522999999 meters 0.02767768362835871 Centerline is valid? [True, True] Translation: X:5.91, Y:-1.41, Z:0.41 [[ 9.97182663e-01 1.72294028e-02 7.30060614e-02 5.90716350e+00] [-1.69505207e-02 9.99846481e-01 -4.43788276e-03 -1.40858013e+00] [-7.30713156e-02 3.18788899e-03 9.97321623e-01 4.10185750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.915779522999999 meters 0.027214858836358356 Centerline is valid? [True, True] Translation: X:5.94, Y:-1.42, Z:0.41 [[ 9.97086635e-01 1.49988405e-02 7.47882187e-02 5.93923849e+00] [-1.46988449e-02 9.99881568e-01 -4.56010743e-03 -1.41579484e+00] [-7.48477577e-02 3.44752174e-03 9.97189013e-01 4.11804819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.945779523 meters 0.0279485159360357 Centerline is valid? [True, True] Translation: X:5.97, Y:-1.43, Z:0.41 [[ 9.97090741e-01 1.28189254e-02 7.51380625e-02 5.97035545e+00] [-1.25096155e-02 9.99911236e-01 -4.58576959e-03 -1.42794176e+00] [-7.51901776e-02 3.63248013e-03 9.97162596e-01 4.13354839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.975779522999999 meters 0.0334617940171356 Centerline is valid? [True, True] Translation: X:6.00, Y:-1.44, Z:0.41 [[ 9.97213283e-01 1.00945795e-02 7.39172965e-02 5.99925292e+00] [-9.78652164e-03 9.99941856e-01 -4.52861778e-03 -1.44476453e+00] [-7.39587132e-02 3.79260459e-03 9.97254092e-01 4.12344815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.005779523 meters 0.03048591672896907 Centerline is valid? [True, True] Translation: X:6.03, Y:-1.44, Z:0.41 [[ 9.97261328e-01 7.33245048e-03 7.35940193e-02 6.03037324e+00] [-7.01912815e-03 9.99965172e-01 -4.51517738e-03 -1.44380579e+00] [-7.36245635e-02 3.98624593e-03 9.97278062e-01 4.09891837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.035779523 meters 0.03394144034466584 Centerline is valid? [True, True] Translation: X:6.06, Y:-1.44, Z:0.40 [[ 9.96993060e-01 -1.89117437e-04 7.74906672e-02 6.06035938e+00] [ 5.59317666e-04 9.99988535e-01 -4.75567673e-03 -1.44222630e+00] [-7.74888794e-02 4.78471859e-03 9.96981735e-01 4.04251666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.065779523 meters 0.04134252106613477 Centerline is valid? [True, True] Translation: X:6.09, Y:-1.45, Z:0.40 [[ 9.96806960e-01 -4.08937796e-03 7.97443514e-02 6.08986290e+00] [ 4.49396061e-03 9.99977923e-01 -4.89468562e-03 -1.45121441e+00] [-7.97225747e-02 5.23742467e-03 9.96803331e-01 4.01474931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.095779523000001 meters 0.03788081738030738 Centerline is valid? [True, True] Translation: X:6.12, Y:-1.45, Z:0.40 [[ 9.96637824e-01 -7.78136733e-03 8.15628432e-02 6.12055692e+00] [ 8.21689586e-03 9.99953713e-01 -5.00549076e-03 -1.44879388e+00] [-8.15201183e-02 5.65885481e-03 9.96655631e-01 4.01144255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.125779523 meters 0.032572001024640584 Centerline is valid? [True, True] Translation: X:6.15, Y:-1.45, Z:0.41 [[ 9.96158630e-01 -1.40755429e-02 8.64283726e-02 6.15161382e+00] [ 1.45883674e-02 9.99879512e-01 -5.30475212e-03 -1.44888962e+00] [-8.63432918e-02 6.54522346e-03 9.96243944e-01 4.06113711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.155779523 meters 0.035567708398910824 Centerline is valid? [True, True] Translation: X:6.18, Y:-1.46, Z:0.41 [[ 9.96037402e-01 -1.71430679e-02 8.72674522e-02 6.18095081e+00] [ 1.76777792e-02 9.99829379e-01 -5.35808337e-03 -1.45653993e+00] [-8.71607086e-02 6.87954620e-03 9.96170509e-01 4.05445095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.185779523 meters 0.03703163987019882 Centerline is valid? [True, True] Translation: X:6.21, Y:-1.46, Z:0.40 [[ 9.96088495e-01 -2.05992546e-02 8.59265979e-02 6.21144253e+00] [ 2.11305798e-02 9.99762790e-01 -5.27844923e-03 -1.46011017e+00] [-8.57974831e-02 7.07348138e-03 9.96287488e-01 4.01519996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.215779523 meters 0.037960623832730855 Centerline is valid? [True, True] Translation: X:6.24, Y:-1.46, Z:0.39 [[ 9.96353935e-01 -2.35201833e-02 8.20099823e-02 6.24149402e+00] [ 2.40138516e-02 9.99698930e-01 -5.03833119e-03 -1.46157805e+00] [-8.18667890e-02 6.98933665e-03 9.96618773e-01 3.94240087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.245779523 meters 0.0367159255130905 Centerline is valid? [True, True] Translation: X:6.27, Y:-1.46, Z:0.38 [[ 9.96808168e-01 -2.60850696e-02 7.54522676e-02 6.27155669e+00] [ 2.65100912e-02 9.99637792e-01 -4.63675977e-03 -1.45745479e+00] [-7.53039880e-02 6.62220650e-03 9.97138634e-01 3.84325197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.275779523 meters 0.03840967613996811 Centerline is valid? [True, True] Translation: X:6.30, Y:-1.46, Z:0.38 [[ 9.96935927e-01 -2.53246114e-02 7.40096102e-02 6.30266398e+00] [ 2.57313959e-02 9.99658548e-01 -4.54790583e-03 -1.45637531e+00] [-7.38691655e-02 6.43834130e-03 9.97247158e-01 3.78916713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.305779523 meters 0.0388120492665456 Centerline is valid? [True, True] Translation: X:6.34, Y:-1.45, Z:0.37 [[ 9.96957954e-01 -2.44479292e-02 7.40076791e-02 6.33507633e+00] [ 2.48530198e-02 9.99680727e-01 -4.55752915e-03 -1.45215724e+00] [-7.38726283e-02 6.38297925e-03 9.97247257e-01 3.74341756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.335779523000001 meters 0.037137795383071916 Centerline is valid? [True, True] Translation: X:6.37, Y:-1.44, Z:0.37 [[ 9.96911642e-01 -2.41144377e-02 7.47373476e-02 6.36736415e+00] [ 2.45280270e-02 9.99688463e-01 -4.62085622e-03 -1.44446600e+00] [-7.46026348e-02 6.43974504e-03 9.97192547e-01 3.71331349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.365779523 meters 0.038946733325783536 Centerline is valid? [True, True] Translation: X:6.40, Y:-1.44, Z:0.37 [[ 9.96790553e-01 -2.34447020e-02 7.65437119e-02 6.39832217e+00] [ 2.38781596e-02 9.99703580e-01 -4.75246660e-03 -1.44363354e+00] [-7.64096026e-02 6.56493678e-03 9.97054900e-01 3.71426550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.395779523 meters 0.04152320689975803 Centerline is valid? [True, True] Translation: X:6.43, Y:-1.45, Z:0.37 [[ 9.96705328e-01 -2.45190290e-02 7.73130355e-02 6.42897633e+00] [ 2.49653588e-02 9.99676737e-01 -4.81164893e-03 -1.44785096e+00] [-7.71700661e-02 6.72594380e-03 9.96995257e-01 3.70795049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.425779523000001 meters 0.0435922494410401 Centerline is valid? [True, True] Translation: X:6.46, Y:-1.45, Z:0.37 [[ 9.96577415e-01 -2.63157529e-02 7.83641273e-02 6.45873568e+00] [ 2.67800692e-02 9.99629438e-01 -4.87992131e-03 -1.45062244e+00] [-7.82066697e-02 6.96181611e-03 9.96912860e-01 3.70145572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.455779523 meters 0.040806400638057884 Centerline is valid? [True, True] Translation: X:6.49, Y:-1.45, Z:0.37 [[ 9.96418780e-01 -2.97727673e-02 7.91403637e-02 6.48950908e+00] [ 3.02571548e-02 9.99529998e-01 -4.92824579e-03 -1.44551338e+00] [-7.89564400e-02 7.30515889e-03 9.96851300e-01 3.68042573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.485779523 meters 0.04536440442836398 Centerline is valid? [True, True] Translation: X:6.52, Y:-1.45, Z:0.36 [[ 9.96096127e-01 -4.06851572e-02 7.83404384e-02 6.51864998e+00] [ 4.11931717e-02 9.99139289e-01 -4.87895907e-03 -1.44892099e+00] [-7.80745087e-02 8.08700336e-03 9.96914726e-01 3.63113787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.515779523 meters 0.043643689753537274 Centerline is valid? [True, True] Translation: X:6.55, Y:-1.45, Z:0.36 [[ 9.95982091e-01 -4.58133402e-02 7.69468157e-02 6.54873509e+00] [ 4.63185845e-02 9.98915218e-01 -4.79341425e-03 -1.45027239e+00] [-7.66437428e-02 8.33822233e-03 9.97023676e-01 3.60437074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.545779523 meters 0.04961363627350672 Centerline is valid? [True, True] Translation: X:6.58, Y:-1.46, Z:0.36 [[ 9.95869578e-01 -4.98324483e-02 7.58980287e-02 6.57733710e+00] [ 5.03354918e-02 9.98721173e-01 -4.72823568e-03 -1.46429121e+00] [-7.55653488e-02 8.52907068e-03 9.97104374e-01 3.58731298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.575779523 meters 0.04273777324317655 Centerline is valid? [True, True] Translation: X:6.61, Y:-1.46, Z:0.36 [[ 9.95748213e-01 -5.15424039e-02 7.63470785e-02 6.60841127e+00] [ 5.20566207e-02 9.98632794e-01 -4.75921459e-03 -1.46211003e+00] [-7.59973950e-02 8.71335033e-03 9.97069944e-01 3.58327685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.605779523 meters 0.044760223936379046 Centerline is valid? [True, True] Translation: X:6.64, Y:-1.47, Z:0.36 [[ 9.95600099e-01 -4.83161056e-02 8.02869646e-02 6.63762260e+00] [ 4.88747458e-02 9.98792369e-01 -5.00634423e-03 -1.47140251e+00] [-7.99481205e-02 8.90832179e-03 9.96759219e-01 3.61336786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.635779523 meters 0.042274732815719675 Centerline is valid? [True, True] Translation: X:6.67, Y:-1.47, Z:0.36 [[ 9.95437489e-01 -4.42725580e-02 8.45230470e-02 6.66852373e+00] [ 4.48774341e-02 9.98978606e-01 -5.26888384e-03 -1.46923405e+00] [-8.42034487e-02 9.03802197e-03 9.96407594e-01 3.62017230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.665779523000001 meters 0.04107813467880636 Centerline is valid? [True, True] Translation: X:6.70, Y:-1.47, Z:0.36 [[ 9.95301248e-01 -3.98678301e-02 8.82382143e-02 6.69961056e+00] [ 4.05101953e-02 9.99163985e-01 -5.50042760e-03 -1.46837347e+00] [-8.79451557e-02 9.04912975e-03 9.96084215e-01 3.62317005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.695779523 meters 0.04107813467880636 Centerline is valid? [True, True] Translation: X:6.73, Y:-1.47, Z:0.36 [[ 9.95312385e-01 -3.95892631e-02 8.82380086e-02 6.73204140e+00] [ 4.02308361e-02 9.99175254e-01 -5.50372153e-03 -1.47045555e+00] [-8.79473464e-02 9.02781107e-03 9.96084215e-01 3.59668555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.725779523 meters 0.04572899042180737 Centerline is valid? [True, True] Translation: X:6.76, Y:-1.48, Z:0.36 [[ 9.95300418e-01 -3.47361535e-02 9.03906981e-02 6.76115546e+00] [ 3.53918814e-02 9.99357476e-01 -5.66119767e-03 -1.47791880e+00] [-9.01359717e-02 8.83368927e-03 9.95890291e-01 3.58899702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.755779523000001 meters 0.040953733673228215 Centerline is valid? [True, True] Translation: X:6.79, Y:-1.47, Z:0.35 [[ 9.95469271e-01 -3.07490320e-02 8.99745990e-02 6.79164013e+00] [ 3.13824624e-02 9.99491573e-01 -5.63357439e-03 -1.47306803e+00] [-8.97556265e-02 8.43167466e-03 9.95928127e-01 3.54497698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.785779523 meters 0.04038821936165287 Centerline is valid? [True, True] Translation: X:6.82, Y:-1.47, Z:0.35 [[ 9.95968351e-01 -2.68943427e-02 8.55788463e-02 6.82140435e+00] [ 2.74530562e-02 9.99608733e-01 -5.35827787e-03 -1.47417961e+00] [-8.54012547e-02 7.68607605e-03 9.96316993e-01 3.45187232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.815779523 meters 0.04085249458920908 Centerline is valid? [True, True] Translation: X:6.85, Y:-1.48, Z:0.34 [[ 9.96078356e-01 -2.67756561e-02 8.43265796e-02 6.85385940e+00] [ 2.73177928e-02 9.99612847e-01 -5.28151764e-03 -1.47716614e+00] [-8.41525162e-02 7.56442144e-03 9.96424174e-01 3.40340247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.845779523000001 meters 0.04475797084790788 Centerline is valid? [True, True] Translation: X:6.88, Y:-1.48, Z:0.34 [[ 9.96092789e-01 -2.77021521e-02 8.38555097e-02 6.88451442e+00] [ 2.82433890e-02 9.99587159e-01 -5.27479490e-03 -1.48420247e+00] [-8.36747675e-02 7.62254895e-03 9.96463963e-01 3.36585188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.875779523 meters 0.04169562967556517 Centerline is valid? [True, True] Translation: X:6.92, Y:-1.48, Z:0.33 [[ 9.95924682e-01 -3.24092178e-02 8.41645417e-02 6.91539418e+00] [ 3.29726177e-02 9.99442137e-01 -5.31228343e-03 -1.48163772e+00] [-8.39454226e-02 8.06575945e-03 9.96437710e-01 3.33602706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.905779523 meters 0.045008301819669666 Centerline is valid? [True, True] Translation: X:6.94, Y:-1.49, Z:0.33 [[ 9.95872015e-01 -3.58744645e-02 8.33783681e-02 6.94430395e+00] [ 3.64393943e-02 9.99322005e-01 -5.26312997e-03 -1.48824743e+00] [-8.31330261e-02 8.27966108e-03 9.96504063e-01 3.31409260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.935779523 meters 0.043097994225757066 Centerline is valid? [True, True] Translation: X:6.97, Y:-1.49, Z:0.33 [[ 9.95726302e-01 -3.93995428e-02 8.35272835e-02 6.97484671e+00] [ 3.99786360e-02 9.99186631e-01 -5.27112653e-03 -1.48932048e+00] [-8.32516650e-02 8.58790618e-03 9.96491549e-01 3.29938080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.965779523 meters 0.0477754593861196 Centerline is valid? [True, True] Translation: X:7.00, Y:-1.50, Z:0.33 [[ 9.95326343e-01 -4.44903216e-02 8.57092842e-02 7.00335125e+00] [ 4.51191172e-02 9.98966953e-01 -5.41230661e-03 -1.50496023e+00] [-8.53799472e-02 9.25413859e-03 9.96305488e-01 3.32684385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.995779523 meters 0.04344237015601365 Centerline is valid? [True, True] Translation: X:7.03, Y:-1.50, Z:0.33 [[ 9.95175832e-01 -4.62485581e-02 8.65224543e-02 7.03465915e+00] [ 4.68963680e-02 9.98884791e-01 -5.46853124e-03 -1.50271303e+00] [-8.61730520e-02 9.49973898e-03 9.96234892e-01 3.30569063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.025779523 meters 0.04199468197300357 Centerline is valid? [True, True] Translation: X:7.07, Y:-1.50, Z:0.33 [[ 9.95155239e-01 -4.62792991e-02 8.67425839e-02 7.06630596e+00] [ 4.69309165e-02 9.98883068e-01 -5.48679990e-03 -1.50164836e+00] [-8.63917731e-02 9.53112663e-03 9.96215649e-01 3.26654455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.055779523 meters 0.04578630588311284 Centerline is valid? [True, True] Translation: X:7.10, Y:-1.51, Z:0.32 [[ 9.95229981e-01 -4.55211445e-02 8.62850569e-02 7.09724194e+00] [ 4.61648890e-02 9.98918807e-01 -5.47898078e-03 -1.50674679e+00] [-8.59423567e-02 9.43618602e-03 9.96255424e-01 3.22480763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.085779523000001 meters 0.04266677321721079 Centerline is valid? [True, True] Translation: X:7.13, Y:-1.50, Z:0.32 [[ 9.95223157e-01 -4.46856463e-02 8.67989703e-02 7.12994804e+00] [ 4.53356361e-02 9.98956501e-01 -5.53068706e-03 -1.50369791e+00] [-8.64612534e-02 9.43935437e-03 9.96210495e-01 3.19055315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.115779523 meters 0.04402450888007566 Centerline is valid? [True, True] Translation: X:7.16, Y:-1.51, Z:0.32 [[ 9.95319443e-01 -4.18475547e-02 8.71090596e-02 7.15919967e+00] [ 4.24921062e-02 9.99081346e-01 -5.55749612e-03 -1.51022426e+00] [-8.67964688e-02 9.23293136e-03 9.96183279e-01 3.17762159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.145779523 meters 0.041638381881537255 Centerline is valid? [True, True] Translation: X:7.19, Y:-1.51, Z:0.32 [[ 9.95374355e-01 -4.13631170e-02 8.67120811e-02 7.19101101e+00] [ 4.19999654e-02 9.99102296e-01 -5.53213978e-03 -1.51435344e+00] [-8.64054128e-02 9.14845447e-03 9.96218054e-01 3.17681242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.175779523000001 meters 0.0432086056300351 Centerline is valid? [True, True] Translation: X:7.22, Y:-1.52, Z:0.32 [[ 9.95467440e-01 -4.16419314e-02 8.55016062e-02 7.22132482e+00] [ 4.22638343e-02 9.99091480e-01 -5.47559339e-03 -1.52420216e+00] [-8.51959121e-02 9.06440065e-03 9.96322986e-01 3.18223075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.205779523 meters 0.04309301155850942 Centerline is valid? [True, True] Translation: X:7.25, Y:-1.53, Z:0.32 [[ 9.95624557e-01 -4.08963633e-02 8.40192140e-02 7.25308956e+00] [ 4.14957584e-02 9.99124091e-01 -5.39941159e-03 -1.52934407e+00] [-8.37248045e-02 8.86222778e-03 9.96449506e-01 3.19017671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.235779523 meters 0.04510804820419817 Centerline is valid? [True, True] Translation: X:7.28, Y:-1.53, Z:0.32 [[ 9.95671126e-01 -3.98728120e-02 8.39593174e-02 7.28463825e+00] [ 4.04694684e-02 9.99166097e-01 -5.41594711e-03 -1.53008962e+00] [-8.36733544e-02 8.79029110e-03 9.96454465e-01 3.15840961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.265779523 meters 0.04323774769978068 Centerline is valid? [True, True] Translation: X:7.32, Y:-1.53, Z:0.31 [[ 9.95688741e-01 -3.90434507e-02 8.41399977e-02 7.31645218e+00] [ 3.96414224e-02 9.99199122e-01 -5.44730586e-03 -1.52567942e+00] [-8.38599302e-02 8.75925030e-03 9.96439054e-01 3.11549003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.295779523 meters 0.041784822191092856 Centerline is valid? [True, True] Translation: X:7.35, Y:-1.53, Z:0.31 [[ 9.96012422e-01 -3.76826531e-02 8.08657703e-02 7.34778999e+00] [ 3.82307222e-02 9.99255203e-01 -5.23938622e-03 -1.52725364e+00] [-8.06081078e-02 8.31005056e-03 9.96711230e-01 3.05267306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.325779523 meters 0.04346787742703918 Centerline is valid? [True, True] Translation: X:7.38, Y:-1.54, Z:0.30 [[ 9.96049215e-01 -3.78417357e-02 8.03365705e-02 7.37785208e+00] [ 3.83834716e-02 9.99249505e-01 -5.20922181e-03 -1.53643898e+00] [-8.00791523e-02 8.27223776e-03 9.96754182e-01 3.03909498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.355779523 meters 0.04346787742703918 Centerline is valid? [True, True] Translation: X:7.41, Y:-1.54, Z:0.30 [[ 9.96059699e-01 -3.75669038e-02 8.03355707e-02 7.41027232e+00] [ 3.81089834e-02 9.99259931e-01 -5.22459531e-03 -1.53860962e+00] [-8.00798450e-02 8.26551576e-03 9.96754182e-01 3.01256644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.385779523 meters 0.04165743075121565 Centerline is valid? [True, True] Translation: X:7.44, Y:-1.54, Z:0.30 [[ 9.96082633e-01 -4.00075022e-02 7.88592972e-02 7.44070246e+00] [ 4.05390617e-02 9.99164679e-01 -5.15059294e-03 -1.53610551e+00] [-7.85873620e-02 8.32729808e-03 9.96872451e-01 2.95384799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.415779523 meters 0.042803109781644054 Centerline is valid? [True, True] Translation: X:7.47, Y:-1.54, Z:0.29 [[ 9.96172348e-01 -4.03058552e-02 7.75634712e-02 7.47178171e+00] [ 4.08208922e-02 9.99153639e-01 -5.06555568e-03 -1.53661857e+00] [-7.72936530e-02 8.21237659e-03 9.96974547e-01 2.90069057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.445779523 meters 0.04324243410579439 Centerline is valid? [True, True] Translation: X:7.50, Y:-1.54, Z:0.29 [[ 9.96266490e-01 -4.08249330e-02 7.60684262e-02 7.50324510e+00] [ 4.13230255e-02 9.99133404e-01 -4.98487127e-03 -1.53706473e+00] [-7.57989986e-02 8.10963772e-03 9.97090139e-01 2.85598500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.475779523 meters 0.04379960148745163 Centerline is valid? [True, True] Translation: X:7.53, Y:-1.54, Z:0.28 [[ 9.96332864e-01 -4.41153706e-02 7.33120599e-02 7.53437383e+00] [ 4.45879819e-02 9.98993825e-01 -4.82170182e-03 -1.53955800e+00] [-7.30255840e-02 8.07285679e-03 9.97297394e-01 2.82860379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.505779523000001 meters 0.04560611411199362 Centerline is valid? [True, True] Translation: X:7.56, Y:-1.55, Z:0.28 [[ 9.96324707e-01 -4.58525196e-02 7.23507045e-02 7.56401301e+00] [ 4.63174232e-02 9.98915430e-01 -4.76019865e-03 -1.54596724e+00] [-7.20539680e-02 8.09380172e-03 9.97367894e-01 2.81889493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.535779523 meters 0.04971374802787549 Centerline is valid? [True, True] Translation: X:7.59, Y:-1.56, Z:0.28 [[ 9.96326589e-01 -4.72622337e-02 7.14115480e-02 7.59343338e+00] [ 4.77190332e-02 9.98849725e-01 -4.70333560e-03 -1.55705624e+00] [-7.11071149e-02 8.09374835e-03 9.97435847e-01 2.81063775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.565779523 meters 0.05161240757389111 Centerline is valid? [True, True] Translation: X:7.62, Y:-1.56, Z:0.28 [[ 9.96138326e-01 -4.93588015e-02 7.26095261e-02 7.62309049e+00] [ 4.98365990e-02 9.98745935e-01 -4.78234736e-03 -1.56411516e+00] [-7.22824181e-02 8.38249133e-03 9.97348979e-01 2.83270206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.595779523000001 meters 0.04540441893602989 Centerline is valid? [True, True] Translation: X:7.66, Y:-1.55, Z:0.28 [[ 9.96059497e-01 -4.92940728e-02 7.37263310e-02 7.65561567e+00] [ 4.97864358e-02 9.98748090e-01 -4.85431908e-03 -1.55337008e+00] [-7.33947430e-02 8.50576187e-03 9.97266696e-01 2.80571407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.625779523 meters 0.05358003133205412 Centerline is valid? [True, True] Translation: X:7.69, Y:-1.56, Z:0.27 [[ 9.96112736e-01 -4.83502351e-02 7.36319971e-02 7.68573344e+00] [ 4.88391906e-02 9.98794862e-01 -4.85350613e-03 -1.55930526e+00] [-7.33085922e-02 8.43076641e-03 9.97273670e-01 2.74995000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.655779523 meters 0.04472777890822153 Centerline is valid? [True, True] Translation: X:7.72, Y:-1.54, Z:0.27 [[ 9.96229680e-01 -4.68449578e-02 7.30203665e-02 7.71679520e+00] [ 4.73220170e-02 9.98868076e-01 -4.81598468e-03 -1.54454225e+00] [-7.27121084e-02 8.25329790e-03 9.97318822e-01 2.69881385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.685779523 meters 0.04275251755862527 Centerline is valid? [True, True] Translation: X:7.75, Y:-1.54, Z:0.26 [[ 9.96701499e-01 -4.08280336e-02 7.01369647e-02 7.74731885e+00] [ 4.12533565e-02 9.99138010e-01 -4.62583436e-03 -1.54341283e+00] [-6.98876436e-02 7.50396125e-03 9.97526645e-01 2.64712155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.715779523 meters 0.04221697305229255 Centerline is valid? [True, True] Translation: X:7.78, Y:-1.55, Z:0.26 [[ 9.96929697e-01 -3.69955832e-02 6.90109127e-02 7.77763439e+00] [ 3.73982322e-02 9.99290077e-01 -4.55129678e-03 -1.54661019e+00] [-6.87935423e-02 7.11820906e-03 9.97605523e-01 2.63268582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.745779523 meters 0.048295384964963044 Centerline is valid? [True, True] Translation: X:7.81, Y:-1.56, Z:0.26 [[ 9.97056933e-01 -3.35687890e-02 6.89246630e-02 7.80661131e+00] [ 3.39624018e-02 9.99412769e-01 -4.54658514e-03 -1.55674455e+00] [-6.87315650e-02 6.87405133e-03 9.97611507e-01 2.61535364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.775779523 meters 0.041115299482022166 Centerline is valid? [True, True] Translation: X:7.84, Y:-1.55, Z:0.26 [[ 9.97063291e-01 -3.15274115e-02 6.97912365e-02 7.83822274e+00] [ 3.19259457e-02 9.99479642e-01 -4.60204631e-03 -1.54743244e+00] [-6.96098295e-02 6.81668266e-03 9.97551003e-01 2.62692337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.805779523 meters 0.04699079965062979 Centerline is valid? [True, True] Translation: X:7.87, Y:-1.55, Z:0.26 [[ 9.96901970e-01 -3.07906175e-02 7.23767937e-02 7.86817907e+00] [ 3.12174880e-02 9.99501215e-01 -4.77384624e-03 -1.55395908e+00] [-7.21937036e-02 7.01847841e-03 9.97365936e-01 2.62654799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.835779523000001 meters 0.04211620286371084 Centerline is valid? [True, True] Translation: X:7.90, Y:-1.55, Z:0.26 [[ 9.96702421e-01 -3.09475019e-02 7.50102419e-02 7.90112742e+00] [ 3.14065380e-02 9.99494448e-01 -4.94753988e-03 -1.54540403e+00] [-7.48192063e-02 7.28703700e-03 9.97170490e-01 2.64061435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.865779523 meters 0.04524395177416734 Centerline is valid? [True, True] Translation: X:7.93, Y:-1.55, Z:0.27 [[ 9.96189636e-01 -3.36202992e-02 8.04728845e-02 7.93071948e+00] [ 3.41591822e-02 9.99402198e-01 -5.32878111e-03 -1.54669009e+00] [-8.02456225e-02 8.05736444e-03 9.96742554e-01 2.67682306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.895779523 meters 0.04666157591582858 Centerline is valid? [True, True] Translation: X:7.96, Y:-1.55, Z:0.27 [[ 9.96008707e-01 -3.50175750e-02 8.21000944e-02 7.96046854e+00] [ 3.55831579e-02 9.99351937e-01 -5.43548289e-03 -1.55174187e+00] [-8.18565510e-02 8.33516891e-03 9.96609266e-01 2.67124815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.925779523000001 meters 0.04795846334109007 Centerline is valid? [True, True] Translation: X:7.99, Y:-1.56, Z:0.27 [[ 9.96017574e-01 -3.61047112e-02 8.15195757e-02 7.99108086e+00] [ 3.66658932e-02 9.99313006e-01 -5.39706542e-03 -1.55943226e+00] [-8.12687128e-02 8.36456006e-03 9.96657128e-01 2.65138712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.955779523 meters 0.04960369502791506 Centerline is valid? [True, True] Translation: X:8.02, Y:-1.57, Z:0.26 [[ 9.96140269e-01 -3.73018122e-02 7.94552643e-02 8.02105460e+00] [ 3.78388032e-02 9.99269996e-01 -5.26300954e-03 -1.56822481e+00] [-7.92009418e-02 8.24918785e-03 9.96824539e-01 2.61662680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.985779523 meters 0.050445413444514337 Centerline is valid? [True, True] Translation: X:8.05, Y:-1.57, Z:0.26 [[ 9.96424340e-01 -3.73795536e-02 7.57713893e-02 8.05224340e+00] [ 3.78679827e-02 9.99270146e-01 -5.01914580e-03 -1.57130652e+00] [-7.55284738e-02 7.87050870e-03 9.97112584e-01 2.55719267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.015779523 meters 0.049164030196415145 Centerline is valid? [True, True] Translation: X:8.08, Y:-1.56, Z:0.25 [[ 9.96562188e-01 -3.69206965e-02 7.41664806e-02 8.08439623e+00] [ 3.73884817e-02 9.99288654e-01 -4.92829155e-03 -1.56373156e+00] [-7.39317666e-02 7.68432112e-03 9.97233696e-01 2.49211653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.045779523 meters 0.050924210122680606 Centerline is valid? [True, True] Translation: X:8.12, Y:-1.56, Z:0.24 [[ 9.96741504e-01 -3.63359402e-02 7.20143979e-02 8.11534689e+00] [ 3.67765677e-02 9.99311977e-01 -4.80169448e-03 -1.55981026e+00] [-7.17903762e-02 7.43449055e-03 9.97392034e-01 2.41508728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.075779523 meters 0.05163238506026213 Centerline is valid? [True, True] Translation: X:8.15, Y:-1.56, Z:0.23 [[ 9.97175476e-01 -3.54483458e-02 6.62154400e-02 8.14739337e+00] [ 3.58195688e-02 9.99348467e-01 -4.42714801e-03 -1.55791551e+00] [-6.60153634e-02 6.78645194e-03 9.97795528e-01 2.31813435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.105779523 meters 0.05271019082970345 Centerline is valid? [True, True] Translation: X:8.18, Y:-1.57, Z:0.23 [[ 9.97207784e-01 -3.55411446e-02 6.56769507e-02 8.17951656e+00] [ 3.59078606e-02 9.99345369e-01 -4.41128554e-03 -1.56535912e+00] [-6.54771744e-02 6.75728707e-03 9.97831187e-01 2.30144450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.135779523 meters 0.053813462710935726 Centerline is valid? [True, True] Translation: X:8.21, Y:-1.57, Z:0.23 [[ 9.97088466e-01 -3.58117321e-02 6.73209549e-02 8.21158295e+00] [ 3.61979980e-02 9.99334388e-01 -4.52624275e-03 -1.57387375e+00] [-6.71140527e-02 6.94994823e-03 9.97721104e-01 2.31087363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.165779523 meters 0.05532190444050829 Centerline is valid? [True, True] Translation: X:8.24, Y:-1.58, Z:0.23 [[ 9.96777576e-01 -3.64551448e-02 7.14526932e-02 8.24236897e+00] [ 3.68923060e-02 9.99307683e-01 -4.80761525e-03 -1.58217355e+00] [-7.12279630e-02 7.42817770e-03 9.97432403e-01 2.34406550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.195779523 meters 0.05859364423819965 Centerline is valid? [True, True] Translation: X:8.27, Y:-1.59, Z:0.24 [[ 9.95970622e-01 -4.17470546e-02 7.93706694e-02 8.27224841e+00] [ 4.23049022e-02 9.99090374e-01 -5.35915094e-03 -1.58969650e+00] [-7.90747430e-02 8.69532531e-03 9.96830766e-01 2.41462750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.225779523 meters 0.061671204317143735 Centerline is valid? [True, True] Translation: X:8.30, Y:-1.59, Z:0.24 [[ 9.95712965e-01 -4.56360804e-02 8.04551978e-02 8.30182419e+00] [ 4.62218989e-02 9.98916422e-01 -5.43300971e-03 -1.59233717e+00] [-8.01200770e-02 9.12851023e-03 9.96743419e-01 2.39043534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.255779523000001 meters 0.04803465531204752 Centerline is valid? [True, True] Translation: X:8.33, Y:-1.57, Z:0.24 [[ 9.95595159e-01 -4.87589760e-02 8.00802176e-02 8.33409208e+00] [ 4.93491887e-02 9.98766953e-01 -5.40657232e-03 -1.57283572e+00] [-7.97178560e-02 9.33465100e-03 9.96773760e-01 2.35480434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.285779523 meters 0.06630170055767155 Centerline is valid? [True, True] Translation: X:8.36, Y:-1.59, Z:0.23 [[ 9.95580500e-01 -5.01423297e-02 7.94053890e-02 8.36209493e+00] [ 5.07270990e-02 9.98698152e-01 -5.36309478e-03 -1.59473043e+00] [-7.90330971e-02 9.36739761e-03 9.96827980e-01 2.31946793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.315779523 meters 0.06963846643201092 Centerline is valid? [True, True] Translation: X:8.39, Y:-1.59, Z:0.22 [[ 9.95831187e-01 -5.13233277e-02 7.54066521e-02 8.39131857e+00] [ 5.18542115e-02 9.98641653e-01 -5.09806717e-03 -1.59445587e+00] [-7.50425739e-02 8.98696677e-03 9.97139833e-01 2.23969784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.345779523000001 meters 0.0709037649204582 Centerline is valid? [True, True] Translation: X:8.42, Y:-1.60, Z:0.22 [[ 9.96070266e-01 -5.16137007e-02 7.19725740e-02 8.42240034e+00] [ 5.20982223e-02 9.98630092e-01 -4.86984758e-03 -1.59839183e+00] [-7.16226274e-02 8.60035353e-03 9.97394723e-01 2.17222776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.375779523 meters 0.05363723326291246 Centerline is valid? [True, True] Translation: X:8.45, Y:-1.58, Z:0.22 [[ 9.96341955e-01 -5.29866842e-02 6.70456545e-02 8.45358321e+00] [ 5.34105512e-02 9.98562298e-01 -4.54418374e-03 -1.58470842e+00] [-6.67084816e-02 8.10850628e-03 9.97739561e-01 2.15541226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.405779523 meters 0.05427755983593639 Centerline is valid? [True, True] Translation: X:8.48, Y:-1.59, Z:0.22 [[ 9.96225128e-01 -5.40450382e-02 6.79310503e-02 8.48451510e+00] [ 5.44826469e-02 9.98504101e-01 -4.60451580e-03 -1.58650541e+00] [-6.75805811e-02 8.28819777e-03 9.97679393e-01 2.15338105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.435779523 meters 0.050655509227464264 Centerline is valid? [True, True] Translation: X:8.52, Y:-1.58, Z:0.22 [[ 9.95998576e-01 -5.50194935e-02 7.04250737e-02 8.51673238e+00] [ 5.54923742e-02 9.98447696e-01 -4.77442465e-03 -1.57940590e+00] [-7.00530661e-02 8.66337470e-03 9.97505646e-01 2.15683844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.465779523 meters 0.0572192206070026 Centerline is valid? [True, True] Translation: X:8.55, Y:-1.58, Z:0.21 [[ 9.95799832e-01 -5.54753547e-02 7.28366613e-02 8.54772158e+00] [ 5.59827587e-02 9.98419506e-01 -4.94181658e-03 -1.58319174e+00] [-7.24473943e-02 8.99865736e-03 9.97331640e-01 2.13831974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.495779523 meters 0.053830303602851126 Centerline is valid? [True, True] Translation: X:8.58, Y:-1.57, Z:0.21 [[ 9.95870809e-01 -5.38562877e-02 7.30810018e-02 8.57922990e+00] [ 5.43631139e-02 9.98508902e-01 -4.96237811e-03 -1.57397832e+00] [-7.27047756e-02 8.91479832e-03 9.97313663e-01 2.09837710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.525779523 meters 0.05817711331073654 Centerline is valid? [True, True] Translation: X:8.61, Y:-1.58, Z:0.21 [[ 9.96004321e-01 -5.23534118e-02 7.23499362e-02 8.60850596e+00] [ 5.28463461e-02 9.98590562e-01 -4.91453277e-03 -1.58351297e+00] [-7.19906710e-02 8.71832564e-03 9.97367201e-01 2.07214993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.555779523 meters 0.05277305868770525 Centerline is valid? [True, True] Translation: X:8.64, Y:-1.58, Z:0.21 [[ 9.96107660e-01 -4.97577575e-02 7.27577814e-02 8.63985654e+00] [ 5.02494543e-02 9.98724470e-01 -4.94210219e-03 -1.58183057e+00] [-7.24190688e-02 8.57890466e-03 9.97337396e-01 2.07750366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.585779523 meters 0.05277305868770525 Centerline is valid? [True, True] Translation: X:8.67, Y:-1.58, Z:0.21 [[ 9.96112643e-01 -4.96579519e-02 7.27577488e-02 8.67237336e+00] [ 5.01494212e-02 9.98729496e-01 -4.94258221e-03 -1.58413143e+00] [-7.24198713e-02 8.57212762e-03 9.97337396e-01 2.05093743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.615779523 meters 0.0473056342164284 Centerline is valid? [True, True] Translation: X:8.70, Y:-1.58, Z:0.21 [[ 9.96143879e-01 -4.67610180e-02 7.42346229e-02 8.70348012e+00] [ 4.72653945e-02 9.98869595e-01 -5.05120579e-03 -1.58061414e+00] [-7.39145082e-02 8.54045647e-03 9.97228011e-01 2.06701820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.645779523 meters 0.04421087058957724 Centerline is valid? [True, True] Translation: X:8.74, Y:-1.57, Z:0.21 [[ 9.96247547e-01 -3.97892173e-02 7.68611902e-02 8.73503799e+00] [ 4.03096166e-02 9.99173547e-01 -5.23051071e-03 -1.57077316e+00] [-7.65895501e-02 8.30912857e-03 9.97028083e-01 2.06321612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.675779523000001 meters 0.04393941562788414 Centerline is valid? [True, True] Translation: X:8.77, Y:-1.57, Z:0.20 [[ 9.96315466e-01 -3.69657697e-02 7.73887793e-02 8.76578288e+00] [ 3.74849868e-02 9.99283311e-01 -5.26685343e-03 -1.56539595e+00] [-7.71386224e-02 8.14836491e-03 9.96987080e-01 2.01451505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.705779523 meters 0.043178333023904183 Centerline is valid? [True, True] Translation: X:8.80, Y:-1.56, Z:0.20 [[ 9.96382068e-01 -3.52513687e-02 7.73312060e-02 8.79697253e+00] [ 3.57647076e-02 9.99346380e-01 -5.26289030e-03 -1.56150075e+00] [-7.70951367e-02 8.00957749e-03 9.96991568e-01 1.96345322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.735779523 meters 0.043694890353470635 Centerline is valid? [True, True] Translation: X:8.83, Y:-1.56, Z:0.19 [[ 9.96420041e-01 -3.44760611e-02 7.71913387e-02 8.82930547e+00] [ 3.49853093e-02 9.99374014e-01 -5.25426516e-03 -1.56248064e+00] [-7.69618717e-02 7.93601797e-03 9.97002452e-01 1.92190657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.765779523 meters 0.04544506561570779 Centerline is valid? [True, True] Translation: X:8.86, Y:-1.57, Z:0.19 [[ 9.96416202e-01 -3.42050607e-02 7.73612686e-02 8.86008578e+00] [ 3.47165379e-02 9.99383273e-01 -5.27596558e-03 -1.56853372e+00] [-7.71330931e-02 7.94277301e-03 9.96989167e-01 1.89572458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.795779523 meters 0.05262261505448732 Centerline is valid? [True, True] Translation: X:8.89, Y:-1.59, Z:0.19 [[ 9.96391852e-01 -3.61801793e-02 7.67741650e-02 8.88869712e+00] [ 3.66905272e-02 9.99312902e-01 -5.24684801e-03 -1.58885958e+00] [-7.65315817e-02 8.04480120e-03 9.97034703e-01 1.88411963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.825779523 meters 0.048227273771913264 Centerline is valid? [True, True] Translation: X:8.92, Y:-1.59, Z:0.19 [[ 9.96420418e-01 -3.69362790e-02 7.60398760e-02 8.92024447e+00] [ 3.74389698e-02 9.99285410e-01 -5.19555329e-03 -1.58968195e+00] [-7.57936342e-02 8.02381000e-03 9.97091241e-01 1.86044454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.855779523 meters 0.04974946970035414 Centerline is valid? [True, True] Translation: X:8.95, Y:-1.60, Z:0.18 [[ 9.96435459e-01 -3.77108096e-02 7.54603890e-02 8.95158224e+00] [ 3.82092701e-02 9.99256373e-01 -5.17231409e-03 -1.59594323e+00] [-7.52092224e-02 8.03716355e-03 9.97135385e-01 1.83171745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.885779523 meters 0.05134163334493145 Centerline is valid? [True, True] Translation: X:8.98, Y:-1.60, Z:0.18 [[ 9.96388560e-01 -3.87738901e-02 7.55408703e-02 8.98107692e+00] [ 3.92777297e-02 9.99214828e-01 -5.19499730e-03 -1.59981480e+00] [-7.52801274e-02 8.14330976e-03 9.97129174e-01 1.80880088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.915779523 meters 0.05317678298797928 Centerline is valid? [True, True] Translation: X:9.01, Y:-1.60, Z:0.18 [[ 9.96416707e-01 -3.89820808e-02 7.50609330e-02 9.01240372e+00] [ 3.94805029e-02 9.99206980e-01 -5.16734106e-03 -1.60102469e+00] [-7.47999745e-02 8.11226835e-03 9.97165560e-01 1.77803834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.945779523 meters 0.05478529517100753 Centerline is valid? [True, True] Translation: X:9.04, Y:-1.60, Z:0.17 [[ 9.96517214e-01 -3.93201743e-02 7.35347984e-02 9.04444727e+00] [ 3.98005893e-02 9.99194736e-01 -5.07870014e-03 -1.60497941e+00] [-7.32758881e-02 7.98774042e-03 9.97279720e-01 1.73391056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.975779523 meters 0.057373210765496556 Centerline is valid? [True, True] Translation: X:9.07, Y:-1.61, Z:0.17 [[ 9.96571920e-01 -4.14747643e-02 7.15838836e-02 9.07425662e+00] [ 4.19358037e-02 9.99108050e-01 -4.94906886e-03 -1.61145815e+00] [-7.13147729e-02 7.93403075e-03 9.97422305e-01 1.68039234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.005779523000001 meters 0.057730756058319906 Centerline is valid? [True, True] Translation: X:9.10, Y:-1.62, Z:0.17 [[ 9.96590552e-01 -4.31006012e-02 7.03534694e-02 9.10462997e+00] [ 4.35498835e-02 9.99039413e-01 -4.86405430e-03 -1.61928145e+00] [-7.00762451e-02 7.91135595e-03 9.97510266e-01 1.65486319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.035779523 meters 0.06278764626139731 Centerline is valid? [True, True] Translation: X:9.13, Y:-1.63, Z:0.16 [[ 9.96092303e-01 -4.98133075e-02 7.29298178e-02 9.13307462e+00] [ 5.03140111e-02 9.98720714e-01 -5.04344069e-03 -1.63384432e+00] [-7.25852892e-02 8.69312411e-03 9.97324323e-01 1.63519244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.065779523 meters 0.05759157131793976 Centerline is valid? [True, True] Translation: X:9.16, Y:-1.63, Z:0.16 [[ 9.95765291e-01 -5.22438074e-02 7.56443620e-02 9.16439784e+00] [ 5.27895666e-02 9.98591953e-01 -5.23201626e-03 -1.62944401e+00] [-7.52645107e-02 9.20309328e-03 9.97121134e-01 1.62817966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.095779523000001 meters 0.06122224637310588 Centerline is valid? [True, True] Translation: X:9.20, Y:-1.64, Z:0.16 [[ 9.95513959e-01 -5.29478971e-02 7.84122350e-02 9.19547214e+00] [ 5.35366241e-02 9.98551158e-01 -5.42355014e-03 -1.63591081e+00] [-7.80114625e-02 9.59714622e-03 9.96906268e-01 1.61967877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.125779523 meters 0.0671445116406533 Centerline is valid? [True, True] Translation: X:9.23, Y:-1.65, Z:0.16 [[ 9.95423420e-01 -5.19529921e-02 8.02066162e-02 9.22552327e+00] [ 5.25662182e-02 9.98602009e-01 -5.55169187e-03 -1.64620910e+00] [-7.98060610e-02 9.74244260e-03 9.96762799e-01 1.62316421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.155779523 meters 0.0600049909033698 Centerline is valid? [True, True] Translation: X:9.26, Y:-1.64, Z:0.17 [[ 9.95510599e-01 -4.52740848e-02 8.31198186e-02 9.25680073e+00] [ 4.59101451e-02 9.98928990e-01 -5.75603076e-03 -1.64327270e+00] [-8.27701974e-02 9.54623257e-03 9.96522937e-01 1.66211370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.185779523 meters 0.05642365682110186 Centerline is valid? [True, True] Translation: X:9.29, Y:-1.64, Z:0.16 [[ 9.95755521e-01 -4.09779164e-02 8.24120855e-02 9.28728309e+00] [ 4.15886372e-02 9.99118520e-01 -5.70692930e-03 -1.64052994e+00] [-8.21055828e-02 9.11011268e-03 9.96581998e-01 1.63861891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.215779523 meters 0.05720391913948106 Centerline is valid? [True, True] Translation: X:9.32, Y:-1.64, Z:0.16 [[ 9.96067011e-01 -3.67141816e-02 8.06385658e-02 9.31702657e+00] [ 3.72850342e-02 9.99289068e-01 -5.58432933e-03 -1.64054794e+00] [-8.03762132e-02 8.56897791e-03 9.96727765e-01 1.59047303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.245779523 meters 0.04711933991968112 Centerline is valid? [True, True] Translation: X:9.35, Y:-1.62, Z:0.15 [[ 9.96443940e-01 -3.04050540e-02 7.85812127e-02 9.34865747e+00] [ 3.09276821e-02 9.99506810e-01 -5.44205052e-03 -1.62311230e+00] [-7.83769914e-02 7.85303303e-03 9.96892861e-01 1.50166645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.275779523 meters 0.05654443542945674 Centerline is valid? [True, True] Translation: X:9.38, Y:-1.64, Z:0.15 [[ 9.96474611e-01 -2.92434421e-02 7.86331368e-02 9.37812962e+00] [ 2.97632517e-02 9.99542138e-01 -5.44645790e-03 -1.63793213e+00] [-7.84378605e-02 7.76763486e-03 9.96888743e-01 1.45259257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.305779523 meters 0.04955653599451842 Centerline is valid? [True, True] Translation: X:9.41, Y:-1.63, Z:0.14 [[ 9.96422085e-01 -2.92014230e-02 7.93114428e-02 9.41070912e+00] [ 2.97303243e-02 9.99542848e-01 -5.49577997e-03 -1.63453939e+00] [-7.91147008e-02 7.83407146e-03 9.96834736e-01 1.42886973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.335779523 meters 0.05029524112231168 Centerline is valid? [True, True] Translation: X:9.44, Y:-1.64, Z:0.14 [[ 9.96393432e-01 -3.03204365e-02 7.92514966e-02 9.44094171e+00] [ 3.08534989e-02 9.99508730e-01 -5.51008697e-03 -1.64254752e+00] [-7.90454945e-02 7.93540043e-03 9.96839425e-01 1.40332852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.365779523 meters 0.05118773070672997 Centerline is valid? [True, True] Translation: X:9.47, Y:-1.65, Z:0.14 [[ 9.96475861e-01 -3.03584402e-02 7.81935051e-02 9.47224282e+00] [ 3.08776851e-02 9.99508368e-01 -5.43974580e-03 -1.64758969e+00] [-7.79899205e-02 7.83500981e-03 9.96923360e-01 1.36640259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.395779523 meters 0.052602330349885526 Centerline is valid? [True, True] Translation: X:9.50, Y:-1.65, Z:0.13 [[ 9.96642164e-01 -3.03741630e-02 7.60381976e-02 9.50348318e+00] [ 3.08664117e-02 9.99509432e-01 -5.30660828e-03 -1.65189963e+00] [-7.58397119e-02 7.63581587e-03 9.97090784e-01 1.31643496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.425779523000001 meters 0.05274600909209878 Centerline is valid? [True, True] Translation: X:9.54, Y:-1.65, Z:0.13 [[ 9.96891587e-01 -2.96215676e-02 7.30049807e-02 9.53511581e+00] [ 3.00743745e-02 9.99534598e-01 -5.11073770e-03 -1.65346854e+00] [-7.28196160e-02 7.29043054e-03 9.97318481e-01 1.25646546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.455779523 meters 0.05168503558534511 Centerline is valid? [True, True] Translation: X:9.57, Y:-1.66, Z:0.12 [[ 9.97072437e-01 -2.55695768e-02 7.20607578e-02 9.56570056e+00] [ 2.60015382e-02 9.99649084e-01 -5.06257627e-03 -1.65510898e+00] [-7.19060226e-02 6.92144580e-03 9.97387396e-01 1.22244201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.485779523 meters 0.05140734244723992 Centerline is valid? [True, True] Translation: X:9.60, Y:-1.66, Z:0.13 [[ 9.96788432e-01 -2.32675946e-02 7.66253279e-02 9.59636402e+00] [ 2.37495572e-02 9.99703439e-01 -5.38450684e-03 -1.65993788e+00] [-7.64773193e-02 7.18703174e-03 9.97045418e-01 1.25529922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.515779523 meters 0.0515610943812753 Centerline is valid? [True, True] Translation: X:9.63, Y:-1.67, Z:0.13 [[ 9.96471473e-01 -2.09167539e-02 8.12840274e-02 9.62659789e+00] [ 2.14515963e-02 9.99753570e-01 -5.71212307e-03 -1.66506218e+00] [-8.11445175e-02 7.43563982e-03 9.96674610e-01 1.30911758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.545779523 meters 0.050159954388815896 Centerline is valid? [True, True] Translation: X:9.66, Y:-1.67, Z:0.13 [[ 9.96246035e-01 -1.77207709e-02 8.47337729e-02 9.65713096e+00] [ 1.82906433e-02 9.99814985e-01 -5.95380736e-03 -1.66748629e+00] [-8.46125898e-02 7.48129219e-03 9.96385839e-01 1.34197199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.575779523 meters 0.048232443160851755 Centerline is valid? [True, True] Translation: X:9.69, Y:-1.67, Z:0.13 [[ 9.96375550e-01 -1.00175253e-02 8.44713704e-02 9.68692267e+00] [ 1.05564222e-02 9.99926664e-01 -5.93538734e-03 -1.66706086e+00] [-8.44057177e-02 6.80559028e-03 9.96408229e-01 1.31564703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.605779523 meters 0.046232254688628086 Centerline is valid? [True, True] Translation: X:9.72, Y:-1.67, Z:0.12 [[ 9.96546515e-01 -7.14545557e-03 8.27283844e-02 9.71759394e+00] [ 7.65242698e-03 9.99953825e-01 -5.81268215e-03 -1.66587667e+00] [-8.26830302e-02 6.42568106e-03 9.96555180e-01 1.24041725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.635779523 meters 0.033456326174978575 Centerline is valid? [True, True] Translation: X:9.75, Y:-1.65, Z:0.12 [[ 9.96702300e-01 -4.74227875e-03 8.10063924e-02 9.74917290e+00] [ 5.22047902e-03 9.99970171e-01 -5.69246635e-03 -1.65154830e+00] [-8.09769808e-02 6.09658648e-03 9.96697326e-01 1.17231780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.665779523 meters 0.03299492610455773 Centerline is valid? [True, True] Translation: X:9.78, Y:-1.65, Z:0.11 [[ 9.96805826e-01 -2.58671677e-03 7.98213849e-02 9.77908536e+00] [ 3.04426172e-03 9.99979625e-01 -5.61094948e-03 -1.65446613e+00] [-7.98052446e-02 5.83602432e-03 9.96793391e-01 1.12532548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.695779523 meters 0.033883651422409504 Centerline is valid? [True, True] Translation: X:9.81, Y:-1.66, Z:0.11 [[ 9.96807801e-01 -1.07038791e-03 7.98314569e-02 9.80921201e+00] [ 1.52321738e-03 9.99983095e-01 -5.61163688e-03 -1.65948212e+00] [-7.98241007e-02 5.71532408e-03 9.96792580e-01 1.10150365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.725779523 meters 0.04771648980401576 Centerline is valid? [True, True] Translation: X:9.84, Y:-1.68, Z:0.11 [[ 9.96571817e-01 -1.47130648e-03 8.27190938e-02 9.83905055e+00] [ 1.95911360e-03 9.99981166e-01 -5.81629474e-03 -1.68401092e+00] [-8.27089784e-02 5.95841152e-03 9.96555930e-01 1.13688208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.755779523000001 meters 0.03188779300877187 Centerline is valid? [True, True] Translation: X:9.87, Y:-1.67, Z:0.12 [[ 9.96390481e-01 -2.72799454e-03 8.48443743e-02 9.87257061e+00] [ 3.24672258e-03 9.99976870e-01 -5.97649560e-03 -1.66895769e+00] [-8.48261080e-02 6.23038947e-03 9.96376291e-01 1.15218351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.785779523 meters 0.03346467438823609 Centerline is valid? [True, True] Translation: X:9.90, Y:-1.68, Z:0.12 [[ 9.96218800e-01 -4.55026204e-03 8.67605779e-02 9.90302082e+00] [ 5.10015030e-03 9.99968283e-01 -6.11738532e-03 -1.67511328e+00] [-8.67299904e-02 6.53674625e-03 9.96210409e-01 1.15150941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.815779523 meters 0.03264786216524651 Centerline is valid? [True, True] Translation: X:9.93, Y:-1.68, Z:0.11 [[ 9.96104963e-01 -7.57953407e-03 8.78490360e-02 9.93411386e+00] [ 8.15519076e-03 9.99947551e-01 -6.19573624e-03 -1.67544403e+00] [-8.77974676e-02 6.88802926e-03 9.96114531e-01 1.12294261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.845779523000001 meters 0.03434600749940517 Centerline is valid? [True, True] Translation: X:9.96, Y:-1.68, Z:0.11 [[ 9.96213974e-01 -8.72396021e-03 8.64963058e-02 9.96467055e+00] [ 9.28652590e-03 9.99938251e-01 -6.10367516e-03 -1.67840645e+00] [-8.64377166e-02 6.88381667e-03 9.96233474e-01 1.06228086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.875779523 meters 0.034925237508481956 Centerline is valid? [True, True] Translation: X:10.00, Y:-1.68, Z:0.10 [[ 9.96364316e-01 -9.29977841e-03 8.46856744e-02 9.99624558e+00] [ 9.84262179e-03 9.99933590e-01 -5.99483110e-03 -1.68432214e+00] [-8.46242998e-02 6.80656485e-03 9.96389682e-01 1.01357922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.905779523 meters 0.03695986677720405 Centerline is valid? [True, True] Translation: X:10.03, Y:-1.70, Z:0.10 [[ 9.96418326e-01 -9.88672468e-03 8.39807835e-02 1.00266724e+01] [ 1.04243034e-02 9.99927873e-01 -5.96511859e-03 -1.69621320e+00] [-8.39157507e-02 6.81919464e-03 9.96449520e-01 9.92733373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.935779523 meters 0.03922561094393027 Centerline is valid? [True, True] Translation: X:10.06, Y:-1.71, Z:0.10 [[ 9.96611883e-01 -1.27472372e-02 8.12543143e-02 1.00556027e+01] [ 1.32612151e-02 9.99895308e-01 -5.78900864e-03 -1.71385174e+00] [-8.11720138e-02 6.84692574e-03 9.96676589e-01 9.85404469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.965779523 meters 0.04046123818591477 Centerline is valid? [True, True] Translation: X:10.09, Y:-1.72, Z:0.09 [[ 9.96712958e-01 -1.54571247e-02 7.95258284e-02 1.00859224e+01] [ 1.59578918e-02 9.99856615e-01 -5.66519299e-03 -1.71831041e+00] [-7.94268580e-02 6.91563583e-03 9.96816707e-01 9.41333054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.995779523 meters 0.04294763779563733 Centerline is valid? [True, True] Translation: X:10.12, Y:-1.72, Z:0.09 [[ 9.96804101e-01 -1.76968378e-02 7.78999793e-02 1.01151281e+01] [ 1.81840966e-02 9.99819252e-01 -5.54997454e-03 -1.72114320e+00] [-7.77876820e-02 6.94877813e-03 9.96945731e-01 8.88734637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.025779523 meters 0.04457122368521702 Centerline is valid? [True, True] Translation: X:10.15, Y:-1.72, Z:0.08 [[ 9.96772704e-01 -1.97293460e-02 7.78134320e-02 1.01459295e+01] [ 2.02216485e-02 9.99780152e-01 -5.54375546e-03 -1.72207473e+00] [-7.76869502e-02 7.09937998e-03 9.96952525e-01 8.34614964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.055779523 meters 0.04640688654359546 Centerline is valid? [True, True] Translation: X:10.18, Y:-1.73, Z:0.08 [[ 9.96707063e-01 -2.18814310e-02 7.80783802e-02 1.01770135e+01] [ 2.23837372e-02 9.99733970e-01 -5.56388403e-03 -1.72586215e+00] [-7.79358633e-02 7.29324846e-03 9.96931698e-01 8.01018542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.085779523 meters 0.05002063654914483 Centerline is valid? [True, True] Translation: X:10.21, Y:-1.74, Z:0.08 [[ 9.96616514e-01 -2.55295163e-02 7.81266182e-02 1.02059105e+01] [ 2.60437261e-02 9.99645288e-01 -5.56976391e-03 -1.73764123e+00] [-7.79567124e-02 7.58562694e-03 9.96927886e-01 7.87380712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.115779523 meters 0.05017559053351964 Centerline is valid? [True, True] Translation: X:10.24, Y:-1.74, Z:0.08 [[ 9.96742598e-01 -2.53340805e-02 7.65661600e-02 1.02380500e+01] [ 2.58276846e-02 9.99651481e-01 -5.46328087e-03 -1.74452530e+00] [-7.64010681e-02 7.42301141e-03 9.97049535e-01 7.67010517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.145779523 meters 0.04120952806935318 Centerline is valid? [True, True] Translation: X:10.27, Y:-1.74, Z:0.08 [[ 9.96911275e-01 -2.21898939e-02 7.53360379e-02 1.02694663e+01] [ 2.26603850e-02 9.99728658e-01 -5.39609681e-03 -1.74240320e+00] [-7.51958572e-02 7.08657338e-03 9.97143602e-01 7.83946348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.175779523000001 meters 0.04125379084260739 Centerline is valid? [True, True] Translation: X:10.30, Y:-1.75, Z:0.08 [[ 9.96875076e-01 -2.08679724e-02 7.61879999e-02 1.03007735e+01] [ 2.13454728e-02 9.99757259e-01 -5.45837752e-03 -1.74514348e+00] [-7.60556007e-02 7.06758938e-03 9.97078530e-01 7.72065547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.205779523 meters 0.03836012137940435 Centerline is valid? [True, True] Translation: X:10.33, Y:-1.74, Z:0.07 [[ 9.96790976e-01 -2.05254577e-02 7.73721935e-02 1.03330502e+01] [ 2.10170934e-02 9.99763739e-01 -5.54515325e-03 -1.74070445e+00] [-7.72400966e-02 7.15349734e-03 9.96986858e-01 7.47950350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.235779523 meters 0.048488443166783836 Centerline is valid? [True, True] Translation: X:10.36, Y:-1.75, Z:0.07 [[ 9.96639104e-01 -2.08718347e-02 7.92140311e-02 1.03629621e+01] [ 2.13898905e-02 9.99754978e-01 -5.69697855e-03 -1.75141321e+00] [-7.90757156e-02 7.37221105e-03 9.96841352e-01 7.13063208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.265779523 meters 0.04109144651125921 Centerline is valid? [True, True] Translation: X:10.39, Y:-1.74, Z:0.07 [[ 9.96252775e-01 -2.46101966e-02 8.29140964e-02 1.03948650e+01] [ 2.51923533e-02 9.99664723e-01 -5.98217423e-03 -1.73917230e+00] [-8.27390747e-02 8.04855889e-03 9.96538743e-01 6.91480941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.295779523 meters 0.05805824937537016 Centerline is valid? [True, True] Translation: X:10.42, Y:-1.76, Z:0.07 [[ 9.96230233e-01 -2.63398971e-02 8.26530880e-02 1.04227197e+01] [ 2.69244491e-02 9.99619671e-01 -5.96554728e-03 -1.76452579e+00] [-8.24645207e-02 8.16844741e-03 9.96560525e-01 6.67689657e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.325779523 meters 0.06017691144284255 Centerline is valid? [True, True] Translation: X:10.45, Y:-1.77, Z:0.06 [[ 9.96357552e-01 -2.79111796e-02 8.05766321e-02 1.04519216e+01] [ 2.84717065e-02 9.99577681e-01 -5.81567755e-03 -1.77142128e+00] [-8.03802806e-02 8.08864847e-03 9.96731450e-01 6.30816231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.355779523 meters 0.04526478183266912 Centerline is valid? [True, True] Translation: X:10.48, Y:-1.76, Z:0.06 [[ 9.96430294e-01 -2.94591778e-02 7.91127413e-02 1.04837440e+01] [ 3.00042732e-02 9.99533461e-01 -5.70998812e-03 -1.75684349e+00] [-7.89076206e-02 8.06332545e-03 9.96849322e-01 6.02503236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.385779523 meters 0.04725640040102912 Centerline is valid? [True, True] Translation: X:10.51, Y:-1.76, Z:0.06 [[ 9.96345768e-01 -3.24120039e-02 7.90226127e-02 1.05139087e+01] [ 3.29651341e-02 9.99440221e-01 -5.70484189e-03 -1.76165212e+00] [-7.87934721e-02 8.28898610e-03 9.96856500e-01 6.01419100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.415779523 meters 0.046945840212725715 Centerline is valid? [True, True] Translation: X:10.55, Y:-1.76, Z:0.06 [[ 9.96287515e-01 -3.31272278e-02 7.94592674e-02 1.05455364e+01] [ 3.36887650e-02 9.99415909e-01 -5.73649310e-03 -1.76062241e+00] [-7.92228219e-02 8.39208104e-03 9.96821608e-01 5.85847797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.445779523 meters 0.048860832278558315 Centerline is valid? [True, True] Translation: X:10.58, Y:-1.76, Z:0.06 [[ 9.96214854e-01 -3.25672948e-02 8.05936442e-02 1.05768161e+01] [ 3.31446762e-02 9.99433523e-01 -5.83634783e-03 -1.76139117e+00] [-8.03579157e-02 8.48550664e-03 9.96729954e-01 5.71477721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.475779523 meters 0.048860832278558315 Centerline is valid? [True, True] Translation: X:10.61, Y:-1.76, Z:0.05 [[ 9.96223513e-01 -3.23032745e-02 8.05928664e-02 1.06092287e+01] [ 3.28806605e-02 9.99442181e-01 -5.84706877e-03 -1.76382001e+00] [-8.03590307e-02 8.47493407e-03 9.96729954e-01 5.44956017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.505779523000001 meters 0.047001598865092836 Centerline is valid? [True, True] Translation: X:10.64, Y:-1.76, Z:0.05 [[ 9.96113618e-01 -2.84796470e-02 8.33460836e-02 1.06402974e+01] [ 2.90859504e-02 9.99558489e-01 -6.06913184e-03 -1.75689673e+00] [-8.31364386e-02 8.46974493e-03 9.96502181e-01 5.43895400e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.535779523 meters 0.0499932449677892 Centerline is valid? [True, True] Translation: X:10.67, Y:-1.76, Z:0.05 [[ 9.96299014e-01 -2.61655943e-02 8.18757345e-02 1.06699953e+01] [ 2.67428839e-02 9.99624566e-01 -5.96193806e-03 -1.76012615e+00] [-8.16889979e-02 8.12946628e-03 9.96624713e-01 5.05803575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.565779523 meters 0.04455428677757456 Centerline is valid? [True, True] Translation: X:10.70, Y:-1.76, Z:0.05 [[ 9.96420473e-01 -2.24959260e-02 8.14872687e-02 1.07007562e+01] [ 2.30555329e-02 9.99716581e-01 -5.93288691e-03 -1.75748642e+00] [-8.13307080e-02 7.79038239e-03 9.96656724e-01 4.88805985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.595779523000001 meters 0.04426543123088879 Centerline is valid? [True, True] Translation: X:10.73, Y:-1.76, Z:0.05 [[ 9.96659347e-01 -1.99462639e-02 7.91978019e-02 1.07310848e+01] [ 2.04667876e-02 9.99773906e-01 -5.76608257e-03 -1.76084955e+00] [-7.90648840e-02 7.36774468e-03 9.96842245e-01 4.52338384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.625779523 meters 0.0391315021031329 Centerline is valid? [True, True] Translation: X:10.76, Y:-1.76, Z:0.04 [[ 9.97105135e-01 -1.46998719e-02 7.46006930e-02 1.07620731e+01] [ 1.51470360e-02 9.99870523e-01 -5.43183728e-03 -1.75563915e+00] [-7.45111866e-02 6.54609223e-03 9.97198692e-01 3.81584710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.655779523 meters 0.03637653001139808 Centerline is valid? [True, True] Translation: X:10.79, Y:-1.75, Z:0.03 [[ 9.97215900e-01 -1.05808962e-02 7.38139150e-02 1.07932849e+01] [ 1.10075463e-02 9.99924965e-01 -5.37565184e-03 -1.75056814e+00] [-7.37514972e-02 6.17319557e-03 9.97257544e-01 3.38082305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.685779523 meters 0.03519341996761172 Centerline is valid? [True, True] Translation: X:10.82, Y:-1.75, Z:0.03 [[ 9.97102940e-01 -6.04235866e-03 7.58235917e-02 1.08241088e+01] [ 6.47971465e-03 9.99963752e-01 -5.52338507e-03 -1.74673762e+00] [-7.57874690e-02 5.99869873e-03 9.97105950e-01 3.10470254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.715779523 meters 0.035871745528702884 Centerline is valid? [True, True] Translation: X:10.85, Y:-1.75, Z:0.04 [[ 9.96527845e-01 1.62423319e-03 8.32443178e-02 1.08538156e+01] [-1.12332547e-03 9.99980984e-01 -6.06380363e-03 -1.74788479e+00] [-8.32525839e-02 5.94923870e-03 9.96510719e-01 3.50949973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.745779523 meters 0.03499466593928948 Centerline is valid? [True, True] Translation: X:10.88, Y:-1.75, Z:0.04 [[ 9.96302895e-01 4.31058132e-03 8.58018673e-02 1.08845637e+01] [-3.78831905e-03 9.99973301e-01 -6.24873346e-03 -1.75110644e+00] [-8.58265122e-02 5.90058638e-03 9.96292624e-01 3.64121783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.775779523 meters 0.03168640693785433 Centerline is valid? [True, True] Translation: X:10.92, Y:-1.75, Z:0.04 [[ 9.96252048e-01 6.79113692e-03 8.62307264e-02 1.09154049e+01] [-6.27273596e-03 9.99960598e-01 -6.28132586e-03 -1.75046797e+00] [-8.62699861e-02 5.71688117e-03 9.96255392e-01 3.62783351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.805779523 meters 0.03399308864288717 Centerline is valid? [True, True] Translation: X:10.94, Y:-1.76, Z:0.03 [[ 9.96326261e-01 9.57789587e-03 8.51013893e-02 1.09449613e+01] [-9.08313707e-03 9.99939532e-01 -6.19906129e-03 -1.75569446e+00] [-8.51556174e-02 5.40329997e-03 9.96353012e-01 3.39248703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.835779523 meters 0.02840889494279975 Centerline is valid? [True, True] Translation: X:10.98, Y:-1.75, Z:0.02 [[ 9.96741743e-01 1.42943229e-02 7.93824324e-02 1.09757766e+01] [-1.38789018e-02 9.99886963e-01 -5.78246780e-03 -1.74601531e+00] [-7.94561157e-02 4.66188605e-03 9.96827464e-01 2.22926631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.865779523 meters 0.027480880439730283 Centerline is valid? [True, True] Translation: X:11.01, Y:-1.75, Z:0.02 [[ 9.96869160e-01 1.53921133e-02 7.75561775e-02 1.10075444e+01] [-1.49989889e-02 9.99871552e-01 -5.64889497e-03 -1.74699035e+00] [-7.76331640e-02 4.46794493e-03 9.96971980e-01 1.52854670e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.895779523 meters 0.0279918648729118 Centerline is valid? [True, True] Translation: X:11.04, Y:-1.75, Z:0.01 [[ 9.96821766e-01 1.58367295e-02 7.80741047e-02 1.10376500e+01] [-1.54381687e-02 9.99864544e-01 -5.70588392e-03 -1.75488810e+00] [-7.81538916e-02 4.48242809e-03 9.96931230e-01 1.32152902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.925779523000001 meters 0.03234364972269541 Centerline is valid? [True, True] Translation: X:11.07, Y:-1.78, Z:0.02 [[ 9.96413513e-01 1.68747403e-02 8.29177595e-02 1.10680096e+01] [-1.64269663e-02 9.99846585e-01 -6.07952152e-03 -1.78079494e+00] [-8.30076291e-02 4.69563016e-03 9.96537849e-01 2.35548112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.955779523 meters 0.027971166470174745 Centerline is valid? [True, True] Translation: X:11.10, Y:-1.78, Z:0.02 [[ 9.96297065e-01 1.80271607e-02 8.40665145e-02 1.11002774e+01] [-1.75699141e-02 9.99826564e-01 -6.17582652e-03 -1.78086371e+00] [-8.41632669e-02 4.67591640e-03 9.96441007e-01 2.46142246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.985779523 meters 0.02755975042458377 Centerline is valid? [True, True] Translation: X:11.13, Y:-1.78, Z:0.02 [[ 9.96336610e-01 1.93115182e-02 8.33092126e-02 1.11328722e+01] [-1.88653371e-02 9.99803182e-01 -6.13967303e-03 -1.77921941e+00] [-8.34113823e-02 4.54552464e-03 9.96504832e-01 1.87707317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.015779523 meters 0.024903724655206218 Centerline is valid? [True, True] Translation: X:11.16, Y:-1.78, Z:0.01 [[ 9.96464302e-01 2.16756936e-02 8.11730141e-02 1.11637127e+01] [-2.12594177e-02 9.99756054e-01 -5.98912143e-03 -1.77580267e+00] [-8.12830306e-02 4.24225470e-03 9.96682032e-01 1.03016765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.045779523 meters 0.028462077374030035 Centerline is valid? [True, True] Translation: X:11.19, Y:-1.79, Z:-0.01 [[ 9.97010724e-01 2.31200233e-02 7.37229989e-02 1.11928542e+01] [-2.27806962e-02 9.99725683e-01 -5.44040143e-03 -1.79238794e+00] [-7.38285576e-02 3.74467733e-03 9.97263918e-01 -5.85324464e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.075779523 meters 0.02533331295006682 Centerline is valid? [True, True] Translation: X:11.22, Y:-1.80, Z:-0.01 [[ 9.97151787e-01 2.40758237e-02 7.14749488e-02 1.12245719e+01] [-2.37582533e-02 9.99703736e-01 -5.29005255e-03 -1.80256682e+00] [-7.15811358e-02 3.57686541e-03 9.97428367e-01 -8.44913892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.105779523 meters 0.025034091092336834 Centerline is valid? [True, True] Translation: X:11.26, Y:-1.82, Z:-0.01 [[ 9.97106724e-01 2.60545659e-02 7.14096612e-02 1.12559408e+01] [-2.57413833e-02 9.99654572e-01 -5.30263693e-03 -1.81671158e+00] [-7.15231522e-02 3.44911147e-03 9.97432976e-01 -7.86125928e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.135779523 meters 0.025132393833340785 Centerline is valid? [True, True] Translation: X:11.29, Y:-1.83, Z:-0.01 [[ 9.96910178e-01 2.82715408e-02 7.32858549e-02 1.12859585e+01] [-2.79461420e-02 9.99594508e-01 -5.46194727e-03 -1.82838766e+00] [-7.34105557e-02 3.39701392e-03 9.97296020e-01 -5.10815284e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.165779523 meters 0.02448399152997035 Centerline is valid? [True, True] Translation: X:11.32, Y:-1.83, Z:-0.00 [[ 9.96399750e-01 3.41196067e-02 7.76105109e-02 1.13155096e+01] [-3.37721214e-02 9.99412812e-01 -5.78579877e-03 -1.83421599e+00] [-7.77623481e-02 3.14389685e-03 9.96966967e-01 -2.98284159e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.195779523 meters 0.021164895519212804 Centerline is valid? [True, True] Translation: X:11.35, Y:-1.83, Z:-0.01 [[ 9.96179054e-01 3.72828137e-02 7.89764757e-02 1.13468665e+01] [-3.69329483e-02 9.99300408e-01 -5.88658114e-03 -1.82949528e+00] [-7.91406927e-02 2.94725474e-03 9.96859100e-01 -6.74040448e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.225779523 meters 0.019794168024269258 Centerline is valid? [True, True] Translation: X:11.38, Y:-1.83, Z:-0.01 [[ 9.95983841e-01 4.03942659e-02 7.99030094e-02 1.13779490e+01] [-4.00458762e-02 9.99180076e-01 -5.95847447e-03 -1.82838178e+00] [-8.00781832e-02 2.73475826e-03 9.96784834e-01 -1.12169372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.255779523 meters 0.02123010018423544 Centerline is valid? [True, True] Translation: X:11.41, Y:-1.83, Z:-0.02 [[ 9.95789097e-01 4.30522155e-02 8.09356552e-02 1.14093331e+01] [-4.27032574e-02 9.99069552e-01 -6.03837043e-03 -1.83223649e+00] [-8.11203140e-02 2.55672732e-03 9.96701037e-01 -1.58082464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.285779523 meters 0.018076582866974167 Centerline is valid? [True, True] Translation: X:11.44, Y:-1.84, Z:-0.02 [[ 9.95588362e-01 4.68601452e-02 8.12892391e-02 1.14394361e+01] [-4.65191420e-02 9.98898866e-01 -6.08481001e-03 -1.84174571e+00] [-8.14848638e-02 2.27646038e-03 9.96671979e-01 -1.53510535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.315779523 meters 0.016306818078645164 Centerline is valid? [True, True] Translation: X:11.47, Y:-1.86, Z:-0.02 [[ 9.95622033e-01 5.35877538e-02 7.65840694e-02 1.14696593e+01] [-5.33048371e-02 9.98561818e-01 -5.73506403e-03 -1.86201689e+00] [-7.67812567e-02 1.62765477e-03 9.97046633e-01 -1.68440756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.345779523000001 meters 0.01583904899532565 Centerline is valid? [True, True] Translation: X:11.50, Y:-1.87, Z:-0.02 [[ 9.95513860e-01 5.57402586e-02 7.64537700e-02 1.15017690e+01] [-5.54643441e-02 9.98444231e-01 -5.72916650e-03 -1.86991249e+00] [-7.66541708e-02 1.46300645e-03 9.97056667e-01 -1.84748588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.375779523 meters 0.01594512912861066 Centerline is valid? [True, True] Translation: X:11.53, Y:-1.87, Z:-0.02 [[ 9.95223407e-01 5.72589516e-02 7.90682182e-02 1.15329997e+01] [-5.69680298e-02 9.98358380e-01 -5.93206000e-03 -1.87446557e+00] [-7.92780818e-02 1.39936435e-03 9.96851557e-01 -1.97841713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.405779523 meters 0.016055501606113062 Centerline is valid? [True, True] Translation: X:11.56, Y:-1.88, Z:-0.02 [[ 9.95022157e-01 5.78875063e-02 8.11168504e-02 1.15635779e+01] [-5.75818156e-02 9.98322126e-01 -6.10472458e-03 -1.87547353e+00] [-8.13341338e-02 1.40348070e-03 9.96685903e-01 -2.24669146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.435779523 meters 0.01884653410024935 Centerline is valid? [True, True] Translation: X:11.59, Y:-1.88, Z:-0.03 [[ 9.95195565e-01 5.49076031e-02 8.10613453e-02 1.15946816e+01] [-5.45909926e-02 9.98490053e-01 -6.11859884e-03 -1.87729094e+00] [-8.12749045e-02 1.66398314e-03 9.96690334e-01 -3.32232336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.465779523 meters 0.016777992782536253 Centerline is valid? [True, True] Translation: X:11.63, Y:-1.89, Z:-0.04 [[ 9.95309648e-01 5.36462719e-02 8.05033079e-02 1.16264034e+01] [-5.33283096e-02 9.98558425e-01 -6.09609399e-03 -1.88718430e+00] [-8.07142891e-02 1.77439584e-03 9.96735700e-01 -3.52320122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.495779523 meters 0.018270198006834607 Centerline is valid? [True, True] Translation: X:11.66, Y:-1.90, Z:-0.04 [[ 9.95450494e-01 5.12425306e-02 8.03275568e-02 1.16561932e+01] [-5.09165662e-02 9.98684267e-01 -6.10236510e-03 -1.90256566e+00] [-8.05345678e-02 1.98459899e-03 9.96749841e-01 -3.53192726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.525779523 meters 0.019664252707876338 Centerline is valid? [True, True] Translation: X:11.69, Y:-1.93, Z:-0.03 [[ 9.95692428e-01 4.62007545e-02 8.03870538e-02 1.16861129e+01] [-4.58564370e-02 9.98929262e-01 -6.12509709e-03 -1.93009816e+00] [-8.05839644e-02 2.41244893e-03 9.96744905e-01 -3.11585721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.555779523 meters 0.019451845104529304 Centerline is valid? [True, True] Translation: X:11.72, Y:-1.94, Z:-0.04 [[ 9.95974640e-01 4.44095374e-02 7.78608332e-02 1.17176740e+01] [-4.40809611e-02 9.99010335e-01 -5.93453093e-03 -1.93815994e+00] [-7.80473269e-02 2.47846194e-03 9.96946574e-01 -3.58773242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.585779523 meters 0.021477105671356574 Centerline is valid? [True, True] Translation: X:11.75, Y:-1.94, Z:-0.05 [[ 9.96265317e-01 4.34952175e-02 7.45894356e-02 1.17479014e+01] [-4.31898525e-02 9.99050606e-01 -5.70283598e-03 -1.94243970e+00] [-7.47666670e-02 2.46003097e-03 9.97198021e-01 -4.68226382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.615779523 meters 0.02102317877052791 Centerline is valid? [True, True] Translation: X:11.78, Y:-1.94, Z:-0.06 [[ 9.96334754e-01 4.35550153e-02 7.36207774e-02 1.17797397e+01] [-4.32564990e-02 9.99048051e-01 -5.64514449e-03 -1.94016360e+00] [-7.37965686e-02 2.43987656e-03 9.97270331e-01 -5.65204105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.645779523 meters 0.020433287916107313 Centerline is valid? [True, True] Translation: X:11.81, Y:-1.94, Z:-0.06 [[ 9.96244715e-01 4.39379941e-02 7.46051017e-02 1.18120132e+01] [-4.36311278e-02 9.99031226e-01 -5.73885113e-03 -1.93949481e+00] [-7.47849798e-02 2.46219538e-03 9.97196643e-01 -6.24359231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.675779523000001 meters 0.02079335515289676 Centerline is valid? [True, True] Translation: X:11.84, Y:-1.95, Z:-0.06 [[ 9.95978254e-01 4.51310061e-02 7.73983904e-02 1.18425505e+01] [-4.48027356e-02 9.98977994e-01 -5.97340107e-03 -1.95084745e+00] [-7.75888744e-02 2.48171794e-03 9.96982351e-01 -6.26838919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.705779523 meters 0.021316983479585407 Centerline is valid? [True, True] Translation: X:11.87, Y:-1.96, Z:-0.06 [[ 9.95903453e-01 4.51546042e-02 7.83413984e-02 1.18741499e+01] [-4.48169413e-02 9.98976812e-01 -6.06392010e-03 -1.96449156e+00] [-7.85350544e-02 2.52805711e-03 9.96908147e-01 -5.93636950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.735779523 meters 0.021246612130693555 Centerline is valid? [True, True] Translation: X:11.90, Y:-1.99, Z:-0.04 [[ 9.95514395e-01 4.14509064e-02 8.50465225e-02 1.19047449e+01] [-4.10373843e-02 9.99135777e-01 -6.60552276e-03 -1.98833429e+00] [-8.52468282e-02 3.08580617e-03 9.96355085e-01 -4.41572255e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.765779523 meters 0.023156407725288895 Centerline is valid? [True, True] Translation: X:11.94, Y:-1.99, Z:-0.05 [[ 9.95282868e-01 3.68430244e-02 8.97474447e-02 1.19358253e+01] [-3.63632976e-02 9.99314294e-01 -6.97505937e-03 -1.99368947e+00] [-8.99428867e-02 3.67864405e-03 9.95940131e-01 -4.61958900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.795779523 meters 0.025141848344658657 Centerline is valid? [True, True] Translation: X:11.96, Y:-2.00, Z:-0.05 [[ 9.95213366e-01 3.35403819e-02 9.17899681e-02 1.19649100e+01] [-3.30242263e-02 9.99429071e-01 -7.13674115e-03 -1.99941166e+00] [-9.19769316e-02 4.07128750e-03 9.95752815e-01 -5.02720268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.825779523 meters 0.02617422712025489 Centerline is valid? [True, True] Translation: X:12.00, Y:-2.00, Z:-0.06 [[ 9.95241515e-01 3.03169804e-02 9.26024198e-02 1.19951356e+01] [-2.97776994e-02 9.99530613e-01 -7.20010806e-03 -2.00081333e+00] [-9.27772390e-02 4.40835943e-03 9.95677132e-01 -5.94711967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.855779523 meters 0.02554901803800943 Centerline is valid? [True, True] Translation: X:12.03, Y:-2.01, Z:-0.07 [[ 9.95587596e-01 2.97576848e-02 8.89933611e-02 1.20263035e+01] [-2.92572225e-02 9.99547941e-01 -6.92304164e-03 -2.00543343e+00] [-8.91591446e-02 4.28879582e-03 9.96008159e-01 -7.27851781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.885779523 meters 0.028144420308731582 Centerline is valid? [True, True] Translation: X:12.06, Y:-2.02, Z:-0.08 [[ 9.95869690e-01 3.18517157e-02 8.50236959e-02 1.20561503e+01] [-3.14008017e-02 9.99484845e-01 -6.63580260e-03 -2.01605496e+00] [-8.51912572e-02 3.93858246e-03 9.96356832e-01 -7.83918797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.915779523 meters 0.024725171413944497 Centerline is valid? [True, True] Translation: X:12.09, Y:-2.02, Z:-0.08 [[ 9.96071958e-01 3.73060904e-02 8.03051087e-02 1.20865072e+01] [-3.69214226e-02 9.99298501e-01 -6.27016807e-03 -2.02204475e+00] [-8.04826902e-02 3.28055972e-03 9.96750608e-01 -8.00979522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.945779523 meters 0.021514237808687896 Centerline is valid? [True, True] Translation: X:12.12, Y:-2.03, Z:-0.08 [[ 9.96057296e-01 4.36399558e-02 7.72361175e-02 1.21169937e+01] [-4.33031197e-02 9.99043774e-01 -6.03134691e-03 -2.02665200e+00] [-7.74254700e-02 2.66300226e-03 9.96994586e-01 -7.88796801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.975779523 meters 0.016855977635881137 Centerline is valid? [True, True] Translation: X:12.15, Y:-2.03, Z:-0.07 [[ 9.95327253e-01 5.85548656e-02 7.67788184e-02 1.21488845e+01] [-5.82661702e-02 9.98283072e-01 -5.99675878e-03 -2.02754034e+00] [-7.69981341e-02 1.49512974e-03 9.97030116e-01 -7.16023641e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.005779523 meters 0.015216727669664346 Centerline is valid? [True, True] Translation: X:12.18, Y:-2.02, Z:-0.08 [[ 9.94384381e-01 6.76131952e-02 8.14135094e-02 1.21797879e+01] [-6.73186731e-02 9.97711253e-01 -6.36022973e-03 -2.02180599e+00] [-8.16572099e-02 8.43863671e-04 9.96660117e-01 -7.51421585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.035779523 meters 0.015223841319070298 Centerline is valid? [True, True] Translation: X:12.21, Y:-2.02, Z:-0.08 [[ 9.94170670e-01 6.85922557e-02 8.31852282e-02 1.22112420e+01] [-6.82878798e-02 9.97644470e-01 -6.50208559e-03 -2.02160318e+00] [-8.34352756e-02 7.83639921e-04 9.96512890e-01 -8.24460800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.065779523 meters 0.0155331911446552 Centerline is valid? [True, True] Translation: X:12.24, Y:-2.02, Z:-0.09 [[ 9.94054622e-01 6.76123036e-02 8.53462684e-02 1.22420431e+01] [-6.72863614e-02 9.97711254e-01 -6.69317731e-03 -2.02386891e+00] [-8.56034737e-02 9.10743973e-04 9.96328869e-01 -8.87747247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.095779523000001 meters 0.01801225532857149 Centerline is valid? [True, True] Translation: X:12.27, Y:-2.03, Z:-0.09 [[ 9.93389107e-01 6.82774282e-02 9.22836682e-02 1.22742171e+01] [-6.78970241e-02 9.97665926e-01 -7.25913374e-03 -2.02747169e+00] [-9.25639062e-02 9.45357938e-04 9.95706297e-01 -8.84307999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.125779523 meters 0.01801225532857149 Centerline is valid? [True, True] Translation: X:12.31, Y:-2.03, Z:-0.09 [[ 9.93370422e-01 6.85511274e-02 9.22818898e-02 1.23063965e+01] [-6.81698077e-02 9.97647159e-01 -7.28167588e-03 -2.03009002e+00] [-9.25639323e-02 9.42562756e-04 9.95706297e-01 -9.10707751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.155779523 meters 0.014773093771508867 Centerline is valid? [True, True] Translation: X:12.34, Y:-2.03, Z:-0.09 [[ 9.92774506e-01 7.93601014e-02 9.00041869e-02 1.23382053e+01] [-7.90396203e-02 9.96846013e-01 -7.12500874e-03 -2.03044708e+00] [-9.02857562e-02 -4.03697203e-05 9.95915900e-01 -8.60381890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.185779523 meters 0.014864981177096915 Centerline is valid? [True, True] Translation: X:12.37, Y:-2.03, Z:-0.09 [[ 9.92734344e-01 8.49227588e-02 8.52446281e-02 1.23690713e+01] [-8.46548110e-02 9.96387409e-01 -6.75971423e-03 -2.02863323e+00] [-8.55107278e-02 -5.05767410e-04 9.96337121e-01 -9.22109781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.215779523 meters 0.015413728840196969 Centerline is valid? [True, True] Translation: X:12.40, Y:-2.03, Z:-0.10 [[ 9.92703225e-01 9.01503725e-02 8.00825681e-02 1.24006604e+01] [-8.99295778e-02 9.95927775e-01 -6.36690359e-03 -2.02636355e+00] [-8.03304326e-02 -8.81345812e-04 9.96767899e-01 -1.00090517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.245779523 meters 0.015903978435368678 Centerline is valid? [True, True] Translation: X:12.43, Y:-2.02, Z:-0.11 [[ 9.92644663e-01 9.39035270e-02 7.64113852e-02 1.24326525e+01] [-9.37122666e-02 9.95580680e-01 -6.09275588e-03 -2.02442231e+00] [-7.66458300e-02 -1.11274249e-03 9.97057761e-01 -1.06826559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.275779523 meters 0.017237654347088703 Centerline is valid? [True, True] Translation: X:12.46, Y:-2.02, Z:-0.12 [[ 9.92738640e-01 9.66991425e-02 7.15490622e-02 1.24631286e+01] [-9.65375258e-02 9.95312901e-01 -5.72155593e-03 -2.01939588e+00] [-7.17669742e-02 -1.22715979e-03 9.97420671e-01 -1.18235244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.305779523 meters 0.016285809392446147 Centerline is valid? [True, True] Translation: X:12.49, Y:-2.02, Z:-0.12 [[ 9.92802463e-01 9.54643443e-02 7.23175503e-02 1.24947576e+01] [-9.52947667e-02 9.95432204e-01 -5.79947287e-03 -2.02358922e+00] [-7.25408613e-02 -1.13375312e-03 9.97364797e-01 -1.20827987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.335779523 meters 0.015598942528945876 Centerline is valid? [True, True] Translation: X:12.53, Y:-2.03, Z:-0.12 [[ 9.92954067e-01 9.24347964e-02 7.41486952e-02 1.25267236e+01] [-9.22466989e-02 9.95718317e-01 -5.96483872e-03 -2.02874755e+00] [-7.43825726e-02 -9.17161489e-04 9.97229358e-01 -1.21975658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.365779523 meters 0.01532140281630073 Centerline is valid? [True, True] Translation: X:12.56, Y:-2.04, Z:-0.12 [[ 9.93620723e-01 8.13241482e-02 7.81296528e-02 1.25560277e+01] [-8.10793584e-02 9.96687703e-01 -6.30551568e-03 -2.04061035e+00] [-7.83836549e-02 -6.94110798e-05 9.96923266e-01 -1.20861299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.395779523 meters 0.01532140281630073 Centerline is valid? [True, True] Translation: X:12.59, Y:-2.04, Z:-0.12 [[ 9.93598754e-01 8.15926897e-02 7.81290497e-02 1.25882023e+01] [-8.13481419e-02 9.96665754e-01 -6.31297968e-03 -2.04330287e+00] [-7.83836413e-02 -8.30842832e-05 9.96923266e-01 -1.23496005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.425779523 meters 0.014714853924010134 Centerline is valid? [True, True] Translation: X:12.62, Y:-2.05, Z:-0.13 [[ 9.93827487e-01 7.75165574e-02 7.93606316e-02 1.26205657e+01] [-7.72494933e-02 9.96991030e-01 -6.43445672e-03 -2.04984694e+00] [-7.96206147e-02 2.64171373e-04 9.96825204e-01 -1.25101579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.455779523 meters 0.014875745359885237 Centerline is valid? [True, True] Translation: X:12.65, Y:-2.05, Z:-0.13 [[ 9.93944392e-01 7.55648378e-02 7.97778240e-02 1.26535916e+01] [-7.52869354e-02 9.97140791e-01 -6.48996167e-03 -2.05468034e+00] [-8.00401355e-02 4.44433126e-04 9.96791542e-01 -1.25565469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.485779523 meters 0.016326389485016555 Centerline is valid? [True, True] Translation: X:12.69, Y:-2.06, Z:-0.12 [[ 9.94036885e-01 7.49378502e-02 7.92148365e-02 1.26850920e+01] [-7.46601459e-02 9.97188074e-01 -6.46585505e-03 -2.06100711e+00] [-7.94766275e-02 5.13107163e-04 9.96836598e-01 -1.24966335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.515779523 meters 0.0145042534509883 Centerline is valid? [True, True] Translation: X:12.72, Y:-2.07, Z:-0.12 [[ 9.93761952e-01 7.94256779e-02 7.82863035e-02 1.27179475e+01] [-7.91667584e-02 9.96840776e-01 -6.41034251e-03 -2.06537058e+00] [-7.85481253e-02 1.72681603e-04 9.96910308e-01 -1.20766583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.545779523 meters 0.01441298525101677 Centerline is valid? [True, True] Translation: X:12.75, Y:-2.07, Z:-0.12 [[ 9.93540318e-01 8.18852942e-02 7.85648449e-02 1.27507656e+01] [-8.16316970e-02 9.96641760e-01 -6.43954200e-03 -2.06566591e+00] [-7.88283091e-02 -1.54370034e-05 9.96888207e-01 -1.24061031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.575779523 meters 0.014461376493592672 Centerline is valid? [True, True] Translation: X:12.78, Y:-2.06, Z:-0.13 [[ 9.93243214e-01 8.38510417e-02 8.02304200e-02 1.27823872e+01] [-8.35911354e-02 9.96478289e-01 -6.59867497e-03 -2.06451112e+00] [-8.05011774e-02 -1.52462767e-04 9.96754502e-01 -1.28371531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.605779523 meters 0.014589015281373087 Centerline is valid? [True, True] Translation: X:12.82, Y:-2.06, Z:-0.13 [[ 9.92944440e-01 8.55147913e-02 8.21496147e-02 1.28150972e+01] [-8.52461789e-02 9.96336864e-01 -6.77811533e-03 -2.06255030e+00] [-8.24283186e-02 -2.72648822e-04 9.96596959e-01 -1.33411597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.635779523 meters 0.017363704248856908 Centerline is valid? [True, True] Translation: X:12.85, Y:-2.06, Z:-0.14 [[ 9.93117829e-01 8.41862878e-02 8.14226479e-02 1.28461010e+01] [-8.39161577e-02 9.96450024e-01 -6.74009142e-03 -2.06341163e+00] [-8.17010227e-02 -1.38970813e-04 9.96656874e-01 -1.42150577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.665779523 meters 0.016957763509390465 Centerline is valid? [True, True] Translation: X:12.88, Y:-2.07, Z:-0.14 [[ 9.93345680e-01 8.22012208e-02 8.06679599e-02 1.28784609e+01] [-8.19279046e-02 9.96615752e-01 -6.69784301e-03 -2.07178764e+00] [-8.09455304e-02 4.43164868e-05 9.96718526e-01 -1.42971169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.695779523 meters 0.015991344726494355 Centerline is valid? [True, True] Translation: X:12.91, Y:-2.08, Z:-0.14 [[ 9.93391778e-01 8.16279010e-02 8.06824771e-02 1.29098886e+01] [-8.13507611e-02 9.96662868e-01 -6.72166710e-03 -2.07914425e+00] [-8.09619046e-02 1.13667905e-04 9.96717190e-01 -1.40138713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.725779523 meters 0.01727580298678555 Centerline is valid? [True, True] Translation: X:12.94, Y:-2.08, Z:-0.14 [[ 9.93501621e-01 8.13670167e-02 7.95860454e-02 1.29429228e+01] [-8.10948885e-02 9.96684195e-01 -6.65086998e-03 -2.08379264e+00] [-7.98633151e-02 1.53628619e-04 9.96805812e-01 -1.40478891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.755779523 meters 0.014401652892064385 Centerline is valid? [True, True] Translation: X:12.98, Y:-2.09, Z:-0.14 [[ 9.93601944e-01 8.22841718e-02 7.73595032e-02 1.29756306e+01] [-8.20282369e-02 9.96608903e-01 -6.48559744e-03 -2.08518135e+00] [-7.76308316e-02 9.84385709e-05 9.96982168e-01 -1.43274947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.785779523 meters 0.014480937916583704 Centerline is valid? [True, True] Translation: X:13.01, Y:-2.08, Z:-0.15 [[ 9.93700163e-01 8.22114711e-02 7.61660013e-02 1.30068245e+01] [-8.19615606e-02 9.96614900e-01 -6.40654515e-03 -2.08483500e+00] [-7.64348632e-02 1.23500632e-04 9.97074569e-01 -1.49545753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.815779523 meters 0.014748352966384711 Centerline is valid? [True, True] Translation: X:13.04, Y:-2.08, Z:-0.16 [[ 9.94162970e-01 8.04627268e-02 7.18730668e-02 1.30383200e+01] [-8.02343873e-02 9.96757584e-01 -6.06313830e-03 -2.08135085e+00] [-7.21278811e-02 2.61056104e-04 9.97395358e-01 -1.63324471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.845779523000001 meters 0.01756371288700372 Centerline is valid? [True, True] Translation: X:13.07, Y:-2.08, Z:-0.17 [[ 9.94539876e-01 7.83559360e-02 6.89259155e-02 1.30691950e+01] [-7.81398178e-02 9.96925362e-01 -5.83024647e-03 -2.08483143e+00] [-6.91708277e-02 4.12554119e-04 9.97604745e-01 -1.70724418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.875779523 meters 0.015381386352924064 Centerline is valid? [True, True] Translation: X:13.10, Y:-2.09, Z:-0.17 [[ 9.94649574e-01 7.68054722e-02 6.90879402e-02 1.31016095e+01] [-7.65835828e-02 9.97045953e-01 -5.85857874e-03 -2.09178162e+00] [-6.93338221e-02 5.36230860e-04 9.97593371e-01 -1.69891815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.905779523 meters 0.016396835187320775 Centerline is valid? [True, True] Translation: X:13.13, Y:-2.10, Z:-0.17 [[ 9.94837076e-01 7.32670662e-02 7.02220014e-02 1.31335742e+01] [-7.30276309e-02 9.97312023e-01 -5.97435661e-03 -2.10004128e+00] [-7.04709699e-02 8.15365069e-04 9.97513497e-01 -1.66862676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.935779523 meters 0.01888998812259598 Centerline is valid? [True, True] Translation: X:13.16, Y:-2.12, Z:-0.16 [[ 9.95380615e-01 5.97744170e-02 7.51295595e-02 1.31641963e+01] [-5.94603164e-02 9.98210072e-01 -6.41263972e-03 -2.11557039e+00] [-7.53783948e-02 1.91578989e-03 9.97153161e-01 -1.58118782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.965779523 meters 0.023727041236889714 Centerline is valid? [True, True] Translation: X:13.19, Y:-2.12, Z:-0.16 [[ 9.95711212e-01 4.94555213e-02 7.81878061e-02 1.31945568e+01] [-4.90834108e-02 9.98772378e-01 -6.67503215e-03 -2.12216721e+00] [-7.84219382e-02 2.80868015e-03 9.96916301e-01 -1.59622869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.995779523 meters 0.027697683684737007 Centerline is valid? [True, True] Translation: X:13.22, Y:-2.13, Z:-0.16 [[ 9.95935854e-01 3.89418348e-02 8.12114987e-02 1.32240762e+01] [-3.85053104e-02 9.99234331e-01 -6.93496634e-03 -2.12809196e+00] [-8.14193778e-02 3.77970766e-03 9.96672764e-01 -1.63013225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.025779523 meters 0.030193265066624394 Centerline is valid? [True, True] Translation: X:13.25, Y:-2.13, Z:-0.17 [[ 9.96099380e-01 2.95842262e-02 8.31312123e-02 1.32542292e+01] [-2.90942208e-02 9.99551458e-01 -7.09987467e-03 -2.13205834e+00] [-8.33039688e-02 4.65354291e-03 9.96513318e-01 -1.68136722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.055779523 meters 0.03033428823403719 Centerline is valid? [True, True] Translation: X:13.28, Y:-2.14, Z:-0.17 [[ 9.96353357e-01 1.77972982e-02 8.34460589e-02 1.32849183e+01] [-1.72623677e-02 9.99825588e-01 -7.12767175e-03 -2.13564688e+00] [-8.35583582e-02 5.66120312e-03 9.96486805e-01 -1.72980120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.085779523 meters 0.0321627151191039 Centerline is valid? [True, True] Translation: X:13.32, Y:-2.14, Z:-0.17 [[ 9.96176162e-01 1.84532496e-02 8.53963193e-02 1.33161521e+01] [-1.78951202e-02 9.99813244e-01 -7.29669756e-03 -2.14352049e+00] [-8.55150188e-02 5.74061877e-03 9.96320343e-01 -1.69800839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.115779523 meters 0.029904533364750463 Centerline is valid? [True, True] Translation: X:13.35, Y:-2.14, Z:-0.17 [[ 9.96134266e-01 2.03845200e-02 8.54458642e-02 1.33483074e+01] [-1.98318041e-02 9.99776588e-01 -7.31253954e-03 -2.14407178e+00] [-8.55758372e-02 5.58972557e-03 9.96315980e-01 -1.68093744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.145779523 meters 0.028595779440085612 Centerline is valid? [True, True] Translation: X:13.38, Y:-2.14, Z:-0.17 [[ 9.96243819e-01 2.77916883e-02 8.20114387e-02 1.33787021e+01] [-2.73072627e-02 9.99602418e-01 -7.02276578e-03 -2.14124414e+00] [-8.21740069e-02 4.75687910e-03 9.96606645e-01 -1.69511817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.175779523 meters 0.026889209416284768 Centerline is valid? [True, True] Translation: X:13.41, Y:-2.13, Z:-0.18 [[ 9.96282283e-01 3.10856735e-02 8.03448365e-02 1.34100905e+01] [-3.06314647e-02 9.99507069e-01 -6.87990450e-03 -2.13388367e+00] [-8.05190985e-02 4.39324694e-03 9.96743384e-01 -1.76394423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.205779523 meters 0.027497658145486326 Centerline is valid? [True, True] Translation: X:13.44, Y:-2.13, Z:-0.18 [[ 9.96266163e-01 3.40095483e-02 7.93541633e-02 1.34410613e+01] [-3.35756291e-02 9.99413071e-01 -6.79641688e-03 -2.13010637e+00] [-7.95387310e-02 4.10667422e-03 9.96823317e-01 -1.83289322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.235779523 meters 0.030674171374208282 Centerline is valid? [True, True] Translation: X:13.47, Y:-2.13, Z:-0.19 [[ 9.96344960e-01 3.60149016e-02 7.74573919e-02 1.34711589e+01] [-3.56073607e-02 9.99343820e-01 -6.63661730e-03 -2.13112308e+00] [-7.76455830e-02 3.85430691e-03 9.96973574e-01 -1.90913955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.265779523 meters 0.023852181994706678 Centerline is valid? [True, True] Translation: X:13.50, Y:-2.13, Z:-0.19 [[ 9.96281020e-01 3.89587254e-02 7.68527563e-02 1.35027087e+01] [-3.85661688e-02 9.99234344e-01 -6.58602788e-03 -2.12664674e+00] [-7.70504968e-02 3.59761821e-03 9.97020701e-01 -1.92150828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.295779523 meters 0.024366151783775842 Centerline is valid? [True, True] Translation: X:13.53, Y:-2.14, Z:-0.19 [[ 9.96248653e-01 4.06651831e-02 7.63869386e-02 1.35336432e+01] [-4.02822460e-02 9.99166886e-01 -6.54786142e-03 -2.14019076e+00] [-7.65895695e-02 3.44626067e-03 9.97056749e-01 -1.88236001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.325779523 meters 0.025835588268503157 Centerline is valid? [True, True] Translation: X:13.56, Y:-2.15, Z:-0.19 [[ 9.96193014e-01 4.00673524e-02 7.74214855e-02 1.35642753e+01] [-3.96706098e-02 9.99190641e-01 -6.65628053e-03 -2.14729326e+00] [-7.76255232e-02 3.55958262e-03 9.96976232e-01 -1.87368297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.355779523 meters 0.026530860314095763 Centerline is valid? [True, True] Translation: X:13.60, Y:-2.15, Z:-0.19 [[ 9.96144027e-01 4.06386727e-02 7.77532953e-02 1.35954503e+01] [-4.02394690e-02 9.99167636e-01 -6.69476188e-03 -2.15028180e+00] [-7.79606426e-02 3.54019574e-03 9.96950152e-01 -1.90080369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.385779523 meters 0.02366005300248247 Centerline is valid? [True, True] Translation: X:13.63, Y:-2.14, Z:-0.20 [[ 9.96059956e-01 4.59890829e-02 7.58259024e-02 1.36263872e+01] [-4.56236035e-02 9.98937253e-01 -6.54609596e-03 -2.13563409e+00] [-7.60463676e-02 3.06085314e-03 9.97099584e-01 -2.03672916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.415779523 meters 0.02145315500634307 Centerline is valid? [True, True] Translation: X:13.66, Y:-2.13, Z:-0.21 [[ 9.95814794e-01 5.14586620e-02 7.55307991e-02 1.36577399e+01] [-5.11115727e-02 9.98671650e-01 -6.52246044e-03 -2.12945403e+00] [-7.57661049e-02 2.63466467e-03 9.97122137e-01 -2.10336722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.445779523 meters 0.02010463270916603 Centerline is valid? [True, True] Translation: X:13.69, Y:-2.13, Z:-0.21 [[ 9.95399420e-01 5.75983709e-02 7.65664631e-02 1.36878912e+01] [-5.72596784e-02 9.98337415e-01 -6.61331354e-03 -2.12934818e+00] [-7.68200809e-02 2.19871740e-03 9.97042547e-01 -2.12071785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.475779523 meters 0.016210561211702487 Centerline is valid? [True, True] Translation: X:13.72, Y:-2.14, Z:-0.20 [[ 9.94412032e-01 6.89676101e-02 7.99260897e-02 1.37187631e+01] [-6.86350876e-02 9.97617946e-01 -6.90348523e-03 -2.13513991e+00] [-8.02118183e-02 1.37917461e-03 9.96776887e-01 -2.01310147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.505779523 meters 0.01877256577810706 Centerline is valid? [True, True] Translation: X:13.75, Y:-2.14, Z:-0.20 [[ 9.94173230e-01 7.24206114e-02 7.98426147e-02 1.37493166e+01] [-7.20998437e-02 9.97373573e-01 -6.89693635e-03 -2.14059968e+00] [-8.01323943e-02 1.10010945e-03 9.96783622e-01 -1.99682075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.535779523 meters 0.014911952455766458 Centerline is valid? [True, True] Translation: X:13.78, Y:-2.14, Z:-0.20 [[ 9.93772975e-01 7.67131489e-02 8.08106864e-02 1.37802947e+01] [-7.63972114e-02 9.97052898e-01 -6.99886921e-03 -2.14166885e+00] [-8.11094344e-02 7.81575981e-04 9.96704896e-01 -1.98565273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.565779523 meters 0.016817189884417032 Centerline is valid? [True, True] Translation: X:13.81, Y:-2.14, Z:-0.21 [[ 9.93691563e-01 7.78110076e-02 8.07621528e-02 1.38135238e+01] [-7.74976327e-02 9.96967875e-01 -7.01233396e-03 -2.13944569e+00] [-8.10629087e-02 7.09221441e-04 9.96708735e-01 -2.05230567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.595779523000001 meters 0.014619590151733827 Centerline is valid? [True, True] Translation: X:13.84, Y:-2.13, Z:-0.22 [[ 9.93711429e-01 7.99266372e-02 7.84176591e-02 1.38448558e+01] [-7.96361226e-02 9.96800601e-01 -6.83002949e-03 -2.13383811e+00] [-7.87126710e-02 5.42200051e-04 9.96897197e-01 -2.20826342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.625779523 meters 0.014727979892761424 Centerline is valid? [True, True] Translation: X:13.88, Y:-2.14, Z:-0.23 [[ 9.93894285e-01 8.05096231e-02 7.54476684e-02 1.38755657e+01] [-8.02410694e-02 9.96753709e-01 -6.58900657e-03 -2.13826257e+00] [-7.57332218e-02 4.94774383e-04 9.97127993e-01 -2.29325495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.655779523 meters 0.014813067791399095 Centerline is valid? [True, True] Translation: X:13.91, Y:-2.15, Z:-0.23 [[ 9.94044856e-01 8.05524789e-02 7.33902065e-02 1.39069226e+01] [-8.02971247e-02 9.96750245e-01 -6.42809640e-03 -2.14613946e+00] [-7.36695054e-02 4.96793592e-04 9.97282586e-01 -2.33196588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.685779523 meters 0.015209107669409444 Centerline is valid? [True, True] Translation: X:13.94, Y:-2.17, Z:-0.23 [[ 9.94321174e-01 7.74869292e-02 7.29464054e-02 1.39376081e+01] [-7.72251365e-02 9.96993096e-01 -6.40669047e-03 -2.16660608e+00] [-7.32234973e-02 7.37011877e-04 9.97315284e-01 -2.27653064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.715779523 meters 0.015596830545649313 Centerline is valid? [True, True] Translation: X:13.97, Y:-2.18, Z:-0.22 [[ 9.94462435e-01 7.50788455e-02 7.35366069e-02 1.39686308e+01] [-7.48048423e-02 9.97177157e-01 -6.47710171e-03 -2.17802280e+00] [-7.38153180e-02 9.40340054e-04 9.97271485e-01 -2.24895124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.745779523 meters 0.016403940819907387 Centerline is valid? [True, True] Translation: X:14.00, Y:-2.19, Z:-0.22 [[ 9.94628381e-01 7.22649995e-02 7.41090609e-02 1.39995664e+01] [-7.19782273e-02 9.97384784e-01 -6.53662649e-03 -2.18694822e+00] [-7.43876190e-02 1.16727540e-03 9.97228720e-01 -2.24430470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.775779523 meters 0.016665539890583215 Centerline is valid? [True, True] Translation: X:14.03, Y:-2.19, Z:-0.23 [[ 9.94620321e-01 7.10125581e-02 7.54164016e-02 1.40317920e+01] [-7.07106899e-02 9.97474574e-01 -6.66873656e-03 -2.18924542e+00] [-7.56995071e-02 1.30011512e-03 9.97129828e-01 -2.26221471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.805779523 meters 0.01780624779946984 Centerline is valid? [True, True] Translation: X:14.06, Y:-2.18, Z:-0.24 [[ 9.94820306e-01 6.76129209e-02 7.59015981e-02 1.40631573e+01] [-6.72958824e-02 9.97710366e-01 -6.72978869e-03 -2.18493101e+00] [-7.61828319e-02 1.58706542e-03 9.97092602e-01 -2.38897678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.835779523 meters 0.017549348689950024 Centerline is valid? [True, True] Translation: X:14.09, Y:-2.19, Z:-0.25 [[ 9.94942251e-01 6.61619384e-02 7.55811808e-02 1.40948541e+01] [-6.58420455e-02 9.97807435e-01 -6.71914831e-03 -2.18589162e+00] [-7.58600160e-02 1.70874500e-03 9.97117013e-01 -2.45137723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.865779523 meters 0.018037024836972223 Centerline is valid? [True, True] Translation: X:14.13, Y:-2.19, Z:-0.25 [[ 9.94795665e-01 6.69974386e-02 7.67654155e-02 1.41256305e+01] [-6.66684235e-02 9.97751716e-01 -6.84358534e-03 -2.19098098e+00] [-7.70513278e-02 1.69013979e-03 9.97025695e-01 -2.47040282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.895779523 meters 0.016882375192378188 Centerline is valid? [True, True] Translation: X:14.16, Y:-2.19, Z:-0.25 [[ 9.94576692e-01 6.95221611e-02 7.73554970e-02 1.41578805e+01] [-6.91943156e-02 9.97579244e-01 -6.91368346e-03 -2.19471442e+00] [-7.76488924e-02 1.52362775e-03 9.96979603e-01 -2.45562368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.925779523 meters 0.016875920463337215 Centerline is valid? [True, True] Translation: X:14.19, Y:-2.20, Z:-0.24 [[ 9.94403820e-01 7.16292950e-02 7.76549180e-02 1.41891421e+01] [-7.13038292e-02 9.97430364e-01 -6.95942508e-03 -2.20058357e+00] [-7.79538718e-02 1.38338588e-03 9.96956007e-01 -2.44233648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.955779523 meters 0.016222596761412925 Centerline is valid? [True, True] Translation: X:14.22, Y:-2.20, Z:-0.24 [[ 9.94478536e-01 7.32291144e-02 7.51660653e-02 1.42207732e+01] [-7.29275563e-02 9.97314381e-01 -6.75250877e-03 -2.20287600e+00] [-7.54586781e-02 1.23354759e-03 9.97148167e-01 -2.44942661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.985779523 meters 0.016388458615111758 Centerline is valid? [True, True] Translation: X:14.25, Y:-2.20, Z:-0.25 [[ 9.94693810e-01 7.34877140e-02 7.19984699e-02 1.42521803e+01] [-7.32105635e-02 9.97295426e-01 -6.48439669e-03 -2.20235100e+00] [-7.22802682e-02 1.17894069e-03 9.97383664e-01 -2.52770876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.015779523 meters 0.01656588678788812 Centerline is valid? [True, True] Translation: X:14.28, Y:-2.20, Z:-0.26 [[ 9.94848363e-01 7.37929073e-02 6.95078491e-02 1.42841087e+01] [-7.35342533e-02 9.97272944e-01 -6.27610210e-03 -2.20257849e+00] [-6.97814291e-02 1.13256212e-03 9.97561662e-01 -2.60747744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.045779523 meters 0.0170540797655018 Centerline is valid? [True, True] Translation: X:14.32, Y:-2.20, Z:-0.27 [[ 9.94866601e-01 7.41160272e-02 6.89003611e-02 1.43156526e+01] [-7.38614712e-02 9.97248999e-01 -6.23832951e-03 -2.20491026e+00] [-6.91731763e-02 1.11722364e-03 9.97604041e-01 -2.65297061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.075779523 meters 0.016836889679023498 Centerline is valid? [True, True] Translation: X:14.35, Y:-2.21, Z:-0.26 [[ 9.94569247e-01 7.41041877e-02 7.30792909e-02 1.43471680e+01] [-7.38167838e-02 9.97249784e-01 -6.62954097e-03 -2.20971233e+00] [-7.33695838e-02 1.19905936e-03 9.97304099e-01 -2.62541865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.105779523 meters 0.018832289400010954 Centerline is valid? [True, True] Translation: X:14.38, Y:-2.21, Z:-0.26 [[ 9.94536858e-01 7.29771669e-02 7.46376033e-02 1.43788897e+01] [-7.26729384e-02 9.97332730e-01 -6.78748011e-03 -2.21373790e+00] [-7.49338557e-02 1.32626519e-03 9.97187624e-01 -2.63307757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.135779523 meters 0.01770360611720142 Centerline is valid? [True, True] Translation: X:14.41, Y:-2.22, Z:-0.26 [[ 9.94538437e-01 7.26084683e-02 7.49753787e-02 1.44102940e+01] [-7.22991066e-02 9.97359570e-01 -6.83571398e-03 -2.21768846e+00] [-7.52737422e-02 1.37772741e-03 9.97161956e-01 -2.63845108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.165779523 meters 0.018231327689106257 Centerline is valid? [True, True] Translation: X:14.44, Y:-2.22, Z:-0.28 [[ 9.94956139e-01 7.24950090e-02 6.93307591e-02 1.44405595e+01] [-7.22291522e-02 9.97367931e-01 -6.33713968e-03 -2.21841889e+00] [-6.96076868e-02 1.29747407e-03 9.97573600e-01 -2.75181908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.195779523 meters 0.017782709622853696 Centerline is valid? [True, True] Translation: X:14.47, Y:-2.22, Z:-0.29 [[ 9.95187092e-01 7.39800677e-02 6.42619713e-02 1.44717766e+01] [-7.37540274e-02 9.97259094e-01 -5.88589494e-03 -2.21734186e+00] [-6.45212742e-02 1.11798747e-03 9.97915706e-01 -2.86127960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.225779523 meters 0.017364091298711287 Centerline is valid? [True, True] Translation: X:14.50, Y:-2.22, Z:-0.29 [[ 9.95052275e-01 7.73730436e-02 6.23248149e-02 1.45025420e+01] [-7.71660954e-02 9.97001818e-01 -5.72430829e-03 -2.21676837e+00] [-6.25808610e-02 8.86623369e-04 9.98039503e-01 -2.93806299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.255779523 meters 0.016505983123813007 Centerline is valid? [True, True] Translation: X:14.53, Y:-2.22, Z:-0.30 [[ 9.94571532e-01 8.14929620e-02 6.47021229e-02 1.45325436e+01] [-8.12779887e-02 9.96673698e-01 -5.95216930e-03 -2.21716945e+00] [-6.49719640e-02 6.60999726e-04 9.97886871e-01 -2.96733974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.285779523 meters 0.016505983123813007 Centerline is valid? [True, True] Translation: X:14.56, Y:-2.22, Z:-0.30 [[ 9.94550828e-01 8.17455166e-02 6.47017799e-02 1.45646969e+01] [-8.15308346e-02 9.96653024e-01 -5.95589886e-03 -2.22024296e+00] [-6.49720926e-02 6.48254032e-04 9.97886871e-01 -2.99369554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.315779523 meters 0.014430850251321176 Centerline is valid? [True, True] Translation: X:14.60, Y:-2.22, Z:-0.29 [[ 9.93511157e-01 8.65685550e-02 7.37662958e-02 1.45975296e+01] [-8.63009408e-02 9.96245814e-01 -6.81358639e-03 -2.22233617e+00] [-7.40792058e-02 4.03273374e-04 9.97252279e-01 -2.88909071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.345779523 meters 0.014603684643672735 Centerline is valid? [True, True] Translation: X:14.63, Y:-2.23, Z:-0.29 [[ 9.93193056e-01 8.65511432e-02 7.79516108e-02 1.46289388e+01] [-8.62518933e-02 9.96247315e-01 -7.20398834e-03 -2.22902931e+00] [-7.82825964e-02 4.31477174e-04 9.96931115e-01 -2.85104018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.375779523 meters 0.01471645117905626 Centerline is valid? [True, True] Translation: X:14.66, Y:-2.24, Z:-0.28 [[ 9.93120014e-01 8.48585173e-02 8.06949122e-02 1.46618227e+01] [-8.45306927e-02 9.96392828e-01 -7.47624924e-03 -2.23735792e+00] [-8.10382552e-02 6.03615926e-04 9.96710809e-01 -2.80948874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.405779523 meters 0.016870551129851107 Centerline is valid? [True, True] Translation: X:14.69, Y:-2.25, Z:-0.28 [[ 9.93515571e-01 7.76083526e-02 8.30888364e-02 1.46919600e+01] [-7.72336087e-02 9.96983137e-01 -7.71976157e-03 -2.25344953e+00] [-8.34372868e-02 1.25245263e-03 9.96512243e-01 -2.75284723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.435779523 meters 0.017623220574838925 Centerline is valid? [True, True] Translation: X:14.72, Y:-2.26, Z:-0.28 [[ 9.93636888e-01 7.55390249e-02 8.35439418e-02 1.47236728e+01] [-7.51513936e-02 9.97141790e-01 -7.77939872e-03 -2.25870053e+00] [-8.38928039e-02 1.45145388e-03 9.96473728e-01 -2.78388826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.465779523 meters 0.017782767733172482 Centerline is valid? [True, True] Translation: X:14.75, Y:-2.26, Z:-0.28 [[ 9.93500019e-01 7.69425072e-02 8.38901802e-02 1.47549926e+01] [-7.65550647e-02 9.97034608e-01 -7.83028743e-03 -2.25821328e+00] [-8.42438949e-02 1.35717254e-03 9.96444240e-01 -2.84748951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.495779523 meters 0.015079066447065642 Centerline is valid? [True, True] Translation: X:14.79, Y:-2.25, Z:-0.30 [[ 9.93111429e-01 8.39750702e-02 8.17182769e-02 1.47863245e+01] [-8.36297936e-02 9.96467567e-01 -7.64492482e-03 -2.24770714e+00] [-8.20715957e-02 7.58179581e-04 9.96626148e-01 -2.98973397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.525779523 meters 0.01452504409182316 Centerline is valid? [True, True] Translation: X:14.82, Y:-2.25, Z:-0.30 [[ 9.92825010e-01 8.77246987e-02 8.12580833e-02 1.48188679e+01] [-8.73956202e-02 9.96144656e-01 -7.60456329e-03 -2.24772881e+00] [-8.16119135e-02 4.48400033e-04 9.96664083e-01 -3.03571614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.555779523 meters 0.014352487358055247 Centerline is valid? [True, True] Translation: X:14.85, Y:-2.25, Z:-0.31 [[ 9.92599759e-01 9.09171940e-02 8.04971004e-02 1.48503528e+01] [-9.06042071e-02 9.95858437e-01 -7.53990714e-03 -2.24934007e+00] [-8.08492239e-02 1.90734050e-04 9.96726325e-01 -3.06157131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.585779523 meters 0.014168048234684044 Centerline is valid? [True, True] Translation: X:14.88, Y:-2.25, Z:-0.31 [[ 9.92492255e-01 9.31885659e-02 7.92149910e-02 1.48824284e+01] [-9.28912423e-02 9.95648477e-01 -7.43817743e-03 -2.25151232e+00] [-7.95634382e-02 2.39545759e-05 9.96829804e-01 -3.08911664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.615779523 meters 0.01414443175836605 Centerline is valid? [True, True] Translation: X:14.92, Y:-2.25, Z:-0.31 [[ 9.92532231e-01 9.40743192e-02 7.76517451e-02 1.49155678e+01] [-9.37898512e-02 9.95565177e-01 -7.31040877e-03 -2.25398464e+00] [-7.79950951e-02 -2.71292963e-05 9.96953742e-01 -3.11872395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.645779523 meters 0.014193394341520121 Centerline is valid? [True, True] Translation: X:14.95, Y:-2.26, Z:-0.31 [[ 9.92834422e-01 9.20535761e-02 7.61967793e-02 1.49485665e+01] [-9.17721601e-02 9.95754044e-01 -7.19401918e-03 -2.25919317e+00] [-7.65354864e-02 1.49726838e-04 9.97066847e-01 -3.12353731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.675779523 meters 0.014246977022816958 Centerline is valid? [True, True] Translation: X:14.98, Y:-2.26, Z:-0.31 [[ 9.92958106e-01 9.05826236e-02 7.63478072e-02 1.49808274e+01] [-9.02941334e-02 9.95888903e-01 -7.22925817e-03 -2.26451806e+00] [-7.66887792e-02 2.84591410e-04 9.97055039e-01 -3.12828084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.705779523 meters 0.01443092879426766 Centerline is valid? [True, True] Translation: X:15.01, Y:-2.27, Z:-0.31 [[ 9.93200889e-01 8.90331949e-02 7.50005570e-02 1.50128831e+01] [-8.87488369e-02 9.96028572e-01 -7.12237740e-03 -2.27037123e+00] [-7.53368257e-02 4.17739368e-04 9.97158056e-01 -3.14612624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.735779523 meters 0.015202620281971077 Centerline is valid? [True, True] Translation: X:15.04, Y:-2.28, Z:-0.32 [[ 9.93815594e-01 8.43634705e-02 7.22036717e-02 1.50428848e+01] [-8.40864001e-02 9.96434758e-01 -6.87387016e-03 -2.27841544e+00] [-7.25261517e-02 7.60012530e-04 9.97366221e-01 -3.18861556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.765779523 meters 0.01695444480189236 Centerline is valid? [True, True] Translation: X:15.07, Y:-2.28, Z:-0.32 [[ 9.93970367e-01 8.14348574e-02 7.34252915e-02 1.50732424e+01] [-8.11390357e-02 9.96678157e-01 -7.00775431e-03 -2.28262782e+00] [-7.37520597e-02 1.00784277e-03 9.97276099e-01 -3.23275693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.795779523 meters 0.016292444810093794 Centerline is valid? [True, True] Translation: X:15.11, Y:-2.28, Z:-0.33 [[ 9.94220938e-01 7.84510982e-02 7.32813153e-02 1.51054969e+01] [-7.81477063e-02 9.96917198e-01 -7.00264547e-03 -2.28498081e+00] [-7.36047687e-02 1.23541005e-03 9.97286725e-01 -3.26094132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.825779523 meters 0.01787694610926995 Centerline is valid? [True, True] Translation: X:15.14, Y:-2.29, Z:-0.33 [[ 9.94553096e-01 7.50103741e-02 7.23711523e-02 1.51354518e+01] [-7.47040332e-02 9.97181640e-01 -6.93425954e-03 -2.28936605e+00] [-7.26873258e-02 1.49007232e-03 9.97353665e-01 -3.32603107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.855779523 meters 0.019556884953760068 Centerline is valid? [True, True] Translation: X:15.17, Y:-2.29, Z:-0.34 [[ 9.94873809e-01 6.99876435e-02 7.29920069e-02 1.51662004e+01] [-6.96618073e-02 9.97546082e-01 -7.00339635e-03 -2.29289777e+00] [-7.33030417e-02 1.88274048e-03 9.97307936e-01 -3.38227328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.885779523 meters 0.019421537306296886 Centerline is valid? [True, True] Translation: X:15.20, Y:-2.30, Z:-0.34 [[ 9.94856481e-01 6.80455819e-02 7.50358711e-02 1.51985815e+01] [-6.76955871e-02 9.97680036e-01 -7.20089007e-03 -2.29663903e+00] [-7.53517793e-02 2.08425480e-03 9.97154835e-01 -3.38049537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.915779523 meters 0.020039293273082317 Centerline is valid? [True, True] Translation: X:15.23, Y:-2.30, Z:-0.34 [[ 9.94809413e-01 6.59857518e-02 7.74603963e-02 1.52300813e+01] [-6.56049787e-02 9.97817839e-01 -7.45296852e-03 -2.30103253e+00] [-7.77831550e-02 2.33249558e-03 9.96967572e-01 -3.37862024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.945779523 meters 0.021623785955164464 Centerline is valid? [True, True] Translation: X:15.26, Y:-2.30, Z:-0.34 [[ 9.94986344e-01 6.16951750e-02 7.87139132e-02 1.52610755e+01] [-6.12870974e-02 9.98091305e-01 -7.59195882e-03 -2.30119244e+00] [-7.90320596e-02 2.72974809e-03 9.96868337e-01 -3.42423597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.975779523 meters 0.022477421253517073 Centerline is valid? [True, True] Translation: X:15.29, Y:-2.30, Z:-0.35 [[ 9.95121192e-01 5.95669525e-02 7.86485339e-02 1.52925989e+01] [-5.91528544e-02 9.98220108e-01 -7.58654728e-03 -2.30259348e+00] [-7.89604555e-02 2.89724870e-03 9.96873539e-01 -3.46508153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.005779523 meters 0.023902308078277798 Centerline is valid? [True, True] Translation: X:15.32, Y:-2.31, Z:-0.35 [[ 9.95295153e-01 5.73930768e-02 7.80614755e-02 1.53230312e+01] [-5.69771319e-02 9.98346957e-01 -7.54713434e-03 -2.30771220e+00] [-7.83655898e-02 3.06390723e-03 9.96919980e-01 -3.48193220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.035779523 meters 0.025835709095754344 Centerline is valid? [True, True] Translation: X:15.35, Y:-2.32, Z:-0.35 [[ 9.95544454e-01 5.48702282e-02 7.66844123e-02 1.53541349e+01] [-5.44600851e-02 9.98488297e-01 -7.43104162e-03 -2.31522231e+00] [-7.69762312e-02 3.22169265e-03 9.97027723e-01 -3.48509621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.065779523 meters 0.027438183834770383 Centerline is valid? [True, True] Translation: X:15.38, Y:-2.33, Z:-0.34 [[ 9.96105462e-01 5.02899721e-02 7.24211851e-02 1.53832544e+01] [-4.99115858e-02 9.98728925e-01 -7.02621179e-03 -2.33105805e+00] [-7.26824803e-02 3.38419175e-03 9.97349389e-01 -3.40534997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.095779523 meters 0.02747117851955762 Centerline is valid? [True, True] Translation: X:15.41, Y:-2.33, Z:-0.34 [[ 9.96248337e-01 4.79137268e-02 7.20661275e-02 1.54145660e+01] [-4.75328973e-02 9.98845207e-01 -6.99116894e-03 -2.33346829e+00] [-7.23178790e-02 3.53942859e-03 9.97375354e-01 -3.42508996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.125779523 meters 0.027555706615205094 Centerline is valid? [True, True] Translation: X:15.45, Y:-2.34, Z:-0.34 [[ 9.96240369e-01 4.64063357e-02 7.31544836e-02 1.54455559e+01] [-4.60097022e-02 9.98915770e-01 -7.09864683e-03 -2.33551488e+00] [-7.34045895e-02 3.70614253e-03 9.97295358e-01 -3.43746568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.155779523 meters 0.028570470560488868 Centerline is valid? [True, True] Translation: X:15.48, Y:-2.33, Z:-0.35 [[ 9.95933497e-01 4.43829991e-02 7.84003778e-02 1.54771752e+01] [-4.39202600e-02 9.99005997e-01 -7.61761835e-03 -2.32844106e+00] [-7.86605403e-02 4.14327631e-03 9.96892849e-01 -3.54737854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.185779523 meters 0.02805046067832339 Centerline is valid? [True, True] Translation: X:15.51, Y:-2.33, Z:-0.36 [[ 9.95843315e-01 4.44139236e-02 7.95204141e-02 1.55101660e+01] [-4.39365101e-02 9.99004310e-01 -7.74419097e-03 -2.32749792e+00] [-7.97851863e-02 4.21815133e-03 9.96803156e-01 -3.62133347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.215779523 meters 0.03138261860548035 Centerline is valid? [True, True] Translation: X:15.54, Y:-2.33, Z:-0.37 [[ 9.95940956e-01 4.50155023e-02 7.79436731e-02 1.55404117e+01] [-4.45570453e-02 9.98977842e-01 -7.61194633e-03 -2.33256387e+00] [-7.82066579e-02 4.10810933e-03 9.96928705e-01 -3.70886322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.245779523 meters 0.024687989910409474 Centerline is valid? [True, True] Translation: X:15.57, Y:-2.33, Z:-0.37 [[ 9.95995474e-01 5.14062009e-02 7.31465582e-02 1.55709804e+01] [-5.10189760e-02 9.98672063e-01 -7.15368560e-03 -2.33250780e+00] [-7.34171680e-02 3.39317598e-03 9.97295546e-01 -3.73747060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.275779523 meters 0.024827640755318833 Centerline is valid? [True, True] Translation: X:15.60, Y:-2.34, Z:-0.37 [[ 9.95656497e-01 5.75226789e-02 7.32071174e-02 1.56007215e+01] [-5.71512256e-02 9.98339855e-01 -7.16042206e-03 -2.33768003e+00] [-7.34974696e-02 2.94544426e-03 9.97291054e-01 -3.73178685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.305779523 meters 0.021550548263512895 Centerline is valid? [True, True] Translation: X:15.63, Y:-2.34, Z:-0.37 [[ 9.95272988e-01 6.35313809e-02 7.34536858e-02 1.56318742e+01] [-6.31737761e-02 9.97976686e-01 -7.18390209e-03 -2.33753702e+00] [-7.37614691e-02 2.50959700e-03 9.97272755e-01 -3.69048176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.335779523 meters 0.019418435795557736 Centerline is valid? [True, True] Translation: X:15.66, Y:-2.34, Z:-0.37 [[ 9.94784766e-01 6.91626431e-02 7.49653143e-02 1.56628985e+01] [-6.88059763e-02 9.97603109e-01 -7.33313354e-03 -2.33529693e+00] [-7.52928095e-02 2.13682789e-03 9.97159178e-01 -3.66878023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.365779523 meters 0.017649567156057352 Centerline is valid? [True, True] Translation: X:15.70, Y:-2.33, Z:-0.37 [[ 9.94214946e-01 7.45439241e-02 7.73294530e-02 1.56956193e+01] [-7.41806064e-02 9.97216135e-01 -7.56421081e-03 -2.33104910e+00] [-7.76780442e-02 1.78410573e-03 9.96976900e-01 -3.66302929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.395779523 meters 0.01602018685396464 Centerline is valid? [True, True] Translation: X:15.73, Y:-2.32, Z:-0.37 [[ 9.93245339e-01 8.18859694e-02 8.22093940e-02 1.57277881e+01] [-8.14999420e-02 9.96640868e-01 -8.04611340e-03 -2.32147442e+00] [-8.25921056e-02 1.29170379e-03 9.96582598e-01 -3.69575209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.425779523 meters 0.015481058748664426 Centerline is valid? [True, True] Translation: X:15.76, Y:-2.32, Z:-0.37 [[ 9.93020436e-01 8.43146032e-02 8.24709786e-02 1.57594102e+01] [-8.39341983e-02 9.96438581e-01 -8.07495435e-03 -2.32334052e+00] [-8.28581015e-02 1.09645921e-03 9.96560752e-01 -3.73496316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.455779523 meters 0.015361508258299022 Centerline is valid? [True, True] Translation: X:15.79, Y:-2.33, Z:-0.38 [[ 9.92927679e-01 8.64843636e-02 8.13331410e-02 1.57898712e+01] [-8.61200370e-02 9.96252781e-01 -7.98345350e-03 -2.32787640e+00] [-8.17188119e-02 9.22578835e-04 9.96654998e-01 -3.78441775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.485779523 meters 0.015181431006926826 Centerline is valid? [True, True] Translation: X:15.82, Y:-2.33, Z:-0.38 [[ 9.92947718e-01 8.85159234e-02 7.88654585e-02 1.58214309e+01] [-8.81784162e-02 9.96074480e-01 -7.75872305e-03 -2.33174488e+00] [-7.92426410e-02 7.49775128e-04 9.96855076e-01 -3.84463088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.515779523 meters 0.01499000067178144 Centerline is valid? [True, True] Translation: X:15.85, Y:-2.33, Z:-0.39 [[ 9.92995829e-01 9.39069025e-02 7.16992171e-02 1.58526988e+01] [-9.36409318e-02 9.95580936e-01 -7.06935609e-03 -2.33488122e+00] [-7.20462350e-02 3.05859615e-04 9.97401246e-01 -3.94890657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.545779523 meters 0.016565313733252277 Centerline is valid? [True, True] Translation: X:15.88, Y:-2.34, Z:-0.40 [[ 9.93091875e-01 9.61646627e-02 6.72375302e-02 1.58832810e+01] [-9.59348338e-02 9.95365428e-01 -6.64623874e-03 -2.33857899e+00] [-6.75650463e-02 1.49904413e-04 9.97714860e-01 -4.01819941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.575779523 meters 0.01526744572913062 Centerline is valid? [True, True] Translation: X:15.91, Y:-2.34, Z:-0.40 [[ 9.93038212e-01 9.89194104e-02 6.39535680e-02 1.59146037e+01] [-9.87163639e-02 9.95095448e-01 -6.33480591e-03 -2.34337545e+00] [-6.42665396e-02 -2.25593555e-05 9.97932769e-01 -4.04244821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.605779523 meters 0.017562391899713176 Centerline is valid? [True, True] Translation: X:15.95, Y:-2.35, Z:-0.40 [[ 9.92852474e-01 9.93473302e-02 6.61367681e-02 1.59453989e+01] [-9.91300022e-02 9.95052816e-01 -6.56779472e-03 -2.35102605e+00] [-6.64620702e-02 -3.52867241e-05 9.97788952e-01 -4.02189359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.635779523 meters 0.014710140672602312 Centerline is valid? [True, True] Translation: X:15.98, Y:-2.36, Z:-0.40 [[ 9.92354986e-01 9.99039057e-02 7.24623448e-02 1.59783954e+01] [-9.96430718e-02 9.94997088e-01 -7.21472851e-03 -2.35587349e+00] [-7.28206017e-02 -6.07988277e-05 9.97345054e-01 -3.95648807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.665779523 meters 0.014471547769953614 Centerline is valid? [True, True] Translation: X:16.01, Y:-2.36, Z:-0.39 [[ 9.91899689e-01 9.93423116e-02 7.91587724e-02 1.60099929e+01] [-9.90285974e-02 9.95053318e-01 -7.88872412e-03 -2.36028039e+00] [-7.95508832e-02 -1.41591964e-05 9.96830807e-01 -3.93215960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.695779523 meters 0.014605166127195441 Centerline is valid? [True, True] Translation: X:16.04, Y:-2.36, Z:-0.40 [[ 9.91565487e-01 9.77688995e-02 8.50830632e-02 1.60422626e+01] [-9.73987043e-02 9.95209135e-01 -8.50120068e-03 -2.36447025e+00] [-8.55065947e-02 1.42517072e-04 9.96337594e-01 -3.96228390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.725779523 meters 0.014665809355100451 Centerline is valid? [True, True] Translation: X:16.07, Y:-2.37, Z:-0.40 [[ 9.91755265e-01 9.74652042e-02 8.31987235e-02 1.60743145e+01] [-9.71082919e-02 9.95238915e-01 -8.33551583e-03 -2.36744427e+00] [-8.36150301e-02 1.87505777e-04 9.96498114e-01 -4.04454492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.755779523 meters 0.014698552740412572 Centerline is valid? [True, True] Translation: X:16.11, Y:-2.37, Z:-0.41 [[ 9.91882350e-01 9.90850602e-02 7.96966385e-02 1.61051889e+01] [-9.87611375e-02 9.95078965e-01 -8.00573192e-03 -2.36968899e+00] [-8.00976969e-02 6.98135228e-05 9.96787015e-01 -4.12239330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.785779523 meters 0.015168724795120983 Centerline is valid? [True, True] Translation: X:16.14, Y:-2.37, Z:-0.41 [[ 9.91330884e-01 1.06940704e-01 7.63332428e-02 1.61357366e+01] [-1.06665329e-01 9.94265263e-01 -7.68724649e-03 -2.37196538e+00] [-7.67175713e-02 -5.21505620e-04 9.97052728e-01 -4.13032889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.815779523 meters 0.015162825261664304 Centerline is valid? [True, True] Translation: X:16.17, Y:-2.38, Z:-0.41 [[ 9.91171865e-01 1.08879741e-01 7.56540491e-02 1.61672933e+01] [-1.08614271e-01 9.94054712e-01 -7.62694892e-03 -2.37944496e+00] [-7.60346842e-02 -6.57492240e-04 9.97104957e-01 -4.09136067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.845779523 meters 0.014854769611767245 Centerline is valid? [True, True] Translation: X:16.20, Y:-2.39, Z:-0.41 [[ 9.91587506e-01 1.05562422e-01 7.49052295e-02 1.61991181e+01] [-1.05291386e-01 9.94412605e-01 -7.56930148e-03 -2.38697564e+00] [-7.52857382e-02 -3.81250635e-04 9.97161929e-01 -4.06172678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.875779523 meters 0.014861252621570127 Centerline is valid? [True, True] Translation: X:16.23, Y:-2.39, Z:-0.41 [[ 9.92060450e-01 1.01292275e-01 7.45381742e-02 1.62294304e+01] [-1.01010491e-01 9.94856710e-01 -7.55031606e-03 -2.38805678e+00] [-7.49195914e-02 -3.87676133e-05 9.97189577e-01 -4.13081258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.905779523 meters 0.015190142824005931 Centerline is valid? [True, True] Translation: X:16.26, Y:-2.39, Z:-0.42 [[ 9.92526544e-01 9.63105142e-02 7.49356022e-02 1.62620667e+01] [-9.60102827e-02 9.95351274e-01 -7.60705081e-03 -2.38764585e+00] [-7.53198861e-02 3.55611495e-04 9.97159360e-01 -4.21954614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.935779523 meters 0.015956118900687898 Centerline is valid? [True, True] Translation: X:16.29, Y:-2.39, Z:-0.43 [[ 9.92867365e-01 9.10880913e-02 7.69243426e-02 1.62927654e+01] [-9.07543025e-02 9.95842522e-01 -7.83119213e-03 -2.38888016e+00] [-7.73178597e-02 7.94120039e-04 9.97006177e-01 -4.29042882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.965779523 meters 0.017061393737848304 Centerline is valid? [True, True] Translation: X:16.32, Y:-2.39, Z:-0.43 [[ 9.93245799e-01 8.50188835e-02 7.89593074e-02 1.63243675e+01] [-8.46465418e-02 9.96378467e-01 -8.05684351e-03 -2.39342077e+00] [-7.93583376e-02 1.31879365e-03 9.96845281e-01 -4.32407692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.995779523 meters 0.01859608668419915 Centerline is valid? [True, True] Translation: X:16.35, Y:-2.40, Z:-0.43 [[ 9.93629408e-01 7.88050633e-02 8.05627783e-02 1.63544635e+01] [-7.83965606e-02 9.96888314e-01 -8.22611330e-03 -2.40231629e+00] [-8.09603516e-02 1.85786336e-03 9.96715591e-01 -4.32626483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.025779523 meters 0.02016615891535856 Centerline is valid? [True, True] Translation: X:16.38, Y:-2.41, Z:-0.43 [[ 9.94206265e-01 7.15234516e-02 8.02390136e-02 1.63849355e+01] [-7.10944509e-02 9.97435928e-01 -8.19441531e-03 -2.41470870e+00] [-8.06193679e-02 2.44239042e-03 9.96741969e-01 -4.31519767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.055779522999998 meters 0.02559142263618087 Centerline is valid? [True, True] Translation: X:16.41, Y:-2.43, Z:-0.43 [[ 9.95204163e-01 6.06036862e-02 7.67845565e-02 1.64141735e+01] [-6.01782687e-02 9.98156823e-01 -7.84427735e-03 -2.42903638e+00] [-7.71184211e-02 3.18589579e-03 9.97016850e-01 -4.30660775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.085779523 meters 0.02552000108020489 Centerline is valid? [True, True] Translation: X:16.45, Y:-2.43, Z:-0.44 [[ 9.95641159e-01 5.65606394e-02 7.41591246e-02 1.64454483e+01] [-5.61526432e-02 9.98393446e-01 -7.57680153e-03 -2.42758307e+00] [-7.44685327e-02 3.37954459e-03 9.97217637e-01 -4.36630049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.115779523 meters 0.030418220880071692 Centerline is valid? [True, True] Translation: X:16.47, Y:-2.43, Z:-0.44 [[ 9.96012697e-01 5.25446008e-02 7.20955779e-02 1.64743601e+01] [-5.21483596e-02 9.98612163e-01 -7.36867887e-03 -2.43262364e+00] [-7.23827053e-02 3.57963159e-03 9.97370508e-01 -4.43485805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.145779523 meters 0.030194820566290848 Centerline is valid? [True, True] Translation: X:16.51, Y:-2.44, Z:-0.44 [[ 9.96088061e-01 4.41618430e-02 7.65395699e-02 1.65058458e+01] [-4.36904842e-02 9.99014487e-01 -7.82276736e-03 -2.43823813e+00] [-7.68096070e-02 4.44811431e-03 9.97035856e-01 -4.37630381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.175779523 meters 0.03215979099334777 Centerline is valid? [True, True] Translation: X:16.54, Y:-2.45, Z:-0.44 [[ 9.95961076e-01 3.92226715e-02 8.07658226e-02 1.65362083e+01] [-3.86813273e-02 9.99217482e-01 -8.25699139e-03 -2.44574257e+00] [-8.10264832e-02 5.09951280e-03 9.96698903e-01 -4.35684238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.205779523 meters 0.03215979099334777 Centerline is valid? [True, True] Translation: X:16.57, Y:-2.45, Z:-0.44 [[ 9.95950378e-01 3.94936585e-02 8.07656883e-02 1.65683738e+01] [-3.89530943e-02 9.99206914e-01 -8.25830521e-03 -2.44911420e+00] [-8.10277848e-02 5.07878872e-03 9.96698903e-01 -4.38320238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.235779523 meters 0.03248402097852266 Centerline is valid? [True, True] Translation: X:16.60, Y:-2.45, Z:-0.44 [[ 9.95607394e-01 3.36992059e-02 8.73514780e-02 1.66001816e+01] [-3.30422742e-02 9.99413827e-01 -8.95600104e-03 -2.44817430e+00] [-8.76020850e-02 6.03036937e-03 9.96137294e-01 -4.38339511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.265779523 meters 0.036474473587098044 Centerline is valid? [True, True] Translation: X:16.63, Y:-2.45, Z:-0.45 [[ 9.95571172e-01 3.26063218e-02 8.81752159e-02 1.66302980e+01] [-3.19323936e-02 9.99449119e-01 -9.04323312e-03 -2.44970708e+00] [-8.84215085e-02 6.18753649e-03 9.96063929e-01 -4.45752455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.295779523 meters 0.036887244063079964 Centerline is valid? [True, True] Translation: X:16.66, Y:-2.45, Z:-0.45 [[ 9.95676438e-01 3.35257107e-02 8.66282670e-02 1.66624771e+01] [-3.28784011e-02 9.99419833e-01 -8.88867978e-03 -2.44842218e+00] [-8.68760075e-02 6.00205011e-03 9.96201051e-01 -4.53814748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.325779523 meters 0.03042116553242215 Centerline is valid? [True, True] Translation: X:16.69, Y:-2.44, Z:-0.46 [[ 9.95906005e-01 3.70507906e-02 8.24528240e-02 1.66939586e+01] [-3.64750875e-02 9.99298599e-01 -8.47811480e-03 -2.44125045e+00] [-8.27091124e-02 5.43593147e-03 9.96558906e-01 -4.60450627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.355779523 meters 0.02944773947763831 Centerline is valid? [True, True] Translation: X:16.72, Y:-2.44, Z:-0.46 [[ 9.96001783e-01 4.26059552e-02 7.85186708e-02 1.67239075e+01] [-4.21011167e-02 9.99080726e-01 -8.07453067e-03 -2.44370840e+00] [-7.87905138e-02 4.73652322e-03 9.96879943e-01 -4.63684733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.385779523 meters 0.025692562297980687 Centerline is valid? [True, True] Translation: X:16.75, Y:-2.44, Z:-0.46 [[ 9.95654776e-01 5.63372735e-02 7.41463307e-02 1.67545738e+01] [-5.59250932e-02 9.98405850e-01 -7.62515539e-03 -2.44090322e+00] [-7.44577108e-02 3.44538192e-03 9.97218220e-01 -4.61814412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.415779523 meters 0.02423090308914149 Centerline is valid? [True, True] Translation: X:16.79, Y:-2.44, Z:-0.46 [[ 9.95227028e-01 6.24704726e-02 7.49706777e-02 1.67859270e+01] [-6.20664110e-02 9.98042244e-01 -7.70969302e-03 -2.43682751e+00] [-7.53055316e-02 3.01973398e-03 9.97155935e-01 -4.62917387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.445779523 meters 0.021884445999158727 Centerline is valid? [True, True] Translation: X:16.82, Y:-2.43, Z:-0.46 [[ 9.94627860e-01 6.83376899e-02 7.77520444e-02 1.68164775e+01] [-6.79208126e-02 9.97658667e-01 -7.99665390e-03 -2.43459476e+00] [-7.81164739e-02 2.67271271e-03 9.96940657e-01 -4.62112249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.475779523 meters 0.01999609793084061 Centerline is valid? [True, True] Translation: X:16.85, Y:-2.43, Z:-0.46 [[ 9.94103027e-01 7.27115897e-02 8.04499685e-02 1.68486995e+01] [-7.22795004e-02 9.97350097e-01 -8.27397355e-03 -2.43341027e+00] [-8.08383976e-02 2.41029862e-03 9.96724307e-01 -4.62495671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.505779523 meters 0.018996040057617687 Centerline is valid? [True, True] Translation: X:16.88, Y:-2.43, Z:-0.47 [[ 9.93446445e-01 7.78079065e-02 8.37262811e-02 1.68793954e+01] [-7.73573159e-02 9.96966191e-01 -8.61738688e-03 -2.43300174e+00] [-8.41427724e-02 2.08407199e-03 9.96451529e-01 -4.67279674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.535779523 meters 0.020356425201273728 Centerline is valid? [True, True] Translation: X:16.91, Y:-2.43, Z:-0.47 [[ 9.93336703e-01 7.93000646e-02 8.36283135e-02 1.69117136e+01] [-7.88555501e-02 9.96848867e-01 -8.61033018e-03 -2.43313725e+00] [-8.40475893e-02 1.95840032e-03 9.96459817e-01 -4.74324383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.565779523 meters 0.017165589391061848 Centerline is valid? [True, True] Translation: X:16.94, Y:-2.44, Z:-0.48 [[ 9.92914539e-01 8.23369175e-02 8.56816762e-02 1.69436714e+01] [-8.18808052e-02 9.96603012e-01 -8.83010259e-03 -2.43801425e+00] [-8.61176600e-02 1.75185260e-03 9.96283433e-01 -4.75268354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.595779523 meters 0.019235070646728254 Centerline is valid? [True, True] Translation: X:16.97, Y:-2.44, Z:-0.48 [[ 9.92999049e-01 8.34281364e-02 8.36219806e-02 1.69749142e+01] [-8.29959155e-02 9.96512452e-01 -8.63782000e-03 -2.44411496e+00] [-8.40509821e-02 1.63706421e-03 9.96460111e-01 -4.78030964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.625779523 meters 0.017164944588176207 Centerline is valid? [True, True] Translation: X:17.01, Y:-2.45, Z:-0.48 [[ 9.93208061e-01 8.44459383e-02 8.00414285e-02 1.70051155e+01] [-8.40517801e-02 9.96426929e-01 -8.28697629e-03 -2.45019856e+00] [-8.04552363e-02 1.50306711e-03 9.96757090e-01 -4.80791358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.655779523 meters 0.017327494450220384 Centerline is valid? [True, True] Translation: X:17.04, Y:-2.45, Z:-0.49 [[ 9.93639556e-01 8.48484971e-02 7.40348919e-02 1.70360907e+01] [-8.45118333e-02 9.96392925e-01 -7.67397184e-03 -2.45336211e+00] [-7.44189675e-02 1.36833753e-03 9.97226125e-01 -4.89711552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.685779523 meters 0.01776211563296641 Centerline is valid? [True, True] Translation: X:17.07, Y:-2.46, Z:-0.50 [[ 9.93967160e-01 8.43777812e-02 7.00690682e-02 1.70672926e+01] [-8.40739973e-02 9.96432930e-01 -7.27863881e-03 -2.45611422e+00] [-7.04332823e-02 1.34374130e-03 9.97515587e-01 -4.99710603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.715779523 meters 0.017340849397310794 Centerline is valid? [True, True] Translation: X:17.10, Y:-2.46, Z:-0.50 [[ 9.93802272e-01 8.34750736e-02 7.34095158e-02 1.71004378e+01] [-8.31377703e-02 9.96508746e-01 -7.64391404e-03 -2.46090621e+00] [-7.37913009e-02 1.49343567e-03 9.97272587e-01 -4.99061934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.745779523 meters 0.018189244063735156 Centerline is valid? [True, True] Translation: X:17.13, Y:-2.47, Z:-0.50 [[ 9.93620461e-01 8.11147008e-02 7.83504001e-02 1.71315327e+01] [-8.07211410e-02 9.96703138e-01 -8.18246677e-03 -2.46910099e+00] [-7.87558080e-02 1.80573271e-03 9.96892302e-01 -4.96692543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.775779523 meters 0.019471636201320742 Centerline is valid? [True, True] Translation: X:17.16, Y:-2.48, Z:-0.49 [[ 9.93553473e-01 7.72111704e-02 8.30056053e-02 1.71627921e+01] [-7.67547520e-02 9.97012215e-01 -8.68049405e-03 -2.47819216e+00] [-8.34278335e-02 2.25346037e-03 9.96511274e-01 -4.93500884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.805779522999998 meters 0.022239449109207794 Centerline is valid? [True, True] Translation: X:17.19, Y:-2.49, Z:-0.49 [[ 9.94000183e-01 6.61971734e-02 8.70722163e-02 1.71933091e+01] [-6.56509780e-02 9.97800926e-01 -9.12480203e-03 -2.49040777e+00] [-8.74847741e-02 3.35367873e-03 9.96160212e-01 -4.90947659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.835779523 meters 0.02434428896362573 Centerline is valid? [True, True] Translation: X:17.22, Y:-2.50, Z:-0.50 [[ 9.94565065e-01 6.06649199e-02 8.46173708e-02 1.72232056e+01] [-6.01289889e-02 9.98151203e-01 -8.87017663e-03 -2.49819521e+00] [-8.49990390e-02 3.73401085e-03 9.96374036e-01 -4.95448940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.865779523 meters 0.024089783432283577 Centerline is valid? [True, True] Translation: X:17.25, Y:-2.50, Z:-0.50 [[ 9.95195890e-01 5.66283428e-02 7.98647007e-02 1.72536360e+01] [-5.61379197e-02 9.98387902e-01 -8.37447995e-03 -2.50334489e+00] [-8.02101838e-02 3.85080988e-03 9.96770534e-01 -5.01650829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.895779523 meters 0.02730410411064731 Centerline is valid? [True, True] Translation: X:17.28, Y:-2.52, Z:-0.51 [[ 9.95749021e-01 5.36904261e-02 7.48413393e-02 1.72824156e+01] [-5.32515445e-02 9.98550284e-01 -7.84882904e-03 -2.51579686e+00] [-7.51542475e-02 3.83004692e-03 9.97164565e-01 -5.06784120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.925779523 meters 0.02936902267039519 Centerline is valid? [True, True] Translation: X:17.31, Y:-2.53, Z:-0.51 [[ 9.96115577e-01 5.17922638e-02 7.12131954e-02 1.73112149e+01] [-5.13899142e-02 9.98650715e-01 -7.47175089e-03 -2.52853537e+00] [-7.15040874e-02 3.78308745e-03 9.97433132e-01 -5.09801290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.955779523 meters 0.030308579087749043 Centerline is valid? [True, True] Translation: X:17.34, Y:-2.54, Z:-0.51 [[ 9.96286756e-01 5.06631280e-02 6.96128407e-02 1.73429074e+01] [-5.02760030e-02 9.98708660e-01 -7.30308814e-03 -2.53723766e+00] [-6.98929441e-02 3.77611460e-03 9.97547351e-01 -5.11942525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.985779523 meters 0.0279590587589698 Centerline is valid? [True, True] Translation: X:17.38, Y:-2.53, Z:-0.52 [[ 9.95866859e-01 5.20566319e-02 7.44265137e-02 1.73751262e+01] [-5.16174498e-02 9.98636364e-01 -7.81358559e-03 -2.53032318e+00] [-7.47317720e-02 3.93958410e-03 9.97195889e-01 -5.17535953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.015779523 meters 0.030851866393717873 Centerline is valid? [True, True] Translation: X:17.41, Y:-2.53, Z:-0.52 [[ 9.95726262e-01 5.23540482e-02 7.60806443e-02 1.74060146e+01] [-5.18956962e-02 9.98620543e-01 -7.99047483e-03 -2.53356750e+00] [-7.63940281e-02 4.00806763e-03 9.97069650e-01 -5.24370993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.045779523 meters 0.02991647865273577 Centerline is valid? [True, True] Translation: X:17.44, Y:-2.53, Z:-0.53 [[ 9.95623393e-01 5.30641478e-02 7.69301998e-02 1.74375726e+01] [-5.25962532e-02 9.98583033e-01 -8.09691961e-03 -2.53317957e+00] [-7.72508484e-02 4.01524231e-03 9.97003603e-01 -5.29361313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.075779523 meters 0.025146078189891667 Centerline is valid? [True, True] Translation: X:17.47, Y:-2.53, Z:-0.53 [[ 9.95548525e-01 5.80433401e-02 7.42570178e-02 1.74687204e+01] [-5.76199128e-02 9.98307858e-01 -7.83364802e-03 -2.53480609e+00] [-7.45860555e-02 3.52009385e-03 9.97208368e-01 -5.30085505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.105779523 meters 0.02632523207088496 Centerline is valid? [True, True] Translation: X:17.50, Y:-2.54, Z:-0.53 [[ 9.95555450e-01 6.29800604e-02 7.00204063e-02 1.74982122e+01] [-6.26157459e-02 9.98010364e-01 -7.38793080e-03 -2.54185727e+00] [-7.03463835e-02 2.97071481e-03 9.97518201e-01 -5.30992876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.135779523 meters 0.022838041794713174 Centerline is valid? [True, True] Translation: X:17.53, Y:-2.54, Z:-0.53 [[ 9.95206509e-01 6.94902087e-02 6.88121763e-02 1.75285010e+01] [-6.91538922e-02 9.97579583e-01 -7.26048562e-03 -2.54398145e+00] [-6.91501548e-02 2.46705272e-03 9.97603213e-01 -5.30405472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.165779523 meters 0.018917947682927313 Centerline is valid? [True, True] Translation: X:17.56, Y:-2.54, Z:-0.53 [[ 9.94419973e-01 8.14639502e-02 6.70264336e-02 1.75606154e+01] [-8.11720447e-02 9.96675018e-01 -7.07156220e-03 -2.53717201e+00] [-6.73796493e-02 1.59143002e-03 9.97726140e-01 -5.31844388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.195779523 meters 0.01725720916667272 Centerline is valid? [True, True] Translation: X:17.59, Y:-2.53, Z:-0.54 [[ 9.94019917e-01 8.65457824e-02 6.65900295e-02 1.75926695e+01] [-8.62689969e-02 9.96247103e-01 -7.02633640e-03 -2.53291096e+00] [-6.69482237e-02 1.23966328e-03 9.97755681e-01 -5.35798336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.225779523 meters 0.016161882290957913 Centerline is valid? [True, True] Translation: X:17.63, Y:-2.53, Z:-0.54 [[ 9.93590809e-01 9.08877515e-02 6.72065535e-02 1.76250786e+01] [-9.06156600e-02 9.95860684e-01 -7.09233539e-03 -2.52969823e+00] [-6.75729707e-02 9.56913056e-04 9.97713876e-01 -5.40407696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.255779523 meters 0.015523996286144485 Centerline is valid? [True, True] Translation: X:17.66, Y:-2.53, Z:-0.54 [[ 9.93025041e-01 9.45646734e-02 7.04186747e-02 1.76572371e+01] [-9.42738500e-02 9.95518431e-01 -7.44946505e-03 -2.52993388e+00] [-7.08075448e-02 7.58865763e-04 9.97489707e-01 -5.42619705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.285779523 meters 0.014905708738340356 Centerline is valid? [True, True] Translation: X:17.69, Y:-2.53, Z:-0.54 [[ 9.92525589e-01 9.71178645e-02 7.38990884e-02 1.76896364e+01] [-9.68031050e-02 9.95272691e-01 -7.83770869e-03 -2.53472856e+00] [-7.43109261e-02 6.25465215e-04 9.97234925e-01 -5.41596856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.315779523 meters 0.01465097474261769 Centerline is valid? [True, True] Translation: X:17.72, Y:-2.55, Z:-0.54 [[ 9.92063580e-01 9.78229896e-02 7.89969402e-02 1.77212432e+01] [-9.74648896e-02 9.95203637e-01 -8.38548601e-03 -2.54606255e+00] [-7.94383355e-02 6.19507211e-04 9.96839589e-01 -5.35652452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.345779523 meters 0.014639862834981315 Centerline is valid? [True, True] Translation: X:17.75, Y:-2.55, Z:-0.54 [[ 9.92032625e-01 9.72867590e-02 8.00409726e-02 1.77536272e+01] [-9.69157811e-02 9.95256153e-01 -8.51599755e-03 -2.55034352e+00] [-8.04897642e-02 6.90914025e-04 9.96755196e-01 -5.39188456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.375779523 meters 0.014893202936057552 Centerline is valid? [True, True] Translation: X:17.79, Y:-2.55, Z:-0.55 [[ 9.92142556e-01 9.68341335e-02 7.92230939e-02 1.77860807e+01] [-9.64675120e-02 9.95300256e-01 -8.45099439e-03 -2.55309990e+00] [-7.96691103e-02 7.42136422e-04 9.96821088e-01 -5.45824717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.405779523 meters 0.014998099026967224 Centerline is valid? [True, True] Translation: X:17.82, Y:-2.56, Z:-0.55 [[ 9.92251092e-01 9.71426066e-02 7.74666602e-02 1.78180392e+01] [-9.67913741e-02 9.95270211e-01 -8.28480101e-03 -2.55685808e+00] [-7.79050664e-02 7.22498365e-04 9.96960520e-01 -5.51353659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.435779523 meters 0.01478942077431406 Centerline is valid? [True, True] Translation: X:17.85, Y:-2.56, Z:-0.55 [[ 9.92276882e-01 1.00045047e-01 7.33319649e-02 1.78504673e+01] [-9.97368578e-02 9.94982789e-01 -7.86180685e-03 -2.56461968e+00] [-7.37505778e-02 4.87189438e-04 9.97276599e-01 -5.52549159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.465779523 meters 0.014420530317797099 Centerline is valid? [True, True] Translation: X:17.88, Y:-2.57, Z:-0.55 [[ 9.91956934e-01 1.04119980e-01 7.19754940e-02 1.78834681e+01] [-1.03832375e-01 9.94564724e-01 -7.73616322e-03 -2.56755833e+00] [-7.23897764e-02 2.00554241e-04 9.97376398e-01 -5.52911004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.495779523 meters 0.017207070061731253 Centerline is valid? [True, True] Translation: X:17.91, Y:-2.57, Z:-0.56 [[ 9.91657670e-01 1.08674426e-01 6.93176314e-02 1.79141937e+01] [-1.08417455e-01 9.94077390e-01 -7.46980499e-03 -2.56850202e+00] [-6.97188669e-02 -1.07751766e-04 9.97566673e-01 -5.56342891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.525779523 meters 0.014630501132715317 Centerline is valid? [True, True] Translation: X:17.95, Y:-2.57, Z:-0.56 [[ 9.91177745e-01 1.13534783e-01 6.83851664e-02 1.79453791e+01] [-1.13295179e-01 9.93533930e-01 -7.38463091e-03 -2.56913488e+00] [-6.87813955e-02 -4.28227853e-04 9.97631664e-01 -5.58783770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.555779522999998 meters 0.017691585318949255 Centerline is valid? [True, True] Translation: X:17.98, Y:-2.57, Z:-0.56 [[ 9.90858070e-01 1.18367229e-01 6.47262243e-02 1.79774039e+01] [-1.18161855e-01 9.92969637e-01 -7.00546468e-03 -2.57022639e+00] [-6.51003929e-02 -7.06749517e-04 9.97878469e-01 -5.64076821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.585779523 meters 0.015341738740221465 Centerline is valid? [True, True] Translation: X:18.01, Y:-2.57, Z:-0.57 [[ 9.90703229e-01 1.18564871e-01 6.67044442e-02 1.80085006e+01] [-1.18347009e-01 9.92946033e-01 -7.22222219e-03 -2.57335213e+00] [-6.70902151e-02 -7.39192607e-04 9.97746640e-01 -5.66445278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.615779523 meters 0.01741899764763 Centerline is valid? [True, True] Translation: X:18.04, Y:-2.58, Z:-0.57 [[ 9.90818559e-01 1.17219068e-01 6.73667002e-02 1.80399001e+01] [-1.16992730e-01 9.93105876e-01 -7.30891696e-03 -2.57632529e+00] [-6.77590103e-02 -6.39603574e-04 9.97701512e-01 -5.69773731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.645779523 meters 0.014404436176967713 Centerline is valid? [True, True] Translation: X:18.07, Y:-2.58, Z:-0.58 [[ 9.91331359e-01 1.11174104e-01 7.00175410e-02 1.80712446e+01] [-1.10913243e-01 9.93800921e-01 -7.61454474e-03 -2.57920689e+00] [-7.04300370e-02 -2.17335526e-04 9.97516698e-01 -5.75532239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.675779523 meters 0.014584318179877322 Centerline is valid? [True, True] Translation: X:18.10, Y:-2.59, Z:-0.58 [[ 9.91881378e-01 1.06803737e-01 6.90238638e-02 1.81034305e+01] [-1.06538531e-01 9.94280117e-01 -7.52271094e-03 -2.58555714e+00] [-6.94325090e-02 1.07935821e-04 9.97586645e-01 -5.79914459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.705779523 meters 0.015506531988323559 Centerline is valid? [True, True] Translation: X:18.14, Y:-2.59, Z:-0.58 [[ 9.92276311e-01 1.03073450e-01 6.90187349e-02 1.81351006e+01] [-1.02797892e-01 9.94673672e-01 -7.54192343e-03 -2.59261319e+00] [-6.94284905e-02 3.88691537e-04 9.97586855e-01 -5.81226257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.735779523 meters 0.018357400124568272 Centerline is valid? [True, True] Translation: X:18.17, Y:-2.61, Z:-0.58 [[ 9.92979494e-01 9.59905603e-02 6.91197275e-02 1.81656733e+01] [-9.56958485e-02 9.95381835e-01 -7.57012233e-03 -2.60696829e+00] [-6.95271815e-02 9.02505273e-04 9.97579649e-01 -5.76302776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.765779523 meters 0.01669832930865471 Centerline is valid? [True, True] Translation: X:18.20, Y:-2.62, Z:-0.57 [[ 9.93238135e-01 9.28197350e-02 6.97316527e-02 1.81973240e+01] [-9.25108642e-02 9.95682266e-01 -7.65284864e-03 -2.61568612e+00] [-7.01409054e-02 1.15016565e-03 9.97536431e-01 -5.73770145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.795779523 meters 0.01774495542747379 Centerline is valid? [True, True] Translation: X:18.23, Y:-2.62, Z:-0.58 [[ 9.93515824e-01 9.04056192e-02 6.89429641e-02 1.82286735e+01] [-9.00967720e-02 9.95904150e-01 -7.58253953e-03 -2.62054844e+00] [-6.93460883e-02 1.32183448e-03 9.97591787e-01 -5.75373687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.825779523 meters 0.01928028830057149 Centerline is valid? [True, True] Translation: X:18.26, Y:-2.62, Z:-0.58 [[ 9.94039468e-01 8.53030696e-02 6.78890476e-02 1.82588429e+01] [-8.49904249e-02 9.96353649e-01 -7.48556512e-03 -2.62183586e+00] [-6.82800420e-02 1.67102817e-03 9.97664795e-01 -5.81818757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.855779523 meters 0.0186869323395904 Centerline is valid? [True, True] Translation: X:18.29, Y:-2.62, Z:-0.58 [[ 9.94182219e-01 8.27874644e-02 6.89053747e-02 1.82905449e+01] [-8.24593499e-02 9.96565469e-01 -7.59750222e-03 -2.62286660e+00] [-6.92976950e-02 1.87140922e-03 9.97594270e-01 -5.82720849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.885779523 meters 0.019561927313338445 Centerline is valid? [True, True] Translation: X:18.32, Y:-2.63, Z:-0.58 [[ 9.94352830e-01 8.06484622e-02 6.89802502e-02 1.83210114e+01] [-8.03137995e-02 9.96740535e-01 -7.61576814e-03 -2.62643153e+00] [-6.93696114e-02 2.03269462e-03 9.97588956e-01 -5.84604893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.915779523 meters 0.022786016447691553 Centerline is valid? [True, True] Translation: X:18.35, Y:-2.63, Z:-0.59 [[ 9.94812617e-01 7.76110548e-02 6.57600310e-02 1.83501348e+01] [-7.73001520e-02 9.96981412e-01 -7.26296003e-03 -2.63082413e+00] [-6.61252146e-02 2.14202388e-03 9.97809034e-01 -5.89224067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.945779523 meters 0.02432460366722273 Centerline is valid? [True, True] Translation: X:18.38, Y:-2.64, Z:-0.60 [[ 9.95506504e-01 6.96304632e-02 6.41747540e-02 1.83794276e+01] [-6.93178833e-02 9.97569448e-01 -7.08719486e-03 -2.63529848e+00] [-6.45122585e-02 2.60689047e-03 9.97913510e-01 -5.98086633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.975779523 meters 0.025281593498099802 Centerline is valid? [True, True] Translation: X:18.41, Y:-2.64, Z:-0.60 [[ 9.95643466e-01 6.50492511e-02 6.68033183e-02 1.84104326e+01] [-6.47000117e-02 9.97877466e-01 -7.38044081e-03 -2.63807959e+00] [-6.71416182e-02 3.02611219e-03 9.97738867e-01 -6.00472091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.005779523 meters 0.02712540917917402 Centerline is valid? [True, True] Translation: X:18.44, Y:-2.64, Z:-0.60 [[ 9.95591733e-01 6.14037684e-02 7.08990752e-02 1.84403818e+01] [-6.10008901e-02 9.98106955e-01 -7.83573485e-03 -2.64244382e+00] [-7.12460037e-02 3.47628614e-03 9.97452717e-01 -6.00137505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.035779523 meters 0.028058581768353123 Centerline is valid? [True, True] Translation: X:18.47, Y:-2.65, Z:-0.60 [[ 9.95498016e-01 5.91749555e-02 7.40406956e-02 1.84723559e+01] [-5.87292853e-02 9.98240399e-01 -8.18393526e-03 -2.64798332e+00] [-7.43946975e-02 3.79873418e-03 9.97221640e-01 -5.98151918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.065779523 meters 0.02971418142749242 Centerline is valid? [True, True] Translation: X:18.50, Y:-2.66, Z:-0.59 [[ 9.95582944e-01 5.72254180e-02 7.44301938e-02 1.85023661e+01] [-5.67692501e-02 9.98353389e-01 -8.23177848e-03 -2.65940253e+00] [-7.47787032e-02 3.97007196e-03 9.97192250e-01 -5.91616207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.095779523 meters 0.02971418142749242 Centerline is valid? [True, True] Translation: X:18.53, Y:-2.66, Z:-0.59 [[ 9.95567782e-01 5.74897021e-02 7.44293351e-02 1.85344863e+01] [-5.70336914e-02 9.98338253e-01 -8.23953518e-03 -2.66305000e+00] [-7.47793409e-02 3.95803603e-03 9.97192250e-01 -5.94255021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.125779523 meters 0.02665951141087043 Centerline is valid? [True, True] Translation: X:18.57, Y:-2.66, Z:-0.59 [[ 9.95572296e-01 5.80842120e-02 7.39055352e-02 1.85668084e+01] [-5.76347616e-02 9.98304047e-01 -8.20144311e-03 -2.66275140e+00] [-7.42565693e-02 3.90560165e-03 9.97231522e-01 -5.94033393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.155779523 meters 0.029430124257522935 Centerline is valid? [True, True] Translation: X:18.60, Y:-2.67, Z:-0.60 [[ 9.95512241e-01 5.98612834e-02 7.32939656e-02 1.85972072e+01] [-5.94227327e-02 9.98199626e-01 -8.15146102e-03 -2.66734928e+00] [-7.36499659e-02 3.75955149e-03 9.97277067e-01 -5.98132758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.185779523 meters 0.023686645297807018 Centerline is valid? [True, True] Translation: X:18.63, Y:-2.65, Z:-0.61 [[ 9.95455994e-01 6.57534603e-02 6.88755884e-02 1.86287668e+01] [-6.53791733e-02 9.97830962e-01 -7.67686670e-03 -2.65310917e+00] [-6.92309752e-02 3.13895395e-03 9.97595719e-01 -6.10542680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.215779523 meters 0.024007884305783055 Centerline is valid? [True, True] Translation: X:18.66, Y:-2.65, Z:-0.62 [[ 9.95294607e-01 6.95360064e-02 6.74788114e-02 1.86587741e+01] [-6.91853354e-02 9.97575460e-01 -7.52269306e-03 -2.65344931e+00] [-6.78383044e-02 2.81875162e-03 9.97692347e-01 -6.18715801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.245779523 meters 0.022520437400798506 Centerline is valid? [True, True] Translation: X:18.69, Y:-2.65, Z:-0.62 [[ 9.94968275e-01 7.38620815e-02 6.76943500e-02 1.86899129e+01] [-7.35190624e-02 9.97265249e-01 -7.54793254e-03 -2.65236878e+00] [-6.80667288e-02 2.53312828e-03 9.97677555e-01 -6.23451912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.275779523 meters 0.019387662246536614 Centerline is valid? [True, True] Translation: X:18.72, Y:-2.65, Z:-0.62 [[ 9.93953159e-01 8.33678265e-02 7.14627389e-02 1.87211349e+01] [-8.30098678e-02 9.96516858e-01 -7.96952779e-03 -2.65120800e+00] [-7.18782262e-02 1.98922482e-03 9.97411431e-01 -6.22238602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.305779522999998 meters 0.017661640562823527 Centerline is valid? [True, True] Translation: X:18.75, Y:-2.65, Z:-0.62 [[ 9.93326626e-01 8.83499917e-02 7.41383326e-02 1.87533118e+01] [-8.79785096e-02 9.96088059e-01 -8.26799968e-03 -2.65269173e+00] [-7.45787856e-02 1.69024422e-03 9.97213692e-01 -6.19678834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.335779523 meters 0.016206580017050734 Centerline is valid? [True, True] Translation: X:18.79, Y:-2.65, Z:-0.62 [[ 9.92682029e-01 9.28901066e-02 7.71609794e-02 1.87851891e+01] [-9.25010086e-02 9.95675370e-01 -8.60930514e-03 -2.65215582e+00] [-7.76270060e-02 1.40883408e-03 9.96981476e-01 -6.17631823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.365779523 meters 0.015073722420123297 Centerline is valid? [True, True] Translation: X:18.82, Y:-2.65, Z:-0.62 [[ 9.92173207e-01 9.73923628e-02 7.81476538e-02 1.88181248e+01] [-9.70069695e-02 9.95245486e-01 -8.72186713e-03 -2.64944588e+00] [-7.86255429e-02 1.07273582e-03 9.96903643e-01 -6.19367555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.395779523 meters 0.014366213089307935 Centerline is valid? [True, True] Translation: X:18.85, Y:-2.65, Z:-0.62 [[ 9.91841363e-01 1.01376051e-01 7.72891144e-02 1.88497492e+01] [-1.01010422e-01 9.94847889e-01 -8.63557900e-03 -2.64855091e+00] [-7.77663531e-02 7.58118408e-04 9.96971323e-01 -6.23100634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.425779523 meters 0.013823825451542978 Centerline is valid? [True, True] Translation: X:18.88, Y:-2.66, Z:-0.63 [[ 9.91773455e-01 1.05845952e-01 7.19864483e-02 1.88804556e+01] [-1.05539414e-01 9.94382461e-01 -8.05941251e-03 -2.65662861e+00] [-7.24351178e-02 3.95703780e-04 9.97373048e-01 -6.29222534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.455779523 meters 0.01374998152575225 Centerline is valid? [True, True] Translation: X:18.91, Y:-2.66, Z:-0.63 [[ 9.91680127e-01 1.07656485e-01 7.05734172e-02 1.89130122e+01] [-1.07365705e-01 9.94188115e-01 -7.91179080e-03 -2.66318952e+00] [-7.10150082e-02 2.68801020e-04 9.97475211e-01 -6.34043681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.485779523 meters 0.01651359259034573 Centerline is valid? [True, True] Translation: X:18.95, Y:-2.67, Z:-0.64 [[ 9.91424051e-01 1.09907369e-01 7.07016422e-02 1.89451096e+01] [-1.09619900e-01 9.93941826e-01 -7.94501814e-03 -2.66553847e+00] [-7.11465355e-02 1.26575089e-04 9.97465866e-01 -6.38746251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.515779523 meters 0.013407605403834838 Centerline is valid? [True, True] Translation: X:18.98, Y:-2.66, Z:-0.64 [[ 9.90740144e-01 1.13923212e-01 7.38611411e-02 1.89777475e+01] [-1.13619027e-01 9.93489547e-01 -8.32085897e-03 -2.66345593e+00] [-7.43282106e-02 -1.48222005e-04 9.97233822e-01 -6.42946155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.545779523 meters 0.014401505135016137 Centerline is valid? [True, True] Translation: X:19.01, Y:-2.66, Z:-0.64 [[ 9.89299294e-01 1.22921358e-01 7.85954673e-02 1.90104518e+01] [-1.22603640e-01 9.92416044e-01 -8.87370365e-03 -2.65674722e+00] [-7.90901704e-02 -8.57341660e-04 9.96867097e-01 -6.44281128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.575779523 meters 0.015754993276918604 Centerline is valid? [True, True] Translation: X:19.04, Y:-2.66, Z:-0.65 [[ 9.88856344e-01 1.26516358e-01 7.84649046e-02 1.90418534e+01] [-1.26209515e-01 9.91963884e-01 -8.87757492e-03 -2.65923442e+00] [-7.89575100e-02 -1.12437131e-03 9.96877348e-01 -6.45251142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.605779523 meters 0.016503321501380005 Centerline is valid? [True, True] Translation: X:19.07, Y:-2.67, Z:-0.65 [[ 9.88639250e-01 1.28942574e-01 7.72414848e-02 1.90736877e+01] [-1.28651334e-01 9.91651235e-01 -8.75570970e-03 -2.66526584e+00] [-7.77255975e-02 -1.28098181e-03 9.96973967e-01 -6.46205500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.635779523 meters 0.018096733871960903 Centerline is valid? [True, True] Translation: X:19.10, Y:-2.68, Z:-0.65 [[ 9.88575149e-01 1.30575113e-01 7.52948551e-02 1.91045340e+01] [-1.30301851e-01 9.91437491e-01 -8.55158778e-03 -2.67739619e+00] [-7.57667667e-02 -1.35717182e-03 9.97124644e-01 -6.47521558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.665779523 meters 0.015743695353462584 Centerline is valid? [True, True] Translation: X:19.13, Y:-2.68, Z:-0.65 [[ 9.88557786e-01 1.30250836e-01 7.60803744e-02 1.91346781e+01] [-1.29969381e-01 9.91480186e-01 -8.66031555e-03 -2.68292084e+00] [-7.65601971e-02 -1.32689678e-03 9.97064078e-01 -6.50358845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.695779523 meters 0.01464682074764379 Centerline is valid? [True, True] Translation: X:19.16, Y:-2.69, Z:-0.66 [[ 9.89078906e-01 1.26830509e-01 7.50795543e-02 1.91648831e+01] [-1.26545842e-01 9.91923860e-01 -8.55606078e-03 -2.69461667e+00] [-7.55583708e-02 -1.03838618e-03 9.97140840e-01 -6.58411298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.725779523 meters 0.015328215690377716 Centerline is valid? [True, True] Translation: X:19.20, Y:-2.70, Z:-0.67 [[ 9.89415752e-01 1.24752924e-01 7.41159744e-02 1.91955385e+01] [-1.24468331e-01 9.92187475e-01 -8.46459105e-03 -2.69698737e+00] [-7.45929240e-02 -8.50091914e-04 9.97213705e-01 -6.67084932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.755779523 meters 0.014577202789235752 Centerline is valid? [True, True] Translation: X:19.23, Y:-2.70, Z:-0.67 [[ 9.89678711e-01 1.23378391e-01 7.28959593e-02 1.92278658e+01] [-1.23098188e-01 9.92359439e-01 -8.34140963e-03 -2.70326681e+00] [-7.33681430e-02 -7.18044945e-04 9.97304668e-01 -6.73098330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.785779523 meters 0.014910353220920219 Centerline is valid? [True, True] Translation: X:19.26, Y:-2.71, Z:-0.68 [[ 9.89693734e-01 1.23197588e-01 7.29977181e-02 1.92589411e+01] [-1.22914671e-01 9.92381924e-01 -8.37258733e-03 -2.70774501e+00] [-7.34730986e-02 -6.86193319e-04 9.97296963e-01 -6.75944837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.815779523 meters 0.015484863391967453 Centerline is valid? [True, True] Translation: X:19.29, Y:-2.73, Z:-0.66 [[ 9.89975328e-01 1.20051837e-01 7.44070289e-02 1.92903026e+01] [-1.19747598e-01 9.92767526e-01 -8.55292688e-03 -2.72569369e+00] [-7.48956766e-02 -4.42876356e-04 9.97191276e-01 -6.63653468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.845779523 meters 0.01333201255751737 Centerline is valid? [True, True] Translation: X:19.32, Y:-2.73, Z:-0.66 [[ 9.90801343e-01 1.12713924e-01 7.48883868e-02 1.93224232e+01] [-1.12383429e-01 9.93627473e-01 -8.62615830e-03 -2.73316235e+00] [-7.53834466e-02 1.30595522e-04 9.97154611e-01 -6.61439962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.875779523 meters 0.013710487248612353 Centerline is valid? [True, True] Translation: X:19.36, Y:-2.73, Z:-0.67 [[ 9.91118146e-01 1.08806097e-01 7.64594871e-02 1.93552351e+01] [-1.08448535e-01 9.94062888e-01 -8.82548986e-03 -2.73191171e+00] [-7.69658057e-02 4.55183793e-04 9.97033629e-01 -6.68922255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.905779523 meters 0.015030140149782194 Centerline is valid? [True, True] Translation: X:19.39, Y:-2.73, Z:-0.68 [[ 9.91354203e-01 1.06213056e-01 7.70430404e-02 1.93862208e+01] [-1.05840527e-01 9.94343160e-01 -8.91416543e-03 -2.73080217e+00] [-7.75540210e-02 6.82819407e-04 9.96987917e-01 -6.79963828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.935779523 meters 0.01484180703695668 Centerline is valid? [True, True] Translation: X:19.42, Y:-2.73, Z:-0.69 [[ 9.91566841e-01 1.04775645e-01 7.62709911e-02 1.94180107e+01] [-1.04405046e-01 9.94495560e-01 -8.84126460e-03 -2.72942102e+00] [-7.67775112e-02 8.03628483e-04 9.97047927e-01 -6.88419447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.965779523 meters 0.016797514153484117 Centerline is valid? [True, True] Translation: X:19.45, Y:-2.74, Z:-0.69 [[ 9.91858854e-01 1.02766438e-01 7.52002169e-02 1.94492232e+01] [-1.02399106e-01 9.94705048e-01 -8.73447752e-03 -2.73685339e+00] [-7.56996465e-02 9.62933863e-04 9.97130200e-01 -6.92427776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.995779523 meters 0.015727440873753124 Centerline is valid? [True, True] Translation: X:19.48, Y:-2.75, Z:-0.69 [[ 9.92026310e-01 1.00903175e-01 7.55139042e-02 1.94792147e+01] [-1.00525946e-01 9.94895611e-01 -8.78967145e-03 -2.74843926e+00] [-7.60153576e-02 1.12847866e-03 9.97106008e-01 -6.90012383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.025779523 meters 0.019111292586635374 Centerline is valid? [True, True] Translation: X:19.51, Y:-2.76, Z:-0.69 [[ 9.92217507e-01 9.69962129e-02 7.80778632e-02 1.95101123e+01] [-9.65800003e-02 9.95283640e-01 -9.09831024e-03 -2.76002142e+00] [-7.85921215e-02 1.48674265e-03 9.96905747e-01 -6.85512864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.055779522999998 meters 0.019087195842933613 Centerline is valid? [True, True] Translation: X:19.54, Y:-2.77, Z:-0.68 [[ 9.92601968e-01 8.94343799e-02 8.21147005e-02 1.95416179e+01] [-8.89465406e-02 9.95990259e-01 -9.58732070e-03 -2.76568506e+00] [-8.26428779e-02 2.21257486e-03 9.96576770e-01 -6.79420319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.085779523 meters 0.020171762264255905 Centerline is valid? [True, True] Translation: X:19.57, Y:-2.77, Z:-0.68 [[ 9.92847077e-01 8.60082887e-02 8.28085559e-02 1.95738269e+01] [-8.55000196e-02 9.96291230e-01 -9.67121284e-03 -2.76535325e+00] [-8.33332425e-02 2.52190224e-03 9.96518545e-01 -6.82754209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.115779523 meters 0.02233524774482018 Centerline is valid? [True, True] Translation: X:19.60, Y:-2.77, Z:-0.69 [[ 9.93117803e-01 8.36241361e-02 8.20002035e-02 1.96047236e+01] [-8.31171972e-02 9.96493708e-01 -9.58238107e-03 -2.76557840e+00] [-8.25140051e-02 2.70080615e-03 9.96586245e-01 -6.88498425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.145779522999998 meters 0.023237360782005903 Centerline is valid? [True, True] Translation: X:19.64, Y:-2.76, Z:-0.70 [[ 9.93364256e-01 8.24683790e-02 8.01649575e-02 1.96364403e+01] [-8.19794595e-02 9.96589908e-01 -9.37678242e-03 -2.76345290e+00] [-8.06648756e-02 2.74268061e-03 9.96737506e-01 -6.96438297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.175779523 meters 0.022986190196212872 Centerline is valid? [True, True] Translation: X:19.67, Y:-2.77, Z:-0.70 [[ 9.93750714e-01 8.17614154e-02 7.59907142e-02 1.96674162e+01] [-8.13188308e-02 9.96648353e-01 -8.90547998e-03 -2.77358947e+00] [-7.64641449e-02 2.67035106e-03 9.97068756e-01 -6.98074822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.205779523 meters 0.02199568878238658 Centerline is valid? [True, True] Translation: X:19.70, Y:-2.78, Z:-0.70 [[ 9.93880468e-01 8.06882637e-02 7.54388494e-02 1.96982582e+01] [-8.02476386e-02 9.96735590e-01 -8.85887818e-03 -2.78395651e+00] [-7.59073936e-02 2.75087646e-03 9.97111077e-01 -6.95814738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.235779523 meters 0.02514390267430279 Centerline is valid? [True, True] Translation: X:19.73, Y:-2.79, Z:-0.70 [[ 9.94175718e-01 7.36211412e-02 7.87055882e-02 1.97271143e+01] [-7.31178626e-02 9.97280306e-01 -9.26123182e-03 -2.78936601e+00] [-7.91733555e-02 3.45250741e-03 9.96854884e-01 -7.00039578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.265779523 meters 0.02322494877788132 Centerline is valid? [True, True] Translation: X:19.76, Y:-2.78, Z:-0.71 [[ 9.94394891e-01 7.08298469e-02 7.84979888e-02 1.97582016e+01] [-7.03205512e-02 9.97481679e-01 -9.23689560e-03 -2.78302172e+00] [-7.89545535e-02 3.66509995e-03 9.96871479e-01 -7.08699675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.295779523 meters 0.027939625534994288 Centerline is valid? [True, True] Translation: X:19.79, Y:-2.79, Z:-0.72 [[ 9.94535509e-01 7.02569455e-02 7.72210022e-02 1.97885066e+01] [-6.97623550e-02 9.97522248e-01 -9.08725601e-03 -2.78786275e+00] [-7.76681106e-02 3.65047981e-03 9.96972587e-01 -7.17151653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.325779523 meters 0.026956089284837875 Centerline is valid? [True, True] Translation: X:19.82, Y:-2.79, Z:-0.72 [[ 9.94439926e-01 7.22088393e-02 7.66493164e-02 1.98199075e+01] [-7.17259246e-02 9.97383428e-01 -9.03826079e-03 -2.78890525e+00] [-7.71014002e-02 3.49026430e-03 9.97017147e-01 -7.22107810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.355779523 meters 0.0261484326455383 Centerline is valid? [True, True] Translation: X:19.85, Y:-2.79, Z:-0.72 [[ 9.94264396e-01 7.61509353e-02 7.50955803e-02 1.98493568e+01] [-7.56984457e-02 9.97091413e-01 -8.85770184e-03 -2.79355531e+00] [-7.55516805e-02 3.12227886e-03 9.97136999e-01 -7.24439244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.385779523 meters 0.019944776067021813 Centerline is valid? [True, True] Translation: X:19.88, Y:-2.79, Z:-0.72 [[ 9.93378494e-01 8.81465250e-02 7.36841725e-02 1.98807838e+01] [-8.77438094e-02 9.96105160e-01 -8.69107994e-03 -2.79250010e+00] [-7.41632729e-02 2.16820191e-03 9.97243755e-01 -7.22628290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.415779523 meters 0.01766787806464733 Centerline is valid? [True, True] Translation: X:19.91, Y:-2.79, Z:-0.72 [[ 9.92596283e-01 9.51630622e-02 7.54758952e-02 1.99119787e+01] [-9.47605893e-02 9.95460270e-01 -8.90401977e-03 -2.79066343e+00] [-7.59805888e-02 1.68595661e-03 9.97107872e-01 -7.22815977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.445779523 meters 0.015561561019163301 Centerline is valid? [True, True] Translation: X:19.94, Y:-2.79, Z:-0.72 [[ 9.91657149e-01 1.02565780e-01 7.80791821e-02 1.99436737e+01] [-1.02157785e-01 9.94725549e-01 -9.21249064e-03 -2.78780518e+00] [-7.86122435e-02 1.15923590e-03 9.96904595e-01 -7.22674582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.475779523 meters 0.01388378141039805 Centerline is valid? [True, True] Translation: X:19.98, Y:-2.78, Z:-0.72 [[ 9.90049658e-01 1.13104602e-01 8.37199083e-02 1.99758904e+01] [-1.12672697e-01 9.93583025e-01 -9.88113102e-03 -2.77954044e+00] [-8.43002811e-02 3.49862543e-04 9.96440334e-01 -7.20160907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.505779523 meters 0.013834086715680136 Centerline is valid? [True, True] Translation: X:20.01, Y:-2.78, Z:-0.72 [[ 9.89625261e-01 1.15791820e-01 8.50534988e-02 2.00085786e+01] [-1.15355577e-01 9.93273496e-01 -1.00425396e-02 -2.78115560e+00] [-8.56442301e-02 1.26955438e-04 9.96325775e-01 -7.21305291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.535779523 meters 0.013713929834516973 Centerline is valid? [True, True] Translation: X:20.04, Y:-2.79, Z:-0.73 [[ 9.89602904e-01 1.16840896e-01 8.38707186e-02 2.00408934e+01] [-1.16418557e-01 9.93150644e-01 -9.92561849e-03 -2.78764544e+00] [-8.44559764e-02 5.83128113e-05 9.96427210e-01 -7.25775184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.565779523 meters 0.013748180674797657 Centerline is valid? [True, True] Translation: X:20.07, Y:-2.80, Z:-0.73 [[ 9.89944677e-01 1.16403564e-01 8.03725489e-02 2.00713840e+01] [-1.16012581e-01 9.93201992e-01 -9.53328805e-03 -2.79719169e+00] [-8.09358844e-02 1.13200919e-04 9.96719303e-01 -7.30846592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.595779523 meters 0.013887688037594412 Centerline is valid? [True, True] Translation: X:20.10, Y:-2.81, Z:-0.74 [[ 9.90322628e-01 1.15369682e-01 7.71422644e-02 2.01031272e+01] [-1.15004909e-01 9.93322603e-01 -9.16940246e-03 -2.80714909e+00] [-7.76850259e-02 2.08927635e-04 9.96977930e-01 -7.36267979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.625779523 meters 0.014076908250041447 Centerline is valid? [True, True] Translation: X:20.13, Y:-2.81, Z:-0.74 [[ 9.90529579e-01 1.14984024e-01 7.50321713e-02 2.01339114e+01] [-1.14636316e-01 9.93367309e-01 -8.93894676e-03 -2.81417359e+00] [-7.55623421e-02 2.52879455e-04 9.97141047e-01 -7.41811873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.655779523 meters 0.014245656776540506 Centerline is valid? [True, True] Translation: X:20.17, Y:-2.81, Z:-0.75 [[ 9.90439551e-01 1.14356605e-01 7.71496089e-02 2.01657040e+01] [-1.13985571e-01 9.93439711e-01 -9.21034692e-03 -2.81093539e+00] [-7.76967492e-02 3.28349636e-04 9.96976984e-01 -7.53635281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.685779523 meters 0.014261758915345115 Centerline is valid? [True, True] Translation: X:20.20, Y:-2.81, Z:-0.76 [[ 9.90253468e-01 1.14717314e-01 7.89810563e-02 2.01989260e+01] [-1.14327910e-01 9.93398123e-01 -9.44979176e-03 -2.80974870e+00] [-7.95436878e-02 3.27949939e-04 9.96831327e-01 -7.59921428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.715779523 meters 0.0142888465082913 Centerline is valid? [True, True] Translation: X:20.23, Y:-2.81, Z:-0.76 [[ 9.90051924e-01 1.16067377e-01 7.95333394e-02 2.02313942e+01] [-1.15675098e-01 9.93241313e-01 -9.53763565e-03 -2.81308377e+00] [-8.01028068e-02 2.42727666e-04 9.96786578e-01 -7.62060043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.745779523 meters 0.014086323317984048 Centerline is valid? [True, True] Translation: X:20.26, Y:-2.82, Z:-0.76 [[ 9.89868009e-01 1.17848536e-01 7.92025742e-02 2.02633537e+01] [-1.17463509e-01 9.93031575e-01 -9.51923033e-03 -2.82263739e+00] [-7.97724843e-02 1.19369317e-04 9.96813090e-01 -7.58858761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.775779523 meters 0.013787588135495665 Centerline is valid? [True, True] Translation: X:20.29, Y:-2.85, Z:-0.74 [[ 9.89544045e-01 1.21756095e-01 7.73177651e-02 2.02938913e+01] [-1.21399484e-01 9.92560036e-01 -9.31348541e-03 -2.84591320e+00] [-7.78764973e-02 -1.70232738e-04 9.96962999e-01 -7.42397853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.805779522999998 meters 0.013865200691252818 Centerline is valid? [True, True] Translation: X:20.33, Y:-2.85, Z:-0.74 [[ 9.89444180e-01 1.22831409e-01 7.68938237e-02 2.03260585e+01] [-1.22480424e-01 9.92427524e-01 -9.28200062e-03 -2.85493989e+00] [-7.74516683e-02 -2.33966612e-04 9.96996080e-01 -7.40162805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.835779523 meters 0.013977703966827525 Centerline is valid? [True, True] Translation: X:20.36, Y:-2.86, Z:-0.74 [[ 9.89213221e-01 1.23818104e-01 7.82705596e-02 2.03585888e+01] [-1.23455811e-01 9.92304887e-01 -9.46957800e-03 -2.85693716e+00] [-7.88407640e-02 -2.95523677e-04 9.96887178e-01 -7.43825668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.865779523 meters 0.014189923300803674 Centerline is valid? [True, True] Translation: X:20.39, Y:-2.85, Z:-0.76 [[ 9.89294836e-01 1.20948408e-01 8.16529883e-02 2.03918780e+01] [-1.20542338e-01 9.92658794e-01 -9.90274700e-03 -2.84708942e+00] [-8.22512783e-02 -4.59056314e-05 9.96611622e-01 -7.62319880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.895779522999998 meters 0.01428349743370305 Centerline is valid? [True, True] Translation: X:20.42, Y:-2.85, Z:-0.77 [[ 9.89807508e-01 1.17332402e-01 8.07106205e-02 2.04227110e+01] [-1.16921841e-01 9.93092661e-01 -9.81074342e-03 -2.84997056e+00] [-8.13042429e-02 2.73913180e-04 9.96689292e-01 -7.71376823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.925779523 meters 0.014811261888187415 Centerline is valid? [True, True] Translation: X:20.45, Y:-2.86, Z:-0.78 [[ 9.90465335e-01 1.13407086e-01 7.82128669e-02 2.04537419e+01] [-1.13007805e-01 9.93548427e-01 -9.52680847e-03 -2.85729625e+00] [-7.87886784e-02 5.97309144e-04 9.96891161e-01 -7.76459136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.955779523 meters 0.015087937775881724 Centerline is valid? [True, True] Translation: X:20.49, Y:-2.86, Z:-0.78 [[ 9.90835372e-01 1.10964676e-01 7.70201723e-02 2.04850788e+01] [-1.10568712e-01 9.93824031e-01 -9.39974734e-03 -2.86350069e+00] [-7.75875380e-02 7.97580865e-04 9.96985224e-01 -7.77510318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.985779523 meters 0.016837400852469063 Centerline is valid? [True, True] Translation: X:20.52, Y:-2.88, Z:-0.77 [[ 9.91769138e-01 1.02602361e-01 7.65945929e-02 2.05156954e+01] [-1.02184346e-01 9.94721375e-01 -9.36724625e-03 -2.87578653e+00] [-7.71513803e-02 1.46337732e-03 9.97018316e-01 -7.74510194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.015779523 meters 0.016837400852469063 Centerline is valid? [True, True] Translation: X:20.55, Y:-2.88, Z:-0.78 [[ 9.91740883e-01 1.02875265e-01 7.65943894e-02 2.05477328e+01] [-1.02457934e-01 9.94693217e-01 -9.36891090e-03 -2.87979337e+00] [-7.71517488e-02 1.44382904e-03 9.97018316e-01 -7.77142398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.045779523 meters 0.019392073239158033 Centerline is valid? [True, True] Translation: X:20.58, Y:-2.89, Z:-0.77 [[ 9.92675624e-01 9.26381866e-02 7.75452870e-02 2.05778197e+01] [-9.21774226e-02 9.95697203e-01 -9.50802838e-03 -2.89396253e+00] [-7.80924319e-02 2.29046331e-03 9.96943492e-01 -7.70701661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.075779523 meters 0.02038674923068638 Centerline is valid? [True, True] Translation: X:20.61, Y:-2.90, Z:-0.77 [[ 9.93042368e-01 8.84174933e-02 7.77766211e-02 2.06087091e+01] [-8.79409490e-02 9.96080028e-01 -9.53771216e-03 -2.89979331e+00] [-7.83150395e-02 2.63160240e-03 9.96925187e-01 -7.71641197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.105779523 meters 0.02038674923068638 Centerline is valid? [True, True] Translation: X:20.64, Y:-2.90, Z:-0.77 [[ 9.93017888e-01 8.86922169e-02 7.77763751e-02 2.06407543e+01] [-8.82163560e-02 9.96055655e-01 -9.53971783e-03 -2.90380444e+00] [-7.83156970e-02 2.61196205e-03 9.96925187e-01 -7.74274116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.135779523 meters 0.02417916807207114 Centerline is valid? [True, True] Translation: X:20.67, Y:-2.91, Z:-0.78 [[ 9.93684996e-01 8.00387269e-02 7.86379709e-02 2.06700683e+01] [-7.95233895e-02 9.96786113e-01 -9.66826230e-03 -2.91062598e+00] [-7.91590728e-02 3.35364920e-03 9.96856356e-01 -7.76643002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.165779523 meters 0.0260235336517312 Centerline is valid? [True, True] Translation: X:20.70, Y:-2.91, Z:-0.78 [[ 9.94068768e-01 7.47158450e-02 7.90242166e-02 2.07002104e+01] [-7.41783770e-02 9.97197626e-01 -9.71924131e-03 -2.91380631e+00] [-7.95289425e-02 3.79970611e-03 9.96825315e-01 -7.80299802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.195779523 meters 0.028179832943540116 Centerline is valid? [True, True] Translation: X:20.73, Y:-2.92, Z:-0.79 [[ 9.94517100e-01 6.99093529e-02 7.77715849e-02 2.07305063e+01] [-6.93740964e-02 9.97544846e-01 -9.56634109e-03 -2.91685080e+00] [-7.82494204e-02 4.11855637e-03 9.96925306e-01 -7.86282258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.225779523 meters 0.03288775035849469 Centerline is valid? [True, True] Translation: X:20.76, Y:-2.92, Z:-0.80 [[ 9.95281010e-01 6.37116915e-02 7.31883333e-02 2.07597478e+01] [-6.32210314e-02 9.97958935e-01 -9.00361799e-03 -2.91892278e+00] [-7.36125869e-02 4.33408808e-03 9.97277495e-01 -7.97534217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.255779523 meters 0.034786785086520416 Centerline is valid? [True, True] Translation: X:20.79, Y:-2.92, Z:-0.80 [[ 9.95486552e-01 6.24601244e-02 7.14510871e-02 2.07898148e+01] [-6.19893367e-02 9.98038107e-01 -8.78969462e-03 -2.92182754e+00] [-7.18599132e-02 4.32081728e-03 9.97405376e-01 -8.02904200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.285779523 meters 0.03482063706690304 Centerline is valid? [True, True] Translation: X:20.82, Y:-2.92, Z:-0.81 [[ 9.95548330e-01 6.25132444e-02 7.05380586e-02 2.08215443e+01] [-6.20540765e-02 9.98035007e-01 -8.68430602e-03 -2.92498127e+00] [-7.09423359e-02 4.26847227e-03 9.97471285e-01 -8.05617212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.315779523 meters 0.03478719899035525 Centerline is valid? [True, True] Translation: X:20.85, Y:-2.93, Z:-0.80 [[ 9.95504956e-01 6.26596187e-02 7.10186996e-02 2.08537863e+01] [-6.21933717e-02 9.98025678e-01 -8.75964564e-03 -2.93169498e+00] [-7.14273618e-02 4.30337826e-03 9.97436521e-01 -8.04256323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.345779523 meters 0.03046108304430111 Centerline is valid? [True, True] Translation: X:20.89, Y:-2.94, Z:-0.79 [[ 9.95087925e-01 6.26384299e-02 7.66579948e-02 2.08863000e+01] [-6.20932477e-02 9.98025356e-01 -9.47716301e-03 -2.93527129e+00] [-7.71002572e-02 4.67066662e-03 9.97012405e-01 -7.92147064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.375779523 meters 0.030693522798452805 Centerline is valid? [True, True] Translation: X:20.92, Y:-2.94, Z:-0.79 [[ 9.94711929e-01 6.39489839e-02 8.03660746e-02 2.09177007e+01] [-6.33522145e-02 9.97941566e-01 -9.95626161e-03 -2.93917968e+00] [-8.08373392e-02 4.81224339e-03 9.96715690e-01 -7.88686178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.405779523 meters 0.02900362133111794 Centerline is valid? [True, True] Translation: X:20.95, Y:-2.93, Z:-0.79 [[ 9.94407892e-01 6.58341576e-02 8.25760748e-02 2.09501574e+01] [-6.52089120e-02 9.97819000e-01 -1.02489330e-02 -2.93419609e+00] [-8.30707063e-02 4.80692391e-03 9.96532062e-01 -7.92545735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.435779523 meters 0.028645272177607102 Centerline is valid? [True, True] Translation: X:20.98, Y:-2.92, Z:-0.81 [[ 9.93960792e-01 7.25927503e-02 8.22935960e-02 2.09802609e+01] [-7.19943368e-02 9.97352681e-01 -1.02198238e-02 -2.92087520e+00] [-8.28176238e-02 4.23343128e-03 9.96555728e-01 -8.07386008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.465779523 meters 0.027300127437781468 Centerline is valid? [True, True] Translation: X:21.01, Y:-2.92, Z:-0.82 [[ 9.93790773e-01 7.75346855e-02 7.98014594e-02 2.10109911e+01] [-7.69880071e-02 9.96982775e-01 -9.90927888e-03 -2.91934124e+00] [-8.03289932e-02 3.70399460e-03 9.96761523e-01 -8.15143314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.495779523 meters 0.02516733586610118 Centerline is valid? [True, True] Translation: X:21.04, Y:-2.92, Z:-0.82 [[ 9.93640656e-01 8.30208506e-02 7.60643543e-02 2.10411367e+01] [-8.25401639e-02 9.96542962e-01 -9.44702392e-03 -2.92114381e+00] [-7.65856969e-02 3.10858277e-03 9.97058157e-01 -8.19687359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.525779523 meters 0.023210089869268615 Centerline is valid? [True, True] Translation: X:21.07, Y:-2.93, Z:-0.82 [[ 9.93388659e-01 8.90590641e-02 7.24393189e-02 2.10715391e+01] [-8.86392100e-02 9.96023169e-01 -8.99656751e-03 -2.92631907e+00] [-7.29524659e-02 2.51612413e-03 9.97332245e-01 -8.21126372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.555779522999998 meters 0.019077309946745342 Centerline is valid? [True, True] Translation: X:21.10, Y:-2.93, Z:-0.82 [[ 9.92688558e-01 9.89295146e-02 6.91547363e-02 2.11030120e+01] [-9.85707372e-02 9.95092974e-01 -8.58974952e-03 -2.92952209e+00] [-6.96651719e-02 1.71031273e-03 9.97568964e-01 -8.15980004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.585779523 meters 0.017198107722787053 Centerline is valid? [True, True] Translation: X:21.14, Y:-2.93, Z:-0.82 [[ 9.92187822e-01 1.03413069e-01 6.97786761e-02 2.11355067e+01] [-1.03058795e-01 9.94637498e-01 -8.66789666e-03 -2.92629072e+00] [-7.03008616e-02 1.40887522e-03 9.97524839e-01 -8.18577455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.615779523 meters 0.01867631299822177 Centerline is valid? [True, True] Translation: X:21.17, Y:-2.92, Z:-0.83 [[ 9.91679820e-01 1.07051347e-01 7.14922594e-02 2.11677697e+01] [-1.06688715e-01 9.94252791e-01 -8.88285515e-03 -2.91934396e+00] [-7.20323001e-02 1.18153092e-03 9.97401600e-01 -8.27054361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.645779522999998 meters 0.014846125454809971 Centerline is valid? [True, True] Translation: X:21.20, Y:-2.90, Z:-0.83 [[ 9.90358893e-01 1.13468322e-01 7.94619641e-02 2.12002611e+01] [-1.13039021e-01 9.93541279e-01 -9.89482257e-03 -2.90463308e+00] [-8.00714904e-02 8.17122864e-04 9.96788788e-01 -8.33485324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.675779523 meters 0.014483162220998342 Centerline is valid? [True, True] Translation: X:21.23, Y:-2.91, Z:-0.83 [[ 9.89897061e-01 1.15540979e-01 8.21832752e-02 2.12326885e+01] [-1.15088588e-01 9.93302485e-01 -1.02367223e-02 -2.90939392e+00] [-8.28156124e-02 6.74944212e-04 9.96564659e-01 -8.33449220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.705779523 meters 0.014306068332235328 Centerline is valid? [True, True] Translation: X:21.26, Y:-2.92, Z:-0.83 [[ 9.89799024e-01 1.16173608e-01 8.24717212e-02 2.12635934e+01] [-1.15719608e-01 9.93228722e-01 -1.02799977e-02 -2.92093781e+00] [-8.31075466e-02 6.31536397e-04 9.96540384e-01 -8.31136887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.735779523 meters 0.014242037110177044 Centerline is valid? [True, True] Translation: X:21.30, Y:-2.94, Z:-0.83 [[ 9.90027098e-01 1.15714371e-01 8.03525345e-02 2.12954678e+01] [-1.15280840e-01 9.93282307e-01 -1.00293297e-02 -2.93527825e+00] [-8.09732884e-02 6.66200529e-04 9.96716049e-01 -8.28861130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.765779523 meters 0.015490447061040203 Centerline is valid? [True, True] Translation: X:21.32, Y:-2.95, Z:-0.83 [[ 9.90924080e-01 1.11341023e-01 7.53169634e-02 2.13243186e+01] [-1.10946071e-01 9.93781776e-01 -9.42080442e-03 -2.95468480e+00] [-7.58975476e-02 9.79180824e-04 9.97115141e-01 -8.27798797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.795779523 meters 0.015487152366612668 Centerline is valid? [True, True] Translation: X:21.36, Y:-2.96, Z:-0.83 [[ 9.91136728e-01 1.09575290e-01 7.51082007e-02 2.13555769e+01] [-1.09176190e-01 9.93977859e-01 -9.41149857e-03 -2.95824397e+00] [-7.56871561e-02 1.12805474e-03 9.97130975e-01 -8.31432279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.825779523 meters 0.015557456188133877 Centerline is valid? [True, True] Translation: X:21.39, Y:-2.96, Z:-0.84 [[ 9.91089910e-01 1.09818661e-01 7.53700995e-02 2.13879763e+01] [-1.09416065e-01 9.93950995e-01 -9.46276146e-03 -2.95889474e+00] [-7.59533732e-02 1.13174771e-03 9.97110728e-01 -8.38286729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.855779523 meters 0.015538867836662295 Centerline is valid? [True, True] Translation: X:21.42, Y:-2.96, Z:-0.85 [[ 9.90850182e-01 1.11888565e-01 7.54775910e-02 2.14185185e+01] [-1.11489135e-01 9.93720261e-01 -9.49823611e-03 -2.95731018e+00] [-7.60663554e-02 9.96397609e-04 9.97102260e-01 -8.46905159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.885779523 meters 0.014300809286016467 Centerline is valid? [True, True] Translation: X:21.45, Y:-2.95, Z:-0.86 [[ 9.89723497e-01 1.20798482e-01 7.65187945e-02 2.14499451e+01] [-1.20413680e-01 9.92676997e-01 -9.63980075e-03 -2.95031539e+00] [-7.71229204e-02 3.26827644e-04 9.97021539e-01 -8.56848964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.915779523 meters 0.01411170847977372 Centerline is valid? [True, True] Translation: X:21.48, Y:-2.95, Z:-0.86 [[ 9.89019479e-01 1.26265869e-01 7.67945298e-02 2.14821684e+01] [-1.25893420e-01 9.91996433e-01 -9.69141097e-03 -2.95327949e+00] [-7.74035941e-02 -8.29317623e-05 9.96999838e-01 -8.58830768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.945779523 meters 0.014214626150024348 Centerline is valid? [True, True] Translation: X:21.51, Y:-2.96, Z:-0.86 [[ 9.88566291e-01 1.30609871e-01 7.53508419e-02 2.15134229e+01] [-1.30262592e-01 9.91433761e-01 -9.52648298e-03 -2.96006350e+00] [-7.59496214e-02 -3.97836026e-04 9.97111577e-01 -8.59711510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.975779523 meters 0.016632962027054228 Centerline is valid? [True, True] Translation: X:21.54, Y:-2.98, Z:-0.86 [[ 9.88994804e-01 1.31700812e-01 6.74104929e-02 2.15425137e+01] [-1.31424356e-01 9.91289425e-01 -8.53897766e-03 -2.97672434e+00] [-6.79478990e-02 -4.14376117e-04 9.97688785e-01 -8.63807408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.005779523 meters 0.01756127396942559 Centerline is valid? [True, True] Translation: X:21.57, Y:-2.99, Z:-0.87 [[ 9.89540308e-01 1.28746082e-01 6.50724591e-02 2.15727830e+01] [-1.28481716e-01 9.91677572e-01 -8.24872840e-03 -2.98825482e+00] [-6.55928897e-02 -1.98171946e-04 9.97846448e-01 -8.66841301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.035779523 meters 0.014333425234872823 Centerline is valid? [True, True] Translation: X:21.60, Y:-3.00, Z:-0.86 [[ 9.89922680e-01 1.24540609e-01 6.73997298e-02 2.16039285e+01] [-1.24246198e-01 9.92214507e-01 -8.55892914e-03 -2.99864311e+00] [-6.79409239e-02 9.85178770e-05 9.97689341e-01 -8.64543679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.065779523 meters 0.014709842199508332 Centerline is valid? [True, True] Translation: X:21.63, Y:-3.01, Z:-0.86 [[ 9.90396002e-01 1.18655084e-01 7.09699216e-02 2.16336297e+01] [-1.18312172e-01 9.92935381e-01 -9.03100288e-03 -3.00840753e+00] [-7.15401206e-02 5.47663604e-04 9.97437573e-01 -8.64684347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.095779523 meters 0.016027402895166014 Centerline is valid? [True, True] Translation: X:21.66, Y:-3.02, Z:-0.86 [[ 9.90445727e-01 1.11165955e-01 8.16050964e-02 2.16639672e+01] [-1.10685211e-01 9.93801041e-01 -1.04055676e-02 -3.01627422e+00] [-8.22559746e-02 1.27367264e-03 9.96610422e-01 -8.61029880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.125779523 meters 0.01616569195787395 Centerline is valid? [True, True] Translation: X:21.70, Y:-3.02, Z:-0.86 [[ 9.90329762e-01 1.10113002e-01 8.43924667e-02 2.16954398e+01] [-1.09593293e-01 9.93918049e-01 -1.07805878e-02 -3.01913581e+00] [-8.50662788e-02 1.42748857e-03 9.96374272e-01 -8.63107524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.155779523 meters 0.016292283521966874 Centerline is valid? [True, True] Translation: X:21.73, Y:-3.02, Z:-0.87 [[ 9.90331014e-01 1.10727807e-01 8.35693441e-02 2.17275342e+01] [-1.10218697e-01 9.93849810e-01 -1.06954996e-02 -3.02248763e+00] [-8.42396660e-02 1.38118081e-03 9.96444565e-01 -8.67651974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.185779523 meters 0.015720467874843925 Centerline is valid? [True, True] Translation: X:21.76, Y:-3.03, Z:-0.87 [[ 9.90467684e-01 1.11903241e-01 8.03207978e-02 2.17591070e+01] [-1.11435369e-01 9.93718322e-01 -1.02983159e-02 -3.02620631e+00] [-8.09686634e-02 1.24957131e-03 9.96715864e-01 -8.73457882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.215779523 meters 0.015550981183434015 Centerline is valid? [True, True] Translation: X:21.79, Y:-3.03, Z:-0.88 [[ 9.90417735e-01 1.14626324e-01 7.70293220e-02 2.17897211e+01] [-1.14202878e-01 9.93408174e-01 -9.89455894e-03 -3.03068933e+00] [-7.76557351e-02 1.00277635e-03 9.96979730e-01 -8.77819057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.245779523 meters 0.014591464084217395 Centerline is valid? [True, True] Translation: X:21.82, Y:-3.03, Z:-0.88 [[ 9.90008377e-01 1.21711693e-01 7.12016644e-02 2.18204672e+01] [-1.21367145e-01 9.92565403e-01 -9.16165112e-03 -3.03257217e+00] [-7.17873888e-02 4.28568612e-04 9.97419865e-01 -8.81954224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.275779523 meters 0.0173812100151093 Centerline is valid? [True, True] Translation: X:21.85, Y:-3.04, Z:-0.89 [[ 9.89980147e-01 1.23061784e-01 6.92466967e-02 2.18523027e+01] [-1.22738660e-01 9.92398956e-01 -8.91809896e-03 -3.03677621e+00] [-6.98178267e-02 3.29494127e-04 9.97559704e-01 -8.86134834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.305779522999998 meters 0.014535956261340681 Centerline is valid? [True, True] Translation: X:21.88, Y:-3.04, Z:-0.88 [[ 9.89973753e-01 1.22355901e-01 7.05762182e-02 2.18840793e+01] [-1.22017196e-01 9.92486207e-01 -9.10677393e-03 -3.04140459e+00] [-7.11601906e-02 4.03954876e-04 9.97464818e-01 -8.83869049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.335779523 meters 0.016180953130109622 Centerline is valid? [True, True] Translation: X:21.92, Y:-3.04, Z:-0.88 [[ 9.90450020e-01 1.12362707e-01 7.98960582e-02 2.19154421e+01] [-1.11894219e-01 9.93666419e-01 -1.03311439e-02 -3.04328848e+00] [-8.05508653e-02 1.29257465e-03 9.96749661e-01 -8.83566803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.365779523 meters 0.01744397636971538 Centerline is valid? [True, True] Translation: X:21.95, Y:-3.05, Z:-0.89 [[ 9.90856089e-01 1.06373281e-01 8.29996172e-02 2.19463606e+01] [-1.05845063e-01 9.94324513e-01 -1.07510854e-02 -3.04530842e+00] [-8.36721821e-02 1.86767879e-03 9.96491584e-01 -8.87844298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.395779522999998 meters 0.0227998458222633 Centerline is valid? [True, True] Translation: X:21.97, Y:-3.05, Z:-0.90 [[ 9.92008487e-01 9.77506474e-02 7.97745155e-02 2.19749171e+01] [-9.72347127e-02 9.95207807e-01 -1.03359728e-02 -3.05475417e+00] [-8.04025686e-02 2.49652067e-03 9.96759346e-01 -8.98689874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.425779523 meters 0.021516241636188833 Centerline is valid? [True, True] Translation: X:22.01, Y:-3.06, Z:-0.90 [[ 9.92236339e-01 9.60012540e-02 7.90620404e-02 2.20063769e+01] [-9.54886631e-02 9.95377769e-01 -1.02475533e-02 -3.06485226e+00] [-7.96803754e-02 2.61846625e-03 9.96817025e-01 -8.97896899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.455779523 meters 0.021981892308467973 Centerline is valid? [True, True] Translation: X:22.04, Y:-3.07, Z:-0.90 [[ 9.92412035e-01 9.37676467e-02 7.95360413e-02 2.20378629e+01] [-9.32401789e-02 9.95590075e-01 -1.03281823e-02 -3.07468967e+00] [-8.01537427e-02 2.83385773e-03 9.96778484e-01 -8.96018832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.485779523 meters 0.021989426058250956 Centerline is valid? [True, True] Translation: X:22.07, Y:-3.08, Z:-0.90 [[ 9.92529631e-01 9.32895476e-02 7.86256434e-02 2.20694470e+01] [-9.27722197e-02 9.95634958e-01 -1.02149592e-02 -3.07836234e+00] [-7.92353881e-02 2.84437423e-03 9.96851876e-01 -8.97260899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.515779523 meters 0.021360063931926968 Centerline is valid? [True, True] Translation: X:22.10, Y:-3.08, Z:-0.90 [[ 9.92477059e-01 9.47232275e-02 7.75680134e-02 2.21019476e+01] [-9.42226763e-02 9.95499954e-01 -1.00959657e-02 -3.07592356e+00] [-7.81752762e-02 2.71134850e-03 9.96935943e-01 -9.03942364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.545779523 meters 0.021360063931926968 Centerline is valid? [True, True] Translation: X:22.13, Y:-3.08, Z:-0.91 [[ 9.92451319e-01 9.49944953e-02 7.75656145e-02 2.21339683e+01] [-9.44933343e-02 9.95474113e-01 -1.01143619e-02 -3.08017849e+00] [-7.81753699e-02 2.70857831e-03 9.96935943e-01 -9.06583645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.575779523 meters 0.020075087398875854 Centerline is valid? [True, True] Translation: X:22.17, Y:-3.07, Z:-0.91 [[ 9.91882080e-01 9.87178381e-02 8.01543983e-02 2.21663603e+01] [-9.81928371e-02 9.95112276e-01 -1.04749962e-02 -3.07496756e+00] [-8.07966947e-02 2.51937324e-03 9.96727419e-01 -9.11833293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.605779523 meters 0.018862421029690383 Centerline is valid? [True, True] Translation: X:22.20, Y:-3.08, Z:-0.91 [[ 9.91354446e-01 1.01120164e-01 8.36126525e-02 2.21986421e+01] [-1.00556855e-01 9.94871252e-01 -1.09320717e-02 -3.07808144e+00] [-8.42892772e-02 2.42973253e-03 9.96438364e-01 -9.11298333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.635779523 meters 0.018499326422236548 Centerline is valid? [True, True] Translation: X:22.23, Y:-3.08, Z:-0.91 [[ 9.91025471e-01 1.03789075e-01 8.42397991e-02 2.22293489e+01] [-1.03225132e-01 9.94596808e-01 -1.10345409e-02 -3.08414136e+00] [-8.49299001e-02 2.23984669e-03 9.96384411e-01 -9.11268633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.665779523 meters 0.01647551894494607 Centerline is valid? [True, True] Translation: X:22.26, Y:-3.08, Z:-0.92 [[ 9.90762586e-01 1.10206394e-01 7.90192929e-02 2.22602045e+01] [-1.09729838e-01 9.93907444e-01 -1.03612389e-02 -3.08403661e+00] [-7.96797382e-02 1.59475364e-03 9.96819239e-01 -9.21662858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.695779523 meters 0.01639553323556467 Centerline is valid? [True, True] Translation: X:22.29, Y:-3.09, Z:-0.93 [[ 9.90586138e-01 1.13500186e-01 7.65297974e-02 2.22904896e+01] [-1.13062912e-01 9.93537138e-01 -1.00365732e-02 -3.08705673e+00] [-7.71743489e-02 1.28940857e-03 9.97016779e-01 -9.28404372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.725779523 meters 0.015331041842779952 Centerline is valid? [True, True] Translation: X:22.32, Y:-3.09, Z:-0.93 [[ 9.90268623e-01 1.16315611e-01 7.64116011e-02 2.23224943e+01] [-1.15886717e-01 9.93211710e-01 -1.00383553e-02 -3.08948468e+00] [-7.70605144e-02 1.08557867e-03 9.97025826e-01 -9.30274169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.755779523 meters 0.016967843666719575 Centerline is valid? [True, True] Translation: X:22.35, Y:-3.10, Z:-0.93 [[ 9.89891067e-01 1.19311058e-01 7.66847227e-02 2.23531954e+01] [-1.18886584e-01 9.92856539e-01 -1.00932378e-02 -3.09515503e+00] [-7.73411633e-02 8.74421198e-04 9.97004303e-01 -9.31458901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.785779523 meters 0.014018668212165176 Centerline is valid? [True, True] Translation: X:22.39, Y:-3.10, Z:-0.93 [[ 9.89265423e-01 1.23795334e-01 7.76443033e-02 2.23860400e+01] [-1.23372501e-01 9.92307621e-01 -1.02377657e-02 -3.09804511e+00] [-7.83144215e-02 5.48695773e-04 9.96928558e-01 -9.28928165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.815779523 meters 0.013598980148634497 Centerline is valid? [True, True] Translation: X:22.42, Y:-3.10, Z:-0.93 [[ 9.87990869e-01 1.31364158e-01 8.13480230e-02 2.24185873e+01] [-1.30924907e-01 9.91334180e-01 -1.07337192e-02 -3.09685822e+00] [-8.20531017e-02 -4.56657943e-05 9.96627958e-01 -9.27294323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.845779523 meters 0.013811893833628141 Centerline is valid? [True, True] Translation: X:22.45, Y:-3.10, Z:-0.93 [[ 9.87303149e-01 1.33937615e-01 8.54002742e-02 2.24496709e+01] [-1.33461138e-01 9.90989734e-01 -1.12903585e-02 -3.09572993e+00] [-8.61429987e-02 -2.50611202e-04 9.96282752e-01 -9.29755079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.875779523 meters 0.015435594788070993 Centerline is valid? [True, True] Translation: X:22.48, Y:-3.10, Z:-0.93 [[ 9.86954738e-01 1.34699464e-01 8.81838993e-02 2.24817180e+01] [-1.34192537e-01 9.90886452e-01 -1.16791560e-02 -3.09724240e+00] [-8.89534072e-02 -3.06822830e-04 9.96035741e-01 -9.33889713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.905779523 meters 0.015435594788070993 Centerline is valid? [True, True] Translation: X:22.51, Y:-3.10, Z:-0.94 [[ 9.86918589e-01 1.34965890e-01 8.81811070e-02 2.25137188e+01] [-1.34458145e-01 9.90850197e-01 -1.17002030e-02 -3.10157750e+00] [-8.89533955e-02 -3.09520200e-04 9.96035741e-01 -9.36529594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.935779523 meters 0.01395736109412483 Centerline is valid? [True, True] Translation: X:22.55, Y:-3.11, Z:-0.94 [[ 9.86645897e-01 1.35901394e-01 8.97813220e-02 2.25452905e+01] [-1.35376632e-01 9.90722297e-01 -1.19372513e-02 -3.10607174e+00] [-9.05706466e-02 -3.76453042e-04 9.95889962e-01 -9.38338816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.965779523 meters 0.014025740945067604 Centerline is valid? [True, True] Translation: X:22.58, Y:-3.11, Z:-0.94 [[ 9.86770548e-01 1.35835135e-01 8.85025570e-02 2.25752404e+01] [-1.35323067e-01 9.90731395e-01 -1.17885358e-02 -3.11320364e+00] [-8.92835591e-02 -3.43857545e-04 9.96006189e-01 -9.41231337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.995779523 meters 0.013571776158448064 Centerline is valid? [True, True] Translation: X:22.61, Y:-3.13, Z:-0.94 [[ 9.87499962e-01 1.33930112e-01 8.31056615e-02 2.26051393e+01] [-1.33470460e-01 9.90990769e-01 -1.10874530e-02 -3.12944954e+00] [-8.38418872e-02 -1.43291526e-04 9.96479060e-01 -9.44551620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.025779523 meters 0.013512892665300733 Centerline is valid? [True, True] Translation: X:22.64, Y:-3.14, Z:-0.95 [[ 9.87512498e-01 1.34331932e-01 8.23043014e-02 2.26380592e+01] [-1.33880880e-01 9.90936379e-01 -1.10000981e-02 -3.13514568e+00] [-8.30359909e-02 -1.56237996e-04 9.96546537e-01 -9.45967750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.055779522999998 meters 0.0135193542727098 Centerline is valid? [True, True] Translation: X:22.67, Y:-3.14, Z:-0.95 [[ 9.87499277e-01 1.35237153e-01 8.09696818e-02 2.26705206e+01] [-1.34801899e-01 9.90813236e-01 -1.08433630e-02 -3.13908616e+00] [-8.16922580e-02 -2.07053713e-04 9.96657580e-01 -9.48814063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.085779523 meters 0.013461497555682902 Centerline is valid? [True, True] Translation: X:22.70, Y:-3.14, Z:-0.95 [[ 9.87510455e-01 1.36266584e-01 7.90855229e-02 2.27033179e+01] [-1.35852992e-01 9.90672170e-01 -1.06120875e-02 -3.14179864e+00] [-7.97938995e-02 -2.64457556e-04 9.96811348e-01 -9.52881895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.115779523 meters 0.016905163823521308 Centerline is valid? [True, True] Translation: X:22.73, Y:-3.14, Z:-0.97 [[ 9.87491319e-01 1.39162670e-01 7.41258826e-02 2.27342468e+01] [-1.38806061e-01 9.90269434e-01 -9.96627197e-03 -3.13540832e+00] [-7.47915288e-02 -4.47514703e-04 9.97199091e-01 -9.65813384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.145779522999998 meters 0.017061084760596906 Centerline is valid? [True, True] Translation: X:22.77, Y:-3.13, Z:-0.97 [[ 9.87196499e-01 1.42318990e-01 7.20303895e-02 2.27656461e+01] [-1.41989462e-01 9.89820631e-01 -9.70108736e-03 -3.13047493e+00] [-7.26778146e-02 -6.50676768e-04 9.97355259e-01 -9.73846927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.175779523 meters 0.015443747318918935 Centerline is valid? [True, True] Translation: X:22.80, Y:-3.12, Z:-0.98 [[ 9.86308194e-01 1.47986861e-01 7.27738618e-02 2.27987002e+01] [-1.47665244e-01 9.88988748e-01 -9.80983592e-03 -3.12401158e+00] [-7.34242573e-02 -1.07064852e-03 9.97300222e-01 -9.79762706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.205779523 meters 0.015595151920245683 Centerline is valid? [True, True] Translation: X:22.83, Y:-3.13, Z:-0.98 [[ 9.86122174e-01 1.48575566e-01 7.40834585e-02 2.28315634e+01] [-1.48242584e-01 9.88900426e-01 -1.00041452e-02 -3.13046985e+00] [-7.47475352e-02 -1.11701387e-03 9.97201864e-01 -9.80187597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.235779523 meters 0.01524982271635284 Centerline is valid? [True, True] Translation: X:22.86, Y:-3.14, Z:-0.98 [[ 9.86296029e-01 1.47341990e-01 7.42326107e-02 2.28615043e+01] [-1.47002632e-01 9.89085096e-01 -1.00448279e-02 -3.14018547e+00] [-7.49023938e-02 -1.00521535e-03 9.97190363e-01 -9.78505517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.265779523 meters 0.014675201149865159 Centerline is valid? [True, True] Translation: X:22.89, Y:-3.15, Z:-0.98 [[ 9.86583185e-01 1.45236757e-01 7.45647635e-02 2.28915598e+01] [-1.44887110e-01 9.89396579e-01 -1.01061667e-02 -3.15105881e+00] [-7.52419088e-02 -8.32898970e-04 9.97164962e-01 -9.76568262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.295779523 meters 0.013807610283466935 Centerline is valid? [True, True] Translation: X:22.92, Y:-3.16, Z:-0.98 [[ 9.86909177e-01 1.42377570e-01 7.57555538e-02 2.29227119e+01] [-1.42006970e-01 9.89812233e-01 -1.02841128e-02 -3.16221019e+00] [-7.64480009e-02 -6.08331328e-04 9.97073384e-01 -9.75294281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.325779523 meters 0.01326162301545037 Centerline is valid? [True, True] Translation: X:22.95, Y:-3.18, Z:-0.97 [[ 9.87716920e-01 1.35035560e-01 7.86173250e-02 2.29536949e+01] [-1.34611575e-01 9.90840753e-01 -1.06923715e-02 -3.17523865e+00] [-7.93410999e-02 -2.17656295e-05 9.96847526e-01 -9.74421240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.355779523 meters 0.013321317502793239 Centerline is valid? [True, True] Translation: X:22.99, Y:-3.18, Z:-0.98 [[ 9.88019848e-01 1.33101352e-01 7.81076881e-02 2.29856852e+01] [-1.32675329e-01 9.91102420e-01 -1.06418847e-02 -3.18040315e+00] [-7.88291679e-02 1.51430031e-04 9.96888128e-01 -9.78247755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.385779523 meters 0.013316549533800199 Centerline is valid? [True, True] Translation: X:23.02, Y:-3.18, Z:-0.98 [[ 9.87995253e-01 1.33805376e-01 7.72107536e-02 2.30173863e+01] [-1.33389559e-01 9.91007623e-01 -1.05412257e-02 -3.18291802e+00] [-7.79269180e-02 1.15572585e-04 9.96959067e-01 -9.83516742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.415779523 meters 0.01335917804949931 Centerline is valid? [True, True] Translation: X:23.05, Y:-3.18, Z:-0.99 [[ 9.87727866e-01 1.35980275e-01 7.68311628e-02 2.30500838e+01] [-1.35573551e-01 9.90711544e-01 -1.05094681e-02 -3.18426210e+00] [-7.75466003e-02 -3.57790084e-05 9.96988728e-01 -9.88022394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.445779523 meters 0.013502480919314818 Centerline is valid? [True, True] Translation: X:23.08, Y:-3.18, Z:-0.99 [[ 9.86962709e-01 1.39899972e-01 7.95776942e-02 2.30822785e+01] [-1.39474497e-01 9.90165585e-01 -1.09077079e-02 -3.18364355e+00] [-8.03210822e-02 -3.33557867e-04 9.96768987e-01 -9.88594975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.475779523 meters 0.013495526025922735 Centerline is valid? [True, True] Translation: X:23.11, Y:-3.19, Z:-0.99 [[ 9.86861257e-01 1.40567293e-01 7.96598699e-02 2.31145638e+01] [-1.40141471e-01 9.90071058e-01 -1.09392576e-02 -3.18809910e+00] [-8.04066335e-02 -3.68121879e-04 9.96762077e-01 -9.90917169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.505779523 meters 0.01338857281000381 Centerline is valid? [True, True] Translation: X:23.15, Y:-3.19, Z:-1.00 [[ 9.87100897e-01 1.39692644e-01 7.82162609e-02 2.31466227e+01] [-1.39277855e-01 9.90194875e-01 -1.07604770e-02 -3.19391555e+00] [-7.89525001e-02 -2.72116602e-04 9.96878342e-01 -9.95568182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.535779523 meters 0.013317515274157251 Centerline is valid? [True, True] Translation: X:23.18, Y:-3.20, Z:-1.01 [[ 9.87909498e-01 1.36250437e-01 7.39637941e-02 2.31766968e+01] [-1.35868603e-01 9.90674426e-01 -1.01933672e-02 -3.20184055e+00] [-7.46628900e-02 2.07669155e-05 9.97208831e-01 -1.00525428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.565779523 meters 0.01320263658401797 Centerline is valid? [True, True] Translation: X:23.21, Y:-3.21, Z:-1.01 [[ 9.88045103e-01 1.35010152e-01 7.44253475e-02 2.32087517e+01] [-1.34618903e-01 9.90844207e-01 -1.02717544e-02 -3.20884346e+00] [-7.51307156e-02 1.29898031e-04 9.97173685e-01 -1.00591858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.595779523 meters 0.013113906615255926 Centerline is valid? [True, True] Translation: X:23.24, Y:-3.22, Z:-1.00 [[ 9.87880547e-01 1.35292202e-01 7.60791975e-02 2.32404216e+01] [-1.34882490e-01 9.90805734e-01 -1.05219534e-02 -3.21634122e+00] [-7.68032434e-02 1.32681462e-04 9.97046260e-01 -1.00377427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.625779523 meters 0.013005165208543546 Centerline is valid? [True, True] Translation: X:23.27, Y:-3.22, Z:-1.00 [[ 9.87435315e-01 1.37181686e-01 7.84390451e-02 2.32719706e+01] [-1.36750490e-01 9.90545903e-01 -1.08682393e-02 -3.22375584e+00] [-7.91883981e-02 5.10545025e-06 9.96859668e-01 -1.00015067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.655779523 meters 0.012884997929172531 Centerline is valid? [True, True] Translation: X:23.30, Y:-3.23, Z:-1.00 [[ 9.87110650e-01 1.38500007e-01 8.01892332e-02 2.33035917e+01] [-1.38052011e-01 9.90362429e-01 -1.11310857e-02 -3.23010961e+00] [-8.09580593e-02 -8.26716101e-05 9.96717506e-01 -9.97519885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.685779523 meters 0.012975568024934731 Centerline is valid? [True, True] Translation: X:23.34, Y:-3.23, Z:-1.00 [[ 9.86889132e-01 1.39198174e-01 8.16927783e-02 2.33363059e+01] [-1.38733757e-01 9.90264537e-01 -1.13618215e-02 -3.23038086e+00] [-8.24790061e-02 -1.20687862e-04 9.96592795e-01 -1.00118502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.715779523 meters 0.012947102410748274 Centerline is valid? [True, True] Translation: X:23.37, Y:-3.23, Z:-1.01 [[ 9.86800939e-01 1.39576282e-01 8.21119263e-02 2.33686730e+01] [-1.39106426e-01 9.90211313e-01 -1.14436627e-02 -3.22670683e+00] [-8.29054223e-02 -1.29679548e-04 9.96557411e-01 -1.01050506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.745779523 meters 0.013087139049979877 Centerline is valid? [True, True] Translation: X:23.40, Y:-3.22, Z:-1.02 [[ 9.86678978e-01 1.40388640e-01 8.21926082e-02 2.34017231e+01] [-1.39918853e-01 9.90096459e-01 -1.14767530e-02 -3.22472513e+00] [-8.29898161e-02 -1.76424573e-04 9.96550380e-01 -1.01946724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.775779523 meters 0.012981298970142973 Centerline is valid? [True, True] Translation: X:23.43, Y:-3.23, Z:-1.03 [[ 9.86689890e-01 1.41117372e-01 8.08019061e-02 2.34334707e+01] [-1.40663980e-01 9.89992850e-01 -1.13049517e-02 -3.22714987e+00] [-8.15886344e-02 -2.11436161e-04 9.96666067e-01 -1.02592230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.805779522999998 meters 0.013101961297787679 Centerline is valid? [True, True] Translation: X:23.46, Y:-3.24, Z:-1.03 [[ 9.87214672e-01 1.41411501e-01 7.35525534e-02 2.34631768e+01] [-1.41035421e-01 9.89950882e-01 -1.03083209e-02 -3.24309788e+00] [-7.42711302e-02 -1.96989654e-04 9.97238066e-01 -1.02679042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.835779523 meters 0.013251380664312971 Centerline is valid? [True, True] Translation: X:23.49, Y:-3.25, Z:-1.03 [[ 9.87429577e-01 1.41561296e-01 7.03081084e-02 2.34935479e+01] [-1.41216994e-01 9.89929475e-01 -9.86889217e-03 -3.25324523e+00] [-7.09971220e-02 -1.83863688e-04 9.97476503e-01 -1.02738595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.865779523 meters 0.013346660479585737 Centerline is valid? [True, True] Translation: X:23.53, Y:-3.26, Z:-1.03 [[ 9.87271036e-01 1.43183637e-01 6.92412339e-02 2.35255798e+01] [-1.42852632e-01 9.89696098e-01 -9.73438258e-03 -3.25745521e+00] [-6.99215834e-02 -2.80818567e-04 9.97552451e-01 -1.02744632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.895779522999998 meters 0.01344567715562287 Centerline is valid? [True, True] Translation: X:23.56, Y:-3.25, Z:-1.03 [[ 9.86798055e-01 1.45172501e-01 7.17951516e-02 2.35569840e+01] [-1.44820508e-01 9.89406271e-01 -1.01119232e-02 -3.25417898e+00] [-7.25025464e-02 -4.18984209e-04 9.97368139e-01 -1.02957944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.925779523 meters 0.01334754361015041 Centerline is valid? [True, True] Translation: X:23.59, Y:-3.26, Z:-1.03 [[ 9.86606928e-01 1.45624435e-01 7.34866949e-02 2.35888649e+01] [-1.45255637e-01 9.89339843e-01 -1.03670240e-02 -3.25601156e+00] [-7.42130072e-02 -4.46179036e-04 9.97242313e-01 -1.03145248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.955779523 meters 0.013346605073658795 Centerline is valid? [True, True] Translation: X:23.62, Y:-3.26, Z:-1.03 [[ 9.86506484e-01 1.45558861e-01 7.49504863e-02 2.36202732e+01] [-1.45173549e-01 9.89349500e-01 -1.05928342e-02 -3.25847221e+00] [-7.56941070e-02 -4.30928505e-04 9.97130993e-01 -1.03415457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.985779523 meters 0.013212935797594685 Centerline is valid? [True, True] Translation: X:23.65, Y:-3.26, Z:-1.04 [[ 9.86418051e-01 1.45122394e-01 7.69345092e-02 2.36523634e+01] [-1.44713524e-01 9.89413634e-01 -1.08929283e-02 -3.26212180e+00] [-7.77008602e-02 -3.88482852e-04 9.96976642e-01 -1.03619581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.015779523 meters 0.013186261714223773 Centerline is valid? [True, True] Translation: X:23.68, Y:-3.27, Z:-1.04 [[ 9.86448202e-01 1.43578855e-01 7.94043936e-02 2.36828324e+01] [-1.43136620e-01 9.89638847e-01 -1.12632424e-02 -3.26532404e+00] [-8.01988360e-02 -2.55071304e-04 9.96778853e-01 -1.03882449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.045779523 meters 0.013204406704452266 Centerline is valid? [True, True] Translation: X:23.71, Y:-3.27, Z:-1.04 [[ 9.86671669e-01 1.42687258e-01 7.82263687e-02 2.37147750e+01] [-1.42253864e-01 9.89767811e-01 -1.11138710e-02 -3.27324156e+00] [-7.90117495e-02 -1.62261563e-04 9.96873672e-01 -1.04185163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.075779523 meters 0.013166384760690503 Centerline is valid? [True, True] Translation: X:23.75, Y:-3.28, Z:-1.04 [[ 9.87142793e-01 1.41066322e-01 7.51624848e-02 2.37463820e+01] [-1.40660034e-01 9.90000148e-01 -1.06986964e-02 -3.28480397e+00] [-7.59200969e-02 -1.12166303e-05 9.97113905e-01 -1.04381925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.105779523 meters 0.013450194660220568 Centerline is valid? [True, True] Translation: X:23.78, Y:-3.30, Z:-1.04 [[ 9.87554346e-01 1.39539008e-01 7.25622473e-02 2.37759295e+01] [-1.39154793e-01 9.90216567e-01 -1.03485991e-02 -3.29697600e+00] [-7.32963727e-02 1.22419504e-04 9.97310196e-01 -1.04424864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.135779523 meters 0.013348989725551463 Centerline is valid? [True, True] Translation: X:23.81, Y:-3.30, Z:-1.04 [[ 9.87292113e-01 1.40635636e-01 7.39993329e-02 2.38074831e+01] [-1.40237830e-01 9.90061420e-01 -1.05705515e-02 -3.30205634e+00] [-7.47504808e-02 5.87162593e-05 9.97202267e-01 -1.04176178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.165779523 meters 0.013336231953271292 Centerline is valid? [True, True] Translation: X:23.84, Y:-3.30, Z:-1.05 [[ 9.86876960e-01 1.41973634e-01 7.69243301e-02 2.38385805e+01] [-1.41546235e-01 9.89870439e-01 -1.10080275e-02 -3.30149749e+00] [-7.77079701e-02 -2.47805474e-05 9.96976164e-01 -1.04504199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.195779523 meters 0.013367246856966466 Centerline is valid? [True, True] Translation: X:23.87, Y:-3.30, Z:-1.05 [[ 9.86554185e-01 1.43004179e-01 7.91242335e-02 2.38714839e+01] [-1.42553790e-01 9.89722080e-01 -1.13410884e-02 -3.30016592e+00] [-7.99328240e-02 -9.08611757e-05 9.96800248e-01 -1.05013676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.225779523 meters 0.015333208189334145 Centerline is valid? [True, True] Translation: X:23.90, Y:-3.30, Z:-1.06 [[ 9.86379971e-01 1.43829811e-01 7.97968545e-02 2.39044057e+01] [-1.43372599e-01 9.89602429e-01 -1.14599724e-02 -3.30038333e+00] [-8.06154467e-02 -1.36795233e-04 9.96745269e-01 -1.05702376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.255779523 meters 0.014138185203005882 Centerline is valid? [True, True] Translation: X:23.94, Y:-3.30, Z:-1.06 [[ 9.85748343e-01 1.49444095e-01 7.72442036e-02 2.39352097e+01] [-1.49031231e-01 9.88770021e-01 -1.11147707e-02 -3.30014675e+00] [-7.80377896e-02 -5.55431974e-04 9.96950247e-01 -1.06171875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.285779523 meters 0.014298183304888894 Centerline is valid? [True, True] Translation: X:23.97, Y:-3.31, Z:-1.06 [[ 9.85369942e-01 1.52920913e-01 7.52414242e-02 2.39662950e+01] [-1.52538051e-01 9.88238112e-01 -1.08432774e-02 -3.30743873e+00] [-7.60146069e-02 -7.92540594e-04 9.97106389e-01 -1.06270158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.315779523 meters 0.014875268293404085 Centerline is valid? [True, True] Translation: X:24.00, Y:-3.31, Z:-1.06 [[ 9.85109366e-01 1.55693293e-01 7.29323986e-02 2.39963479e+01] [-1.55339905e-01 9.87804981e-01 -1.05277645e-02 -3.31487882e+00] [-7.36820889e-02 -9.58312452e-04 9.97281320e-01 -1.06305119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.345779523 meters 0.015221209413653876 Centerline is valid? [True, True] Translation: X:24.03, Y:-3.32, Z:-1.07 [[ 9.85474202e-01 1.56901218e-01 6.49815723e-02 2.40271457e+01] [-1.56622382e-01 9.87613874e-01 -9.39500596e-03 -3.32345229e+00] [-6.56507902e-02 -9.19032661e-04 9.97842237e-01 -1.06923688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.375779523 meters 0.015496533735976403 Centerline is valid? [True, True] Translation: X:24.06, Y:-3.32, Z:-1.08 [[ 9.85516650e-01 1.57787808e-01 6.21284210e-02 2.40586025e+01] [-1.57534642e-01 9.87472600e-01 -8.98340218e-03 -3.32387805e+00] [-6.27675848e-02 -9.34086140e-04 9.98027734e-01 -1.07759520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.405779523 meters 0.0163183294187749 Centerline is valid? [True, True] Translation: X:24.09, Y:-3.32, Z:-1.09 [[ 9.85441971e-01 1.58534234e-01 6.14086197e-02 2.40895511e+01] [-1.58287392e-01 9.87353019e-01 -8.89475561e-03 -3.32354444e+00] [-6.20421093e-02 -9.54944749e-04 9.98073076e-01 -1.08546868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.435779523 meters 0.01584382376786201 Centerline is valid? [True, True] Translation: X:24.12, Y:-3.33, Z:-1.09 [[ 9.85279353e-01 1.58723263e-01 6.34942788e-02 2.41213323e+01] [-1.58458778e-01 9.87322620e-01 -9.21193921e-03 -3.33023969e+00] [-6.41514867e-02 -9.84892310e-04 9.97939686e-01 -1.08538419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.465779523 meters 0.01751333979661951 Centerline is valid? [True, True] Translation: X:24.15, Y:-3.34, Z:-1.09 [[ 9.85287341e-01 1.57613016e-01 6.60832260e-02 2.41519799e+01] [-1.57322877e-01 9.87500515e-01 -9.60448465e-03 -3.33932301e+00] [-6.67710115e-02 -9.33226083e-04 9.97767889e-01 -1.08521196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.495779523 meters 0.014494617755873506 Centerline is valid? [True, True] Translation: X:24.18, Y:-3.35, Z:-1.08 [[ 9.85158125e-01 1.55050192e-01 7.36403935e-02 2.41829696e+01] [-1.54681067e-01 9.87906249e-01 -1.07243232e-02 -3.34996694e+00] [-7.44126132e-02 -8.25620579e-04 9.97227196e-01 -1.07549314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.525779523 meters 0.01707732116233161 Centerline is valid? [True, True] Translation: X:24.21, Y:-3.35, Z:-1.08 [[ 9.85261190e-01 1.52349882e-01 7.77811149e-02 2.42142560e+01] [-1.51929425e-01 9.88326406e-01 -1.13298091e-02 -3.34735887e+00] [-7.85992249e-02 -6.54418915e-04 9.96906081e-01 -1.08379487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.555779522999998 meters 0.014004875739046171 Centerline is valid? [True, True] Translation: X:24.25, Y:-3.34, Z:-1.09 [[ 9.85254586e-01 1.51180135e-01 8.01122151e-02 2.42468352e+01] [-1.50728651e-01 9.88506072e-01 -1.16884319e-02 -3.34391903e+00] [-8.09584698e-02 -5.59125026e-04 9.96717319e-01 -1.08950174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.585779523 meters 0.013709759234078644 Centerline is valid? [True, True] Translation: X:24.28, Y:-3.35, Z:-1.09 [[ 9.85811397e-01 1.48739755e-01 7.77970133e-02 2.42774279e+01] [-1.48304968e-01 9.88876320e-01 -1.13692510e-02 -3.34973727e+00] [-7.86226838e-02 -3.29746404e-04 9.96904391e-01 -1.09411517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.615779523 meters 0.013710364474784648 Centerline is valid? [True, True] Translation: X:24.31, Y:-3.36, Z:-1.09 [[ 9.86038891e-01 1.49080006e-01 7.41785479e-02 2.43079202e+01] [-1.48684548e-01 9.88825084e-01 -1.08562842e-02 -3.36281136e+00] [-7.49680638e-02 -3.24485361e-04 9.97185882e-01 -1.09120116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.645779522999998 meters 0.013940801600193418 Centerline is valid? [True, True] Translation: X:24.34, Y:-3.38, Z:-1.09 [[ 9.86093299e-01 1.50382474e-01 7.07468533e-02 2.43375814e+01] [-1.50024925e-01 9.88627818e-01 -1.03711157e-02 -3.37545356e+00] [-7.15019412e-02 -3.86903667e-04 9.97440386e-01 -1.08758500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.675779523 meters 0.01573760908875524 Centerline is valid? [True, True] Translation: X:24.37, Y:-3.39, Z:-1.09 [[ 9.86154556e-01 1.50676250e-01 6.92521464e-02 2.43682853e+01] [-1.50333300e-01 9.88583087e-01 -1.01675399e-02 -3.38551578e+00] [-6.99935074e-02 -3.84137922e-04 9.97547373e-01 -1.08628462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.705779523 meters 0.014160018911951162 Centerline is valid? [True, True] Translation: X:24.40, Y:-3.38, Z:-1.09 [[ 9.85850179e-01 1.52137699e-01 7.03814320e-02 2.44008809e+01] [-1.51785929e-01 9.88359192e-01 -1.03508576e-02 -3.38300027e+00] [-7.11368909e-02 -4.78516218e-04 9.97466447e-01 -1.08986352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.735779522999998 meters 0.014618066277306538 Centerline is valid? [True, True] Translation: X:24.43, Y:-3.38, Z:-1.10 [[ 9.85838290e-01 1.52250471e-01 7.03040527e-02 2.44335229e+01] [-1.51898382e-01 9.88341832e-01 -1.03588320e-02 -3.37634285e+00] [-7.10615732e-02 -4.66938587e-04 9.97471822e-01 -1.10360856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.765779523 meters 0.01423624659850006 Centerline is valid? [True, True] Translation: X:24.47, Y:-3.37, Z:-1.11 [[ 9.85830880e-01 1.52545275e-01 6.97668652e-02 2.44663455e+01] [-1.52198537e-01 9.88296370e-01 -1.02903220e-02 -3.37374186e+00] [-7.05200796e-02 -4.73897654e-04 9.97510247e-01 -1.11332457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.795779523 meters 0.014204074251524368 Centerline is valid? [True, True] Translation: X:24.50, Y:-3.37, Z:-1.12 [[ 9.85889871e-01 1.52346551e-01 6.93663554e-02 2.44978214e+01] [-1.52001818e-01 9.88327040e-01 -1.02522830e-02 -3.37423825e+00] [-7.01185447e-02 -4.36190160e-04 9.97538570e-01 -1.12180149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.825779523 meters 0.014204074251524368 Centerline is valid? [True, True] Translation: X:24.53, Y:-3.38, Z:-1.12 [[ 9.85848254e-01 1.52616368e-01 6.93647146e-02 2.45297561e+01] [-1.52271521e-01 9.88285408e-01 -1.02633718e-02 -3.37905195e+00] [-7.01184938e-02 -4.44143410e-04 9.97538570e-01 -1.12443923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.855779523 meters 0.014207520158872623 Centerline is valid? [True, True] Translation: X:24.56, Y:-3.40, Z:-1.12 [[ 9.86249882e-01 1.49923004e-01 6.95288622e-02 2.45586522e+01] [-1.49568419e-01 9.88697648e-01 -1.03077459e-02 -3.39576217e+00] [-7.02883907e-02 -2.33308836e-04 9.97526685e-01 -1.12290368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.885779523 meters 0.014003467034739078 Centerline is valid? [True, True] Translation: X:24.59, Y:-3.41, Z:-1.12 [[ 9.86566330e-01 1.48061043e-01 6.90275664e-02 2.45901043e+01] [-1.47705973e-01 9.88978220e-01 -1.02481861e-02 -3.41147991e+00] [-6.97841169e-02 -8.52684876e-05 9.97562113e-01 -1.11810777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.915779523 meters 0.015977150099423 Centerline is valid? [True, True] Translation: X:24.62, Y:-3.42, Z:-1.12 [[ 9.86648177e-01 1.47838080e-01 6.83321032e-02 2.46212379e+01] [-1.47488187e-01 9.89011577e-01 -1.01653860e-02 -3.42126718e+00] [-6.90840723e-02 -4.85184576e-05 9.97610840e-01 -1.11754046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.945779523 meters 0.016639062881600112 Centerline is valid? [True, True] Translation: X:24.65, Y:-3.42, Z:-1.12 [[ 9.86423611e-01 1.49722160e-01 6.74665444e-02 2.46515483e+01] [-1.49384634e-01 9.88728096e-01 -1.00490666e-02 -3.42382496e+00] [-6.82106360e-02 -1.65828441e-04 9.97670929e-01 -1.12208060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.975779523 meters 0.014887774340301993 Centerline is valid? [True, True] Translation: X:24.68, Y:-3.42, Z:-1.13 [[ 9.85467267e-01 1.56603854e-01 6.57989279e-02 2.46846739e+01] [-1.56297732e-01 9.87661302e-01 -9.80665275e-03 -3.41613970e+00] [-6.65228145e-02 -6.20087951e-04 9.97784712e-01 -1.12660725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.005779523 meters 0.01634686190387794 Centerline is valid? [True, True] Translation: X:24.72, Y:-3.41, Z:-1.13 [[ 9.84658716e-01 1.60521888e-01 6.84100570e-02 2.47177786e+01] [-1.60199193e-01 9.87031868e-01 -1.02132360e-02 -3.41057325e+00] [-6.91623543e-02 -9.02684084e-04 9.97605009e-01 -1.13279564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.035779523 meters 0.01611467474600276 Centerline is valid? [True, True] Translation: X:24.75, Y:-3.41, Z:-1.13 [[ 9.84000355e-01 1.63663005e-01 7.04110911e-02 2.47499417e+01] [-1.63327787e-01 9.86515650e-01 -1.05312342e-02 -3.41268959e+00] [-7.11852168e-02 -1.13734946e-03 9.97462466e-01 -1.13244687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.065779523 meters 0.016268783649541065 Centerline is valid? [True, True] Translation: X:24.78, Y:-3.42, Z:-1.13 [[ 9.83697255e-01 1.64404537e-01 7.28756370e-02 2.47819272e+01] [-1.64046011e-01 9.86392252e-01 -1.09193006e-02 -3.42421657e+00] [-7.36791463e-02 -1.21367152e-03 9.97281259e-01 -1.12523141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.095779523 meters 0.015641529826692258 Centerline is valid? [True, True] Translation: X:24.81, Y:-3.44, Z:-1.12 [[ 9.84074851e-01 1.62033067e-01 7.30888027e-02 2.48130731e+01] [-1.61665517e-01 9.86784787e-01 -1.09564766e-02 -3.43645081e+00] [-7.38982302e-02 -1.03394602e-03 9.97265252e-01 -1.12374999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.125779523 meters 0.014926450097455682 Centerline is valid? [True, True] Translation: X:24.84, Y:-3.45, Z:-1.13 [[ 9.84751866e-01 1.58468545e-01 7.17738287e-02 2.48435330e+01] [-1.58103415e-01 9.87363752e-01 -1.07764141e-02 -3.44755875e+00] [-7.25745995e-02 -7.35593553e-04 9.97362716e-01 -1.12626461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.155779523 meters 0.014411354273070592 Centerline is valid? [True, True] Translation: X:24.87, Y:-3.46, Z:-1.13 [[ 9.85403431e-01 1.54464865e-01 7.15589529e-02 2.48747503e+01] [-1.54090124e-01 9.87998192e-01 -1.07613532e-02 -3.45542310e+00] [-7.23623670e-02 -4.22253533e-04 9.97378318e-01 -1.13117439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.185779523 meters 0.014211012802601621 Centerline is valid? [True, True] Translation: X:24.91, Y:-3.46, Z:-1.14 [[ 9.85847945e-01 1.49259323e-01 7.63248534e-02 2.49051622e+01] [-1.48815830e-01 9.88798086e-01 -1.14975928e-02 -3.45797288e+00] [-7.71859918e-02 -2.34682378e-05 9.97016711e-01 -1.13715894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.215779523 meters 0.014230936655375354 Centerline is valid? [True, True] Translation: X:24.94, Y:-3.46, Z:-1.14 [[ 9.85950697e-01 1.47769666e-01 7.78803487e-02 2.49378396e+01] [-1.47301877e-01 9.89021796e-01 -1.17492112e-02 -3.46069900e+00] [-7.87615393e-02 1.12221467e-04 9.96893478e-01 -1.14136736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.245779523 meters 0.014336022417650243 Centerline is valid? [True, True] Translation: X:24.97, Y:-3.46, Z:-1.15 [[ 9.86032869e-01 1.47425744e-01 7.74908450e-02 2.49694160e+01] [-1.46959849e-01 9.89073114e-01 -1.17123207e-02 -3.46434732e+00] [-7.83708089e-02 1.60690246e-04 9.96924265e-01 -1.14556758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.275779523 meters 0.014369101270026366 Centerline is valid? [True, True] Translation: X:25.00, Y:-3.47, Z:-1.15 [[ 9.86135393e-01 1.47313136e-01 7.63925846e-02 2.50017562e+01] [-1.46858506e-01 9.89089887e-01 -1.15660835e-02 -3.47112029e+00] [-7.72629689e-02 1.86823426e-04 9.97010732e-01 -1.14722881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.305779522999998 meters 0.01664083214468283 Centerline is valid? [True, True] Translation: X:25.03, Y:-3.48, Z:-1.15 [[ 9.86571059e-01 1.45669559e-01 7.38777699e-02 2.50311994e+01] [-1.45238288e-01 9.89333247e-01 -1.12056151e-02 -3.48178361e+00] [-7.47220509e-02 3.25254668e-04 9.97204347e-01 -1.14820866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.335779523 meters 0.017639836980056965 Centerline is valid? [True, True] Translation: X:25.06, Y:-3.50, Z:-1.14 [[ 9.87041950e-01 1.44219521e-01 7.03485470e-02 2.50615819e+01] [-1.43823792e-01 9.89545626e-01 -1.06850899e-02 -3.49637006e+00] [-7.11540955e-02 4.28837205e-04 9.97465243e-01 -1.14439812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.365779523 meters 0.016421077931117745 Centerline is valid? [True, True] Translation: X:25.09, Y:-3.50, Z:-1.15 [[ 9.86666530e-01 1.46777780e-01 7.03238421e-02 2.50931414e+01] [-1.46387580e-01 9.89169457e-01 -1.06986645e-02 -3.49728269e+00] [-7.11325230e-02 2.61477094e-04 9.97466839e-01 -1.14824732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.395779522999998 meters 0.016069100293129635 Centerline is valid? [True, True] Translation: X:25.13, Y:-3.49, Z:-1.15 [[ 9.86189498e-01 1.49709558e-01 7.08330582e-02 2.51258022e+01] [-1.49320084e-01 9.88730016e-01 -1.07920650e-02 -3.49479503e+00] [-7.16504461e-02 6.62230020e-05 9.97429802e-01 -1.15463458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.425779523 meters 0.016426126594927645 Centerline is valid? [True, True] Translation: X:25.16, Y:-3.49, Z:-1.16 [[ 9.85582294e-01 1.52945275e-01 7.23552659e-02 2.51586716e+01] [-1.52546249e-01 9.88234648e-01 -1.10418639e-02 -3.49015126e+00] [-7.31927816e-02 -1.54858916e-04 9.97317799e-01 -1.16188483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.455779523 meters 0.01487286820588352 Centerline is valid? [True, True] Translation: X:25.19, Y:-3.49, Z:-1.17 [[ 9.84373609e-01 1.59221913e-01 7.52129002e-02 2.51923153e+01] [-1.58807561e-01 9.87242619e-01 -1.14965217e-02 -3.48527056e+00] [-7.60838787e-02 -6.27504689e-04 9.97101223e-01 -1.16545916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.485779522999998 meters 0.015002134907285983 Centerline is valid? [True, True] Translation: X:25.22, Y:-3.49, Z:-1.17 [[ 9.84254688e-01 1.60282103e-01 7.45141416e-02 2.52248392e+01] [-1.59876866e-01 9.87071012e-01 -1.14107541e-02 -3.49326592e+00] [-7.53796888e-02 -6.81999268e-04 9.97154671e-01 -1.16572573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.515779523 meters 0.014993627194028407 Centerline is valid? [True, True] Translation: X:25.26, Y:-3.50, Z:-1.17 [[ 9.84412585e-01 1.60122025e-01 7.27516304e-02 2.52552683e+01] [-1.59733801e-01 9.87097024e-01 -1.11614080e-02 -3.50349339e+00] [-7.36001052e-02 -6.33463920e-04 9.97287633e-01 -1.16531739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.545779523 meters 0.014703432968413189 Centerline is valid? [True, True] Translation: X:25.29, Y:-3.52, Z:-1.17 [[ 9.85426114e-01 1.55554966e-01 6.88333250e-02 2.52852189e+01] [-1.55195129e-01 9.87827204e-01 -1.05776482e-02 -3.51568398e+00] [-6.96408367e-02 -2.59105950e-04 9.97572096e-01 -1.16846218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.575779523 meters 0.014670881077940809 Centerline is valid? [True, True] Translation: X:25.32, Y:-3.52, Z:-1.17 [[ 9.85858234e-01 1.53307443e-01 6.76784334e-02 2.53169301e+01] [-1.52953121e-01 9.88178537e-01 -1.04173663e-02 -3.52102888e+00] [-6.84754351e-02 -8.15812550e-05 9.97652799e-01 -1.17380724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.605779523 meters 0.01630424182935952 Centerline is valid? [True, True] Translation: X:25.35, Y:-3.53, Z:-1.18 [[ 9.86207240e-01 1.51481265e-01 6.66986256e-02 2.53472520e+01] [-1.51131656e-01 9.88460127e-01 -1.02859279e-02 -3.52526914e+00] [-6.74870573e-02 6.37828725e-05 9.97720148e-01 -1.18112640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.635779523 meters 0.01475930168610368 Centerline is valid? [True, True] Translation: X:25.38, Y:-3.53, Z:-1.18 [[ 9.86082590e-01 1.51734311e-01 6.79545780e-02 2.53777197e+01] [-1.51370900e-01 9.88421314e-01 -1.04955171e-02 -3.52914496e+00] [-6.87602833e-02 6.31010533e-05 9.97633209e-01 -1.18334555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.665779523 meters 0.01680491433773686 Centerline is valid? [True, True] Translation: X:25.41, Y:-3.53, Z:-1.18 [[ 9.85437177e-01 1.54374135e-01 7.12895234e-02 2.54095742e+01] [-1.53979804e-01 9.88012457e-01 -1.10275023e-02 -3.53088938e+00] [-7.21372983e-02 -1.10236049e-04 9.97394705e-01 -1.18346159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.695779523 meters 0.01463921866354371 Centerline is valid? [True, True] Translation: X:25.44, Y:-3.53, Z:-1.18 [[ 9.84733092e-01 1.58201292e-01 7.26160378e-02 2.54427866e+01] [-1.57801211e-01 9.87406809e-01 -1.12503780e-02 -3.53416815e+00] [-7.34813945e-02 -3.80279241e-04 9.97296516e-01 -1.18133339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.725779523 meters 0.01494188478566936 Centerline is valid? [True, True] Translation: X:25.47, Y:-3.54, Z:-1.18 [[ 9.84291166e-01 1.61065568e-01 7.23103285e-02 2.54733908e+01] [-1.60675066e-01 9.86943543e-01 -1.12234849e-02 -3.53832035e+00] [-7.31739287e-02 -5.71289773e-04 9.97319031e-01 -1.18214026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.755779523 meters 0.017835209303620047 Centerline is valid? [True, True] Translation: X:25.50, Y:-3.54, Z:-1.19 [[ 9.84261226e-01 1.61863884e-01 7.09219398e-02 2.55036974e+01] [-1.61489200e-01 9.86812910e-01 -1.10235659e-02 -3.54366510e+00] [-7.17710030e-02 -6.03058851e-04 9.97420954e-01 -1.18635791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.785779523 meters 0.014954219783436156 Centerline is valid? [True, True] Translation: X:25.53, Y:-3.55, Z:-1.19 [[ 9.84097604e-01 1.62216638e-01 7.23717338e-02 2.55348442e+01] [-1.61826214e-01 9.86754970e-01 -1.12652361e-02 -3.55150254e+00] [-7.32405767e-02 -6.25551770e-04 9.97314106e-01 -1.18587441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.815779523 meters 0.014662721167689912 Centerline is valid? [True, True] Translation: X:25.57, Y:-3.56, Z:-1.19 [[ 9.84247250e-01 1.60377830e-01 7.44063293e-02 2.55670201e+01] [-1.59958417e-01 9.87055580e-01 -1.16011632e-02 -3.55596964e+00] [-7.53037519e-02 -4.83505631e-04 9.97160524e-01 -1.18914465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.845779523 meters 0.016623998661388868 Centerline is valid? [True, True] Translation: X:25.60, Y:-3.56, Z:-1.20 [[ 9.84460791e-01 1.58071820e-01 7.64869291e-02 2.55984191e+01] [-1.57621167e-01 9.87427569e-01 -1.19316450e-02 -3.55788881e+00] [-7.74113593e-02 -3.09722307e-04 9.96999190e-01 -1.19589908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.875779523 meters 0.014415594637762454 Centerline is valid? [True, True] Translation: X:25.63, Y:-3.56, Z:-1.20 [[ 9.84258546e-01 1.57553846e-01 8.00743401e-02 2.56315371e+01] [-1.57056470e-01 9.87510363e-01 -1.25119080e-02 -3.55559522e+00] [-8.10455399e-02 -2.61240854e-04 9.96710365e-01 -1.20061152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.905779523 meters 0.014418578965220303 Centerline is valid? [True, True] Translation: X:25.66, Y:-3.56, Z:-1.20 [[ 9.84266672e-01 1.58377689e-01 7.83302317e-02 2.56627648e+01] [-1.57903870e-01 9.87378554e-01 -1.22458136e-02 -3.56166449e+00] [-7.92810546e-02 -3.15500512e-04 9.96852253e-01 -1.20289289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.935779523 meters 0.014389377871071371 Centerline is valid? [True, True] Translation: X:25.69, Y:-3.57, Z:-1.20 [[ 9.84322523e-01 1.59579052e-01 7.51245485e-02 2.56935006e+01] [-1.59145325e-01 9.87185081e-01 -1.17635510e-02 -3.57174918e+00] [-7.60390498e-02 -3.76592507e-04 9.97104769e-01 -1.20301460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.965779523 meters 0.016762879157056085 Centerline is valid? [True, True] Translation: X:25.72, Y:-3.58, Z:-1.21 [[ 9.84613572e-01 1.59553565e-01 7.12655100e-02 2.57229221e+01] [-1.59162030e-01 9.87189214e-01 -1.11760031e-02 -3.58186711e+00] [-7.21357140e-02 -3.38718939e-04 9.97394768e-01 -1.20564701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.995779523 meters 0.014351622259981484 Centerline is valid? [True, True] Translation: X:25.76, Y:-3.59, Z:-1.20 [[ 9.84785147e-01 1.58836272e-01 7.04929231e-02 2.57553798e+01] [-1.58450255e-01 9.87304901e-01 -1.10702137e-02 -3.59036687e+00] [-7.13563599e-02 -2.67839639e-04 9.97450850e-01 -1.20491806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.025779523 meters 0.014300234257215091 Centerline is valid? [True, True] Translation: X:25.79, Y:-3.59, Z:-1.21 [[ 9.84860931e-01 1.57732295e-01 7.18990248e-02 2.57877012e+01] [-1.57326244e-01 9.87481896e-01 -1.13118895e-02 -3.59231085e+00] [-7.27832356e-02 -1.70965516e-04 9.97347769e-01 -1.20950548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.055779522999998 meters 0.014243480950925575 Centerline is valid? [True, True] Translation: X:25.82, Y:-3.59, Z:-1.22 [[ 9.85034382e-01 1.56296008e-01 7.26555110e-02 2.58202699e+01] [-1.55876163e-01 9.87710259e-01 -1.14484228e-02 -3.59333945e+00] [-7.35519364e-02 -4.81721407e-05 9.97291387e-01 -1.21561162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.085779523 meters 0.014760081922407178 Centerline is valid? [True, True] Translation: X:25.85, Y:-3.59, Z:-1.22 [[ 9.85237867e-01 1.55239410e-01 7.21600436e-02 2.58528328e+01] [-1.54821015e-01 9.87876877e-01 -1.13899204e-02 -3.59485272e+00] [-7.30534030e-02 4.98896679e-05 9.97328029e-01 -1.22228575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.115779523 meters 0.014548170971928526 Centerline is valid? [True, True] Translation: X:25.88, Y:-3.60, Z:-1.23 [[ 9.85614160e-01 1.54355608e-01 6.88409289e-02 2.58829453e+01] [-1.53971389e-01 9.88015349e-01 -1.08849200e-02 -3.59846761e+00] [-6.96960428e-02 1.28797768e-04 9.97568266e-01 -1.22898178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.145779522999998 meters 0.01471475668401518 Centerline is valid? [True, True] Translation: X:25.91, Y:-3.61, Z:-1.23 [[ 9.85882011e-01 1.53309020e-01 6.73276000e-02 2.59142968e+01] [-1.52938092e-01 9.88178273e-01 -1.06602372e-02 -3.60632878e+00] [-6.81659820e-02 2.12781408e-04 9.97673972e-01 -1.23127832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.175779523 meters 0.014893684249884357 Centerline is valid? [True, True] Translation: X:25.94, Y:-3.62, Z:-1.23 [[ 9.86196324e-01 1.51457675e-01 6.69132452e-02 2.59449081e+01] [-1.51085954e-01 9.88463680e-01 -1.06107237e-02 -3.61616066e+00] [-6.77483881e-02 3.54605236e-04 9.97702376e-01 -1.23142356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.205779523 meters 0.017509753527484025 Centerline is valid? [True, True] Translation: X:25.98, Y:-3.63, Z:-1.23 [[ 9.86858156e-01 1.46717401e-01 6.77125119e-02 2.59756547e+01] [-1.46324444e-01 9.89178198e-01 -1.07540558e-02 -3.62725024e+00] [-6.85575476e-02 7.04732059e-04 9.97646915e-01 -1.23267634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.235779522999998 meters 0.020224742774782666 Centerline is valid? [True, True] Translation: X:26.01, Y:-3.64, Z:-1.23 [[ 9.87593890e-01 1.40617894e-01 6.98921729e-02 2.60056811e+01] [-1.40182650e-01 9.90063235e-01 -1.11182489e-02 -3.63851951e+00] [-7.07610955e-02 1.18264462e-03 9.97492591e-01 -1.23376470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.265779523 meters 0.02177022578982095 Centerline is valid? [True, True] Translation: X:26.03, Y:-3.65, Z:-1.23 [[ 9.88627631e-01 1.28827247e-01 7.75818748e-02 2.60347180e+01] [-1.28252908e-01 9.91664451e-01 -1.23615566e-02 -3.64885643e+00] [-7.85276926e-02 2.27087534e-03 9.96909346e-01 -1.22951254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.295779523 meters 0.023896105615461107 Centerline is valid? [True, True] Translation: X:26.07, Y:-3.66, Z:-1.23 [[ 9.89047600e-01 1.24512783e-01 7.92553586e-02 2.60651361e+01] [-1.23899147e-01 9.92214398e-01 -1.26328652e-02 -3.65508419e+00] [-8.02112611e-02 2.67483367e-03 9.96774297e-01 -1.23181248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.325779523 meters 0.025194798911932516 Centerline is valid? [True, True] Translation: X:26.10, Y:-3.66, Z:-1.24 [[ 9.89370598e-01 1.22255449e-01 7.87364315e-02 2.60961930e+01] [-1.21642462e-01 9.92494598e-01 -1.25532495e-02 -3.66067140e+00] [-7.96801861e-02 2.84212256e-03 9.96816428e-01 -1.23609453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.355779523 meters 0.025528574334111185 Centerline is valid? [True, True] Translation: X:26.13, Y:-3.66, Z:-1.25 [[ 9.89956200e-01 1.21195018e-01 7.27907300e-02 2.61269758e+01] [-1.20667384e-01 9.92624991e-01 -1.16193333e-02 -3.66267994e+00] [-7.36621031e-02 2.71916412e-03 9.97279550e-01 -1.24656431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.385779523 meters 0.02420058390504881 Centerline is valid? [True, True] Translation: X:26.16, Y:-3.67, Z:-1.25 [[ 9.89891554e-01 1.23088499e-01 7.04551798e-02 2.61582483e+01] [-1.22597961e-01 9.92392524e-01 -1.12613386e-02 -3.66736050e+00] [-7.13053350e-02 2.50984254e-03 9.97451377e-01 -1.24888759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.415779523 meters 0.023659544324320124 Centerline is valid? [True, True] Translation: X:26.19, Y:-3.67, Z:-1.25 [[ 9.89683203e-01 1.25535576e-01 6.90505333e-02 2.61905042e+01] [-1.25069157e-01 9.92086443e-01 -1.10542033e-02 -3.67162409e+00] [-6.98917937e-02 2.30406738e-03 9.97551918e-01 -1.25117186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.445779523 meters 0.02157522020970248 Centerline is valid? [True, True] Translation: X:26.22, Y:-3.68, Z:-1.25 [[ 9.89240851e-01 1.28935601e-01 6.91241538e-02 2.62209769e+01] [-1.28475743e-01 9.91650795e-01 -1.10762693e-02 -3.67506849e+00] [-6.99751475e-02 2.07632108e-03 9.97546574e-01 -1.25125053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.475779523 meters 0.019027553516087207 Centerline is valid? [True, True] Translation: X:26.25, Y:-3.67, Z:-1.25 [[ 9.88604819e-01 1.33424213e-01 6.97028728e-02 2.62537269e+01] [-1.32967678e-01 9.91057431e-01 -1.11698478e-02 -3.67164110e+00] [-7.05698782e-02 1.77433620e-03 9.97505260e-01 -1.25339415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.505779523 meters 0.0182955040962972 Centerline is valid? [True, True] Translation: X:26.29, Y:-3.67, Z:-1.26 [[ 9.88327232e-01 1.35334927e-01 6.99552649e-02 2.62858046e+01] [-1.34879731e-01 9.90798541e-01 -1.12119864e-02 -3.67217047e+00] [-7.08289478e-02 1.64556416e-03 9.97487119e-01 -1.25735240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.535779523 meters 0.018390523656052774 Centerline is valid? [True, True] Translation: X:26.32, Y:-3.67, Z:-1.26 [[ 9.88067398e-01 1.37135912e-01 7.01181819e-02 2.63165869e+01] [-1.36681870e-01 9.90551048e-01 -1.12555921e-02 -3.67491202e+00] [-7.09991844e-02 1.53739935e-03 9.97475189e-01 -1.26214560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.565779523 meters 0.017676404498703373 Centerline is valid? [True, True] Translation: X:26.35, Y:-3.68, Z:-1.27 [[ 9.87823927e-01 1.38678737e-01 7.05131004e-02 2.63489783e+01] [-1.38222233e-01 9.90336357e-01 -1.13364233e-02 -3.67791371e+00] [-7.14038078e-02 1.45191198e-03 9.97446434e-01 -1.26548632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.595779523 meters 0.016670613459290128 Centerline is valid? [True, True] Translation: X:26.38, Y:-3.68, Z:-1.26 [[ 9.87383336e-01 1.40847653e-01 7.23608110e-02 2.63802886e+01] [-1.40372300e-01 9.90030382e-01 -1.16387030e-02 -3.68494187e+00] [-7.32786854e-02 1.33440791e-03 9.97310610e-01 -1.26400460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.625779523 meters 0.01665602705822598 Centerline is valid? [True, True] Translation: X:26.41, Y:-3.69, Z:-1.26 [[ 9.87170884e-01 1.41962348e-01 7.30776193e-02 2.64102703e+01] [-1.41479193e-01 9.89871228e-01 -1.17724541e-02 -3.69261766e+00] [-7.40086779e-02 1.28246129e-03 9.97256773e-01 -1.26420635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.655779523 meters 0.018607932520736486 Centerline is valid? [True, True] Translation: X:26.44, Y:-3.70, Z:-1.27 [[ 9.87193609e-01 1.41733868e-01 7.32139912e-02 2.64418121e+01] [-1.41247048e-01 9.89903921e-01 -1.18109639e-02 -3.69926771e+00] [-7.41488305e-02 1.31844794e-03 9.97246315e-01 -1.26748247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.685779523 meters 0.016235680625531556 Centerline is valid? [True, True] Translation: X:26.47, Y:-3.70, Z:-1.27 [[ 9.86550669e-01 1.43850827e-01 7.76190559e-02 2.64741751e+01] [-1.43308389e-01 9.89598593e-01 -1.25431727e-02 -3.69881348e+00] [-7.86160543e-02 1.25101353e-03 9.96904183e-01 -1.26700948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.715779523 meters 0.016235680625531556 Centerline is valid? [True, True] Translation: X:26.51, Y:-3.70, Z:-1.27 [[ 9.86512075e-01 1.44116847e-01 7.76161053e-02 2.65060418e+01] [-1.43573797e-01 9.89559890e-01 -1.25614041e-02 -3.70405816e+00] [-7.86160946e-02 1.24833793e-03 9.96904184e-01 -1.26964962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.745779523 meters 0.016071400823267114 Centerline is valid? [True, True] Translation: X:26.54, Y:-3.71, Z:-1.27 [[ 9.86152866e-01 1.45692975e-01 7.92217258e-02 2.65369734e+01] [-1.45130454e-01 9.89329163e-01 -1.28436406e-02 -3.70578927e+00] [-8.02475918e-02 1.16830789e-03 9.96774277e-01 -1.27251786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.775779523 meters 0.015268822478655941 Centerline is valid? [True, True] Translation: X:26.57, Y:-3.71, Z:-1.28 [[ 9.85792028e-01 1.47680467e-01 8.00284775e-02 2.65691704e+01] [-1.47111482e-01 9.89034584e-01 -1.29924137e-02 -3.70846233e+00] [-8.10696577e-02 1.03470992e-03 9.96707901e-01 -1.27502048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.805779522999998 meters 0.014903097233673378 Centerline is valid? [True, True] Translation: X:26.60, Y:-3.71, Z:-1.28 [[ 9.85359546e-01 1.49747946e-01 8.14991877e-02 2.66005048e+01] [-1.49163180e-01 9.88723794e-01 -1.32515995e-02 -3.71437615e+00] [-8.25645859e-02 9.00912103e-04 9.96585309e-01 -1.27537624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.835779523 meters 0.014692367375576129 Centerline is valid? [True, True] Translation: X:26.63, Y:-3.72, Z:-1.27 [[ 9.85021270e-01 1.51147999e-01 8.29902376e-02 2.66313498e+01] [-1.50544811e-01 9.88510805e-01 -1.35147205e-02 -3.72132544e+00] [-8.40794695e-02 8.18537550e-04 9.96458716e-01 -1.27449135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.865779523 meters 0.01488711206566673 Centerline is valid? [True, True] Translation: X:26.66, Y:-3.73, Z:-1.28 [[ 9.84782758e-01 1.52497630e-01 8.33510175e-02 2.66633361e+01] [-1.51892389e-01 9.88303570e-01 -1.35924705e-02 -3.72620424e+00] [-8.44489277e-02 7.25245393e-04 9.96427545e-01 -1.27709121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.895779522999998 meters 0.014277185375542133 Centerline is valid? [True, True] Translation: X:26.69, Y:-3.73, Z:-1.28 [[ 9.84808654e-01 1.53326146e-01 8.15046533e-02 2.66943548e+01] [-1.52748707e-01 9.88175419e-01 -1.33106509e-02 -3.72752208e+00] [-8.25817658e-02 6.58713799e-04 9.96584075e-01 -1.28383365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.925779523 meters 0.01418317071568191 Centerline is valid? [True, True] Translation: X:26.73, Y:-3.73, Z:-1.29 [[ 9.84826745e-01 1.54632668e-01 7.87719538e-02 2.67266319e+01] [-1.54096718e-01 9.87971885e-01 -1.28746202e-02 -3.72772716e+00] [-7.98153125e-02 5.40770685e-04 9.96809522e-01 -1.29249477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.955779523 meters 0.014073264653858282 Centerline is valid? [True, True] Translation: X:26.76, Y:-3.73, Z:-1.30 [[ 9.84811458e-01 1.55951011e-01 7.63261034e-02 2.67577188e+01] [-1.55450220e-01 9.87764693e-01 -1.24956523e-02 -3.73003362e+00] [-7.73409397e-02 4.40951983e-04 9.97004606e-01 -1.29906969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.985779522999998 meters 0.014027439770264655 Centerline is valid? [True, True] Translation: X:26.79, Y:-3.74, Z:-1.30 [[ 9.84729609e-01 1.57222881e-01 7.47566922e-02 2.67893826e+01] [-1.56745252e-01 9.87563085e-01 -1.22507084e-02 -3.73817111e+00] [-7.57530412e-02 3.45878717e-04 9.97126550e-01 -1.30230756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.015779523 meters 0.014317509607168953 Centerline is valid? [True, True] Translation: X:26.82, Y:-3.76, Z:-1.30 [[ 9.85184070e-01 1.56743097e-01 6.95984948e-02 2.68180086e+01] [-1.56326653e-01 9.87639338e-01 -1.14243871e-02 -3.75923346e+00] [-7.05289051e-02 3.75024432e-04 9.97509666e-01 -1.30019251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.045779523 meters 0.014184574604228927 Centerline is valid? [True, True] Translation: X:26.85, Y:-3.77, Z:-1.30 [[ 9.85240118e-01 1.56525940e-01 6.92931520e-02 2.68498605e+01] [-1.56112130e-01 9.87673769e-01 -1.13810806e-02 -3.76829614e+00] [-7.02204629e-02 3.95595628e-04 9.97531418e-01 -1.29951042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.075779523 meters 0.014503981928959292 Centerline is valid? [True, True] Translation: X:26.88, Y:-3.77, Z:-1.30 [[ 9.85164566e-01 1.55824953e-01 7.18982748e-02 2.68805753e+01] [-1.55375932e-01 9.87784566e-01 -1.18309050e-02 -3.77321732e+00] [-7.28635564e-02 4.84126934e-04 9.97341801e-01 -1.30376758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.105779523 meters 0.014933942289491296 Centerline is valid? [True, True] Translation: X:26.91, Y:-3.77, Z:-1.32 [[ 9.85183916e-01 1.53152033e-01 7.71822901e-02 2.69119831e+01] [-1.52624751e-01 9.88202353e-01 -1.27198727e-02 -3.76576251e+00] [-7.82197950e-02 7.51486224e-04 9.96935855e-01 -1.31684596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.135779523 meters 0.015124165736660797 Centerline is valid? [True, True] Translation: X:26.94, Y:-3.77, Z:-1.33 [[ 9.85309112e-01 1.52442763e-01 7.69880412e-02 2.69436054e+01] [-1.51915222e-01 9.88311965e-01 -1.26974839e-02 -3.76832667e+00] [-7.80238418e-02 8.15291282e-04 9.96951160e-01 -1.32542072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.165779523 meters 0.01461278090420458 Centerline is valid? [True, True] Translation: X:26.98, Y:-3.78, Z:-1.32 [[ 9.85228387e-01 1.52390358e-01 7.81166072e-02 2.69751735e+01] [-1.51845506e-01 9.88320016e-01 -1.29029987e-02 -3.78482840e+00] [-7.91704992e-02 8.50744801e-04 9.96860727e-01 -1.31961455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.195779523 meters 0.014454669466284747 Centerline is valid? [True, True] Translation: X:27.01, Y:-3.80, Z:-1.31 [[ 9.84892907e-01 1.53279028e-01 8.05698520e-02 2.70059659e+01] [-1.52700385e-01 9.88182602e-01 -1.33318119e-02 -3.79852413e+00] [-8.16612131e-02 8.27359588e-04 9.96659802e-01 -1.31110682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.225779523 meters 0.014475611690966731 Centerline is valid? [True, True] Translation: X:27.04, Y:-3.81, Z:-1.31 [[ 9.84683572e-01 1.53826302e-01 8.20715075e-02 2.70367749e+01] [-1.53226002e-01 9.88097566e-01 -1.36011578e-02 -3.80994387e+00] [-8.31868727e-02 8.17347592e-04 9.96533630e-01 -1.30587034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.255779523 meters 0.014543307800130183 Centerline is valid? [True, True] Translation: X:27.07, Y:-3.82, Z:-1.31 [[ 9.84658174e-01 1.53973049e-01 8.21010448e-02 2.70688511e+01] [-1.53370999e-01 9.88074702e-01 -1.36279239e-02 -3.81580223e+00] [-8.32202983e-02 8.26927458e-04 9.96530832e-01 -1.30734111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.285779523 meters 0.014432474837531871 Centerline is valid? [True, True] Translation: X:27.10, Y:-3.81, Z:-1.32 [[ 9.84769316e-01 1.54575117e-01 7.95985406e-02 2.71008784e+01] [-1.54009465e-01 9.87980736e-01 -1.32344371e-02 -3.80929351e+00] [-8.06875393e-02 7.73938844e-04 9.96739144e-01 -1.32357451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.315779523 meters 0.01438570419431004 Centerline is valid? [True, True] Translation: X:27.13, Y:-3.81, Z:-1.33 [[ 9.84679346e-01 1.55293712e-01 7.93123483e-02 2.71332616e+01] [-1.54732775e-01 9.87868071e-01 -1.32076741e-02 -3.81012284e+00] [-8.04012053e-02 7.33104065e-04 9.96762313e-01 -1.33196693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.345779523 meters 0.014345202371634934 Centerline is valid? [True, True] Translation: X:27.17, Y:-3.81, Z:-1.34 [[ 9.84436152e-01 1.55939203e-01 8.10458371e-02 2.71660317e+01] [-1.55353721e-01 9.87766394e-01 -1.35193301e-02 -3.81482383e+00] [-8.21625479e-02 7.18144957e-04 9.96618683e-01 -1.33536361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.375779523 meters 0.01436330468072656 Centerline is valid? [True, True] Translation: X:27.20, Y:-3.82, Z:-1.33 [[ 9.84266933e-01 1.55879819e-01 8.31870528e-02 2.71971976e+01] [-1.55260747e-01 9.87775732e-01 -1.38997921e-02 -3.82283252e+00] [-8.43368491e-02 7.65421721e-04 9.96437008e-01 -1.33485991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.405779523 meters 0.014437371951091058 Centerline is valid? [True, True] Translation: X:27.23, Y:-3.83, Z:-1.34 [[ 9.84311629e-01 1.55257267e-01 8.38200292e-02 2.72297199e+01] [-1.54625196e-01 9.87873714e-01 -1.40204501e-02 -3.83100922e+00] [-8.49803804e-02 8.39803600e-04 9.96382271e-01 -1.33533463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.435779523 meters 0.017853004133250645 Centerline is valid? [True, True] Translation: X:27.26, Y:-3.84, Z:-1.34 [[ 9.85260085e-01 1.49910747e-01 8.23974101e-02 2.72601357e+01] [-1.49279449e-01 9.88698678e-01 -1.38047372e-02 -3.83828627e+00] [-8.35356888e-02 1.30101655e-03 9.96503937e-01 -1.34297676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.465779523 meters 0.015875308506333875 Centerline is valid? [True, True] Translation: X:27.29, Y:-3.85, Z:-1.34 [[ 9.85483392e-01 1.48358220e-01 8.25367950e-02 2.72911346e+01] [-1.47717757e-01 9.88932619e-01 -1.38469954e-02 -3.84588064e+00] [-8.36776445e-02 1.45383379e-03 9.96491815e-01 -1.34344440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.495779523 meters 0.01662071063637324 Centerline is valid? [True, True] Translation: X:27.32, Y:-3.85, Z:-1.35 [[ 9.85856338e-01 1.46219772e-01 8.18966406e-02 2.73206993e+01] [-1.45580208e-01 9.89250768e-01 -1.37594288e-02 -3.85462557e+00] [-8.30282152e-02 1.64229009e-03 9.96545844e-01 -1.34576622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.525779523 meters 0.018622516091002787 Centerline is valid? [True, True] Translation: X:27.35, Y:-3.86, Z:-1.35 [[ 9.86103016e-01 1.44840230e-01 8.13765882e-02 2.73516065e+01] [-1.44203261e-01 9.89453496e-01 -1.36820884e-02 -3.86164149e+00] [-8.25000665e-02 1.75717928e-03 9.96589510e-01 -1.34968507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.555779522999998 meters 0.01606743241099496 Centerline is valid? [True, True] Translation: X:27.38, Y:-3.86, Z:-1.35 [[ 9.85832788e-01 1.46756901e-01 8.12165434e-02 2.73838813e+01] [-1.46127288e-01 9.89171274e-01 -1.36750352e-02 -3.86426790e+00] [-8.23439775e-02 1.61334484e-03 9.96602662e-01 -1.35033966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.585779523 meters 0.01506024035653758 Centerline is valid? [True, True] Translation: X:27.42, Y:-3.86, Z:-1.35 [[ 9.85065919e-01 1.51458917e-01 8.18860922e-02 2.74163125e+01] [-1.50833364e-01 9.88462762e-01 -1.38081142e-02 -3.86253859e+00] [-8.30327149e-02 1.25074792e-03 9.96546037e-01 -1.35329625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.615779523 meters 0.014651841499748552 Centerline is valid? [True, True] Translation: X:27.45, Y:-3.87, Z:-1.35 [[ 9.84655272e-01 1.53787472e-01 8.24827821e-02 2.74471265e+01] [-1.53160493e-01 9.88103373e-01 -1.39136036e-02 -3.86707045e+00] [-8.36412532e-02 1.06699960e-03 9.96495360e-01 -1.35436604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.645779522999998 meters 0.014570885329656065 Centerline is valid? [True, True] Translation: X:27.48, Y:-3.87, Z:-1.36 [[ 9.84388186e-01 1.55248842e-01 8.29318826e-02 2.74774289e+01] [-1.54618584e-01 9.87874923e-01 -1.40082433e-02 -3.87239739e+00] [-8.41010906e-02 9.66738953e-04 9.96456759e-01 -1.35668060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.675779523 meters 0.016436324305172736 Centerline is valid? [True, True] Translation: X:27.51, Y:-3.88, Z:-1.36 [[ 9.84490111e-01 1.55489595e-01 8.12539738e-02 2.75100142e+01] [-1.54884523e-01 9.87837085e-01 -1.37360236e-02 -3.87608441e+00] [-8.24014973e-02 9.37996443e-04 9.96598773e-01 -1.36337208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.705779523 meters 0.014028191979530794 Centerline is valid? [True, True] Translation: X:27.54, Y:-3.88, Z:-1.37 [[ 9.84319591e-01 1.56812876e-01 8.07753999e-02 2.75418730e+01] [-1.56217504e-01 9.87627971e-01 -1.36778364e-02 -3.87845228e+00] [-8.19209051e-02 8.44830950e-04 9.96638476e-01 -1.36880590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.735779522999998 meters 0.013490929544859092 Centerline is valid? [True, True] Translation: X:27.57, Y:-3.88, Z:-1.37 [[ 9.83742316e-01 1.60342865e-01 8.08778161e-02 2.75724335e+01] [-1.59756230e-01 9.87061213e-01 -1.37152431e-02 -3.88154669e+00] [-8.20304967e-02 5.71530020e-04 9.96629656e-01 -1.37344941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.765779523 meters 0.013280905005639304 Centerline is valid? [True, True] Translation: X:27.60, Y:-3.89, Z:-1.37 [[ 9.83170739e-01 1.62655579e-01 8.31772797e-02 2.76029882e+01] [-1.62041652e-01 9.86682824e-01 -1.41247128e-02 -3.89022476e+00] [-8.43670566e-02 4.08820552e-04 9.96434660e-01 -1.36972271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.795779523 meters 0.013190757290265828 Centerline is valid? [True, True] Translation: X:27.63, Y:-3.90, Z:-1.37 [[ 9.82721335e-01 1.64610409e-01 8.46297262e-02 2.76341511e+01] [-1.63980354e-01 9.86358628e-01 -1.43909806e-02 -3.89868690e+00] [-8.58441658e-02 2.64711255e-04 9.96308541e-01 -1.36584645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.825779522999998 meters 0.013056627406371545 Centerline is valid? [True, True] Translation: X:27.67, Y:-3.90, Z:-1.37 [[ 9.82762633e-01 1.64793994e-01 8.37887051e-02 2.76671513e+01] [-1.64175270e-01 9.86327972e-01 -1.42692886e-02 -3.89969007e+00] [-8.49946366e-02 2.67290337e-04 9.96381373e-01 -1.37141380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.855779523 meters 0.013175203773929344 Centerline is valid? [True, True] Translation: X:27.70, Y:-3.90, Z:-1.38 [[ 9.83083139e-01 1.63640073e-01 8.22767748e-02 2.76987523e+01] [-1.63037571e-01 9.86520035e-01 -1.40346299e-02 -3.90101160e+00] [-8.34643146e-02 3.83002531e-04 9.96510693e-01 -1.38003662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.885779523 meters 0.013129064986642553 Centerline is valid? [True, True] Translation: X:27.73, Y:-3.90, Z:-1.39 [[ 9.83461594e-01 1.62575306e-01 7.98283354e-02 2.77308192e+01] [-1.62003575e-01 9.86696025e-01 -1.36306779e-02 -3.90440823e+00] [-8.09823129e-02 4.72772488e-04 9.96715427e-01 -1.38808445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.915779523 meters 0.01318495178691973 Centerline is valid? [True, True] Translation: X:27.76, Y:-3.92, Z:-1.39 [[ 9.83740768e-01 1.63203583e-01 7.49579347e-02 2.77598441e+01] [-1.62699819e-01 9.86592326e-01 -1.28199606e-02 -3.91773155e+00] [-7.60451867e-02 4.15875486e-04 9.97104286e-01 -1.39160377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.945779523 meters 0.012914146239955807 Centerline is valid? [True, True] Translation: X:27.79, Y:-3.93, Z:-1.39 [[ 9.83253578e-01 1.66060187e-01 7.50760708e-02 2.77909295e+01] [-1.65562393e-01 9.86115598e-01 -1.28499712e-02 -3.92726081e+00] [-7.61675531e-02 2.05006214e-04 9.97095011e-01 -1.38859063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.975779523 meters 0.012852783537911089 Centerline is valid? [True, True] Translation: X:27.82, Y:-3.93, Z:-1.39 [[ 9.82336797e-01 1.70359379e-01 7.74086478e-02 2.78231961e+01] [-1.69841874e-01 9.85381992e-01 -1.32690825e-02 -3.93296151e+00] [-7.85376002e-02 -1.12521812e-04 9.96911146e-01 -1.38547551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.005779523 meters 0.01288653858922551 Centerline is valid? [True, True] Translation: X:27.86, Y:-3.94, Z:-1.38 [[ 9.81735231e-01 1.72723854e-01 7.97646920e-02 2.78560927e+01] [-1.72180451e-01 9.84970246e-01 -1.36933058e-02 -3.93666074e+00] [-8.09310089e-02 -2.90719859e-04 9.96719663e-01 -1.38416302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.035779523 meters 0.012923333116535655 Centerline is valid? [True, True] Translation: X:27.89, Y:-3.94, Z:-1.39 [[ 9.81455946e-01 1.73084460e-01 8.23771606e-02 2.78888725e+01] [-1.72504045e-01 9.84906937e-01 -1.41661235e-02 -3.93748722e+00] [-8.35857728e-02 -3.06967231e-04 9.96500539e-01 -1.38681579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.065779523 meters 0.012712566617284647 Centerline is valid? [True, True] Translation: X:27.92, Y:-3.93, Z:-1.40 [[ 9.82203824e-01 1.69292328e-01 8.13372989e-02 2.79210972e+01] [-1.68711581e-01 9.85565881e-01 -1.40105773e-02 -3.93180259e+00] [-8.25351499e-02 3.86982673e-05 9.96588153e-01 -1.40203143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.095779523 meters 0.012763881849658933 Centerline is valid? [True, True] Translation: X:27.95, Y:-3.94, Z:-1.41 [[ 9.82879098e-01 1.66649086e-01 7.85923730e-02 2.79519680e+01] [-1.66096858e-01 9.86016231e-01 -1.35582256e-02 -3.93856044e+00] [-7.97528213e-02 2.72150313e-04 9.96814633e-01 -1.40962595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.125779523 meters 0.013079261556236533 Centerline is valid? [True, True] Translation: X:27.98, Y:-3.95, Z:-1.41 [[ 9.83395952e-01 1.63987491e-01 7.77206749e-02 2.79822052e+01] [-1.63437550e-01 9.86462290e-01 -1.34282307e-02 -3.94957288e+00] [-7.88705769e-02 5.02791056e-04 9.96884737e-01 -1.41077015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.155779523 meters 0.01343496994260875 Centerline is valid? [True, True] Translation: X:28.01, Y:-3.96, Z:-1.41 [[ 9.83845350e-01 1.61165113e-01 7.79367327e-02 2.80131616e+01] [-1.60601726e-01 9.86927172e-01 -1.34848890e-02 -3.96255064e+00] [-7.90911729e-02 7.50271529e-04 9.96867104e-01 -1.40868886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.185779523 meters 0.013937721919637483 Centerline is valid? [True, True] Translation: X:28.04, Y:-3.97, Z:-1.41 [[ 9.84217279e-01 1.58638461e-01 7.84231219e-02 2.80439919e+01] [-1.58058418e-01 9.87336255e-01 -1.35888244e-02 -3.97456932e+00] [-7.95857017e-02 9.78921197e-04 9.96827547e-01 -1.40654216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.215779523 meters 0.01466300558250184 Centerline is valid? [True, True] Translation: X:28.07, Y:-3.98, Z:-1.41 [[ 9.84939091e-01 1.56018049e-01 7.45208424e-02 2.80746456e+01] [-1.55485564e-01 9.87753537e-01 -1.29301992e-02 -3.98465527e+00] [-7.56255701e-02 1.14854346e-03 9.97135625e-01 -1.40664239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.245779523 meters 0.015188242388610468 Centerline is valid? [True, True] Translation: X:28.11, Y:-3.99, Z:-1.41 [[ 9.85245053e-01 1.55583507e-01 7.13159073e-02 2.81052169e+01] [-1.55093476e-01 9.87822076e-01 -1.23919416e-02 -3.98948069e+00] [-7.23754093e-02 1.14846722e-03 9.97376800e-01 -1.41081017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.275779523 meters 0.015306914380982481 Centerline is valid? [True, True] Translation: X:28.14, Y:-3.99, Z:-1.42 [[ 9.85361666e-01 1.55578617e-01 6.96970641e-02 2.81370230e+01] [-1.55110042e-01 9.87822867e-01 -1.21185297e-02 -3.99195036e+00] [-7.07337378e-02 1.13042006e-03 9.97494592e-01 -1.41585503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.305779522999998 meters 0.015311455307316958 Centerline is valid? [True, True] Translation: X:28.17, Y:-3.99, Z:-1.43 [[ 9.85673506e-01 1.53431398e-01 7.00467347e-02 2.81694243e+01] [-1.52951392e-01 9.88158435e-01 -1.21974966e-02 -3.98653629e+00] [-7.10887507e-02 1.30900363e-03 9.97469135e-01 -1.42543856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.335779523 meters 0.016619259116109873 Centerline is valid? [True, True] Translation: X:28.20, Y:-3.99, Z:-1.43 [[ 9.85939125e-01 1.51545210e-01 7.04137159e-02 2.82001320e+01] [-1.51054667e-01 9.88449246e-01 -1.22709413e-02 -3.99111535e+00] [-7.14599867e-02 1.46208067e-03 9.97442396e-01 -1.43221835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.365779523 meters 0.019009070257820275 Centerline is valid? [True, True] Translation: X:28.23, Y:-4.00, Z:-1.44 [[ 9.86361591e-01 1.48424680e-01 7.11401897e-02 2.82312688e+01] [-1.47915218e-01 9.88922229e-01 -1.24061414e-02 -3.99751773e+00] [-7.21934925e-02 1.71422471e-03 9.97389172e-01 -1.43557508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.395779522999998 meters 0.01778686509751802 Centerline is valid? [True, True] Translation: X:28.26, Y:-4.01, Z:-1.43 [[ 9.86555314e-01 1.45620746e-01 7.41836282e-02 2.82619668e+01] [-1.45057316e-01 9.89338422e-01 -1.29561396e-02 -4.00856761e+00] [-7.52793964e-02 2.02107045e-03 9.97160432e-01 -1.43216670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.425779523 meters 0.021121155860246314 Centerline is valid? [True, True] Translation: X:28.29, Y:-4.03, Z:-1.42 [[ 9.87602647e-01 1.37217506e-01 7.62388883e-02 2.82904367e+01] [-1.36595794e-01 9.90537107e-01 -1.33352334e-02 -4.02664970e+00] [-7.73472753e-02 2.75600033e-03 9.97000403e-01 -1.42499787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.455779523 meters 0.02247316153783267 Centerline is valid? [True, True] Translation: X:28.32, Y:-4.03, Z:-1.43 [[ 9.88061897e-01 1.34529013e-01 7.50708460e-02 2.83219301e+01] [-1.33918173e-01 9.90905338e-01 -1.31352270e-02 -4.03465751e+00] [-7.61551711e-02 2.92506672e-03 9.97091688e-01 -1.42650447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.485779522999998 meters 0.02275903927087418 Centerline is valid? [True, True] Translation: X:28.35, Y:-4.04, Z:-1.43 [[ 9.88275494e-01 1.33403133e-01 7.42640710e-02 2.83536279e+01] [-1.32801900e-01 9.91057367e-01 -1.29981352e-02 -4.03948387e+00] [-7.53339466e-02 2.98332879e-03 9.97153898e-01 -1.42863548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.515779523 meters 0.023343652383669894 Centerline is valid? [True, True] Translation: X:28.39, Y:-4.04, Z:-1.43 [[ 9.88352373e-01 1.32679900e-01 7.45361088e-02 2.83853870e+01] [-1.32070808e-01 9.91154192e-01 -1.30640376e-02 -4.04359329e+00] [-7.56101119e-02 3.06782851e-03 9.97132739e-01 -1.43042666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.545779523 meters 0.025356242992143962 Centerline is valid? [True, True] Translation: X:28.42, Y:-4.05, Z:-1.43 [[ 9.88434532e-01 1.30892890e-01 7.65782475e-02 2.84165416e+01] [-1.30243050e-01 9.91390984e-01 -1.34411922e-02 -4.04537694e+00] [-7.76783406e-02 3.31195400e-03 9.96972972e-01 -1.43370683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.575779522999998 meters 0.022901368060277618 Centerline is valid? [True, True] Translation: X:28.45, Y:-4.05, Z:-1.44 [[ 9.88530849e-01 1.29998547e-01 7.68579150e-02 2.84483586e+01] [-1.29339898e-01 9.91508314e-01 -1.35075397e-02 -4.04625390e+00] [-7.79612222e-02 3.41182477e-03 9.96950554e-01 -1.43652246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.605779523 meters 0.025128303816766853 Centerline is valid? [True, True] Translation: X:28.48, Y:-4.05, Z:-1.44 [[ 9.88921472e-01 1.27611841e-01 7.58257297e-02 2.84774219e+01] [-1.26962399e-01 9.91817764e-01 -1.33443840e-02 -4.05478130e+00] [-7.69082070e-02 3.56953133e-03 9.97031788e-01 -1.43938600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.635779523 meters 0.025128303816766853 Centerline is valid? [True, True] Translation: X:28.51, Y:-4.06, Z:-1.44 [[ 9.88886951e-01 1.27879079e-01 7.58257117e-02 2.85092400e+01] [-1.27230412e-01 9.91783417e-01 -1.33444871e-02 -4.06046897e+00] [-7.69091642e-02 3.54885263e-03 9.97031788e-01 -1.44202032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.665779523 meters 0.0241220756124954 Centerline is valid? [True, True] Translation: X:28.54, Y:-4.06, Z:-1.45 [[ 9.89073838e-01 1.27444360e-01 7.41004556e-02 2.85415851e+01] [-1.26822183e-01 9.91839472e-01 -1.30612431e-02 -4.06205182e+00] [-7.51603386e-02 3.52095231e-03 9.97165245e-01 -1.44779183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.695779523 meters 0.024920092388444705 Centerline is valid? [True, True] Translation: X:28.57, Y:-4.07, Z:-1.45 [[ 9.89176988e-01 1.28079779e-01 7.15853138e-02 2.85730958e+01] [-1.27499615e-01 9.91758139e-01 -1.26349707e-02 -4.06586349e+00] [-7.26136018e-02 3.37112228e-03 9.97354451e-01 -1.45481909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.725779523 meters 0.024662039389535827 Centerline is valid? [True, True] Translation: X:28.61, Y:-4.07, Z:-1.46 [[ 9.89110220e-01 1.29412379e-01 7.00957114e-02 2.86052267e+01] [-1.28858063e-01 9.91585618e-01 -1.23920065e-02 -4.07064306e+00] [-7.11095783e-02 3.22466269e-03 9.97463297e-01 -1.45817226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.755779523 meters 0.025048255329012937 Centerline is valid? [True, True] Translation: X:28.64, Y:-4.08, Z:-1.45 [[ 9.88723136e-01 1.32063196e-01 7.06107124e-02 2.86351967e+01] [-1.31506941e-01 9.91236566e-01 -1.24898057e-02 -4.08021007e+00] [-7.16413637e-02 3.06316107e-03 9.97425753e-01 -1.45279215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.785779523 meters 0.02371871623622566 Centerline is valid? [True, True] Translation: X:28.67, Y:-4.08, Z:-1.45 [[ 9.88524921e-01 1.33405259e-01 7.08626682e-02 2.86671584e+01] [-1.32848414e-01 9.91057099e-01 -1.25349668e-02 -4.08283857e+00] [-7.19011809e-02 2.97713391e-03 9.97407317e-01 -1.45277732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.815779523 meters 0.023168326273352403 Centerline is valid? [True, True] Translation: X:28.70, Y:-4.08, Z:-1.46 [[ 9.88367523e-01 1.34717935e-01 7.05741970e-02 2.87000790e+01] [-1.34167625e-01 9.90879779e-01 -1.25025184e-02 -4.08282859e+00] [-7.16148581e-02 2.88831078e-03 9.97428178e-01 -1.45741063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.845779523 meters 0.02207894624050896 Centerline is valid? [True, True] Translation: X:28.73, Y:-4.08, Z:-1.46 [[ 9.88255198e-01 1.36082468e-01 6.95214028e-02 2.87330558e+01] [-1.35551426e-01 9.90693686e-01 -1.23219680e-02 -4.08099487e+00] [-7.05512186e-02 2.75352368e-03 9.97504358e-01 -1.46467099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.875779523 meters 0.022126125993673203 Centerline is valid? [True, True] Translation: X:28.76, Y:-4.08, Z:-1.47 [[ 9.88152582e-01 1.37281131e-01 6.86175324e-02 2.87644823e+01] [-1.36766419e-01 9.90528614e-01 -1.21659647e-02 -4.08381807e+00] [-6.96377867e-02 2.63725531e-03 9.97568857e-01 -1.47134708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.905779523 meters 0.022450091574255614 Centerline is valid? [True, True] Translation: X:28.79, Y:-4.09, Z:-1.48 [[ 9.88068325e-01 1.38522364e-01 6.73241468e-02 2.87943840e+01] [-1.38028652e-01 9.90356105e-01 -1.19530644e-02 -4.09127155e+00] [-6.83306466e-02 2.51778312e-03 9.97659553e-01 -1.47545402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.935779523 meters 0.02107056595777688 Centerline is valid? [True, True] Translation: X:28.82, Y:-4.11, Z:-1.47 [[ 9.87716110e-01 1.41949073e-01 6.53249280e-02 2.88241144e+01] [-1.41490627e-01 9.89871451e-01 -1.16152144e-02 -4.10540326e+00] [-6.63120502e-02 2.22966932e-03 9.97796442e-01 -1.47231356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.965779523 meters 0.020793514925336088 Centerline is valid? [True, True] Translation: X:28.85, Y:-4.11, Z:-1.47 [[ 9.87267906e-01 1.44531479e-01 6.64284041e-02 2.88539522e+01] [-1.44063044e-01 9.89497988e-01 -1.18140330e-02 -4.11239653e+00] [-6.74382718e-02 2.09373752e-03 9.97721252e-01 -1.47009659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.995779523 meters 0.02239660643529765 Centerline is valid? [True, True] Translation: X:28.89, Y:-4.11, Z:-1.47 [[ 9.87009051e-01 1.45666600e-01 6.77818204e-02 2.88868873e+01] [-1.45181497e-01 9.89331596e-01 -1.20551197e-02 -4.11327510e+00] [-6.88147248e-02 2.05784610e-03 9.97627335e-01 -1.47259794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.025779523 meters 0.019820637410831343 Centerline is valid? [True, True] Translation: X:28.92, Y:-4.11, Z:-1.47 [[ 9.86573619e-01 1.47330510e-01 7.04713769e-02 2.89195954e+01] [-1.46809966e-01 9.89085246e-01 -1.25383330e-02 -4.11056647e+00] [-7.15494781e-02 2.02408810e-03 9.97434998e-01 -1.47458752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.055779522999998 meters 0.01926995989639785 Centerline is valid? [True, True] Translation: X:28.95, Y:-4.11, Z:-1.48 [[ 9.86859997e-01 1.45635899e-01 6.99823643e-02 2.89513724e+01] [-1.45117143e-01 9.89335924e-01 -1.24677670e-02 -4.11105448e+00] [-7.10518215e-02 2.14829981e-03 9.97470312e-01 -1.48031440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.085779523 meters 0.020346017724838985 Centerline is valid? [True, True] Translation: X:28.98, Y:-4.13, Z:-1.48 [[ 9.87258133e-01 1.43219345e-01 6.93512715e-02 2.89815135e+01] [-1.42702640e-01 9.89688253e-01 -1.23741325e-02 -4.12605061e+00] [-7.04083538e-02 2.31985343e-03 9.97515555e-01 -1.48061751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.115779523 meters 0.021846396268097274 Centerline is valid? [True, True] Translation: X:29.01, Y:-4.14, Z:-1.48 [[ 9.87748133e-01 1.40461129e-01 6.80021866e-02 2.90091789e+01] [-1.39957463e-01 9.90083106e-01 -1.21388457e-02 -4.14165415e+00] [-6.90328521e-02 2.47270866e-03 9.97611323e-01 -1.48056852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.145779522999998 meters 0.02316446983716817 Centerline is valid? [True, True] Translation: X:29.04, Y:-4.16, Z:-1.48 [[ 9.87982068e-01 1.38710330e-01 6.81973425e-02 2.90385287e+01] [-1.38199750e-01 9.90329583e-01 -1.21715658e-02 -4.15563430e+00] [-6.92261677e-02 2.60043305e-03 9.97597602e-01 -1.48075752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.175779523 meters 0.023040922254671657 Centerline is valid? [True, True] Translation: X:29.07, Y:-4.16, Z:-1.48 [[ 9.87757933e-01 1.39291357e-01 7.02295100e-02 2.90708527e+01] [-1.38750155e-01 9.90247890e-01 -1.25503541e-02 -4.15707588e+00] [-7.12927799e-02 2.65235638e-03 9.97451906e-01 -1.48377272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.205779523 meters 0.02492238309583029 Centerline is valid? [True, True] Translation: X:29.10, Y:-4.15, Z:-1.49 [[ 9.87679457e-01 1.39949121e-01 7.00252325e-02 2.91035491e+01] [-1.39411525e-01 9.90155246e-01 -1.25305849e-02 -4.15423008e+00] [-7.10894956e-02 2.61387684e-03 9.97466516e-01 -1.49239600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.235779522999998 meters 0.02256851396718433 Centerline is valid? [True, True] Translation: X:29.14, Y:-4.15, Z:-1.50 [[ 9.87446901e-01 1.42610395e-01 6.79035526e-02 2.91362482e+01] [-1.42110129e-01 9.89776079e-01 -1.21665253e-02 -4.14984094e+00] [-6.89443850e-02 2.36401507e-03 9.97617704e-01 -1.49995800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.265779523 meters 0.022557802528439197 Centerline is valid? [True, True] Translation: X:29.17, Y:-4.16, Z:-1.51 [[ 9.87354173e-01 1.46134855e-01 6.14519449e-02 2.91671281e+01] [-1.45731279e-01 9.89262799e-01 -1.10230729e-02 -4.15657185e+00] [-6.24029782e-02 1.92820653e-03 9.98049172e-01 -1.50776532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.295779523 meters 0.019928108470481397 Centerline is valid? [True, True] Translation: X:29.20, Y:-4.17, Z:-1.50 [[ 9.87248237e-01 1.46757374e-01 6.16700279e-02 2.91979886e+01] [-1.46351143e-01 9.89170673e-01 -1.10780296e-02 -4.16980204e+00] [-6.26279655e-02 1.91128610e-03 9.98035112e-01 -1.50084732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.325779522999998 meters 0.022209280291107927 Centerline is valid? [True, True] Translation: X:29.23, Y:-4.19, Z:-1.50 [[ 9.87117607e-01 1.46843994e-01 6.35269371e-02 2.92263410e+01] [-1.46411913e-01 9.89157680e-01 -1.14295975e-02 -4.18881077e+00] [-6.45165255e-02 1.98125653e-03 9.97914672e-01 -1.49735933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.355779523 meters 0.01905279633438185 Centerline is valid? [True, True] Translation: X:29.26, Y:-4.19, Z:-1.50 [[ 9.86886026e-01 1.47437147e-01 6.57134663e-02 2.92584159e+01] [-1.46975541e-01 9.89069369e-01 -1.18310461e-02 -4.18887786e+00] [-6.67395123e-02 2.01762179e-03 9.97768393e-01 -1.49989298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.385779523 meters 0.019050319974843747 Centerline is valid? [True, True] Translation: X:29.29, Y:-4.18, Z:-1.51 [[ 9.86680020e-01 1.48001552e-01 6.75135445e-02 2.92909120e+01] [-1.47514387e-01 9.88985001e-01 -1.21726269e-02 -4.18409098e+00] [-6.85714505e-02 2.05126866e-03 9.97644099e-01 -1.50943102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.415779523 meters 0.01862633933464398 Centerline is valid? [True, True] Translation: X:29.32, Y:-4.18, Z:-1.52 [[ 9.86449459e-01 1.48544446e-01 6.96563839e-02 2.93242594e+01] [-1.48025887e-01 9.88903512e-01 -1.25770004e-02 -4.17919634e+00] [-7.07516863e-02 2.09562724e-03 9.97491758e-01 -1.51698919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.445779523 meters 0.01961058186724616 Centerline is valid? [True, True] Translation: X:29.36, Y:-4.18, Z:-1.52 [[ 9.86328092e-01 1.48920841e-01 7.05654164e-02 2.93551951e+01] [-1.48388285e-01 9.88846861e-01 -1.27593946e-02 -4.18411808e+00] [-7.16785303e-02 2.11386823e-03 9.97425546e-01 -1.52089484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.475779523 meters 0.01991643931510034 Centerline is valid? [True, True] Translation: X:29.38, Y:-4.21, Z:-1.51 [[ 9.86849242e-01 1.48348016e-01 6.41984324e-02 2.93830619e+01] [-1.47905272e-01 9.88933250e-01 -1.16214642e-02 -4.21112627e+00] [-6.52119855e-02 1.97334654e-03 9.97869482e-01 -1.51354799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.505779523 meters 0.01945971932693948 Centerline is valid? [True, True] Translation: X:29.41, Y:-4.23, Z:-1.51 [[ 9.87028221e-01 1.48265160e-01 6.15851659e-02 2.94131603e+01] [-1.47856798e-01 9.88945798e-01 -1.11613581e-02 -4.22744770e+00] [-6.25592315e-02 1.91079003e-03 9.98039424e-01 -1.50871454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.535779523 meters 0.019057119732741434 Centerline is valid? [True, True] Translation: X:29.44, Y:-4.24, Z:-1.51 [[ 9.86894295e-01 1.49279254e-01 6.12809469e-02 2.94441288e+01] [-1.48875924e-01 9.88793342e-01 -1.11214494e-02 -4.23568049e+00] [-6.22543939e-02 1.85243743e-03 9.98058595e-01 -1.50863462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.565779523 meters 0.019567542291423226 Centerline is valid? [True, True] Translation: X:29.47, Y:-4.24, Z:-1.52 [[ 9.86476896e-01 1.51353719e-01 6.28918610e-02 2.94749779e+01] [-1.50932011e-01 9.88478058e-01 -1.14305546e-02 -4.23737770e+00] [-6.38972816e-02 1.78358299e-03 9.97954887e-01 -1.51582926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.595779523 meters 0.01869425812891013 Centerline is valid? [True, True] Translation: X:29.51, Y:-4.23, Z:-1.53 [[ 9.85907416e-01 1.54320686e-01 6.45886435e-02 2.95069440e+01] [-1.53881020e-01 9.88019430e-01 -1.17574443e-02 -4.23381866e+00] [-6.56292516e-02 1.65278527e-03 9.97842708e-01 -1.52534940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.625779523 meters 0.01690508612933112 Centerline is valid? [True, True] Translation: X:29.54, Y:-4.23, Z:-1.54 [[ 9.84787543e-01 1.59874669e-01 6.80704461e-02 2.95380753e+01] [-1.59399289e-01 9.87136391e-01 -1.23940644e-02 -4.22827001e+00] [-6.91763114e-02 1.35513950e-03 9.97603529e-01 -1.53575661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.655779523 meters 0.018747433364490373 Centerline is valid? [True, True] Translation: X:29.57, Y:-4.24, Z:-1.54 [[ 9.84363844e-01 1.61080482e-01 7.12804411e-02 2.95696672e+01] [-1.60562374e-01 9.86940378e-01 -1.29774159e-02 -4.23576144e+00] [-7.24399539e-02 1.32954216e-03 9.97371889e-01 -1.53610329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.685779523 meters 0.015372703703274966 Centerline is valid? [True, True] Translation: X:29.60, Y:-4.25, Z:-1.53 [[ 9.83821484e-01 1.62925742e-01 7.45016115e-02 2.96012565e+01] [-1.62363515e-01 9.86637521e-01 -1.35827423e-02 -4.24660020e+00] [-7.57190636e-02 1.26665014e-03 9.97128386e-01 -1.52835036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.715779523 meters 0.015581669214132248 Centerline is valid? [True, True] Translation: X:29.63, Y:-4.27, Z:-1.52 [[ 9.83753891e-01 1.63774087e-01 7.35277522e-02 2.96310279e+01] [-1.63227503e-01 9.86497137e-01 -1.34231841e-02 -4.26538095e+00] [-7.47332867e-02 1.20335818e-03 9.97202832e-01 -1.52166289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.745779523 meters 0.015602333807950952 Centerline is valid? [True, True] Translation: X:29.66, Y:-4.27, Z:-1.53 [[ 9.83723927e-01 1.64570099e-01 7.21381898e-02 2.96627666e+01] [-1.64044776e-01 9.86364732e-01 -1.31881726e-02 -4.27182679e+00] [-7.33249451e-02 1.13962779e-03 9.97307452e-01 -1.52558811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.775779523 meters 0.01540973142994855 Centerline is valid? [True, True] Translation: X:29.69, Y:-4.27, Z:-1.53 [[ 9.83554733e-01 1.65504355e-01 7.23076415e-02 2.96949415e+01] [-1.64977569e-01 9.86208454e-01 -1.32396170e-02 -4.27414498e+00] [-7.35016216e-02 1.09274907e-03 9.97294499e-01 -1.53195123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.805779522999998 meters 0.015307918817534327 Centerline is valid? [True, True] Translation: X:29.73, Y:-4.28, Z:-1.54 [[ 9.83231801e-01 1.67342977e-01 7.24675982e-02 2.97261735e+01] [-1.66817528e-01 9.85898259e-01 -1.32866464e-02 -4.27590857e+00] [-7.36691059e-02 9.74987693e-04 9.97282263e-01 -1.53953507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.835779523 meters 0.014203997573726965 Centerline is valid? [True, True] Translation: X:29.76, Y:-4.28, Z:-1.55 [[ 9.82514752e-01 1.72529307e-01 6.99885753e-02 2.97576154e+01] [-1.72051210e-01 9.85004213e-01 -1.28484070e-02 -4.27812109e+00] [-7.11557682e-02 5.82130385e-04 9.97465046e-01 -1.54741552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.865779523 meters 0.013957188104911712 Centerline is valid? [True, True] Translation: X:29.79, Y:-4.29, Z:-1.55 [[ 9.82044200e-01 1.75551273e-01 6.90719930e-02 2.97878719e+01] [-1.75091921e-01 9.84470218e-01 -1.26968238e-02 -4.28565563e+00] [-7.02282636e-02 3.74894260e-04 9.97530877e-01 -1.54946450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.895779522999998 meters 0.013486990636597503 Centerline is valid? [True, True] Translation: X:29.82, Y:-4.29, Z:-1.55 [[ 9.81506070e-01 1.78440007e-01 6.93180985e-02 2.98192274e+01] [-1.77983481e-01 9.83950776e-01 -1.27573691e-02 -4.29219892e+00] [-7.04820218e-02 1.83958800e-04 9.97513033e-01 -1.54791905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.925779523 meters 0.01337039623153105 Centerline is valid? [True, True] Translation: X:29.85, Y:-4.30, Z:-1.55 [[ 9.81062350e-01 1.80925453e-01 6.91566737e-02 2.98513010e+01] [-1.80476043e-01 9.83496812e-01 -1.27443180e-02 -4.29901490e+00] [-7.03211396e-02 2.18477176e-05 9.97524404e-01 -1.54758046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.955779523 meters 0.013352375866623453 Centerline is valid? [True, True] Translation: X:29.88, Y:-4.31, Z:-1.55 [[ 9.80629203e-01 1.83402825e-01 6.87733215e-02 2.98839880e+01] [-1.82963113e-01 9.83037835e-01 -1.26930586e-02 -4.30513555e+00] [-6.99347199e-02 -1.35797105e-04 9.97551561e-01 -1.54913483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.985779522999998 meters 0.013755173809995467 Centerline is valid? [True, True] Translation: X:29.92, Y:-4.31, Z:-1.55 [[ 9.79866215e-01 1.87458859e-01 6.87122712e-02 2.99150225e+01] [-1.87028449e-01 9.82272372e-01 -1.27022386e-02 -4.30607665e+00] [-6.98753128e-02 -4.04655068e-04 9.97555651e-01 -1.55416950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.015779523 meters 0.01367307946223057 Centerline is valid? [True, True] Translation: X:29.95, Y:-4.31, Z:-1.56 [[ 9.79480538e-01 1.88897462e-01 7.02540030e-02 2.99467678e+01] [-1.88450005e-01 9.81996689e-01 -1.30038238e-02 -4.31042439e+00] [-7.14455876e-02 -5.02374886e-04 9.97444372e-01 -1.55588632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.045779523 meters 0.01374844488062671 Centerline is valid? [True, True] Translation: X:29.98, Y:-4.31, Z:-1.56 [[ 9.79260563e-01 1.89771303e-01 7.09619756e-02 2.99797129e+01] [-1.89315794e-01 9.81828165e-01 -1.31523910e-02 -4.31392618e+00] [-7.21684127e-02 -5.54604942e-04 9.97392306e-01 -1.55924747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.075779522999998 meters 0.014031682358083485 Centerline is valid? [True, True] Translation: X:30.01, Y:-4.31, Z:-1.57 [[ 9.79409482e-01 1.89594620e-01 6.93609894e-02 3.00107897e+01] [-1.89157557e-01 9.81862323e-01 -1.28762554e-02 -4.31331696e+00] [-7.05442109e-02 -5.09028696e-04 9.97508524e-01 -1.57019404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.105779523 meters 0.013956932410867302 Centerline is valid? [True, True] Translation: X:30.04, Y:-4.32, Z:-1.58 [[ 9.79669250e-01 1.88706742e-01 6.81023187e-02 3.00429327e+01] [-1.88282755e-01 9.82033391e-01 -1.26500338e-02 -4.31956205e+00] [-6.92658977e-02 -4.29643047e-04 9.97598141e-01 -1.57620922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.135779523 meters 0.013871577755167373 Centerline is valid? [True, True] Translation: X:30.07, Y:-4.33, Z:-1.58 [[ 9.80021179e-01 1.87180490e-01 6.72454602e-02 3.00743639e+01] [-1.86762325e-01 9.82325493e-01 -1.25084033e-02 -4.32962725e+00] [-6.83982589e-02 -3.00418293e-04 9.97658052e-01 -1.57812041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.165779523 meters 0.013818868154849527 Centerline is valid? [True, True] Translation: X:30.11, Y:-4.34, Z:-1.58 [[ 9.80334567e-01 1.85666784e-01 6.68728875e-02 3.01059372e+01] [-1.85248534e-01 9.82612749e-01 -1.24565818e-02 -4.34236849e+00] [-6.80229253e-02 -1.76486649e-04 9.97683743e-01 -1.57609879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.195779523 meters 0.013560155968141425 Centerline is valid? [True, True] Translation: X:30.14, Y:-4.36, Z:-1.57 [[ 9.80470189e-01 1.84441268e-01 6.82614591e-02 3.01369467e+01] [-1.84001189e-01 9.82843534e-01 -1.27337903e-02 -4.35517765e+00] [-6.94389702e-02 -7.50878393e-05 9.97586199e-01 -1.56784145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.225779523 meters 0.013552433929185863 Centerline is valid? [True, True] Translation: X:30.17, Y:-4.36, Z:-1.57 [[ 9.80528587e-01 1.83554275e-01 6.97962668e-02 3.01691311e+01] [-1.83090686e-01 9.83009577e-01 -1.30373463e-02 -4.35960402e+00] [-7.10034593e-02 4.44440909e-06 9.97476069e-01 -1.56930196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.255779523 meters 0.013470122471499658 Centerline is valid? [True, True] Translation: X:30.20, Y:-4.36, Z:-1.57 [[ 9.80534899e-01 1.82292755e-01 7.29428815e-02 3.02016763e+01] [-1.81781489e-01 9.83244292e-01 -1.36437841e-02 -4.36023160e+00] [-7.42078349e-02 1.18540903e-04 9.97242790e-01 -1.57330696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.285779523 meters 0.013593720998670615 Centerline is valid? [True, True] Translation: X:30.23, Y:-4.35, Z:-1.58 [[ 9.80679236e-01 1.79430648e-01 7.79286756e-02 3.02348769e+01] [-1.78836348e-01 9.83770552e-01 -1.45966138e-02 -4.35428749e+00] [-7.92830161e-02 3.78116248e-04 9.96852075e-01 -1.58133786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.315779523 meters 0.013764161462509014 Centerline is valid? [True, True] Translation: X:30.27, Y:-4.36, Z:-1.58 [[ 9.80981205e-01 1.78053888e-01 7.72831653e-02 3.02661430e+01] [-1.77463661e-01 9.84020609e-01 -1.44944878e-02 -4.36232666e+00] [-7.86290273e-02 5.03866682e-04 9.96903818e-01 -1.58441822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.345779523 meters 0.014280366302377279 Centerline is valid? [True, True] Translation: X:30.30, Y:-4.38, Z:-1.59 [[ 9.81588742e-01 1.75663388e-01 7.50061097e-02 3.02968100e+01] [-1.75099051e-01 9.84450046e-01 -1.40864912e-02 -4.37549167e+00] [-7.63142489e-02 6.93642575e-04 9.97083574e-01 -1.58516188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.375779523 meters 0.015080506310646748 Centerline is valid? [True, True] Translation: X:30.33, Y:-4.39, Z:-1.58 [[ 9.82263088e-01 1.72770703e-01 7.28663825e-02 3.03267853e+01] [-1.72228936e-01 9.84961653e-01 -1.37016601e-02 -4.39021884e+00] [-7.41378380e-02 9.08935446e-04 9.97247590e-01 -1.58421034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.405779523 meters 0.016952517851417364 Centerline is valid? [True, True] Translation: X:30.36, Y:-4.40, Z:-1.58 [[ 9.83567241e-01 1.66312902e-01 7.02531223e-02 3.03555782e+01] [-1.65791567e-01 9.86072086e-01 -1.32286753e-02 -4.40378569e+00] [-7.14747422e-02 1.36391643e-03 9.97441477e-01 -1.58319938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.435779523 meters 0.017503102631019667 Centerline is valid? [True, True] Translation: X:30.39, Y:-4.41, Z:-1.59 [[ 9.83995061e-01 1.63671934e-01 7.04643019e-02 3.03876349e+01] [-1.63140756e-01 9.86513591e-01 -1.32675470e-02 -4.40671714e+00] [-7.16855166e-02 1.55960123e-03 9.97426065e-01 -1.58780057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.465779523 meters 0.01868914538662407 Centerline is valid? [True, True] Translation: X:30.42, Y:-4.41, Z:-1.60 [[ 9.84304054e-01 1.61758853e-01 7.05662986e-02 3.04188445e+01] [-1.61219896e-01 9.86828818e-01 -1.33052215e-02 -4.40835567e+00] [-7.17890944e-02 1.71969210e-03 9.97418352e-01 -1.59541472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.495779523 meters 0.018843779397536724 Centerline is valid? [True, True] Translation: X:30.45, Y:-4.41, Z:-1.60 [[ 9.84433273e-01 1.61571525e-01 6.91792867e-02 3.04510294e+01] [-1.61052589e-01 9.86859529e-01 -1.30511859e-02 -4.40980259e+00] [-7.03789383e-02 1.70651838e-03 9.97518868e-01 -1.60427178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.525779523 meters 0.018843779397536724 Centerline is valid? [True, True] Translation: X:30.48, Y:-4.42, Z:-1.61 [[ 9.84390264e-01 1.61834629e-01 6.91763084e-02 3.04827533e+01] [-1.61315234e-01 9.86816422e-01 -1.30669515e-02 -4.41588602e+00] [-7.03790024e-02 1.70378749e-03 9.97518869e-01 -1.60691244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.555779522999998 meters 0.017864056840481583 Centerline is valid? [True, True] Translation: X:30.51, Y:-4.42, Z:-1.61 [[ 9.84132352e-01 1.63321451e-01 6.93514098e-02 3.05136187e+01] [-1.62801722e-01 9.86571577e-01 -1.31195612e-02 -4.42451574e+00] [-7.05628355e-02 1.62085568e-03 9.97506020e-01 -1.60599431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.585779523 meters 0.01721324218607445 Centerline is valid? [True, True] Translation: X:30.54, Y:-4.44, Z:-1.60 [[ 9.83729858e-01 1.64938368e-01 7.12102620e-02 3.05444989e+01] [-1.64393272e-01 9.86302637e-01 -1.34892948e-02 -4.43502187e+00] [-7.24597714e-02 1.56333402e-03 9.97370111e-01 -1.60286499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.615779523 meters 0.0172539435233144 Centerline is valid? [True, True] Translation: X:30.57, Y:-4.44, Z:-1.60 [[ 9.83297407e-01 1.66556435e-01 7.33836693e-02 3.05745544e+01] [-1.65980583e-01 9.86030772e-01 -1.39198927e-02 -4.44470864e+00] [-7.46770038e-02 1.50713015e-03 9.97206635e-01 -1.60079541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.645779522999998 meters 0.018005928865092787 Centerline is valid? [True, True] Translation: X:30.61, Y:-4.45, Z:-1.61 [[ 9.83041408e-01 1.67209006e-01 7.53043083e-02 3.06068443e+01] [-1.66603122e-01 9.85920310e-01 -1.43017995e-02 -4.44554887e+00] [-7.66354367e-02 1.51332830e-03 9.97058032e-01 -1.60657999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.675779523 meters 0.016190628774284895 Centerline is valid? [True, True] Translation: X:30.64, Y:-4.45, Z:-1.61 [[ 9.82774813e-01 1.68606695e-01 7.56666996e-02 3.06397655e+01] [-1.67997590e-01 9.85682371e-01 -1.43900357e-02 -4.44552026e+00] [-7.70095883e-02 1.43034138e-03 9.97029326e-01 -1.61172240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.705779523 meters 0.01590072743006311 Centerline is valid? [True, True] Translation: X:30.67, Y:-4.45, Z:-1.62 [[ 9.82645965e-01 1.69835110e-01 7.45851444e-02 3.06717267e+01] [-1.69246417e-01 9.85471609e-01 -1.41900937e-02 -4.44715868e+00] [-7.59115183e-02 1.32056989e-03 9.97113683e-01 -1.61825634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.735779522999998 meters 0.014926436837272645 Centerline is valid? [True, True] Translation: X:30.70, Y:-4.45, Z:-1.62 [[ 9.81854189e-01 1.75891291e-01 7.08844492e-02 3.07021133e+01] [-1.75374175e-01 9.84409249e-01 -1.35028980e-02 -4.45471706e+00] [-7.21543496e-02 8.26575167e-04 9.97393135e-01 -1.62262458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.765779523 meters 0.014231407113789434 Centerline is valid? [True, True] Translation: X:30.73, Y:-4.46, Z:-1.62 [[ 9.81162171e-01 1.80048728e-01 7.00232049e-02 3.07336866e+01] [-1.79553372e-01 9.83657548e-01 -1.33572024e-02 -4.46374875e+00] [-7.12838013e-02 5.32679123e-04 9.97455932e-01 -1.62199819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.795779523 meters 0.013928632353888639 Centerline is valid? [True, True] Translation: X:30.76, Y:-4.47, Z:-1.62 [[ 9.80237781e-01 1.84683962e-01 7.08923609e-02 3.07647826e+01] [-1.84187675e-01 9.82797940e-01 -1.35317751e-02 -4.47108723e+00] [-7.21719681e-02 2.06858084e-04 9.97392182e-01 -1.62058987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.825779522999998 meters 0.013911537098074332 Centerline is valid? [True, True] Translation: X:30.80, Y:-4.48, Z:-1.62 [[ 9.79184062e-01 1.89581671e-01 7.25076717e-02 3.07955238e+01] [-1.89074477e-01 9.81864945e-01 -1.38589795e-02 -4.47506016e+00] [-7.38201496e-02 -1.38858263e-04 9.97271561e-01 -1.62120569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.855779523 meters 0.014127285517263187 Centerline is valid? [True, True] Translation: X:30.83, Y:-4.48, Z:-1.62 [[ 9.78274602e-01 1.93844382e-01 7.35061816e-02 3.08283107e+01] [-1.93333821e-01 9.81032188e-01 -1.40670009e-02 -4.47771162e+00] [-7.48387392e-02 -4.49841264e-04 9.97195548e-01 -1.62262604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.885779523 meters 0.014615990445077437 Centerline is valid? [True, True] Translation: X:30.86, Y:-4.48, Z:-1.63 [[ 9.77539712e-01 1.97409273e-01 7.37949206e-02 3.08600107e+01] [-1.96903233e-01 9.80320908e-01 -1.41433631e-02 -4.47807079e+00] [-7.51347345e-02 -7.04759338e-04 9.97173142e-01 -1.62805049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.915779523 meters 0.01632863859126264 Centerline is valid? [True, True] Translation: X:30.89, Y:-4.48, Z:-1.64 [[ 9.76667467e-01 2.01258176e-01 7.49386812e-02 3.08913972e+01] [-2.00746285e-01 9.79537722e-01 -1.43798803e-02 -4.47580407e+00] [-7.62993336e-02 -9.99300578e-04 9.97084456e-01 -1.63624594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.945779523 meters 0.015423979607783462 Centerline is valid? [True, True] Translation: X:30.92, Y:-4.49, Z:-1.64 [[ 9.76522648e-01 2.01643539e-01 7.57852330e-02 3.09226471e+01] [-2.01119849e-01 9.79458439e-01 -1.45592825e-02 -4.48680686e+00] [-7.71642713e-02 -1.02444550e-03 9.97017866e-01 -1.63745075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.975779523 meters 0.015290859657382217 Centerline is valid? [True, True] Translation: X:30.95, Y:-4.50, Z:-1.64 [[ 9.76589753e-01 2.01068756e-01 7.64448124e-02 3.09535010e+01] [-2.00532424e-01 9.79576655e-01 -1.47079837e-02 -4.49714323e+00] [-7.78408696e-02 -9.65997333e-04 9.96965328e-01 -1.63955454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.005779523 meters 0.015023737811015507 Centerline is valid? [True, True] Translation: X:30.98, Y:-4.51, Z:-1.64 [[ 9.76730750e-01 2.00567190e-01 7.59594944e-02 3.09844993e+01] [-2.00034715e-01 9.79679534e-01 -1.46329763e-02 -4.50826460e+00] [-7.73508570e-02 -9.02057872e-04 9.97003526e-01 -1.64214930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.035779522999995 meters 0.015844744673007966 Centerline is valid? [True, True] Translation: X:31.02, Y:-4.51, Z:-1.65 [[ 9.76175934e-01 2.03674373e-01 7.48150822e-02 3.10153360e+01] [-2.03165304e-01 9.79038058e-01 -1.44340220e-02 -4.51018303e+00] [-7.61866531e-02 -1.10968399e-03 9.97092956e-01 -1.64802024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.065779522999996 meters 0.017261364704654808 Centerline is valid? [True, True] Translation: X:31.05, Y:-4.51, Z:-1.66 [[ 9.75938829e-01 2.05587684e-01 7.26436911e-02 3.10468696e+01] [-2.05111850e-01 9.78637956e-01 -1.40313947e-02 -4.50939403e+00] [-7.39765553e-02 -1.20629895e-03 9.97259251e-01 -1.65584364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.095779523 meters 0.016325186402476394 Centerline is valid? [True, True] Translation: X:31.08, Y:-4.51, Z:-1.66 [[ 9.76746393e-01 2.02894242e-01 6.92849872e-02 3.10775639e+01] [-2.02453595e-01 9.79200205e-01 -1.33977732e-02 -4.51344815e+00] [-7.05622047e-02 -9.40768101e-04 9.97506937e-01 -1.66320250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.125779523 meters 0.015492083704876078 Centerline is valid? [True, True] Translation: X:31.11, Y:-4.53, Z:-1.66 [[ 9.77072267e-01 2.00259197e-01 7.22913564e-02 3.11084708e+01] [-1.99771037e-01 9.79742653e-01 -1.39952655e-02 -4.52539036e+00] [-7.36296059e-02 -7.67333473e-04 9.97285362e-01 -1.65892807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15577952299999 meters 0.014417322769120696 Centerline is valid? [True, True] Translation: X:31.14, Y:-4.54, Z:-1.65 [[ 9.77713948e-01 1.96210843e-01 7.46775766e-02 3.11385556e+01] [-1.95676733e-01 9.80561621e-01 -1.44749149e-02 -4.54090882e+00] [-7.60661009e-02 -4.60337980e-04 9.97102671e-01 -1.65307929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.185779522999994 meters 0.014143172323961794 Centerline is valid? [True, True] Translation: X:31.17, Y:-4.55, Z:-1.65 [[ 9.78483330e-01 1.91423950e-01 7.69885994e-02 3.11688795e+01] [-1.90839876e-01 9.81507446e-01 -1.49424060e-02 -4.55368333e+00] [-7.84252179e-02 -7.15995423e-05 9.96919997e-01 -1.65091378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.215779522999995 meters 0.014393053240960041 Centerline is valid? [True, True] Translation: X:31.20, Y:-4.56, Z:-1.65 [[ 9.79316480e-01 1.86192444e-01 7.91934677e-02 3.12002817e+01] [-1.85555678e-01 9.82513222e-01 -1.53902067e-02 -4.56268744e+00] [-8.06741693e-02 3.77085457e-04 9.96740456e-01 -1.65393335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.245779522999996 meters 0.016414108478469927 Centerline is valid? [True, True] Translation: X:31.23, Y:-4.56, Z:-1.67 [[ 9.81206012e-01 1.76504997e-01 7.79791486e-02 3.12304300e+01] [-1.75855335e-01 9.84299040e-01 -1.51756862e-02 -4.56439394e+00] [-7.94333855e-02 1.17742526e-03 9.96839481e-01 -1.67112144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.275779523 meters 0.016731889476558112 Centerline is valid? [True, True] Translation: X:31.26, Y:-4.57, Z:-1.68 [[ 9.82049006e-01 1.73303190e-01 7.44698271e-02 3.12612478e+01] [-1.72700391e-01 9.84867545e-01 -1.45084190e-02 -4.56855556e+00] [-7.58572711e-02 1.38701018e-03 9.97117722e-01 -1.68099349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.305779523 meters 0.01780456795900369 Centerline is valid? [True, True] Translation: X:31.29, Y:-4.58, Z:-1.69 [[ 9.82150086e-01 1.73437276e-01 7.28060487e-02 3.12906260e+01] [-1.72860138e-01 9.84843973e-01 -1.42028967e-02 -4.57750145e+00] [-7.41659099e-02 1.36411260e-03 9.97244983e-01 -1.68507660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.335779523 meters 0.0160547221557615 Centerline is valid? [True, True] Translation: X:31.32, Y:-4.59, Z:-1.67 [[ 9.81092536e-01 1.78485693e-01 7.48351131e-02 3.13210062e+01] [-1.77889679e-01 9.83941977e-01 -1.46098460e-02 -4.59025165e+00] [-7.62410576e-02 1.02121659e-03 9.97088892e-01 -1.67222078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.36577952299999 meters 0.015665802223351805 Centerline is valid? [True, True] Translation: X:31.35, Y:-4.60, Z:-1.67 [[ 9.80626709e-01 1.80899165e-01 7.51448619e-02 3.13518892e+01] [-1.80305139e-01 9.83501291e-01 -1.46720277e-02 -4.60003617e+00] [-7.65592262e-02 8.38777503e-04 9.97064683e-01 -1.66680179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.395779522999995 meters 0.015499421431220009 Centerline is valid? [True, True] Translation: X:31.38, Y:-4.60, Z:-1.67 [[ 9.80283138e-01 1.82694208e-01 7.52847679e-02 3.13825379e+01] [-1.82101824e-01 9.83169523e-01 -1.47178495e-02 -4.60495360e+00] [-7.67065552e-02 7.18166184e-04 9.97053453e-01 -1.66582360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.425779522999996 meters 0.017584235278769553 Centerline is valid? [True, True] Translation: X:31.42, Y:-4.59, Z:-1.68 [[ 9.79735957e-01 1.84458873e-01 7.80536962e-02 3.14162099e+01] [-1.83826172e-01 9.82840038e-01 -1.52773826e-02 -4.59375102e+00] [-7.95323466e-02 6.19488924e-04 9.96832093e-01 -1.67953165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.455779523 meters 0.014968307375948838 Centerline is valid? [True, True] Translation: X:31.45, Y:-4.59, Z:-1.68 [[ 9.79083028e-01 1.86998195e-01 8.01754242e-02 3.14483776e+01] [-1.86337398e-01 9.82360157e-01 -1.57129407e-02 -4.59098864e+00] [-8.16994338e-02 4.44593635e-04 9.96656914e-01 -1.68473078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.485779523 meters 0.01486481742929151 Centerline is valid? [True, True] Translation: X:31.48, Y:-4.59, Z:-1.69 [[ 9.78739119e-01 1.88350020e-01 8.12034956e-02 3.14808192e+01] [-1.87675808e-01 9.82101904e-01 -1.59261449e-02 -4.59173409e+00] [-8.27497973e-02 3.47609426e-04 9.96570294e-01 -1.69190058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.515779523 meters 0.01733193134673221 Centerline is valid? [True, True] Translation: X:31.51, Y:-4.60, Z:-1.70 [[ 9.78639229e-01 1.88485425e-01 8.20883896e-02 3.15119421e+01] [-1.87794926e-01 9.82075920e-01 -1.61230608e-02 -4.59766168e+00] [-8.36559927e-02 3.62876742e-04 9.96494628e-01 -1.69861551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.54577952299999 meters 0.01488508260089686 Centerline is valid? [True, True] Translation: X:31.54, Y:-4.61, Z:-1.69 [[ 9.78091763e-01 1.90544554e-01 8.38407787e-02 3.15438270e+01] [-1.89829815e-01 9.81678526e-01 -1.64898083e-02 -4.60838145e+00] [-8.54467352e-02 2.13066116e-04 9.96342717e-01 -1.69362814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.575779522999994 meters 0.01508494466544006 Centerline is valid? [True, True] Translation: X:31.57, Y:-4.63, Z:-1.68 [[ 9.77876569e-01 1.91505832e-01 8.41601608e-02 3.15736420e+01] [-1.90787141e-01 9.81491464e-01 -1.65763005e-02 -4.62666902e+00] [-8.57769377e-02 1.52899387e-04 9.96314355e-01 -1.68185699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.605779522999995 meters 0.015301185221804079 Centerline is valid? [True, True] Translation: X:31.60, Y:-4.63, Z:-1.68 [[ 9.77790374e-01 1.92781008e-01 8.22281441e-02 3.16040390e+01] [-1.92097732e-01 9.81241805e-01 -1.62167317e-02 -4.63237569e+00] [-8.38119704e-02 6.07242328e-05 9.96481585e-01 -1.68316199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.635779523 meters 0.015364539125368306 Centerline is valid? [True, True] Translation: X:31.64, Y:-4.63, Z:-1.69 [[ 9.77468888e-01 1.95090493e-01 8.05870445e-02 3.16373970e+01] [-1.94440627e-01 9.80785239e-01 -1.59108962e-02 -4.63222226e+00] [-8.21426483e-02 -1.16989483e-04 9.96620576e-01 -1.68949750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.665779523 meters 0.01624090618014067 Centerline is valid? [True, True] Translation: X:31.67, Y:-4.62, Z:-1.70 [[ 9.76017867e-01 2.01663302e-01 8.19819212e-02 3.16706656e+01] [-2.01011900e-01 9.79454684e-01 -1.62091878e-02 -4.62166388e+00] [-8.35663751e-02 -6.58884812e-04 9.96501995e-01 -1.69821084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.695779523 meters 0.01674854019395737 Centerline is valid? [True, True] Translation: X:31.70, Y:-4.63, Z:-1.70 [[ 9.75258189e-01 2.04638911e-01 8.36324123e-02 3.17027816e+01] [-2.03970254e-01 9.78837107e-01 -1.65545771e-02 -4.62598506e+00] [-8.52502191e-02 -9.13537479e-04 9.96359155e-01 -1.70145261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.72577952299999 meters 0.017150775598906712 Centerline is valid? [True, True] Translation: X:31.73, Y:-4.63, Z:-1.70 [[ 9.74803140e-01 2.06577048e-01 8.41710253e-02 3.17335870e+01] [-2.05905136e-01 9.78429752e-01 -1.66821816e-02 -4.63410104e+00] [-8.58015912e-02 -1.06940346e-03 9.96311670e-01 -1.70446289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.755779522999994 meters 0.01740287095576397 Centerline is valid? [True, True] Translation: X:31.76, Y:-4.65, Z:-1.70 [[ 9.74885056e-01 2.05468961e-01 8.59164355e-02 3.17633732e+01] [-2.04762590e-01 9.78663152e-01 -1.70504258e-02 -4.64620398e+00] [-8.75865829e-02 -9.70266582e-04 9.96156438e-01 -1.70489578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.785779522999995 meters 0.017425805180561277 Centerline is valid? [True, True] Translation: X:31.80, Y:-4.66, Z:-1.71 [[ 9.74959068e-01 2.04571830e-01 8.72076979e-02 3.17954125e+01] [-2.03838301e-01 9.78851160e-01 -1.73307336e-02 -4.65512690e+00] [-8.89087361e-02 -8.79513068e-04 9.96039388e-01 -1.70612510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.815779522999996 meters 0.019620361315892315 Centerline is valid? [True, True] Translation: X:31.83, Y:-4.66, Z:-1.71 [[ 9.75551626e-01 2.02376971e-01 8.56888967e-02 3.18261097e+01] [-2.01658231e-01 9.79307484e-01 -1.70531618e-02 -4.66130431e+00] [-8.73669450e-02 -6.43631652e-04 9.96175990e-01 -1.71299974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.845779523 meters 0.017648198681037616 Centerline is valid? [True, True] Translation: X:31.86, Y:-4.66, Z:-1.72 [[ 9.75117306e-01 2.04699463e-01 8.51138557e-02 3.18573191e+01] [-2.03997299e-01 9.78824524e-01 -1.69603195e-02 -4.66475802e+00] [-8.67832976e-02 -8.24695597e-04 9.96226871e-01 -1.71557242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.875779523 meters 0.018328844017529055 Centerline is valid? [True, True] Translation: X:31.89, Y:-4.67, Z:-1.72 [[ 9.74390951e-01 2.08109526e-01 8.51627783e-02 3.18890305e+01] [-2.07417777e-01 9.78104900e-01 -1.69903133e-02 -4.66531579e+00] [-8.68339768e-02 -1.10906656e-03 9.96222179e-01 -1.72345874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.90577952299999 meters 0.018897799186571883 Centerline is valid? [True, True] Translation: X:31.92, Y:-4.67, Z:-1.72 [[ 9.73690979e-01 2.10625765e-01 8.69635783e-02 3.19207620e+01] [-2.09912415e-01 9.77565851e-01 -1.73719902e-02 -4.67027793e+00] [-8.86716131e-02 -1.33978456e-03 9.96060013e-01 -1.72498555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.935779522999994 meters 0.01998799171953378 Centerline is valid? [True, True] Translation: X:31.95, Y:-4.67, Z:-1.72 [[ 9.73055851e-01 2.12968504e-01 8.83556866e-02 3.19514425e+01] [-2.12239665e-01 9.77057826e-01 -1.76728363e-02 -4.67469408e+00] [-9.00923726e-02 -1.55592452e-03 9.95932198e-01 -1.72483174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.965779522999995 meters 0.02121328346175204 Centerline is valid? [True, True] Translation: X:31.98, Y:-4.68, Z:-1.72 [[ 9.71909534e-01 2.16499137e-01 9.23037475e-02 3.19837294e+01] [-2.15717514e-01 9.76280867e-01 -1.84830687e-02 -4.67805458e+00] [-9.41159510e-02 -1.94766428e-03 9.95559337e-01 -1.72388997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.995779522999996 meters 0.021677050110107426 Centerline is valid? [True, True] Translation: X:32.01, Y:-4.68, Z:-1.72 [[ 9.71526833e-01 2.17218185e-01 9.46143378e-02 3.20140035e+01] [-2.16399516e-01 9.76120901e-01 -1.89535081e-02 -4.68329703e+00] [-9.64720793e-02 -2.06065523e-03 9.95333558e-01 -1.72381340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.025779523 meters 0.021672815674861002 Centerline is valid? [True, True] Translation: X:32.05, Y:-4.69, Z:-1.72 [[ 9.71489389e-01 2.16786325e-01 9.59794614e-02 3.20454822e+01] [-2.15940251e-01 9.76216963e-01 -1.92418830e-02 -4.69207090e+00] [-9.78681553e-02 -2.03254384e-03 9.95197314e-01 -1.72393960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.055779523 meters 0.02137919632134868 Centerline is valid? [True, True] Translation: X:32.08, Y:-4.70, Z:-1.72 [[ 9.71884624e-01 2.15135048e-01 9.56932004e-02 3.20760112e+01] [-2.14283406e-01 9.76582586e-01 -1.92113413e-02 -4.70227856e+00] [-9.75853459e-02 -1.83425766e-03 9.95225470e-01 -1.72490962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.085779523 meters 0.02097768997974513 Centerline is valid? [True, True] Translation: X:32.11, Y:-4.71, Z:-1.73 [[ 9.72420077e-01 2.13079573e-01 9.48487726e-02 3.21053520e+01] [-2.12231042e-01 9.77033552e-01 -1.90636707e-02 -4.71150282e+00] [-9.67325120e-02 -1.59195774e-03 9.95309141e-01 -1.72812787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.11577952299999 meters 0.020763381625805016 Centerline is valid? [True, True] Translation: X:32.14, Y:-4.72, Z:-1.73 [[ 9.72756220e-01 2.12232287e-01 9.32887592e-02 3.21360313e+01] [-2.11406220e-01 9.77218143e-01 -1.87646038e-02 -4.71803651e+00] [-9.51459229e-02 -1.46843881e-03 9.95462253e-01 -1.73419590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.145779522999995 meters 0.020848339531155828 Centerline is valid? [True, True] Translation: X:32.17, Y:-4.72, Z:-1.75 [[ 9.72653482e-01 2.14771955e-01 8.84206445e-02 3.21678367e+01] [-2.14038578e-01 9.76662904e-01 -1.78061646e-02 -4.71847469e+00] [-9.01814282e-02 -1.60620101e-03 9.95924058e-01 -1.74894263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.175779522999996 meters 0.021903812972575352 Centerline is valid? [True, True] Translation: X:32.20, Y:-4.72, Z:-1.75 [[ 9.72287273e-01 2.17930491e-01 8.46389960e-02 3.21984941e+01] [-2.17268772e-01 9.75962638e-01 -1.70648829e-02 -4.72150208e+00] [-8.63234562e-02 -1.79744230e-03 9.96265542e-01 -1.75464367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.205779523 meters 0.022485126102222263 Centerline is valid? [True, True] Translation: X:32.23, Y:-4.73, Z:-1.76 [[ 9.71760841e-01 2.21390761e-01 8.16516979e-02 3.22292050e+01] [-2.20785642e-01 9.75183102e-01 -1.64808270e-02 -4.72891653e+00] [-8.32740589e-02 -2.01210028e-03 9.96524652e-01 -1.75904427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.235779523 meters 0.022844806206863088 Centerline is valid? [True, True] Translation: X:32.26, Y:-4.74, Z:-1.76 [[ 9.71481281e-01 2.23654544e-01 7.87576382e-02 3.22603775e+01] [-2.23097521e-01 9.74666197e-01 -1.59153941e-02 -4.73751886e+00] [-8.03219580e-02 -2.10912637e-03 9.96766740e-01 -1.76158280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.265779523 meters 0.025266905389761504 Centerline is valid? [True, True] Translation: X:32.29, Y:-4.74, Z:-1.76 [[ 9.71023014e-01 2.26145772e-01 7.72812810e-02 3.22908192e+01] [-2.25615809e-01 9.74090866e-01 -1.56362253e-02 -4.74153948e+00] [-7.88150561e-02 -2.25274413e-03 9.96886710e-01 -1.76338230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.29577952299999 meters 0.02381426391098027 Centerline is valid? [True, True] Translation: X:32.32, Y:-4.75, Z:-1.76 [[ 9.70777652e-01 2.26325799e-01 7.97958858e-02 3.23228665e+01] [-2.25760520e-01 9.74048867e-01 -1.61552348e-02 -4.75109858e+00] [-8.13814386e-02 -2.33161978e-03 9.96680302e-01 -1.76384989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.325779522999994 meters 0.02329665485748369 Centerline is valid? [True, True] Translation: X:32.35, Y:-4.76, Z:-1.76 [[ 9.70668233e-01 2.25353549e-01 8.37792260e-02 3.23540224e+01] [-2.24724600e-01 9.74274247e-01 -1.69866554e-02 -4.76097030e+00] [-8.54519453e-02 -2.33884628e-03 9.96339548e-01 -1.76341224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.355779522999995 meters 0.02307270566760321 Centerline is valid? [True, True] Translation: X:32.38, Y:-4.77, Z:-1.76 [[ 9.70773520e-01 2.22167434e-01 9.07766768e-02 3.23838277e+01] [-2.21412692e-01 9.75006029e-01 -1.84299479e-02 -4.77445793e+00] [-9.26023414e-02 -2.20780295e-03 9.95700724e-01 -1.75803941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.385779523 meters 0.023016116950546308 Centerline is valid? [True, True] Translation: X:32.42, Y:-4.78, Z:-1.76 [[ 9.70840202e-01 2.20974559e-01 9.29491592e-02 3.24163007e+01] [-2.20175567e-01 9.75277263e-01 -1.88938895e-02 -4.77815467e+00] [-9.48262705e-02 -2.12218631e-03 9.95491574e-01 -1.76163200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.415779523 meters 0.022569850319828298 Centerline is valid? [True, True] Translation: X:32.45, Y:-4.78, Z:-1.77 [[ 9.70735126e-01 2.20459281e-01 9.52419062e-02 3.24477687e+01] [-2.19615187e-01 9.75393925e-01 -1.93871323e-02 -4.78279890e+00] [-9.71724500e-02 -2.09679873e-03 9.95265351e-01 -1.76664053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.445779523 meters 0.022569850319828298 Centerline is valid? [True, True] Translation: X:32.48, Y:-4.79, Z:-1.77 [[ 9.70673706e-01 2.20731649e-01 9.52370533e-02 3.24794052e+01] [-2.19886527e-01 9.75332318e-01 -1.94109449e-02 -4.78932508e+00] [-9.71723859e-02 -2.09965107e-03 9.95265351e-01 -1.76928121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.47577952299999 meters 0.022688494743743685 Centerline is valid? [True, True] Translation: X:32.51, Y:-4.79, Z:-1.78 [[ 9.70604443e-01 2.21445793e-01 9.42803011e-02 3.25114151e+01] [-2.20618324e-01 9.75170373e-01 -1.92431668e-02 -4.79456372e+00] [-9.62006747e-02 -2.12245877e-03 9.95359696e-01 -1.77503751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.505779522999994 meters 0.023361072507989102 Centerline is valid? [True, True] Translation: X:32.54, Y:-4.80, Z:-1.79 [[ 9.70475183e-01 2.25764438e-01 8.49019286e-02 3.25429687e+01] [-2.25108141e-01 9.74179271e-01 -1.73514470e-02 -4.80261878e+00] [-8.66270386e-02 -2.27296660e-03 9.96238219e-01 -1.78507665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.535779522999995 meters 0.025295517664670628 Centerline is valid? [True, True] Translation: X:32.57, Y:-4.81, Z:-1.79 [[ 9.70080254e-01 2.29270469e-01 7.98708460e-02 3.25733934e+01] [-2.28699800e-01 9.73359770e-01 -1.63450227e-02 -4.80645223e+00] [-8.14904993e-02 -2.41046276e-03 9.96671204e-01 -1.78915413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.565779522999996 meters 0.026472835369554068 Centerline is valid? [True, True] Translation: X:32.60, Y:-4.81, Z:-1.79 [[ 9.69469005e-01 2.32790697e-01 7.70606197e-02 3.26041454e+01] [-2.32270342e-01 9.72523364e-01 -1.57732192e-02 -4.81328292e+00] [-7.86151118e-02 -2.60724935e-03 9.96901633e-01 -1.79061427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.595779523 meters 0.02758919997393556 Centerline is valid? [True, True] Translation: X:32.64, Y:-4.82, Z:-1.79 [[ 9.68988351e-01 2.35554437e-01 7.46704901e-02 3.26350268e+01] [-2.35073488e-01 9.71857306e-01 -1.52915661e-02 -4.81951649e+00] [-7.61710576e-02 -2.73570313e-03 9.97091012e-01 -1.79218052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.625779523 meters 0.02832356040225207 Centerline is valid? [True, True] Translation: X:32.67, Y:-4.82, Z:-1.80 [[ 9.68623588e-01 2.37460047e-01 7.33557885e-02 3.26670590e+01] [-2.37000039e-01 9.71393220e-01 -1.50397299e-02 -4.81979899e+00] [-7.48286506e-02 -2.81748763e-03 9.97192426e-01 -1.79942607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.65577952299999 meters 0.02655628954294628 Centerline is valid? [True, True] Translation: X:32.70, Y:-4.83, Z:-1.80 [[ 9.68565918e-01 2.36964802e-01 7.56818690e-02 3.26984397e+01] [-2.36473255e-01 9.71514017e-01 -1.55214353e-02 -4.82528679e+00] [-7.72040304e-02 -2.86320465e-03 9.97011203e-01 -1.80371881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.685779522999994 meters 0.025886059475842757 Centerline is valid? [True, True] Translation: X:32.73, Y:-4.83, Z:-1.81 [[ 9.68849137e-01 2.33346107e-01 8.29514515e-02 3.27298634e+01] [-2.32740348e-01 9.72389708e-01 -1.70348757e-02 -4.82856369e+00] [-8.46361596e-02 -2.80192508e-03 9.96407984e-01 -1.80525211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.715779522999995 meters 0.025108333062972967 Centerline is valid? [True, True] Translation: X:32.76, Y:-4.84, Z:-1.81 [[ 9.69268315e-01 2.30669149e-01 8.55025029e-02 3.27611065e+01] [-2.30014727e-01 9.73028652e-01 -1.75632809e-02 -4.83735646e+00] [-8.72476922e-02 -2.64330314e-03 9.96183142e-01 -1.80595135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.745779522999996 meters 0.02500951882477579 Centerline is valid? [True, True] Translation: X:32.79, Y:-4.85, Z:-1.80 [[ 9.69850533e-01 2.27729973e-01 8.67698248e-02 3.27915011e+01] [-2.27042250e-01 9.73721385e-01 -1.78460341e-02 -4.84788679e+00] [-8.85537108e-02 -2.39243062e-03 9.96068530e-01 -1.80484038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.775779523 meters 0.02579369940485049 Centerline is valid? [True, True] Translation: X:32.82, Y:-4.86, Z:-1.81 [[ 9.70712198e-01 2.24138102e-01 8.64866501e-02 3.28209175e+01] [-2.23438824e-01 9.74555262e-01 -1.78082439e-02 -4.86230332e+00] [-8.82775259e-02 -2.03779581e-03 9.96093834e-01 -1.80663948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.805779523 meters 0.023489239409719375 Centerline is valid? [True, True] Translation: X:32.85, Y:-4.88, Z:-1.80 [[ 9.71203726e-01 2.22019396e-01 8.64332663e-02 3.28503801e+01] [-2.21312090e-01 9.75040516e-01 -1.78030985e-02 -4.87648297e+00] [-8.82285698e-02 -1.83829123e-03 9.96098559e-01 -1.80161203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.835779523 meters 0.022734547951732298 Centerline is valid? [True, True] Translation: X:32.88, Y:-4.89, Z:-1.80 [[ 9.71788569e-01 2.19648028e-01 8.59169427e-02 3.28812756e+01] [-2.18938259e-01 9.75577880e-01 -1.77154910e-02 -4.88855976e+00] [-8.77098415e-02 -1.59479418e-03 9.96144789e-01 -1.80190124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.86577952299999 meters 0.022596485281837542 Centerline is valid? [True, True] Translation: X:32.91, Y:-4.89, Z:-1.81 [[ 9.71779681e-01 2.19377096e-01 8.67060648e-02 3.29145832e+01] [-2.18652307e-01 9.75638871e-01 -1.78874874e-02 -4.89023862e+00] [-8.85179122e-02 -1.57578426e-03 9.96073339e-01 -1.80805340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.895779522999995 meters 0.022443735326015037 Centerline is valid? [True, True] Translation: X:32.95, Y:-4.89, Z:-1.82 [[ 9.71978369e-01 2.18708112e-01 8.61673425e-02 3.29457304e+01] [-2.17987499e-01 9.75789203e-01 -1.78011774e-02 -4.89341751e+00] [-8.79744243e-02 -1.48104412e-03 9.96121633e-01 -1.81527036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.925779522999996 meters 0.022235292648271506 Centerline is valid? [True, True] Translation: X:32.98, Y:-4.90, Z:-1.82 [[ 9.72299886e-01 2.17867221e-01 8.46569928e-02 3.29772645e+01] [-2.17166664e-01 9.75977472e-01 -1.75103951e-02 -4.89883208e+00] [-8.64382589e-02 -1.35932152e-03 9.96256282e-01 -1.82140682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.955779523 meters 0.02207012398190135 Centerline is valid? [True, True] Translation: X:33.01, Y:-4.91, Z:-1.83 [[ 9.72674562e-01 2.16930878e-01 8.27356690e-02 3.30067645e+01] [-2.16256685e-01 9.76186196e-01 -1.71335035e-02 -4.90637033e+00] [-8.44822039e-02 -1.22681855e-03 9.96424233e-01 -1.82562413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.985779523 meters 0.02196771514685518 Centerline is valid? [True, True] Translation: X:33.04, Y:-4.92, Z:-1.83 [[ 9.73040227e-01 2.15892466e-01 8.11366798e-02 3.30366616e+01] [-2.15238963e-01 9.76416531e-01 -1.68210326e-02 -4.91558966e+00] [-8.28547296e-02 -1.09623341e-03 9.96561033e-01 -1.82768056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.015779523 meters 0.022513391245497335 Centerline is valid? [True, True] Translation: X:33.07, Y:-4.92, Z:-1.83 [[ 9.73037322e-01 2.15854976e-01 8.12711420e-02 3.30683376e+01] [-2.15197597e-01 9.76424841e-01 -1.68678221e-02 -4.92029493e+00] [-8.29961653e-02 -1.07633402e-03 9.96549285e-01 -1.82781886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.04577952299999 meters 0.02411272612697699 Centerline is valid? [True, True] Translation: X:33.10, Y:-4.92, Z:-1.83 [[ 9.72900568e-01 2.16147130e-01 8.21273573e-02 3.31007237e+01] [-2.15475000e-01 9.76360193e-01 -1.70674351e-02 -4.92452252e+00] [-8.38749595e-02 -1.09147504e-03 9.96475690e-01 -1.83476602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.075779522999994 meters 0.022995824451849178 Centerline is valid? [True, True] Translation: X:33.13, Y:-4.93, Z:-1.83 [[ 9.72685253e-01 2.17056100e-01 8.22802970e-02 3.31325011e+01] [-2.16382770e-01 9.76158454e-01 -1.71221783e-02 -4.92517656e+00] [-8.40350808e-02 -1.14954823e-03 9.96462134e-01 -1.83479244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.105779522999995 meters 0.022565394680869818 Centerline is valid? [True, True] Translation: X:33.16, Y:-4.94, Z:-1.84 [[ 9.72589966e-01 2.18721950e-01 7.89269637e-02 3.31628925e+01] [-2.18107105e-01 9.75786449e-01 -1.64346010e-02 -4.93543998e+00] [-8.06104696e-02 -1.23040356e-03 9.96744921e-01 -1.83653445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.135779523 meters 0.022762393464608805 Centerline is valid? [True, True] Translation: X:33.19, Y:-4.95, Z:-1.84 [[ 9.72465207e-01 2.19930787e-01 7.70835238e-02 3.31931188e+01] [-2.19346702e-01 9.75514637e-01 -1.60691438e-02 -4.94610958e+00] [-7.87302052e-02 -1.28133344e-03 9.96895136e-01 -1.83643908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.165779523 meters 0.024000351911799406 Centerline is valid? [True, True] Translation: X:33.22, Y:-4.96, Z:-1.84 [[ 9.72435803e-01 2.20522881e-01 7.57513527e-02 3.32243307e+01] [-2.19959227e-01 9.75380950e-01 -1.58094866e-02 -4.95508672e+00] [-7.73727800e-02 -1.28849822e-03 9.97001401e-01 -1.83924136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.195779523 meters 0.02235095469077244 Centerline is valid? [True, True] Translation: X:33.26, Y:-4.96, Z:-1.84 [[ 9.72750640e-01 2.18095641e-01 7.86796257e-02 3.32561625e+01] [-2.17477740e-01 9.75926763e-01 -1.64434156e-02 -4.95728837e+00] [-8.03717897e-02 -1.11572411e-03 9.96764331e-01 -1.84301776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.22577952299999 meters 0.021888365112471934 Centerline is valid? [True, True] Translation: X:33.29, Y:-4.96, Z:-1.85 [[ 9.73165862e-01 2.15451007e-01 8.08026474e-02 3.32876985e+01] [-2.14788448e-01 9.76514235e-01 -1.69077390e-02 -4.96233397e+00] [-8.25477248e-02 -9.01440819e-04 9.96586705e-01 -1.84940528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.255779522999994 meters 0.021689800462655694 Centerline is valid? [True, True] Translation: X:33.32, Y:-4.97, Z:-1.85 [[ 9.73755441e-01 2.12318148e-01 8.19838036e-02 3.33174763e+01] [-2.11623180e-01 9.77200396e-01 -1.71760223e-02 -4.97080427e+00] [-8.37613866e-02 -6.24428033e-04 9.96485645e-01 -1.85296352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.285779522999995 meters 0.02148859818928404 Centerline is valid? [True, True] Translation: X:33.35, Y:-4.98, Z:-1.85 [[ 9.74281781e-01 2.09733569e-01 8.23822919e-02 3.33474159e+01] [-2.09020944e-01 9.77758499e-01 -1.72789895e-02 -4.98427688e+00] [-8.41739701e-02 -3.85019696e-04 9.96451000e-01 -1.85285997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.315779522999996 meters 0.02148089979095448 Centerline is valid? [True, True] Translation: X:33.38, Y:-5.00, Z:-1.84 [[ 9.74614160e-01 2.08391599e-01 8.18546335e-02 3.33772599e+01] [-2.07681612e-01 9.78045439e-01 -1.71891722e-02 -5.00417756e+00] [-8.36396300e-02 -2.46891656e-04 9.96496037e-01 -1.84496863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.345779523 meters 0.02168251657011159 Centerline is valid? [True, True] Translation: X:33.41, Y:-5.01, Z:-1.85 [[ 9.74032768e-01 2.11384011e-01 8.10985016e-02 3.34076972e+01] [-2.10695530e-01 9.77402974e-01 -1.70534667e-02 -5.00833482e+00] [-8.28707468e-02 -4.76456472e-04 9.96560190e-01 -1.84587817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.375779523 meters 0.022068271680293378 Centerline is valid? [True, True] Translation: X:33.44, Y:-5.01, Z:-1.85 [[ 9.73100726e-01 2.15765223e-01 8.07486518e-02 3.34402600e+01] [-2.15096869e-01 9.76444914e-01 -1.69901890e-02 -5.00769865e+00] [-8.25125023e-02 -8.35616987e-04 9.96589679e-01 -1.85088553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.40577952299999 meters 0.023627740490642656 Centerline is valid? [True, True] Translation: X:33.47, Y:-5.01, Z:-1.86 [[ 9.72065834e-01 2.20605564e-01 8.01323839e-02 3.34724424e+01] [-2.19962153e-01 9.75362345e-01 -1.68803946e-02 -5.00637424e+00] [-8.18820188e-02 -1.21723689e-03 9.96641286e-01 -1.85919627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.435779522999994 meters 0.024699648479808094 Centerline is valid? [True, True] Translation: X:33.50, Y:-5.00, Z:-1.86 [[ 9.70255848e-01 2.29166346e-01 7.80152233e-02 3.35036491e+01] [-2.28582536e-01 9.73385481e-01 -1.64538631e-02 -5.00356007e+00] [-7.97095574e-02 -1.86846067e-03 9.96816380e-01 -1.86242447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.465779522999995 meters 0.024751499354273235 Centerline is valid? [True, True] Translation: X:33.53, Y:-5.01, Z:-1.86 [[ 9.69928509e-01 2.30845531e-01 7.71299434e-02 3.35340633e+01] [-2.30279710e-01 9.72988402e-01 -1.62734330e-02 -5.01377632e+00] [-7.88031896e-02 -1.97739435e-03 9.96888232e-01 -1.86300010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.495779522999996 meters 0.024947490866729937 Centerline is valid? [True, True] Translation: X:33.56, Y:-5.02, Z:-1.86 [[ 9.70035174e-01 2.30414226e-01 7.70781803e-02 3.35634857e+01] [-2.29846279e-01 9.73090741e-01 -1.62818405e-02 -5.02451821e+00] [-7.87556313e-02 -1.92217492e-03 9.96892098e-01 -1.86184586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.525779523 meters 0.02319662424084018 Centerline is valid? [True, True] Translation: X:33.59, Y:-5.04, Z:-1.86 [[ 9.71470405e-01 2.23526007e-01 7.92551394e-02 3.35931480e+01] [-2.22901035e-01 9.74696984e-01 -1.67606220e-02 -5.03751975e+00] [-8.09961802e-02 -1.38360441e-03 9.96713452e-01 -1.86281763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.555779523 meters 0.02270100586042969 Centerline is valid? [True, True] Translation: X:33.62, Y:-5.04, Z:-1.87 [[ 9.71793983e-01 2.21872784e-01 7.99307405e-02 3.36246621e+01] [-2.21231158e-01 9.75074817e-01 -1.69078386e-02 -5.04296807e+00] [-8.16898414e-02 -1.25223451e-03 9.96657013e-01 -1.86788371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.585779523 meters 0.022654511970331862 Centerline is valid? [True, True] Translation: X:33.66, Y:-5.05, Z:-1.87 [[ 9.72107798e-01 2.20529110e-01 7.98332034e-02 3.36558445e+01] [-2.19882885e-01 9.75379752e-01 -1.69072698e-02 -5.04780118e+00] [-8.15962353e-02 -1.11826625e-03 9.96664840e-01 -1.87343720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.61577952299999 meters 0.02482270938922597 Centerline is valid? [True, True] Translation: X:33.69, Y:-5.05, Z:-1.88 [[ 9.72247899e-01 2.20223099e-01 7.89671408e-02 3.36873403e+01] [-2.19588244e-01 9.75448953e-01 -1.67434614e-02 -5.05214036e+00] [-8.07157117e-02 -1.06146062e-03 9.96736599e-01 -1.88049933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.645779522999995 meters 0.022932215672371907 Centerline is valid? [True, True] Translation: X:33.72, Y:-5.06, Z:-1.88 [[ 9.71774510e-01 2.24066000e-01 7.38155050e-02 3.37188913e+01] [-2.23521028e-01 9.74573142e-01 -1.56697232e-02 -5.06198762e+00] [-7.54496609e-02 -1.27187991e-03 9.97148801e-01 -1.87604534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.675779522999996 meters 0.024090901001673975 Centerline is valid? [True, True] Translation: X:33.75, Y:-5.07, Z:-1.88 [[ 9.71510406e-01 2.26066110e-01 7.11452447e-02 3.37490601e+01] [-2.25563923e-01 9.74111016e-01 -1.51210375e-02 -5.06705815e+00] [-7.27217207e-02 -1.35755521e-03 9.97351347e-01 -1.87852988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.705779523 meters 0.024923926115544625 Centerline is valid? [True, True] Translation: X:33.78, Y:-5.07, Z:-1.88 [[ 9.71207410e-01 2.28152983e-01 6.85739235e-02 3.37799976e+01] [-2.27691641e-01 9.73624203e-01 -1.45748873e-02 -5.07166968e+00] [-7.00905356e-02 -1.45847066e-03 9.97539568e-01 -1.88240433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.735779523 meters 0.02565804795872775 Centerline is valid? [True, True] Translation: X:33.81, Y:-5.07, Z:-1.89 [[ 9.70874037e-01 2.29985057e-01 6.71600963e-02 3.38107858e+01] [-2.29545955e-01 9.73192936e-01 -1.42886075e-02 -5.07388762e+00] [-6.86458975e-02 -1.54389040e-03 9.97639894e-01 -1.88845918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.765779523 meters 0.02379374996802326 Centerline is valid? [True, True] Translation: X:33.84, Y:-5.08, Z:-1.89 [[ 9.70627086e-01 2.30964240e-01 6.73689844e-02 3.38420186e+01] [-2.30523793e-01 9.72960916e-01 -1.43469830e-02 -5.08118183e+00] [-6.88610288e-02 -1.60458356e-03 9.97624972e-01 -1.89214972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.79577952299999 meters 0.023104031989661798 Centerline is valid? [True, True] Translation: X:33.87, Y:-5.09, Z:-1.89 [[ 9.70955336e-01 2.28677586e-01 7.03725595e-02 3.38728846e+01] [-2.28189469e-01 9.73501079e-01 -1.50071877e-02 -5.08801271e+00] [-7.19395700e-02 -1.48696807e-03 9.97407884e-01 -1.89464106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.825779522999994 meters 0.0231309002377367 Centerline is valid? [True, True] Translation: X:33.90, Y:-5.10, Z:-1.89 [[ 9.71358629e-01 2.26299330e-01 7.24639763e-02 3.39031718e+01] [-2.25774816e-01 9.74056878e-01 -1.54573708e-02 -5.09738569e+00] [-7.40820272e-02 -1.34589044e-03 9.97251243e-01 -1.89417686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.855779522999995 meters 0.022536416982030166 Centerline is valid? [True, True] Translation: X:33.93, Y:-5.11, Z:-1.89 [[ 9.71840092e-01 2.23828949e-01 7.36711463e-02 3.39343288e+01] [-2.23278167e-01 9.74627756e-01 -1.57352311e-02 -5.10891151e+00] [-7.53239443e-02 -1.15703006e-03 9.97158445e-01 -1.89333343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.885779523 meters 0.02239637368151374 Centerline is valid? [True, True] Translation: X:33.96, Y:-5.12, Z:-1.89 [[ 9.72281924e-01 2.21940415e-01 7.35548277e-02 3.39647174e+01] [-2.21385501e-01 9.75059714e-01 -1.57166759e-02 -5.11787317e+00] [-7.52085149e-02 -1.00293253e-03 9.97167325e-01 -1.89405852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.915779523 meters 0.021978521366407176 Centerline is valid? [True, True] Translation: X:34.00, Y:-5.13, Z:-1.90 [[ 9.72921522e-01 2.20165097e-01 7.03636444e-02 3.39962775e+01] [-2.19652106e-01 9.75462279e-01 -1.50430702e-02 -5.12885299e+00] [-7.19490400e-02 -8.19795973e-04 9.97407972e-01 -1.89613246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.945779523 meters 0.021977903581792607 Centerline is valid? [True, True] Translation: X:34.03, Y:-5.14, Z:-1.90 [[ 9.72859419e-01 2.21006683e-01 6.85608931e-02 3.40270080e+01] [-2.20520393e-01 9.75271931e-01 -1.46770791e-02 -5.13679572e+00] [-7.01092472e-02 -8.40340443e-04 9.97538965e-01 -1.89777744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.97577952299999 meters 0.022344395543630203 Centerline is valid? [True, True] Translation: X:34.06, Y:-5.14, Z:-1.90 [[ 9.72650838e-01 2.22315190e-01 6.72778152e-02 3.40579905e+01] [-2.21848911e-01 9.74974433e-01 -1.44192646e-02 -5.14161338e+00] [-6.87997713e-02 -9.00600266e-04 9.97630082e-01 -1.90064097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.005779522999994 meters 0.02241850861722992 Centerline is valid? [True, True] Translation: X:34.09, Y:-5.14, Z:-1.90 [[ 9.72328708e-01 2.24012762e-01 6.62960467e-02 3.40898550e+01] [-2.23562927e-01 9.74585707e-01 -1.42238355e-02 -5.14466490e+00] [-6.77975002e-02 -9.91094611e-04 9.97698610e-01 -1.90478197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.035779522999995 meters 0.022716715887585004 Centerline is valid? [True, True] Translation: X:34.12, Y:-5.14, Z:-1.91 [[ 9.71808166e-01 2.26366628e-01 6.59320692e-02 3.41230356e+01] [-2.25926020e-01 9.74041512e-01 -1.41621783e-02 -5.13922716e+00] [-6.74264169e-02 -1.13284939e-03 9.97723607e-01 -1.91472421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.065779522999996 meters 0.02237922163113899 Centerline is valid? [True, True] Translation: X:34.16, Y:-5.14, Z:-1.92 [[ 9.71873464e-01 2.26138618e-01 6.57517651e-02 3.41553659e+01] [-2.25698819e-01 9.74094512e-01 -1.41394496e-02 -5.14489135e+00] [-6.72459092e-02 -1.09833983e-03 9.97735827e-01 -1.91829245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.095779523 meters 0.022166064674927488 Centerline is valid? [True, True] Translation: X:34.19, Y:-5.15, Z:-1.92 [[ 9.72251007e-01 2.24218725e-01 6.67378698e-02 3.41851562e+01] [-2.23759688e-01 9.74538374e-01 -1.43721994e-02 -5.15305837e+00] [-6.82611313e-02 -9.59859536e-04 9.97667027e-01 -1.91925758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.125779523 meters 0.02116805569585267 Centerline is valid? [True, True] Translation: X:34.21, Y:-5.17, Z:-1.91 [[ 9.74281359e-01 2.14114358e-01 7.02201966e-02 3.42131838e+01] [-2.13578443e-01 9.76808569e-01 -1.51415789e-02 -5.17328843e+00] [-7.18337192e-02 -2.45362203e-04 9.97416591e-01 -1.91032996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.15577952299999 meters 0.02116300467916101 Centerline is valid? [True, True] Translation: X:34.24, Y:-5.19, Z:-1.91 [[ 9.75672088e-01 2.07362531e-01 7.11671058e-02 3.42422834e+01] [-2.06793954e-01 9.78264133e-01 -1.53475145e-02 -5.18891033e+00] [-7.28027266e-02 2.57214386e-04 9.97346327e-01 -1.90728144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.185779522999994 meters 0.023038010178236853 Centerline is valid? [True, True] Translation: X:34.27, Y:-5.20, Z:-1.91 [[ 9.77067302e-01 2.00484200e-01 7.17326483e-02 3.42705908e+01] [-1.99887245e-01 9.79696620e-01 -1.54797330e-02 -5.20238423e+00] [-7.33796749e-02 7.86299511e-04 9.97303768e-01 -1.91031667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.215779522999995 meters 0.022653651674553105 Centerline is valid? [True, True] Translation: X:34.30, Y:-5.21, Z:-1.91 [[ 9.78198739e-01 1.95150485e-01 7.10177078e-02 3.43017615e+01] [-1.94550673e-01 9.80772597e-01 -1.53345539e-02 -5.20986102e+00] [-7.26447673e-02 1.18369845e-03 9.97357176e-01 -1.91048239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.245779522999996 meters 0.024151985950380445 Centerline is valid? [True, True] Translation: X:34.33, Y:-5.21, Z:-1.93 [[ 9.79912049e-01 1.87197774e-01 6.87704144e-02 3.43327797e+01] [-1.86615439e-01 9.82320735e-01 -1.48543227e-02 -5.20972945e+00] [-7.03353002e-02 1.72230871e-03 9.97521919e-01 -1.92513240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.275779523 meters 0.024511392622805158 Centerline is valid? [True, True] Translation: X:34.36, Y:-5.22, Z:-1.93 [[ 9.80676164e-01 1.83264046e-01 6.84729966e-02 3.43644861e+01] [-1.82677009e-01 9.83061695e-01 -1.47923393e-02 -5.21523528e+00] [-7.00240841e-02 1.99805229e-03 9.97543300e-01 -1.92997590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.305779523 meters 0.02520630606531671 Centerline is valid? [True, True] Translation: X:34.39, Y:-5.23, Z:-1.93 [[ 9.81396310e-01 1.79074252e-01 6.92365158e-02 3.43938873e+01] [-1.78463336e-01 9.83832810e-01 -1.49612513e-02 -5.22563692e+00] [-7.07963308e-02 2.32673726e-03 9.97488078e-01 -1.92992021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33577952299999 meters 0.02520630606531671 Centerline is valid? [True, True] Translation: X:34.43, Y:-5.23, Z:-1.93 [[ 9.81346487e-01 1.79347985e-01 6.92341856e-02 3.44254440e+01] [-1.78736990e-01 9.83782967e-01 -1.49720269e-02 -5.23253757e+00] [-7.07966154e-02 2.31803607e-03 9.97488078e-01 -1.93255873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.36577952299999 meters 0.026996148636817856 Centerline is valid? [True, True] Translation: X:34.45, Y:-5.25, Z:-1.93 [[ 9.82358765e-01 1.73671762e-01 6.93496633e-02 3.44528416e+01] [-1.73043009e-01 9.84799743e-01 -1.50194069e-02 -5.24734969e+00] [-7.09039775e-02 2.75397165e-03 9.97479344e-01 -1.93008634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.395779522999995 meters 0.03073146818522242 Centerline is valid? [True, True] Translation: X:34.48, Y:-5.26, Z:-1.93 [[ 9.83744219e-01 1.65547076e-01 6.95807250e-02 3.44799117e+01] [-1.64893434e-01 9.86196177e-01 -1.50750311e-02 -5.26458111e+00] [-7.11158723e-02 3.35657007e-03 9.97462413e-01 -1.92591912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.425779522999996 meters 0.03036794357172282 Centerline is valid? [True, True] Translation: X:34.51, Y:-5.27, Z:-1.93 [[ 9.84057649e-01 1.63493279e-01 7.00035118e-02 3.45117371e+01] [-1.62826027e-01 9.86538123e-01 -1.51728847e-02 -5.26845469e+00] [-7.15417979e-02 3.53259952e-03 9.97431347e-01 -1.92764640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.455779523 meters 0.03176845685996603 Centerline is valid? [True, True] Translation: X:34.54, Y:-5.27, Z:-1.93 [[ 9.84151031e-01 1.62685143e-01 7.05711863e-02 3.45418127e+01] [-1.62004604e-01 9.86671375e-01 -1.53005249e-02 -5.27355864e+00] [-7.21197375e-02 3.62517026e-03 9.97389393e-01 -1.93106909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.485779523 meters 0.031102890139820462 Centerline is valid? [True, True] Translation: X:34.57, Y:-5.27, Z:-1.94 [[ 9.84059616e-01 1.63109006e-01 7.08669426e-02 3.45746062e+01] [-1.62423274e-01 9.86601424e-01 -1.53723811e-02 -5.27468912e+00] [-7.24248003e-02 3.61689864e-03 9.97367318e-01 -1.93514865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.515779523 meters 0.030919306062385295 Centerline is valid? [True, True] Translation: X:34.61, Y:-5.28, Z:-1.94 [[ 9.83792911e-01 1.65020435e-01 7.01410364e-02 3.46059860e+01] [-1.64352315e-01 9.86284088e-01 -1.52319893e-02 -5.27686485e+00] [-7.16925777e-02 3.45728145e-03 9.97420785e-01 -1.94020953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.54577952299999 meters 0.027849819524314416 Centerline is valid? [True, True] Translation: X:34.64, Y:-5.27, Z:-1.95 [[ 9.82523458e-01 1.73587445e-01 6.71941442e-02 3.46378789e+01] [-1.72993054e-01 9.84814674e-01 -1.46103391e-02 -5.27225190e+00] [-6.87099506e-02 2.73088071e-03 9.97632941e-01 -1.94971585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.575779522999994 meters 0.027245978372876564 Centerline is valid? [True, True] Translation: X:34.67, Y:-5.28, Z:-1.95 [[ 9.81670541e-01 1.78597657e-01 6.65268872e-02 3.46674052e+01] [-1.78026385e-01 9.83919365e-01 -1.44668629e-02 -5.27697904e+00] [-6.80408404e-02 2.35815186e-03 9.97679750e-01 -1.95118927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.605779522999995 meters 0.02501416790308985 Centerline is valid? [True, True] Translation: X:34.70, Y:-5.28, Z:-1.95 [[ 9.80753135e-01 1.83322332e-01 6.72027586e-02 3.46994331e+01] [-1.82750405e-01 9.83050718e-01 -1.46142479e-02 -5.27807626e+00] [-6.87428381e-02 2.05163806e-03 9.97632304e-01 -1.95158667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.635779523 meters 0.023293714297627607 Centerline is valid? [True, True] Translation: X:34.73, Y:-5.28, Z:-1.95 [[ 9.79217987e-01 1.90136045e-01 7.05720802e-02 3.47317859e+01] [-1.89522675e-01 9.81756356e-01 -1.53496747e-02 -5.27666249e+00] [-7.22031147e-02 1.65566814e-03 9.97388575e-01 -1.94800154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.665779523 meters 0.02284766696128342 Centerline is valid? [True, True] Translation: X:34.76, Y:-5.28, Z:-1.95 [[ 9.78554531e-01 1.92897221e-01 7.22612766e-02 3.47630337e+01] [-1.92261569e-01 9.81217840e-01 -1.57174724e-02 -5.27912657e+00] [-7.39359106e-02 1.48733743e-03 9.97261886e-01 -1.94772718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.695779523 meters 0.022121836854310267 Centerline is valid? [True, True] Translation: X:34.80, Y:-5.28, Z:-1.95 [[ 9.77812858e-01 1.96033421e-01 7.38438447e-02 3.47959392e+01] [-1.95377162e-01 9.80596360e-01 -1.60793027e-02 -5.28175036e+00] [-7.55630860e-02 1.29514807e-03 9.97140182e-01 -1.94863581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.72577952299999 meters 0.021687465115296598 Centerline is valid? [True, True] Translation: X:34.83, Y:-5.29, Z:-1.95 [[ 9.77108669e-01 1.98843797e-01 7.56293199e-02 3.48283344e+01] [-1.98162960e-01 9.80030562e-01 -1.64784260e-02 -5.28639560e+00] [-7.73956777e-02 1.11428297e-03 9.96999833e-01 -1.94931566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.755779522999994 meters 0.02115201161657704 Centerline is valid? [True, True] Translation: X:34.86, Y:-5.29, Z:-1.95 [[ 9.75831642e-01 2.04626476e-01 7.66851486e-02 3.48598433e+01] [-2.03943477e-01 9.78839900e-01 -1.67185100e-02 -5.28945216e+00] [-7.84835329e-02 6.75015188e-04 9.96915182e-01 -1.95175836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.785779522999995 meters 0.02097243387936924 Centerline is valid? [True, True] Translation: X:34.89, Y:-5.29, Z:-1.96 [[ 9.75289546e-01 2.07491263e-01 7.58793589e-02 3.48901787e+01] [-2.06829793e-01 9.78236764e-01 -1.65611171e-02 -5.29291115e+00] [-7.76642656e-02 4.57772320e-04 9.96979464e-01 -1.95745965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.815779522999996 meters 0.020942718005277906 Centerline is valid? [True, True] Translation: X:34.92, Y:-5.30, Z:-1.96 [[ 9.74880092e-01 2.09854785e-01 7.46309294e-02 3.49224994e+01] [-2.09220617e-01 9.77732525e-01 -1.63046879e-02 -5.29609349e+00] [-7.63907038e-02 2.80786515e-04 9.97077921e-01 -1.96401930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.845779523 meters 0.020908127635545587 Centerline is valid? [True, True] Translation: X:34.96, Y:-5.30, Z:-1.97 [[ 9.74446262e-01 2.12164096e-01 7.37623178e-02 3.49552362e+01] [-2.11549722e-01 9.77234047e-01 -1.61348264e-02 -5.30004165e+00] [-7.55062792e-02 1.18123456e-04 9.97145319e-01 -1.96993159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.875779523 meters 0.02102000930016464 Centerline is valid? [True, True] Translation: X:34.99, Y:-5.30, Z:-1.97 [[ 9.73417334e-01 2.17223216e-01 7.26138308e-02 3.49861319e+01] [-2.16640375e-01 9.76121925e-01 -1.59039607e-02 -5.30413137e+00] [-7.43346618e-02 -2.49896494e-04 9.97233321e-01 -1.97096923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90577952299999 meters 0.021212138147432485 Centerline is valid? [True, True] Translation: X:35.02, Y:-5.31, Z:-1.97 [[ 9.72831948e-01 2.19307601e-01 7.41766687e-02 3.50188679e+01] [-2.18704714e-01 9.75655682e-01 -1.62554326e-02 -5.31049735e+00] [-7.59358282e-02 -4.08982984e-04 9.97112623e-01 -1.96945353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.935779522999994 meters 0.02124900880818887 Centerline is valid? [True, True] Translation: X:35.05, Y:-5.32, Z:-1.97 [[ 9.72537502e-01 2.19952706e-01 7.61026575e-02 3.50491853e+01] [-2.19318355e-01 9.75510433e-01 -1.66989527e-02 -5.31670154e+00] [-7.79119161e-02 -4.50351930e-04 9.96960145e-01 -1.96784681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.965779522999995 meters 0.02098275309301917 Centerline is valid? [True, True] Translation: X:35.08, Y:-5.33, Z:-1.97 [[ 9.73200707e-01 2.15902225e-01 7.91619393e-02 3.50779739e+01] [-2.15201497e-01 9.76414981e-01 -1.73810483e-02 -5.33072675e+00] [-8.10475104e-02 -1.20519309e-04 9.96710232e-01 -1.96506456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.995779522999996 meters 0.02067796751757591 Centerline is valid? [True, True] Translation: X:35.11, Y:-5.34, Z:-1.97 [[ 9.74232875e-01 2.11662424e-01 7.79058612e-02 3.51086930e+01] [-2.10968931e-01 9.77342805e-01 -1.71216708e-02 -5.34479323e+00] [-7.97647472e-02 2.44778331e-04 9.96813686e-01 -1.97070643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.025779523 meters 0.021074070127567266 Centerline is valid? [True, True] Translation: X:35.14, Y:-5.36, Z:-1.98 [[ 9.75507357e-01 2.06289410e-01 7.63549346e-02 3.51384503e+01] [-2.05605280e-01 9.78490778e-01 -1.68007744e-02 -5.35783689e+00] [-7.81784212e-02 6.90301250e-04 9.96939145e-01 -1.97773946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.055779523 meters 0.021924031644855697 Centerline is valid? [True, True] Translation: X:35.17, Y:-5.37, Z:-1.99 [[ 9.76528229e-01 2.01644364e-01 7.57110873e-02 3.51675982e+01] [-2.00956426e-01 9.79458220e-01 -1.66766446e-02 -5.36993365e+00] [-7.75185982e-02 1.07058468e-03 9.96990331e-01 -1.98549529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08577952299999 meters 0.02299354503658319 Centerline is valid? [True, True] Translation: X:35.20, Y:-5.38, Z:-1.99 [[ 9.77387510e-01 1.97332787e-01 7.59830691e-02 3.51980660e+01] [-1.96625551e-01 9.80335511e-01 -1.67534745e-02 -5.38114835e+00] [-7.77949107e-02 1.43442388e-03 9.96968352e-01 -1.99095545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.11577952299999 meters 0.023462991757604135 Centerline is valid? [True, True] Translation: X:35.23, Y:-5.39, Z:-1.99 [[ 9.78293868e-01 1.92397941e-01 7.69684288e-02 3.52281616e+01] [-1.91656574e-01 9.81315234e-01 -1.69755322e-02 -5.39066331e+00] [-7.87963492e-02 1.85555371e-03 9.96889007e-01 -1.99446495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.145779522999995 meters 0.023950981950842137 Centerline is valid? [True, True] Translation: X:35.26, Y:-5.40, Z:-2.00 [[ 9.78539981e-01 1.91349962e-01 7.64506244e-02 3.52580622e+01] [-1.90613992e-01 9.81519950e-01 -1.68787811e-02 -5.39882628e+00] [-7.82675672e-02 1.94400346e-03 9.96930493e-01 -1.99675148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.175779522999996 meters 0.023909410039434996 Centerline is valid? [True, True] Translation: X:35.29, Y:-5.41, Z:-2.00 [[ 9.78719812e-01 1.91107369e-01 7.47362210e-02 3.52889749e+01] [-1.90402697e-01 9.81567245e-01 -1.65092915e-02 -5.40675286e+00] [-7.65136738e-02 1.92799257e-03 9.97066668e-01 -1.99973038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.205779523 meters 0.024043098584786156 Centerline is valid? [True, True] Translation: X:35.32, Y:-5.42, Z:-2.00 [[ 9.79442963e-01 1.88600809e-01 7.15626845e-02 3.53190354e+01] [-1.87946810e-01 9.82051694e-01 -1.58261728e-02 -5.42186366e+00] [-7.32630845e-02 2.05085530e-03 9.97310541e-01 -1.99912013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.235779523 meters 0.02588446408088929 Centerline is valid? [True, True] Translation: X:35.35, Y:-5.44, Z:-2.00 [[ 9.79760269e-01 1.86060303e-01 7.38334561e-02 3.53475851e+01] [-1.85356521e-01 9.82535595e-01 -1.63329132e-02 -5.43911725e+00] [-7.55829055e-02 2.31682686e-03 9.97136829e-01 -1.99655517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.265779523 meters 0.02573653286673161 Centerline is valid? [True, True] Translation: X:35.38, Y:-5.45, Z:-1.99 [[ 9.80280998e-01 1.82161739e-01 7.65915460e-02 3.53775236e+01] [-1.81390949e-01 9.83264779e-01 -1.69616780e-02 -5.45124485e+00] [-7.83995383e-02 2.73419737e-03 9.96918270e-01 -1.99294945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.29577952299999 meters 0.02763726147340028 Centerline is valid? [True, True] Translation: X:35.41, Y:-5.46, Z:-1.99 [[ 9.80896361e-01 1.76284125e-01 8.22571331e-02 3.54079066e+01] [-1.75373888e-01 9.84333293e-01 -1.82199969e-02 -5.46000060e+00] [-8.41803309e-02 3.44617546e-03 9.96444577e-01 -1.99335318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.325779522999994 meters 0.028125683054647996 Centerline is valid? [True, True] Translation: X:35.44, Y:-5.46, Z:-2.00 [[ 9.80722343e-01 1.76852133e-01 8.31084173e-02 3.54391254e+01] [-1.75924724e-01 9.84231437e-01 -1.84111545e-02 -5.45953779e+00] [-8.50539690e-02 3.43540522e-03 9.96370423e-01 -2.00193017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.355779522999995 meters 0.02691164796661282 Centerline is valid? [True, True] Translation: X:35.47, Y:-5.46, Z:-2.01 [[ 9.80688271e-01 1.78224125e-01 8.05399113e-02 3.54716535e+01] [-1.77356976e-01 9.83984637e-01 -1.78531930e-02 -5.45791506e+00] [-8.24319051e-02 3.22410183e-03 9.96591484e-01 -2.01267502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.385779523 meters 0.026674016828139146 Centerline is valid? [True, True] Translation: X:35.50, Y:-5.46, Z:-2.02 [[ 9.80829441e-01 1.79688456e-01 7.54033566e-02 3.55032879e+01] [-1.78931501e-01 9.83719235e-01 -1.67327648e-02 -5.46271921e+00] [-7.71824169e-02 2.91995256e-03 9.97012712e-01 -2.02294540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.415779523 meters 0.026372970734264305 Centerline is valid? [True, True] Translation: X:35.53, Y:-5.47, Z:-2.03 [[ 9.80661521e-01 1.82341329e-01 7.10958630e-02 3.55336371e+01] [-1.81675144e-01 9.83231960e-01 -1.57814957e-02 -5.47235740e+00] [-7.27813436e-02 2.55995436e-03 9.97344636e-01 -2.02738315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.445779523 meters 0.026332781758859836 Centerline is valid? [True, True] Translation: X:35.56, Y:-5.49, Z:-2.02 [[ 9.79776655e-01 1.87573903e-01 6.96687689e-02 3.55608856e+01] [-1.86946121e-01 9.82248150e-01 -1.54828817e-02 -5.49207849e+00] [-7.13362039e-02 2.14545989e-03 9.97450020e-01 -2.01813585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47577952299999 meters 0.02427419022704408 Centerline is valid? [True, True] Translation: X:35.59, Y:-5.50, Z:-2.01 [[ 9.79373935e-01 1.88829835e-01 7.19026387e-02 3.55927776e+01] [-1.88164017e-01 9.82007522e-01 -1.59852925e-02 -5.49846952e+00] [-7.36274322e-02 2.12608950e-03 9.97283551e-01 -2.01142996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.505779522999994 meters 0.02617597796192981 Centerline is valid? [True, True] Translation: X:35.62, Y:-5.51, Z:-2.01 [[ 9.79141757e-01 1.88394059e-01 7.60861281e-02 3.56239434e+01] [-1.87645469e-01 9.82090813e-01 -1.69355441e-02 -5.50647131e+00] [-7.79140433e-02 2.30508117e-03 9.96957416e-01 -2.01016343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.535779522999995 meters 0.026675424618623687 Centerline is valid? [True, True] Translation: X:35.66, Y:-5.50, Z:-2.01 [[ 9.78907705e-01 1.87515033e-01 8.11037443e-02 3.56567139e+01] [-1.86659307e-01 9.82258409e-01 -1.80754173e-02 -5.50478811e+00] [-8.30542474e-02 2.55539654e-03 9.96541751e-01 -2.01375326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.565779522999996 meters 0.02470786873138234 Centerline is valid? [True, True] Translation: X:35.69, Y:-5.49, Z:-2.03 [[ 9.78697413e-01 1.87749593e-01 8.30750509e-02 3.56924932e+01] [-1.86850790e-01 9.82213439e-01 -1.85349055e-02 -5.48997214e+00] [-8.50773524e-02 2.61742512e-03 9.96370911e-01 -2.02988740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.595779523 meters 0.02400741904182902 Centerline is valid? [True, True] Translation: X:35.72, Y:-5.50, Z:-2.04 [[ 9.78625661e-01 1.89348267e-01 8.02436889e-02 3.57239305e+01] [-1.88513329e-01 9.81907022e-01 -1.79255454e-02 -5.49681372e+00] [-8.21860125e-02 2.41539376e-03 9.96614080e-01 -2.03602521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.625779523 meters 0.024092004654410047 Centerline is valid? [True, True] Translation: X:35.75, Y:-5.51, Z:-2.04 [[ 9.78392066e-01 1.92367003e-01 7.57885304e-02 3.57530863e+01] [-1.91630660e-01 9.81320912e-01 -1.69398405e-02 -5.51108267e+00] [-7.76315361e-02 2.05039943e-03 9.96980010e-01 -2.03817709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.65577952299999 meters 0.023167005779415734 Centerline is valid? [True, True] Translation: X:35.78, Y:-5.52, Z:-2.04 [[ 9.77952376e-01 1.95709996e-01 7.28474291e-02 3.57836195e+01] [-1.95037712e-01 9.80660285e-01 -1.63001779e-02 -5.52328114e+00] [-7.46286883e-02 1.73280176e-03 9.97209886e-01 -2.03716858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.685779522999994 meters 0.023165041640079813 Centerline is valid? [True, True] Translation: X:35.81, Y:-5.54, Z:-2.03 [[ 9.77315872e-01 1.99146320e-01 7.20723967e-02 3.58132641e+01] [-1.98496261e-01 9.79968660e-01 -1.61449590e-02 -5.53546018e+00] [-7.38438992e-02 1.47262342e-03 9.97268725e-01 -2.03088076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.715779522999995 meters 0.023284905899646973 Centerline is valid? [True, True] Translation: X:35.85, Y:-5.54, Z:-2.03 [[ 9.77157466e-01 1.99310250e-01 7.37476105e-02 3.58457536e+01] [-1.98628704e-01 9.79935273e-01 -1.65378015e-02 -5.53774877e+00] [-7.55640382e-02 1.51164392e-03 9.97139805e-01 -2.03455416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.745779522999996 meters 0.023508092749724763 Centerline is valid? [True, True] Translation: X:35.88, Y:-5.54, Z:-2.04 [[ 9.77086358e-01 1.99057854e-01 7.53539708e-02 3.58791437e+01] [-1.98344015e-01 9.79986461e-01 -1.69170905e-02 -5.53752665e+00] [-7.72133509e-02 1.58344918e-03 9.97013335e-01 -2.04131479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.775779523 meters 0.023526521180704453 Centerline is valid? [True, True] Translation: X:35.91, Y:-5.54, Z:-2.05 [[ 9.76791049e-01 1.99663434e-01 7.75484346e-02 3.59110131e+01] [-1.98907434e-01 9.79863227e-01 -1.74324050e-02 -5.53856052e+00] [-7.94674732e-02 1.60285705e-03 9.96836171e-01 -2.04720845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.805779523 meters 0.0226650660192498 Centerline is valid? [True, True] Translation: X:35.94, Y:-5.55, Z:-2.05 [[ 9.75730077e-01 2.03363495e-01 8.12040982e-02 3.59418077e+01] [-2.02545423e-01 9.79102330e-01 -1.82750713e-02 -5.54730533e+00] [-8.32236042e-02 1.38401827e-03 9.96529937e-01 -2.04652059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83577952299999 meters 0.02277481855652168 Centerline is valid? [True, True] Translation: X:35.97, Y:-5.56, Z:-2.05 [[ 9.75170253e-01 2.06220648e-01 8.07218816e-02 3.59713311e+01] [-2.05420341e-01 9.78504836e-01 -1.81870764e-02 -5.56017699e+00] [-8.27373021e-02 1.15357943e-03 9.96570724e-01 -2.04606494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86577952299999 meters 0.022325254418613275 Centerline is valid? [True, True] Translation: X:36.00, Y:-5.56, Z:-2.05 [[ 9.73953629e-01 2.11914144e-01 8.06642693e-02 3.60040506e+01] [-2.11132770e-01 9.77288044e-01 -1.81943237e-02 -5.56305500e+00] [-8.26878604e-02 6.89557003e-04 9.96575257e-01 -2.04742415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.895779522999995 meters 0.022272967464969356 Centerline is valid? [True, True] Translation: X:36.04, Y:-5.56, Z:-2.06 [[ 9.72767825e-01 2.18354890e-01 7.77425328e-02 3.60352886e+01] [-2.17649157e-01 9.75869418e-01 -1.75420354e-02 -5.56341346e+00] [-7.96969495e-02 1.43730841e-04 9.96819129e-01 -2.05500378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.925779522999996 meters 0.022256063163501646 Centerline is valid? [True, True] Translation: X:36.07, Y:-5.57, Z:-2.06 [[ 9.72719948e-01 2.19273664e-01 7.57295429e-02 3.60667332e+01] [-2.18606042e-01 9.75663392e-01 -1.70980677e-02 -5.57000695e+00] [-7.76356987e-02 7.66958029e-05 9.96981791e-01 -2.05846366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.955779523 meters 0.022246131289559747 Centerline is valid? [True, True] Translation: X:36.10, Y:-5.58, Z:-2.06 [[ 9.72557271e-01 2.20280980e-01 7.48908843e-02 3.60983396e+01] [-2.19629543e-01 9.75436461e-01 -1.69285017e-02 -5.57716271e+00] [-7.67803261e-02 1.56866760e-05 9.97048034e-01 -2.06072337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.985779523 meters 0.022577576875749166 Centerline is valid? [True, True] Translation: X:36.13, Y:-5.58, Z:-2.06 [[ 9.71829627e-01 2.23956376e-01 7.34215076e-02 3.61296718e+01] [-2.23339203e-01 9.74599138e-01 -1.66168787e-02 -5.58355287e+00] [-7.52779939e-02 -2.49125943e-04 9.97162555e-01 -2.06169248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.015779523 meters 0.02295955632550377 Centerline is valid? [True, True] Translation: X:36.16, Y:-5.59, Z:-2.07 [[ 9.71238482e-01 2.27048409e-01 7.17274737e-02 3.61612847e+01] [-2.26466573e-01 9.73883365e-01 -1.62506539e-02 -5.58995063e+00] [-7.35438786e-02 -4.60614710e-04 9.97291876e-01 -2.06556544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.04577952299999 meters 0.023648560510381833 Centerline is valid? [True, True] Translation: X:36.19, Y:-5.59, Z:-2.07 [[ 9.70712955e-01 2.29927811e-01 6.96387928e-02 3.61913175e+01] [-2.29385540e-01 9.73207475e-01 -1.57950682e-02 -5.59460457e+00] [-7.14047192e-02 -6.41654751e-04 9.97447219e-01 -2.07196920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.075779522999994 meters 0.023779133557550333 Centerline is valid? [True, True] Translation: X:36.22, Y:-5.60, Z:-2.08 [[ 9.70283547e-01 2.32428176e-01 6.72828506e-02 3.62216927e+01] [-2.31927517e-01 9.72613242e-01 -1.52679026e-02 -5.60178493e+00] [-6.89888822e-02 -7.90549851e-04 9.97617116e-01 -2.07693532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.105779522999995 meters 0.02370756895006271 Centerline is valid? [True, True] Translation: X:36.25, Y:-5.61, Z:-2.08 [[ 9.70201224e-01 2.33286793e-01 6.54740952e-02 3.62525122e+01] [-2.32813722e-01 9.72407635e-01 -1.48715337e-02 -5.60971376e+00] [-6.71368425e-02 -8.14887575e-04 9.97743444e-01 -2.08212736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.135779523 meters 0.023565926721088582 Centerline is valid? [True, True] Translation: X:36.28, Y:-5.62, Z:-2.08 [[ 9.70421587e-01 2.31921415e-01 6.70402936e-02 3.62818651e+01] [-2.31420972e-01 9.72734258e-01 -1.52445495e-02 -5.62040852e+00] [-6.87479278e-02 -7.20889927e-04 9.97633802e-01 -2.08418035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.165779523 meters 0.02301005692901874 Centerline is valid? [True, True] Translation: X:36.31, Y:-5.63, Z:-2.08 [[ 9.70722308e-01 2.29218926e-01 7.18114554e-02 3.63131386e+01] [-2.28635819e-01 9.73374739e-01 -1.63486783e-02 -5.62752056e+00] [-7.36468831e-02 -5.48644173e-04 9.97284230e-01 -2.08360010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.195779523 meters 0.022767875364900814 Centerline is valid? [True, True] Translation: X:36.34, Y:-5.64, Z:-2.09 [[ 9.71047321e-01 2.27646588e-01 7.24163800e-02 3.63434875e+01] [-2.27047867e-01 9.73743734e-01 -1.65047624e-02 -5.63595889e+00] [-7.42722491e-02 -4.15079331e-04 9.97237916e-01 -2.08553104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.22577952299999 meters 0.022556470022549135 Centerline is valid? [True, True] Translation: X:36.37, Y:-5.65, Z:-2.08 [[ 9.71161936e-01 2.27060293e-01 7.27194461e-02 3.63748781e+01] [-2.26453679e-01 9.73880638e-01 -1.65902024e-02 -5.64689437e+00] [-7.45870368e-02 -3.55812996e-04 9.97214444e-01 -2.08491032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.255779522999994 meters 0.022556470022549135 Centerline is valid? [True, True] Translation: X:36.41, Y:-5.65, Z:-2.09 [[ 9.71102336e-01 2.27316455e-01 7.27150721e-02 3.64063423e+01] [-2.26709124e-01 9.73820878e-01 -1.66093505e-02 -5.65418085e+00] [-7.45870341e-02 -3.55791190e-04 9.97214444e-01 -2.08755137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.285779522999995 meters 0.022612961195590274 Centerline is valid? [True, True] Translation: X:36.44, Y:-5.67, Z:-2.09 [[ 9.70830564e-01 2.28484821e-01 7.26822093e-02 3.64375474e+01] [-2.27879809e-01 9.73547382e-01 -1.66218983e-02 -5.66562660e+00] [-7.45574261e-02 -4.25761092e-04 9.97216631e-01 -2.08509622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.315779522999996 meters 0.022852363258457194 Centerline is valid? [True, True] Translation: X:36.47, Y:-5.68, Z:-2.08 [[ 9.70339577e-01 2.30635403e-01 7.24459494e-02 3.64688287e+01] [-2.30038754e-01 9.73040075e-01 -1.65886741e-02 -5.67559871e+00] [-7.43187476e-02 -5.68728951e-04 9.97234376e-01 -2.08366855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.345779523 meters 0.023484099773114334 Centerline is valid? [True, True] Translation: X:36.50, Y:-5.68, Z:-2.09 [[ 9.69701469e-01 2.34263007e-01 6.92813404e-02 3.65007124e+01] [-2.33725459e-01 9.72172934e-01 -1.58806676e-02 -5.67797136e+00] [-7.10736970e-02 -7.93306354e-04 9.97470752e-01 -2.09073545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.375779523 meters 0.023715813904510604 Centerline is valid? [True, True] Translation: X:36.53, Y:-5.68, Z:-2.10 [[ 9.69642049e-01 2.35132330e-01 6.71348271e-02 3.65314009e+01] [-2.34628524e-01 9.71963027e-01 -1.54055360e-02 -5.67726521e+00] [-6.88749093e-02 -8.13889924e-04 9.97624972e-01 -2.10268057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.40577952299999 meters 0.023370727083653044 Centerline is valid? [True, True] Translation: X:36.56, Y:-5.68, Z:-2.11 [[ 9.69760643e-01 2.35088276e-01 6.55575860e-02 3.65630662e+01] [-2.34606992e-01 9.71973710e-01 -1.50554158e-02 -5.67888141e+00] [-6.72596018e-02 -7.80118353e-04 9.97735204e-01 -2.11322781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.435779522999994 meters 0.022963072142591086 Centerline is valid? [True, True] Translation: X:36.59, Y:-5.68, Z:-2.12 [[ 9.70101233e-01 2.33865180e-01 6.48897094e-02 3.65938671e+01] [-2.33389870e-01 9.72268803e-01 -1.49179014e-02 -5.68409136e+00] [-6.65790178e-02 -6.72726272e-04 9.97780929e-01 -2.12064441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.465779522999995 meters 0.02206765755341886 Centerline is valid? [True, True] Translation: X:36.62, Y:-5.70, Z:-2.12 [[ 9.71504863e-01 2.27791775e-01 6.54920512e-02 3.66223652e+01] [-2.27292556e-01 9.73709838e-01 -1.50746432e-02 -5.70005696e+00] [-6.72041343e-02 -2.40766537e-04 9.97739218e-01 -2.12003191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.495779522999996 meters 0.0218139268052767 Centerline is valid? [True, True] Translation: X:36.65, Y:-5.72, Z:-2.12 [[ 9.72195069e-01 2.24520475e-01 6.65379888e-02 3.66519812e+01] [-2.23996459e-01 9.74469372e-01 -1.53306992e-02 -5.71546274e+00] [-6.82812880e-02 1.56341789e-07 9.97666109e-01 -2.11549055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.525779523 meters 0.02172457244903619 Centerline is valid? [True, True] Translation: X:36.68, Y:-5.73, Z:-2.11 [[ 9.72628450e-01 2.21856979e-01 6.90896448e-02 3.66824499e+01] [-2.21283957e-01 9.75079195e-01 -1.59365800e-02 -5.73033478e+00] [-7.09035168e-02 2.11941163e-04 9.97483156e-01 -2.10960208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.555779523 meters 0.021826860319822023 Centerline is valid? [True, True] Translation: X:36.71, Y:-5.74, Z:-2.11 [[ 9.73038668e-01 2.19367715e-01 7.12288982e-02 3.67123439e+01] [-2.18750539e-01 9.75642161e-01 -1.64491982e-02 -5.74249509e+00] [-7.31023391e-02 4.24345992e-04 9.97324354e-01 -2.10587064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.58577952299999 meters 0.022187610004801024 Centerline is valid? [True, True] Translation: X:36.74, Y:-5.75, Z:-2.11 [[ 9.74237476e-01 2.13988539e-01 7.12056601e-02 3.67440815e+01] [-2.13356744e-01 9.76835813e-01 -1.64528037e-02 -5.74804550e+00] [-7.30769503e-02 8.36730194e-04 9.97325954e-01 -2.11095354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.61577952299999 meters 0.022624234026273272 Centerline is valid? [True, True] Translation: X:36.77, Y:-5.75, Z:-2.12 [[ 9.74838190e-01 2.11890271e-01 6.92316163e-02 3.67741025e+01] [-2.11286551e-01 9.77292968e-01 -1.60139733e-02 -5.75249247e+00] [-7.10527770e-02 9.83323284e-04 9.97472073e-01 -2.12089330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.645779522999995 meters 0.02275245855883483 Centerline is valid? [True, True] Translation: X:36.81, Y:-5.76, Z:-2.13 [[ 9.75174803e-01 2.10636405e-01 6.83111151e-02 3.68058969e+01] [-2.10044482e-01 9.77563884e-01 -1.58166790e-02 -5.75677541e+00] [-7.01100474e-02 1.07565405e-03 9.97538683e-01 -2.12902112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.675779522999996 meters 0.02301947405156313 Centerline is valid? [True, True] Translation: X:36.84, Y:-5.76, Z:-2.13 [[ 9.75564522e-01 2.08896713e-01 6.80883692e-02 3.68372552e+01] [-2.08303254e-01 9.77936957e-01 -1.57817193e-02 -5.76329759e+00] [-6.98828819e-02 1.21305656e-03 9.97554465e-01 -2.13416440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.705779523 meters 0.023591802541194033 Centerline is valid? [True, True] Translation: X:36.87, Y:-5.77, Z:-2.14 [[ 9.76040348e-01 2.06478229e-01 6.86438613e-02 3.68672947e+01] [-2.05867842e-01 9.78450172e-01 -1.59277005e-02 -5.77219321e+00] [-7.04533214e-02 1.41451473e-03 9.97514074e-01 -2.13728453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.735779523 meters 0.027053526980854906 Centerline is valid? [True, True] Translation: X:36.90, Y:-5.79, Z:-2.14 [[ 9.77773323e-01 1.98021846e-01 6.88961409e-02 3.68955242e+01] [-1.97384712e-01 9.80195465e-01 -1.60039459e-02 -5.78775955e+00] [-7.07008158e-02 2.04918645e-03 9.97495461e-01 -2.13869695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.765779523 meters 0.026223075448634302 Centerline is valid? [True, True] Translation: X:36.93, Y:-5.80, Z:-2.14 [[ 9.78797369e-01 1.93199143e-01 6.80426527e-02 3.69257042e+01] [-1.92565975e-01 9.81156704e-01 -1.58072123e-02 -5.79861064e+00] [-6.98144447e-02 2.36935809e-03 9.97557181e-01 -2.13633056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.79577952299999 meters 0.02858652185194499 Centerline is valid? [True, True] Translation: X:36.95, Y:-5.81, Z:-2.14 [[ 9.79847946e-01 1.88308540e-01 6.66175354e-02 3.69535399e+01] [-1.87690180e-01 9.82106307e-01 -1.54789306e-02 -5.81216753e+00] [-6.83403165e-02 2.66354114e-03 9.97658512e-01 -2.13814973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.825779522999994 meters 0.03032290868577755 Centerline is valid? [True, True] Translation: X:36.98, Y:-5.82, Z:-2.14 [[ 9.80710291e-01 1.83863686e-01 6.63435727e-02 3.69829416e+01] [-1.83240251e-01 9.82947291e-01 -1.54153853e-02 -5.82194576e+00] [-6.80465646e-02 2.96121406e-03 9.97677752e-01 -2.14062492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.855779522999995 meters 0.029326648398051873 Centerline is valid? [True, True] Translation: X:37.02, Y:-5.82, Z:-2.14 [[ 9.81373011e-01 1.78957624e-01 6.98654580e-02 3.70151495e+01] [-1.78253627e-01 9.83850632e-01 -1.62351056e-02 -5.81888082e+00] [-7.16425709e-02 3.47892322e-03 9.97424302e-01 -2.14354234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.885779523 meters 0.029224027788040945 Centerline is valid? [True, True] Translation: X:37.05, Y:-5.82, Z:-2.15 [[ 9.81262636e-01 1.78949462e-01 7.14193842e-02 3.70478929e+01] [-1.78213516e-01 9.83851826e-01 -1.65989911e-02 -5.82352106e+00] [-7.32364721e-02 3.56007014e-03 9.97308250e-01 -2.14631419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.915779523 meters 0.02964193689134433 Centerline is valid? [True, True] Translation: X:37.08, Y:-5.83, Z:-2.15 [[ 9.81209124e-01 1.79233703e-01 7.14418241e-02 3.70784835e+01] [-1.78496505e-01 9.83800082e-01 -1.66251606e-02 -5.83105495e+00] [-7.32642615e-02 3.56064337e-03 9.97306207e-01 -2.14880670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.945779523 meters 0.02976101415224908 Centerline is valid? [True, True] Translation: X:37.11, Y:-5.84, Z:-2.15 [[ 9.81325565e-01 1.79024483e-01 7.03588679e-02 3.71094256e+01] [-1.78307601e-01 9.83838249e-01 -1.63920615e-02 -5.83938234e+00] [-7.21563257e-02 3.54042804e-03 9.97387051e-01 -2.15134510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.97577952299999 meters 0.0319812643017532 Centerline is valid? [True, True] Translation: X:37.14, Y:-5.85, Z:-2.16 [[ 9.82131961e-01 1.75808353e-01 6.71433822e-02 3.71380657e+01] [-1.75146799e-01 9.84417748e-01 -1.56619179e-02 -5.84843592e+00] [-6.88506331e-02 3.62212168e-03 9.97620404e-01 -2.15745907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.005779522999994 meters 0.03364392237735968 Centerline is valid? [True, True] Translation: X:37.17, Y:-5.86, Z:-2.16 [[ 9.82645850e-01 1.73425926e-01 6.58071498e-02 3.71682321e+01] [-1.72785164e-01 9.84839916e-01 -1.53501672e-02 -5.85557493e+00] [-6.74716248e-02 3.71327893e-03 9.97714283e-01 -2.16319695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.035779522999995 meters 0.03583773547993104 Centerline is valid? [True, True] Translation: X:37.20, Y:-5.87, Z:-2.17 [[ 9.83033660e-01 1.71155999e-01 6.59579226e-02 3.71966988e+01] [-1.70507029e-01 9.85236299e-01 -1.53879051e-02 -5.86579232e+00] [-6.76178718e-02 3.88053921e-03 9.97703746e-01 -2.16669290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.065779522999996 meters 0.032162687825211374 Centerline is valid? [True, True] Translation: X:37.23, Y:-5.87, Z:-2.16 [[ 9.83461051e-01 1.68027251e-01 6.76106815e-02 3.72281891e+01] [-1.67337864e-01 9.85773404e-01 -1.57744936e-02 -5.86972370e+00] [-6.92993565e-02 4.19977306e-03 9.97587069e-01 -2.16486163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.095779523 meters 0.03234745015276442 Centerline is valid? [True, True] Translation: X:37.26, Y:-5.88, Z:-2.17 [[ 9.83254832e-01 1.68732991e-01 6.88412121e-02 3.72595649e+01] [-1.68019934e-01 9.85652736e-01 -1.60619267e-02 -5.87687357e+00] [-7.05637060e-02 4.22627110e-03 9.97498322e-01 -2.16626617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.125779523 meters 0.035234492118633796 Centerline is valid? [True, True] Translation: X:37.29, Y:-5.89, Z:-2.17 [[ 9.82727110e-01 1.70913110e-01 7.09657455e-02 3.72884434e+01] [-1.70159489e-01 9.85277087e-01 -1.65774109e-02 -5.88524216e+00] [-7.27542198e-02 4.21557617e-03 9.97340991e-01 -2.16945889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.15577952299999 meters 0.03147834716254596 Centerline is valid? [True, True] Translation: X:37.32, Y:-5.88, Z:-2.17 [[ 9.81411470e-01 1.76977147e-01 7.42335207e-02 3.73214458e+01] [-1.76168962e-01 9.84207037e-01 -1.73494835e-02 -5.87820873e+00] [-7.61316156e-02 3.94933980e-03 9.97089956e-01 -2.17418871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.185779522999994 meters 0.030412269490819814 Centerline is valid? [True, True] Translation: X:37.35, Y:-5.88, Z:-2.18 [[ 9.80811754e-01 1.80396724e-01 7.39278430e-02 3.73526172e+01] [-1.79604628e-01 9.83587078e-01 -1.72811330e-02 -5.88209249e+00] [-7.58319308e-02 3.67175567e-03 9.97113853e-01 -2.17737093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.215779522999995 meters 0.030028726092013697 Centerline is valid? [True, True] Translation: X:37.38, Y:-5.89, Z:-2.18 [[ 9.80257414e-01 1.83495887e-01 7.36523014e-02 3.73827531e+01] [-1.82718241e-01 9.83014524e-01 -1.72188969e-02 -5.88932170e+00] [-7.55608788e-02 3.42133245e-03 9.97135321e-01 -2.17948043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.245779522999996 meters 0.02834727537630131 Centerline is valid? [True, True] Translation: X:37.41, Y:-5.90, Z:-2.18 [[ 9.79206101e-01 1.89303869e-01 7.29346024e-02 3.74133507e+01] [-1.88557177e-01 9.81914132e-01 -1.70537125e-02 -5.89692395e+00] [-7.48438506e-02 2.94675659e-03 9.97190912e-01 -2.17725004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.275779523 meters 0.027714615335638446 Centerline is valid? [True, True] Translation: X:37.44, Y:-5.90, Z:-2.18 [[ 9.78638744e-01 1.91743865e-01 7.41653422e-02 3.74444027e+01] [-1.90978555e-01 9.81440982e-01 -1.73433362e-02 -5.90254337e+00] [-7.61143846e-02 2.80887094e-03 9.97095136e-01 -2.17786721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.305779523 meters 0.02712590847879383 Centerline is valid? [True, True] Translation: X:37.47, Y:-5.91, Z:-2.18 [[ 9.78057795e-01 1.94262765e-01 7.52657168e-02 3.74747158e+01] [-1.93481756e-01 9.80945937e-01 -1.76033745e-02 -5.90538762e+00] [-7.72512793e-02 2.65457455e-03 9.97008121e-01 -2.18010880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.33577952299999 meters 0.02415459810122659 Centerline is valid? [True, True] Translation: X:37.51, Y:-5.90, Z:-2.18 [[ 9.77348292e-01 1.97447162e-01 7.61901176e-02 3.75076791e+01] [-1.96656357e-01 9.80310509e-01 -1.78208591e-02 -5.90211168e+00] [-7.82086511e-02 2.43391525e-03 9.96934041e-01 -2.18357034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.36577952299999 meters 0.023600007678193237 Centerline is valid? [True, True] Translation: X:37.54, Y:-5.90, Z:-2.19 [[ 9.76638248e-01 2.00624056e-01 7.69916942e-02 3.75389219e+01] [-1.99826104e-01 9.79665823e-01 -1.80112209e-02 -5.90393486e+00] [-7.90396156e-02 2.20549690e-03 9.96869036e-01 -2.18825688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.395779522999995 meters 0.024939056256363137 Centerline is valid? [True, True] Translation: X:37.57, Y:-5.91, Z:-2.20 [[ 9.75625005e-01 2.05252349e-01 7.76358323e-02 3.75687811e+01] [-2.04455338e-01 9.78707339e-01 -1.81648073e-02 -5.90730257e+00] [-7.97111282e-02 1.84897992e-03 9.96816291e-01 -2.19737303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.425779522999996 meters 0.024097192728325154 Centerline is valid? [True, True] Translation: X:37.60, Y:-5.91, Z:-2.20 [[ 9.75167925e-01 2.07808613e-01 7.65708658e-02 3.75994743e+01] [-2.07041154e-01 9.78168166e-01 -1.79164343e-02 -5.91474022e+00] [-7.86223727e-02 1.61821167e-03 9.96903157e-01 -2.20072073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.455779523 meters 0.02183899343605259 Centerline is valid? [True, True] Translation: X:37.63, Y:-5.92, Z:-2.20 [[ 9.74736700e-01 2.10680392e-01 7.41763987e-02 3.76295036e+01] [-2.09967171e-01 9.77554050e-01 -1.73743032e-02 -5.92200168e+00] [-7.61718639e-02 1.36076238e-03 9.97093775e-01 -2.20169733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.485779523 meters 0.021128862738198438 Centerline is valid? [True, True] Translation: X:37.66, Y:-5.93, Z:-2.21 [[ 9.74030765e-01 2.14681343e-01 7.19443574e-02 3.76607366e+01] [-2.14020164e-01 9.76683601e-01 -1.68675205e-02 -5.92873407e+00] [-7.38880160e-02 1.03194073e-03 9.97266011e-01 -2.20508388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.515779523 meters 0.02346666895496435 Centerline is valid? [True, True] Translation: X:37.69, Y:-5.94, Z:-2.21 [[ 9.73634264e-01 2.16090051e-01 7.30849498e-02 3.76922223e+01] [-2.15410230e-01 9.76372967e-01 -1.71540588e-02 -5.93563785e+00] [-7.50649907e-02 9.58533566e-04 9.97178183e-01 -2.21141328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.54577952299999 meters 0.020425146019228103 Centerline is valid? [True, True] Translation: X:37.72, Y:-5.94, Z:-2.21 [[ 9.72535301e-01 2.20173397e-01 7.54901515e-02 3.77249801e+01] [-2.19459511e-01 9.75460517e-01 -1.77285893e-02 -5.93949004e+00] [-7.75410259e-02 6.74647143e-04 9.96988934e-01 -2.20850894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.575779522999994 meters 0.02010934120472009 Centerline is valid? [True, True] Translation: X:37.76, Y:-5.95, Z:-2.21 [[ 9.71612359e-01 2.23114136e-01 7.86734193e-02 3.77568593e+01] [-2.22346629e-01 9.74792210e-01 -1.84965887e-02 -5.94690559e+00] [-8.08170867e-02 4.78744622e-04 9.96728834e-01 -2.20713264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.605779522999995 meters 0.021673889217768524 Centerline is valid? [True, True] Translation: X:37.79, Y:-5.95, Z:-2.21 [[ 9.70287516e-01 2.26364683e-01 8.54468621e-02 3.77891321e+01] [-2.25469548e-01 9.74042590e-01 -2.01125551e-02 -5.95416900e+00] [-8.77816551e-02 2.49295815e-04 9.96139709e-01 -2.20982995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.635779523 meters 0.020053433030668436 Centerline is valid? [True, True] Translation: X:37.82, Y:-5.96, Z:-2.21 [[ 9.69704607e-01 2.28811923e-01 8.55457711e-02 3.78210116e+01] [-2.27922043e-01 9.73470647e-01 -2.01603813e-02 -5.95671215e+00] [-8.78892328e-02 5.18477239e-05 9.96130253e-01 -2.21328596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.665779523 meters 0.019883964085957644 Centerline is valid? [True, True] Translation: X:37.85, Y:-5.96, Z:-2.22 [[ 9.69408175e-01 2.30447991e-01 8.45074793e-02 3.78528527e+01] [-2.29583862e-01 9.73084641e-01 -1.99382138e-02 -5.96225291e+00] [-8.68276515e-02 -7.32859921e-05 9.96223345e-01 -2.22037501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.695779523 meters 0.019786708585419782 Centerline is valid? [True, True] Translation: X:37.88, Y:-5.97, Z:-2.23 [[ 9.69199304e-01 2.31938325e-01 8.28089480e-02 3.78833915e+01] [-2.31112100e-01 9.72730477e-01 -1.95605799e-02 -5.96978744e+00] [-8.50876356e-02 -1.80049452e-04 9.96373455e-01 -2.22610840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72577952299999 meters 0.019575467494453457 Centerline is valid? [True, True] Translation: X:37.91, Y:-5.98, Z:-2.23 [[ 9.69232368e-01 2.32707869e-01 8.02225928e-02 3.79141039e+01] [-2.31933451e-01 9.72546657e-01 -1.89703648e-02 -5.98054615e+00] [-8.24347675e-02 -2.19611235e-04 9.96596438e-01 -2.23103492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.755779522999994 meters 0.01948334234623966 Centerline is valid? [True, True] Translation: X:37.94, Y:-6.00, Z:-2.23 [[ 9.69386721e-01 2.33270671e-01 7.66431959e-02 3.79429677e+01] [-2.32563968e-01 9.72411816e-01 -1.81455671e-02 -5.99624706e+00] [-7.87615779e-02 -2.34373978e-04 9.96893454e-01 -2.23154471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.785779522999995 meters 0.019334588956553576 Centerline is valid? [True, True] Translation: X:37.97, Y:-6.01, Z:-2.23 [[ 9.69236933e-01 2.33825734e-01 7.68459163e-02 3.79745172e+01] [-2.33115344e-01 9.72278488e-01 -1.82147586e-02 -6.00868122e+00] [-7.89747107e-02 -2.59545506e-04 9.96876586e-01 -2.23035642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.815779522999996 meters 0.019362198401165376 Centerline is valid? [True, True] Translation: X:38.01, Y:-6.02, Z:-2.23 [[ 9.69105747e-01 2.33980680e-01 7.80198217e-02 3.80055363e+01] [-2.33247105e-01 9.72241213e-01 -1.85151724e-02 -6.01926527e+00] [-8.01862787e-02 -2.54737576e-04 9.96779863e-01 -2.23020332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.845779523 meters 0.019312309161651785 Centerline is valid? [True, True] Translation: X:38.04, Y:-6.03, Z:-2.23 [[ 9.69046559e-01 2.33812026e-01 7.92508835e-02 3.80364626e+01] [-2.33052685e-01 9.72281794e-01 -1.88297358e-02 -6.02681953e+00] [-8.14568099e-02 -2.22740506e-04 9.96676848e-01 -2.23291644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.875779523 meters 0.019194304417422425 Centerline is valid? [True, True] Translation: X:38.07, Y:-6.03, Z:-2.24 [[ 9.69077011e-01 2.33316354e-01 8.03319672e-02 3.80673793e+01] [-2.32532674e-01 9.72400870e-01 -1.91076767e-02 -6.03275422e+00] [-8.25730082e-02 -1.62996827e-04 9.96585005e-01 -2.23868861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.90577952299999 meters 0.01888912581098092 Centerline is valid? [True, True] Translation: X:38.10, Y:-6.04, Z:-2.25 [[ 9.69695362e-01 2.30131132e-01 8.20400290e-02 3.80969906e+01] [-2.29300582e-01 9.73159620e-01 -1.95345347e-02 -6.04263619e+00] [-8.43335480e-02 1.30721358e-04 9.96437572e-01 -2.24714096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.935779522999994 meters 0.01884545731010619 Centerline is valid? [True, True] Translation: X:38.13, Y:-6.06, Z:-2.25 [[ 9.70191876e-01 2.27600994e-01 8.32196530e-02 3.81271650e+01] [-2.26735281e-01 9.73754407e-01 -1.98359845e-02 -6.05635902e+00] [-8.55501937e-02 3.75879606e-04 9.96333791e-01 -2.24873393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.965779522999995 meters 0.019311134132049577 Centerline is valid? [True, True] Translation: X:38.16, Y:-6.08, Z:-2.24 [[ 9.71392985e-01 2.21532080e-01 8.55523600e-02 3.81552354e+01] [-2.20591624e-01 9.75152614e-01 -2.04135858e-02 -6.07964933e+00] [-8.79488716e-02 9.57480022e-04 9.96124530e-01 -2.24210818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.995779522999996 meters 0.019379470705947647 Centerline is valid? [True, True] Translation: X:38.19, Y:-6.09, Z:-2.24 [[ 9.71325146e-01 2.21108532e-01 8.73983907e-02 3.81858817e+01] [-2.20123204e-01 9.75248653e-01 -2.08767586e-02 -6.08934671e+00] [-8.98511923e-02 1.03970684e-03 9.95954659e-01 -2.24038972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.025779523 meters 0.019770518096717017 Centerline is valid? [True, True] Translation: X:38.22, Y:-6.10, Z:-2.24 [[ 9.71427499e-01 2.20660129e-01 8.73940548e-02 3.82161842e+01] [-2.19671140e-01 9.75350138e-01 -2.08973227e-02 -6.09800991e+00] [-8.98510094e-02 1.10228236e-03 9.95954608e-01 -2.24155096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.055779523 meters 0.019455338529213502 Centerline is valid? [True, True] Translation: X:38.25, Y:-6.10, Z:-2.25 [[ 9.71632642e-01 2.20031370e-01 8.66960459e-02 3.82488651e+01] [-2.19054180e-01 9.75492098e-01 -2.07468648e-02 -6.10131670e+00] [-8.91362688e-02 1.16719979e-03 9.96018756e-01 -2.24912532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.08577952299999 meters 0.01959538007135263 Centerline is valid? [True, True] Translation: X:38.28, Y:-6.11, Z:-2.26 [[ 9.72420317e-01 2.17908330e-01 8.31545911e-02 3.82792213e+01] [-2.16999799e-01 9.75968337e-01 -1.99221354e-02 -6.10623990e+00] [-8.54974472e-02 1.32815966e-03 9.96337504e-01 -2.26028201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.11577952299999 meters 0.019556864033428874 Centerline is valid? [True, True] Translation: X:38.31, Y:-6.12, Z:-2.26 [[ 9.72708949e-01 2.16999718e-01 8.21487868e-02 3.83102061e+01] [-2.16108853e-01 9.76170659e-01 -1.96928328e-02 -6.11579935e+00] [-8.44645746e-02 1.40231463e-03 9.96425496e-01 -2.26364042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.145779522999995 meters 0.019556864033428874 Centerline is valid? [True, True] Translation: X:38.34, Y:-6.12, Z:-2.27 [[ 9.72650032e-01 2.17265430e-01 8.21440698e-02 3.83415883e+01] [-2.16373852e-01 9.76111558e-01 -1.97124897e-02 -6.12341444e+00] [-8.44646185e-02 1.39952492e-03 9.96425496e-01 -2.26628047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.175779522999996 meters 0.019489613022840198 Centerline is valid? [True, True] Translation: X:38.37, Y:-6.13, Z:-2.27 [[ 9.72427330e-01 2.18336467e-01 8.19406853e-02 3.83724906e+01] [-2.17451118e-01 9.75872650e-01 -1.96871244e-02 -6.13215667e+00] [-8.42620909e-02 1.32620421e-03 9.96442744e-01 -2.26704714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.205779523 meters 0.0192518787346318 Centerline is valid? [True, True] Translation: X:38.40, Y:-6.14, Z:-2.27 [[ 9.72328109e-01 2.18981162e-01 8.13959434e-02 3.84044311e+01] [-2.18108117e-01 9.75728245e-01 -1.95765509e-02 -6.14041855e+00] [-8.37072169e-02 1.28171477e-03 9.96489568e-01 -2.26818009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.235779523 meters 0.019805578141732217 Centerline is valid? [True, True] Translation: X:38.44, Y:-6.15, Z:-2.27 [[ 9.73169577e-01 2.15377629e-01 8.09533967e-02 3.84355497e+01] [-2.14499685e-01 9.76529518e-01 -1.94932425e-02 -6.14882363e+00] [-8.32517898e-02 1.60575249e-03 9.96527251e-01 -2.26967113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.265779523 meters 0.020891197826115405 Centerline is valid? [True, True] Translation: X:38.47, Y:-6.16, Z:-2.28 [[ 9.74039964e-01 2.11409441e-01 8.09456442e-02 3.84659160e+01] [-2.10516274e-01 9.77395614e-01 -1.95118266e-02 -6.15535156e+00] [-8.32409020e-02 1.96492345e-03 9.96527517e-01 -2.27517731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29577952299999 meters 0.022363073531383806 Centerline is valid? [True, True] Translation: X:38.50, Y:-6.16, Z:-2.28 [[ 9.75201183e-01 2.06184014e-01 8.04413145e-02 3.84960795e+01] [-2.05282684e-01 9.78510258e-01 -1.94086313e-02 -6.16132151e+00] [-8.27144009e-02 2.41411126e-03 9.96570369e-01 -2.28247914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.325779522999994 meters 0.023296915949511953 Centerline is valid? [True, True] Translation: X:38.53, Y:-6.17, Z:-2.29 [[ 9.76207924e-01 2.01605167e-01 7.98338678e-02 3.85265005e+01] [-2.00701910e-01 9.79462918e-01 -1.92648875e-02 -6.16681660e+00] [-8.20782140e-02 2.78372609e-03 9.96622003e-01 -2.28930601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.355779522999995 meters 0.02473112077609616 Centerline is valid? [True, True] Translation: X:38.56, Y:-6.18, Z:-2.29 [[ 9.77609345e-01 1.94622267e-01 8.00133851e-02 3.85559487e+01] [-1.93691348e-01 9.80872440e-01 -1.93110911e-02 -6.17654237e+00] [-8.22412926e-02 3.38080268e-03 9.96606713e-01 -2.29361382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.385779523 meters 0.027697376526614952 Centerline is valid? [True, True] Translation: X:38.58, Y:-6.19, Z:-2.29 [[ 9.78150351e-01 1.91224300e-01 8.15791564e-02 3.85840419e+01] [-1.90244498e-01 9.81539234e-01 -1.96916748e-02 -6.18988300e+00] [-8.38386695e-02 3.74143292e-03 9.96472317e-01 -2.29240555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.415779523 meters 0.02947285752118209 Centerline is valid? [True, True] Translation: X:38.61, Y:-6.20, Z:-2.29 [[ 9.78532965e-01 1.87844709e-01 8.47797270e-02 3.86128872e+01] [-1.86773271e-01 9.82189782e-01 -2.04689414e-02 -6.20121152e+00] [-8.71147639e-02 4.19494695e-03 9.96189450e-01 -2.28970766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.445779523 meters 0.028863115820646355 Centerline is valid? [True, True] Translation: X:38.64, Y:-6.21, Z:-2.29 [[ 9.79376601e-01 1.81653733e-01 8.84499566e-02 3.86437351e+01] [-1.80461481e-01 9.83350052e-01 -2.13618654e-02 -6.20903977e+00] [-9.08577320e-02 4.95950102e-03 9.95851533e-01 -2.28579081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.47577952299999 meters 0.030644311388039653 Centerline is valid? [True, True] Translation: X:38.67, Y:-6.22, Z:-2.29 [[ 9.79858805e-01 1.79128875e-01 8.82585267e-02 3.86722836e+01] [-1.77931346e-01 9.83811954e-01 -2.13184204e-02 -6.21828301e+00] [-9.06485382e-02 5.18508353e-03 9.95869448e-01 -2.28614355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.505779522999994 meters 0.03254721139935256 Centerline is valid? [True, True] Translation: X:38.70, Y:-6.23, Z:-2.29 [[ 9.80200260e-01 1.76993266e-01 8.87740589e-02 3.87011867e+01] [-1.75772873e-01 9.84197165e-01 -2.14438215e-02 -6.22656058e+00] [-9.11665891e-02 5.41516808e-03 9.95820932e-01 -2.28824243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.535779522999995 meters 0.03085271773408976 Centerline is valid? [True, True] Translation: X:38.73, Y:-6.23, Z:-2.29 [[ 9.80456410e-01 1.75671120e-01 8.85713607e-02 3.87335380e+01] [-1.74450240e-01 9.84433362e-01 -2.14025841e-02 -6.22903710e+00] [-9.09524183e-02 5.53300570e-03 9.95839868e-01 -2.29248264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.565779522999996 meters 0.03161597445782657 Centerline is valid? [True, True] Translation: X:38.76, Y:-6.23, Z:-2.30 [[ 9.80866295e-01 1.75818650e-01 8.36009206e-02 3.87644677e+01] [-1.74731266e-01 9.84408767e-01 -2.02080484e-02 -6.23107142e+00] [-8.58504309e-02 5.21369887e-03 9.96294395e-01 -2.30459069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.595779523 meters 0.03393081999834627 Centerline is valid? [True, True] Translation: X:38.79, Y:-6.24, Z:-2.31 [[ 9.80898978e-01 1.77350444e-01 7.99000310e-02 3.87935539e+01] [-1.76361019e-01 9.84135710e-01 -1.93311819e-02 -6.23769800e+00] [-8.20608675e-02 4.87068570e-03 9.96615418e-01 -2.31438467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.625779523 meters 0.03390414938495941 Centerline is valid? [True, True] Translation: X:38.82, Y:-6.24, Z:-2.32 [[ 9.80756427e-01 1.79466478e-01 7.68675106e-02 3.88232603e+01] [-1.78557264e-01 9.83753726e-01 -1.85986505e-02 -6.24189707e+00] [-7.89565343e-02 4.51549365e-03 9.96867833e-01 -2.32248920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65577952299999 meters 0.031622384046551266 Centerline is valid? [True, True] Translation: X:38.85, Y:-6.25, Z:-2.32 [[ 9.79937633e-01 1.84364488e-01 7.57097801e-02 3.88542805e+01] [-1.83496425e-01 9.82849531e-01 -1.83265372e-02 -6.24782015e+00] [-7.77900845e-02 4.06638946e-03 9.96961467e-01 -2.32164966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.685779522999994 meters 0.031622384046551266 Centerline is valid? [True, True] Translation: X:38.89, Y:-6.26, Z:-2.32 [[ 9.79889569e-01 1.84619875e-01 7.57095412e-02 3.88856878e+01] [-1.83752495e-01 9.82801670e-01 -1.83275243e-02 -6.25552439e+00] [-7.77910888e-02 4.04713281e-03 9.96961467e-01 -2.32428554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.715779522999995 meters 0.02976974178489355 Centerline is valid? [True, True] Translation: X:38.92, Y:-6.26, Z:-2.32 [[ 9.79135633e-01 1.87795990e-01 7.76278213e-02 3.89170360e+01] [-1.86892150e-01 9.82200259e-01 -1.88142238e-02 -6.26236163e+00] [-7.97793020e-02 3.91364649e-03 9.96804869e-01 -2.31724668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.745779522999996 meters 0.028848065439073946 Centerline is valid? [True, True] Translation: X:38.95, Y:-6.26, Z:-2.32 [[ 9.78725142e-01 1.88561306e-01 8.08809647e-02 3.89497986e+01] [-1.87582142e-01 9.82053199e-01 -1.96075206e-02 -6.26455653e+00] [-8.31266298e-02 4.01854877e-03 9.96530890e-01 -2.31774702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.775779523 meters 0.02596027691900106 Centerline is valid? [True, True] Translation: X:38.98, Y:-6.26, Z:-2.32 [[ 9.78398307e-01 1.88772383e-01 8.42718293e-02 3.89838325e+01] [-1.87708083e-01 9.82011926e-01 -2.04512132e-02 -6.26066734e+00] [-8.66165657e-02 4.19092890e-03 9.96232908e-01 -2.32125561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.805779523 meters 0.029567959863623334 Centerline is valid? [True, True] Translation: X:39.01, Y:-6.27, Z:-2.33 [[ 9.78322821e-01 1.88103759e-01 8.66108214e-02 3.90134933e+01] [-1.86974826e-01 9.82139347e-01 -2.10408392e-02 -6.26597437e+00] [-8.90217566e-02 4.39068990e-03 9.96020004e-01 -2.32899493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83577952299999 meters 0.026975835322885246 Centerline is valid? [True, True] Translation: X:39.04, Y:-6.27, Z:-2.33 [[ 9.78503781e-01 1.87772188e-01 8.52757661e-02 3.90447706e+01] [-1.86675602e-01 9.82202914e-01 -2.07281329e-02 -6.27171250e+00] [-8.76502728e-02 4.36365146e-03 9.96141751e-01 -2.33429966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.86577952299999 meters 0.028012808494726177 Centerline is valid? [True, True] Translation: X:39.07, Y:-6.28, Z:-2.34 [[ 9.78675258e-01 1.87457030e-01 8.39916793e-02 3.90737211e+01] [-1.86390313e-01 9.82263189e-01 -2.04371756e-02 -6.28476166e+00] [-8.63330270e-02 4.34612265e-03 9.96256854e-01 -2.33583581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.895779522999995 meters 0.03372169202137168 Centerline is valid? [True, True] Translation: X:39.10, Y:-6.30, Z:-2.33 [[ 9.78698512e-01 1.87635537e-01 8.33194286e-02 3.91022545e+01] [-1.86584817e-01 9.82229244e-01 -2.02933272e-02 -6.30411567e+00] [-8.56465287e-02 4.31490880e-03 9.96316242e-01 -2.33458779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.925779522999996 meters 0.027119347769208036 Centerline is valid? [True, True] Translation: X:39.14, Y:-6.30, Z:-2.34 [[ 9.78834762e-01 1.86867766e-01 8.34442770e-02 3.91373128e+01] [-1.85809173e-01 9.82375174e-01 -2.03462281e-02 -6.29741931e+00] [-8.57756403e-02 4.41088327e-03 9.96304714e-01 -2.33544409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.955779523 meters 0.029640402478704336 Centerline is valid? [True, True] Translation: X:39.17, Y:-6.30, Z:-2.34 [[ 9.78997301e-01 1.86257563e-01 8.28999663e-02 3.91678154e+01] [-1.85208780e-01 9.82490847e-01 -2.02346947e-02 -6.30125575e+00] [-8.52173231e-02 4.45590989e-03 9.96352424e-01 -2.34081020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.985779523 meters 0.02876698835689009 Centerline is valid? [True, True] Translation: X:39.20, Y:-6.30, Z:-2.35 [[ 9.79240373e-01 1.85647853e-01 8.13828402e-02 3.92008626e+01] [-1.84633502e-01 9.82606289e-01 -1.98834173e-02 -6.30067186e+00] [-8.36586043e-02 4.44464619e-03 9.96484562e-01 -2.34852591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.015779523 meters 0.028418920669146325 Centerline is valid? [True, True] Translation: X:39.23, Y:-6.30, Z:-2.36 [[ 9.79573250e-01 1.86004322e-01 7.64109943e-02 3.92326631e+01] [-1.85110036e-01 9.82540117e-01 -1.86866941e-02 -6.30431802e+00] [-7.85526732e-02 4.16054372e-03 9.96901283e-01 -2.35991292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.04577952299999 meters 0.028073709932033956 Centerline is valid? [True, True] Translation: X:39.26, Y:-6.31, Z:-2.36 [[ 9.79640599e-01 1.86158899e-01 7.51608996e-02 3.92635263e+01] [-1.85292481e-01 9.82511092e-01 -1.84024595e-02 -6.31451707e+00] [-7.72721991e-02 4.10104684e-03 9.97001599e-01 -2.36298813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.075779522999994 meters 0.0305651827830118 Centerline is valid? [True, True] Translation: X:39.29, Y:-6.33, Z:-2.36 [[ 9.79641804e-01 1.85687243e-01 7.63032397e-02 3.92915964e+01] [-1.84790993e-01 9.82599819e-01 -1.87052215e-02 -6.33032168e+00] [-7.84488705e-02 4.22426545e-03 9.96909189e-01 -2.36222472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.105779522999995 meters 0.02985328174023062 Centerline is valid? [True, True] Translation: X:39.32, Y:-6.34, Z:-2.36 [[ 9.79665041e-01 1.84716165e-01 7.83348351e-02 3.93223467e+01] [-1.83767468e-01 9.82781934e-01 -1.92142601e-02 -6.34106202e+00] [-8.05352452e-02 4.42814461e-03 9.96741925e-01 -2.35898335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.135779523 meters 0.030031845341642358 Centerline is valid? [True, True] Translation: X:39.35, Y:-6.34, Z:-2.36 [[ 9.80024627e-01 1.82653297e-01 7.86733990e-02 3.93541656e+01] [-1.81688134e-01 9.83166450e-01 -1.93171677e-02 -6.34246660e+00] [-8.08773907e-02 4.63727696e-03 9.96713270e-01 -2.35973848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.165779523 meters 0.03248109329806429 Centerline is valid? [True, True] Translation: X:39.39, Y:-6.34, Z:-2.37 [[ 9.80004673e-01 1.83158296e-01 7.77423965e-02 3.93851245e+01] [-1.82217268e-01 9.83072935e-01 -1.90911248e-02 -6.34429385e+00] [-7.99231439e-02 4.54338444e-03 9.96790674e-01 -2.36772072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.195779523 meters 0.03175113155908703 Centerline is valid? [True, True] Translation: X:39.42, Y:-6.34, Z:-2.37 [[ 9.79782755e-01 1.84925863e-01 7.63425000e-02 3.94169269e+01] [-1.84022414e-01 9.82742903e-01 -1.87653198e-02 -6.34447176e+00] [-7.84952431e-02 4.33720558e-03 9.96905053e-01 -2.37440638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.22577952299999 meters 0.030586021819385016 Centerline is valid? [True, True] Translation: X:39.45, Y:-6.35, Z:-2.38 [[ 9.79271786e-01 1.87481285e-01 7.66650953e-02 3.94481378e+01] [-1.86577748e-01 9.82259397e-01 -1.88472860e-02 -6.35036662e+00] [-7.88385237e-02 4.15261461e-03 9.96878750e-01 -2.37682613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.255779522999994 meters 0.027778250239873715 Centerline is valid? [True, True] Translation: X:39.48, Y:-6.36, Z:-2.37 [[ 9.78004716e-01 1.93813908e-01 7.70905009e-02 3.94771571e+01] [-1.92919533e-01 9.81031459e-01 -1.89560058e-02 -6.36320056e+00] [-7.93021441e-02 3.66679961e-03 9.96843882e-01 -2.37192088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.285779522999995 meters 0.024324379924841308 Centerline is valid? [True, True] Translation: X:39.51, Y:-6.37, Z:-2.37 [[ 9.77250145e-01 1.97551250e-01 7.71729128e-02 3.95087660e+01] [-1.96666411e-01 9.80286771e-01 -1.89781446e-02 -6.36555016e+00] [-7.94007416e-02 3.36907477e-03 9.96837084e-01 -2.37320919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.315779522999996 meters 0.024210141069540256 Centerline is valid? [True, True] Translation: X:39.54, Y:-6.37, Z:-2.38 [[ 9.76411274e-01 2.01503667e-01 7.75712378e-02 3.95391154e+01] [-2.00621684e-01 9.79482954e-01 -1.90809471e-02 -6.36837478e+00] [-7.98245859e-02 3.06837946e-03 9.96804204e-01 -2.37632433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.345779523 meters 0.02261857893709727 Centerline is valid? [True, True] Translation: X:39.57, Y:-6.37, Z:-2.38 [[ 9.75615635e-01 2.05085791e-01 7.81917546e-02 3.95717581e+01] [-2.04200888e-01 9.78739995e-01 -1.92358837e-02 -6.36637151e+00] [-8.04744039e-02 2.80000316e-03 9.96752743e-01 -2.38024019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.375779523 meters 0.020601896936593367 Centerline is valid? [True, True] Translation: X:39.60, Y:-6.36, Z:-2.39 [[ 9.74370770e-01 2.11937727e-01 7.53923292e-02 3.96044856e+01] [-2.11135388e-01 9.77280794e-01 -1.85498891e-02 -6.36146026e+00] [-7.76108967e-02 2.15648100e-03 9.96981393e-01 -2.38699051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.40577952299999 meters 0.02055973148763281 Centerline is valid? [True, True] Translation: X:39.63, Y:-6.37, Z:-2.39 [[ 9.73768040e-01 2.15122251e-01 7.41499984e-02 3.96340039e+01] [-2.14355296e-01 9.76585332e-01 -1.82454320e-02 -6.36975349e+00] [-7.63387992e-02 1.87237366e-03 9.97080178e-01 -2.38932497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.435779522999994 meters 0.019208262017732625 Centerline is valid? [True, True] Translation: X:39.67, Y:-6.38, Z:-2.39 [[ 9.73147149e-01 2.17900366e-01 7.41893304e-02 3.96656579e+01] [-2.17139251e-01 9.75969585e-01 -1.82733392e-02 -6.37830870e+00] [-7.63882973e-02 1.67323231e-03 9.97076741e-01 -2.38821893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.465779522999995 meters 0.019370388037126443 Centerline is valid? [True, True] Translation: X:39.69, Y:-6.39, Z:-2.39 [[ 9.72512836e-01 2.20645603e-01 7.43928922e-02 3.96947840e+01] [-2.19887833e-01 9.75352943e-01 -1.83296916e-02 -6.39021553e+00] [-7.66036922e-02 1.46776857e-03 9.97060540e-01 -2.38705903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.495779522999996 meters 0.017917679372357137 Centerline is valid? [True, True] Translation: X:39.73, Y:-6.39, Z:-2.39 [[ 9.71098890e-01 2.27435135e-01 7.23892646e-02 3.97267854e+01] [-2.26735176e-01 9.73792793e-01 -1.78537245e-02 -6.39320238e+00] [-7.45527084e-02 9.24539393e-04 9.97216646e-01 -2.38859215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.525779523 meters 0.017247414964851795 Centerline is valid? [True, True] Translation: X:39.76, Y:-6.39, Z:-2.39 [[ 9.70138472e-01 2.31669971e-01 7.18357135e-02 3.97598356e+01] [-2.30991963e-01 9.72794257e-01 -1.77213642e-02 -6.39131109e+00] [-7.39868774e-02 5.98704662e-04 9.97259035e-01 -2.39427062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.555779523 meters 0.016976054657823734 Centerline is valid? [True, True] Translation: X:39.79, Y:-6.39, Z:-2.40 [[ 9.69294976e-01 2.35281453e-01 7.14834791e-02 3.97919059e+01] [-2.34618503e-01 9.71927221e-01 -1.76532001e-02 -6.39055444e+00] [-7.36302097e-02 3.39811327e-04 9.97285554e-01 -2.40092258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58577952299999 meters 0.01678352121514132 Centerline is valid? [True, True] Translation: X:39.82, Y:-6.40, Z:-2.41 [[ 9.68857396e-01 2.37350488e-01 7.05697715e-02 3.98240804e+01] [-2.36708691e-01 9.71424062e-01 -1.74438469e-02 -6.39526409e+00] [-7.26934796e-02 1.96121808e-04 9.97354310e-01 -2.40594013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.61577952299999 meters 0.016853152096968377 Centerline is valid? [True, True] Translation: X:39.85, Y:-6.41, Z:-2.41 [[ 9.68693713e-01 2.38192759e-01 6.99764274e-02 3.98543416e+01] [-2.37562352e-01 9.71217888e-01 -1.73188481e-02 -6.40661625e+00] [-7.20875822e-02 1.52894593e-04 9.97398294e-01 -2.40806177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.645779522999995 meters 0.016965962700270343 Centerline is valid? [True, True] Translation: X:39.88, Y:-6.42, Z:-2.40 [[ 9.68609388e-01 2.38461928e-01 7.02265065e-02 3.98839969e+01] [-2.37826823e-01 9.71151836e-01 -1.73929363e-02 -6.42448139e+00] [-7.23481538e-02 1.45214431e-04 9.97379428e-01 -2.40188463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.675779522999996 meters 0.016878754329912277 Centerline is valid? [True, True] Translation: X:39.92, Y:-6.43, Z:-2.40 [[ 9.68491974e-01 2.38766813e-01 7.08075302e-02 3.99161669e+01] [-2.38120458e-01 9.71076922e-01 -1.75573025e-02 -6.43011707e+00] [-7.29516596e-02 1.43384991e-04 9.97335468e-01 -2.40255724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.705779523 meters 0.017043854392165877 Centerline is valid? [True, True] Translation: X:39.95, Y:-6.43, Z:-2.41 [[ 9.68339472e-01 2.39563917e-01 7.01982725e-02 3.99479375e+01] [-2.38929224e-01 9.70880590e-01 -1.74271819e-02 -6.43289295e+00] [-7.23290641e-02 1.03009280e-04 9.97380818e-01 -2.40840144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.735779523 meters 0.017219537506572305 Centerline is valid? [True, True] Translation: X:39.98, Y:-6.44, Z:-2.41 [[ 9.68308539e-01 2.41804303e-01 6.25240078e-02 3.99783451e+01] [-2.41304415e-01 9.70325037e-01 -1.55403335e-02 -6.44097122e+00] [-6.44263297e-02 -3.94815011e-05 9.97922465e-01 -2.41495494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.765779523 meters 0.017543044486520522 Centerline is valid? [True, True] Translation: X:40.01, Y:-6.45, Z:-2.42 [[ 9.68290653e-01 2.42917357e-01 5.83469663e-02 4.00083432e+01] [-2.42483877e-01 9.70046982e-01 -1.45059396e-02 -6.45446453e+00] [-6.01230431e-02 -1.02232911e-04 9.98190968e-01 -2.41675942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.79577952299999 meters 0.017769617607970148 Centerline is valid? [True, True] Translation: X:40.04, Y:-6.47, Z:-2.42 [[ 9.68274125e-01 2.43705390e-01 5.52530691e-02 4.00378027e+01] [-2.43317989e-01 9.69849299e-01 -1.37365860e-02 -6.46735274e+00] [-5.69348304e-02 -1.43284843e-04 9.98377887e-01 -2.41774827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.825779522999994 meters 0.017817493895647473 Centerline is valid? [True, True] Translation: X:40.07, Y:-6.48, Z:-2.42 [[ 9.68386515e-01 2.43484438e-01 5.42483655e-02 4.00683006e+01] [-2.43109976e-01 9.69904797e-01 -1.34990605e-02 -6.47766055e+00] [-5.59025611e-02 -1.16010687e-04 9.98436222e-01 -2.41972662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.855779522999995 meters 0.017936104701073992 Centerline is valid? [True, True] Translation: X:40.10, Y:-6.49, Z:-2.42 [[ 9.68870496e-01 2.40976447e-01 5.67478156e-02 4.00983136e+01] [-2.40561407e-01 9.70530963e-01 -1.41371665e-02 -6.48583064e+00] [-5.84822363e-02 4.57491665e-05 9.98288448e-01 -2.42463688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.885779523 meters 0.017422990945261306 Centerline is valid? [True, True] Translation: X:40.13, Y:-6.49, Z:-2.42 [[ 9.69050447e-01 2.39738979e-01 5.88766008e-02 4.01289493e+01] [-2.39289023e-01 9.70837372e-01 -1.46819888e-02 -6.49426598e+00] [-6.06794494e-02 1.39063553e-04 9.98157295e-01 -2.42496043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.915779523 meters 0.017450131168087 Centerline is valid? [True, True] Translation: X:40.16, Y:-6.50, Z:-2.43 [[ 9.69395151e-01 2.38144283e-01 5.96685926e-02 4.01592524e+01] [-2.37678150e-01 9.71229754e-01 -1.48950665e-02 -6.50478720e+00] [-6.14990874e-02 2.57284600e-04 9.98107107e-01 -2.42675037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.945779523 meters 0.017763912246964976 Centerline is valid? [True, True] Translation: X:40.19, Y:-6.52, Z:-2.43 [[ 9.69881249e-01 2.36069090e-01 6.00145583e-02 4.01891671e+01] [-2.35592623e-01 9.71736188e-01 -1.49965281e-02 -6.51719951e+00] [-6.18585349e-02 4.05864221e-04 9.98084845e-01 -2.42986665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.97577952299999 meters 0.018003459811645906 Centerline is valid? [True, True] Translation: X:40.22, Y:-6.53, Z:-2.43 [[ 9.70523832e-01 2.33472698e-01 5.97828711e-02 4.02192254e+01] [-2.32993967e-01 9.72363182e-01 -1.49550739e-02 -6.52996035e+00] [-6.16222642e-02 5.85207334e-04 9.98099371e-01 -2.43097861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.005779522999994 meters 0.0213166382939593 Centerline is valid? [True, True] Translation: X:40.25, Y:-6.54, Z:-2.43 [[ 9.71523922e-01 2.29537119e-01 5.87705727e-02 4.02471825e+01] [-2.29066366e-01 9.73299550e-01 -1.47168842e-02 -6.54472667e+00] [-6.05794432e-02 8.35443535e-04 9.98163029e-01 -2.43335012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.035779522999995 meters 0.018937309441745327 Centerline is valid? [True, True] Translation: X:40.28, Y:-6.56, Z:-2.43 [[ 9.72123752e-01 2.26782249e-01 5.95417660e-02 4.02763422e+01] [-2.26293042e-01 9.73944938e-01 -1.49236944e-02 -6.56393829e+00] [-6.13748306e-02 1.03379043e-03 9.98114253e-01 -2.42547754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.065779522999996 meters 0.018937309441745327 Centerline is valid? [True, True] Translation: X:40.31, Y:-6.57, Z:-2.43 [[ 9.72060799e-01 2.27052847e-01 5.95382868e-02 4.03076591e+01] [-2.26563297e-01 9.73881893e-01 -1.49375598e-02 -6.57187438e+00] [-6.13748749e-02 1.03102579e-03 9.98114253e-01 -2.42811824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.095779523 meters 0.019387741506939567 Centerline is valid? [True, True] Translation: X:40.34, Y:-6.58, Z:-2.43 [[ 9.72226373e-01 2.26544159e-01 5.87675341e-02 4.03375725e+01] [-2.26065181e-01 9.74000311e-01 -1.47624079e-02 -6.58232306e+00] [-6.05839337e-02 1.06710903e-03 9.98162536e-01 -2.42739281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.125779523 meters 0.019335942896247533 Centerline is valid? [True, True] Translation: X:40.37, Y:-6.59, Z:-2.43 [[ 9.72212332e-01 2.27063918e-01 5.69662996e-02 4.03701704e+01] [-2.26614030e-01 9.73879329e-01 -1.43225307e-02 -6.58517989e+00] [-5.87304316e-02 1.01517829e-03 9.98273362e-01 -2.43021769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.15577952299999 meters 0.01962646558887897 Centerline is valid? [True, True] Translation: X:40.40, Y:-6.59, Z:-2.43 [[ 9.72380191e-01 2.26557792e-01 5.61099953e-02 4.03997570e+01] [-2.26119513e-01 9.73997162e-01 -1.41242351e-02 -6.59209537e+00] [-5.78509317e-02 1.04656162e-03 9.98324684e-01 -2.43418608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.185779522999994 meters 0.019821077215929774 Centerline is valid? [True, True] Translation: X:40.43, Y:-6.60, Z:-2.44 [[ 9.72795949e-01 2.24756206e-01 5.61488089e-02 4.04306218e+01] [-2.24314077e-01 9.74414340e-01 -1.41382253e-02 -6.60181361e+00] [-5.78898584e-02 1.15864008e-03 9.98322304e-01 -2.43594498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.215779522999995 meters 0.020981466842966225 Centerline is valid? [True, True] Translation: X:40.46, Y:-6.62, Z:-2.44 [[ 9.73574357e-01 2.21388759e-01 5.60356015e-02 4.04589456e+01] [-2.20941980e-01 9.75184669e-01 -1.41245554e-02 -6.61522730e+00] [-5.77720773e-02 1.37068822e-03 9.98328858e-01 -2.43827717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.245779522999996 meters 0.022927399280983782 Centerline is valid? [True, True] Translation: X:40.49, Y:-6.63, Z:-2.44 [[ 9.74668345e-01 2.16967671e-01 5.42830297e-02 4.04858759e+01] [-2.16540678e-01 9.76177483e-01 -1.36987592e-02 -6.62996828e+00] [-5.59620592e-02 1.59726291e-03 9.98431618e-01 -2.44161322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.275779523 meters 0.026115556280807663 Centerline is valid? [True, True] Translation: X:40.51, Y:-6.64, Z:-2.45 [[ 9.75754367e-01 2.12497994e-01 5.24215467e-02 4.05123247e+01] [-2.12093122e-01 9.77159855e-01 -1.32334760e-02 -6.64493171e+00] [-5.40363181e-02 1.79437245e-03 9.98537359e-01 -2.44814821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.305779523 meters 0.028260232600632547 Centerline is valid? [True, True] Translation: X:40.54, Y:-6.66, Z:-2.45 [[ 9.77479918e-01 2.04652267e-01 5.14826057e-02 4.05414197e+01] [-2.04250618e-01 9.78832283e-01 -1.30018329e-02 -6.65513340e+00] [-5.30536911e-02 2.19367648e-03 9.98589252e-01 -2.45349755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33577952299999 meters 0.02852232936491509 Centerline is valid? [True, True] Translation: X:40.57, Y:-6.66, Z:-2.46 [[ 9.77971822e-01 2.02164514e-01 5.19675333e-02 4.05731126e+01] [-2.01751718e-01 9.79348754e-01 -1.31249136e-02 -6.66035313e+00] [-5.35477307e-02 2.35125653e-03 9.98562523e-01 -2.45594496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.36577952299999 meters 0.02974372753076956 Centerline is valid? [True, True] Translation: X:40.60, Y:-6.66, Z:-2.46 [[ 9.78591238e-01 1.99268869e-01 5.14888899e-02 4.06044689e+01] [-1.98859408e-01 9.79941688e-01 -1.30085834e-02 -6.66432308e+00] [-5.30483154e-02 2.49103558e-03 9.98588840e-01 -2.45835239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.395779522999995 meters 0.02924980206353563 Centerline is valid? [True, True] Translation: X:40.63, Y:-6.68, Z:-2.45 [[ 9.78595778e-01 1.99259126e-01 5.14402953e-02 4.06336618e+01] [-1.98850613e-01 9.79943683e-01 -1.29927585e-02 -6.67639343e+00] [-5.29975181e-02 2.48572436e-03 9.98591550e-01 -2.45367004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.425779522999996 meters 0.03194828063375106 Centerline is valid? [True, True] Translation: X:40.66, Y:-6.69, Z:-2.45 [[ 9.78724958e-01 1.98339174e-01 5.25264508e-02 4.06623642e+01] [-1.97911058e-01 9.80129986e-01 -1.32824492e-02 -6.69153015e+00] [-5.41171795e-02 2.60429909e-03 9.98531196e-01 -2.45169537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.455779523 meters 0.03351086136400949 Centerline is valid? [True, True] Translation: X:40.69, Y:-6.70, Z:-2.45 [[ 9.78829869e-01 1.97382846e-01 5.41488641e-02 4.06921255e+01] [-1.96926079e-01 9.80322639e-01 -1.36982470e-02 -6.70310102e+00] [-5.57871563e-02 2.74492979e-03 9.98438911e-01 -2.44999491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.485779523 meters 0.030451347133706678 Centerline is valid? [True, True] Translation: X:40.72, Y:-6.71, Z:-2.45 [[ 9.78904193e-01 1.96575254e-01 5.57202914e-02 4.07246298e+01] [-1.96089549e-01 9.80484498e-01 -1.41080878e-02 -6.70708075e+00] [-5.74061829e-02 2.88429951e-03 9.98346739e-01 -2.44775452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.515779523 meters 0.03113141393723316 Centerline is valid? [True, True] Translation: X:40.76, Y:-6.71, Z:-2.45 [[ 9.79486011e-01 1.93173383e-01 5.73689665e-02 4.07554661e+01] [-1.92651490e-01 9.81159436e-01 -1.45452785e-02 -6.70931146e+00] [-5.90978634e-02 3.19467993e-03 9.98247082e-01 -2.45146096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.54577952299999 meters 0.03392140437463731 Centerline is valid? [True, True] Translation: X:40.79, Y:-6.71, Z:-2.46 [[ 9.80045528e-01 1.90298737e-01 5.74208503e-02 4.07854993e+01] [-1.89770922e-01 9.81720438e-01 -1.45594535e-02 -6.71381265e+00] [-5.91418679e-02 3.37211960e-03 9.98243892e-01 -2.45777931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.575779522999994 meters 0.029554473111154035 Centerline is valid? [True, True] Translation: X:40.82, Y:-6.71, Z:-2.46 [[ 9.80168116e-01 1.89870847e-01 5.67408630e-02 4.08184065e+01] [-1.89355010e-01 9.81803349e-01 -1.43827632e-02 -6.71386488e+00] [-5.84392368e-02 3.35335919e-03 9.98285335e-01 -2.46093914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.605779522999995 meters 0.030928180881199467 Centerline is valid? [True, True] Translation: X:40.85, Y:-6.72, Z:-2.47 [[ 9.80468245e-01 1.88779593e-01 5.51750401e-02 4.08481391e+01] [-1.88289335e-01 9.82013811e-01 -1.40000454e-02 -6.72073370e+00] [-5.68255742e-02 3.33772830e-03 9.98378542e-01 -2.46691990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.635779523 meters 0.03477915946591762 Centerline is valid? [True, True] Translation: X:40.88, Y:-6.73, Z:-2.47 [[ 9.80731568e-01 1.88687379e-01 5.06227602e-02 4.08756925e+01] [-1.88273735e-01 9.82032365e-01 -1.28621467e-02 -6.73302623e+00] [-5.21401137e-02 3.08337718e-03 9.98635019e-01 -2.47253549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.665779523 meters 0.034507894341258116 Centerline is valid? [True, True] Translation: X:40.91, Y:-6.74, Z:-2.47 [[ 9.80366295e-01 1.90789305e-01 4.98133348e-02 4.09064662e+01] [-1.90391574e-01 9.81626660e-01 -1.26549724e-02 -6.74112424e+00] [-5.13125309e-02 2.92246919e-03 9.98678368e-01 -2.47371221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.695779523 meters 0.03351753365082958 Centerline is valid? [True, True] Translation: X:40.94, Y:-6.75, Z:-2.47 [[ 9.79919206e-01 1.92897875e-01 5.04852506e-02 4.09377077e+01] [-1.92491952e-01 9.81214691e-01 -1.28288563e-02 -6.74508794e+00] [-5.20115286e-02 2.85323829e-03 9.98642408e-01 -2.47263545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.72577952299999 meters 0.028229758482884153 Centerline is valid? [True, True] Translation: X:40.97, Y:-6.73, Z:-2.47 [[ 9.78016737e-01 2.00495619e-01 5.73128984e-02 4.09723897e+01] [-1.99985155e-01 9.79690641e-01 -1.45665705e-02 -6.73451312e+00] [-5.90694438e-02 2.78462083e-03 9.98249992e-01 -2.46845568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.755779522999994 meters 0.024833435994518305 Centerline is valid? [True, True] Translation: X:41.00, Y:-6.73, Z:-2.47 [[ 9.76601548e-01 2.06164304e-01 6.12020902e-02 4.10038847e+01] [-2.05593095e-01 9.78513908e-01 -1.55567285e-02 -6.73150287e+00] [-6.30943386e-02 2.60999795e-03 9.98004154e-01 -2.47052554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.785779522999995 meters 0.02406435928042628 Centerline is valid? [True, True] Translation: X:41.03, Y:-6.73, Z:-2.47 [[ 9.75437343e-01 2.11192559e-01 6.26074574e-02 4.10349703e+01] [-2.10605080e-01 9.77441680e-01 -1.59142372e-02 -6.73131724e+00] [-6.45561068e-02 2.33789271e-03 9.97911340e-01 -2.47465371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.815779522999996 meters 0.02140073888266034 Centerline is valid? [True, True] Translation: X:41.07, Y:-6.73, Z:-2.48 [[ 9.74385913e-01 2.16100970e-01 6.22291137e-02 4.10672261e+01] [-2.15530566e-01 9.76368972e-01 -1.58179111e-02 -6.73235655e+00] [-6.41768417e-02 2.00047359e-03 9.97936537e-01 -2.47728097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.845779523 meters 0.022605502165667684 Centerline is valid? [True, True] Translation: X:41.10, Y:-6.74, Z:-2.48 [[ 9.73211247e-01 2.22788386e-01 5.67908755e-02 4.10976520e+01] [-2.22324920e-01 9.74865795e-01 -1.44330171e-02 -6.74068121e+00] [-5.85789905e-02 1.42034773e-03 9.98281766e-01 -2.48195570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.875779523 meters 0.02053259755859354 Centerline is valid? [True, True] Translation: X:41.13, Y:-6.75, Z:-2.49 [[ 9.72260976e-01 2.27450101e-01 5.45439769e-02 4.11278381e+01] [-2.27029162e-01 9.73789107e-01 -1.38757038e-02 -6.74723755e+00] [-5.62703607e-02 1.10773192e-03 9.98414954e-01 -2.48703448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.90577952299999 meters 0.01793613434771825 Centerline is valid? [True, True] Translation: X:41.16, Y:-6.74, Z:-2.49 [[ 9.70625143e-01 2.33825334e-01 5.66793097e-02 4.11618173e+01] [-2.33380492e-01 9.72278301e-01 -1.44378259e-02 -6.73820194e+00] [-5.84839924e-02 7.85871724e-04 9.98288037e-01 -2.49089993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.935779522999994 meters 0.017080554490083614 Centerline is valid? [True, True] Translation: X:41.19, Y:-6.74, Z:-2.49 [[ 9.69654945e-01 2.37122901e-01 5.95148575e-02 4.11937075e+01] [-2.36638511e-01 9.71479463e-01 -1.51613700e-02 -6.73843362e+00] [-6.14125699e-02 6.17790167e-04 9.98112276e-01 -2.49321860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.965779522999995 meters 0.016306230324705465 Centerline is valid? [True, True] Translation: X:41.23, Y:-6.74, Z:-2.49 [[ 9.68777628e-01 2.40228854e-01 6.13188729e-02 4.12264086e+01] [-2.39720799e-01 9.70716184e-01 -1.56214455e-02 -6.74205703e+00] [-6.32759442e-02 4.34297689e-04 9.97995975e-01 -2.49434988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.995779522999996 meters 0.015851276984531048 Centerline is valid? [True, True] Translation: X:41.26, Y:-6.75, Z:-2.49 [[ 9.67376360e-01 2.45870393e-01 6.10796884e-02 4.12573676e+01] [-2.45377111e-01 9.69302710e-01 -1.55669150e-02 -6.75029775e+00] [-6.30321510e-02 7.15081359e-05 9.98011494e-01 -2.49467262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.025779523 meters 0.015926204544553808 Centerline is valid? [True, True] Translation: X:41.29, Y:-6.76, Z:-2.50 [[ 9.66695298e-01 2.48206037e-01 6.24016438e-02 4.12872388e+01] [-2.47694899e-01 9.68707262e-01 -1.59209842e-02 -6.75824585e+00] [-6.44006098e-02 -6.58283270e-05 9.97924124e-01 -2.49637708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.055779523 meters 0.015767879345137296 Centerline is valid? [True, True] Translation: X:41.32, Y:-6.76, Z:-2.50 [[ 9.65701865e-01 2.51408356e-01 6.49133758e-02 4.13194121e+01] [-2.50861320e-01 9.67881069e-01 -1.65781530e-02 -6.76278123e+00] [-6.69963137e-02 -2.74701881e-04 9.97753185e-01 -2.49539088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08577952299999 meters 0.015767879345137296 Centerline is valid? [True, True] Translation: X:41.35, Y:-6.77, Z:-2.50 [[ 9.65633206e-01 2.51672929e-01 6.49095346e-02 4.13507027e+01] [-2.51125480e-01 9.67812306e-01 -1.65931776e-02 -6.77086905e+00] [-6.69963000e-02 -2.77514790e-04 9.97753185e-01 -2.49803113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.11577952299999 meters 0.016097305868822864 Centerline is valid? [True, True] Translation: X:41.38, Y:-6.78, Z:-2.51 [[ 9.65480759e-01 2.52596125e-01 6.35775201e-02 4.13807291e+01] [-2.52071657e-01 9.67571753e-01 -1.62721181e-02 -6.77515719e+00] [-6.56260866e-02 -3.15673952e-04 9.97844235e-01 -2.50552258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.145779522999995 meters 0.016353427722462555 Centerline is valid? [True, True] Translation: X:41.41, Y:-6.78, Z:-2.51 [[ 9.65492269e-01 2.53200775e-01 6.09429818e-02 4.14112650e+01] [-2.52719437e-01 9.67413695e-01 -1.56086074e-02 -6.78215209e+00] [-6.29091867e-02 -3.31486206e-04 9.98019200e-01 -2.51349753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.175779522999996 meters 0.016506393492422926 Centerline is valid? [True, True] Translation: X:41.44, Y:-6.79, Z:-2.52 [[ 9.65457519e-01 2.53677616e-01 5.94932531e-02 4.14419981e+01] [-2.53218974e-01 9.67288763e-01 -1.52512249e-02 -6.79063516e+00] [-6.14160495e-02 -3.40410772e-04 9.98112195e-01 -2.51960677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.205779523 meters 0.015647421364436923 Centerline is valid? [True, True] Translation: X:41.47, Y:-6.80, Z:-2.52 [[ 9.65061249e-01 2.53828395e-01 6.50225462e-02 4.14724262e+01] [-2.53279424e-01 9.67249200e-01 -1.66888927e-02 -6.79799782e+00] [-6.71291206e-02 -3.63069413e-04 9.97744230e-01 -2.51732438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.235779523 meters 0.015301941289065304 Centerline is valid? [True, True] Translation: X:41.50, Y:-6.81, Z:-2.52 [[ 9.64769025e-01 2.53850609e-01 6.91418561e-02 4.15034486e+01] [-2.53229807e-01 9.67243360e-01 -1.77467397e-02 -6.80597605e+00] [-7.13820220e-02 -3.87274125e-04 9.97448975e-01 -2.51679159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26577952299999 meters 0.01773455076913009 Centerline is valid? [True, True] Translation: X:41.53, Y:-6.82, Z:-2.52 [[ 9.65049308e-01 2.52439165e-01 7.03867928e-02 4.15323555e+01] [-2.51790644e-01 9.67612730e-01 -1.80852508e-02 -6.81607474e+00] [-7.26725824e-02 -2.69577184e-04 9.97355816e-01 -2.51998169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.29577952299999 meters 0.01587798740708498 Centerline is valid? [True, True] Translation: X:41.56, Y:-6.83, Z:-2.53 [[ 9.65803010e-01 2.51142855e-01 6.44345571e-02 4.15595648e+01] [-2.50595569e-01 9.67950023e-01 -1.65714996e-02 -6.83187972e+00] [-6.65312447e-02 -1.42210319e-04 9.97784332e-01 -2.52516814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.325779522999994 meters 0.017505071527766886 Centerline is valid? [True, True] Translation: X:41.59, Y:-6.84, Z:-2.53 [[ 9.66380628e-01 2.49354407e-01 6.26965790e-02 4.15895071e+01] [-2.48832170e-01 9.68412298e-01 -1.61298442e-02 -6.84434517e+00] [-6.47381859e-02 -1.33568202e-05 9.97902283e-01 -2.52660905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.355779522999995 meters 0.015465025929859282 Centerline is valid? [True, True] Translation: X:41.62, Y:-6.85, Z:-2.53 [[ 9.66374106e-01 2.49415397e-01 6.25543531e-02 4.16207684e+01] [-2.48894634e-01 9.68396592e-01 -1.61090444e-02 -6.85480064e+00] [-6.45952660e-02 -2.07942395e-06 9.97911545e-01 -2.52730920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.385779523 meters 0.015506017648231486 Centerline is valid? [True, True] Translation: X:41.65, Y:-6.86, Z:-2.53 [[ 9.66374966e-01 2.49331992e-01 6.28727511e-02 4.16525169e+01] [-2.48804504e-01 9.68418070e-01 -1.62099120e-02 -6.86487963e+00] [-6.49287579e-02 2.18295418e-05 9.97889902e-01 -2.52926060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.415779523 meters 0.015450074668288271 Centerline is valid? [True, True] Translation: X:41.68, Y:-6.87, Z:-2.53 [[ 9.66402935e-01 2.49255901e-01 6.27444267e-02 4.16838292e+01] [-2.48729194e-01 9.68437656e-01 -1.61955015e-02 -6.87430746e+00] [-6.48008898e-02 4.50095767e-05 9.97898213e-01 -2.53207507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.445779523 meters 0.015387569607242652 Centerline is valid? [True, True] Translation: X:41.71, Y:-6.88, Z:-2.54 [[ 9.66461462e-01 2.49016878e-01 6.27920085e-02 4.17142241e+01] [-2.48487617e-01 9.68499142e-01 -1.62270102e-02 -6.88398100e+00] [-6.48548058e-02 7.97434461e-05 9.97894708e-01 -2.53638138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.47577952299999 meters 0.01515411070430404 Centerline is valid? [True, True] Translation: X:41.74, Y:-6.90, Z:-2.54 [[ 9.66669787e-01 2.46564199e-01 6.89609981e-02 4.17435783e+01] [-2.45917912e-01 9.69126417e-01 -1.78428850e-02 -6.89766332e+00] [-7.12313417e-02 2.89433127e-04 9.97459780e-01 -2.53542294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.505779522999994 meters 0.01533347563807877 Centerline is valid? [True, True] Translation: X:41.77, Y:-6.91, Z:-2.54 [[ 9.66900364e-01 2.44518015e-01 7.29014869e-02 4.17723574e+01] [-2.43788320e-01 9.69644628e-01 -1.88825250e-02 -6.90924508e+00] [-7.53056527e-02 4.84989257e-04 9.97160380e-01 -2.53544428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.535779522999995 meters 0.015448859917238376 Centerline is valid? [True, True] Translation: X:41.80, Y:-6.92, Z:-2.54 [[ 9.67432499e-01 2.41853597e-01 7.47074137e-02 4.18023998e+01] [-2.41077907e-01 9.70312480e-01 -1.93683698e-02 -6.92065690e+00] [-7.71738458e-02 7.27283408e-04 9.97017386e-01 -2.53744901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.565779522999996 meters 0.01648232899001266 Centerline is valid? [True, True] Translation: X:41.83, Y:-6.94, Z:-2.54 [[ 9.68736374e-01 2.37183310e-01 7.27592966e-02 4.18305138e+01] [-2.36433077e-01 9.71464303e-01 -1.88813983e-02 -6.93942609e+00] [-7.51614119e-02 1.08839289e-03 9.97170787e-01 -2.54231976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.595779523 meters 0.016616314669520384 Centerline is valid? [True, True] Translation: X:41.86, Y:-6.95, Z:-2.54 [[ 9.69161642e-01 2.35848988e-01 7.14210482e-02 4.18598692e+01] [-2.35121242e-01 9.71788993e-01 -1.85514064e-02 -6.95294936e+00] [-7.37815190e-02 1.18670588e-03 9.97273723e-01 -2.54329267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.625779523 meters 0.016904330615179763 Centerline is valid? [True, True] Translation: X:41.89, Y:-6.96, Z:-2.55 [[ 9.69573130e-01 2.34551528e-01 7.00965444e-02 4.18894757e+01] [-2.33845880e-01 9.72102847e-01 -1.82252409e-02 -6.96482265e+00] [-7.24158085e-02 1.27891578e-03 9.97373709e-01 -2.54506430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.65577952299999 meters 0.018889788800883003 Centerline is valid? [True, True] Translation: X:41.92, Y:-6.98, Z:-2.55 [[ 9.69915322e-01 2.33082262e-01 7.02632722e-02 4.19180503e+01] [-2.32368050e-01 9.72456000e-01 -1.82871024e-02 -6.97616944e+00] [-7.25903398e-02 1.41000128e-03 9.97360845e-01 -2.54865940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.685779522999994 meters 0.01759312183314115 Centerline is valid? [True, True] Translation: X:41.95, Y:-6.98, Z:-2.54 [[ 9.69867425e-01 2.31542601e-01 7.57971029e-02 4.19499927e+01] [-2.30705029e-01 9.72823340e-01 -1.97468559e-02 -6.98477925e+00] [-7.83094292e-02 1.66505952e-03 9.96927711e-01 -2.54489620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.715779522999995 meters 0.018839176992858017 Centerline is valid? [True, True] Translation: X:41.98, Y:-7.00, Z:-2.54 [[ 9.69789230e-01 2.31206513e-01 7.77971591e-02 4.19791669e+01] [-2.30321078e-01 9.72903104e-01 -2.02916555e-02 -6.99795204e+00] [-8.03806605e-02 1.76030339e-03 9.96762685e-01 -2.54464594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.745779522999996 meters 0.018545072538985265 Centerline is valid? [True, True] Translation: X:42.01, Y:-7.01, Z:-2.55 [[ 9.69925099e-01 2.31112306e-01 7.63701821e-02 4.20101344e+01] [-2.30257298e-01 9.72925498e-01 -1.99387142e-02 -7.00829519e+00] [-7.89105796e-02 1.75426756e-03 9.96880155e-01 -2.54797137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.775779523 meters 0.018046405286809335 Centerline is valid? [True, True] Translation: X:42.04, Y:-7.02, Z:-2.56 [[ 9.70051465e-01 2.31696159e-01 7.29180761e-02 4.20415444e+01] [-2.30916967e-01 9.72786807e-01 -1.90573370e-02 -7.01776209e+00] [-7.53492542e-02 1.64857669e-03 9.97155841e-01 -2.55531997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.805779523 meters 0.018266086516641945 Centerline is valid? [True, True] Translation: X:42.07, Y:-7.03, Z:-2.57 [[ 9.70069476e-01 2.33853260e-01 6.54053885e-02 4.20701874e+01] [-2.33230163e-01 9.72270971e-01 -1.71128625e-02 -7.02740979e+00] [-6.75936593e-02 1.34615616e-03 9.97712025e-01 -2.57039226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.83577952299999 meters 0.018065121656379624 Centerline is valid? [True, True] Translation: X:42.10, Y:-7.04, Z:-2.57 [[ 9.69880349e-01 2.34523280e-01 6.58098783e-02 4.21007552e+01] [-2.33893456e-01 9.72109614e-01 -1.72264134e-02 -7.03553393e+00] [-6.80144104e-02 1.31505995e-03 9.97683472e-01 -2.57451335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.86577952299999 meters 0.020094778577696946 Centerline is valid? [True, True] Translation: X:42.13, Y:-7.05, Z:-2.57 [[ 9.70199787e-01 2.31591401e-01 7.12586614e-02 4.21314353e+01] [-2.30843453e-01 9.72811722e-01 -1.86722634e-02 -7.04752240e+00] [-7.36455967e-02 1.66623050e-03 9.97283084e-01 -2.57209316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.895779522999995 meters 0.01858278425705769 Centerline is valid? [True, True] Translation: X:42.16, Y:-7.06, Z:-2.57 [[ 9.70182809e-01 2.30950243e-01 7.35343585e-02 4.21617322e+01] [-2.30150225e-01 9.72963915e-01 -1.92897629e-02 -7.06005232e+00] [-7.60012527e-02 1.79064721e-03 9.97106114e-01 -2.56935040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.925779522999996 meters 0.018934217118496154 Centerline is valid? [True, True] Translation: X:42.19, Y:-7.07, Z:-2.57 [[ 9.70650493e-01 2.28952217e-01 7.36104778e-02 4.21917532e+01] [-2.28143244e-01 9.73435671e-01 -1.93301712e-02 -7.07182041e+00] [-7.60807504e-02 1.96910707e-03 9.97099715e-01 -2.57019931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.955779523 meters 0.018934217118496154 Centerline is valid? [True, True] Translation: X:42.22, Y:-7.08, Z:-2.57 [[ 9.70587235e-01 2.29221729e-01 7.36058359e-02 4.22229764e+01] [-2.28412191e-01 9.73372248e-01 -1.93478302e-02 -7.08010438e+00] [-7.60808210e-02 1.96628675e-03 9.97099715e-01 -2.57283995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.985779523 meters 0.020485204582619224 Centerline is valid? [True, True] Translation: X:42.25, Y:-7.09, Z:-2.58 [[ 9.70918055e-01 2.27760973e-01 7.37771679e-02 4.22517827e+01] [-2.26941711e-01 9.73714792e-01 -1.94155413e-02 -7.09351486e+00] [-7.62600223e-02 2.10778286e-03 9.97085737e-01 -2.57546860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.01577952299999 meters 0.019531562799611976 Centerline is valid? [True, True] Translation: X:42.28, Y:-7.11, Z:-2.57 [[ 9.70621542e-01 2.28271150e-01 7.60664468e-02 4.22819735e+01] [-2.27400871e-01 9.73595240e-01 -2.00288201e-02 -7.10767730e+00] [-7.86299322e-02 2.14282801e-03 9.96901571e-01 -2.57486225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.04577952299999 meters 0.019307341381292517 Centerline is valid? [True, True] Translation: X:42.31, Y:-7.12, Z:-2.58 [[ 9.69972006e-01 2.30738878e-01 7.69017479e-02 4.23116657e+01] [-2.29856529e-01 9.73013713e-01 -2.02556387e-02 -7.11737716e+00] [-7.95002186e-02 1.97103372e-03 9.96832900e-01 -2.57530064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.075779522999994 meters 0.018982989839102925 Centerline is valid? [True, True] Translation: X:42.34, Y:-7.12, Z:-2.58 [[ 9.69314059e-01 2.33708330e-01 7.62277559e-02 4.23426205e+01] [-2.32849159e-01 9.72305212e-01 -2.00958839e-02 -7.12324886e+00] [-7.88132199e-02 1.72965398e-03 9.96887900e-01 -2.57909370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.105779522999995 meters 0.017139617764271982 Centerline is valid? [True, True] Translation: X:42.38, Y:-7.12, Z:-2.59 [[ 9.68585906e-01 2.37176478e-01 7.47573507e-02 4.23755846e+01] [-2.36359078e-01 9.71465518e-01 -1.97264652e-02 -7.12296284e+00] [-7.73028420e-02 1.43719768e-03 9.97006622e-01 -2.58617020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.135779523 meters 0.016801424291755695 Centerline is valid? [True, True] Translation: X:42.41, Y:-7.12, Z:-2.60 [[ 9.67768656e-01 2.41464969e-01 7.15436694e-02 4.24061861e+01] [-2.40726754e-01 9.70408952e-01 -1.88969904e-02 -7.12459089e+00] [-7.39895784e-02 1.06543964e-03 9.97258446e-01 -2.59683691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.165779523 meters 0.016602354860417248 Centerline is valid? [True, True] Translation: X:42.44, Y:-7.14, Z:-2.60 [[ 9.67655676e-01 2.42309291e-01 7.02047048e-02 4.24369409e+01] [-2.41600050e-01 9.70198550e-01 -1.85523565e-02 -7.13649782e+00] [-7.26079112e-02 9.90832820e-04 9.97360070e-01 -2.59843775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.195779523 meters 0.016439549949990022 Centerline is valid? [True, True] Translation: X:42.47, Y:-7.16, Z:-2.59 [[ 9.67738708e-01 2.42041773e-01 6.99826710e-02 4.24654237e+01] [-2.41334865e-01 9.70265286e-01 -1.85137164e-02 -7.15855795e+00] [-7.23828490e-02 1.02718156e-03 9.97376392e-01 -2.59191756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22577952299999 meters 0.01641503310674739 Centerline is valid? [True, True] Translation: X:42.50, Y:-7.17, Z:-2.59 [[ 9.67742996e-01 2.41465777e-01 7.18872151e-02 4.24963015e+01] [-2.40716578e-01 9.70408688e-01 -1.90396170e-02 -7.17065760e+00] [-7.43573940e-02 1.12101157e-03 9.97231027e-01 -2.59028766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.255779522999994 meters 0.01644874844349572 Centerline is valid? [True, True] Translation: X:42.53, Y:-7.18, Z:-2.59 [[ 9.67623207e-01 2.40905879e-01 7.52973242e-02 4.25284248e+01] [-2.40080226e-01 9.70547687e-01 -1.99667751e-02 -7.17863846e+00] [-7.78897573e-02 1.24291627e-03 9.96961203e-01 -2.59161283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.285779522999995 meters 0.016516330556681932 Centerline is valid? [True, True] Translation: X:42.56, Y:-7.18, Z:-2.60 [[ 9.67533456e-01 2.40305215e-01 7.83097327e-02 4.25607489e+01] [-2.39408088e-01 9.70696417e-01 -2.07902189e-02 -7.18255946e+00] [-8.10109750e-02 1.36724897e-03 9.96712272e-01 -2.59680163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.315779522999996 meters 0.016723119710650918 Centerline is valid? [True, True] Translation: X:42.59, Y:-7.19, Z:-2.60 [[ 9.67464737e-01 2.40311339e-01 7.91356031e-02 4.25919000e+01] [-2.39393182e-01 9.70694847e-01 -2.10337307e-02 -7.18577110e+00] [-8.18711661e-02 1.40486890e-03 9.96641931e-01 -2.60445203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.345779523 meters 0.016802348402243653 Centerline is valid? [True, True] Translation: X:42.62, Y:-7.19, Z:-2.61 [[ 9.67529936e-01 2.41327572e-01 7.51453618e-02 4.26215884e+01] [-2.40501317e-01 9.70442881e-01 -1.99932681e-02 -7.19479664e+00] [-7.77492083e-02 1.27152699e-03 9.96972138e-01 -2.61415533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.375779523 meters 0.016887378771400643 Centerline is valid? [True, True] Translation: X:42.65, Y:-7.21, Z:-2.62 [[ 9.67540966e-01 2.42276176e-01 7.18799869e-02 4.26504830e+01] [-2.41521469e-01 9.70206630e-01 -1.91435313e-02 -7.21065279e+00] [-7.43764614e-02 1.16159069e-03 9.97229559e-01 -2.61528561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.40577952299999 meters 0.01670081566952498 Centerline is valid? [True, True] Translation: X:42.68, Y:-7.23, Z:-2.61 [[ 9.67330127e-01 2.43773364e-01 6.96202025e-02 4.26799921e+01] [-2.43067990e-01 9.69831678e-01 -1.85598523e-02 -7.22738796e+00] [-7.20442754e-02 1.03106156e-03 9.97400902e-01 -2.61334838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.435779522999994 meters 0.01633816812884993 Centerline is valid? [True, True] Translation: X:42.71, Y:-7.24, Z:-2.61 [[ 9.67010334e-01 2.45307033e-01 6.86693065e-02 4.27095308e+01] [-2.44623267e-01 9.69444999e-01 -1.83262282e-02 -7.24080794e+00] [-7.10666684e-02 9.23541950e-04 9.97471140e-01 -2.61120408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.465779522999995 meters 0.01616169351073072 Centerline is valid? [True, True] Translation: X:42.74, Y:-7.25, Z:-2.62 [[ 9.66397463e-01 2.47071932e-01 7.09323937e-02 4.27407959e+01] [-2.46345649e-01 9.68996779e-01 -1.89489752e-02 -7.24505953e+00] [-7.34150209e-02 8.38355011e-04 9.97301124e-01 -2.61548607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.495779522999996 meters 0.01572678404327416 Centerline is valid? [True, True] Translation: X:42.77, Y:-7.25, Z:-2.62 [[ 9.66063654e-01 2.47730164e-01 7.31490341e-02 4.27736903e+01] [-2.46958139e-01 9.68828712e-01 -1.95602639e-02 -7.24612711e+00] [-7.57145519e-02 8.31710749e-04 9.97129187e-01 -2.62226752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.525779523 meters 0.01564029791393323 Centerline is valid? [True, True] Translation: X:42.80, Y:-7.25, Z:-2.63 [[ 9.65766604e-01 2.48290760e-01 7.51436264e-02 4.28039652e+01] [-2.47476126e-01 9.68685197e-01 -2.01135654e-02 -7.25141109e+00] [-7.77845310e-02 8.28756238e-04 9.96969849e-01 -2.62805667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.555779523 meters 0.015804631922451226 Centerline is valid? [True, True] Translation: X:42.83, Y:-7.26, Z:-2.63 [[ 9.65608936e-01 2.48846421e-01 7.53315398e-02 4.28334493e+01] [-2.48027996e-01 9.68542624e-01 -2.01816669e-02 -7.26469149e+00] [-7.79839428e-02 8.03267044e-04 9.96954292e-01 -2.63093540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58577952299999 meters 0.015768459599549645 Centerline is valid? [True, True] Translation: X:42.86, Y:-7.29, Z:-2.63 [[ 9.65618400e-01 2.49983601e-01 7.13393555e-02 4.28591634e+01] [-2.49251479e-01 9.68249824e-01 -1.91305789e-02 -7.29363287e+00] [-7.38566494e-02 6.91399105e-04 9.97268628e-01 -2.62517755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.61577952299999 meters 0.015313957791771183 Centerline is valid? [True, True] Translation: X:42.89, Y:-7.30, Z:-2.62 [[ 9.64602530e-01 2.54035661e-01 7.07661069e-02 4.28901826e+01] [-2.53324866e-01 9.67194772e-01 -1.89943528e-02 -7.30370439e+00] [-7.32698516e-02 3.95186193e-04 9.97312074e-01 -2.62348594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.645779522999995 meters 0.017594457316895757 Centerline is valid? [True, True] Translation: X:42.92, Y:-7.31, Z:-2.63 [[ 9.63466118e-01 2.58175764e-01 7.12622924e-02 4.29225308e+01] [-2.57464912e-01 9.66097958e-01 -1.91455931e-02 -7.30703239e+00] [-7.37892833e-02 9.85903897e-05 9.97273850e-01 -2.62978618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.675779522999996 meters 0.015330016866398172 Centerline is valid? [True, True] Translation: X:42.96, Y:-7.31, Z:-2.63 [[ 9.61725918e-01 2.64407797e-01 7.19150594e-02 4.29554171e+01] [-2.63699861e-01 9.64410900e-01 -1.93390651e-02 -7.30654064e+00] [-7.44690667e-02 -3.65111069e-04 9.97223257e-01 -2.63328219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.705779523 meters 0.01725120426663813 Centerline is valid? [True, True] Translation: X:42.99, Y:-7.30, Z:-2.64 [[ 9.58940994e-01 2.74191069e-01 7.24667337e-02 4.29898985e+01] [-2.73498467e-01 9.61674592e-01 -1.95081562e-02 -7.30019357e+00] [-7.50383787e-02 -1.11236988e-03 9.97180026e-01 -2.64292009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.735779523 meters 0.018986456603078437 Centerline is valid? [True, True] Translation: X:43.02, Y:-7.31, Z:-2.64 [[ 9.57530211e-01 2.78856860e-01 7.33126633e-02 4.30206524e+01] [-2.78161266e-01 9.60331520e-01 -1.97403381e-02 -7.30547320e+00] [-7.59091902e-02 -1.49077316e-03 9.97113621e-01 -2.64473465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76577952299999 meters 0.02049279698023404 Centerline is valid? [True, True] Translation: X:43.05, Y:-7.31, Z:-2.64 [[ 9.56392099e-01 2.82326075e-01 7.48741631e-02 4.30502636e+01] [-2.81609734e-01 9.59316837e-01 -2.01782899e-02 -7.31472548e+00] [-7.75249027e-02 -1.78693613e-03 9.96988815e-01 -2.64306589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.79577952299999 meters 0.019454513321158044 Centerline is valid? [True, True] Translation: X:43.08, Y:-7.33, Z:-2.64 [[ 9.56262872e-01 2.82603221e-01 7.54767504e-02 4.30809394e+01] [-2.81874822e-01 9.59235191e-01 -2.03576314e-02 -7.33015046e+00] [-7.81530873e-02 -1.80774856e-03 9.96939731e-01 -2.64077012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.825779522999994 meters 0.017975294777495224 Centerline is valid? [True, True] Translation: X:43.11, Y:-7.35, Z:-2.64 [[ 9.57497952e-01 2.78684545e-01 7.43814257e-02 4.31096163e+01] [-2.77963633e-01 9.60381610e-01 -2.00843610e-02 -7.34552872e+00] [-7.70317544e-02 -1.44459675e-03 9.97027593e-01 -2.64180137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.855779522999995 meters 0.017584987152856658 Centerline is valid? [True, True] Translation: X:43.14, Y:-7.35, Z:-2.65 [[ 9.58090742e-01 2.77102199e-01 7.26395307e-02 4.31397541e+01] [-2.76409806e-01 9.60839595e-01 -1.96186352e-02 -7.35399750e+00] [-7.52313043e-02 -1.28184585e-03 9.97165286e-01 -2.64760699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.885779523 meters 0.017094897280909155 Centerline is valid? [True, True] Translation: X:43.17, Y:-7.36, Z:-2.65 [[ 9.58463400e-01 2.76409854e-01 7.03242702e-02 4.31713434e+01] [-2.75757839e-01 9.61039135e-01 -1.90103798e-02 -7.36222154e+00] [-7.28390321e-02 -1.17171553e-03 9.97343021e-01 -2.65447907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.915779523 meters 0.01858003334857544 Centerline is valid? [True, True] Translation: X:43.20, Y:-7.37, Z:-2.66 [[ 9.58370665e-01 2.77108739e-01 6.88216113e-02 4.32024931e+01] [-2.76484641e-01 9.60837841e-01 -1.86248673e-02 -7.36526688e+00] [-7.12875220e-02 -1.17859205e-03 9.97455112e-01 -2.66150624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.945779523 meters 0.019075509670540773 Centerline is valid? [True, True] Translation: X:43.23, Y:-7.37, Z:-2.66 [[ 9.57972831e-01 2.78538133e-01 6.85898173e-02 4.32333228e+01] [-2.77920720e-01 9.60424338e-01 -1.85786057e-02 -7.37296818e+00] [-7.10501800e-02 -1.26473192e-03 9.97471941e-01 -2.66303971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97577952299999 meters 0.017757554909170473 Centerline is valid? [True, True] Translation: X:43.26, Y:-7.38, Z:-2.66 [[ 9.57871715e-01 2.78862947e-01 6.86821227e-02 4.32642414e+01] [-2.78243589e-01 9.60330063e-01 -1.86192191e-02 -7.38498234e+00] [-7.11497175e-02 -1.27553698e-03 9.97464832e-01 -2.66273534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.005779522999994 meters 0.017490253999861097 Centerline is valid? [True, True] Translation: X:43.30, Y:-7.39, Z:-2.66 [[ 9.58103582e-01 2.77886764e-01 6.94008153e-02 4.32950381e+01] [-2.77250300e-01 9.60613094e-01 -1.88349209e-02 -7.39360358e+00] [-7.19013071e-02 -1.19559166e-03 9.97411035e-01 -2.66365550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.035779522999995 meters 0.01640530789724589 Centerline is valid? [True, True] Translation: X:43.32, Y:-7.41, Z:-2.66 [[ 9.59218563e-01 2.73028759e-01 7.31781685e-02 4.33249669e+01] [-2.72305326e-01 9.62005490e-01 -1.98808192e-02 -7.40519018e+00] [-7.58258353e-02 -8.56754131e-04 9.97120709e-01 -2.66257936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.065779522999996 meters 0.015747480654619082 Centerline is valid? [True, True] Translation: X:43.35, Y:-7.42, Z:-2.66 [[ 9.60132672e-01 2.69751159e-01 7.33455085e-02 4.33548307e+01] [-2.69014623e-01 9.62929882e-01 -1.99292691e-02 -7.41802537e+00] [-7.60025252e-02 -5.96271950e-04 9.97107447e-01 -2.66357248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.095779523 meters 0.015490462459127306 Centerline is valid? [True, True] Translation: X:43.38, Y:-7.43, Z:-2.67 [[ 9.61225652e-01 2.66071526e-01 7.24650919e-02 4.33832046e+01] [-2.65340721e-01 9.63953247e-01 -1.97088523e-02 -7.43043423e+00] [-7.50969251e-02 -2.83285318e-04 9.97176199e-01 -2.66642110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.125779523 meters 0.015424486292837696 Centerline is valid? [True, True] Translation: X:43.41, Y:-7.44, Z:-2.67 [[ 9.62056745e-01 2.63139327e-01 7.21423148e-02 4.34137134e+01] [-2.62405517e-01 9.64757842e-01 -1.96380114e-02 -7.44204417e+00] [-7.47673970e-02 -3.76600802e-05 9.97201000e-01 -2.66899120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.15577952299999 meters 0.015505323749047298 Centerline is valid? [True, True] Translation: X:43.44, Y:-7.45, Z:-2.67 [[ 9.62745228e-01 2.60722749e-01 7.17305720e-02 4.34449888e+01] [-2.59989032e-01 9.65413704e-01 -1.95469615e-02 -7.45089180e+00] [-7.43460148e-02 1.69581943e-04 9.97232491e-01 -2.67227646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.185779522999994 meters 0.017330369152249125 Centerline is valid? [True, True] Translation: X:43.48, Y:-7.46, Z:-2.68 [[ 9.63120572e-01 2.59707732e-01 7.03609066e-02 4.34758180e+01] [-2.58997603e-01 9.65687229e-01 -1.91941839e-02 -7.45897097e+00] [-7.29315070e-02 2.63007245e-04 9.97336917e-01 -2.67870453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.215779522999995 meters 0.01887485794921223 Centerline is valid? [True, True] Translation: X:43.51, Y:-7.47, Z:-2.69 [[ 9.63933255e-01 2.57449051e-01 6.74734485e-02 4.35055898e+01] [-2.56789364e-01 9.66291777e-01 -1.84234568e-02 -7.46509756e+00] [-6.99421400e-02 4.32518714e-04 9.97550956e-01 -2.68658041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.245779522999996 meters 0.01601981617873508 Centerline is valid? [True, True] Translation: X:43.54, Y:-7.47, Z:-2.69 [[ 9.64161642e-01 2.56422855e-01 6.81149591e-02 4.35367537e+01] [-2.55746779e-01 9.66564556e-01 -1.86157082e-02 -7.47210657e+00] [-7.06109982e-02 5.28370414e-04 9.97503788e-01 -2.68686736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.275779523 meters 0.016341661952260892 Centerline is valid? [True, True] Translation: X:43.57, Y:-7.48, Z:-2.69 [[ 9.64808150e-01 2.53544743e-01 6.97158288e-02 4.35680028e+01] [-2.52828057e-01 9.67323355e-01 -1.90657036e-02 -7.48066503e+00] [-7.22717583e-02 7.68628683e-04 9.97384681e-01 -2.68917361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.305779523 meters 0.01834800440860778 Centerline is valid? [True, True] Translation: X:43.60, Y:-7.49, Z:-2.69 [[ 9.65758396e-01 2.49460057e-01 7.12769251e-02 4.35983384e+01] [-2.48698367e-01 9.68384445e-01 -1.95112631e-02 -7.49086657e+00] [-7.38907464e-02 1.11671127e-03 9.97265717e-01 -2.69201280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33577952299999 meters 0.019089568206747926 Centerline is valid? [True, True] Translation: X:43.63, Y:-7.51, Z:-2.69 [[ 9.67636341e-01 2.41403059e-01 7.35151268e-02 4.36266148e+01] [-2.40567916e-01 9.70423258e-01 -2.01439576e-02 -7.50582354e+00] [-7.62036018e-02 1.80664464e-03 9.97090641e-01 -2.68836685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36577952299999 meters 0.020456549511443097 Centerline is valid? [True, True] Translation: X:43.66, Y:-7.52, Z:-2.69 [[ 9.68642322e-01 2.37143450e-01 7.41285120e-02 4.36565129e+01] [-2.36280544e-01 9.71472207e-01 -2.03286930e-02 -7.51792839e+00] [-7.68346056e-02 2.17610724e-03 9.97041478e-01 -2.68852524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.395779522999995 meters 0.023034126073339774 Centerline is valid? [True, True] Translation: X:43.68, Y:-7.53, Z:-2.69 [[ 9.70369201e-01 2.30253415e-01 7.32596691e-02 4.36846629e+01] [-2.29390703e-01 9.73126973e-01 -2.00947610e-02 -7.53313680e+00] [-7.59178474e-02 2.69425018e-03 9.97110436e-01 -2.68622118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.425779522999996 meters 0.025886916199474565 Centerline is valid? [True, True] Translation: X:43.71, Y:-7.55, Z:-2.69 [[ 9.72100121e-01 2.24557883e-01 6.77872606e-02 4.37117163e+01] [-2.23804663e-01 9.74456387e-01 -1.86070858e-02 -7.54540794e+00] [-7.02340968e-02 2.91684540e-03 9.97526272e-01 -2.69375287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.455779523 meters 0.027325753341833216 Centerline is valid? [True, True] Translation: X:43.74, Y:-7.55, Z:-2.70 [[ 9.72879757e-01 2.22058617e-01 6.47684297e-02 4.37408472e+01] [-2.21365485e-01 9.75028825e-01 -1.77795493e-02 -7.55437452e+00] [-6.70991880e-02 2.95986871e-03 9.97741920e-01 -2.70118294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.485779523 meters 0.027325753341833216 Centerline is valid? [True, True] Translation: X:43.77, Y:-7.56, Z:-2.70 [[ 9.72820897e-01 2.22316434e-01 6.47680914e-02 4.37719853e+01] [-2.21623790e-01 9.74970122e-01 -1.77807830e-02 -7.56302112e+00] [-6.70999143e-02 2.94336744e-03 9.97741920e-01 -2.70381862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51577952299999 meters 0.030162045840575902 Centerline is valid? [True, True] Translation: X:43.80, Y:-7.57, Z:-2.71 [[ 9.73609467e-01 2.19164559e-01 6.36514042e-02 4.38013693e+01] [-2.18487649e-01 9.75682906e-01 -1.74932503e-02 -7.57067416e+00] [-6.59374875e-02 3.12454843e-03 9.97818864e-01 -2.71280710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54577952299999 meters 0.030951154803741807 Centerline is valid? [True, True] Translation: X:43.83, Y:-7.58, Z:-2.72 [[ 9.73871855e-01 2.17425455e-01 6.55727153e-02 4.38325703e+01] [-2.16702169e-01 9.76071168e-01 -1.80345486e-02 -7.57714735e+00] [-6.79248068e-02 3.35358969e-03 9.97684807e-01 -2.71774991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.575779522999994 meters 0.032691980526444696 Centerline is valid? [True, True] Translation: X:43.86, Y:-7.58, Z:-2.72 [[ 9.74269273e-01 2.13768804e-01 7.14302625e-02 4.38629448e+01] [-2.12898987e-01 9.76876286e-01 -1.96658079e-02 -7.58498390e+00] [-7.39824657e-02 3.95236186e-03 9.97251710e-01 -2.71918046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.605779522999995 meters 0.033446607307662427 Centerline is valid? [True, True] Translation: X:43.89, Y:-7.60, Z:-2.72 [[ 9.74370378e-01 2.12960515e-01 7.24581620e-02 4.38932163e+01] [-2.12063109e-01 9.77052316e-01 -1.99501735e-02 -7.59719083e+00] [-7.50440143e-02 4.07315504e-03 9.97171904e-01 -2.71798866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.635779523 meters 0.03262228554618111 Centerline is valid? [True, True] Translation: X:43.92, Y:-7.61, Z:-2.71 [[ 9.74205370e-01 2.13738024e-01 7.23875318e-02 4.39236442e+01] [-2.12843174e-01 9.76882717e-01 -1.99484501e-02 -7.60937396e+00] [-7.49778710e-02 4.02669521e-03 9.97177068e-01 -2.71387413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.665779523 meters 0.033831246446254494 Centerline is valid? [True, True] Translation: X:43.95, Y:-7.62, Z:-2.72 [[ 9.74252851e-01 2.13703135e-01 7.18495067e-02 4.39539999e+01] [-2.12820170e-01 9.76890393e-01 -1.98175546e-02 -7.61994682e+00] [-7.44241664e-02 4.01628481e-03 9.97218588e-01 -2.71523354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.695779523 meters 0.029126629338717666 Centerline is valid? [True, True] Translation: X:43.99, Y:-7.62, Z:-2.71 [[ 9.73275127e-01 2.17644196e-01 7.32566172e-02 4.39867857e+01] [-2.16735891e-01 9.76020753e-01 -2.02247962e-02 -7.62162701e+00] [-7.59017883e-02 3.80695292e-03 9.97108031e-01 -2.70969462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.72577952299999 meters 0.026366154005708003 Centerline is valid? [True, True] Translation: X:44.02, Y:-7.63, Z:-2.71 [[ 9.72148662e-01 2.22366141e-01 7.40288966e-02 4.40180032e+01] [-2.21451843e-01 9.74957022e-01 -2.04422559e-02 -7.62641847e+00] [-7.67206581e-02 3.47907614e-03 9.97046557e-01 -2.70704231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.755779522999994 meters 0.023289980499031564 Centerline is valid? [True, True] Translation: X:44.05, Y:-7.63, Z:-2.71 [[ 9.71127957e-01 2.26567296e-01 7.46843445e-02 4.40505757e+01] [-2.25648875e-01 9.73990329e-01 -2.06258002e-02 -7.62646746e+00] [-7.74149611e-02 3.17785292e-03 9.96993894e-01 -2.71020824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.785779522999995 meters 0.021588707735810498 Centerline is valid? [True, True] Translation: X:44.08, Y:-7.62, Z:-2.72 [[ 9.69196611e-01 2.34882503e-01 7.40819727e-02 4.40824038e+01] [-2.34002785e-01 9.72020563e-01 -2.04626895e-02 -7.62168615e+00] [-7.68155285e-02 2.49698142e-03 9.97042196e-01 -2.72165766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.815779522999996 meters 0.01975252187463189 Centerline is valid? [True, True] Translation: X:44.11, Y:-7.62, Z:-2.73 [[ 9.68440883e-01 2.38072742e-01 7.37809234e-02 4.41143451e+01] [-2.37209356e-01 9.71244754e-01 -2.03801194e-02 -7.62396245e+00] [-7.65112857e-02 2.23541554e-03 9.97066209e-01 -2.72790548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.845779523 meters 0.019289117546110512 Centerline is valid? [True, True] Translation: X:44.15, Y:-7.63, Z:-2.73 [[ 9.68023644e-01 2.40058328e-01 7.28163656e-02 4.41456469e+01] [-2.39222785e-01 9.70756293e-01 -2.01166287e-02 -7.63124313e+00] [-7.55161093e-02 2.05403842e-03 9.97142466e-01 -2.73224068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.875779523 meters 0.019289117546110512 Centerline is valid? [True, True] Translation: X:44.18, Y:-7.64, Z:-2.73 [[ 9.67956356e-01 2.40330986e-01 7.28114730e-02 4.41767556e+01] [-2.39494884e-01 9.70688833e-01 -2.01343209e-02 -7.63991799e+00] [-7.55161850e-02 2.05116865e-03 9.97142467e-01 -2.73488134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.90577952299999 meters 0.019649807236365138 Centerline is valid? [True, True] Translation: X:44.21, Y:-7.65, Z:-2.74 [[ 9.67800191e-01 2.41422240e-01 7.12607348e-02 4.42058493e+01] [-2.40622789e-01 9.70418219e-01 -1.97269769e-02 -7.65039426e+00] [-7.39152463e-02 1.94481525e-03 9.97262630e-01 -2.73822623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.935779522999994 meters 0.01930266117416934 Centerline is valid? [True, True] Translation: X:44.24, Y:-7.66, Z:-2.74 [[ 9.67323933e-01 2.43974592e-01 6.89985965e-02 4.42355000e+01] [-2.43230477e-01 9.69780117e-01 -1.91170061e-02 -7.66031898e+00] [-7.15775307e-02 1.70977603e-03 9.97433574e-01 -2.73912164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.965779522999995 meters 0.018642700491153276 Centerline is valid? [True, True] Translation: X:44.27, Y:-7.67, Z:-2.74 [[ 9.66671061e-01 2.46092866e-01 7.06070844e-02 4.42673134e+01] [-2.45317972e-01 9.69244924e-01 -1.95798531e-02 -7.66616027e+00] [-7.32540203e-02 1.60609056e-03 9.97312022e-01 -2.73856838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.995779522999996 meters 0.020499876046567587 Centerline is valid? [True, True] Translation: X:44.30, Y:-7.67, Z:-2.74 [[ 9.66038413e-01 2.47787749e-01 7.32872100e-02 4.42984733e+01] [-2.46956138e-01 9.68813097e-01 -2.03432725e-02 -7.67027657e+00] [-7.60424226e-02 1.55365634e-03 9.97103373e-01 -2.74145329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.025779523 meters 0.01698224131974009 Centerline is valid? [True, True] Translation: X:44.33, Y:-7.67, Z:-2.74 [[ 9.64934172e-01 2.51129978e-01 7.63922612e-02 4.43316749e+01] [-2.50235782e-01 9.67952423e-01 -2.12169807e-02 -7.67436660e+00] [-7.92722942e-02 1.35691243e-03 9.96852076e-01 -2.73769916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.055779523 meters 0.01629835724211849 Centerline is valid? [True, True] Translation: X:44.36, Y:-7.68, Z:-2.74 [[ 9.63925270e-01 2.55602631e-01 7.42655253e-02 4.43624647e+01] [-2.54770374e-01 9.66781443e-01 -2.06324368e-02 -7.68113683e+00] [-7.70722369e-02 9.67471632e-04 9.97025042e-01 -2.74282761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08577952299999 meters 0.016340912426478695 Centerline is valid? [True, True] Translation: X:44.39, Y:-7.69, Z:-2.75 [[ 9.63663413e-01 2.57262126e-01 7.18959324e-02 4.43922524e+01] [-2.56485423e-01 9.66341304e-01 -1.99927895e-02 -7.69056960e+00] [-7.46193966e-02 8.26061099e-04 9.97211744e-01 -2.74889898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.11577952299999 meters 0.01602305384726178 Centerline is valid? [True, True] Translation: X:44.42, Y:-7.70, Z:-2.75 [[ 9.63061199e-01 2.59932657e-01 7.03430164e-02 4.44235444e+01] [-2.59195404e-01 9.65626549e-01 -1.95732026e-02 -7.69792290e+00] [-7.30127987e-02 6.17605351e-04 9.97330813e-01 -2.75483289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.145779522999995 meters 0.01582094846732158 Centerline is valid? [True, True] Translation: X:44.46, Y:-7.70, Z:-2.76 [[ 9.62717824e-01 2.61244413e-01 7.01836749e-02 4.44554199e+01] [-2.60512691e-01 9.65272538e-01 -1.95465190e-02 -7.70495894e+00] [-7.28527928e-02 5.34044305e-04 9.97342562e-01 -2.75888756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.175779522999996 meters 0.01577674187791667 Centerline is valid? [True, True] Translation: X:44.49, Y:-7.71, Z:-2.76 [[ 9.62369711e-01 2.62772513e-01 6.92469862e-02 4.44870147e+01] [-2.62062685e-01 9.64857720e-01 -1.93062120e-02 -7.71125929e+00] [-7.18866310e-02 4.32662506e-04 9.97412716e-01 -2.76350690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.205779523 meters 0.017839847761223986 Centerline is valid? [True, True] Translation: X:44.52, Y:-7.72, Z:-2.77 [[ 9.62001380e-01 2.64458168e-01 6.79354254e-02 4.45187118e+01] [-2.63777909e-01 9.64397105e-01 -1.89588650e-02 -7.71770427e+00] [-7.05305543e-02 3.18589782e-04 9.97509569e-01 -2.76878754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.235779523 meters 0.015287325547823524 Centerline is valid? [True, True] Translation: X:44.55, Y:-7.73, Z:-2.76 [[ 9.60180091e-01 2.70567106e-01 6.96249536e-02 4.45488161e+01] [-2.69866988e-01 9.62701111e-01 -1.94519964e-02 -7.72801453e+00] [-7.22910906e-02 -1.12056823e-04 9.97383570e-01 -2.75983271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26577952299999 meters 0.01537828464507885 Centerline is valid? [True, True] Translation: X:44.58, Y:-7.74, Z:-2.76 [[ 9.59471471e-01 2.73100560e-01 6.95023714e-02 4.45797891e+01] [-2.72408381e-01 9.61985448e-01 -1.94337812e-02 -7.73897449e+00] [-7.21676464e-02 -2.86869858e-04 9.97392475e-01 -2.75915011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.29577952299999 meters 0.015571584640053007 Centerline is valid? [True, True] Translation: X:44.61, Y:-7.75, Z:-2.76 [[ 9.58875512e-01 2.75369330e-01 6.87712499e-02 4.46101055e+01] [-2.74696041e-01 9.61338413e-01 -1.92494432e-02 -7.74748605e+00] [-7.14131505e-02 -4.33370385e-04 9.97446727e-01 -2.76237039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.325779522999994 meters 0.015894009405257627 Centerline is valid? [True, True] Translation: X:44.64, Y:-7.75, Z:-2.77 [[ 9.58402000e-01 2.77181318e-01 6.80890780e-02 4.46404324e+01] [-2.76524610e-01 9.60817475e-01 -1.90766952e-02 -7.75232519e+00] [-7.07088795e-02 -5.45162939e-04 9.97496846e-01 -2.76965299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.355779522999995 meters 0.016448981596035077 Centerline is valid? [True, True] Translation: X:44.67, Y:-7.75, Z:-2.78 [[ 9.57203462e-01 2.81293324e-01 6.80852317e-02 4.46725744e+01] [-2.80646475e-01 9.59621467e-01 -1.90839432e-02 -7.75209409e+00] [-7.07042357e-02 -8.40663745e-04 9.97496970e-01 -2.78060083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.385779523 meters 0.017052678689297333 Centerline is valid? [True, True] Translation: X:44.70, Y:-7.76, Z:-2.78 [[ 9.56418954e-01 2.83549027e-01 6.97332967e-02 4.47041767e+01] [-2.82875212e-01 9.58957203e-01 -1.95626464e-02 -7.75819662e+00] [-7.24182165e-02 -1.01573531e-03 9.97373837e-01 -2.78351415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.415779523 meters 0.0175737924154773 Centerline is valid? [True, True] Translation: X:44.74, Y:-7.77, Z:-2.78 [[ 9.55484035e-01 2.86045938e-01 7.23047781e-02 4.47352875e+01] [-2.85327024e-01 9.58215116e-01 -2.03046933e-02 -7.76774214e+00] [-7.50916064e-02 -1.22969691e-03 9.97175881e-01 -2.78120730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.445779523 meters 0.020115928640187533 Centerline is valid? [True, True] Translation: X:44.77, Y:-7.78, Z:-2.78 [[ 9.54924988e-01 2.87776731e-01 7.28204673e-02 4.47652012e+01] [-2.87051124e-01 9.57696565e-01 -2.04680837e-02 -7.77913169e+00] [-7.56301496e-02 -1.35771243e-03 9.97135014e-01 -2.78024041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.47577952299999 meters 0.020130670170103886 Centerline is valid? [True, True] Translation: X:44.80, Y:-7.79, Z:-2.78 [[ 9.54412196e-01 2.89526168e-01 7.26082522e-02 4.47952000e+01] [-2.88808442e-01 9.57168964e-01 -2.04269243e-02 -7.79224671e+00] [-7.54124947e-02 -1.47417054e-03 9.97151334e-01 -2.77706525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.505779522999994 meters 0.021268082218748624 Centerline is valid? [True, True] Translation: X:44.83, Y:-7.80, Z:-2.78 [[ 9.53742551e-01 2.91918988e-01 7.18223597e-02 4.48251760e+01] [-2.91222090e-01 9.56441664e-01 -2.02246739e-02 -7.80219782e+00] [-7.45978636e-02 -1.62712566e-03 9.97212370e-01 -2.77733761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.535779522999995 meters 0.019849580417853903 Centerline is valid? [True, True] Translation: X:44.86, Y:-7.81, Z:-2.78 [[ 9.53063929e-01 2.93940118e-01 7.25834321e-02 4.48555227e+01] [-2.93232804e-01 9.55822167e-01 -2.04574591e-02 -7.80722941e+00] [-7.53901213e-02 -1.78657690e-03 9.97152515e-01 -2.77891879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.565779522999996 meters 0.022422414120802578 Centerline is valid? [True, True] Translation: X:44.89, Y:-7.81, Z:-2.79 [[ 9.52893467e-01 2.94755981e-01 7.15049162e-02 4.48867688e+01] [-2.94071228e-01 9.55570832e-01 -2.01617750e-02 -7.81164509e+00] [-7.42708161e-02 -1.81551492e-03 9.97236456e-01 -2.79108331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.595779523 meters 0.0223923609505284 Centerline is valid? [True, True] Translation: X:44.92, Y:-7.82, Z:-2.80 [[ 9.52456719e-01 2.96227401e-01 7.12427187e-02 4.49181877e+01] [-2.95550450e-01 9.55115539e-01 -2.01056649e-02 -7.81584599e+00] [-7.40008766e-02 -1.90604193e-03 9.97256355e-01 -2.79924018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.625779523 meters 0.021602574852463342 Centerline is valid? [True, True] Translation: X:44.95, Y:-7.82, Z:-2.80 [[ 9.51964087e-01 2.97122149e-01 7.40459764e-02 4.49497425e+01] [-2.96392027e-01 9.54837309e-01 -2.09160232e-02 -7.82197119e+00] [-7.69164746e-02 -2.03533418e-03 9.97035462e-01 -2.80112008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.65577952299999 meters 0.02343127717422492 Centerline is valid? [True, True] Translation: X:44.98, Y:-7.84, Z:-2.80 [[ 9.52430334e-01 2.95882842e-01 7.30055043e-02 4.49777560e+01] [-2.95168010e-01 9.55222369e-01 -2.06415013e-02 -7.83538780e+00] [-7.58439568e-02 -1.88929741e-03 9.97117909e-01 -2.80335485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.685779522999994 meters 0.020452565485571898 Centerline is valid? [True, True] Translation: X:45.00, Y:-7.86, Z:-2.80 [[ 9.53453762e-01 2.93868461e-01 6.75814377e-02 4.50046892e+01] [-2.93249970e-01 9.55844554e-01 -1.91218343e-02 -7.86075025e+00] [-7.02166532e-02 -1.58646976e-03 9.97530503e-01 -2.79608456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.715779522999995 meters 0.020980372349751066 Centerline is valid? [True, True] Translation: X:45.03, Y:-7.87, Z:-2.80 [[ 9.53787810e-01 2.93361221e-01 6.50231270e-02 4.50332804e+01] [-2.92786489e-01 9.56000532e-01 -1.84134347e-02 -7.87220212e+00] [-6.75639317e-02 -1.47538344e-03 9.97713856e-01 -2.79873252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.745779522999996 meters 0.020775527311255843 Centerline is valid? [True, True] Translation: X:45.06, Y:-7.88, Z:-2.80 [[ 9.53533324e-01 2.94190984e-01 6.50066554e-02 4.50641803e+01] [-2.93617492e-01 9.55745444e-01 -1.84231897e-02 -7.87990381e+00] [-6.75497511e-02 -1.51996580e-03 9.97714749e-01 -2.80118834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.775779523 meters 0.02254514705537899 Centerline is valid? [True, True] Translation: X:45.10, Y:-7.87, Z:-2.81 [[ 9.52040022e-01 2.97557133e-01 7.12709496e-02 4.50977444e+01] [-2.96875632e-01 9.54702101e-01 -2.02177301e-02 -7.87442979e+00] [-7.40584552e-02 -1.91052003e-03 9.97252072e-01 -2.80738393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.805779523 meters 0.024766872922936594 Centerline is valid? [True, True] Translation: X:45.13, Y:-7.88, Z:-2.82 [[ 9.51708262e-01 2.98331847e-01 7.24533819e-02 4.51298521e+01] [-2.97628538e-01 9.54460139e-01 -2.05693180e-02 -7.87903432e+00] [-7.52903475e-02 -1.98820429e-03 9.97159672e-01 -2.81604244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83577952299999 meters 0.023852649906707116 Centerline is valid? [True, True] Translation: X:45.16, Y:-7.90, Z:-2.82 [[ 9.52756681e-01 2.94963030e-01 7.24673552e-02 4.51563749e+01] [-2.94248121e-01 9.55507150e-01 -2.05943961e-02 -7.89687378e+00] [-7.53176616e-02 -1.70193461e-03 9.97158139e-01 -2.81958186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.86577952299999 meters 0.01997619863936536 Centerline is valid? [True, True] Translation: X:45.18, Y:-7.92, Z:-2.81 [[ 9.53789970e-01 2.91260742e-01 7.38368064e-02 4.51841065e+01] [-2.90507345e-01 9.56642630e-01 -2.09847995e-02 -7.91554638e+00] [-7.67474850e-02 -1.43504330e-03 9.97049529e-01 -2.81400089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.895779522999995 meters 0.01818986779581812 Centerline is valid? [True, True] Translation: X:45.21, Y:-7.93, Z:-2.81 [[ 9.55114947e-01 2.86475730e-01 7.54128274e-02 4.52118426e+01] [-2.85674671e-01 9.58086901e-01 -2.14352980e-02 -7.93296398e+00] [-7.83927347e-02 -1.07036112e-03 9.96921980e-01 -2.81174392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.925779522999996 meters 0.018436648065175386 Centerline is valid? [True, True] Translation: X:45.24, Y:-7.95, Z:-2.82 [[ 9.56369201e-01 2.82122336e-01 7.59271974e-02 4.52409439e+01] [-2.81296390e-01 9.59378171e-01 -2.15839175e-02 -7.94910673e+00] [-7.89322010e-02 -7.15852628e-04 9.96879730e-01 -2.81520507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.955779523 meters 0.016069034489146816 Centerline is valid? [True, True] Translation: X:45.27, Y:-7.96, Z:-2.81 [[ 9.56523033e-01 2.81296152e-01 7.70464898e-02 4.52727857e+01] [-2.80442373e-01 9.59620786e-01 -2.19094334e-02 -7.95612337e+00] [-8.00984524e-02 -6.50222754e-04 9.96786745e-01 -2.81481313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.985779523 meters 0.016239041395168373 Centerline is valid? [True, True] Translation: X:45.30, Y:-7.96, Z:-2.82 [[ 9.56352737e-01 2.81795074e-01 7.73367901e-02 4.53043476e+01] [-2.80934791e-01 9.59474378e-01 -2.20127772e-02 -7.95922404e+00] [-8.04057607e-02 -6.74615261e-04 9.96761987e-01 -2.82014578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01577952299999 meters 0.01652964641339209 Centerline is valid? [True, True] Translation: X:45.34, Y:-7.96, Z:-2.82 [[ 9.55722475e-01 2.84057246e-01 7.68507146e-02 4.53361015e+01] [-2.83213310e-01 9.58806955e-01 -2.18961901e-02 -7.96373006e+00] [-7.99047711e-02 -8.38464276e-04 9.96802149e-01 -2.82480756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.04577952299999 meters 0.017635529564023193 Centerline is valid? [True, True] Translation: X:45.37, Y:-7.97, Z:-2.83 [[ 9.54447726e-01 2.89920473e-01 7.05383412e-02 4.53666670e+01] [-2.89224271e-01 9.57049985e-01 -2.01158260e-02 -7.97264587e+00] [-7.33407083e-02 -1.20189589e-03 9.97306220e-01 -2.82940247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.075779522999994 meters 0.01962341767627163 Centerline is valid? [True, True] Translation: X:45.40, Y:-7.99, Z:-2.83 [[ 9.54328095e-01 2.91196857e-01 6.68002813e-02 4.53959726e+01] [-2.90575509e-01 9.56662366e-01 -1.90523387e-02 -7.98558223e+00] [-6.94532963e-02 -1.22834363e-03 9.97584448e-01 -2.83464162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.105779522999995 meters 0.020424103246003994 Centerline is valid? [True, True] Translation: X:45.43, Y:-8.00, Z:-2.84 [[ 9.54423510e-01 2.91358241e-01 6.47003775e-02 4.54254735e+01] [-2.90774648e-01 9.56613282e-01 -1.84698044e-02 -7.99757851e+00] [-6.72745702e-02 -1.18521394e-03 9.97733796e-01 -2.83801924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.135779523 meters 0.017349307367930597 Centerline is valid? [True, True] Translation: X:45.45, Y:-8.01, Z:-2.84 [[ 9.55477401e-01 2.87163588e-01 6.78233734e-02 4.54541811e+01] [-2.86510196e-01 9.57881120e-01 -1.93821425e-02 -8.00605463e+00] [-7.05325744e-02 -9.12888892e-04 9.97509059e-01 -2.84121698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.165779523 meters 0.016596245465657786 Centerline is valid? [True, True] Translation: X:45.49, Y:-8.01, Z:-2.85 [[ 9.56310537e-01 2.83516996e-01 7.13321156e-02 4.54853962e+01] [-2.82783809e-01 9.58966974e-01 -2.03877338e-02 -8.01416210e+00] [-7.41854122e-02 -6.74562641e-04 9.97244238e-01 -2.84583991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.195779523 meters 0.01622226657297866 Centerline is valid? [True, True] Translation: X:45.52, Y:-8.02, Z:-2.85 [[ 9.57078190e-01 2.80150692e-01 7.42760284e-02 4.55167533e+01] [-2.79344964e-01 9.59955942e-01 -2.12363143e-02 -8.02270320e+00] [-7.72510830e-02 -4.23821160e-04 9.97011580e-01 -2.84959432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.22577952299999 meters 0.016038848997860136 Centerline is valid? [True, True] Translation: X:45.55, Y:-8.04, Z:-2.85 [[ 9.57937655e-01 2.76697733e-01 7.61171129e-02 4.55452569e+01] [-2.75840047e-01 9.60956994e-01 -2.17697980e-02 -8.03831173e+00] [-7.91689257e-02 -1.42038745e-04 9.96861204e-01 -2.84801576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.255779522999994 meters 0.015903007268751157 Centerline is valid? [True, True] Translation: X:45.57, Y:-8.05, Z:-2.85 [[ 9.58103419e-01 2.76685728e-01 7.40462398e-02 4.55749212e+01] [-2.75873339e-01 9.60960453e-01 -2.11874684e-02 -8.05472612e+00] [-7.70177783e-02 -1.27597543e-04 9.97029711e-01 -2.84645516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.285779522999995 meters 0.015988212289658396 Centerline is valid? [True, True] Translation: X:45.60, Y:-8.07, Z:-2.85 [[ 9.58221232e-01 2.77069782e-01 7.10239902e-02 4.56037508e+01] [-2.76322019e-01 9.60849790e-01 -2.03426546e-02 -8.06971956e+00] [-7.38797210e-02 -1.32728830e-04 9.97267150e-01 -2.84623032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.315779522999996 meters 0.016907052871718953 Centerline is valid? [True, True] Translation: X:45.64, Y:-8.07, Z:-2.85 [[ 9.55906200e-01 2.85551420e-01 6.85837025e-02 4.56368871e+01] [-2.84874653e-01 9.58363102e-01 -1.96620711e-02 -8.07133187e+00] [-7.13426222e-02 -7.42662753e-04 9.97451592e-01 -2.84994755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.345779523 meters 0.017695368023700316 Centerline is valid? [True, True] Translation: X:45.67, Y:-8.07, Z:-2.86 [[ 9.55012045e-01 2.88414661e-01 6.90577846e-02 4.56684894e+01] [-2.87735634e-01 9.57505125e-01 -1.98025478e-02 -8.07162704e+00] [-7.18345278e-02 -9.58713740e-04 9.97416102e-01 -2.85709752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.375779523 meters 0.020194544891119687 Centerline is valid? [True, True] Translation: X:45.70, Y:-8.07, Z:-2.87 [[ 9.54334059e-01 2.90202808e-01 7.09142800e-02 4.57009143e+01] [-2.89490996e-01 9.56964518e-01 -2.03439033e-02 -8.07385841e+00] [-7.37663076e-02 -1.11416576e-03 9.97274932e-01 -2.86609427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.40577952299999 meters 0.018029900590716155 Centerline is valid? [True, True] Translation: X:45.73, Y:-8.08, Z:-2.87 [[ 9.53674722e-01 2.91622218e-01 7.38986263e-02 4.57330760e+01] [-2.90851593e-01 9.56532755e-01 -2.12235521e-02 -8.07656189e+00] [-7.68757159e-02 -1.25316803e-03 9.97039896e-01 -2.86594021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.435779522999994 meters 0.017502799769986744 Centerline is valid? [True, True] Translation: X:45.76, Y:-8.09, Z:-2.86 [[ 9.53919280e-01 2.89498624e-01 7.89211853e-02 4.57632721e+01] [-2.88610975e-01 9.57177750e-01 -2.26817254e-02 -8.08901152e+00] [-8.21079309e-02 -1.14098504e-03 9.96622790e-01 -2.85989067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.465779522999995 meters 0.017392965719596202 Centerline is valid? [True, True] Translation: X:45.79, Y:-8.10, Z:-2.86 [[ 9.54305725e-01 2.87870352e-01 8.01950372e-02 4.57915211e+01] [-2.86946257e-01 9.57668871e-01 -2.30690036e-02 -8.10389928e+00] [-8.34411730e-02 -9.96783563e-04 9.96512206e-01 -2.85525240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.495779522999996 meters 0.017055122844515984 Centerline is valid? [True, True] Translation: X:45.82, Y:-8.12, Z:-2.85 [[ 9.54778185e-01 2.86506894e-01 7.94507212e-02 4.58210633e+01] [-2.85593616e-01 9.58077802e-01 -2.28738137e-02 -8.11798695e+00] [-8.26734777e-02 -8.51200476e-04 9.96576325e-01 -2.85403252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.525779523 meters 0.017082727467518953 Centerline is valid? [True, True] Translation: X:45.85, Y:-8.12, Z:-2.87 [[ 9.55010460e-01 2.87104469e-01 7.43373739e-02 4.58530508e+01] [-2.86305538e-01 9.57898919e-01 -2.14196009e-02 -8.12344208e+00] [-7.73573533e-02 -8.27258950e-04 9.97003087e-01 -2.86623453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.555779523 meters 0.017127493906494057 Centerline is valid? [True, True] Translation: X:45.88, Y:-8.13, Z:-2.88 [[ 9.54575566e-01 2.89000471e-01 7.25549222e-02 4.58849174e+01] [-2.88243281e-01 9.57328497e-01 -2.09274933e-02 -8.12604561e+00] [-7.55069500e-02 -9.36595043e-04 9.97144836e-01 -2.87577670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58577952299999 meters 0.01763756651835232 Centerline is valid? [True, True] Translation: X:45.92, Y:-8.13, Z:-2.88 [[ 9.54027838e-01 2.90981607e-01 7.18372414e-02 4.59163590e+01] [-2.90243472e-01 9.56728056e-01 -2.07401572e-02 -8.12725040e+00] [-7.47637086e-02 -1.06360302e-03 9.97200710e-01 -2.88371968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.61577952299999 meters 0.017798971165959507 Centerline is valid? [True, True] Translation: X:45.95, Y:-8.13, Z:-2.89 [[ 9.53500612e-01 2.92786628e-01 7.15022577e-02 4.59482055e+01] [-2.92059731e-01 9.56177062e-01 -2.06528483e-02 -8.13244844e+00] [-7.44156965e-02 -1.19042663e-03 9.97226598e-01 -2.88842569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.645779522999995 meters 0.020075462935846167 Centerline is valid? [True, True] Translation: X:45.98, Y:-8.15, Z:-2.89 [[ 9.53613639e-01 2.92604313e-01 7.07371419e-02 4.59770850e+01] [-2.91891064e-01 9.56232923e-01 -2.04500377e-02 -8.14665702e+00] [-7.36249532e-02 -1.14610470e-03 9.97285342e-01 -2.88707206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.675779522999996 meters 0.017500196458382914 Centerline is valid? [True, True] Translation: X:46.01, Y:-8.16, Z:-2.88 [[ 9.54023563e-01 2.91250119e-01 7.07983743e-02 4.60065990e+01] [-2.90530435e-01 9.56646393e-01 -2.04876877e-02 -8.16329779e+00] [-7.36960508e-02 -1.02334571e-03 9.97280224e-01 -2.88028101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.705779523 meters 0.018727375588378507 Centerline is valid? [True, True] Translation: X:46.04, Y:-8.18, Z:-2.88 [[ 9.55070101e-01 2.87966648e-01 7.01164095e-02 4.60350829e+01] [-2.87250609e-01 9.57640149e-01 -2.03084405e-02 -8.17735338e+00] [-7.29944424e-02 -7.44997032e-04 9.97332069e-01 -2.88309383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.735779523 meters 0.01655552810351251 Centerline is valid? [True, True] Translation: X:46.07, Y:-8.19, Z:-2.88 [[ 9.55713778e-01 2.85976616e-01 6.94877719e-02 4.60653837e+01] [-2.85266945e-01 9.58236426e-01 -2.01425460e-02 -8.18852652e+00] [-7.23460113e-02 -5.72055718e-04 9.97379430e-01 -2.88365362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76577952299999 meters 0.01655552810351251 Centerline is valid? [True, True] Translation: X:46.10, Y:-8.20, Z:-2.89 [[ 9.55634128e-01 2.86243841e-01 6.94829207e-02 4.60963669e+01] [-2.85533660e-01 9.58156633e-01 -2.01592658e-02 -8.19759778e+00] [-7.23459870e-02 -5.74830303e-04 9.97379430e-01 -2.88629345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.79577952299999 meters 0.018834684208303063 Centerline is valid? [True, True] Translation: X:46.13, Y:-8.20, Z:-2.90 [[ 9.56324477e-01 2.83914122e-01 6.95432660e-02 4.61263388e+01] [-2.83194984e-01 9.58849638e-01 -2.01983398e-02 -8.19988928e+00] [-7.24161293e-02 -3.78137334e-04 9.97374434e-01 -2.90218455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.825779522999994 meters 0.01931699098185192 Centerline is valid? [True, True] Translation: X:46.16, Y:-8.21, Z:-2.91 [[ 9.56117139e-01 2.84156094e-01 7.13815895e-02 4.61576762e+01] [-2.83397730e-01 9.58777953e-01 -2.07500512e-02 -8.20600327e+00] [-7.43353477e-02 -3.89900840e-04 9.97233225e-01 -2.90687978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.855779522999995 meters 0.016197776316833556 Centerline is valid? [True, True] Translation: X:46.19, Y:-8.21, Z:-2.90 [[ 9.55725443e-01 2.84668845e-01 7.45152719e-02 4.61880806e+01] [-2.83842297e-01 9.58625821e-01 -2.16814611e-02 -8.21395910e+00] [-7.76043001e-02 -4.29061921e-04 9.96984147e-01 -2.90429398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.885779523 meters 0.015982859538050804 Centerline is valid? [True, True] Translation: X:46.22, Y:-8.23, Z:-2.90 [[ 9.56538094e-01 2.81617783e-01 7.56723138e-02 4.62167346e+01] [-2.80754320e-01 9.59526652e-01 -2.20366802e-02 -8.22956748e+00] [-7.88155230e-02 -1.66404935e-04 9.96889204e-01 -2.90062394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.915779523 meters 0.015845828356572667 Centerline is valid? [True, True] Translation: X:46.25, Y:-8.24, Z:-2.90 [[ 9.57432605e-01 2.79029899e-01 7.39264659e-02 4.62463286e+01] [-2.78196861e-01 9.60282412e-01 -2.15451904e-02 -8.24428817e+00] [-7.70020373e-02 6.19570630e-05 9.97030934e-01 -2.90114552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.945779523 meters 0.018658598810842034 Centerline is valid? [True, True] Translation: X:46.27, Y:-8.26, Z:-2.91 [[ 9.58390203e-01 2.76365714e-01 7.14857403e-02 4.62739347e+01] [-2.75577879e-01 9.61052501e-01 -2.08548181e-02 -8.25797180e+00] [-7.44651062e-02 2.87164711e-04 9.97223578e-01 -2.90670116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.97577952299999 meters 0.016317181080452166 Centerline is valid? [True, True] Translation: X:46.30, Y:-8.27, Z:-2.91 [[ 9.58816410e-01 2.75260575e-01 7.00193449e-02 4.63036108e+01] [-2.74500627e-01 9.61369581e-01 -2.04434572e-02 -8.26979779e+00] [-7.29417460e-02 3.81168179e-04 9.97336130e-01 -2.90571901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.005779522999994 meters 0.016137512163874997 Centerline is valid? [True, True] Translation: X:46.34, Y:-8.28, Z:-2.91 [[ 9.58491092e-01 2.76628314e-01 6.90767871e-02 4.63359187e+01] [-2.75891125e-01 9.60976947e-01 -2.01840132e-02 -8.27593667e+00] [-7.19646695e-02 2.88524334e-04 9.97407140e-01 -2.91218432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.035779522999995 meters 0.01591983718823346 Centerline is valid? [True, True] Translation: X:46.37, Y:-8.28, Z:-2.92 [[ 9.57729746e-01 2.79079658e-01 6.97730514e-02 4.63681276e+01] [-2.78332468e-01 9.60267946e-01 -2.04085442e-02 -8.28051128e+00] [-7.26964343e-02 1.25764216e-04 9.97354106e-01 -2.91623011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.065779522999996 meters 0.01576744274652488 Centerline is valid? [True, True] Translation: X:46.40, Y:-8.28, Z:-2.92 [[ 9.56871019e-01 2.81734723e-01 7.08759416e-02 4.63990651e+01] [-2.80969531e-01 9.59492336e-01 -2.07504314e-02 -8.28494316e+00] [-7.38510398e-02 -5.84935868e-05 9.97269282e-01 -2.92091302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.095779523 meters 0.01580696044728769 Centerline is valid? [True, True] Translation: X:46.43, Y:-8.29, Z:-2.92 [[ 9.56203778e-01 2.83828751e-01 7.15232479e-02 4.64309775e+01] [-2.83054051e-01 9.58874965e-01 -2.09572583e-02 -8.29170728e+00] [-7.45301242e-02 -2.05535459e-04 9.97218741e-01 -2.92391103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.125779523 meters 0.017863426696906104 Centerline is valid? [True, True] Translation: X:46.46, Y:-8.30, Z:-2.93 [[ 9.55985216e-01 2.84947827e-01 6.99785896e-02 4.64601142e+01] [-2.84207708e-01 9.58542991e-01 -2.05259261e-02 -8.30422801e+00] [-7.29263046e-02 -2.65972645e-04 9.97337297e-01 -2.92681480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.15577952299999 meters 0.015741886213069562 Centerline is valid? [True, True] Translation: X:46.49, Y:-8.32, Z:-2.92 [[ 9.55822685e-01 2.85400566e-01 7.03527739e-02 4.64901062e+01] [-2.84653052e-01 9.58408280e-01 -2.06448231e-02 -8.31653250e+00] [-7.33187252e-02 -2.93341552e-04 9.97308517e-01 -2.92353103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.185779522999994 meters 0.01902063031667963 Centerline is valid? [True, True] Translation: X:46.52, Y:-8.33, Z:-2.93 [[ 9.55984014e-01 2.84844085e-01 7.04159976e-02 4.65203091e+01] [-2.84092278e-01 9.58573833e-01 -2.06829414e-02 -8.32717993e+00] [-7.33903463e-02 -2.32079798e-04 9.97303265e-01 -2.92809337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.215779522999995 meters 0.0156372187813968 Centerline is valid? [True, True] Translation: X:46.55, Y:-8.33, Z:-2.93 [[ 9.55195547e-01 2.86512558e-01 7.42429849e-02 4.65518389e+01] [-2.85680029e-01 9.58076419e-01 -2.18287802e-02 -8.33188061e+00] [-7.73846728e-02 -3.58984409e-04 9.97001246e-01 -2.92667666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.245779522999996 meters 0.015819981791953798 Centerline is valid? [True, True] Translation: X:46.58, Y:-8.34, Z:-2.93 [[ 9.54589248e-01 2.88188176e-01 7.55443155e-02 4.65843106e+01] [-2.87329985e-01 9.57573673e-01 -2.22292834e-02 -8.33819664e+00] [-7.87454643e-02 -4.86312068e-04 9.96894636e-01 -2.93029996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.275779523 meters 0.016055209908107826 Centerline is valid? [True, True] Translation: X:46.62, Y:-8.34, Z:-2.93 [[ 9.53815087e-01 2.90742390e-01 7.55357015e-02 4.66153848e+01] [-2.89890647e-01 9.56801132e-01 -2.22487539e-02 -8.34461678e+00] [-7.87413006e-02 -6.75896216e-04 9.96894854e-01 -2.93355848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.305779523 meters 0.01633024294802587 Centerline is valid? [True, True] Translation: X:46.65, Y:-8.35, Z:-2.94 [[ 9.53003262e-01 2.93591766e-01 7.47573274e-02 4.66468866e+01] [-2.92764789e-01 9.55930486e-01 -2.20382592e-02 -8.35216519e+00] [-7.79330598e-02 -8.83780257e-04 9.96958202e-01 -2.93676719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33577952299999 meters 0.017788660704864245 Centerline is valid? [True, True] Translation: X:46.68, Y:-8.36, Z:-2.94 [[ 9.51445532e-01 2.99023572e-01 7.30500015e-02 4.66779341e+01] [-2.98248531e-01 9.54244866e-01 -2.15534045e-02 -8.35708415e+00] [-7.61525649e-02 -1.28016522e-03 9.97095356e-01 -2.93936914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.36577952299999 meters 0.018308256310467452 Centerline is valid? [True, True] Translation: X:46.71, Y:-8.36, Z:-2.94 [[ 9.50931894e-01 3.01003385e-01 7.15925680e-02 4.67089194e+01] [-3.00263284e-01 9.53622054e-01 -2.11409257e-02 -8.36462764e+00] [-7.46357420e-02 -1.39303902e-03 9.97209890e-01 -2.94287749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.395779522999995 meters 0.01784047862762047 Centerline is valid? [True, True] Translation: X:46.74, Y:-8.38, Z:-2.95 [[ 9.50557755e-01 3.02740486e-01 6.91964790e-02 4.67390335e+01] [-3.02053417e-01 9.53071889e-01 -2.04378860e-02 -8.37510454e+00] [-7.21365945e-02 -1.47364189e-03 9.97393674e-01 -2.94631310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.425779522999996 meters 0.01993007607894131 Centerline is valid? [True, True] Translation: X:46.77, Y:-8.38, Z:-2.95 [[ 9.50183299e-01 3.04401439e-01 6.70183775e-02 4.67690788e+01] [-3.03759881e-01 9.52542606e-01 -1.98120921e-02 -8.38190917e+00] [-6.98686893e-02 -1.53237535e-03 9.97555020e-01 -2.95203017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.455779523 meters 0.020383211442980494 Centerline is valid? [True, True] Translation: X:46.80, Y:-8.39, Z:-2.95 [[ 9.49854660e-01 3.05121866e-01 6.83869206e-02 4.67996183e+01] [-3.04454460e-01 9.52311966e-01 -2.02336446e-02 -8.39087544e+00] [-7.12994102e-02 -1.60168137e-03 9.97453672e-01 -2.95377131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.485779523 meters 0.020589780721978163 Centerline is valid? [True, True] Translation: X:46.83, Y:-8.40, Z:-2.96 [[ 9.49607838e-01 3.05387330e-01 7.05941330e-02 4.68306613e+01] [-3.04675413e-01 9.52226778e-01 -2.09058872e-02 -8.39936643e+00] [-7.36060169e-02 -1.65590232e-03 9.97286023e-01 -2.95556903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51577952299999 meters 0.020434219946486545 Centerline is valid? [True, True] Translation: X:46.86, Y:-8.41, Z:-2.96 [[ 9.49458929e-01 3.05268240e-01 7.30687632e-02 4.68613696e+01] [-3.04503723e-01 9.52264908e-01 -2.16570527e-02 -8.40825837e+00] [-7.61920294e-02 -1.68722833e-03 9.97091735e-01 -2.95730542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.54577952299999 meters 0.0215233458672495 Centerline is valid? [True, True] Translation: X:46.89, Y:-8.42, Z:-2.96 [[ 9.49816564e-01 3.03141672e-01 7.71597195e-02 4.68913147e+01] [-3.02280436e-01 9.52944185e-01 -2.28892522e-02 -8.41860169e+00] [-8.04675922e-02 -1.58328283e-03 9.96755968e-01 -2.95909226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.575779522999994 meters 0.017851288472949055 Centerline is valid? [True, True] Translation: X:46.92, Y:-8.43, Z:-2.96 [[ 9.49684137e-01 3.03117276e-01 7.88667061e-02 4.69220048e+01] [-3.02215785e-01 9.52951921e-01 -2.34148689e-02 -8.43294474e+00] [-8.22536303e-02 -1.59803392e-03 9.96610148e-01 -2.95631081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.605779522999995 meters 0.019799196256134577 Centerline is valid? [True, True] Translation: X:46.95, Y:-8.44, Z:-2.96 [[ 9.49584896e-01 3.03765503e-01 7.75567122e-02 4.69536174e+01] [-3.02894072e-01 9.52745477e-01 -2.30485976e-02 -8.43989025e+00] [-8.08931755e-02 -1.60486819e-03 9.96721485e-01 -2.95830476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.635779523 meters 0.017954349837436087 Centerline is valid? [True, True] Translation: X:46.98, Y:-8.46, Z:-2.96 [[ 9.49509501e-01 3.05882205e-01 6.97695119e-02 4.69818199e+01] [-3.05181505e-01 9.52068043e-01 -2.07531022e-02 -8.45642098e+00] [-7.27733273e-02 -1.58709690e-03 9.97347243e-01 -2.96380136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.665779523 meters 0.018622933511361066 Centerline is valid? [True, True] Translation: X:47.01, Y:-8.47, Z:-2.97 [[ 9.49166464e-01 3.07587204e-01 6.68815001e-02 4.70110394e+01] [-3.06947287e-01 9.51518479e-01 -1.98984460e-02 -8.46526680e+00] [-6.97594906e-02 -1.64215733e-03 9.97562488e-01 -2.96805954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.695779523 meters 0.019428102775709357 Centerline is valid? [True, True] Translation: X:47.04, Y:-8.47, Z:-2.97 [[ 9.48952136e-01 3.08582814e-01 6.53183809e-02 4.70413368e+01] [-3.07974344e-01 9.51196018e-01 -1.94406617e-02 -8.47242587e+00] [-6.81296379e-02 -1.66812805e-03 9.97675082e-01 -2.97337567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.72577952299999 meters 0.01873940581509628 Centerline is valid? [True, True] Translation: X:47.07, Y:-8.48, Z:-2.98 [[ 9.48810643e-01 3.08650256e-01 6.70327035e-02 4.70729652e+01] [-3.08008982e-01 9.51174063e-01 -1.99591765e-02 -8.47732653e+00] [-6.99201739e-02 -1.70919567e-03 9.97551125e-01 -2.98025330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.755779522999994 meters 0.01920791320262437 Centerline is valid? [True, True] Translation: X:47.10, Y:-8.48, Z:-2.98 [[ 9.48868187e-01 3.07919635e-01 6.95317353e-02 4.71031130e+01] [-3.07226238e-01 9.51410853e-01 -2.07226212e-02 -8.48409432e+00] [-7.25341496e-02 -1.69893742e-03 9.97364482e-01 -2.98309237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.785779522999995 meters 0.017920974047841428 Centerline is valid? [True, True] Translation: X:47.13, Y:-8.50, Z:-2.98 [[ 9.49390221e-01 3.05820937e-01 7.16363266e-02 4.71329364e+01] [-3.05077567e-01 9.52087756e-01 -2.13677915e-02 -8.49718009e+00] [-7.47387874e-02 -1.56826395e-03 9.97201912e-01 -2.98287612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.815779522999996 meters 0.016871957572709966 Centerline is valid? [True, True] Translation: X:47.16, Y:-8.51, Z:-2.98 [[ 9.50163930e-01 3.02958784e-01 7.35151855e-02 4.71622057e+01] [-3.02165788e-01 9.53002690e-01 -2.19478867e-02 -8.51210409e+00] [-7.67094745e-02 -1.35968372e-03 9.97052560e-01 -2.98133625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.845779523 meters 0.015381393318425536 Centerline is valid? [True, True] Translation: X:47.19, Y:-8.53, Z:-2.98 [[ 9.52152973e-01 2.96300767e-01 7.49037457e-02 4.71881910e+01] [-2.95455274e-01 9.55094333e-01 -2.23829350e-02 -8.53069685e+00] [-7.81722239e-02 -8.18728613e-04 9.96939533e-01 -2.97941508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.875779523 meters 0.01490932712831075 Centerline is valid? [True, True] Translation: X:47.22, Y:-8.54, Z:-2.99 [[ 9.52958213e-01 2.94072553e-01 7.34300942e-02 4.72177801e+01] [-2.93252869e-01 9.55782901e-01 -2.19499665e-02 -8.54205811e+00] [-7.66381111e-02 -6.16184903e-04 9.97058785e-01 -2.98528225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90577952299999 meters 0.01488146384060004 Centerline is valid? [True, True] Translation: X:47.25, Y:-8.55, Z:-2.99 [[ 9.53406388e-01 2.93139328e-01 7.13133517e-02 4.72482743e+01] [-2.92362334e-01 9.56069598e-01 -2.13351812e-02 -8.55048175e+00] [-7.44347082e-02 -5.08239878e-04 9.97225760e-01 -2.99332631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.935779522999994 meters 0.017871424284272217 Centerline is valid? [True, True] Translation: X:47.28, Y:-8.56, Z:-3.01 [[ 9.53300687e-01 2.94420134e-01 6.73393283e-02 4.72794693e+01] [-2.93729360e-01 9.55675925e-01 -2.01640466e-02 -8.55523316e+00] [-7.02912762e-02 -5.57138316e-04 9.97526354e-01 -3.00545811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.965779522999995 meters 0.01504470354844566 Centerline is valid? [True, True] Translation: X:47.31, Y:-8.56, Z:-3.00 [[ 9.52664688e-01 2.96161713e-01 6.86893918e-02 4.73116434e+01] [-2.95446166e-01 9.55137568e-01 -2.05861336e-02 -8.56467332e+00] [-7.17046433e-02 -6.82334872e-04 9.97425676e-01 -3.00341296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.995779522999996 meters 0.014991099509331678 Centerline is valid? [True, True] Translation: X:47.34, Y:-8.58, Z:-3.00 [[ 9.52491845e-01 2.96507812e-01 6.95873676e-02 4.73424035e+01] [-2.95772774e-01 9.55030173e-01 -2.08766664e-02 -8.57700917e+00] [-7.26481304e-02 -6.97194262e-04 9.97357390e-01 -3.00123550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.025779523 meters 0.014786762456650629 Centerline is valid? [True, True] Translation: X:47.37, Y:-8.59, Z:-3.00 [[ 9.52747502e-01 2.95358850e-01 7.09601813e-02 4.73716677e+01] [-2.94589656e-01 9.55386199e-01 -2.13106756e-02 -8.59058465e+00] [-7.40886746e-02 -6.00442462e-04 9.97251477e-01 -2.99747942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.055779523 meters 0.01430712520301767 Centerline is valid? [True, True] Translation: X:47.40, Y:-8.61, Z:-2.99 [[ 9.53818378e-01 2.91174680e-01 7.38092600e-02 4.74001520e+01] [-2.90328300e-01 9.56669867e-01 -2.21865656e-02 -8.60564814e+00] [-7.70712611e-02 -2.66962995e-04 9.97025551e-01 -2.99164814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08577952299999 meters 0.014167164968461791 Centerline is valid? [True, True] Translation: X:47.43, Y:-8.61, Z:-2.99 [[ 9.54287595e-01 2.89183071e-01 7.55535442e-02 4.74306599e+01] [-2.88288465e-01 9.57273808e-01 -2.27292262e-02 -8.61390439e+00] [-7.88983364e-02 -9.09967268e-05 9.96882663e-01 -2.99471479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11577952299999 meters 0.014120272937923135 Centerline is valid? [True, True] Translation: X:47.46, Y:-8.62, Z:-3.00 [[ 9.54862859e-01 2.87006199e-01 7.65791216e-02 4.74629037e+01] [-2.86078487e-01 9.57928719e-01 -2.30579593e-02 -8.62058206e+00] [-7.99751171e-02 1.09549780e-04 9.96796854e-01 -3.00176794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.145779522999995 meters 0.016879041665041093 Centerline is valid? [True, True] Translation: X:47.49, Y:-8.63, Z:-3.01 [[ 9.55512879e-01 2.85572944e-01 7.37782594e-02 4.74923596e+01] [-2.84706019e-01 9.58356946e-01 -2.22361797e-02 -8.62606977e+00] [-7.70559586e-02 2.41841568e-04 9.97026740e-01 -3.01328709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.175779522999996 meters 0.017053281249104366 Centerline is valid? [True, True] Translation: X:47.52, Y:-8.63, Z:-3.02 [[ 9.55703002e-01 2.85500413e-01 7.15631561e-02 4.75231764e+01] [-2.84683380e-01 9.58378552e-01 -2.15852871e-02 -8.63264409e+00] [-7.47472023e-02 2.56282454e-04 9.97202482e-01 -3.02249206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.205779523 meters 0.014301017828118068 Centerline is valid? [True, True] Translation: X:47.55, Y:-8.64, Z:-3.03 [[ 9.56096413e-01 2.84984393e-01 6.82901452e-02 4.75526034e+01] [-2.84237963e-01 9.58532110e-01 -2.06149063e-02 -8.64391515e+00] [-7.13332236e-02 2.99186272e-04 9.97452496e-01 -3.02567011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.235779523 meters 0.01460898228752141 Centerline is valid? [True, True] Translation: X:47.58, Y:-8.66, Z:-3.02 [[ 9.56676295e-01 2.83038774e-01 6.82606754e-02 4.75807447e+01] [-2.82286834e-01 9.59108357e-01 -2.06228702e-02 -8.65886327e+00] [-7.13064561e-02 4.60321130e-04 9.97454349e-01 -3.02410995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26577952299999 meters 0.014959665461216945 Centerline is valid? [True, True] Translation: X:47.61, Y:-8.67, Z:-3.02 [[ 9.57626229e-01 2.79508482e-01 6.94767220e-02 4.76097153e+01] [-2.78718936e-01 9.60142928e-01 -2.10074512e-02 -8.67491058e+00] [-7.25793440e-02 7.52808252e-04 9.97362357e-01 -3.01893005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.29577952299999 meters 0.018135710891733242 Centerline is valid? [True, True] Translation: X:47.64, Y:-8.70, Z:-3.01 [[ 9.60233776e-01 2.69357661e-01 7.34679976e-02 4.76360869e+01] [-2.68443252e-01 9.63038834e-01 -2.22356716e-02 -8.69510698e+00] [-7.67418832e-02 1.62945472e-03 9.97049662e-01 -3.01144618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.325779522999994 meters 0.019955868795368457 Centerline is valid? [True, True] Translation: X:47.67, Y:-8.70, Z:-3.02 [[ 9.61375206e-01 2.64810204e-01 7.50551031e-02 4.76666046e+01] [-2.63841244e-01 9.64298385e-01 -2.27249323e-02 -8.70403374e+00] [-7.83933087e-02 2.04455474e-03 9.96920413e-01 -3.01503395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.355779522999995 meters 0.01978178270499066 Centerline is valid? [True, True] Translation: X:47.70, Y:-8.70, Z:-3.02 [[ 9.62682005e-01 2.59411169e-01 7.71310801e-02 4.76991773e+01] [-2.58370004e-01 9.65763583e-01 -2.33590154e-02 -8.70409613e+00] [-8.05499778e-02 2.55894631e-03 9.96747286e-01 -3.02430379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.385779523 meters 0.020642550028410554 Centerline is valid? [True, True] Translation: X:47.73, Y:-8.71, Z:-3.03 [[ 9.63076929e-01 2.58207126e-01 7.62358790e-02 4.77283272e+01] [-2.57185918e-01 9.66085994e-01 -2.30923282e-02 -8.71340744e+00] [-7.96130186e-02 2.63289398e-03 9.96822369e-01 -3.02872101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.415779523 meters 0.022018831203623183 Centerline is valid? [True, True] Translation: X:47.76, Y:-8.73, Z:-3.03 [[ 9.63541146e-01 2.57204869e-01 7.37164506e-02 4.77566698e+01] [-2.56245900e-01 9.66353286e-01 -2.23464616e-02 -8.72594863e+00] [-7.69837530e-02 2.64219697e-03 9.97028846e-01 -3.03247108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.445779523 meters 0.022988880980485585 Centerline is valid? [True, True] Translation: X:47.79, Y:-8.74, Z:-3.04 [[ 9.64296478e-01 2.55322438e-01 7.03047361e-02 4.77866441e+01] [-2.54444055e-01 9.66852250e-01 -2.13295388e-02 -8.73845971e+00] [-7.34202021e-02 2.67937698e-03 9.97297496e-01 -3.03585446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47577952299999 meters 0.02327474482066462 Centerline is valid? [True, True] Translation: X:47.82, Y:-8.75, Z:-3.04 [[ 9.64988932e-01 2.53407989e-01 6.76812604e-02 4.78173763e+01] [-2.52589003e-01 9.67355660e-01 -2.05383279e-02 -8.74835305e+00] [-7.06764267e-02 2.72371705e-03 9.97495576e-01 -3.03878285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.505779522999994 meters 0.02452995756961621 Centerline is valid? [True, True] Translation: X:47.85, Y:-8.76, Z:-3.04 [[ 9.65531677e-01 2.51776865e-01 6.60075132e-02 4.78466627e+01] [-2.50993858e-01 9.67781329e-01 -2.00345219e-02 -8.75712336e+00] [-6.89250680e-02 2.77648513e-03 9.97617976e-01 -3.04301425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.535779522999995 meters 0.02545920511981197 Centerline is valid? [True, True] Translation: X:47.88, Y:-8.76, Z:-3.05 [[ 9.66308727e-01 2.48813959e-01 6.58715239e-02 4.78774535e+01] [-2.48026664e-01 9.68546679e-01 -2.00026329e-02 -8.76306936e+00] [-6.87765800e-02 2.99082444e-03 9.97627604e-01 -3.04659485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.565779522999996 meters 0.027636354215303877 Centerline is valid? [True, True] Translation: X:47.91, Y:-8.77, Z:-3.05 [[ 9.66454681e-01 2.48065272e-01 6.65505148e-02 4.79071754e+01] [-2.47259795e-01 9.68738435e-01 -2.02098716e-02 -8.77271480e+00] [-6.94834088e-02 3.07665841e-03 9.97578363e-01 -3.04907492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.595779523 meters 0.026191564928695572 Centerline is valid? [True, True] Translation: X:47.94, Y:-8.78, Z:-3.05 [[ 9.66073060e-01 2.48650787e-01 6.98257062e-02 4.79382121e+01] [-2.47764203e-01 9.68587909e-01 -2.12217553e-02 -8.78253326e+00] [-7.29091409e-02 3.20145564e-03 9.97333449e-01 -3.04552380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.625779523 meters 0.026080187895828503 Centerline is valid? [True, True] Translation: X:47.97, Y:-8.79, Z:-3.05 [[ 9.65582109e-01 2.50241940e-01 7.09236436e-02 4.79679506e+01] [-2.49330114e-01 9.68178218e-01 -2.15738816e-02 -8.79148273e+00] [-7.40654168e-02 3.14795393e-03 9.97248417e-01 -3.04531865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65577952299999 meters 0.021799182376084813 Centerline is valid? [True, True] Translation: X:48.00, Y:-8.79, Z:-3.05 [[ 9.64348437e-01 2.54821966e-01 7.13992822e-02 4.80015608e+01] [-2.53909000e-01 9.66983837e-01 -2.17365601e-02 -8.78886524e+00] [-7.45809048e-02 2.83269742e-03 9.97210943e-01 -3.04797036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.685779522999994 meters 0.021799182376084813 Centerline is valid? [True, True] Translation: X:48.03, Y:-8.80, Z:-3.05 [[ 9.64278349e-01 2.55087159e-01 7.13989222e-02 4.80324390e+01] [-2.54174831e-01 9.66913970e-01 -2.17377433e-02 -8.79835184e+00] [-7.45816345e-02 2.81342623e-03 9.97210943e-01 -3.05060394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.715779522999995 meters 0.02210328404857975 Centerline is valid? [True, True] Translation: X:48.06, Y:-8.80, Z:-3.06 [[ 9.63612694e-01 2.57830980e-01 7.05249092e-02 4.80640254e+01] [-2.56946604e-01 9.66186564e-01 -2.14933853e-02 -8.80086930e+00] [-7.36818803e-02 2.59016299e-03 9.97278432e-01 -3.05671002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.745779522999996 meters 0.0210009600313703 Centerline is valid? [True, True] Translation: X:48.09, Y:-8.81, Z:-3.06 [[ 9.62587207e-01 2.61446955e-01 7.12134769e-02 4.80942411e+01] [-2.60553929e-01 9.65214983e-01 -2.17183477e-02 -8.80611669e+00] [-7.44145107e-02 2.35085238e-03 9.97224626e-01 -3.05888456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.775779523 meters 0.017394853209506914 Centerline is valid? [True, True] Translation: X:48.13, Y:-8.80, Z:-3.06 [[ 9.60646324e-01 2.68495571e-01 7.11952896e-02 4.81277010e+01] [-2.67622187e-01 9.63279226e-01 -2.17140115e-02 -8.80353609e+00] [-7.44110594e-02 1.80604620e-03 9.97226019e-01 -3.06018884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.805779523 meters 0.0164566233133001 Centerline is valid? [True, True] Translation: X:48.16, Y:-8.81, Z:-3.06 [[ 9.59590723e-01 2.72081868e-01 7.18129633e-02 4.81590990e+01] [-2.71203028e-01 9.62272868e-01 -2.19053745e-02 -8.80942282e+00] [-7.50637214e-02 1.54430108e-03 9.97177543e-01 -3.06091722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.83577952299999 meters 0.015492612551977243 Centerline is valid? [True, True] Translation: X:48.19, Y:-8.82, Z:-3.06 [[ 9.58309507e-01 2.76124743e-01 7.34711860e-02 4.81912356e+01] [-2.75216361e-01 9.61120981e-01 -2.24146084e-02 -8.81513749e+00] [-7.68039263e-02 1.25965983e-03 9.97045420e-01 -3.06083474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86577952299999 meters 0.014711432338289844 Centerline is valid? [True, True] Translation: X:48.22, Y:-8.82, Z:-3.06 [[ 9.57156192e-01 2.80006597e-01 7.38127986e-02 4.82230707e+01] [-2.79099737e-01 9.59997584e-01 -2.25382966e-02 -8.82049245e+00] [-7.71709800e-02 9.71537454e-04 9.97017400e-01 -3.06168542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.895779522999995 meters 0.013751400568688942 Centerline is valid? [True, True] Translation: X:48.26, Y:-8.82, Z:-3.07 [[ 9.55287396e-01 2.87307070e-01 6.98615669e-02 4.82551044e+01] [-2.86513014e-01 9.57838454e-01 -2.13492033e-02 -8.82217961e+00] [-7.30498723e-02 3.78376672e-04 9.97328217e-01 -3.06638404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.925779522999996 meters 0.013641414811681697 Centerline is valid? [True, True] Translation: X:48.29, Y:-8.83, Z:-3.07 [[ 9.54448680e-01 2.91029666e-01 6.57985683e-02 4.82853590e+01] [-2.90333196e-01 9.56714024e-01 -2.01224384e-02 -8.82683642e+00] [-6.88066396e-02 1.02326156e-04 9.97630010e-01 -3.07363472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.955779523 meters 0.01388159716723063 Centerline is valid? [True, True] Translation: X:48.32, Y:-8.83, Z:-3.08 [[ 9.53420950e-01 2.95007960e-01 6.29189658e-02 4.83161383e+01] [-2.94378880e-01 9.55494781e-01 -1.92561197e-02 -8.83036162e+00] [-6.57994521e-02 -1.62826756e-04 9.97832855e-01 -3.08084773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.985779523 meters 0.014622573609191215 Centerline is valid? [True, True] Translation: X:48.35, Y:-8.83, Z:-3.09 [[ 9.51050446e-01 3.02280790e-01 6.42602076e-02 4.83484567e+01] [-3.01640056e-01 9.53218696e-01 -1.96823273e-02 -8.82858182e+00] [-6.72036208e-02 -6.64566485e-04 9.97739060e-01 -3.08616370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.01577952299999 meters 0.015086569393135586 Centerline is valid? [True, True] Translation: X:48.38, Y:-8.83, Z:-3.09 [[ 9.49958421e-01 3.05152196e-01 6.67917313e-02 4.83811865e+01] [-3.04465888e-01 9.52303182e-01 -2.04736854e-02 -8.83388118e+00] [-6.98535684e-02 -8.86653918e-04 9.97556862e-01 -3.08804772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.04577952299999 meters 0.015707087079174797 Centerline is valid? [True, True] Translation: X:48.41, Y:-8.84, Z:-3.09 [[ 9.49157763e-01 3.07052695e-01 6.94131393e-02 4.84125845e+01] [-3.06314926e-01 9.51691939e-01 -2.12983485e-02 -8.83919610e+00] [-7.25996405e-02 -1.04678777e-03 9.97360615e-01 -3.09006672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.075779522999994 meters 0.01810370928421571 Centerline is valid? [True, True] Translation: X:48.44, Y:-8.85, Z:-3.09 [[ 9.48999033e-01 3.07310143e-01 7.04365730e-02 4.84429579e+01] [-3.06549693e-01 9.51608819e-01 -2.16319455e-02 -8.84695740e+00] [-7.36757803e-02 -1.06361442e-03 9.97281679e-01 -3.09346098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.105779522999995 meters 0.01482244924465033 Centerline is valid? [True, True] Translation: X:48.47, Y:-8.86, Z:-3.09 [[ 9.48639565e-01 3.07901821e-01 7.26597918e-02 4.84718206e+01] [-3.07092979e-01 9.51417466e-01 -2.23317457e-02 -8.86284606e+00] [-7.60057802e-02 -1.12853440e-03 9.97106738e-01 -3.08688330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.135779523 meters 0.01506790718396084 Centerline is valid? [True, True] Translation: X:48.50, Y:-8.87, Z:-3.09 [[ 9.48574303e-01 3.08261231e-01 7.19847563e-02 4.85018675e+01] [-3.07466946e-01 9.51301078e-01 -2.21435427e-02 -8.87392878e+00] [-7.53051720e-02 -1.12813760e-03 9.97159896e-01 -3.08693101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.165779523 meters 0.015095937831533991 Centerline is valid? [True, True] Translation: X:48.53, Y:-8.88, Z:-3.09 [[ 9.48448467e-01 3.08739326e-01 7.15928337e-02 4.85332663e+01] [-3.07953493e-01 9.51146008e-01 -2.20435326e-02 -8.88413250e+00] [-7.49009434e-02 -1.14010848e-03 9.97190327e-01 -3.08858200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.195779523 meters 0.017180729864577342 Centerline is valid? [True, True] Translation: X:48.56, Y:-8.89, Z:-3.09 [[ 9.48339908e-01 3.09273708e-01 7.07191062e-02 4.85644969e+01] [-3.08506862e-01 9.50972374e-01 -2.17958454e-02 -8.89263564e+00] [-7.39927983e-02 -1.14745953e-03 9.97258116e-01 -3.09345453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.22577952299999 meters 0.015847626893241606 Centerline is valid? [True, True] Translation: X:48.60, Y:-8.90, Z:-3.10 [[ 9.48078229e-01 3.09954924e-01 7.12433646e-02 4.85965133e+01] [-3.09176889e-01 9.50750511e-01 -2.19799398e-02 -8.89819430e+00] [-7.45474558e-02 -1.18809943e-03 9.97216759e-01 -3.09581711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.255779522999994 meters 0.0151733199534122 Centerline is valid? [True, True] Translation: X:48.63, Y:-8.91, Z:-3.10 [[ 9.47892422e-01 3.10539603e-01 7.11695925e-02 4.86278801e+01] [-3.09763883e-01 9.50559659e-01 -2.19697946e-02 -8.90881096e+00] [-7.44734349e-02 -1.22076752e-03 9.97222251e-01 -3.09829750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.285779522999995 meters 0.015575834526367134 Centerline is valid? [True, True] Translation: X:48.66, Y:-8.92, Z:-3.10 [[ 9.48063599e-01 3.10290943e-01 6.99638681e-02 4.86577358e+01] [-3.09539071e-01 9.50640933e-01 -2.16189607e-02 -8.91828946e+00] [-7.32186845e-02 -1.16040101e-03 9.97315235e-01 -3.10259930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.315779522999996 meters 0.015298624251793676 Centerline is valid? [True, True] Translation: X:48.69, Y:-8.93, Z:-3.11 [[ 9.48458790e-01 3.09245253e-01 6.92336495e-02 4.86880841e+01] [-3.08504784e-01 9.50981741e-01 -2.14132172e-02 -8.92955663e+00] [-7.24618723e-02 -1.04935802e-03 9.97370631e-01 -3.10627554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.345779523 meters 0.014476129482420223 Centerline is valid? [True, True] Translation: X:48.72, Y:-8.94, Z:-3.11 [[ 9.49139500e-01 3.07133223e-01 6.93065118e-02 4.87181151e+01] [-3.06384270e-01 9.51666130e-01 -2.14535729e-02 -8.94148572e+00] [-7.25457649e-02 -8.71991545e-04 9.97364703e-01 -3.10964318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.375779523 meters 0.01413926822986839 Centerline is valid? [True, True] Translation: X:48.75, Y:-8.95, Z:-3.11 [[ 9.50025622e-01 3.04474286e-01 6.88964895e-02 4.87471461e+01] [-3.03725850e-01 9.52520336e-01 -2.13452034e-02 -8.95202180e+00] [-7.21243729e-02 -6.47154654e-04 9.97395436e-01 -3.11430792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.40577952299999 meters 0.013738989726829902 Centerline is valid? [True, True] Translation: X:48.78, Y:-8.96, Z:-3.12 [[ 9.51002814e-01 3.01434406e-01 6.87818784e-02 4.87767148e+01] [-3.00679300e-01 9.53486832e-01 -2.13265031e-02 -8.96453357e+00] [-7.20111571e-02 -3.99722599e-04 9.97403746e-01 -3.11824057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.435779522999994 meters 0.013403890535948459 Centerline is valid? [True, True] Translation: X:48.81, Y:-8.98, Z:-3.12 [[ 9.53064888e-01 2.94421332e-01 7.05931927e-02 4.88058325e+01] [-2.93605148e-01 9.55675707e-01 -2.19080135e-02 -8.98107553e+00] [-7.39143858e-02 1.53233691e-04 9.97264579e-01 -3.11860644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.465779522999995 meters 0.01372783577119332 Centerline is valid? [True, True] Translation: X:48.84, Y:-8.99, Z:-3.12 [[ 9.53911957e-01 2.91142889e-01 7.27172299e-02 4.88359336e+01] [-2.90266496e-01 9.56679483e-01 -2.25771395e-02 -8.99349305e+00] [-7.61402556e-02 4.29227815e-04 9.97097025e-01 -3.11897165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.495779522999996 meters 0.014243406411389494 Centerline is valid? [True, True] Translation: X:48.86, Y:-9.01, Z:-3.12 [[ 9.54836111e-01 2.87827832e-01 7.37776367e-02 4.88646191e+01] [-2.86914133e-01 9.57681897e-01 -2.29273941e-02 -9.00539821e+00] [-7.72546492e-02 7.24057183e-04 9.97011131e-01 -3.11965328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.525779523 meters 0.015960045889121817 Centerline is valid? [True, True] Translation: X:48.89, Y:-9.02, Z:-3.12 [[ 9.56860767e-01 2.80903657e-01 7.42334695e-02 4.88930390e+01] [-2.79956335e-01 9.59735079e-01 -2.30874258e-02 -9.02200808e+00] [-7.77298071e-02 1.30932195e-03 9.96973602e-01 -3.12000783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.555779523 meters 0.018575673287265698 Centerline is valid? [True, True] Translation: X:48.92, Y:-9.03, Z:-3.12 [[ 9.58057760e-01 2.77150958e-01 7.28880999e-02 4.89230460e+01] [-2.76226465e-01 9.60825073e-01 -2.26742119e-02 -9.03433068e+00] [-7.63168934e-02 1.58958248e-03 9.97082346e-01 -3.12347011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.58577952299999 meters 0.019775347871502647 Centerline is valid? [True, True] Translation: X:48.95, Y:-9.05, Z:-3.13 [[ 9.58923444e-01 2.74195604e-01 7.26814855e-02 4.89514778e+01] [-2.73267515e-01 9.61672212e-01 -2.26146566e-02 -9.04743975e+00] [-7.60966043e-02 1.82423551e-03 9.97098781e-01 -3.12570293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.61577952299999 meters 0.019081851909551882 Centerline is valid? [True, True] Translation: X:48.98, Y:-9.06, Z:-3.13 [[ 9.60162668e-01 2.69874498e-01 7.24941846e-02 4.89812072e+01] [-2.68937463e-01 9.62893040e-01 -2.25751077e-02 -9.05823119e+00] [-7.58965916e-02 2.17937357e-03 9.97113312e-01 -3.12799919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.645779522999995 meters 0.02003398781272512 Centerline is valid? [True, True] Translation: X:49.01, Y:-9.07, Z:-3.13 [[ 9.60880533e-01 2.67516882e-01 7.17169346e-02 4.90118312e+01] [-2.66593006e-01 9.63550322e-01 -2.23370985e-02 -9.06818455e+00] [-7.50784264e-02 2.34404996e-03 9.97174877e-01 -3.13266030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.675779522999996 meters 0.022407190016017924 Centerline is valid? [True, True] Translation: X:49.04, Y:-9.08, Z:-3.14 [[ 9.62005653e-01 2.63808013e-01 7.03594781e-02 4.90415200e+01] [-2.62908626e-01 9.64571738e-01 -2.19184155e-02 -9.07659943e+00] [-7.36490177e-02 2.58752590e-03 9.97280867e-01 -3.13936863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.705779523 meters 0.02539958915021447 Centerline is valid? [True, True] Translation: X:49.07, Y:-9.09, Z:-3.14 [[ 9.62727720e-01 2.61140448e-01 7.04343922e-02 4.90689834e+01] [-2.60230897e-01 9.65296729e-01 -2.19569172e-02 -9.09281309e+00] [-7.37239276e-02 2.80932773e-03 9.97274732e-01 -3.14185521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.735779523 meters 0.02971909981712569 Centerline is valid? [True, True] Translation: X:49.10, Y:-9.11, Z:-3.15 [[ 9.64019978e-01 2.56804494e-01 6.86799358e-02 4.90965845e+01] [-2.55927552e-01 9.66458469e-01 -2.14269952e-02 -9.10613628e+00] [-7.18788543e-02 3.07896357e-03 9.97408618e-01 -3.14854135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.76577952299999 meters 0.027209772861170024 Centerline is valid? [True, True] Translation: X:49.13, Y:-9.12, Z:-3.15 [[ 9.65931702e-01 2.50659860e-01 6.43861835e-02 4.91259695e+01] [-2.49874802e-01 9.68069505e-01 -2.01001785e-02 -9.11605219e+00] [-6.73686087e-02 3.32691479e-03 9.97722608e-01 -3.15213735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79577952299999 meters 0.029678054797292453 Centerline is valid? [True, True] Translation: X:49.15, Y:-9.13, Z:-3.16 [[ 9.66451214e-01 2.48737317e-01 6.40452745e-02 4.91535315e+01] [-2.47956144e-01 9.68564853e-01 -1.99969005e-02 -9.13010607e+00] [-6.70059773e-02 3.44560948e-03 9.97746625e-01 -3.15544016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.825779522999994 meters 0.028237981667717797 Centerline is valid? [True, True] Translation: X:49.18, Y:-9.14, Z:-3.15 [[ 9.66236926e-01 2.48792442e-01 6.69964437e-02 4.91837697e+01] [-2.47937297e-01 9.68550112e-01 -2.09231401e-02 -9.14080411e+00] [-7.00949322e-02 3.60579341e-03 9.97533808e-01 -3.15274781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.855779522999995 meters 0.02487487235636383 Centerline is valid? [True, True] Translation: X:49.22, Y:-9.14, Z:-3.15 [[ 9.65986492e-01 2.48631781e-01 7.10797727e-02 4.92163059e+01] [-2.47667144e-01 9.68590395e-01 -2.22178426e-02 -9.14445337e+00] [-7.43712469e-02 3.85801154e-03 9.97223161e-01 -3.15066575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.885779523 meters 0.02769608776927894 Centerline is valid? [True, True] Translation: X:49.25, Y:-9.15, Z:-3.15 [[ 9.65433134e-01 2.49018128e-01 7.69989274e-02 4.92480804e+01] [-2.47885185e-01 9.68489842e-01 -2.40906807e-02 -9.14750095e+00] [-8.05716952e-02 4.17104801e-03 9.96740089e-01 -3.15220793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.915779523 meters 0.026752017197038586 Centerline is valid? [True, True] Translation: X:49.28, Y:-9.15, Z:-3.15 [[ 9.64813660e-01 2.50751127e-01 7.91105230e-02 4.92798324e+01] [-2.49559824e-01 9.68042692e-01 -2.47636948e-02 -9.15282890e+00] [-8.27918881e-02 4.14954287e-03 9.96558219e-01 -3.15417113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.945779523 meters 0.02606840156749516 Centerline is valid? [True, True] Translation: X:49.31, Y:-9.16, Z:-3.16 [[ 9.64204307e-01 2.52983397e-01 7.94320817e-02 4.93095838e+01] [-2.51789532e-01 9.67462440e-01 -2.48688344e-02 -9.15919259e+00] [-8.31389577e-02 3.97847059e-03 9.96530022e-01 -3.15580203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.97577952299999 meters 0.023696610277548394 Centerline is valid? [True, True] Translation: X:49.34, Y:-9.17, Z:-3.16 [[ 9.62820926e-01 2.59124797e-01 7.63557722e-02 4.93388096e+01] [-2.58040893e-01 9.65838158e-01 -2.39070970e-02 -9.16855472e+00] [-7.99422401e-02 3.31534168e-03 9.96793984e-01 -3.15561082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.005779522999994 meters 0.023181282735414133 Centerline is valid? [True, True] Translation: X:49.37, Y:-9.18, Z:-3.16 [[ 9.62318467e-01 2.61602421e-01 7.42114594e-02 4.93686993e+01] [-2.60585914e-01 9.65170988e-01 -2.32367087e-02 -9.17835794e+00] [-7.77055269e-02 3.02265293e-03 9.96971772e-01 -3.15765227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.035779522999995 meters 0.022392982972319952 Centerline is valid? [True, True] Translation: X:49.40, Y:-9.19, Z:-3.16 [[ 9.61780612e-01 2.64143795e-01 7.21533799e-02 4.93997829e+01] [-2.63189928e-01 9.64479415e-01 -2.25946892e-02 -9.18514402e+00] [-7.55586966e-02 2.74109116e-03 9.97137588e-01 -3.16078237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.065779522999996 meters 0.022651101857549764 Centerline is valid? [True, True] Translation: X:49.43, Y:-9.19, Z:-3.17 [[ 9.61587057e-01 2.65429338e-01 6.99828453e-02 4.94323265e+01] [-2.64535210e-01 9.64126907e-01 -2.19186918e-02 -9.18720916e+00] [-7.32902080e-02 2.56380361e-03 9.97307361e-01 -3.16827342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.095779523 meters 0.021970473733096713 Centerline is valid? [True, True] Translation: X:49.46, Y:-9.18, Z:-3.18 [[ 9.60686434e-01 2.68742514e-01 6.97067893e-02 4.94644860e+01] [-2.67862640e-01 9.63209256e-01 -2.18525690e-02 -9.18387523e+00] [-7.30149390e-02 2.32162194e-03 9.97328145e-01 -3.17775247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.125779523 meters 0.02103540930927262 Centerline is valid? [True, True] Translation: X:49.50, Y:-9.19, Z:-3.18 [[ 9.60517046e-01 2.69043985e-01 7.08684585e-02 4.94964778e+01] [-2.68135328e-01 9.63125055e-01 -2.22165105e-02 -9.18822221e+00] [-7.42324066e-02 2.33699962e-03 9.97238230e-01 -3.18082812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.15577952299999 meters 0.01927521135598576 Centerline is valid? [True, True] Translation: X:49.53, Y:-9.20, Z:-3.18 [[ 9.60208356e-01 2.69634890e-01 7.27800758e-02 4.95267388e+01] [-2.68676661e-01 9.62959707e-01 -2.28353679e-02 -9.19831751e+00] [-7.62414924e-02 2.37240332e-03 9.97086559e-01 -3.17944691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.185779522999994 meters 0.021559117582711874 Centerline is valid? [True, True] Translation: X:49.55, Y:-9.22, Z:-3.17 [[ 9.60605015e-01 2.67967266e-01 7.36990500e-02 4.95529829e+01] [-2.66978180e-01 9.63424626e-01 -2.31439201e-02 -9.22026691e+00] [-7.72052927e-02 2.55612744e-03 9.97011940e-01 -3.17380716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.215779522999995 meters 0.02060230891323497 Centerline is valid? [True, True] Translation: X:49.58, Y:-9.23, Z:-3.18 [[ 9.60855872e-01 2.66855294e-01 7.44596947e-02 4.95847497e+01] [-2.65840859e-01 9.63732852e-01 -2.34014239e-02 -9.22699312e+00] [-7.80040478e-02 2.69096638e-03 9.96949411e-01 -3.17615212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.245779522999996 meters 0.020923064038902747 Centerline is valid? [True, True] Translation: X:49.62, Y:-9.23, Z:-3.18 [[ 9.61079086e-01 2.65946516e-01 7.48294183e-02 4.96165591e+01] [-2.64917637e-01 9.63983725e-01 -2.35377060e-02 -9.22993874e+00] [-7.83941123e-02 2.79796427e-03 9.96918520e-01 -3.18295205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.275779523 meters 0.021106370091848896 Centerline is valid? [True, True] Translation: X:49.65, Y:-9.22, Z:-3.20 [[ 9.61372835e-01 2.64842087e-01 7.49729287e-02 4.96514990e+01] [-2.63804318e-01 9.64287396e-01 -2.36029393e-02 -9.22258255e+00] [-7.85465019e-02 2.91304233e-03 9.96906195e-01 -3.19581572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.305779523 meters 0.021385690435371103 Centerline is valid? [True, True] Translation: X:49.68, Y:-9.23, Z:-3.20 [[ 9.61586655e-01 2.64075322e-01 7.49355001e-02 4.96823386e+01] [-2.63034685e-01 9.64497414e-01 -2.36112744e-02 -9.23048090e+00] [-7.85102510e-02 2.99365071e-03 9.96908812e-01 -3.19952253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33577952299999 meters 0.022134353562995465 Centerline is valid? [True, True] Translation: X:49.71, Y:-9.25, Z:-3.20 [[ 9.61855338e-01 2.63175529e-01 7.46521891e-02 4.97101998e+01] [-2.62138465e-01 9.64743067e-01 -2.35423111e-02 -9.24517203e+00] [-7.82159420e-02 3.07508737e-03 9.96931698e-01 -3.19847820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.36577952299999 meters 0.02298138779475914 Centerline is valid? [True, True] Translation: X:49.74, Y:-9.26, Z:-3.19 [[ 9.62289212e-01 2.61757181e-01 7.40449237e-02 4.97382922e+01] [-2.60731989e-01 9.65128543e-01 -2.33607800e-02 -9.26367250e+00] [-7.75777213e-02 3.17394633e-03 9.96981255e-01 -3.19399458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.395779522999995 meters 0.02369580423397512 Centerline is valid? [True, True] Translation: X:49.77, Y:-9.28, Z:-3.19 [[ 9.62583592e-01 2.60482613e-01 7.47103565e-02 4.97671668e+01] [-2.59433486e-01 9.65472811e-01 -2.35906315e-02 -9.28060894e+00] [-7.82757672e-02 3.32558662e-03 9.96926198e-01 -3.18924640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.425779522999996 meters 0.02398049585221584 Centerline is valid? [True, True] Translation: X:49.80, Y:-9.28, Z:-3.19 [[ 9.62739124e-01 2.59196167e-01 7.71409525e-02 4.97997636e+01] [-2.58071707e-01 9.65818126e-01 -2.43791047e-02 -9.28367236e+00] [-8.08231007e-02 3.56282054e-03 9.96722094e-01 -3.18839337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.455779523 meters 0.026891869288362933 Centerline is valid? [True, True] Translation: X:49.83, Y:-9.28, Z:-3.20 [[ 9.62811451e-01 2.59024526e-01 7.68140911e-02 4.98318972e+01] [-2.57907418e-01 9.65864104e-01 -2.42960234e-02 -9.28310853e+00] [-8.04852393e-02 3.58156571e-03 9.96749366e-01 -3.19874733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.485779523 meters 0.024140007449876967 Centerline is valid? [True, True] Translation: X:49.87, Y:-9.28, Z:-3.21 [[ 9.62315013e-01 2.61053636e-01 7.61630762e-02 4.98650463e+01] [-2.59960256e-01 9.65318307e-01 -2.41087477e-02 -9.27970491e+00] [-7.98152880e-02 3.40083709e-03 9.96803869e-01 -3.20696814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51577952299999 meters 0.021525722188497187 Centerline is valid? [True, True] Translation: X:49.90, Y:-9.29, Z:-3.21 [[ 9.61837466e-01 2.64373543e-01 7.05359468e-02 4.98950345e+01] [-2.63444732e-01 9.64416013e-01 -2.23299551e-02 -9.28687715e+00] [-7.39294460e-02 2.89546381e-03 9.97259271e-01 -3.21441280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54577952299999 meters 0.022067657213766568 Centerline is valid? [True, True] Translation: X:49.92, Y:-9.31, Z:-3.21 [[ 9.61910424e-01 2.64900967e-01 6.74967757e-02 4.99218781e+01] [-2.64051857e-01 9.64271754e-01 -2.13682338e-02 -9.30633384e+00] [-7.07457001e-02 2.73167785e-03 9.97490644e-01 -3.21373608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.575779522999994 meters 0.022067657213766568 Centerline is valid? [True, True] Translation: X:49.95, Y:-9.32, Z:-3.22 [[ 9.61836901e-01 2.65168989e-01 6.74921011e-02 4.99526715e+01] [-2.64319503e-01 9.64198096e-01 -2.13829877e-02 -9.31616619e+00] [-7.07458606e-02 2.72746794e-03 9.97490644e-01 -3.21637746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.605779522999995 meters 0.0231582892308452 Centerline is valid? [True, True] Translation: X:49.98, Y:-9.33, Z:-3.21 [[ 9.62126246e-01 2.64359357e-01 6.65373373e-02 4.99811075e+01] [-2.63530408e-01 9.64420278e-01 -2.11009700e-02 -9.33358455e+00] [-6.97481962e-02 2.76718539e-03 9.97560791e-01 -3.21490277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.635779523 meters 0.024679410634384648 Centerline is valid? [True, True] Translation: X:50.01, Y:-9.34, Z:-3.22 [[ 9.62465126e-01 2.62782257e-01 6.78702245e-02 5.00117611e+01] [-2.61914478e-01 9.64850630e-01 -2.15422162e-02 -9.34432335e+00] [-7.11455411e-02 2.95743741e-03 9.97461561e-01 -3.21556322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.665779523 meters 0.024117316449292887 Centerline is valid? [True, True] Translation: X:50.05, Y:-9.34, Z:-3.22 [[ 9.62106769e-01 2.62647388e-01 7.32592250e-02 5.00464588e+01] [-2.61634050e-01 9.64886496e-01 -2.32738899e-02 -9.33575236e+00] [-7.67996633e-02 3.22485929e-03 9.97041329e-01 -3.22175780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69577952299999 meters 0.024163770727929773 Centerline is valid? [True, True] Translation: X:50.08, Y:-9.34, Z:-3.23 [[ 9.61841117e-01 2.63142926e-01 7.49497606e-02 5.00788511e+01] [-2.62082211e-01 9.64751294e-01 -2.38297220e-02 -9.33697518e+00] [-7.85785013e-02 3.27740748e-03 9.96902542e-01 -3.22798196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.72577952299999 meters 0.023023142856299656 Centerline is valid? [True, True] Translation: X:50.11, Y:-9.34, Z:-3.23 [[ 9.61481439e-01 2.64078266e-01 7.62634388e-02 5.01103802e+01] [-2.62981275e-01 9.64495687e-01 -2.42676411e-02 -9.34243531e+00] [-7.99643144e-02 3.27703013e-03 9.96792340e-01 -3.23121520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.755779522999994 meters 0.022094566442406587 Centerline is valid? [True, True] Translation: X:50.14, Y:-9.35, Z:-3.23 [[ 9.61049485e-01 2.65578258e-01 7.64988639e-02 5.01402703e+01] [-2.64477568e-01 9.64084055e-01 -2.43628890e-02 -9.35434847e+00] [-8.02215885e-02 3.18170848e-03 9.96771977e-01 -3.23135183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.785779522999995 meters 0.022076180795633123 Centerline is valid? [True, True] Translation: X:50.17, Y:-9.38, Z:-3.23 [[ 9.60969208e-01 2.66509348e-01 7.42357694e-02 5.01681817e+01] [-2.65474155e-01 9.63827568e-01 -2.36620184e-02 -9.37551379e+00] [-7.78566302e-02 3.03079292e-03 9.96959959e-01 -3.22768405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.815779522999996 meters 0.021862400156344292 Centerline is valid? [True, True] Translation: X:50.20, Y:-9.39, Z:-3.23 [[ 9.61029503e-01 2.66466684e-01 7.36057073e-02 5.01980552e+01] [-2.65448405e-01 9.63839416e-01 -2.34675232e-02 -9.38620330e+00] [-7.71973950e-02 3.01446455e-03 9.97011271e-01 -3.22887170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.845779523 meters 0.022198768493460353 Centerline is valid? [True, True] Translation: X:50.23, Y:-9.39, Z:-3.23 [[ 9.60881684e-01 2.66862044e-01 7.41015463e-02 5.02281503e+01] [-2.65829568e-01 9.63730001e-01 -2.36458669e-02 -9.39285922e+00] [-7.77240676e-02 3.02249844e-03 9.96970327e-01 -3.23121904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.875779523 meters 0.021450416015216255 Centerline is valid? [True, True] Translation: X:50.26, Y:-9.39, Z:-3.24 [[ 9.59853401e-01 2.69492803e-01 7.78143811e-02 5.02632038e+01] [-2.68361003e-01 9.62997821e-01 -2.48509439e-02 -9.38507871e+00] [-8.16322300e-02 2.97091760e-03 9.96658092e-01 -3.23644468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.90577952299999 meters 0.020238829259076992 Centerline is valid? [True, True] Translation: X:50.30, Y:-9.39, Z:-3.24 [[ 9.59255159e-01 2.71727605e-01 7.74186551e-02 5.02964235e+01] [-2.70614321e-01 9.62370219e-01 -2.47275144e-02 -9.38734022e+00] [-8.12245563e-02 2.76939897e-03 9.96691979e-01 -3.24177079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.935779522999994 meters 0.02171377865272225 Centerline is valid? [True, True] Translation: X:50.33, Y:-9.40, Z:-3.25 [[ 9.58787798e-01 2.75008643e-01 7.13877042e-02 5.03257202e+01] [-2.74070896e-01 9.61438997e-01 -2.28078855e-02 -9.39683814e+00] [-7.49072883e-02 2.30263023e-03 9.97187844e-01 -3.25173833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.965779522999995 meters 0.019240303096321923 Centerline is valid? [True, True] Translation: X:50.36, Y:-9.41, Z:-3.25 [[ 9.58285241e-01 2.77036957e-01 7.02845801e-02 5.03550054e+01] [-2.76133375e-01 9.60856943e-01 -2.24564998e-02 -9.40995041e+00] [-7.37547071e-02 2.11181396e-03 9.97274177e-01 -3.25187182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.995779522999996 meters 0.019033174696496687 Centerline is valid? [True, True] Translation: X:50.39, Y:-9.42, Z:-3.25 [[ 9.58056822e-01 2.78005604e-01 6.95701809e-02 5.03850248e+01] [-2.77121520e-01 9.60577298e-01 -2.22467408e-02 -9.42198766e+00] [-7.30122551e-02 2.03424753e-03 9.97328969e-01 -3.25336027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.025779523 meters 0.019096706316222865 Centerline is valid? [True, True] Translation: X:50.42, Y:-9.43, Z:-3.26 [[ 9.57985961e-01 2.78059305e-01 7.03272450e-02 5.04160981e+01] [-2.77154589e-01 9.60561677e-01 -2.25077342e-02 -9.43196751e+00] [-7.38121413e-02 2.07057468e-03 9.97270014e-01 -3.25573404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.055779523 meters 0.02056084495108605 Centerline is valid? [True, True] Translation: X:50.45, Y:-9.44, Z:-3.26 [[ 9.58081759e-01 2.77465091e-01 7.13615233e-02 5.04450578e+01] [-2.76530127e-01 9.60733269e-01 -2.28620991e-02 -9.44149894e+00] [-7.49028239e-02 2.17014903e-03 9.97188476e-01 -3.25968262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08577952299999 meters 0.020277961747281036 Centerline is valid? [True, True] Translation: X:50.48, Y:-9.44, Z:-3.26 [[ 9.58447988e-01 2.74903615e-01 7.61935434e-02 5.04785588e+01] [-2.73828470e-01 9.61468426e-01 -2.44220174e-02 -9.44253734e+00] [-7.99713871e-02 2.54327208e-03 9.96793915e-01 -3.26270835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11577952299999 meters 0.02520271547587778 Centerline is valid? [True, True] Translation: X:50.51, Y:-9.46, Z:-3.26 [[ 9.58215658e-01 2.74884659e-01 7.91276012e-02 5.05077862e+01] [-2.73723049e-01 9.61473517e-01 -2.53844213e-02 -9.45785920e+00] [-8.30568810e-02 2.66470162e-03 9.96541245e-01 -3.26204686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.145779522999995 meters 0.020441755452334634 Centerline is valid? [True, True] Translation: X:50.54, Y:-9.46, Z:-3.26 [[ 9.57819053e-01 2.75609366e-01 8.13765310e-02 5.05406760e+01] [-2.74381220e-01 9.61265932e-01 -2.61295693e-02 -9.46109133e+00] [-8.54260409e-02 2.69920746e-03 9.96340858e-01 -3.26101557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.175779522999996 meters 0.019634468616396873 Centerline is valid? [True, True] Translation: X:50.57, Y:-9.47, Z:-3.26 [[ 9.57578137e-01 2.76578758e-01 8.09215823e-02 5.05708853e+01] [-2.75365972e-01 9.60987687e-01 -2.60047635e-02 -9.47285499e+00] [-8.49570094e-02 2.61854284e-03 9.96381177e-01 -3.26126807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.205779523 meters 0.021065365747373305 Centerline is valid? [True, True] Translation: X:50.60, Y:-9.49, Z:-3.26 [[ 9.57850797e-01 2.76881519e-01 7.65406788e-02 5.05980673e+01] [-2.75796132e-01 9.60900894e-01 -2.46163738e-02 -9.49081957e+00] [-8.03638256e-02 2.46919016e-03 9.96762539e-01 -3.26234161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.235779523 meters 0.02025299122045957 Centerline is valid? [True, True] Translation: X:50.63, Y:-9.50, Z:-3.27 [[ 9.57951176e-01 2.76736582e-01 7.58050732e-02 5.06292056e+01] [-2.75670063e-01 9.60942630e-01 -2.43983412e-02 -9.49840810e+00] [-7.95962399e-02 2.47523035e-03 9.96824113e-01 -3.26571954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26577952299999 meters 0.01971547467889399 Centerline is valid? [True, True] Translation: X:50.66, Y:-9.50, Z:-3.27 [[ 9.58139583e-01 2.76103495e-01 7.57324196e-02 5.06612362e+01] [-2.75035447e-01 9.61124541e-01 -2.43950531e-02 -9.50404638e+00] [-7.95238465e-02 2.54476609e-03 9.96829716e-01 -3.27032411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29577952299999 meters 0.020889311537240964 Centerline is valid? [True, True] Translation: X:50.69, Y:-9.51, Z:-3.28 [[ 9.59017413e-01 2.73345897e-01 7.46165000e-02 5.06922022e+01] [-2.72299240e-01 9.61911871e-01 -2.40556722e-02 -9.50872107e+00] [-7.83500165e-02 2.75179228e-03 9.96922115e-01 -3.27934950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.325779522999994 meters 0.024150665207236962 Centerline is valid? [True, True] Translation: X:50.72, Y:-9.52, Z:-3.29 [[ 9.59817525e-01 2.70908040e-01 7.32062370e-02 5.07219037e+01] [-2.69892178e-01 9.62600828e-01 -2.36190394e-02 -9.51869957e+00] [-7.68669720e-02 2.91217722e-03 9.97037105e-01 -3.28572849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.355779522999995 meters 0.021445122906711633 Centerline is valid? [True, True] Translation: X:50.75, Y:-9.53, Z:-3.28 [[ 9.59726627e-01 2.70800637e-01 7.47784528e-02 5.07532066e+01] [-2.69738760e-01 9.62630771e-01 -2.41454028e-02 -9.53020611e+00] [-7.85226301e-02 3.00233884e-03 9.96907810e-01 -3.28408435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.385779523 meters 0.02244820033398616 Centerline is valid? [True, True] Translation: X:50.78, Y:-9.54, Z:-3.28 [[ 9.59807605e-01 2.70012600e-01 7.65673357e-02 5.07815550e+01] [-2.68894732e-01 9.62851589e-01 -2.47475286e-02 -9.54327670e+00] [-8.04051254e-02 3.16431290e-03 9.96757244e-01 -3.28324639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.415779523 meters 0.022359804627937317 Centerline is valid? [True, True] Translation: X:50.81, Y:-9.56, Z:-3.28 [[ 9.59797434e-01 2.69325965e-01 7.90721795e-02 5.08115714e+01] [-2.68129571e-01 9.63043258e-01 -2.55776447e-02 -9.55619606e+00] [-8.30386533e-02 3.34776823e-03 9.96540704e-01 -3.28023513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.44577952299999 meters 0.023169537248016018 Centerline is valid? [True, True] Translation: X:50.84, Y:-9.57, Z:-3.28 [[ 9.59720429e-01 2.69732692e-01 7.86191644e-02 5.08406575e+01] [-2.68549607e-01 9.62929537e-01 -2.54522195e-02 -9.56688220e+00] [-8.25700112e-02 3.31386934e-03 9.96579757e-01 -3.28238368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.47577952299999 meters 0.022272266682141315 Centerline is valid? [True, True] Translation: X:50.87, Y:-9.57, Z:-3.29 [[ 9.59569395e-01 2.70520410e-01 7.77514185e-02 5.08719967e+01] [-2.69364356e-01 9.62708826e-01 -2.51904618e-02 -9.57316379e+00] [-8.16665109e-02 3.22853537e-03 9.96654483e-01 -3.28625949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.505779522999994 meters 0.02227224879293213 Centerline is valid? [True, True] Translation: X:50.90, Y:-9.58, Z:-3.29 [[ 9.59336194e-01 2.71680694e-01 7.65745834e-02 5.09029716e+01] [-2.70561482e-01 9.62382450e-01 -2.48295182e-02 -9.57966726e+00] [-8.04397359e-02 3.10172275e-03 9.96754648e-01 -3.29140086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.535779522999995 meters 0.020740671263892667 Centerline is valid? [True, True] Translation: X:50.94, Y:-9.58, Z:-3.30 [[ 9.58797204e-01 2.73267135e-01 7.76723502e-02 5.09353942e+01] [-2.72118994e-01 9.61933407e-01 -2.52066066e-02 -9.58322835e+00] [-8.16037657e-02 3.03190217e-03 9.96660240e-01 -3.29594981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.565779522999996 meters 0.021403943414101283 Centerline is valid? [True, True] Translation: X:50.96, Y:-9.59, Z:-3.30 [[ 9.58469763e-01 2.74036076e-01 7.89933114e-02 5.09642400e+01] [-2.72849231e-01 9.61714613e-01 -2.56573773e-02 -9.59448918e+00] [-8.30000689e-02 3.03855604e-03 9.96544909e-01 -3.29698991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.595779523 meters 0.02097805457103264 Centerline is valid? [True, True] Translation: X:51.00, Y:-9.61, Z:-3.30 [[ 9.58226601e-01 2.74837003e-01 7.91606145e-02 5.09951392e+01] [-2.73646182e-01 9.61486169e-01 -2.57315576e-02 -9.60515698e+00] [-8.31838201e-02 2.99466303e-03 9.96529721e-01 -3.29789836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.625779523 meters 0.020667301695396618 Centerline is valid? [True, True] Translation: X:51.02, Y:-9.61, Z:-3.30 [[ 9.57620728e-01 2.77962106e-01 7.54957506e-02 5.10235793e+01] [-2.76888308e-01 9.60588513e-01 -2.45473850e-02 -9.61457568e+00] [-7.93435936e-02 2.60319407e-03 9.96843928e-01 -3.30166988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.65577952299999 meters 0.019447894983821302 Centerline is valid? [True, True] Translation: X:51.06, Y:-9.62, Z:-3.31 [[ 9.57036733e-01 2.80441757e-01 7.37096486e-02 5.10551465e+01] [-2.79425547e-01 9.59868189e-01 -2.39671403e-02 -9.62104169e+00] [-7.74729338e-02 2.34107478e-03 9.96991707e-01 -3.30579565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.685779522999994 meters 0.021614454059397367 Centerline is valid? [True, True] Translation: X:51.09, Y:-9.63, Z:-3.31 [[ 9.56652317e-01 2.82118153e-01 7.22889421e-02 5.10865763e+01] [-2.81144033e-01 9.59377187e-01 -2.35254413e-02 -9.62887323e+00] [-7.59893160e-02 2.18206322e-03 9.97106244e-01 -3.31184887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.715779522999995 meters 0.018689732241638297 Centerline is valid? [True, True] Translation: X:51.12, Y:-9.64, Z:-3.31 [[ 9.55862035e-01 2.84504187e-01 7.33834902e-02 5.11179489e+01] [-2.83506795e-01 9.58672650e-01 -2.38882246e-02 -9.63572010e+00] [-7.71470449e-02 2.02912889e-03 9.97017661e-01 -3.31234409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.745779522999996 meters 0.018144958158080336 Centerline is valid? [True, True] Translation: X:51.15, Y:-9.64, Z:-3.32 [[ 9.55296390e-01 2.86104443e-01 7.45188277e-02 5.11493333e+01] [-2.85079133e-01 9.58196456e-01 -2.42783922e-02 -9.64214732e+00] [-7.83498324e-02 1.94929765e-03 9.96924021e-01 -3.31522279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.775779523 meters 0.01833473334982472 Centerline is valid? [True, True] Translation: X:51.18, Y:-9.65, Z:-3.32 [[ 9.55188309e-01 2.86373863e-01 7.48685791e-02 5.11802659e+01] [-2.85338093e-01 9.58115956e-01 -2.44128740e-02 -9.65278111e+00] [-7.87239893e-02 1.95603429e-03 9.96894532e-01 -3.31736264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.805779523 meters 0.018314910977128847 Centerline is valid? [True, True] Translation: X:51.21, Y:-9.66, Z:-3.32 [[ 9.55087213e-01 2.86571119e-01 7.54016488e-02 5.12110766e+01] [-2.85519250e-01 9.58056933e-01 -2.46103668e-02 -9.66374106e+00] [-7.92916928e-02 1.97642444e-03 9.96849498e-01 -3.31942317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.83577952299999 meters 0.018870843230387045 Centerline is valid? [True, True] Translation: X:51.24, Y:-9.67, Z:-3.32 [[ 9.55217736e-01 2.86034974e-01 7.57830508e-02 5.12400727e+01] [-2.84968828e-01 9.58216977e-01 -2.47586897e-02 -9.67452146e+00] [-7.96984570e-02 2.05413234e-03 9.96816902e-01 -3.32175493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.86577952299999 meters 0.01891663453323859 Centerline is valid? [True, True] Translation: X:51.27, Y:-9.68, Z:-3.32 [[ 9.55627783e-01 2.84486955e-01 7.64376442e-02 5.12710789e+01] [-2.83395774e-01 9.58677339e-01 -2.49918902e-02 -9.68370453e+00] [-8.03889041e-02 2.22083919e-03 9.96761101e-01 -3.32460798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.895779522999995 meters 0.019622870622883322 Centerline is valid? [True, True] Translation: X:51.30, Y:-9.69, Z:-3.33 [[ 9.55883781e-01 2.83531206e-01 7.67870634e-02 5.13004313e+01] [-2.82425225e-01 9.58960175e-01 -2.51271923e-02 -9.69478523e+00] [-8.07600789e-02 2.33207196e-03 9.96730842e-01 -3.32690372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.925779522999996 meters 0.020018687115014734 Centerline is valid? [True, True] Translation: X:51.33, Y:-9.71, Z:-3.33 [[ 9.56153228e-01 2.82419830e-01 7.75244748e-02 5.13306936e+01] [-2.81287879e-01 9.59287749e-01 -2.53799777e-02 -9.70588958e+00] [-8.15360879e-02 2.46045248e-03 9.96667353e-01 -3.32857535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.955779523 meters 0.021165572238167334 Centerline is valid? [True, True] Translation: X:51.36, Y:-9.72, Z:-3.33 [[ 9.56873260e-01 2.79697620e-01 7.85035404e-02 5.13602264e+01] [-2.78525932e-01 9.60084212e-01 -2.57218110e-02 -9.71514816e+00] [-8.25643391e-02 2.74724142e-03 9.96581950e-01 -3.33185256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.985779523 meters 0.020915676101528776 Centerline is valid? [True, True] Translation: X:51.39, Y:-9.72, Z:-3.34 [[ 9.57161023e-01 2.79027914e-01 7.73705369e-02 5.13910259e+01] [-2.77886146e-01 9.60278960e-01 -2.53694476e-02 -9.72319731e+00] [-8.13760827e-02 2.78244610e-03 9.96679583e-01 -3.33724656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.01577952299999 meters 0.022767647534600925 Centerline is valid? [True, True] Translation: X:51.42, Y:-9.74, Z:-3.34 [[ 9.57528548e-01 2.78523066e-01 7.45920974e-02 5.14189412e+01] [-2.77458896e-01 9.60425625e-01 -2.44781430e-02 -9.73623186e+00] [-7.84578892e-02 2.74227974e-03 9.96913657e-01 -3.34349110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.04577952299999 meters 0.02102403636928959 Centerline is valid? [True, True] Translation: X:51.45, Y:-9.75, Z:-3.35 [[ 9.57877345e-01 2.78051005e-01 7.18236119e-02 5.14487106e+01] [-2.77062410e-01 9.60562554e-01 -2.35796885e-02 -9.74625244e+00] [-7.55474281e-02 2.68682642e-03 9.97138590e-01 -3.34767713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.075779522999994 meters 0.025405398561534166 Centerline is valid? [True, True] Translation: X:51.48, Y:-9.76, Z:-3.35 [[ 9.58613658e-01 2.76136815e-01 6.93420032e-02 5.14750302e+01] [-2.75209687e-01 9.61114405e-01 -2.27756014e-02 -9.76470289e+00] [-7.29347802e-02 2.74941157e-03 9.97332923e-01 -3.34977492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.105779522999995 meters 0.022275694992243453 Centerline is valid? [True, True] Translation: X:51.51, Y:-9.77, Z:-3.35 [[ 9.58258672e-01 2.76540060e-01 7.25666162e-02 5.15065755e+01] [-2.75525490e-01 9.60998169e-01 -2.38374221e-02 -9.77112296e+00] [-7.63283874e-02 2.84846397e-03 9.97078665e-01 -3.34812308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.135779523 meters 0.021557764857283137 Centerline is valid? [True, True] Translation: X:51.54, Y:-9.78, Z:-3.35 [[ 9.58036731e-01 2.76480017e-01 7.56599086e-02 5.15399397e+01] [-2.75375062e-01 9.61014997e-01 -2.48747214e-02 -9.77553402e+00] [-7.95876702e-02 2.99604481e-03 9.96823368e-01 -3.34946545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.165779523 meters 0.022831861098222796 Centerline is valid? [True, True] Translation: X:51.57, Y:-9.78, Z:-3.35 [[ 9.57785576e-01 2.76615433e-01 7.82987395e-02 5.15711533e+01] [-2.75430253e-01 9.60975653e-01 -2.57676214e-02 -9.78347690e+00] [-8.23709041e-02 3.11401442e-03 9.96596878e-01 -3.35118436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.19577952299999 meters 0.021795001936835298 Centerline is valid? [True, True] Translation: X:51.60, Y:-9.79, Z:-3.35 [[ 9.58077822e-01 2.75199107e-01 7.97015646e-02 5.16012552e+01] [-2.73964122e-01 9.61381532e-01 -2.62528121e-02 -9.79384563e+00] [-8.38483627e-02 3.31686793e-03 9.96473005e-01 -3.35044870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.22577952299999 meters 0.022912119471337065 Centerline is valid? [True, True] Translation: X:51.63, Y:-9.81, Z:-3.35 [[ 9.58478838e-01 2.74437788e-01 7.74739805e-02 5.16280801e+01] [-2.73266958e-01 9.61599171e-01 -2.55382899e-02 -9.81098355e+00] [-8.15075872e-02 3.30683142e-03 9.96667235e-01 -3.35194444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.255779522999994 meters 0.022934397037777228 Centerline is valid? [True, True] Translation: X:51.66, Y:-9.83, Z:-3.36 [[ 9.59371970e-01 2.73245848e-01 7.03002803e-02 5.16557945e+01] [-2.72277687e-01 9.61939214e-01 -2.31907393e-02 -9.82740021e+00] [-7.39613696e-02 3.10734756e-03 9.97256266e-01 -3.35840381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.285779522999995 meters 0.023106081077187222 Centerline is valid? [True, True] Translation: X:51.69, Y:-9.83, Z:-3.36 [[ 9.59183230e-01 2.74031031e-01 6.98178051e-02 5.16868056e+01] [-2.73077912e-01 9.61716078e-01 -2.30355999e-02 -9.83420581e+00] [-7.34573750e-02 3.02966066e-03 9.97293756e-01 -3.36432197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.315779522999996 meters 0.02430110984642779 Centerline is valid? [True, True] Translation: X:51.72, Y:-9.84, Z:-3.37 [[ 9.58704139e-01 2.75147057e-01 7.19754871e-02 5.17173901e+01] [-2.74135597e-01 9.61397297e-01 -2.37678792e-02 -9.83903126e+00] [-7.57367008e-02 3.05532102e-03 9.97123171e-01 -3.36992849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.345779523 meters 0.022161635729464026 Centerline is valid? [True, True] Translation: X:51.75, Y:-9.84, Z:-3.37 [[ 9.57523299e-01 2.78107834e-01 7.61916321e-02 5.17515706e+01] [-2.76981856e-01 9.60545152e-01 -2.51806021e-02 -9.83673662e+00] [-8.01884256e-02 3.00731352e-03 9.96775187e-01 -3.37319615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.375779523 meters 0.021830637065246954 Centerline is valid? [True, True] Translation: X:51.78, Y:-9.85, Z:-3.37 [[ 9.56987128e-01 2.80029795e-01 7.58877520e-02 5.17817688e+01] [-2.78918472e-01 9.59987111e-01 -2.50845083e-02 -9.84952376e+00] [-7.98756735e-02 2.83905572e-03 9.96800791e-01 -3.37431637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.40577952299999 meters 0.021558369448370446 Centerline is valid? [True, True] Translation: X:51.81, Y:-9.86, Z:-3.37 [[ 9.56511231e-01 2.81993968e-01 7.46033987e-02 5.18106228e+01] [-2.80925446e-01 9.59412557e-01 -2.46665673e-02 -9.86464001e+00] [-7.85312607e-02 2.63585555e-03 9.96908167e-01 -3.37389445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.435779522999994 meters 0.02155602109783282 Centerline is valid? [True, True] Translation: X:51.84, Y:-9.88, Z:-3.37 [[ 9.55968099e-01 2.83780035e-01 7.47922784e-02 5.18391215e+01] [-2.82709952e-01 9.58886108e-01 -2.47490492e-02 -9.87791779e+00] [-7.87405628e-02 2.51478012e-03 9.96891970e-01 -3.37361839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.465779522999995 meters 0.020694264663901795 Centerline is valid? [True, True] Translation: X:51.87, Y:-9.88, Z:-3.38 [[ 9.54791935e-01 2.87471815e-01 7.57120679e-02 5.18694820e+01] [-2.86385233e-01 9.57786440e-01 -2.50725685e-02 -9.88187531e+00] [-7.97236488e-02 2.25626803e-03 9.96814451e-01 -3.37734765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.495779522999996 meters 0.020694264663901795 Centerline is valid? [True, True] Translation: X:51.90, Y:-9.89, Z:-3.38 [[ 9.54714645e-01 2.87728478e-01 7.57117566e-02 5.19001441e+01] [-2.86642626e-01 9.57709415e-01 -2.50735088e-02 -9.89212688e+00] [-7.97242246e-02 2.23582932e-03 9.96814451e-01 -3.37998248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.525779523 meters 0.020431894519500206 Centerline is valid? [True, True] Translation: X:51.93, Y:-9.90, Z:-3.39 [[ 9.54303522e-01 2.89213281e-01 7.52360639e-02 5.19310494e+01] [-2.88143873e-01 9.57262338e-01 -2.49384175e-02 -9.89796493e+00] [-7.92331720e-02 2.12000882e-03 9.96853856e-01 -3.38660098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.555779523 meters 0.020252497873010193 Centerline is valid? [True, True] Translation: X:51.96, Y:-9.91, Z:-3.39 [[ 9.54051772e-01 2.90009091e-01 7.53653973e-02 5.19626409e+01] [-2.88936913e-01 9.57021638e-01 -2.50008814e-02 -9.90508472e+00] [-7.93767989e-02 2.07628996e-03 9.96842522e-01 -3.39170449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.58577952299999 meters 0.020230488167989617 Centerline is valid? [True, True] Translation: X:51.99, Y:-9.91, Z:-3.39 [[ 9.53791255e-01 2.90625400e-01 7.62831510e-02 5.19931773e+01] [-2.89527258e-01 9.56834676e-01 -2.53252944e-02 -9.91436478e+00] [-8.03505378e-02 2.06899278e-03 9.96764521e-01 -3.39383701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.61577952299999 meters 0.02052119701020473 Centerline is valid? [True, True] Translation: X:52.02, Y:-9.93, Z:-3.39 [[ 9.53600796e-01 2.90561986e-01 7.88622472e-02 5.20221603e+01] [-2.89386233e-01 9.56853722e-01 -2.62023452e-02 -9.92987023e+00] [-8.30730402e-02 2.16492857e-03 9.96541110e-01 -3.38946618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.645779522999995 meters 0.019915929076447597 Centerline is valid? [True, True] Translation: X:52.05, Y:-9.94, Z:-3.39 [[ 9.53696804e-01 2.90174275e-01 7.91283491e-02 5.20523384e+01] [-2.88988000e-01 9.56971243e-01 -2.63054264e-02 -9.94274284e+00] [-8.33567127e-02 2.22025774e-03 9.96517300e-01 -3.38882887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.675779522999996 meters 0.019500204208939307 Centerline is valid? [True, True] Translation: X:52.08, Y:-9.95, Z:-3.39 [[ 9.53925973e-01 2.89652710e-01 7.82722521e-02 5.20827403e+01] [-2.88488585e-01 9.57129143e-01 -2.60411094e-02 -9.95457594e+00] [-8.24595315e-02 2.26063939e-03 9.96591850e-01 -3.38978732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.705779523 meters 0.01980178885098685 Centerline is valid? [True, True] Translation: X:52.11, Y:-9.96, Z:-3.40 [[ 9.54627576e-01 2.88275101e-01 7.47238799e-02 5.21127460e+01] [-2.87208587e-01 9.57544894e-01 -2.48797840e-02 -9.96302197e+00] [-7.87236919e-02 2.28958797e-03 9.96893845e-01 -3.39748243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.735779523 meters 0.019814572263463764 Centerline is valid? [True, True] Translation: X:52.15, Y:-9.97, Z:-3.40 [[ 9.54612818e-01 2.88617218e-01 7.35830724e-02 5.21450040e+01] [-2.87582682e-01 9.57441938e-01 -2.45180637e-02 -9.97021392e+00] [-7.75278548e-02 2.24404061e-03 9.96987661e-01 -3.40456052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.76577952299999 meters 0.02069017853278826 Centerline is valid? [True, True] Translation: X:52.17, Y:-9.98, Z:-3.41 [[ 9.54338509e-01 2.89503490e-01 7.36596123e-02 5.21742030e+01] [-2.88467623e-01 9.57174438e-01 -2.45667828e-02 -9.97826771e+00] [-7.76172673e-02 2.19661364e-03 9.96980810e-01 -3.41108660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.79577952299999 meters 0.019066418336530045 Centerline is valid? [True, True] Translation: X:52.21, Y:-9.99, Z:-3.42 [[ 9.53518443e-01 2.92038840e-01 7.42690747e-02 5.22050237e+01] [-2.90991923e-01 9.56404316e-01 -2.47888100e-02 -9.98596045e+00] [-7.82705589e-02 2.02488658e-03 9.96930098e-01 -3.41594593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.825779522999994 meters 0.019600586785396616 Centerline is valid? [True, True] Translation: X:52.23, Y:-10.00, Z:-3.42 [[ 9.53019677e-01 2.93478468e-01 7.49925576e-02 5.22333520e+01] [-2.92413827e-01 9.55963705e-01 -2.50509183e-02 -1.00013206e+01] [-7.90420684e-02 1.94515728e-03 9.96869384e-01 -3.41563862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.855779522999995 meters 0.018973730703873426 Centerline is valid? [True, True] Translation: X:52.26, Y:-10.01, Z:-3.41 [[ 9.52455104e-01 2.94995494e-01 7.62032336e-02 5.22626091e+01] [-2.93899291e-01 9.55496816e-01 -2.54762852e-02 -1.00144365e+01] [-8.03273364e-02 1.86894153e-03 9.96766786e-01 -3.41390577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.885779523 meters 0.018733384919936317 Centerline is valid? [True, True] Translation: X:52.29, Y:-10.03, Z:-3.41 [[ 9.51988147e-01 2.96289694e-01 7.70128963e-02 5.22929671e+01] [-2.95172575e-01 9.55096426e-01 -2.57675619e-02 -1.00258649e+01] [-8.11894050e-02 1.79831857e-03 9.96697069e-01 -3.41348729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.915779523 meters 0.01741193619936614 Centerline is valid? [True, True] Translation: X:52.33, Y:-10.03, Z:-3.42 [[ 9.51266544e-01 2.98390953e-01 7.78126002e-02 5.23263673e+01] [-2.97255774e-01 9.54442296e-01 -2.60558580e-02 -1.00272351e+01] [-8.20424692e-02 1.65582127e-03 9.96627459e-01 -3.41872644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94577952299999 meters 0.017387004022738756 Centerline is valid? [True, True] Translation: X:52.36, Y:-10.03, Z:-3.42 [[ 9.51025312e-01 2.99229758e-01 7.75397136e-02 5.23569549e+01] [-2.98103576e-01 9.54179751e-01 -2.59857767e-02 -1.00338419e+01] [-8.17625423e-02 1.59826550e-03 9.96650557e-01 -3.42433062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97577952299999 meters 0.017198486154269225 Centerline is valid? [True, True] Translation: X:52.39, Y:-10.04, Z:-3.43 [[ 9.50725282e-01 3.00251585e-01 7.72685212e-02 5.23870791e+01] [-2.99135048e-01 9.53858828e-01 -2.59144643e-02 -1.00429674e+01] [-8.14841200e-02 1.52381361e-03 9.96673475e-01 -3.42857226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.005779522999994 meters 0.017144411164157745 Centerline is valid? [True, True] Translation: X:52.42, Y:-10.06, Z:-3.43 [[ 9.50279486e-01 3.01986584e-01 7.59802712e-02 5.24151313e+01] [-3.00910920e-01 9.53311189e-01 -2.55028695e-02 -1.00556945e+01] [-8.01343671e-02 1.37156043e-03 9.96783127e-01 -3.43190982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.035779522999995 meters 0.016733884936587985 Centerline is valid? [True, True] Translation: X:52.44, Y:-10.07, Z:-3.44 [[ 9.49822582e-01 3.04097883e-01 7.32225446e-02 5.24440789e+01] [-3.03103898e-01 9.52640077e-01 -2.45949280e-02 -1.00699144e+01] [-7.72339961e-02 1.16677932e-03 9.97012311e-01 -3.43504268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.065779522999996 meters 0.016218424318069996 Centerline is valid? [True, True] Translation: X:52.47, Y:-10.09, Z:-3.44 [[ 9.48733562e-01 3.08112438e-01 7.05078355e-02 5.24717400e+01] [-3.07200585e-01 9.51349590e-01 -2.37014313e-02 -1.00868641e+01] [-7.43803062e-02 8.26295048e-04 9.97229606e-01 -3.43651292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.095779523 meters 0.0160517066834248 Centerline is valid? [True, True] Translation: X:52.50, Y:-10.09, Z:-3.44 [[ 9.48075840e-01 3.09703398e-01 7.23602602e-02 5.25015204e+01] [-3.08746009e-01 9.50832929e-01 -2.43442572e-02 -1.00945758e+01] [-7.63420173e-02 7.39260541e-04 9.97081416e-01 -3.43868552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.125779523 meters 0.015633734895843434 Centerline is valid? [True, True] Translation: X:52.53, Y:-10.10, Z:-3.44 [[ 9.47486682e-01 3.10861038e-01 7.50626619e-02 5.25339234e+01] [-3.09832777e-01 9.50455123e-01 -2.52727014e-02 -1.00993755e+01] [-7.91999898e-02 6.88674993e-04 9.96858509e-01 -3.44242857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15577952299999 meters 0.015431677593459498 Centerline is valid? [True, True] Translation: X:52.57, Y:-10.11, Z:-3.45 [[ 9.47005596e-01 3.11929609e-01 7.66832524e-02 5.25657023e+01] [-3.10858203e-01 9.50105005e-01 -2.58390725e-02 -1.01056948e+01] [-8.09171136e-02 6.32128154e-04 9.96720633e-01 -3.44700557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.185779522999994 meters 0.015419336271454784 Centerline is valid? [True, True] Translation: X:52.59, Y:-10.12, Z:-3.45 [[ 9.46887297e-01 3.11760177e-01 7.88038039e-02 5.25939718e+01] [-3.10626209e-01 9.50160577e-01 -2.65750870e-02 -1.01207295e+01] [-8.31613217e-02 6.85085362e-04 9.96535863e-01 -3.44767344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.215779522999995 meters 0.015602603444638777 Centerline is valid? [True, True] Translation: X:52.62, Y:-10.14, Z:-3.45 [[ 9.46889425e-01 3.11408827e-01 8.01558390e-02 5.26234985e+01] [-3.10232327e-01 9.50275739e-01 -2.70540874e-02 -1.01376227e+01] [-8.45950307e-02 7.50296785e-04 9.96415133e-01 -3.44679575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.245779522999996 meters 0.015804202327921027 Centerline is valid? [True, True] Translation: X:52.65, Y:-10.15, Z:-3.45 [[ 9.47120538e-01 3.10582388e-01 8.06304318e-02 5.26516593e+01] [-3.09386852e-01 9.50546082e-01 -2.72382338e-02 -1.01536024e+01] [-8.51026568e-02 8.51895172e-04 9.96371824e-01 -3.44720274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.275779523 meters 0.016833707373661355 Centerline is valid? [True, True] Translation: X:52.68, Y:-10.17, Z:-3.45 [[ 9.48448051e-01 3.06972875e-01 7.88286042e-02 5.26797699e+01] [-3.05816148e-01 9.51717547e-01 -2.66494792e-02 -1.01704229e+01] [-8.32032331e-02 1.16858647e-03 9.96531914e-01 -3.45343623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.305779523 meters 0.017190879479105043 Centerline is valid? [True, True] Translation: X:52.71, Y:-10.18, Z:-3.46 [[ 9.48782000e-01 3.05995366e-01 7.86101300e-02 5.27098797e+01] [-3.04840029e-01 9.52032154e-01 -2.65957480e-02 -1.01808078e+01] [-8.29775471e-02 1.27005267e-03 9.96550608e-01 -3.45844644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33577952299999 meters 0.016957369538316582 Centerline is valid? [True, True] Translation: X:52.74, Y:-10.19, Z:-3.46 [[ 9.48897708e-01 3.05691651e-01 7.83948610e-02 5.27415447e+01] [-3.04539948e-01 9.52129662e-01 -2.65429288e-02 -1.01893898e+01] [-8.27560242e-02 1.31215741e-03 9.96568973e-01 -3.46250761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36577952299999 meters 0.01636612768402152 Centerline is valid? [True, True] Translation: X:52.77, Y:-10.20, Z:-3.47 [[ 9.48172911e-01 3.08194034e-01 7.73599863e-02 5.27713074e+01] [-3.07079008e-01 9.51322881e-01 -2.62156104e-02 -1.02004361e+01] [-8.16738198e-02 1.10130380e-03 9.96658504e-01 -3.46575250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.395779522999995 meters 0.016118827024303978 Centerline is valid? [True, True] Translation: X:52.80, Y:-10.21, Z:-3.47 [[ 9.47549508e-01 3.10230812e-01 7.68555413e-02 5.28013918e+01] [-3.09135348e-01 9.50660803e-01 -2.60648251e-02 -1.02132417e+01] [-8.11496625e-02 9.38947733e-04 9.96701485e-01 -3.46715396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.425779522999996 meters 0.015739009645758365 Centerline is valid? [True, True] Translation: X:52.83, Y:-10.23, Z:-3.47 [[ 9.47033460e-01 3.11599813e-01 7.76735633e-02 5.28315460e+01] [-3.10484837e-01 9.50213058e-01 -2.63497834e-02 -1.02254962e+01] [-8.20170217e-02 8.37662858e-04 9.96630577e-01 -3.46769238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.455779523 meters 0.016211460915526492 Centerline is valid? [True, True] Translation: X:52.86, Y:-10.24, Z:-3.47 [[ 9.46761576e-01 3.12304556e-01 7.81561363e-02 5.28603286e+01] [-3.11176271e-01 9.49981695e-01 -2.65350269e-02 -1.02408410e+01] [-8.25339086e-02 8.02008871e-04 9.96587934e-01 -3.46841905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.485779523 meters 0.015884422720999183 Centerline is valid? [True, True] Translation: X:52.89, Y:-10.25, Z:-3.47 [[ 9.46865308e-01 3.12449901e-01 7.62964435e-02 5.28904813e+01] [-3.11373479e-01 9.49933910e-01 -2.59253403e-02 -1.02548018e+01] [-8.05769489e-02 7.91116303e-04 9.96748077e-01 -3.47430340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51577952299999 meters 0.015887612208966135 Centerline is valid? [True, True] Translation: X:52.92, Y:-10.27, Z:-3.48 [[ 9.46781657e-01 3.13193881e-01 7.42568927e-02 5.29208479e+01] [-3.12174844e-01 9.49688928e-01 -2.52548252e-02 -1.02656830e+01] [-7.84306055e-02 7.29671340e-04 9.96919309e-01 -3.48186078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54577952299999 meters 0.01588333060212616 Centerline is valid? [True, True] Translation: X:52.95, Y:-10.27, Z:-3.49 [[ 9.46599925e-01 3.13946969e-01 7.33885781e-02 5.29510677e+01] [-3.12952170e-01 9.49440276e-01 -2.49820305e-02 -1.02744832e+01] [-7.75211046e-02 6.80873396e-04 9.96990479e-01 -3.48951009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.575779522999994 meters 0.015616736492726411 Centerline is valid? [True, True] Translation: X:52.98, Y:-10.28, Z:-3.50 [[ 9.46281775e-01 3.14847609e-01 7.36327807e-02 5.29821130e+01] [-3.13847234e-01 9.49142027e-01 -2.50863867e-02 -1.02837091e+01] [-7.77863556e-02 6.29346000e-04 9.96969853e-01 -3.49521660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.605779522999995 meters 0.015309996647715448 Centerline is valid? [True, True] Translation: X:53.01, Y:-10.30, Z:-3.50 [[ 9.45098307e-01 3.17720402e-01 7.64391037e-02 5.30110084e+01] [-3.16649578e-01 9.48184349e-01 -2.60669290e-02 -1.02970418e+01] [-8.07603570e-02 4.31400595e-04 9.96733454e-01 -3.49597562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.635779523 meters 0.015074916095577255 Centerline is valid? [True, True] Translation: X:53.04, Y:-10.31, Z:-3.49 [[ 9.44295137e-01 3.19695790e-01 7.81107981e-02 5.30414054e+01] [-3.18582507e-01 9.47520194e-01 -2.66583506e-02 -1.03118755e+01] [-8.25341211e-02 2.88616915e-04 9.96588198e-01 -3.49356665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.665779523 meters 0.015103626212486024 Centerline is valid? [True, True] Translation: X:53.07, Y:-10.33, Z:-3.49 [[ 9.43276708e-01 3.22415252e-01 7.92304121e-02 5.30706316e+01] [-3.21277208e-01 9.46598331e-01 -2.70657697e-02 -1.03264799e+01] [-8.37257928e-02 7.55845255e-05 9.96488829e-01 -3.49077422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69577952299999 meters 0.017861489381553384 Centerline is valid? [True, True] Translation: X:53.10, Y:-10.34, Z:-3.49 [[ 9.41619173e-01 3.27429701e-01 7.83780853e-02 5.31017844e+01] [-3.26331467e-01 9.44875480e-01 -2.67974133e-02 -1.03372856e+01] [-8.28318000e-02 -3.44277409e-04 9.96563482e-01 -3.49383396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72577952299999 meters 0.017938076196782546 Centerline is valid? [True, True] Translation: X:53.13, Y:-10.34, Z:-3.50 [[ 9.40645262e-01 3.30395438e-01 7.76231008e-02 5.31317122e+01] [-3.29326383e-01 9.43842424e-01 -2.65633368e-02 -1.03441764e+01] [-8.20403809e-02 -5.76658165e-04 9.96628839e-01 -3.50009538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.755779522999994 meters 0.01572700926629991 Centerline is valid? [True, True] Translation: X:53.16, Y:-10.35, Z:-3.50 [[ 9.39555842e-01 3.33439876e-01 7.77989046e-02 5.31611355e+01] [-3.32374756e-01 9.42771005e-01 -2.66430913e-02 -1.03519718e+01] [-8.22304205e-02 -8.25719818e-04 9.96613002e-01 -3.50479787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.785779522999995 meters 0.018043158458824836 Centerline is valid? [True, True] Translation: X:53.19, Y:-10.37, Z:-3.51 [[ 9.39088596e-01 3.35066087e-01 7.64416549e-02 5.31885167e+01] [-3.34042420e-01 9.42194158e-01 -2.61883604e-02 -1.03688474e+01] [-8.07977120e-02 -9.41564835e-04 9.96730075e-01 -3.51073433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.815779522999996 meters 0.017456349075438 Centerline is valid? [True, True] Translation: X:53.22, Y:-10.39, Z:-3.51 [[ 9.39189746e-01 3.35008952e-01 7.54428418e-02 5.32170830e+01] [-3.34010137e-01 9.42214509e-01 -2.58659410e-02 -1.03856773e+01] [-7.97486620e-02 -9.05647287e-04 9.96814592e-01 -3.51339645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.845779523 meters 0.015657852828741794 Centerline is valid? [True, True] Translation: X:53.25, Y:-10.40, Z:-3.52 [[ 9.39330940e-01 3.34677791e-01 7.51542506e-02 5.32458510e+01] [-3.33683650e-01 9.42332240e-01 -2.57909071e-02 -1.03994738e+01] [-7.94519171e-02 -8.51547668e-04 9.96838336e-01 -3.51524756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.875779523 meters 0.015333381510741179 Centerline is valid? [True, True] Translation: X:53.27, Y:-10.41, Z:-3.52 [[ 9.39885780e-01 3.33121287e-01 7.51327438e-02 5.32747558e+01] [-3.32120967e-01 9.42883726e-01 -2.58058707e-02 -1.04146502e+01] [-7.94379263e-02 -6.98588621e-04 9.96839570e-01 -3.51778157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90577952299999 meters 0.01503359816902269 Centerline is valid? [True, True] Translation: X:53.30, Y:-10.43, Z:-3.52 [[ 9.40431995e-01 3.31368383e-01 7.60437827e-02 5.33031445e+01] [-3.30336239e-01 9.43501301e-01 -2.61393076e-02 -1.04293453e+01] [-8.04091481e-02 -5.37776036e-04 9.96761797e-01 -3.51963055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.935779522999994 meters 0.01456900342404617 Centerline is valid? [True, True] Translation: X:53.33, Y:-10.45, Z:-3.52 [[ 9.41696077e-01 3.26868088e-01 7.97856586e-02 5.33311298e+01] [-3.25713654e-01 9.45069962e-01 -2.74478152e-02 -1.04482214e+01] [-8.43748443e-02 -1.39778452e-04 9.96434075e-01 -3.51867824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.965779522999995 meters 0.014567445608280874 Centerline is valid? [True, True] Translation: X:53.36, Y:-10.46, Z:-3.52 [[ 9.42223519e-01 3.24964344e-01 8.13204440e-02 5.33600122e+01] [-3.23755958e-01 9.45726267e-01 -2.79983427e-02 -1.04636153e+01] [-8.60053430e-02 5.27186785e-05 9.96294674e-01 -3.51855274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.995779522999996 meters 0.014795179503563446 Centerline is valid? [True, True] Translation: X:53.39, Y:-10.49, Z:-3.52 [[ 9.43565700e-01 3.20838551e-01 8.21364367e-02 5.33855732e+01] [-3.19588673e-01 9.47133793e-01 -2.82958945e-02 -1.04863967e+01] [-8.68726086e-02 4.49160695e-04 9.96219327e-01 -3.51969217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.025779523 meters 0.015080154394739344 Centerline is valid? [True, True] Translation: X:53.41, Y:-10.50, Z:-3.52 [[ 9.44249671e-01 3.19041811e-01 8.12704295e-02 5.34124542e+01] [-3.17809842e-01 9.47740434e-01 -2.80173882e-02 -1.05024930e+01] [-8.59619904e-02 6.26867208e-04 9.96298220e-01 -3.52267850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.055779523 meters 0.017251613983676355 Centerline is valid? [True, True] Translation: X:53.44, Y:-10.52, Z:-3.53 [[ 9.44896841e-01 3.17468950e-01 7.98963426e-02 5.34411834e+01] [-3.16271715e-01 9.48268356e-01 -2.75558960e-02 -1.05175188e+01] [-8.45113148e-02 7.68525822e-04 9.96422223e-01 -3.52883753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08577952299999 meters 0.015429080856479005 Centerline is valid? [True, True] Translation: X:53.47, Y:-10.53, Z:-3.53 [[ 9.44962131e-01 3.17598025e-01 7.86006638e-02 5.34703167e+01] [-3.16437828e-01 9.48225134e-01 -2.71329296e-02 -1.05305518e+01] [-8.31484899e-02 7.67367684e-04 9.96536873e-01 -3.53281412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11577952299999 meters 0.015452038160095825 Centerline is valid? [True, True] Translation: X:53.50, Y:-10.55, Z:-3.54 [[ 9.45302299e-01 3.17635715e-01 7.42368949e-02 5.34988855e+01] [-3.16599499e-01 9.48212531e-01 -2.56466873e-02 -1.05456151e+01] [-7.85386579e-02 7.40508759e-04 9.96910794e-01 -3.54135306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.145779522999995 meters 0.015336587236207691 Centerline is valid? [True, True] Translation: X:53.53, Y:-10.56, Z:-3.54 [[ 9.45368692e-01 3.17803376e-01 7.26570693e-02 5.35281270e+01] [-3.16809693e-01 9.48156358e-01 -2.51224856e-02 -1.05598985e+01] [-7.68742730e-02 7.31547488e-04 9.97040526e-01 -3.54483240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.175779522999996 meters 0.018435980224816406 Centerline is valid? [True, True] Translation: X:53.56, Y:-10.58, Z:-3.55 [[ 9.45563038e-01 3.17240484e-01 7.25879933e-02 5.35565833e+01] [-3.16245304e-01 9.48344789e-01 -2.51210884e-02 -1.05762529e+01] [-7.68078714e-02 7.97960653e-04 9.97045593e-01 -3.54832131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.205779523 meters 0.01805381122526622 Centerline is valid? [True, True] Translation: X:53.58, Y:-10.59, Z:-3.55 [[ 9.45366837e-01 3.17572175e-01 7.36848493e-02 5.35845192e+01] [-3.16545920e-01 9.48233762e-01 -2.55227981e-02 -1.05918672e+01] [-7.79757923e-02 8.03768532e-04 9.96954929e-01 -3.54723849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.235779523 meters 0.017732785190995116 Centerline is valid? [True, True] Translation: X:53.62, Y:-10.60, Z:-3.55 [[ 9.44183145e-01 3.20364687e-01 7.67115077e-02 5.36154331e+01] [-3.19260450e-01 9.47294092e-01 -2.65832301e-02 -1.06012535e+01] [-8.11846862e-02 6.08487390e-04 9.96698890e-01 -3.54565889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26577952299999 meters 0.014716852936099933 Centerline is valid? [True, True] Translation: X:53.65, Y:-10.61, Z:-3.55 [[ 9.42096181e-01 3.25606987e-01 8.02176742e-02 5.36475237e+01] [-3.24416310e-01 9.45505185e-01 -2.78209012e-02 -1.06075154e+01] [-8.49049068e-02 1.86042952e-04 9.96389042e-01 -3.54542486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29577952299999 meters 0.014703098982755573 Centerline is valid? [True, True] Translation: X:53.68, Y:-10.61, Z:-3.55 [[ 9.41244344e-01 3.28311072e-01 7.91891764e-02 5.36780366e+01] [-3.27158556e-01 9.44569658e-01 -2.74852850e-02 -1.06145839e+01] [-8.38234167e-02 -3.70475357e-05 9.96480624e-01 -3.55034674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.325779522999994 meters 0.015023749481660994 Centerline is valid? [True, True] Translation: X:53.71, Y:-10.62, Z:-3.56 [[ 9.39381747e-01 3.34584123e-01 7.49359627e-02 5.37099301e+01] [-3.33570541e-01 9.42365729e-01 -2.60293507e-02 -1.06172039e+01] [-7.93260907e-02 -5.44932642e-04 9.96848571e-01 -3.56151512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.355779522999995 meters 0.01527355399303537 Centerline is valid? [True, True] Translation: X:53.74, Y:-10.63, Z:-3.57 [[ 9.38829870e-01 3.36594511e-01 7.28190256e-02 5.37390127e+01] [-3.35641942e-01 9.41649446e-01 -2.53141779e-02 -1.06260845e+01] [-7.70906084e-02 -6.75412787e-04 9.97023862e-01 -3.56618191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.385779523 meters 0.01527355399303537 Centerline is valid? [True, True] Translation: X:53.77, Y:-10.64, Z:-3.57 [[ 9.38738485e-01 3.36849921e-01 7.28161202e-02 5.37694808e+01] [-3.35897472e-01 9.41558101e-01 -2.53225328e-02 -1.06367803e+01] [-7.70905010e-02 -6.87514613e-04 9.97023862e-01 -3.56881752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.415779523 meters 0.016710387595623485 Centerline is valid? [True, True] Translation: X:53.80, Y:-10.65, Z:-3.57 [[ 9.38566875e-01 3.37501460e-01 7.20068516e-02 5.37981934e+01] [-3.36570338e-01 9.41324735e-01 -2.50629186e-02 -1.06500423e+01] [-7.62406021e-02 -7.12145226e-04 9.97089195e-01 -3.57031222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44577952299999 meters 0.015343357133088112 Centerline is valid? [True, True] Translation: X:53.83, Y:-10.66, Z:-3.57 [[ 9.38547526e-01 3.37292855e-01 7.32261635e-02 5.38273101e+01] [-3.36327602e-01 9.41399521e-01 -2.55085585e-02 -1.06643083e+01] [-7.75389297e-02 -6.86985459e-04 9.96989088e-01 -3.56627100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47577952299999 meters 0.01486621226595206 Centerline is valid? [True, True] Translation: X:53.86, Y:-10.68, Z:-3.56 [[ 9.40359688e-01 3.31042434e-01 7.83234618e-02 5.38563571e+01] [-3.29914373e-01 9.43615854e-01 -2.73061487e-02 -1.06822884e+01] [-8.29467542e-02 -1.62434362e-04 9.96553967e-01 -3.55955559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.505779522999994 meters 0.014949347377775155 Centerline is valid? [True, True] Translation: X:53.89, Y:-10.69, Z:-3.56 [[ 9.41479598e-01 3.27394407e-01 8.01814752e-02 5.38860909e+01] [-3.26198123e-01 9.44887757e-01 -2.79626837e-02 -1.06929477e+01] [-8.49173205e-02 1.71249466e-04 9.96387986e-01 -3.56124353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.535779522999995 meters 0.015695154182944634 Centerline is valid? [True, True] Translation: X:53.92, Y:-10.70, Z:-3.57 [[ 9.42770122e-01 3.23522329e-01 8.07328888e-02 5.39160075e+01] [-3.22293274e-01 9.46220378e-01 -2.81787387e-02 -1.07025926e+01] [-8.55075557e-02 5.46405876e-04 9.96337372e-01 -3.56716383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.565779522999996 meters 0.015374980655111246 Centerline is valid? [True, True] Translation: X:53.95, Y:-10.71, Z:-3.57 [[ 9.43663917e-01 3.21105959e-01 7.99335662e-02 5.39454215e+01] [-3.19890714e-01 9.47042955e-01 -2.79208384e-02 -1.07117285e+01] [-8.46660684e-02 7.77882178e-04 9.96409079e-01 -3.57360646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.595779523 meters 0.015838397902765203 Centerline is valid? [True, True] Translation: X:53.97, Y:-10.72, Z:-3.58 [[ 9.45050669e-01 3.18165730e-01 7.51651590e-02 5.39736282e+01] [-3.17081271e-01 9.48034594e-01 -2.62655123e-02 -1.07237516e+01] [-7.96159569e-02 9.88775834e-04 9.96825121e-01 -3.58320834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.625779523 meters 0.01594915188994471 Centerline is valid? [True, True] Translation: X:54.00, Y:-10.74, Z:-3.59 [[ 9.45334292e-01 3.17974698e-01 7.23544576e-02 5.40033076e+01] [-3.16968080e-01 9.48098689e-01 -2.53004360e-02 -1.07366792e+01] [-7.66440649e-02 9.83316294e-04 9.97058033e-01 -3.58613988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65577952299999 meters 0.018165800890429042 Centerline is valid? [True, True] Translation: X:54.03, Y:-10.75, Z:-3.59 [[ 9.45399753e-01 3.18266726e-01 7.01826101e-02 5.40314427e+01] [-3.17319161e-01 9.48000734e-01 -2.45592708e-02 -1.07508377e+01] [-7.43495646e-02 9.48041533e-04 9.97231790e-01 -3.58529996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.685779522999994 meters 0.01644093881337875 Centerline is valid? [True, True] Translation: X:54.06, Y:-10.76, Z:-3.59 [[ 9.45324229e-01 3.18588261e-01 6.97396723e-02 5.40631574e+01] [-3.17652273e-01 9.47892742e-01 -2.44209571e-02 -1.07604483e+01] [-7.38859594e-02 9.32756976e-04 9.97266261e-01 -3.58543724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.715779522999995 meters 0.017533421528745374 Centerline is valid? [True, True] Translation: X:54.09, Y:-10.77, Z:-3.59 [[ 9.45727398e-01 3.17506685e-01 6.92040011e-02 5.40941137e+01] [-3.16580627e-01 9.48255475e-01 -2.42540902e-02 -1.07676028e+01] [-7.33239087e-02 1.02911154e-03 9.97307648e-01 -3.58977292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.745779522999996 meters 0.016452251645711492 Centerline is valid? [True, True] Translation: X:54.13, Y:-10.77, Z:-3.59 [[ 9.46011866e-01 3.16508913e-01 6.98831724e-02 5.41256410e+01] [-3.15560450e-01 9.48588857e-01 -2.45108798e-02 -1.07741729e+01] [-7.40483105e-02 1.13521782e-03 9.97254009e-01 -3.59348080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.775779523 meters 0.019183760658053804 Centerline is valid? [True, True] Translation: X:54.15, Y:-10.79, Z:-3.60 [[ 9.46868919e-01 3.13755417e-01 7.06879714e-02 5.41543497e+01] [-3.12775812e-01 9.49502828e-01 -2.48127161e-02 -1.07850091e+01] [-7.49035529e-02 1.38490204e-03 9.97189821e-01 -3.59856584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.805779523 meters 0.019921400172309565 Centerline is valid? [True, True] Translation: X:54.18, Y:-10.80, Z:-3.60 [[ 9.48849726e-01 3.07283419e-01 7.25334254e-02 5.41816159e+01] [-3.06231552e-01 9.51616017e-01 -2.54792665e-02 -1.08007004e+01] [-7.68533255e-02 1.96397158e-03 9.97040475e-01 -3.59986299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83577952299999 meters 0.021820460458248765 Centerline is valid? [True, True] Translation: X:54.21, Y:-10.82, Z:-3.60 [[ 9.50195347e-01 3.02976959e-01 7.30326296e-02 5.42096662e+01] [-3.01896477e-01 9.52994996e-01 -2.56720622e-02 -1.08153646e+01] [-7.73777739e-02 2.34518042e-03 9.96999087e-01 -3.60153421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86577952299999 meters 0.02119152823551219 Centerline is valid? [True, True] Translation: X:54.24, Y:-10.83, Z:-3.60 [[ 9.51643338e-01 2.98248214e-01 7.36407468e-02 5.42397502e+01] [-2.97134969e-01 9.54484358e-01 -2.58924788e-02 -1.08259505e+01] [-7.80113265e-02 2.75916397e-03 9.96948655e-01 -3.60107415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.895779522999995 meters 0.025298893286201156 Centerline is valid? [True, True] Translation: X:54.27, Y:-10.84, Z:-3.60 [[ 9.54155320e-01 2.89595663e-01 7.56437584e-02 5.42677875e+01] [-2.88393341e-01 9.57142429e-01 -2.66017319e-02 -1.08429396e+01] [-8.01055968e-02 3.56702773e-03 9.96780001e-01 -3.59729985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.925779522999996 meters 0.02843248790035652 Centerline is valid? [True, True] Translation: X:54.30, Y:-10.86, Z:-3.60 [[ 9.55001808e-01 2.86849231e-01 7.54258930e-02 5.42956990e+01] [-2.85644881e-01 9.57968237e-01 -2.65303427e-02 -1.08571060e+01] [-7.98658182e-02 3.79150500e-03 9.96798413e-01 -3.59829583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.955779523 meters 0.02906705152465533 Centerline is valid? [True, True] Translation: X:54.33, Y:-10.87, Z:-3.60 [[ 9.55537551e-01 2.85046719e-01 7.54742123e-02 5.43259189e+01] [-2.83833776e-01 9.58505435e-01 -2.65653530e-02 -1.08663702e+01] [-7.99148094e-02 3.96206175e-03 9.96793823e-01 -3.60079657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.985779523 meters 0.029587677502066794 Centerline is valid? [True, True] Translation: X:54.35, Y:-10.88, Z:-3.60 [[ 9.55749779e-01 2.84188052e-01 7.60231018e-02 5.43549177e+01] [-2.82953140e-01 9.58759872e-01 -2.67773761e-02 -1.08758851e+01] [-8.04977097e-02 4.08149587e-03 9.96746437e-01 -3.60275832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01577952299999 meters 0.027315695311515942 Centerline is valid? [True, True] Translation: X:54.39, Y:-10.88, Z:-3.61 [[ 9.56786402e-01 2.80686227e-01 7.59935719e-02 5.43880107e+01] [-2.79440517e-01 9.59789574e-01 -2.67763177e-02 -1.08757664e+01] [-8.04535817e-02 4.38353369e-03 9.96748718e-01 -3.60990053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.04577952299999 meters 0.026452517019575874 Centerline is valid? [True, True] Translation: X:54.42, Y:-10.89, Z:-3.61 [[ 9.57191653e-01 2.79863408e-01 7.38959605e-02 5.44182780e+01] [-2.78681851e-01 9.60029993e-01 -2.60545283e-02 -1.08853979e+01] [-7.82340475e-02 4.34571395e-03 9.96925548e-01 -3.61407691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.075779522999994 meters 0.028402593526972286 Centerline is valid? [True, True] Translation: X:54.45, Y:-10.90, Z:-3.62 [[ 9.57894772e-01 2.77888321e-01 7.22197113e-02 5.44463015e+01] [-2.76752724e-01 9.60603202e-01 -2.54836700e-02 -1.08971761e+01] [-7.64561002e-02 4.42367237e-03 9.97063135e-01 -3.61833816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.105779522999995 meters 0.03270267553686904 Centerline is valid? [True, True] Translation: X:54.47, Y:-10.91, Z:-3.62 [[ 9.59098158e-01 2.73682301e-01 7.23098997e-02 5.44741418e+01] [-2.72531256e-01 9.61808301e-01 -2.55246256e-02 -1.09103235e+01] [-7.65339001e-02 4.77391365e-03 9.97055551e-01 -3.61812551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.135779523 meters 0.03180396834584879 Centerline is valid? [True, True] Translation: X:54.51, Y:-10.92, Z:-3.62 [[ 9.59533880e-01 2.72075576e-01 7.25921055e-02 5.45052989e+01] [-2.70910447e-01 9.62263270e-01 -2.56306168e-02 -1.09171815e+01] [-7.68261817e-02 4.92748540e-03 9.97032325e-01 -3.61842941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.165779523 meters 0.034902705635454355 Centerline is valid? [True, True] Translation: X:54.53, Y:-10.93, Z:-3.62 [[ 9.59863260e-01 2.70795998e-01 7.30208815e-02 5.45344119e+01] [-2.69611946e-01 9.62623367e-01 -2.58002130e-02 -1.09288534e+01] [-7.72782013e-02 5.07737458e-03 9.96996640e-01 -3.61955796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19577952299999 meters 0.031696257766213085 Centerline is valid? [True, True] Translation: X:54.57, Y:-10.93, Z:-3.62 [[ 9.60141704e-01 2.69577141e-01 7.38652422e-02 5.45676825e+01] [-2.68360427e-01 9.62964465e-01 -2.61174263e-02 -1.09311474e+01] [-7.81702646e-02 5.25392229e-03 9.96926179e-01 -3.62154429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22577952299999 meters 0.032157644897868855 Centerline is valid? [True, True] Translation: X:54.60, Y:-10.94, Z:-3.62 [[ 9.60080163e-01 2.69499519e-01 7.49405722e-02 5.45986660e+01] [-2.68246362e-01 9.62985703e-01 -2.65032974e-02 -1.09400007e+01] [-7.93093255e-02 5.34275423e-03 9.96835737e-01 -3.62223708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.255779522999994 meters 0.030496461412903478 Centerline is valid? [True, True] Translation: X:54.63, Y:-10.94, Z:-3.63 [[ 9.60143040e-01 2.68938042e-01 7.61424525e-02 5.46320002e+01] [-2.67640830e-01 9.63141796e-01 -2.69493435e-02 -1.09414196e+01] [-8.05836821e-02 5.49639542e-03 9.96732692e-01 -3.62609932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.285779522999995 meters 0.03356550856311713 Centerline is valid? [True, True] Translation: X:54.66, Y:-10.95, Z:-3.63 [[ 9.60503654e-01 2.67906423e-01 7.52255215e-02 5.46615698e+01] [-2.66635534e-01 9.63429037e-01 -2.66455166e-02 -1.09506922e+01] [-7.96129567e-02 5.53531900e-03 9.96810482e-01 -3.63260717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.315779522999996 meters 0.031615148295311396 Centerline is valid? [True, True] Translation: X:54.69, Y:-10.96, Z:-3.63 [[ 9.60380589e-01 2.68513068e-01 7.46314706e-02 5.46931953e+01] [-2.67263274e-01 9.63260620e-01 -2.64446600e-02 -1.09581207e+01] [-7.89902934e-02 5.45068698e-03 9.96860484e-01 -3.63427307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.345779523 meters 0.03168319992783014 Centerline is valid? [True, True] Translation: X:54.72, Y:-10.97, Z:-3.64 [[ 9.60553163e-01 2.67750955e-01 7.51468394e-02 5.47246155e+01] [-2.66479836e-01 9.63472046e-01 -2.66479687e-02 -1.09661505e+01] [-7.95368981e-02 5.57167323e-03 9.96816351e-01 -3.63529562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.375779523 meters 0.033624031419444714 Centerline is valid? [True, True] Translation: X:54.76, Y:-10.97, Z:-3.64 [[ 9.61000500e-01 2.66553939e-01 7.36684260e-02 5.47561130e+01] [-2.65327412e-01 9.63803864e-01 -2.61433668e-02 -1.09702594e+01] [-7.79705310e-02 5.57753572e-03 9.96940062e-01 -3.63841970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40577952299999 meters 0.030386941764975327 Centerline is valid? [True, True] Translation: X:54.79, Y:-10.97, Z:-3.64 [[ 9.61058826e-01 2.67130799e-01 7.07606529e-02 5.47888429e+01] [-2.65999639e-01 9.63645554e-01 -2.51284516e-02 -1.09724580e+01] [-7.49007719e-02 5.32761206e-03 9.97176760e-01 -3.64262460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.435779522999994 meters 0.033448182239251764 Centerline is valid? [True, True] Translation: X:54.82, Y:-10.98, Z:-3.65 [[ 9.60906115e-01 2.68185207e-01 6.88195672e-02 5.48172271e+01] [-2.67116675e-01 9.63353773e-01 -2.44579356e-02 -1.09846398e+01] [-7.28568462e-02 5.11892594e-03 9.97329272e-01 -3.64544630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.465779522999995 meters 0.03336290878786748 Centerline is valid? [True, True] Translation: X:54.85, Y:-10.99, Z:-3.64 [[ 9.60863360e-01 2.67580328e-01 7.17103242e-02 5.48501424e+01] [-2.66416835e-01 9.63520416e-01 -2.55044728e-02 -1.09876661e+01] [-7.59188566e-02 5.40147588e-03 9.97099369e-01 -3.64433940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.495779522999996 meters 0.03177242011851574 Centerline is valid? [True, True] Translation: X:54.88, Y:-10.99, Z:-3.64 [[ 9.60349949e-01 2.68744501e-01 7.41914389e-02 5.48814127e+01] [-2.67500674e-01 9.63195710e-01 -2.64085962e-02 -1.09931311e+01] [-7.85580407e-02 5.51523408e-03 9.96894285e-01 -3.64487037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.525779523 meters 0.03157316675153163 Centerline is valid? [True, True] Translation: X:54.91, Y:-11.00, Z:-3.65 [[ 9.60145946e-01 2.69350376e-01 7.46333532e-02 5.49132203e+01] [-2.68093274e-01 9.63026539e-01 -2.65684203e-02 -1.09980074e+01] [-7.90301138e-02 5.50086096e-03 9.96857052e-01 -3.64863289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.555779523 meters 0.03277265409825789 Centerline is valid? [True, True] Translation: X:54.94, Y:-11.00, Z:-3.65 [[ 9.60040834e-01 2.69841525e-01 7.42101612e-02 5.49434097e+01] [-2.68598524e-01 9.62889330e-01 -2.64380673e-02 -1.10042934e+01] [-7.85902608e-02 5.44888433e-03 9.96892111e-01 -3.65320598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.58577952299999 meters 0.0330664678626494 Centerline is valid? [True, True] Translation: X:54.98, Y:-11.00, Z:-3.66 [[ 9.59700874e-01 2.71517028e-01 7.24757651e-02 5.49766970e+01] [-2.70334870e-01 9.62419562e-01 -2.58388245e-02 -1.10037869e+01] [-7.67677749e-02 5.20481593e-03 9.97035415e-01 -3.66119949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61577952299999 meters 0.03378031645783075 Centerline is valid? [True, True] Translation: X:55.01, Y:-11.01, Z:-3.67 [[ 9.59459182e-01 2.72708272e-01 7.11918238e-02 5.50068263e+01] [-2.71570734e-01 9.62083668e-01 -2.53841055e-02 -1.10111347e+01] [-7.54149465e-02 5.02139732e-03 9.97139595e-01 -3.66561666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.645779522999995 meters 0.03019725991432967 Centerline is valid? [True, True] Translation: X:55.04, Y:-11.01, Z:-3.67 [[ 9.59150349e-01 2.73873263e-01 7.08804913e-02 5.50400928e+01] [-2.72747474e-01 9.61753178e-01 -2.52911094e-02 -1.10149225e+01] [-7.50960965e-02 4.92550144e-03 9.97164137e-01 -3.66707527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.675779522999996 meters 0.02870263676696481 Centerline is valid? [True, True] Translation: X:55.07, Y:-11.02, Z:-3.67 [[ 9.58644148e-01 2.75324470e-01 7.20960094e-02 5.50711184e+01] [-2.74162860e-01 9.61338842e-01 -2.57363131e-02 -1.10212214e+01] [-7.63945309e-02 4.90591782e-03 9.97065598e-01 -3.66622966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.705779523 meters 0.027347919589326884 Centerline is valid? [True, True] Translation: X:55.11, Y:-11.02, Z:-3.66 [[ 9.57439787e-01 2.78048492e-01 7.74473333e-02 5.51051498e+01] [-2.76716226e-01 9.60553805e-01 -2.76499189e-02 -1.10208828e+01] [-8.20803490e-02 5.04219871e-03 9.96612960e-01 -3.66114275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.735779523 meters 0.02916746335532207 Centerline is valid? [True, True] Translation: X:55.14, Y:-11.03, Z:-3.66 [[ 9.57089540e-01 2.78465158e-01 8.02294726e-02 5.51384838e+01] [-2.77036305e-01 9.60432299e-01 -2.86476024e-02 -1.10251469e+01] [-8.50323359e-02 5.19184396e-03 9.96364665e-01 -3.66343686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76577952299999 meters 0.03265432791338903 Centerline is valid? [True, True] Translation: X:55.17, Y:-11.03, Z:-3.67 [[ 9.56432030e-01 2.80217936e-01 8.19492510e-02 5.51683212e+01] [-2.78731216e-01 9.59922491e-01 -2.92868674e-02 -1.10333597e+01] [-8.68716347e-02 5.16908369e-03 9.96206103e-01 -3.66513850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79577952299999 meters 0.029827060725042574 Centerline is valid? [True, True] Translation: X:55.20, Y:-11.03, Z:-3.67 [[ 9.55010084e-01 2.85664475e-01 7.96965926e-02 5.52007940e+01] [-2.84277129e-01 9.58318908e-01 -2.84848058e-02 -1.10306799e+01] [-8.45118487e-02 4.54735824e-03 9.96412098e-01 -3.67052129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.825779522999994 meters 0.02622335889524262 Centerline is valid? [True, True] Translation: X:55.23, Y:-11.03, Z:-3.68 [[ 9.54653535e-01 2.87653304e-01 7.67607011e-02 5.52323661e+01] [-2.86372847e-01 9.57725355e-01 -2.74360650e-02 -1.10337279e+01] [-8.14077445e-02 4.20975592e-03 9.96671991e-01 -3.67627248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.855779522999995 meters 0.02615732888328475 Centerline is valid? [True, True] Translation: X:55.26, Y:-11.04, Z:-3.68 [[ 9.54370364e-01 2.89203738e-01 7.44204661e-02 5.52627068e+01] [-2.88004822e-01 9.57259400e-01 -2.66019636e-02 -1.10426996e+01] [-7.89330781e-02 3.95467262e-03 9.96872073e-01 -3.68090823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.885779523 meters 0.02709701706629439 Centerline is valid? [True, True] Translation: X:55.30, Y:-11.05, Z:-3.69 [[ 9.54244050e-01 2.89632376e-01 7.43732495e-02 5.52960659e+01] [-2.88434686e-01 9.57129873e-01 -2.66052260e-02 -1.10452666e+01] [-7.88905937e-02 3.93605382e-03 9.96875510e-01 -3.68642778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.915779523 meters 0.02526255062329376 Centerline is valid? [True, True] Translation: X:55.33, Y:-11.05, Z:-3.69 [[ 9.53736024e-01 2.90896677e-01 7.59389176e-02 5.53290396e+01] [-2.89649940e-01 9.56746377e-01 -2.71897399e-02 -1.10491818e+01] [-8.05636893e-02 3.93613152e-03 9.96741691e-01 -3.68723033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94577952299999 meters 0.025590567511459297 Centerline is valid? [True, True] Translation: X:55.36, Y:-11.05, Z:-3.69 [[ 9.53388003e-01 2.91502854e-01 7.79576982e-02 5.53604947e+01] [-2.90189000e-01 9.56561554e-01 -2.79345326e-02 -1.10523298e+01] [-8.27143328e-02 4.00998175e-03 9.96565231e-01 -3.68983503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97577952299999 meters 0.02451435236536567 Centerline is valid? [True, True] Translation: X:55.39, Y:-11.05, Z:-3.69 [[ 9.52106406e-01 2.95186425e-01 7.97393674e-02 5.53931771e+01] [-2.93822848e-01 9.55432142e-01 -2.85929352e-02 -1.10529684e+01] [-8.46258009e-02 3.79426868e-03 9.96405579e-01 -3.69092321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.005779522999994 meters 0.023335044493316172 Centerline is valid? [True, True] Translation: X:55.42, Y:-11.06, Z:-3.69 [[ 9.51289574e-01 2.97845065e-01 7.96019090e-02 5.54234295e+01] [-2.96495127e-01 9.54607603e-01 -2.85475623e-02 -1.10620741e+01] [-8.44913381e-02 3.55542025e-03 9.96417871e-01 -3.69255226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.035779522999995 meters 0.02603826123605472 Centerline is valid? [True, True] Translation: X:55.45, Y:-11.07, Z:-3.70 [[ 9.50723848e-01 2.99931048e-01 7.85208956e-02 5.54517266e+01] [-2.98624310e-01 9.53955077e-01 -2.81643969e-02 -1.10734134e+01] [-8.33527841e-02 3.32831554e-03 9.96514544e-01 -3.69658004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.065779522999996 meters 0.022146858682861877 Centerline is valid? [True, True] Translation: X:55.48, Y:-11.08, Z:-3.70 [[ 9.49307624e-01 3.04436791e-01 7.83152254e-02 5.54825929e+01] [-3.03151909e-01 9.52528040e-01 -2.80936586e-02 -1.10811762e+01] [-8.31501914e-02 2.92811420e-03 9.96532725e-01 -3.69563386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.095779523 meters 0.0191893974547089 Centerline is valid? [True, True] Translation: X:55.52, Y:-11.08, Z:-3.70 [[ 9.46397360e-01 3.12458740e-01 8.18631363e-02 5.55168278e+01] [-3.11084152e-01 9.49928479e-01 -2.93689619e-02 -1.10771082e+01] [-8.69407134e-02 2.32838373e-03 9.96210766e-01 -3.69584660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.125779523 meters 0.021024004992780336 Centerline is valid? [True, True] Translation: X:55.55, Y:-11.08, Z:-3.70 [[ 9.45247780e-01 3.15815323e-01 8.22637018e-02 5.55498725e+01] [-3.14439579e-01 9.48818501e-01 -2.95161474e-02 -1.10781347e+01] [-8.73749739e-02 2.03310898e-03 9.96173419e-01 -3.70212977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15577952299999 meters 0.019160733692006757 Centerline is valid? [True, True] Translation: X:55.58, Y:-11.08, Z:-3.71 [[ 9.43991786e-01 3.19702150e-01 8.16703313e-02 5.55817077e+01] [-3.18358882e-01 9.47516600e-01 -2.93242974e-02 -1.10810884e+01] [-8.67590356e-02 1.68142058e-03 9.96227907e-01 -3.70648692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.185779522999994 meters 0.01551243092999715 Centerline is valid? [True, True] Translation: X:55.61, Y:-11.09, Z:-3.71 [[ 9.41508119e-01 3.28131679e-01 7.67597762e-02 5.56118470e+01] [-3.26973017e-01 9.44631607e-01 -2.75639742e-02 -1.10857426e+01] [-8.15543239e-02 8.53329889e-04 9.96668533e-01 -3.71243147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.215779522999995 meters 0.014935794120213126 Centerline is valid? [True, True] Translation: X:55.64, Y:-11.10, Z:-3.72 [[ 9.40255659e-01 3.32159167e-01 7.47635218e-02 5.56424390e+01] [-3.31072675e-01 9.43223221e-01 -2.68484416e-02 -1.10964595e+01] [-7.94366459e-02 4.92239983e-04 9.96839795e-01 -3.71657965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.245779522999996 meters 0.01819277317728736 Centerline is valid? [True, True] Translation: X:55.67, Y:-11.11, Z:-3.72 [[ 9.39104653e-01 3.35589552e-01 7.39060479e-02 5.56723075e+01] [-3.34537956e-01 9.42008286e-01 -2.65470499e-02 -1.11062002e+01] [-7.85290221e-02 2.06079915e-04 9.96911807e-01 -3.72113946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.275779523 meters 0.017227644890187698 Centerline is valid? [True, True] Translation: X:55.70, Y:-11.11, Z:-3.72 [[ 9.37585909e-01 3.39420700e-01 7.56719949e-02 5.57038264e+01] [-3.38328942e-01 9.40634668e-01 -2.72019927e-02 -1.11148856e+01] [-8.04126212e-02 -9.78209141e-05 9.96761657e-01 -3.72163044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.305779523 meters 0.017227644890187698 Centerline is valid? [True, True] Translation: X:55.73, Y:-11.13, Z:-3.72 [[ 9.37495064e-01 3.39673167e-01 7.56646897e-02 5.57342305e+01] [-3.38580591e-01 9.40543529e-01 -2.72222973e-02 -1.11259182e+01] [-8.04126183e-02 -9.78259948e-05 9.96761657e-01 -3.72427136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33577952299999 meters 0.01510137451067048 Centerline is valid? [True, True] Translation: X:55.77, Y:-11.13, Z:-3.72 [[ 9.35006529e-01 3.45517115e-01 7.98793686e-02 5.57668326e+01] [-3.44318279e-01 9.38412251e-01 -2.87640504e-02 -1.11307451e+01] [-8.48982498e-02 -6.09351831e-04 9.96389440e-01 -3.72243943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36577952299999 meters 0.019213980875607547 Centerline is valid? [True, True] Translation: X:55.80, Y:-11.14, Z:-3.73 [[ 9.34559096e-01 3.46641113e-01 8.02448503e-02 5.57978189e+01] [-3.45433489e-01 9.37997579e-01 -2.89179297e-02 -1.11392025e+01] [-8.52936186e-02 -6.93744380e-04 9.96355618e-01 -3.72769652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.395779522999995 meters 0.019154742971447616 Centerline is valid? [True, True] Translation: X:55.83, Y:-11.15, Z:-3.73 [[ 9.34009515e-01 3.48184841e-01 7.99596288e-02 5.58280717e+01] [-3.46989441e-01 9.37425550e-01 -2.88386346e-02 -1.11507366e+01] [-8.49973744e-02 -8.09587731e-04 9.96380846e-01 -3.73138891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.425779522999996 meters 0.019259813230225402 Centerline is valid? [True, True] Translation: X:55.86, Y:-11.16, Z:-3.73 [[ 9.33476228e-01 3.49678609e-01 7.96680703e-02 5.58569510e+01] [-3.48495258e-01 9.36869268e-01 -2.87581126e-02 -1.11611480e+01] [-8.46946636e-02 -9.18930268e-04 9.96406528e-01 -3.73384266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.455779523 meters 0.016536606034782866 Centerline is valid? [True, True] Translation: X:55.89, Y:-11.18, Z:-3.73 [[ 9.31687363e-01 3.54206543e-01 8.06001420e-02 5.58858725e+01] [-3.53010397e-01 9.35166277e-01 -2.91151906e-02 -1.11764101e+01] [-8.56873257e-02 -1.32643298e-03 9.96321195e-01 -3.73440601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.485779523 meters 0.018294660134287783 Centerline is valid? [True, True] Translation: X:55.92, Y:-11.19, Z:-3.74 [[ 9.31190960e-01 3.55582609e-01 8.02770505e-02 5.59151338e+01] [-3.54399265e-01 9.34643768e-01 -2.90204733e-02 -1.11876915e+01] [-8.53496206e-02 -1.42652526e-03 9.96350043e-01 -3.73981560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51577952299999 meters 0.01723936250821121 Centerline is valid? [True, True] Translation: X:55.95, Y:-11.20, Z:-3.74 [[ 9.30521306e-01 3.57348867e-01 8.01990460e-02 5.59452833e+01] [-3.56172493e-01 9.33969664e-01 -2.90141603e-02 -1.11992208e+01] [-8.52716533e-02 -1.56639979e-03 9.96356508e-01 -3.74226598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54577952299999 meters 0.01763933688056576 Centerline is valid? [True, True] Translation: X:55.97, Y:-11.21, Z:-3.75 [[ 9.30214765e-01 3.58155069e-01 8.01588241e-02 5.59739334e+01] [-3.56981017e-01 9.33660712e-01 -2.90211716e-02 -1.12103324e+01] [-8.52352245e-02 -1.61925630e-03 9.96359541e-01 -3.74531367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.575779522999994 meters 0.01771568176498714 Centerline is valid? [True, True] Translation: X:56.00, Y:-11.23, Z:-3.75 [[ 9.30204528e-01 3.58684739e-01 7.78767877e-02 5.60025179e+01] [-3.57577570e-01 9.33457374e-01 -2.82066024e-02 -1.12288396e+01] [-8.28119396e-02 -1.60908320e-03 9.96563893e-01 -3.74943799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.605779522999995 meters 0.017051727053609154 Centerline is valid? [True, True] Translation: X:56.03, Y:-11.25, Z:-3.75 [[ 9.30274755e-01 3.58927281e-01 7.58952448e-02 5.60310464e+01] [-3.57874768e-01 9.33364211e-01 -2.75118139e-02 -1.12462247e+01] [-8.07126459e-02 -1.56744725e-03 9.96736180e-01 -3.75377616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.635779523 meters 0.019974862764654443 Centerline is valid? [True, True] Translation: X:56.06, Y:-11.26, Z:-3.76 [[ 9.30488115e-01 3.58773716e-01 7.39816760e-02 5.60591848e+01] [-3.57771374e-01 9.33423372e-01 -2.68412490e-02 -1.12601332e+01] [-7.86861601e-02 -1.49306265e-03 9.96898319e-01 -3.75976306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.665779523 meters 0.01808789596293539 Centerline is valid? [True, True] Translation: X:56.09, Y:-11.28, Z:-3.76 [[ 9.30033422e-01 3.59665166e-01 7.53578248e-02 5.60860612e+01] [-3.58626211e-01 9.33080106e-01 -2.73634342e-02 -1.12765098e+01] [-8.01565613e-02 -1.57638280e-03 9.96781040e-01 -3.75867509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69577952299999 meters 0.0186772588643897 Centerline is valid? [True, True] Translation: X:56.11, Y:-11.29, Z:-3.76 [[ 9.30287085e-01 3.58856755e-01 7.60773900e-02 5.61147135e+01] [-3.57793599e-01 9.33391434e-01 -2.76436570e-02 -1.12908902e+01] [-8.09300972e-02 -1.50346614e-03 9.96718646e-01 -3.76249829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72577952299999 meters 0.017575703318673603 Centerline is valid? [True, True] Translation: X:56.14, Y:-11.30, Z:-3.76 [[ 9.30359374e-01 3.58486890e-01 7.69323440e-02 5.61424026e+01] [-3.57396699e-01 9.33533606e-01 -2.79751042e-02 -1.13047363e+01] [-8.18476366e-02 -1.46846537e-03 9.96643772e-01 -3.76311639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.755779522999994 meters 0.016420080975132964 Centerline is valid? [True, True] Translation: X:56.17, Y:-11.32, Z:-3.76 [[ 9.30636602e-01 3.57497361e-01 7.81738581e-02 5.61694593e+01] [-3.56366522e-01 9.33913121e-01 -2.84461795e-02 -1.13231005e+01] [-8.31770258e-02 -1.38549010e-03 9.96533824e-01 -3.76448395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.785779522999995 meters 0.019376609658975582 Centerline is valid? [True, True] Translation: X:56.19, Y:-11.35, Z:-3.77 [[ 9.32157882e-01 3.53301848e-01 7.91169254e-02 5.61938255e+01] [-3.52126562e-01 9.35508845e-01 -2.88112053e-02 -1.13461589e+01] [-8.41936356e-02 -1.00257884e-03 9.96448908e-01 -3.76741161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.815779522999996 meters 0.017772471151779715 Centerline is valid? [True, True] Translation: X:56.22, Y:-11.36, Z:-3.77 [[ 9.32784921e-01 3.51690495e-01 7.89055593e-02 5.62213706e+01] [-3.50514660e-01 9.36115957e-01 -2.87469581e-02 -1.13634668e+01] [-8.39747851e-02 -8.42826272e-04 9.96467523e-01 -3.77041735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.845779523 meters 0.015151532550202856 Centerline is valid? [True, True] Translation: X:56.25, Y:-11.38, Z:-3.77 [[ 9.33042512e-01 3.51011943e-01 7.88814723e-02 5.62500545e+01] [-3.49832592e-01 9.36370673e-01 -2.87597175e-02 -1.13799063e+01] [-8.39573016e-02 -7.61270792e-04 9.96469062e-01 -3.77109056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.875779523 meters 0.015246018778287298 Centerline is valid? [True, True] Translation: X:56.28, Y:-11.40, Z:-3.77 [[ 9.33513065e-01 3.49805308e-01 7.86740354e-02 5.62786653e+01] [-3.48626091e-01 9.36822207e-01 -2.87054138e-02 -1.13960199e+01] [-8.37448897e-02 -6.30942540e-04 9.96487027e-01 -3.77400655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90577952299999 meters 0.017884668061058734 Centerline is valid? [True, True] Translation: X:56.30, Y:-11.41, Z:-3.78 [[ 9.35040595e-01 3.45873982e-01 7.79119609e-02 5.63047836e+01] [-3.44702134e-01 9.38280940e-01 -2.84484793e-02 -1.14137570e+01] [-8.29428968e-02 -2.55936162e-04 9.96554269e-01 -3.77812041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.935779522999994 meters 0.017811474463035395 Centerline is valid? [True, True] Translation: X:56.33, Y:-11.43, Z:-3.78 [[ 9.35970010e-01 3.43418598e-01 7.76131926e-02 5.63341338e+01] [-3.42245675e-01 9.39182446e-01 -2.83589817e-02 -1.14300522e+01] [-8.26319498e-02 -1.96231049e-05 9.96580133e-01 -3.78101275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.965779522999995 meters 0.014427927693800992 Centerline is valid? [True, True] Translation: X:56.36, Y:-11.45, Z:-3.78 [[ 9.36724332e-01 3.41385815e-01 7.74806498e-02 5.63617070e+01] [-3.40207983e-01 9.39923237e-01 -2.83343548e-02 -1.14478562e+01] [-8.24988100e-02 1.81943938e-04 9.96591146e-01 -3.78063296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.995779522999996 meters 0.014694999490220104 Centerline is valid? [True, True] Translation: X:56.39, Y:-11.47, Z:-3.78 [[ 9.37858764e-01 3.38480846e-01 7.64961104e-02 5.63874252e+01] [-3.37321384e-01 9.40973173e-01 -2.79959231e-02 -1.14667370e+01] [-8.14568714e-02 4.52448022e-04 9.96676765e-01 -3.78284329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.025779523 meters 0.01896347236837335 Centerline is valid? [True, True] Translation: X:56.41, Y:-11.49, Z:-3.79 [[ 9.40935739e-01 3.30488837e-01 7.36007051e-02 5.64120199e+01] [-3.29389741e-01 9.43809238e-01 -2.69540572e-02 -1.14923325e+01] [-7.83730404e-02 1.11871854e-03 9.96923475e-01 -3.79121735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.055779523 meters 0.01810608529561504 Centerline is valid? [True, True] Translation: X:56.44, Y:-11.51, Z:-3.79 [[ 9.42118162e-01 3.27107706e-01 7.35793307e-02 5.64379719e+01] [-3.25998495e-01 9.44986018e-01 -2.69519433e-02 -1.15104549e+01] [-7.83476271e-02 1.40516414e-03 9.96925110e-01 -3.79365713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08577952299999 meters 0.018570163767103236 Centerline is valid? [True, True] Translation: X:56.46, Y:-11.53, Z:-3.79 [[ 9.43224773e-01 3.23584516e-01 7.49672527e-02 5.64639547e+01] [-3.22421400e-01 9.46197679e-01 -2.74662126e-02 -1.15293713e+01] [-7.98214816e-02 1.73576563e-03 9.96807664e-01 -3.79462898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11577952299999 meters 0.0192495375767039 Centerline is valid? [True, True] Translation: X:56.49, Y:-11.55, Z:-3.80 [[ 9.45661090e-01 3.16033464e-01 7.64719054e-02 5.64901224e+01] [-3.14796829e-01 9.48744905e-01 -2.80367755e-02 -1.15478115e+01] [-8.14128899e-02 2.44017432e-03 9.96677474e-01 -3.79733955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.145779522999995 meters 0.022493354476988803 Centerline is valid? [True, True] Translation: X:56.52, Y:-11.56, Z:-3.80 [[ 9.46955614e-01 3.12240278e-01 7.60333768e-02 5.65171346e+01] [-3.11004265e-01 9.49999135e-01 -2.78924783e-02 -1.15631552e+01] [-8.09407974e-02 2.76623448e-03 9.96715072e-01 -3.80288095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.175779522999996 meters 0.023537310719098502 Centerline is valid? [True, True] Translation: X:56.55, Y:-11.58, Z:-3.81 [[ 9.47776140e-01 3.09671458e-01 7.63149890e-02 5.65453368e+01] [-3.08416543e-01 9.50838845e-01 -2.80129889e-02 -1.15789679e+01] [-8.12380791e-02 3.01323743e-03 9.96690170e-01 -3.80522436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.205779523 meters 0.023821199071864023 Centerline is valid? [True, True] Translation: X:56.57, Y:-11.60, Z:-3.81 [[ 9.48280692e-01 3.07942236e-01 7.70409525e-02 5.65724307e+01] [-3.06657073e-01 9.51399682e-01 -2.82857830e-02 -1.15950380e+01] [-8.20071249e-02 3.19770887e-03 9.96626613e-01 -3.80572100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.235779523 meters 0.023567220515450762 Centerline is valid? [True, True] Translation: X:56.60, Y:-11.62, Z:-3.80 [[ 9.49332653e-01 3.04502448e-01 7.77545670e-02 5.65984109e+01] [-3.03180149e-01 9.52504950e-01 -2.85677605e-02 -1.16150938e+01] [-8.27605629e-02 3.54666668e-03 9.96563149e-01 -3.80423180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26577952299999 meters 0.025104997913307694 Centerline is valid? [True, True] Translation: X:56.62, Y:-11.63, Z:-3.81 [[ 9.49751248e-01 3.03294689e-01 7.73621217e-02 5.66249615e+01] [-3.01980296e-01 9.52889820e-01 -2.84410359e-02 -1.16319800e+01] [-8.23435934e-02 3.65007299e-03 9.96597316e-01 -3.80565225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29577952299999 meters 0.027009446118226556 Centerline is valid? [True, True] Translation: X:56.65, Y:-11.65, Z:-3.81 [[ 9.50041457e-01 3.02498533e-01 7.69146734e-02 5.66531306e+01] [-3.01196206e-01 9.53142655e-01 -2.82829352e-02 -1.16460577e+01] [-8.18662024e-02 3.70355318e-03 9.96636448e-01 -3.80979351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.325779522999994 meters 0.027340039746143803 Centerline is valid? [True, True] Translation: X:56.68, Y:-11.66, Z:-3.82 [[ 9.49783208e-01 3.03700575e-01 7.53513018e-02 5.66832860e+01] [-3.02453032e-01 9.52760936e-01 -2.77265697e-02 -1.16573786e+01] [-8.02123520e-02 3.54400065e-03 9.96771498e-01 -3.81534442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.355779522999995 meters 0.025597269400132284 Centerline is valid? [True, True] Translation: X:56.71, Y:-11.67, Z:-3.82 [[ 9.49040664e-01 3.06182262e-01 7.46608335e-02 5.67114349e+01] [-3.04964606e-01 9.51967155e-01 -2.74795348e-02 -1.16687441e+01] [-7.94884074e-02 3.31028432e-03 9.96830294e-01 -3.81682607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.385779523 meters 0.026821508824997876 Centerline is valid? [True, True] Translation: X:56.74, Y:-11.68, Z:-3.82 [[ 9.48609476e-01 3.07631769e-01 7.41805708e-02 5.67402943e+01] [-3.06433531e-01 9.51500188e-01 -2.73108509e-02 -1.16813247e+01] [-7.89845125e-02 3.17591771e-03 9.96870784e-01 -3.82176317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.415779523 meters 0.0233599348765597 Centerline is valid? [True, True] Translation: X:56.77, Y:-11.69, Z:-3.82 [[ 9.47979476e-01 3.09535010e-01 7.43168224e-02 5.67711799e+01] [-3.08336645e-01 9.50883183e-01 -2.73803999e-02 -1.16900627e+01] [-7.91418090e-02 3.04145751e-03 9.96858728e-01 -3.82200264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44577952299999 meters 0.023887125001788266 Centerline is valid? [True, True] Translation: X:56.80, Y:-11.70, Z:-3.82 [[ 9.46724496e-01 3.12849794e-01 7.64050681e-02 5.67989664e+01] [-3.11591994e-01 9.49798299e-01 -2.81712808e-02 -1.17041945e+01] [-8.13827831e-02 2.86323411e-03 9.96678807e-01 -3.82130670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47577952299999 meters 0.021120032402669464 Centerline is valid? [True, True] Translation: X:56.83, Y:-11.71, Z:-3.83 [[ 9.46173322e-01 3.14576786e-01 7.61412538e-02 5.68303795e+01] [-3.13332762e-01 9.49228158e-01 -2.80799509e-02 -1.17099008e+01] [-8.11087228e-02 2.71095113e-03 9.96701573e-01 -3.82573812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.505779522999994 meters 0.021026970351106556 Centerline is valid? [True, True] Translation: X:56.86, Y:-11.72, Z:-3.83 [[ 9.45653189e-01 3.16219005e-01 7.57996473e-02 5.68597815e+01] [-3.14989740e-01 9.48682716e-01 -2.79744383e-02 -1.17190832e+01] [-8.07558643e-02 2.57800566e-03 9.96730578e-01 -3.83174974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.535779522999995 meters 0.019786289560403934 Centerline is valid? [True, True] Translation: X:56.89, Y:-11.73, Z:-3.84 [[ 9.45220323e-01 3.17571366e-01 7.55444834e-02 5.68903654e+01] [-3.16353165e-01 9.48231151e-01 -2.78990857e-02 -1.17273111e+01] [-8.04935832e-02 2.47204644e-03 9.96752061e-01 -3.83629919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.565779522999996 meters 0.019270937623071877 Centerline is valid? [True, True] Translation: X:56.92, Y:-11.74, Z:-3.84 [[ 9.44235370e-01 3.20642280e-01 7.48872131e-02 5.69178576e+01] [-3.19453195e-01 9.47197784e-01 -2.76769756e-02 -1.17393748e+01] [-7.98074109e-02 2.21061985e-03 9.96807850e-01 -3.83770971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.595779523 meters 0.0187793207570439 Centerline is valid? [True, True] Translation: X:56.95, Y:-11.75, Z:-3.84 [[ 9.43551919e-01 3.22871058e-01 7.39192597e-02 5.69477122e+01] [-3.21718744e-01 9.46440841e-01 -2.73273473e-02 -1.17517579e+01] [-7.87834159e-02 2.00355954e-03 9.96889743e-01 -3.83941844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62577952299999 meters 0.020696471418670592 Centerline is valid? [True, True] Translation: X:56.98, Y:-11.76, Z:-3.84 [[ 9.43242088e-01 3.24028191e-01 7.28017479e-02 5.69768511e+01] [-3.22912436e-01 9.46045525e-01 -2.69336787e-02 -1.17630844e+01] [-7.76010390e-02 1.89638958e-03 9.96982689e-01 -3.84341756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65577952299999 meters 0.01786430899908905 Centerline is valid? [True, True] Translation: X:57.01, Y:-11.77, Z:-3.84 [[ 9.42004945e-01 3.27212954e-01 7.45544556e-02 5.70071088e+01] [-3.26051153e-01 9.44949110e-01 -2.76011817e-02 -1.17732750e+01] [-7.94816306e-02 1.69188346e-03 9.96834895e-01 -3.84010405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.685779522999994 meters 0.01752156644244577 Centerline is valid? [True, True] Translation: X:57.04, Y:-11.78, Z:-3.84 [[ 9.41644713e-01 3.28189411e-01 7.48127278e-02 5.70374799e+01] [-3.27021005e-01 9.44610523e-01 -2.77168090e-02 -1.17845164e+01] [-7.97652532e-02 1.63405320e-03 9.96812337e-01 -3.84235202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.715779522999995 meters 0.01738808567606977 Centerline is valid? [True, True] Translation: X:57.07, Y:-11.80, Z:-3.85 [[ 9.41264953e-01 3.29422171e-01 7.41708947e-02 5.70677640e+01] [-3.28276004e-01 9.44181485e-01 -2.74988816e-02 -1.17960612e+01] [-7.90895268e-02 1.53520855e-03 9.96866335e-01 -3.84621701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.745779522999996 meters 0.016078948548671642 Centerline is valid? [True, True] Translation: X:57.10, Y:-11.80, Z:-3.85 [[ 9.40728318e-01 3.31046335e-01 7.37465634e-02 5.70992533e+01] [-3.29917410e-01 9.43613460e-01 -2.73521536e-02 -1.18041878e+01] [-7.86430801e-02 1.40067031e-03 9.96901853e-01 -3.85074045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.775779523 meters 0.015299077255320943 Centerline is valid? [True, True] Translation: X:57.13, Y:-11.81, Z:-3.86 [[ 9.39184450e-01 3.35247230e-01 7.44436939e-02 5.71311325e+01] [-3.34109374e-01 9.42129586e-01 -2.76182632e-02 -1.18116378e+01] [-7.93945527e-02 1.06630737e-03 9.96842700e-01 -3.85533236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.805779523 meters 0.015079188476958298 Centerline is valid? [True, True] Translation: X:57.16, Y:-11.82, Z:-3.86 [[ 9.38453696e-01 3.37230373e-01 7.47016463e-02 5.71606621e+01] [-3.36090293e-01 9.41421717e-01 -2.77212039e-02 -1.18222015e+01] [-7.96741841e-02 9.08568105e-04 9.96820545e-01 -3.85800309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83577952299999 meters 0.01788214164524565 Centerline is valid? [True, True] Translation: X:57.19, Y:-11.83, Z:-3.86 [[ 9.38417122e-01 3.37742963e-01 7.28216692e-02 5.71901610e+01] [-3.36659740e-01 9.41237988e-01 -2.70419951e-02 -1.18341117e+01] [-7.76757650e-02 8.60547075e-04 9.96978302e-01 -3.86442733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86577952299999 meters 0.014900494927128268 Centerline is valid? [True, True] Translation: X:57.22, Y:-11.85, Z:-3.87 [[ 9.37921852e-01 3.39808343e-01 6.95189908e-02 5.72200399e+01] [-3.38826047e-01 9.40494467e-01 -2.58276583e-02 -1.18480315e+01] [-7.41586800e-02 6.69480295e-04 9.97246229e-01 -3.86695307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.895779522999995 meters 0.014807729588268252 Centerline is valid? [True, True] Translation: X:57.25, Y:-11.86, Z:-3.87 [[ 9.37688644e-01 3.40550393e-01 6.90321365e-02 5.72496416e+01] [-3.39582237e-01 9.40226056e-01 -2.56684158e-02 -1.18617072e+01] [-7.36472026e-02 6.26894672e-04 9.97284160e-01 -3.86905864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.925779522999996 meters 0.014718556917536122 Centerline is valid? [True, True] Translation: X:57.28, Y:-11.88, Z:-3.87 [[ 9.37417839e-01 3.41221241e-01 6.93964021e-02 5.72790346e+01] [-3.40243015e-01 9.39982823e-01 -2.58260196e-02 -1.18757933e+01] [-7.40438124e-02 5.98130306e-04 9.97254810e-01 -3.87016524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.955779523 meters 0.014605021366641224 Centerline is valid? [True, True] Translation: X:57.31, Y:-11.89, Z:-3.87 [[ 9.37016036e-01 3.42215353e-01 6.99256755e-02 5.73084856e+01] [-3.41223208e-01 9.39621389e-01 -2.60454785e-02 -1.18897700e+01] [-7.46168230e-02 5.44767748e-04 9.97212130e-01 -3.87055213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.985779523 meters 0.014278886726978657 Centerline is valid? [True, True] Translation: X:57.34, Y:-11.90, Z:-3.87 [[ 9.35942420e-01 3.44681106e-01 7.21576159e-02 5.73376886e+01] [-3.43630236e-01 9.38719762e-01 -2.68973934e-02 -1.19009407e+01] [-7.70068034e-02 3.78872912e-04 9.97030495e-01 -3.87162060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01577952299999 meters 0.014052834431119368 Centerline is valid? [True, True] Translation: X:57.37, Y:-11.91, Z:-3.88 [[ 9.35283571e-01 3.46250982e-01 7.31771773e-02 5.73681511e+01] [-3.45173480e-01 9.38141878e-01 -2.72962431e-02 -1.19094590e+01] [-7.81019255e-02 2.70906852e-04 9.96945342e-01 -3.87563178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04577952299999 meters 0.014076344497638093 Centerline is valid? [True, True] Translation: X:57.40, Y:-11.92, Z:-3.88 [[ 9.34951305e-01 3.47284143e-01 7.25243457e-02 5.73983919e+01] [-3.46227359e-01 9.37759928e-01 -2.70727309e-02 -1.19195574e+01] [-7.74123554e-02 2.01772419e-04 9.96999141e-01 -3.88109505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.075779522999994 meters 0.014029428230303616 Centerline is valid? [True, True] Translation: X:57.43, Y:-11.93, Z:-3.89 [[ 9.34930982e-01 3.47596349e-01 7.12799876e-02 5.74289754e+01] [-3.46575481e-01 9.37644252e-01 -2.66212764e-02 -1.19321882e+01] [-7.60887291e-02 1.85160138e-04 9.97101034e-01 -3.88609010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.105779522999995 meters 0.014367505228115404 Centerline is valid? [True, True] Translation: X:57.45, Y:-11.96, Z:-3.89 [[ 9.36043671e-01 3.45311972e-01 6.76896422e-02 5.74533532e+01] [-3.44383995e-01 9.38487881e-01 -2.53013957e-02 -1.19557904e+01] [-7.22627838e-02 3.71981926e-04 9.97385558e-01 -3.88945578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.135779523 meters 0.014869156266373104 Centerline is valid? [True, True] Translation: X:57.48, Y:-11.98, Z:-3.89 [[ 9.37027163e-01 3.42882229e-01 6.64219247e-02 5.74793329e+01] [-3.41981431e-01 9.39378229e-01 -2.48443831e-02 -1.19751350e+01] [-7.09140075e-02 5.64797038e-04 9.97482273e-01 -3.89065827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.165779523 meters 0.015983993372516835 Centerline is valid? [True, True] Translation: X:57.51, Y:-12.00, Z:-3.89 [[ 9.38825921e-01 3.37043004e-01 7.07665389e-02 5.75064364e+01] [-3.36002265e-01 9.41488621e-01 -2.64887515e-02 -1.19959188e+01] [-7.55537395e-02 1.09060917e-03 9.97141135e-01 -3.88899218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19577952299999 meters 0.015983993372516835 Centerline is valid? [True, True] Translation: X:57.54, Y:-12.01, Z:-3.89 [[ 9.38734631e-01 3.37298489e-01 7.07603141e-02 5.75366470e+01] [-3.36257222e-01 9.41397124e-01 -2.65053691e-02 -1.20073253e+01] [-7.55537772e-02 1.08784125e-03 9.97141135e-01 -3.89163216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22577952299999 meters 0.01585398930583315 Centerline is valid? [True, True] Translation: X:57.57, Y:-12.02, Z:-3.89 [[ 9.38922193e-01 3.35684839e-01 7.57681026e-02 5.75671531e+01] [-3.34483416e-01 9.41973421e-01 -2.84063303e-02 -1.20180991e+01] [-8.09071132e-02 1.32816012e-03 9.96720761e-01 -3.89094474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.255779522999994 meters 0.016234556890562322 Centerline is valid? [True, True] Translation: X:57.60, Y:-12.03, Z:-3.89 [[ 9.38822281e-01 3.34989352e-01 7.99678536e-02 5.75963904e+01] [-3.33646240e-01 9.42220738e-01 -3.00044469e-02 -1.20295315e+01] [-8.53985403e-02 1.48786963e-03 9.96345761e-01 -3.89085943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.285779522999995 meters 0.015888336274831938 Centerline is valid? [True, True] Translation: X:57.63, Y:-12.04, Z:-3.89 [[ 9.38510625e-01 3.35528859e-01 8.13522693e-02 5.76275200e+01] [-3.34138868e-01 9.42028758e-01 -3.05456288e-02 -1.20415276e+01] [-8.68851172e-02 1.48444201e-03 9.96217232e-01 -3.89247041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.315779522999996 meters 0.015457414242753681 Centerline is valid? [True, True] Translation: X:57.66, Y:-12.06, Z:-3.90 [[ 9.37871545e-01 3.38285744e-01 7.71992221e-02 5.76550741e+01] [-3.37041660e-01 9.41042690e-01 -2.90099214e-02 -1.20593061e+01] [-8.24614065e-02 1.18822579e-03 9.96593550e-01 -3.89634670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.345779523 meters 0.015794081713432245 Centerline is valid? [True, True] Translation: X:57.68, Y:-12.08, Z:-3.90 [[ 9.37513591e-01 3.39805553e-01 7.48361764e-02 5.76823404e+01] [-3.38639778e-01 9.40495136e-01 -2.81424802e-02 -1.20758177e+01] [-7.99460310e-02 1.04145149e-03 9.96798649e-01 -3.89920610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.37577952299999 meters 0.01534145982258244 Centerline is valid? [True, True] Translation: X:57.71, Y:-12.09, Z:-3.90 [[ 9.37135921e-01 3.41165150e-01 7.33662391e-02 5.77111603e+01] [-3.40047482e-01 9.40002918e-01 -2.76084220e-02 -1.20891345e+01] [-7.83835102e-02 9.24839125e-04 9.96922851e-01 -3.90173440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.40577952299999 meters 0.01554740861878191 Centerline is valid? [True, True] Translation: X:57.74, Y:-12.10, Z:-3.91 [[ 9.36932104e-01 3.41932561e-01 7.23902979e-02 5.77405344e+01] [-3.40845237e-01 9.39724093e-01 -2.72608539e-02 -1.21021443e+01] [-7.73482806e-02 8.67680983e-04 9.97003757e-01 -3.90605843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.435779522999994 meters 0.015405036635754567 Centerline is valid? [True, True] Translation: X:57.77, Y:-12.11, Z:-3.91 [[ 9.36903618e-01 3.42303595e-01 7.09919713e-02 5.77714147e+01] [-3.41257446e-01 9.39589029e-01 -2.67546725e-02 -1.21125925e+01] [-7.58614979e-02 8.40010617e-04 9.97118011e-01 -3.91347885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.465779522999995 meters 0.015397739168322324 Centerline is valid? [True, True] Translation: X:57.80, Y:-12.12, Z:-3.92 [[ 9.36873419e-01 3.42571306e-01 7.00934853e-02 5.78002646e+01] [-3.41550583e-01 9.39491465e-01 -2.64383472e-02 -1.21249139e+01] [-7.49092503e-02 8.28913960e-04 9.97190011e-01 -3.91763472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.495779522999996 meters 0.01733689367261496 Centerline is valid? [True, True] Translation: X:57.83, Y:-12.14, Z:-3.92 [[ 9.36741646e-01 3.43025306e-01 6.96328062e-02 5.78301796e+01] [-3.42018285e-01 9.39325822e-01 -2.62772129e-02 -1.21380378e+01] [-7.44216420e-02 7.99266717e-04 9.97226544e-01 -3.92297072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.525779523 meters 0.014444748623557336 Centerline is valid? [True, True] Translation: X:57.86, Y:-12.15, Z:-3.92 [[ 9.34204470e-01 3.49391400e-01 7.20254000e-02 5.78612216e+01] [-3.48330902e-01 9.36976811e-01 -2.72036491e-02 -1.21476025e+01] [-7.69908506e-02 3.25097968e-04 9.97031746e-01 -3.92093642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.555779523 meters 0.01415990885437956 Centerline is valid? [True, True] Translation: X:57.89, Y:-12.16, Z:-3.92 [[ 9.32683184e-01 3.53087781e-01 7.36959735e-02 5.78923865e+01] [-3.51987296e-01 9.35590197e-01 -2.78554500e-02 -1.21570548e+01] [-7.87846494e-02 4.02633407e-05 9.96891658e-01 -3.92242937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.58577952299999 meters 0.0141984270425593 Centerline is valid? [True, True] Translation: X:57.92, Y:-12.17, Z:-3.92 [[ 9.31368034e-01 3.56183789e-01 7.54101724e-02 5.79233624e+01] [-3.55039828e-01 9.34415896e-01 -2.85246282e-02 -1.21666166e+01] [-8.06244740e-02 -2.06687782e-04 9.96744527e-01 -3.92413935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61577952299999 meters 0.014337736859761075 Centerline is valid? [True, True] Translation: X:57.96, Y:-12.18, Z:-3.93 [[ 9.30347729e-01 3.58591674e-01 7.65840311e-02 5.79554049e+01] [-3.57418017e-01 9.33494430e-01 -2.89915519e-02 -1.21757461e+01] [-8.18868956e-02 -4.00288119e-04 9.96641548e-01 -3.92716958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.645779522999995 meters 0.014624238490252498 Centerline is valid? [True, True] Translation: X:57.99, Y:-12.18, Z:-3.93 [[ 9.28759540e-01 3.62578749e-01 7.70867520e-02 5.79863336e+01] [-3.61401249e-01 9.31952849e-01 -2.92065803e-02 -1.21829774e+01] [-8.24309035e-02 -7.33358410e-04 9.96596512e-01 -3.93050309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.675779522999996 meters 0.01654308467795685 Centerline is valid? [True, True] Translation: X:58.02, Y:-12.20, Z:-3.93 [[ 9.28326657e-01 3.63869353e-01 7.62149080e-02 5.80167909e+01] [-3.62720990e-01 9.31449636e-01 -2.88973980e-02 -1.21961845e+01] [-8.15052258e-02 -8.18521996e-04 9.96672578e-01 -3.93394823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.705779523 meters 0.01760287372623372 Centerline is valid? [True, True] Translation: X:58.05, Y:-12.21, Z:-3.93 [[ 9.28071901e-01 3.64857266e-01 7.45769588e-02 5.80460655e+01] [-3.63759110e-01 9.31063064e-01 -2.82998322e-02 -1.22110990e+01] [-7.97612511e-02 -8.63769108e-04 9.96813622e-01 -3.93466899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.735779523 meters 0.01519243019783827 Centerline is valid? [True, True] Translation: X:58.07, Y:-12.22, Z:-3.93 [[ 9.27831604e-01 3.65741616e-01 7.32228425e-02 5.80742564e+01] [-3.64683934e-01 9.30715993e-01 -2.78095206e-02 -1.22246090e+01] [-7.83207695e-02 -9.00642106e-04 9.96927804e-01 -3.93217914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.76577952299999 meters 0.015061781065736957 Centerline is valid? [True, True] Translation: X:58.10, Y:-12.24, Z:-3.94 [[ 9.27784792e-01 3.66118467e-01 7.19211199e-02 5.81048904e+01] [-3.65098451e-01 9.30567809e-01 -2.73253345e-02 -1.22366280e+01] [-7.69317885e-02 -9.06259644e-04 9.97035947e-01 -3.93714202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79577952299999 meters 0.015138796526439362 Centerline is valid? [True, True] Translation: X:58.14, Y:-12.24, Z:-3.94 [[ 9.27470568e-01 3.66765254e-01 7.26745820e-02 5.81366634e+01] [-3.65723902e-01 9.30313038e-01 -2.76347318e-02 -1.22446127e+01] [-7.77455706e-02 -9.48431296e-04 9.96972781e-01 -3.94305192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.825779522999994 meters 0.015277432952434472 Centerline is valid? [True, True] Translation: X:58.17, Y:-12.25, Z:-3.95 [[ 9.27062054e-01 3.67617088e-01 7.35773458e-02 5.81707368e+01] [-3.66550486e-01 9.29976696e-01 -2.80015347e-02 -1.22466216e+01] [-7.87190596e-02 -1.01065156e-03 9.96896328e-01 -3.95452415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.855779522999995 meters 0.015322238359961118 Centerline is valid? [True, True] Translation: X:58.20, Y:-12.25, Z:-3.96 [[ 9.26692890e-01 3.68653084e-01 7.30423880e-02 5.82012164e+01] [-3.67603365e-01 9.29566437e-01 -2.78209580e-02 -1.22548000e+01] [-7.81540343e-02 -1.06914365e-03 9.96940722e-01 -3.96046810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.885779523 meters 0.015645316496667616 Centerline is valid? [True, True] Translation: X:58.23, Y:-12.27, Z:-3.96 [[ 9.26290539e-01 3.69815617e-01 7.22651096e-02 5.82306329e+01] [-3.68790122e-01 9.29104471e-01 -2.75450071e-02 -1.22658673e+01] [-7.73284103e-02 -1.13597907e-03 9.97005028e-01 -3.96253674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.915779523 meters 0.016090647149840886 Centerline is valid? [True, True] Translation: X:58.26, Y:-12.28, Z:-3.96 [[ 9.25884413e-01 3.70996238e-01 7.14132017e-02 5.82586940e+01] [-3.69996892e-01 9.28633590e-01 -2.72388541e-02 -1.22805183e+01] [-7.64222103e-02 -1.20263225e-03 9.97074821e-01 -3.96043051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.94577952299999 meters 0.01636345405288302 Centerline is valid? [True, True] Translation: X:58.29, Y:-12.30, Z:-3.96 [[ 9.25536977e-01 3.71996322e-01 7.07109647e-02 5.82868706e+01] [-3.71018724e-01 9.28233344e-01 -2.69808514e-02 -1.22978599e+01] [-7.56730527e-02 -1.26331623e-03 9.97131884e-01 -3.95654607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97577952299999 meters 0.016249040076067475 Centerline is valid? [True, True] Translation: X:58.32, Y:-12.31, Z:-3.95 [[ 9.25166683e-01 3.72962454e-01 7.04671319e-02 5.83152438e+01] [-3.71992950e-01 9.27845497e-01 -2.69068572e-02 -1.23143627e+01] [-7.54178585e-02 -1.31994843e-03 9.97151144e-01 -3.95193998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.005779522999994 meters 0.017085445415406023 Centerline is valid? [True, True] Translation: X:58.35, Y:-12.32, Z:-3.96 [[ 9.24819333e-01 3.73813235e-01 7.05185471e-02 5.83464090e+01] [-3.72843277e-01 9.27502983e-01 -2.69463883e-02 -1.23193100e+01] [-7.54790794e-02 -1.37182530e-03 9.97146442e-01 -3.95835878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.035779522999995 meters 0.016520700961099703 Centerline is valid? [True, True] Translation: X:58.38, Y:-12.33, Z:-3.97 [[ 9.24504932e-01 3.74540720e-01 7.07804978e-02 5.83787093e+01] [-3.73564292e-01 9.27209379e-01 -2.70644977e-02 -1.23253746e+01] [-7.57650979e-02 -1.41980496e-03 9.97124683e-01 -3.96766274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.065779522999996 meters 0.01645471995691216 Centerline is valid? [True, True] Translation: X:58.41, Y:-12.33, Z:-3.98 [[ 9.24441138e-01 3.74579582e-01 7.14053220e-02 5.84110063e+01] [-3.73584153e-01 9.27193689e-01 -2.73265969e-02 -1.23292181e+01] [-7.64425492e-02 -1.41406645e-03 9.97072985e-01 -3.98145947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.095779523 meters 0.01625279292016944 Centerline is valid? [True, True] Translation: X:58.44, Y:-12.34, Z:-3.98 [[ 9.24744954e-01 3.73834769e-01 7.13746202e-02 5.84395399e+01] [-3.72836213e-01 9.27494364e-01 -2.73379357e-02 -1.23438185e+01] [-7.64194288e-02 -1.33042503e-03 9.97074872e-01 -3.98372973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12577952299999 meters 0.015877985003515824 Centerline is valid? [True, True] Translation: X:58.47, Y:-12.36, Z:-3.98 [[ 9.25331622e-01 3.72430352e-01 7.11127388e-02 5.84669152e+01] [-3.71433461e-01 9.28059380e-01 -2.72574888e-02 -1.23609707e+01] [-7.61483604e-02 -1.19143430e-03 9.97095787e-01 -3.98279533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15577952299999 meters 0.017555536587476796 Centerline is valid? [True, True] Translation: X:58.49, Y:-12.38, Z:-3.98 [[ 9.26837381e-01 3.68615752e-01 7.13785473e-02 5.84929362e+01] [-3.67598668e-01 9.29581455e-01 -2.73776958e-02 -1.23835189e+01] [-7.64440237e-02 -8.63987057e-04 9.97073500e-01 -3.97956375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.185779522999994 meters 0.014991837996116619 Centerline is valid? [True, True] Translation: X:58.52, Y:-12.40, Z:-3.98 [[ 9.26711663e-01 3.68612854e-01 7.30072452e-02 5.85221434e+01] [-3.67547137e-01 9.29582603e-01 -2.80229389e-02 -1.23972769e+01] [-7.81958805e-02 -8.64419709e-04 9.96937640e-01 -3.97616684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.215779522999995 meters 0.015017315568467528 Centerline is valid? [True, True] Translation: X:58.55, Y:-12.41, Z:-3.98 [[ 9.26559080e-01 3.68782283e-01 7.40803565e-02 5.85522166e+01] [-3.67683806e-01 9.29515394e-01 -2.84561346e-02 -1.24072537e+01] [-7.93529501e-02 -8.71857486e-04 9.96846201e-01 -3.97750256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.245779522999996 meters 0.015318130120184542 Centerline is valid? [True, True] Translation: X:58.58, Y:-12.42, Z:-3.98 [[ 9.25995772e-01 3.70048796e-01 7.48045354e-02 5.85828536e+01] [-3.68930981e-01 9.29011814e-01 -2.87572744e-02 -1.24152108e+01] [-8.01358919e-02 -9.68596078e-04 9.96783477e-01 -3.98031852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.275779523 meters 0.01568081672579759 Centerline is valid? [True, True] Translation: X:58.61, Y:-12.42, Z:-3.99 [[ 9.25029345e-01 3.72774198e-01 7.32127572e-02 5.86137026e+01] [-3.71710345e-01 9.27921362e-01 -2.81667412e-02 -1.24224859e+01] [-7.84355158e-02 -1.15887707e-03 9.96918516e-01 -3.98659052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.305779523 meters 0.01602381578346636 Centerline is valid? [True, True] Translation: X:58.64, Y:-12.43, Z:-3.99 [[ 9.24732821e-01 3.73914234e-01 7.11150875e-02 5.86427886e+01] [-3.72912433e-01 9.27462507e-01 -2.73791030e-02 -1.24341258e+01] [-7.61940137e-02 -1.20134510e-03 9.97092287e-01 -3.99136900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33577952299999 meters 0.01625329366095559 Centerline is valid? [True, True] Translation: X:58.67, Y:-12.45, Z:-4.00 [[ 9.24629036e-01 3.74536450e-01 6.91635226e-02 5.86713412e+01] [-3.73589389e-01 9.27211412e-01 -2.66451724e-02 -1.24463113e+01] [-7.41087958e-02 -1.20185804e-03 9.97249438e-01 -3.99564970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36577952299999 meters 0.016311377647145967 Centerline is valid? [True, True] Translation: X:58.70, Y:-12.46, Z:-4.00 [[ 9.24492048e-01 3.74853804e-01 6.92753886e-02 5.87017033e+01] [-3.73903253e-01 9.27083143e-01 -2.67058680e-02 -1.24594762e+01] [-7.42348412e-02 -1.21293050e-03 9.97240050e-01 -3.99884235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.395779522999995 meters 0.016256893685208797 Centerline is valid? [True, True] Translation: X:58.73, Y:-12.47, Z:-4.00 [[ 9.24473148e-01 3.74655072e-01 7.05901908e-02 5.87315269e+01] [-3.73665730e-01 9.27163492e-01 -2.72356727e-02 -1.24701652e+01] [-7.56526307e-02 -1.19848708e-03 9.97133513e-01 -4.00076647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.425779522999996 meters 0.015886211356619096 Centerline is valid? [True, True] Translation: X:58.76, Y:-12.48, Z:-4.00 [[ 9.24840289e-01 3.73449537e-01 7.21517998e-02 5.87614966e+01] [-3.72410638e-01 9.27649838e-01 -2.78584914e-02 -1.24810969e+01] [-7.73353461e-02 -1.10544252e-03 9.97004525e-01 -4.00257965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.455779523 meters 0.014829868756866017 Centerline is valid? [True, True] Translation: X:58.79, Y:-12.49, Z:-4.00 [[ 9.26302914e-01 3.69380562e-01 7.43028395e-02 5.87909937e+01] [-3.68263930e-01 9.29277897e-01 -2.87100839e-02 -1.24934602e+01] [-7.96529333e-02 -7.68821256e-04 9.96822361e-01 -4.00399615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.485779523 meters 0.01625006650955179 Centerline is valid? [True, True] Translation: X:58.82, Y:-12.51, Z:-4.01 [[ 9.27217039e-01 3.67108887e-01 7.41594786e-02 5.88196136e+01] [-3.65987695e-01 9.30177810e-01 -2.86748765e-02 -1.25071089e+01] [-7.95083035e-02 -5.53622570e-04 9.96834050e-01 -4.00728402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51577952299999 meters 0.014412975757851143 Centerline is valid? [True, True] Translation: X:58.85, Y:-12.52, Z:-4.01 [[ 9.27667970e-01 3.66085527e-01 7.35766624e-02 5.88496969e+01] [-3.64977135e-01 9.30581104e-01 -2.84692899e-02 -1.25220413e+01] [-7.88912467e-02 -4.43751161e-04 9.96883130e-01 -4.00620983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54577952299999 meters 0.017080080790268733 Centerline is valid? [True, True] Translation: X:58.88, Y:-12.54, Z:-4.01 [[ 9.28276067e-01 3.64923282e-01 7.16557165e-02 5.88788235e+01] [-3.63866966e-01 9.31037539e-01 -2.77476548e-02 -1.25370160e+01] [-7.68399272e-02 -3.15664258e-04 9.97043392e-01 -4.01077146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.575779522999994 meters 0.014276475087577237 Centerline is valid? [True, True] Translation: X:58.91, Y:-12.55, Z:-4.01 [[ 9.29157327e-01 3.62977106e-01 7.01019440e-02 5.89068361e+01] [-3.61959002e-01 9.31798049e-01 -2.71675853e-02 -1.25530762e+01] [-7.51820661e-02 -1.31068692e-04 9.97169815e-01 -4.01055451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.605779522999995 meters 0.01428948755710522 Centerline is valid? [True, True] Translation: X:58.94, Y:-12.57, Z:-4.01 [[ 9.29879615e-01 3.61205273e-01 6.96753382e-02 5.89364766e+01] [-3.60193047e-01 9.32486327e-01 -2.70225738e-02 -1.25654898e+01] [-7.47319963e-02 3.11681761e-05 9.97203654e-01 -4.01446115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.635779523 meters 0.014322441555813324 Centerline is valid? [True, True] Translation: X:58.97, Y:-12.58, Z:-4.02 [[ 9.30796010e-01 3.58741011e-01 7.01689073e-02 5.89674427e+01] [-3.57705873e-01 9.33437103e-01 -2.72338584e-02 -1.25773880e+01] [-7.52681634e-02 2.49336460e-04 9.97163297e-01 -4.01818409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.665779523 meters 0.015261796292505053 Centerline is valid? [True, True] Translation: X:59.00, Y:-12.59, Z:-4.02 [[ 9.33275744e-01 3.52147963e-01 7.06271790e-02 5.89956948e+01] [-3.51078598e-01 9.35943993e-01 -2.74346310e-02 -1.25897570e+01] [-7.57641334e-02 8.08384606e-04 9.97125440e-01 -4.02452233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69577952299999 meters 0.016123307787914064 Centerline is valid? [True, True] Translation: X:59.02, Y:-12.60, Z:-4.03 [[ 9.34430638e-01 3.49009575e-01 7.09344737e-02 5.90230750e+01] [-3.47920399e-01 9.37118530e-01 -2.75727638e-02 -1.26035161e+01] [-7.60971683e-02 1.08528487e-03 9.97099816e-01 -4.02701162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72577952299999 meters 0.017271411729132997 Centerline is valid? [True, True] Translation: X:59.05, Y:-12.62, Z:-4.03 [[ 9.35155125e-01 3.46835821e-01 7.20403074e-02 5.90508819e+01] [-3.45705181e-01 9.37924968e-01 -2.80121609e-02 -1.26183447e+01] [-7.72840239e-02 1.29100831e-03 9.97008281e-01 -4.02789201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.755779522999994 meters 0.017617982388366902 Centerline is valid? [True, True] Translation: X:59.08, Y:-12.63, Z:-4.03 [[ 9.35952170e-01 3.44491115e-01 7.29342659e-02 5.90813992e+01] [-3.43323649e-01 9.38788347e-01 -2.83780159e-02 -1.26279366e+01] [-7.82458132e-02 1.52040721e-03 9.96932937e-01 -4.02988018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.785779522999995 meters 0.018684310432179337 Centerline is valid? [True, True] Translation: X:59.11, Y:-12.64, Z:-4.03 [[ 9.37878057e-01 3.39379261e-01 7.21558501e-02 5.91083686e+01] [-3.38219876e-01 9.40647612e-01 -2.80960055e-02 -1.26423577e+01] [-7.74084296e-02 1.94608442e-03 9.96997567e-01 -4.03224093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.815779522999996 meters 0.021330861135689695 Centerline is valid? [True, True] Translation: X:59.14, Y:-12.66, Z:-4.04 [[ 9.39162893e-01 3.36239961e-01 7.01124051e-02 5.91357829e+01] [-3.35136031e-01 9.41773893e-01 -2.73088983e-02 -1.26565433e+01] [-7.52123755e-02 2.15031074e-03 9.97165219e-01 -4.03751759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.845779523 meters 0.02265650388717396 Centerline is valid? [True, True] Translation: X:59.16, Y:-12.67, Z:-4.04 [[ 9.40236551e-01 3.33509401e-01 6.87510606e-02 5.91646374e+01] [-3.32439341e-01 9.42743870e-01 -2.67970171e-02 -1.26708971e+01] [-7.37516980e-02 2.33997764e-03 9.97273890e-01 -4.03995065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87577952299999 meters 0.021041756256433144 Centerline is valid? [True, True] Translation: X:59.19, Y:-12.68, Z:-4.04 [[ 9.40668260e-01 3.32399979e-01 6.82164122e-02 5.91949112e+01] [-3.31343330e-01 9.43135429e-01 -2.65924638e-02 -1.26832641e+01] [-7.31766496e-02 2.41163346e-03 9.97316079e-01 -4.03860617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90577952299999 meters 0.023858489906715356 Centerline is valid? [True, True] Translation: X:59.23, Y:-12.69, Z:-4.04 [[ 9.41526057e-01 3.29665864e-01 6.96354974e-02 5.92257978e+01] [-3.28555691e-01 9.44093816e-01 -2.71665936e-02 -1.26924871e+01] [-7.46983411e-02 2.69891676e-03 9.97202524e-01 -4.04287431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.935779522999994 meters 0.023569857881863877 Centerline is valid? [True, True] Translation: X:59.26, Y:-12.70, Z:-4.04 [[ 9.41369198e-01 3.29492351e-01 7.25177464e-02 5.92562337e+01] [-3.28287282e-01 9.44154001e-01 -2.82963393e-02 -1.27036291e+01] [-7.77913478e-02 2.83064843e-03 9.96965643e-01 -4.04179636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.965779522999995 meters 0.02402400570719231 Centerline is valid? [True, True] Translation: X:59.29, Y:-12.71, Z:-4.05 [[ 9.41746772e-01 3.28091699e-01 7.39517039e-02 5.92877571e+01] [-3.26832337e-01 9.44641032e-01 -2.88780738e-02 -1.27108071e+01] [-7.93324702e-02 3.02602454e-03 9.96843620e-01 -4.04566797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.995779522999996 meters 0.02616709761603305 Centerline is valid? [True, True] Translation: X:59.32, Y:-12.72, Z:-4.05 [[ 9.42749338e-01 3.25373053e-01 7.31851198e-02 5.93161898e+01] [-3.24129927e-01 9.45580180e-01 -2.85992052e-02 -1.27228229e+01] [-7.85078094e-02 3.24039427e-03 9.96908232e-01 -4.05025254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.025779523 meters 0.023790589735512284 Centerline is valid? [True, True] Translation: X:59.35, Y:-12.73, Z:-4.05 [[ 9.42989592e-01 3.24505653e-01 7.39372022e-02 5.93467165e+01] [-3.23233483e-01 9.45877808e-01 -2.89013579e-02 -1.27324638e+01] [-7.93142128e-02 3.35470030e-03 9.96844021e-01 -4.05016144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.055779523 meters 0.026952754843654964 Centerline is valid? [True, True] Translation: X:59.38, Y:-12.74, Z:-4.05 [[ 9.43796201e-01 3.22057368e-01 7.43490585e-02 5.93755412e+01] [-3.20761701e-01 9.46713308e-01 -2.90833776e-02 -1.27431723e+01] [-7.97537592e-02 3.60045081e-03 9.96808093e-01 -4.05427118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08577952299999 meters 0.02493829368959316 Centerline is valid? [True, True] Translation: X:59.41, Y:-12.75, Z:-4.05 [[ 9.43655390e-01 3.21970600e-01 7.64816145e-02 5.94089958e+01] [-3.20598385e-01 9.46742358e-01 -2.99262913e-02 -1.27471733e+01] [-8.20437700e-02 3.72022408e-03 9.96621784e-01 -4.05312942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11577952299999 meters 0.02493829368959316 Centerline is valid? [True, True] Translation: X:59.44, Y:-12.76, Z:-4.06 [[ 9.43567129e-01 3.22230878e-01 7.64744010e-02 5.94390601e+01] [-3.20858024e-01 9.46653813e-01 -2.99447135e-02 -1.27590243e+01] [-8.20438947e-02 3.71742215e-03 9.96621784e-01 -4.05577175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.145779522999995 meters 0.02755382664437152 Centerline is valid? [True, True] Translation: X:59.47, Y:-12.77, Z:-4.06 [[ 9.43467285e-01 3.22698955e-01 7.57289045e-02 5.94680643e+01] [-3.21352353e-01 9.46494567e-01 -2.96765993e-02 -1.27700304e+01] [-8.12536042e-02 3.66323890e-03 9.96686727e-01 -4.06045309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.175779522999996 meters 0.026465718373411145 Centerline is valid? [True, True] Translation: X:59.50, Y:-12.78, Z:-4.06 [[ 9.42828908e-01 3.24773284e-01 7.48061766e-02 5.94978243e+01] [-3.23464335e-01 9.45785570e-01 -2.93339395e-02 -1.27806081e+01] [-8.02774823e-02 3.45975600e-03 9.96766550e-01 -4.05944003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.205779523 meters 0.023407568244710318 Centerline is valid? [True, True] Translation: X:59.53, Y:-12.79, Z:-4.06 [[ 9.41006746e-01 3.30763976e-01 7.14247627e-02 5.95283760e+01] [-3.29587040e-01 9.43709276e-01 -2.80211516e-02 -1.27881405e+01] [-7.66725986e-02 2.82741652e-03 9.97052315e-01 -4.05785025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.235779523 meters 0.0218618159596014 Centerline is valid? [True, True] Translation: X:59.56, Y:-12.79, Z:-4.06 [[ 9.39839914e-01 3.34407107e-01 6.98056134e-02 5.95598035e+01] [-3.33291718e-01 9.42425430e-01 -2.74032752e-02 -1.27942165e+01] [-7.49504352e-02 2.48905901e-03 9.97184154e-01 -4.06191549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.26577952299999 meters 0.020620052478296787 Centerline is valid? [True, True] Translation: X:59.59, Y:-12.80, Z:-4.07 [[ 9.38624679e-01 3.37829841e-01 6.96757521e-02 5.95916161e+01] [-3.36727687e-01 9.41204595e-01 -2.73564450e-02 -1.27972167e+01] [-7.48209615e-02 2.21567956e-03 9.97194522e-01 -4.06786318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29577952299999 meters 0.019735310444772936 Centerline is valid? [True, True] Translation: X:59.63, Y:-12.80, Z:-4.07 [[ 9.37318242e-01 3.40883760e-01 7.23379282e-02 5.96250502e+01] [-3.39704398e-01 9.40103214e-01 -2.84054217e-02 -1.27986269e+01] [-7.76880657e-02 2.05140754e-03 9.96975605e-01 -4.07300871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.325779522999994 meters 0.01861921690467466 Centerline is valid? [True, True] Translation: X:59.66, Y:-12.79, Z:-4.08 [[ 9.35370553e-01 3.45173733e-01 7.70520722e-02 5.96591765e+01] [-3.43849435e-01 9.38537060e-01 -3.02614059e-02 -1.27949761e+01] [-8.27616678e-02 1.81131650e-03 9.96567722e-01 -4.07863194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.355779522999995 meters 0.018528510898857577 Centerline is valid? [True, True] Translation: X:59.69, Y:-12.81, Z:-4.08 [[ 9.34879727e-01 3.46681477e-01 7.62354824e-02 5.96879788e+01] [-3.45389796e-01 9.37981441e-01 -2.99450312e-02 -1.28053061e+01] [-8.18888553e-02 1.66404493e-03 9.96640079e-01 -4.08185395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.385779523 meters 0.020153389336125302 Centerline is valid? [True, True] Translation: X:59.72, Y:-12.82, Z:-4.09 [[ 9.34984642e-01 3.46960072e-01 7.36371391e-02 5.97178083e+01] [-3.45755099e-01 9.37878547e-01 -2.89351417e-02 -1.28170435e+01] [-7.91020318e-02 1.59349673e-03 9.96865251e-01 -4.08750181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.415779523 meters 0.01740805201610676 Centerline is valid? [True, True] Translation: X:59.75, Y:-12.83, Z:-4.08 [[ 9.33962779e-01 3.50103984e-01 7.16988690e-02 5.97474490e+01] [-3.48969210e-01 9.36709921e-01 -2.81960020e-02 -1.28317702e+01] [-7.70325746e-02 1.31331871e-03 9.97027712e-01 -4.08036679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.44577952299999 meters 0.016818664438203464 Centerline is valid? [True, True] Translation: X:59.78, Y:-12.84, Z:-4.08 [[ 9.32930871e-01 3.52656753e-01 7.26168363e-02 5.97790533e+01] [-3.51498793e-01 9.35752063e-01 -2.85775185e-02 -1.28385669e+01] [-7.80294092e-02 1.13611892e-03 9.96950410e-01 -4.08007460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47577952299999 meters 0.016370934525457997 Centerline is valid? [True, True] Translation: X:59.81, Y:-12.84, Z:-4.08 [[ 9.31442965e-01 3.56192447e-01 7.44375101e-02 5.98110795e+01] [-3.54985101e-01 9.34412202e-01 -2.93157853e-02 -1.28422650e+01] [-7.99973790e-02 8.81775023e-04 9.96794684e-01 -4.08175210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.505779522999994 meters 0.017484238550207677 Centerline is valid? [True, True] Translation: X:59.85, Y:-12.84, Z:-4.09 [[ 9.28422884e-01 3.63417288e-01 7.71934185e-02 5.98469668e+01] [-3.62141848e-01 9.31626422e-01 -3.04218837e-02 -1.28393549e+01] [-8.29712668e-02 2.89405745e-04 9.96551898e-01 -4.08731055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.535779522999995 meters 0.017530054426937287 Centerline is valid? [True, True] Translation: X:59.88, Y:-12.85, Z:-4.09 [[ 9.27059035e-01 3.66960108e-01 7.68233305e-02 5.98783937e+01] [-3.65708353e-01 9.30236679e-01 -3.02840191e-02 -1.28497150e+01] [-8.25769068e-02 -1.98601252e-05 9.96584695e-01 -4.09078889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.565779522999996 meters 0.01570700437047892 Centerline is valid? [True, True] Translation: X:59.91, Y:-12.86, Z:-4.09 [[ 9.25814097e-01 3.70364803e-01 7.54862243e-02 5.99079338e+01] [-3.69165643e-01 9.28886336e-01 -2.97809106e-02 -1.28627000e+01] [-8.11479234e-02 -2.95333637e-04 9.96702025e-01 -4.09086177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.595779523 meters 0.015865513766837255 Centerline is valid? [True, True] Translation: X:59.94, Y:-12.88, Z:-4.09 [[ 9.25083562e-01 3.72496446e-01 7.39378170e-02 5.99383434e+01] [-3.71351110e-01 9.28033509e-01 -2.91917868e-02 -1.28760522e+01] [-7.94906086e-02 -4.52048308e-04 9.96835512e-01 -4.09437634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.62577952299999 meters 0.01847002923621037 Centerline is valid? [True, True] Translation: X:59.97, Y:-12.88, Z:-4.10 [[ 9.24245042e-01 3.74748584e-01 7.30383513e-02 5.99698056e+01] [-3.73636168e-01 9.27126269e-01 -2.88599217e-02 -1.28806253e+01] [-7.85309889e-02 -6.16130074e-04 9.96911483e-01 -4.10408768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65577952299999 meters 0.016632346337703708 Centerline is valid? [True, True] Translation: X:60.00, Y:-12.89, Z:-4.11 [[ 9.23150046e-01 3.77163683e-01 7.44415842e-02 6.00021215e+01] [-3.76014171e-01 9.26146256e-01 -2.94356119e-02 -1.28851420e+01] [-8.00458382e-02 -8.17604156e-04 9.96790848e-01 -4.10698553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.685779522999994 meters 0.016976092733852626 Centerline is valid? [True, True] Translation: X:60.03, Y:-12.89, Z:-4.11 [[ 9.22588076e-01 3.78596501e-01 7.41345531e-02 6.00333980e+01] [-3.77459393e-01 9.25561368e-01 -2.93353235e-02 -1.28903393e+01] [-7.97223292e-02 -9.18363758e-04 9.96816687e-01 -4.11293861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.715779522999995 meters 0.019280643544778958 Centerline is valid? [True, True] Translation: X:60.06, Y:-12.91, Z:-4.12 [[ 9.22779250e-01 3.78645363e-01 7.14572958e-02 6.00604670e+01] [-3.77587784e-01 9.25541424e-01 -2.82937680e-02 -1.29103153e+01] [-7.68499914e-02 -8.72499955e-04 9.97042285e-01 -4.11569495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.745779522999996 meters 0.019168203529551047 Centerline is valid? [True, True] Translation: X:60.09, Y:-12.93, Z:-4.11 [[ 9.22900435e-01 3.78193735e-01 7.22792241e-02 6.00871421e+01] [-3.77108379e-01 9.25726106e-01 -2.86434572e-02 -1.29291787e+01] [-7.77435407e-02 -8.22041862e-04 9.96973052e-01 -4.11200971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.775779523 meters 0.016871366340481343 Centerline is valid? [True, True] Translation: X:60.12, Y:-12.95, Z:-4.11 [[ 9.22615731e-01 3.78476199e-01 7.44041591e-02 6.01164720e+01] [-3.77325283e-01 9.25610631e-01 -2.95057638e-02 -1.29462944e+01] [-8.00365100e-02 -8.52088546e-04 9.96791569e-01 -4.10561873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.805779523 meters 0.01682926716318498 Centerline is valid? [True, True] Translation: X:60.15, Y:-12.96, Z:-4.11 [[ 9.22662738e-01 3.78028303e-01 7.60793974e-02 6.01474706e+01] [-3.76821334e-01 9.25793685e-01 -3.01949365e-02 -1.29582264e+01] [-8.18483664e-02 -8.08597207e-04 9.96644466e-01 -4.10615108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.83577952299999 meters 0.01911434709698113 Centerline is valid? [True, True] Translation: X:60.18, Y:-12.96, Z:-4.12 [[ 9.22581681e-01 3.78129492e-01 7.65580170e-02 6.01810554e+01] [-3.76905564e-01 9.25752369e-01 -3.04096700e-02 -1.29573044e+01] [-8.23725586e-02 -7.99738137e-04 9.96601285e-01 -4.11822503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86577952299999 meters 0.017058331398510904 Centerline is valid? [True, True] Translation: X:60.21, Y:-12.97, Z:-4.12 [[ 9.21841855e-01 3.80047374e-01 7.59709661e-02 6.02113171e+01] [-3.78846821e-01 9.24966542e-01 -3.01990305e-02 -1.29664290e+01] [-8.17476641e-02 -9.42628704e-04 9.96652613e-01 -4.12229895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.895779522999995 meters 0.017048091920354915 Centerline is valid? [True, True] Translation: X:60.24, Y:-12.98, Z:-4.13 [[ 9.22029746e-01 3.80000192e-01 7.38985957e-02 6.02399157e+01] [-3.78862602e-01 9.24985975e-01 -2.93951358e-02 -1.29798191e+01] [-7.95253219e-02 -8.94224643e-04 9.96832445e-01 -4.12804508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.925779522999996 meters 0.01694087225630359 Centerline is valid? [True, True] Translation: X:60.27, Y:-13.00, Z:-4.13 [[ 9.22701683e-01 3.78718312e-01 7.20697272e-02 6.02665453e+01] [-3.77630880e-01 9.25511689e-01 -2.86885466e-02 -1.29977130e+01] [-7.75662529e-02 -7.44784336e-04 9.96986922e-01 -4.13064471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.955779523 meters 0.016196029333638652 Centerline is valid? [True, True] Translation: X:60.29, Y:-13.03, Z:-4.13 [[ 9.25306073e-01 3.72608355e-01 7.05101750e-02 6.02905082e+01] [-3.71548406e-01 9.27988669e-01 -2.80858040e-02 -1.30261617e+01] [-7.58976486e-02 -2.09978130e-04 9.97115592e-01 -4.12924852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.985779523 meters 0.016255843187995368 Centerline is valid? [True, True] Translation: X:60.32, Y:-13.04, Z:-4.13 [[ 9.26715252e-01 3.69194184e-01 6.99606743e-02 6.03195705e+01] [-3.68140545e-01 9.29352274e-01 -2.78727504e-02 -1.30418884e+01] [-7.53085690e-02 7.47421797e-05 9.97160275e-01 -4.13314013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.01577952299999 meters 0.01654027647669507 Centerline is valid? [True, True] Translation: X:60.35, Y:-13.06, Z:-4.14 [[ 9.28002543e-01 3.65892182e-01 7.02437918e-02 6.03477481e+01] [-3.64818795e-01 9.30657175e-01 -2.80083886e-02 -1.30551783e+01] [-7.56209392e-02 3.65600355e-04 9.97136570e-01 -4.13932159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04577952299999 meters 0.01688268257424599 Centerline is valid? [True, True] Translation: X:60.38, Y:-13.07, Z:-4.14 [[ 9.29774338e-01 3.60863089e-01 7.27840095e-02 6.03766520e+01] [-3.59693340e-01 9.32618438e-01 -2.90439272e-02 -1.30686397e+01] [-7.83605906e-02 8.24374650e-04 9.96924741e-01 -4.14134215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.075779522999994 meters 0.017412517934959768 Centerline is valid? [True, True] Translation: X:60.40, Y:-13.09, Z:-4.14 [[ 9.30393670e-01 3.59014921e-01 7.39993565e-02 6.04029539e+01] [-3.57798172e-01 9.33331267e-01 -2.95502090e-02 -1.30859646e+01] [-7.96748791e-02 1.01649289e-03 9.96820385e-01 -4.14101128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.105779522999995 meters 0.01765826058940814 Centerline is valid? [True, True] Translation: X:60.43, Y:-13.10, Z:-4.14 [[ 9.31013651e-01 3.57200833e-01 7.49743141e-02 6.04305805e+01] [-3.55944279e-01 9.34026826e-01 -2.99592882e-02 -1.31033241e+01] [-8.07295033e-02 1.20582814e-03 9.96735318e-01 -4.13990002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.135779523 meters 0.021175343957164475 Centerline is valid? [True, True] Translation: X:60.46, Y:-13.12, Z:-4.14 [[ 9.33175709e-01 3.51392696e-01 7.55398525e-02 6.04570167e+01] [-3.50096308e-01 9.36226543e-01 -3.02065486e-02 -1.31234052e+01] [-8.13367755e-02 1.74179391e-03 9.96685153e-01 -4.14346007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.165779523 meters 0.021679386763187564 Centerline is valid? [True, True] Translation: X:60.49, Y:-13.14, Z:-4.15 [[ 9.34184693e-01 3.48736941e-01 7.53757676e-02 6.04859828e+01] [-3.47437078e-01 9.37218570e-01 -3.01467852e-02 -1.31356376e+01] [-8.11568668e-02 1.97432879e-03 9.96699385e-01 -4.14827590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19577952299999 meters 0.020346819590386447 Centerline is valid? [True, True] Translation: X:60.51, Y:-13.15, Z:-4.15 [[ 9.34902328e-01 3.46809841e-01 7.53695626e-02 6.05142638e+01] [-3.45502327e-01 9.37932976e-01 -3.01641198e-02 -1.31481476e+01] [-8.11528118e-02 2.16014651e-03 9.96699330e-01 -4.15029649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22577952299999 meters 0.0236039784291736 Centerline is valid? [True, True] Translation: X:60.54, Y:-13.16, Z:-4.16 [[ 9.36492175e-01 3.42730254e-01 7.42857921e-02 6.05418363e+01] [-3.41446454e-01 9.39430564e-01 -2.97411361e-02 -1.31639790e+01] [-7.99795307e-02 2.48772102e-03 9.96793402e-01 -4.15750036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.255779522999994 meters 0.021535114346866915 Centerline is valid? [True, True] Translation: X:60.57, Y:-13.18, Z:-4.15 [[ 9.36451031e-01 3.42542014e-01 7.56599977e-02 6.05705484e+01] [-3.41209146e-01 9.39499036e-01 -3.02965230e-02 -1.31789957e+01] [-8.14603269e-02 2.55532701e-03 9.96673309e-01 -4.15330004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.285779522999995 meters 0.02323126678808167 Centerline is valid? [True, True] Translation: X:60.60, Y:-13.19, Z:-4.16 [[ 9.37023493e-01 3.41078841e-01 7.51811067e-02 6.05984435e+01] [-3.39756423e-01 9.40030858e-01 -3.01257257e-02 -1.31937015e+01] [-8.09478078e-02 2.68524879e-03 9.96714724e-01 -4.15623635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.315779522999996 meters 0.02298421483592798 Centerline is valid? [True, True] Translation: X:60.63, Y:-13.21, Z:-4.15 [[ 9.37333969e-01 3.40088524e-01 7.57946313e-02 6.06261896e+01] [-3.38739513e-01 9.40389220e-01 -3.03917214e-02 -1.32098759e+01] [-8.16123299e-02 2.81255636e-03 9.96660181e-01 -4.15383820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.345779523 meters 0.02376648587567655 Centerline is valid? [True, True] Translation: X:60.66, Y:-13.22, Z:-4.16 [[ 9.38931093e-01 3.35747930e-01 7.53772468e-02 6.06552262e+01] [-3.34398202e-01 9.41946466e-01 -3.02439699e-02 -1.32210736e+01] [-8.11556816e-02 3.19098796e-03 9.96696329e-01 -4.16052441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37577952299999 meters 0.023523228742018763 Centerline is valid? [True, True] Translation: X:60.69, Y:-13.23, Z:-4.17 [[ 9.39458961e-01 3.34337360e-01 7.50692444e-02 6.06854037e+01] [-3.32992674e-01 9.42447627e-01 -3.01388347e-02 -1.32313965e+01] [-8.08253697e-02 3.31668991e-03 9.96722759e-01 -4.16630268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40577952299999 meters 0.024103390952660342 Centerline is valid? [True, True] Translation: X:60.71, Y:-13.24, Z:-4.17 [[ 9.39705599e-01 3.33742085e-01 7.46297993e-02 6.07140019e+01] [-3.32409549e-01 9.42658409e-01 -2.99835836e-02 -1.32441669e+01] [-8.03571916e-02 3.36808350e-03 9.96760442e-01 -4.17122391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.435779522999994 meters 0.024906707141614533 Centerline is valid? [True, True] Translation: X:60.74, Y:-13.26, Z:-4.17 [[ 9.39157047e-01 3.35654662e-01 7.29382574e-02 6.07415906e+01] [-3.34386227e-01 9.41979847e-01 -2.93226820e-02 -1.32597599e+01] [-7.85486634e-02 3.14905472e-03 9.96905307e-01 -4.17474923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.465779522999995 meters 0.02536539521907215 Centerline is valid? [True, True] Translation: X:60.77, Y:-13.27, Z:-4.18 [[ 9.38556326e-01 3.37504449e-01 7.21302271e-02 6.07715391e+01] [-3.36267893e-01 9.41319216e-01 -2.90178728e-02 -1.32699694e+01] [-7.76912300e-02 2.97982856e-03 9.96973015e-01 -4.18002776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.495779522999996 meters 0.023919288148323746 Centerline is valid? [True, True] Translation: X:60.80, Y:-13.28, Z:-4.18 [[ 9.37548763e-01 3.40063980e-01 7.32038780e-02 6.08019479e+01] [-3.38796366e-01 9.40398046e-01 -2.94709530e-02 -1.32794951e+01] [-7.88627934e-02 2.82924771e-03 9.96881465e-01 -4.17995430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.525779523 meters 0.022699462180050277 Centerline is valid? [True, True] Translation: X:60.83, Y:-13.29, Z:-4.18 [[ 9.35872250e-01 3.44317458e-01 7.47570734e-02 6.08338771e+01] [-3.43008517e-01 9.38849879e-01 -3.01008519e-02 -1.32857132e+01] [-8.05499182e-02 2.52823917e-03 9.96747370e-01 -4.18106791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.555779523 meters 0.02030074832733582 Centerline is valid? [True, True] Translation: X:60.86, Y:-13.30, Z:-4.18 [[ 9.34739411e-01 3.47108255e-01 7.60137668e-02 6.08625789e+01] [-3.45763640e-01 9.37822171e-01 -3.06117753e-02 -1.32975345e+01] [-8.19129957e-02 2.33123611e-03 9.96636758e-01 -4.17862786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58577952299999 meters 0.020109138393714667 Centerline is valid? [True, True] Translation: X:60.89, Y:-13.31, Z:-4.18 [[ 9.34010101e-01 3.48971733e-01 7.64451558e-02 6.08910761e+01] [-3.47616321e-01 9.37130670e-01 -3.08058598e-02 -1.33091767e+01] [-8.23894743e-02 2.19940035e-03 9.96597781e-01 -4.18078104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61577952299999 meters 0.02075931500054331 Centerline is valid? [True, True] Translation: X:60.92, Y:-13.32, Z:-4.19 [[ 9.32438571e-01 3.53001175e-01 7.71263991e-02 6.09209331e+01] [-3.51633499e-01 9.35620991e-01 -3.11005310e-02 -1.33160838e+01] [-8.31396019e-02 1.87910912e-03 9.96536139e-01 -4.18868864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.645779522999995 meters 0.018587601641749368 Centerline is valid? [True, True] Translation: X:60.95, Y:-13.32, Z:-4.19 [[ 9.31053317e-01 3.56544467e-01 7.75613555e-02 6.09512357e+01] [-3.55172901e-01 9.34277020e-01 -3.12835392e-02 -1.33246684e+01] [-8.36177649e-02 1.57895122e-03 9.96496651e-01 -4.18901188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.675779522999996 meters 0.01926259179983704 Centerline is valid? [True, True] Translation: X:60.98, Y:-13.33, Z:-4.20 [[ 9.29906141e-01 3.59849263e-01 7.60465463e-02 6.09819592e+01] [-3.58540872e-01 9.33009593e-01 -3.06845722e-02 -1.33329345e+01] [-8.19939779e-02 1.26797714e-03 9.96632018e-01 -4.19650922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.705779523 meters 0.01702551328173952 Centerline is valid? [True, True] Translation: X:61.01, Y:-13.34, Z:-4.20 [[ 9.28412820e-01 3.63984218e-01 7.45997672e-02 6.10129442e+01] [-3.62736875e-01 9.31404676e-01 -3.01212496e-02 -1.33419722e+01] [-8.04462315e-02 9.04867913e-04 9.96758539e-01 -4.19764497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.735779523 meters 0.01633663774709946 Centerline is valid? [True, True] Translation: X:61.04, Y:-13.35, Z:-4.20 [[ 9.26343400e-01 3.69409086e-01 7.36534598e-02 6.10428393e+01] [-3.68208700e-01 9.29266769e-01 -2.97594712e-02 -1.33501358e+01] [-7.94371316e-02 4.47645110e-04 9.96839777e-01 -4.19931097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.76577952299999 meters 0.016113821033328188 Centerline is valid? [True, True] Translation: X:61.07, Y:-13.36, Z:-4.20 [[ 9.25278985e-01 3.71945379e-01 7.42659805e-02 6.10717250e+01] [-3.70731513e-01 9.28254584e-01 -3.00261991e-02 -1.33622162e+01] [-8.01058428e-02 2.49871669e-04 9.96786332e-01 -4.19859968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.79577952299999 meters 0.016058230793017974 Centerline is valid? [True, True] Translation: X:61.10, Y:-13.38, Z:-4.20 [[ 9.24149779e-01 3.74446696e-01 7.57420492e-02 6.11017603e+01] [-3.73190779e-01 9.27248440e-01 -3.06426719e-02 -1.33751770e+01] [-8.17057442e-02 5.21841264e-05 9.96656495e-01 -4.19744518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.825779522999994 meters 0.016156417671198957 Centerline is valid? [True, True] Translation: X:61.13, Y:-13.39, Z:-4.20 [[ 9.23003270e-01 3.76858769e-01 7.77330785e-02 6.11321634e+01] [-3.75542266e-01 9.26270721e-01 -3.14731293e-02 -1.33872475e+01] [-8.38627994e-02 -1.42255214e-04 9.96477301e-01 -4.19716237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.855779522999995 meters 0.01643260404497185 Centerline is valid? [True, True] Translation: X:61.16, Y:-13.39, Z:-4.20 [[ 9.20925460e-01 3.81678032e-01 7.88554171e-02 6.11636005e+01] [-3.80338588e-01 9.24295169e-01 -3.19530662e-02 -1.33933899e+01] [-8.50814645e-02 -5.65365794e-04 9.96373838e-01 -4.20245780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.885779523 meters 0.016732639478474 Centerline is valid? [True, True] Translation: X:61.19, Y:-13.40, Z:-4.21 [[ 9.20009033e-01 3.83900969e-01 7.87618257e-02 6.11933659e+01] [-3.82570908e-01 9.23373968e-01 -3.19376773e-02 -1.34019775e+01] [-8.49875248e-02 -7.49031613e-04 9.96381734e-01 -4.20816620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.915779523 meters 0.017281296306126775 Centerline is valid? [True, True] Translation: X:61.22, Y:-13.41, Z:-4.22 [[ 9.18800423e-01 3.86873027e-01 7.83265248e-02 6.12231498e+01] [-3.85566667e-01 9.22132454e-01 -3.17817908e-02 -1.34103548e+01] [-8.45229482e-02 -9.98974247e-04 9.96421032e-01 -4.21515742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.94577952299999 meters 0.017183202383044698 Centerline is valid? [True, True] Translation: X:61.25, Y:-13.42, Z:-4.22 [[ 9.18122880e-01 3.88528190e-01 7.80783102e-02 6.12520343e+01] [-3.87234364e-01 9.21436146e-01 -3.17013556e-02 -1.34236910e+01] [-8.42610475e-02 -1.12886487e-03 9.96443075e-01 -4.21835178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97577952299999 meters 0.017439727300628212 Centerline is valid? [True, True] Translation: X:61.28, Y:-13.44, Z:-4.22 [[ 9.17489163e-01 3.90065197e-01 7.78638389e-02 6.12805739e+01] [-3.88782125e-01 9.20786397e-01 -3.16365268e-02 -1.34374889e+01] [-8.40362717e-02 -1.24589825e-03 9.96461917e-01 -4.21869338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.005779522999994 meters 0.017439727300628212 Centerline is valid? [True, True] Translation: X:61.31, Y:-13.45, Z:-4.22 [[ 9.17380497e-01 3.90322143e-01 7.78565912e-02 6.13104655e+01] [-3.89038482e-01 9.20677502e-01 -3.16543533e-02 -1.34497257e+01] [-8.40362069e-02 -1.25012365e-03 9.96461918e-01 -4.22133284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.035779522999995 meters 0.018679368361137153 Centerline is valid? [True, True] Translation: X:61.34, Y:-13.47, Z:-4.22 [[ 9.16845930e-01 3.91700293e-01 7.72296684e-02 6.13389152e+01] [-3.90440049e-01 9.20091886e-01 -3.14243342e-02 -1.34656619e+01] [-8.33673122e-02 -1.34228268e-03 9.96517983e-01 -4.22270598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.065779522999996 meters 0.018399698632454487 Centerline is valid? [True, True] Translation: X:61.37, Y:-13.48, Z:-4.22 [[ 9.15630221e-01 3.94676165e-01 7.64985189e-02 6.13670442e+01] [-3.93448275e-01 9.18818935e-01 -3.11483489e-02 -1.34834354e+01] [-8.25817986e-02 -1.57784066e-03 9.96583041e-01 -4.21701196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.095779523 meters 0.01879800725788211 Centerline is valid? [True, True] Translation: X:61.40, Y:-13.49, Z:-4.22 [[ 9.14977965e-01 3.96180125e-01 7.65286312e-02 6.13970118e+01] [-3.94954715e-01 9.18171247e-01 -3.11822905e-02 -1.34946018e+01] [-8.26201924e-02 -1.69423500e-03 9.96579667e-01 -4.22045662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.12577952299999 meters 0.021087117499782655 Centerline is valid? [True, True] Translation: X:61.43, Y:-13.50, Z:-4.23 [[ 9.14538622e-01 3.97217679e-01 7.64017336e-02 6.14271696e+01] [-3.95998168e-01 9.17722725e-01 -3.11520783e-02 -1.35047093e+01] [-8.24897634e-02 -1.76516780e-03 9.96590349e-01 -4.22984883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15577952299999 meters 0.019284312992008466 Centerline is valid? [True, True] Translation: X:61.46, Y:-13.52, Z:-4.23 [[ 9.13827001e-01 3.98686771e-01 7.72597609e-02 6.14573039e+01] [-3.97443064e-01 9.17085194e-01 -3.15239356e-02 -1.35154093e+01] [-8.34219589e-02 -1.89893257e-03 9.96512504e-01 -4.23155797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.185779522999994 meters 0.020832507327206526 Centerline is valid? [True, True] Translation: X:61.49, Y:-13.53, Z:-4.24 [[ 9.13754041e-01 3.98900488e-01 7.70191800e-02 6.14877760e+01] [-3.97663452e-01 9.16992268e-01 -3.14477201e-02 -1.35267262e+01] [-8.31705035e-02 -1.89223168e-03 9.96533535e-01 -4.24073427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.215779522999995 meters 0.019260972641327524 Centerline is valid? [True, True] Translation: X:61.51, Y:-13.54, Z:-4.24 [[ 9.14112694e-01 3.97861120e-01 7.81313786e-02 6.15145332e+01] [-3.96582092e-01 9.17443888e-01 -3.19273574e-02 -1.35448633e+01] [-8.43838100e-02 -1.80030293e-03 9.96431699e-01 -4.24061640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.245779522999996 meters 0.01861466038554306 Centerline is valid? [True, True] Translation: X:61.54, Y:-13.56, Z:-4.24 [[ 9.14916215e-01 3.96172144e-01 7.73042852e-02 6.15412355e+01] [-3.94912391e-01 9.18174845e-01 -3.16094592e-02 -1.35642462e+01] [-8.35016372e-02 -1.60841336e-03 9.96506342e-01 -4.24091799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.275779523 meters 0.017492438433511105 Centerline is valid? [True, True] Translation: X:61.57, Y:-13.59, Z:-4.24 [[ 9.16845240e-01 3.92051644e-01 7.54341781e-02 6.15660475e+01] [-3.90836556e-01 9.19942448e-01 -3.08654926e-02 -1.35874702e+01] [-8.14959696e-02 -1.18355436e-03 9.96672969e-01 -4.24054096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.305779523 meters 0.017241129916782415 Centerline is valid? [True, True] Translation: X:61.60, Y:-13.60, Z:-4.24 [[ 9.17451577e-01 3.90450910e-01 7.63589611e-02 6.15952714e+01] [-3.89198493e-01 9.20623168e-01 -3.12652516e-02 -1.36021321e+01] [-8.25053746e-02 -1.03443820e-03 9.96590083e-01 -4.24252411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.33577952299999 meters 0.016981994399440585 Centerline is valid? [True, True] Translation: X:61.62, Y:-13.62, Z:-4.24 [[ 9.17853270e-01 3.89151728e-01 7.81428639e-02 6.16243216e+01] [-3.87834601e-01 9.21173200e-01 -3.20040267e-02 -1.36151940e+01] [-8.44375343e-02 -9.31505866e-04 9.96428339e-01 -4.24479276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36577952299999 meters 0.01676488041405649 Centerline is valid? [True, True] Translation: X:61.65, Y:-13.63, Z:-4.25 [[ 9.18202319e-01 3.88067370e-01 7.94242930e-02 6.16534754e+01] [-3.86700666e-01 9.21630639e-01 -3.25508683e-02 -1.36284409e+01] [-8.58317918e-02 -8.25144251e-04 9.96309301e-01 -4.24772333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.395779522999995 meters 0.016266953757494738 Centerline is valid? [True, True] Translation: X:61.68, Y:-13.65, Z:-4.25 [[ 9.19320561e-01 3.85208251e-01 8.04009290e-02 6.16802100e+01] [-3.83794806e-01 9.22829511e-01 -3.29733208e-02 -1.36460343e+01] [-8.68979453e-02 -5.44407241e-04 9.96217070e-01 -4.25161009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.425779522999996 meters 0.01607620485414792 Centerline is valid? [True, True] Translation: X:61.71, Y:-13.66, Z:-4.25 [[ 9.20152356e-01 3.83279839e-01 8.01012295e-02 6.17073959e+01] [-3.81867743e-01 9.23632204e-01 -3.28721439e-02 -1.36635369e+01] [-8.65833052e-02 -3.40695088e-04 9.96244556e-01 -4.25427863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.455779523 meters 0.015834951482639897 Centerline is valid? [True, True] Translation: X:61.73, Y:-13.69, Z:-4.26 [[ 9.22450151e-01 3.78373233e-01 7.69377395e-02 6.17317384e+01] [-3.77051932e-01 9.25653109e-01 -3.15936957e-02 -1.36871196e+01] [-8.31718666e-02 1.34086033e-04 9.96535209e-01 -4.25666836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.485779523 meters 0.01592607020882386 Centerline is valid? [True, True] Translation: X:61.76, Y:-13.70, Z:-4.26 [[ 9.23454542e-01 3.76437422e-01 7.43409409e-02 6.17604514e+01] [-3.75196807e-01 9.26441996e-01 -3.05382354e-02 -1.37028673e+01] [-8.03683043e-02 3.08188603e-04 9.96765188e-01 -4.26182895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.51577952299999 meters 0.01606715098015582 Centerline is valid? [True, True] Translation: X:61.79, Y:-13.72, Z:-4.27 [[ 9.24421535e-01 3.74503984e-01 7.20527030e-02 6.17879464e+01] [-3.73331101e-01 9.27225179e-01 -2.96201873e-02 -1.37167007e+01] [-7.79019587e-02 4.82024092e-04 9.96960908e-01 -4.26796423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54577952299999 meters 0.016889173773440656 Centerline is valid? [True, True] Translation: X:61.81, Y:-13.73, Z:-4.27 [[ 9.26030246e-01 3.70827995e-01 7.03887857e-02 6.18141837e+01] [-3.69696797e-01 9.28701230e-01 -2.89534690e-02 -1.37341974e+01] [-7.61069087e-02 7.89279369e-04 9.97099351e-01 -4.27339514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.575779522999994 meters 0.016665717047162364 Centerline is valid? [True, True] Translation: X:61.84, Y:-13.75, Z:-4.27 [[ 9.26435662e-01 3.69590952e-01 7.15506281e-02 6.18438685e+01] [-3.68416982e-01 9.29194101e-01 -2.94491142e-02 -1.37471305e+01] [-7.73685477e-02 9.22243217e-04 9.97002135e-01 -4.27320564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.605779522999995 meters 0.01684870042245909 Centerline is valid? [True, True] Translation: X:61.87, Y:-13.76, Z:-4.27 [[ 9.26740483e-01 3.68424028e-01 7.35922021e-02 6.18718085e+01] [-3.67176624e-01 9.29657245e-01 -3.03106113e-02 -1.37600065e+01] [-7.95826814e-02 1.06873429e-03 9.96827696e-01 -4.27363658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.635779523 meters 0.017275381317915593 Centerline is valid? [True, True] Translation: X:61.90, Y:-13.77, Z:-4.28 [[ 9.27184426e-01 3.67114933e-01 7.45363493e-02 6.19011375e+01] [-3.65829462e-01 9.30174796e-01 -3.07189454e-02 -1.37724433e+01] [-8.06092171e-02 1.21453517e-03 9.96745042e-01 -4.27574329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.665779523 meters 0.01801576353356939 Centerline is valid? [True, True] Translation: X:61.93, Y:-13.78, Z:-4.28 [[ 9.28791000e-01 3.63062176e-01 7.43850470e-02 6.19314700e+01] [-3.61767270e-01 9.31763571e-01 -3.06771936e-02 -1.37826076e+01] [-8.04470057e-02 1.58262594e-03 9.96757631e-01 -4.28178492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.69577952299999 meters 0.018499890746519167 Centerline is valid? [True, True] Translation: X:61.96, Y:-13.80, Z:-4.29 [[ 9.29456368e-01 3.61581024e-01 7.32804411e-02 6.19600821e+01] [-3.60319203e-01 9.32339156e-01 -3.02286424e-02 -1.37957116e+01] [-7.92523281e-02 1.69185402e-03 9.96853152e-01 -4.28535909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72577952299999 meters 0.01937137033956409 Centerline is valid? [True, True] Translation: X:61.99, Y:-13.81, Z:-4.29 [[ 9.30058116e-01 3.60296348e-01 7.19613993e-02 6.19873411e+01] [-3.59074350e-01 9.32836187e-01 -2.97028415e-02 -1.38112096e+01] [-7.78300226e-02 1.78587609e-03 9.96965044e-01 -4.28735422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.755779522999994 meters 0.019875589295996452 Centerline is valid? [True, True] Translation: X:62.02, Y:-13.83, Z:-4.29 [[ 9.31002448e-01 3.58364739e-01 6.93480702e-02 6.20154343e+01] [-3.57223387e-01 9.33579741e-01 -2.86412135e-02 -1.38274016e+01] [-7.50059544e-02 1.89228734e-03 9.97181290e-01 -4.28598178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.785779522999995 meters 0.019919482828153926 Centerline is valid? [True, True] Translation: X:62.05, Y:-13.84, Z:-4.29 [[ 9.31426576e-01 3.57396255e-01 6.86472883e-02 6.20457977e+01] [-3.56273880e-01 9.33950773e-01 -2.83703500e-02 -1.38380986e+01] [-7.42526448e-02 1.96766220e-03 9.97237521e-01 -4.28897287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.815779522999996 meters 0.02053248570019641 Centerline is valid? [True, True] Translation: X:62.08, Y:-13.85, Z:-4.29 [[ 9.31873856e-01 3.56386341e-01 6.78225078e-02 6.20768167e+01] [-3.55286778e-01 9.34336455e-01 -2.80480727e-02 -1.38473159e+01] [-7.33649915e-02 2.04082544e-03 9.97303070e-01 -4.29401044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.845779523 meters 0.02131606886488788 Centerline is valid? [True, True] Translation: X:62.11, Y:-13.85, Z:-4.30 [[ 9.32911756e-01 3.53677893e-01 6.77318531e-02 6.21094520e+01] [-3.52572664e-01 9.35364526e-01 -2.80307156e-02 -1.38498659e+01] [-7.32678171e-02 2.26978429e-03 9.97309719e-01 -4.30459222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.87577952299999 meters 0.02272392322262551 Centerline is valid? [True, True] Translation: X:62.14, Y:-13.86, Z:-4.31 [[ 9.33431487e-01 3.52442697e-01 6.70060072e-02 6.21396802e+01] [-3.51357613e-01 9.35830459e-01 -2.77341093e-02 -1.38576859e+01] [-7.24809467e-02 2.34482015e-03 9.97367041e-01 -4.31296031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.90577952299999 meters 0.02149151228858261 Centerline is valid? [True, True] Translation: X:62.17, Y:-13.87, Z:-4.31 [[ 9.33701023e-01 3.51710400e-01 6.70983917e-02 6.21694631e+01] [-3.50619161e-01 9.36105727e-01 -2.77897917e-02 -1.38704426e+01] [-7.25851475e-02 2.42137515e-03 9.97359280e-01 -4.31245762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.935779522999994 meters 0.023875076314801628 Centerline is valid? [True, True] Translation: X:62.20, Y:-13.89, Z:-4.32 [[ 9.34284932e-01 3.50241828e-01 6.66507895e-02 6.21964267e+01] [-3.49159957e-01 9.36655873e-01 -2.76242580e-02 -1.38852058e+01] [-7.21040241e-02 2.53714127e-03 9.97393890e-01 -4.31521073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.965779522999995 meters 0.02392878905661695 Centerline is valid? [True, True] Translation: X:62.22, Y:-13.90, Z:-4.31 [[ 9.35127773e-01 3.47785491e-01 6.76853061e-02 6.22245599e+01] [-3.46662655e-01 9.37570018e-01 -2.80618134e-02 -1.39003666e+01] [-7.32192052e-02 2.77741307e-03 9.97312004e-01 -4.30906667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.995779522999996 meters 0.024881765796160946 Centerline is valid? [True, True] Translation: X:62.25, Y:-13.91, Z:-4.31 [[ 9.35495421e-01 3.46533955e-01 6.90111287e-02 6.22539367e+01] [-3.45361872e-01 9.38032793e-01 -2.86296466e-02 -1.39100430e+01] [-7.46558465e-02 2.94909066e-03 9.97204998e-01 -4.31053840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.025779523 meters 0.025343642979908546 Centerline is valid? [True, True] Translation: X:62.29, Y:-13.92, Z:-4.31 [[ 9.35657407e-01 3.45957280e-01 6.97049262e-02 6.22854025e+01] [-3.44758525e-01 9.38245333e-01 -2.89353403e-02 -1.39178257e+01] [-7.54107133e-02 3.04219796e-03 9.97147917e-01 -4.31360768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.055779523 meters 0.026821653923159362 Centerline is valid? [True, True] Translation: X:62.32, Y:-13.92, Z:-4.32 [[ 9.35805012e-01 3.45817218e-01 6.84063607e-02 6.23171865e+01] [-3.44661059e-01 9.38297059e-01 -2.84145009e-02 -1.39240018e+01] [-7.40117107e-02 3.01342364e-03 9.97252819e-01 -4.32217214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.08577952299999 meters 0.0251059261078488 Centerline is valid? [True, True] Translation: X:62.35, Y:-13.93, Z:-4.33 [[ 9.34824993e-01 3.48952386e-01 6.58366496e-02 6.23472680e+01] [-3.47887998e-01 9.37136628e-01 -2.73657092e-02 -1.39290427e+01] [-7.12472653e-02 2.67836864e-03 9.97455088e-01 -4.32827706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.11577952299999 meters 0.024357429954744467 Centerline is valid? [True, True] Translation: X:62.38, Y:-13.94, Z:-4.33 [[ 9.34011950e-01 3.51291663e-01 6.49295340e-02 6.23773901e+01] [-3.50261589e-01 9.36262814e-01 -2.69955913e-02 -1.39403962e+01] [-7.02744344e-02 2.47188317e-03 9.97524633e-01 -4.33066699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.145779522999995 meters 0.023462020982846957 Centerline is valid? [True, True] Translation: X:62.41, Y:-13.95, Z:-4.33 [[ 9.33403143e-01 3.52956581e-01 6.46546611e-02 6.24079428e+01] [-3.51938003e-01 9.35636744e-01 -2.68984202e-02 -1.39506108e+01] [-6.99872511e-02 2.35263758e-03 9.97545112e-01 -4.33207538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.175779522999996 meters 0.02205600449360032 Centerline is valid? [True, True] Translation: X:62.44, Y:-13.96, Z:-4.33 [[ 9.31933269e-01 3.56407653e-01 6.68877237e-02 6.24380097e+01] [-3.55324751e-01 9.34327998e-01 -2.78480440e-02 -1.39590112e+01] [-7.24203290e-02 2.18565483e-03 9.97371806e-01 -4.32915714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.205779523 meters 0.019344125403741648 Centerline is valid? [True, True] Translation: X:62.47, Y:-13.96, Z:-4.33 [[ 9.31084382e-01 3.58492046e-01 6.75672082e-02 6.24720189e+01] [-3.57391974e-01 9.33530529e-01 -2.81376771e-02 -1.39617729e+01] [-7.31631850e-02 2.05057384e-03 9.97317875e-01 -4.33226281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.235779523 meters 0.02126921558127364 Centerline is valid? [True, True] Translation: X:62.50, Y:-13.97, Z:-4.34 [[ 9.30423203e-01 3.60229563e-01 6.74338581e-02 6.25034964e+01] [-3.59137973e-01 9.32861722e-01 -2.80877736e-02 -1.39665749e+01] [-7.30245114e-02 1.91545718e-03 9.97328307e-01 -4.34029336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26577952299999 meters 0.017367242737019728 Centerline is valid? [True, True] Translation: X:62.53, Y:-13.97, Z:-4.34 [[ 9.27595647e-01 3.67430474e-01 6.75363785e-02 6.25345321e+01] [-3.66353172e-01 9.30049984e-01 -2.81492479e-02 -1.39715192e+01] [-7.31550993e-02 1.36895330e-03 9.97319637e-01 -4.33976208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29577952299999 meters 0.018082536479988878 Centerline is valid? [True, True] Translation: X:62.56, Y:-13.98, Z:-4.34 [[ 9.26549999e-01 3.70258102e-01 6.64382213e-02 6.25645995e+01] [-3.69222399e-01 9.28928229e-01 -2.76977643e-02 -1.39830398e+01] [-7.19716609e-02 1.13288410e-03 9.97406034e-01 -4.34175970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.325779522999994 meters 0.015672228035636997 Centerline is valid? [True, True] Translation: X:62.59, Y:-14.00, Z:-4.34 [[ 9.24874672e-01 3.74475957e-01 6.61407449e-02 6.25929263e+01] [-3.73458893e-01 9.27236263e-01 -2.75929123e-02 -1.39964484e+01] [-7.16609793e-02 8.19136400e-04 9.97428711e-01 -4.34027282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.355779522999995 meters 0.015000118126827099 Centerline is valid? [True, True] Translation: X:62.62, Y:-14.01, Z:-4.34 [[ 9.23792161e-01 3.77137018e-01 6.61491720e-02 6.26237381e+01] [-3.76125247e-01 9.26157262e-01 -2.76138505e-02 -1.40055335e+01] [-7.16787413e-02 6.29084996e-04 9.97427572e-01 -4.34238530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.385779523 meters 0.017269068993283756 Centerline is valid? [True, True] Translation: X:62.66, Y:-14.00, Z:-4.35 [[ 9.21869125e-01 3.81501076e-01 6.79282365e-02 6.26576076e+01] [-3.80444414e-01 9.24368341e-01 -2.83763838e-02 -1.40042917e+01] [-7.36163322e-02 3.16393976e-04 9.97286586e-01 -4.35233522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.415779523 meters 0.0141776624435777 Centerline is valid? [True, True] Translation: X:62.69, Y:-14.01, Z:-4.35 [[ 9.20138672e-01 3.85450289e-01 6.90861689e-02 6.26894508e+01] [-3.84366848e-01 9.22728603e-01 -2.88799634e-02 -1.40109807e+01] [-7.48795743e-02 1.91382222e-05 9.97192584e-01 -4.35300431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44577952299999 meters 0.014199626824842783 Centerline is valid? [True, True] Translation: X:62.72, Y:-14.02, Z:-4.36 [[ 9.18748821e-01 3.88705239e-01 6.93458058e-02 6.27210819e+01] [-3.87621431e-01 9.21362135e-01 -2.90076136e-02 -1.40212367e+01] [-7.51680111e-02 -2.29209689e-04 9.97170857e-01 -4.35565223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.47577952299999 meters 0.014752450504029449 Centerline is valid? [True, True] Translation: X:62.75, Y:-14.04, Z:-4.35 [[ 9.16322125e-01 3.94276129e-01 7.00006979e-02 6.27489315e+01] [-3.93186152e-01 9.18991776e-01 -2.93046965e-02 -1.40354063e+01] [-7.58842079e-02 -6.70763282e-04 9.97116411e-01 -4.35161170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.505779522999994 meters 0.01510004051401477 Centerline is valid? [True, True] Translation: X:62.78, Y:-14.05, Z:-4.35 [[ 9.15405642e-01 3.96336202e-01 7.03571270e-02 6.27768092e+01] [-3.95239743e-01 9.18105074e-01 -2.94723183e-02 -1.40488295e+01] [-7.62761821e-02 -8.28806419e-04 9.97086384e-01 -4.35061207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.535779522999995 meters 0.015359336064383139 Centerline is valid? [True, True] Translation: X:62.81, Y:-14.06, Z:-4.35 [[ 9.14920269e-01 3.97486689e-01 7.01800148e-02 6.28064258e+01] [-3.96397761e-01 9.17607493e-01 -2.94160431e-02 -1.40607742e+01] [-7.60901930e-02 -9.05866668e-04 9.97100528e-01 -4.35249499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.565779522999996 meters 0.017812154921766882 Centerline is valid? [True, True] Translation: X:62.84, Y:-14.07, Z:-4.36 [[ 9.14816529e-01 3.97822351e-01 6.96282703e-02 6.28374032e+01] [-3.96750035e-01 9.17462016e-01 -2.92037480e-02 -1.40669102e+01] [-7.54991970e-02 -9.08947346e-04 9.97145448e-01 -4.36388605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.595779523 meters 0.015675831788612912 Centerline is valid? [True, True] Translation: X:62.87, Y:-14.08, Z:-4.37 [[ 9.14288362e-01 3.98986468e-01 6.99041378e-02 6.28677051e+01] [-3.97907458e-01 9.16956279e-01 -2.93400257e-02 -1.40785659e+01] [-7.58053113e-02 -9.90133779e-04 9.97122146e-01 -4.36553302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62577952299999 meters 0.015642802084252203 Centerline is valid? [True, True] Translation: X:62.90, Y:-14.09, Z:-4.37 [[ 9.14306881e-01 3.98884067e-01 7.02454826e-02 6.28976443e+01] [-3.97792496e-01 9.17000855e-01 -2.95053049e-02 -1.40925803e+01] [-7.61843636e-02 -9.66222505e-04 9.97093280e-01 -4.36865728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.65577952299999 meters 0.015141760828948095 Centerline is valid? [True, True] Translation: X:62.92, Y:-14.11, Z:-4.37 [[ 9.14876941e-01 3.97472127e-01 7.08243698e-02 6.29242704e+01] [-3.96356522e-01 9.17613868e-01 -2.97707237e-02 -1.41130742e+01] [-7.68224568e-02 -8.35152309e-04 9.97044439e-01 -4.36759392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.685779522999994 meters 0.017465376255719083 Centerline is valid? [True, True] Translation: X:62.95, Y:-14.13, Z:-4.37 [[ 9.15932087e-01 3.95037748e-01 7.08067128e-02 6.29516201e+01] [-3.93913912e-01 9.18664685e-01 -2.97830062e-02 -1.41296392e+01] [-7.68130382e-02 -6.12538244e-04 9.97045326e-01 -4.37086368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.715779522999995 meters 0.01482214377609379 Centerline is valid? [True, True] Translation: X:62.98, Y:-14.15, Z:-4.37 [[ 9.16335386e-01 3.93993878e-01 7.14022696e-02 6.29793007e+01] [-3.92846309e-01 9.19112922e-01 -3.00535188e-02 -1.41453390e+01] [-7.74676510e-02 -5.11015335e-04 9.96994735e-01 -4.36814351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.745779522999996 meters 0.01429634952033021 Centerline is valid? [True, True] Translation: X:63.01, Y:-14.16, Z:-4.37 [[ 9.18092022e-01 3.89667458e-01 7.25693638e-02 6.30067279e+01] [-3.88467005e-01 9.20955621e-01 -3.05635503e-02 -1.41620880e+01] [-7.87427845e-02 -1.30651763e-04 9.96894958e-01 -4.36758449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.775779523 meters 0.01435834317136506 Centerline is valid? [True, True] Translation: X:63.04, Y:-14.18, Z:-4.37 [[ 9.18676595e-01 3.88203651e-01 7.30153383e-02 6.30365705e+01] [-3.86982175e-01 9.21573614e-01 -3.07712617e-02 -1.41771418e+01] [-7.92345253e-02 1.32034535e-05 9.96856003e-01 -4.36910105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.805779523 meters 0.014336889814608084 Centerline is valid? [True, True] Translation: X:63.07, Y:-14.19, Z:-4.37 [[ 9.19184066e-01 3.86783483e-01 7.41565241e-02 6.30662126e+01] [-3.85516936e-01 9.22170544e-01 -3.12758777e-02 -1.41928377e+01] [-8.04819550e-02 1.59692538e-04 9.96756053e-01 -4.37018118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.83577952299999 meters 0.01659025169219184 Centerline is valid? [True, True] Translation: X:63.09, Y:-14.21, Z:-4.37 [[ 9.20103757e-01 3.84535753e-01 7.44401159e-02 6.30929493e+01] [-3.83250093e-01 9.23110020e-01 -3.14206360e-02 -1.42078831e+01] [-8.07987749e-02 3.81063855e-04 9.96730361e-01 -4.37406813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86577952299999 meters 0.014787778685360358 Centerline is valid? [True, True] Translation: X:63.12, Y:-14.22, Z:-4.38 [[ 9.21087728e-01 3.82353228e-01 7.35078673e-02 6.31209244e+01] [-3.81091765e-01 9.24016059e-01 -3.10385174e-02 -1.42234267e+01] [-7.97901272e-02 5.75954524e-04 9.96811519e-01 -4.37734106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.895779522999995 meters 0.015059664800574517 Centerline is valid? [True, True] Translation: X:63.15, Y:-14.24, Z:-4.38 [[ 9.21754486e-01 3.80981433e-01 7.22621285e-02 6.31488956e+01] [-3.79756639e-01 9.24582422e-01 -3.05326038e-02 -1.42355262e+01] [-7.84446490e-02 7.01541448e-04 9.96918224e-01 -4.38317946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.925779522999996 meters 0.015059664800574517 Centerline is valid? [True, True] Translation: X:63.18, Y:-14.25, Z:-4.39 [[ 9.21651227e-01 3.81232431e-01 7.22554415e-02 6.31786083e+01] [-3.80007167e-01 9.24478960e-01 -3.05484203e-02 -1.42481813e+01] [-7.84446839e-02 6.97403400e-04 9.96918224e-01 -4.38581871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.955779523 meters 0.01541576176159902 Centerline is valid? [True, True] Translation: X:63.21, Y:-14.26, Z:-4.39 [[ 9.22229929e-01 3.79809430e-01 7.23654339e-02 6.32073998e+01] [-3.78574212e-01 9.25064370e-01 -3.06182471e-02 -1.42610362e+01] [-7.85717835e-02 8.41376735e-04 9.96908104e-01 -4.38994357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.985779523 meters 0.016435271473856136 Centerline is valid? [True, True] Translation: X:63.23, Y:-14.28, Z:-4.39 [[ 9.23609899e-01 3.76422662e-01 7.24619525e-02 6.32331650e+01] [-3.75172106e-01 9.26447331e-01 -3.06795470e-02 -1.42791771e+01] [-7.86806592e-02 1.15022993e-03 9.96899208e-01 -4.39078043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01577952299999 meters 0.016647058858104843 Centerline is valid? [True, True] Translation: X:63.26, Y:-14.30, Z:-4.39 [[ 9.24132154e-01 3.75363847e-01 7.12863596e-02 6.32613693e+01] [-3.74149052e-01 9.26876719e-01 -3.01999144e-02 -1.42957915e+01] [-7.74096231e-02 1.23698813e-03 9.96998606e-01 -4.39162879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.045779523 meters 0.016779054953130777 Centerline is valid? [True, True] Translation: X:63.29, Y:-14.31, Z:-4.39 [[ 9.24754674e-01 3.74025773e-01 7.02389799e-02 6.32889732e+01] [-3.72841097e-01 9.27417331e-01 -2.97760218e-02 -1.43119473e+01] [-7.62778468e-02 1.34753703e-03 9.97085691e-01 -4.39219111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.075779523 meters 0.017271884304253235 Centerline is valid? [True, True] Translation: X:63.32, Y:-14.33, Z:-4.39 [[ 9.25662602e-01 3.71732603e-01 7.04529616e-02 6.33177536e+01] [-3.70533266e-01 9.28338552e-01 -2.98769568e-02 -1.43272435e+01] [-7.65104392e-02 1.55081566e-03 9.97067574e-01 -4.39307972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.105779523 meters 0.017794640298158255 Centerline is valid? [True, True] Translation: X:63.35, Y:-14.34, Z:-4.40 [[ 9.25996756e-01 3.70961044e-01 7.01278269e-02 6.33475809e+01] [-3.69769030e-01 9.28647006e-01 -2.97590907e-02 -1.43385021e+01] [-7.61634598e-02 1.62572297e-03 9.97094020e-01 -4.39935539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.135779523 meters 0.020141234066659918 Centerline is valid? [True, True] Translation: X:63.38, Y:-14.35, Z:-4.41 [[ 9.26671529e-01 3.69491168e-01 6.89648745e-02 6.33758116e+01] [-3.68332901e-01 9.29232621e-01 -2.92849615e-02 -1.43497869e+01] [-7.49049458e-02 1.73550777e-03 9.97189168e-01 -4.40968185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.165779523 meters 0.01890669426363531 Centerline is valid? [True, True] Translation: X:63.41, Y:-14.36, Z:-4.41 [[ 9.27608936e-01 3.67023941e-01 6.95347988e-02 6.34053305e+01] [-3.65838114e-01 9.30209414e-01 -2.95452245e-02 -1.43614197e+01] [-7.55257292e-02 1.96793462e-03 9.97141911e-01 -4.41420994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.195779523 meters 0.019149809409374642 Centerline is valid? [True, True] Translation: X:63.43, Y:-14.38, Z:-4.41 [[ 9.28009712e-01 3.65688850e-01 7.12014018e-02 6.34335235e+01] [-3.64439852e-01 9.30734688e-01 -3.02743435e-02 -1.43763656e+01] [-7.73406043e-02 2.14625648e-03 9.97002420e-01 -4.41359996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.225779523 meters 0.021904936028871762 Centerline is valid? [True, True] Translation: X:63.46, Y:-14.40, Z:-4.41 [[ 9.28424046e-01 3.64377954e-01 7.25086020e-02 6.34592535e+01] [-3.63077038e-01 9.31248272e-01 -3.08499550e-02 -1.43962267e+01] [-7.87645538e-02 2.31563157e-03 9.96890557e-01 -4.41218999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.255779523 meters 0.0205751167971504 Centerline is valid? [True, True] Translation: X:63.49, Y:-14.41, Z:-4.41 [[ 9.29749465e-01 3.61042337e-01 7.22105472e-02 6.34873646e+01] [-3.59740535e-01 9.32545785e-01 -3.07425938e-02 -1.44121920e+01] [-7.84390194e-02 2.60584926e-03 9.96915508e-01 -4.40615187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28577952299999 meters 0.021389691967917474 Centerline is valid? [True, True] Translation: X:63.52, Y:-14.43, Z:-4.41 [[ 9.30418349e-01 3.59307231e-01 7.22496420e-02 6.35164049e+01] [-3.57998071e-01 9.33215240e-01 -3.07684445e-02 -1.44257106e+01] [-7.84797916e-02 2.76229287e-03 9.96911878e-01 -4.40708076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31577952299999 meters 0.0222272782107342 Centerline is valid? [True, True] Translation: X:63.55, Y:-14.44, Z:-4.41 [[ 9.30869764e-01 3.58019725e-01 7.28241654e-02 6.35466577e+01] [-3.56684051e-01 9.33709478e-01 -3.10338290e-02 -1.44367319e+01] [-7.91073364e-02 2.91323484e-03 9.96861847e-01 -4.41010992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34577952299999 meters 0.0222176928539657 Centerline is valid? [True, True] Translation: X:63.58, Y:-14.44, Z:-4.42 [[ 9.31004331e-01 3.57659039e-01 7.28762530e-02 6.35781446e+01] [-3.56318693e-01 9.33847535e-01 -3.10768631e-02 -1.44427401e+01] [-7.91702302e-02 2.96552296e-03 9.96856700e-01 -4.41790672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37577952299999 meters 0.02315646171404186 Centerline is valid? [True, True] Translation: X:63.61, Y:-14.46, Z:-4.42 [[ 9.30598750e-01 3.58984665e-01 7.15260549e-02 6.36057736e+01] [-3.57695940e-01 9.33339202e-01 -3.05212798e-02 -1.44560217e+01] [-7.77147424e-02 2.81848543e-03 9.96971652e-01 -4.42238132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40577952299999 meters 0.022812282987548678 Centerline is valid? [True, True] Translation: X:63.63, Y:-14.47, Z:-4.43 [[ 9.29953925e-01 3.60892320e-01 7.03024315e-02 6.36346476e+01] [-3.59651426e-01 9.32603783e-01 -3.00172766e-02 -1.44691043e+01] [-7.63973181e-02 2.63031447e-03 9.97073985e-01 -4.42564872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.435779523 meters 0.022239926725779017 Centerline is valid? [True, True] Translation: X:63.66, Y:-14.48, Z:-4.43 [[ 9.29094260e-01 3.63283083e-01 6.93488193e-02 6.36648728e+01] [-3.62080831e-01 9.31675668e-01 -2.96297353e-02 -1.44814913e+01] [-7.53745891e-02 2.41893887e-03 9.97152355e-01 -4.42748312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.465779523 meters 0.020729037249904655 Centerline is valid? [True, True] Translation: X:63.70, Y:-14.49, Z:-4.43 [[ 9.27435978e-01 3.67633900e-01 6.86135810e-02 6.36974512e+01] [-3.66468098e-01 9.29968332e-01 -2.93263410e-02 -1.44859136e+01] [-7.45898146e-02 2.05361520e-03 9.97212185e-01 -4.43205345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.495779523 meters 0.02168650675524077 Centerline is valid? [True, True] Translation: X:63.73, Y:-14.49, Z:-4.44 [[ 9.27010209e-01 3.69032883e-01 6.68341539e-02 6.37295675e+01] [-3.67930329e-01 9.29414412e-01 -2.85678759e-02 -1.44912545e+01] [-7.26591115e-02 1.89240039e-03 9.97355038e-01 -4.44160313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.525779523 meters 0.01945233864663615 Centerline is valid? [True, True] Translation: X:63.76, Y:-14.50, Z:-4.44 [[ 9.26247863e-01 3.70946573e-01 6.68097010e-02 6.37592077e+01] [-3.69848414e-01 9.28652542e-01 -2.85763193e-02 -1.45006584e+01] [-7.26432864e-02 1.75929272e-03 9.97356435e-01 -4.44325616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.555779523 meters 0.01780903429107476 Centerline is valid? [True, True] Translation: X:63.79, Y:-14.51, Z:-4.44 [[ 9.24984478e-01 3.73463886e-01 7.02028537e-02 6.37888068e+01] [-3.72256858e-01 9.27643234e-01 -3.00476599e-02 -1.45135451e+01] [-7.63449181e-02 1.66012527e-03 9.97080086e-01 -4.43765290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.585779523 meters 0.017360614392797676 Centerline is valid? [True, True] Translation: X:63.82, Y:-14.53, Z:-4.43 [[ 9.24056595e-01 3.75408547e-01 7.20266036e-02 6.38180044e+01] [-3.74143463e-01 9.26858157e-01 -3.08322155e-02 -1.45281241e+01] [-7.83331224e-02 1.54242921e-03 9.96926047e-01 -4.43415635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.615779523 meters 0.016825738402638325 Centerline is valid? [True, True] Translation: X:63.85, Y:-14.54, Z:-4.43 [[ 9.23146043e-01 3.77545464e-01 7.25314171e-02 6.38481214e+01] [-3.76267480e-01 9.25990005e-01 -3.10691788e-02 -1.45401279e+01] [-7.88933949e-02 1.39017592e-03 9.96882089e-01 -4.43440552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.645779523 meters 0.016017499471888182 Centerline is valid? [True, True] Translation: X:63.88, Y:-14.54, Z:-4.44 [[ 9.21512971e-01 3.82251911e-01 6.85370051e-02 6.38795486e+01] [-3.81122604e-01 9.24057668e-01 -2.93766279e-02 -1.45439003e+01] [-7.45614173e-02 9.49941742e-04 9.97215971e-01 -4.44443344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67577952299999 meters 0.015435658600729395 Centerline is valid? [True, True] Translation: X:63.91, Y:-14.55, Z:-4.45 [[ 9.20732790e-01 3.84567996e-01 6.60195906e-02 6.39117793e+01] [-3.83525024e-01 9.23096363e-01 -2.83136141e-02 -1.45517824e+01] [-7.18309538e-02 7.49107824e-04 9.97416539e-01 -4.45219479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70577952299999 meters 0.018284173350564353 Centerline is valid? [True, True] Translation: X:63.94, Y:-14.56, Z:-4.46 [[ 9.20105040e-01 3.86512636e-01 6.33616427e-02 6.39405613e+01] [-3.85555226e-01 9.22283921e-01 -2.71944137e-02 -1.45613050e+01] [-6.89484088e-02 5.92304694e-04 9.97620051e-01 -4.46225945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73577952299999 meters 0.015213358516250554 Centerline is valid? [True, True] Translation: X:63.97, Y:-14.57, Z:-4.46 [[ 9.19102831e-01 3.88789022e-01 6.39772020e-02 6.39689425e+01] [-3.87817190e-01 9.21326707e-01 -2.74759048e-02 -1.45737723e+01] [-6.96262350e-02 4.41723143e-04 9.97573051e-01 -4.46253668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76577952299999 meters 0.014972278547688471 Centerline is valid? [True, True] Translation: X:64.00, Y:-14.59, Z:-4.46 [[ 9.18231408e-01 3.90839614e-01 6.39959127e-02 6.39979468e+01] [-3.89871017e-01 9.20458747e-01 -2.75006416e-02 -1.45871883e+01] [-6.96539378e-02 3.01801308e-04 9.97571169e-01 -4.46394278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.795779523 meters 0.014584044796454762 Centerline is valid? [True, True] Translation: X:64.03, Y:-14.60, Z:-4.46 [[ 9.16271938e-01 3.94775225e-01 6.78104549e-02 6.40272933e+01] [-3.93696766e-01 9.18777732e-01 -2.91605036e-02 -1.45989652e+01] [-7.38145803e-02 2.21943641e-05 9.97271983e-01 -4.46138453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.825779523 meters 0.014555410179745978 Centerline is valid? [True, True] Translation: X:64.06, Y:-14.61, Z:-4.46 [[ 9.15275213e-01 3.96637452e-01 7.03563510e-02 6.40575046e+01] [-3.95480396e-01 9.17975337e-01 -3.02743760e-02 -1.46104221e+01] [-7.65933463e-02 -1.15171566e-04 9.97062408e-01 -4.46130241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.855779523 meters 0.01464081106703216 Centerline is valid? [True, True] Translation: X:64.09, Y:-14.62, Z:-4.46 [[ 9.14308522e-01 3.98592471e-01 7.18607617e-02 6.40882545e+01] [-3.97389751e-01 9.17128111e-01 -3.09421062e-02 -1.46226626e+01] [-7.82388152e-02 -2.66098837e-04 9.96934610e-01 -4.46213697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.885779523 meters 0.01482815713031884 Centerline is valid? [True, True] Translation: X:64.12, Y:-14.64, Z:-4.46 [[ 9.13144991e-01 4.01232635e-01 7.19624794e-02 6.41177398e+01] [-4.00032872e-01 9.15976064e-01 -3.10088908e-02 -1.46356292e+01] [-7.83576876e-02 -4.71743993e-04 9.96925198e-01 -4.46368727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.915779523 meters 0.01502655817063018 Centerline is valid? [True, True] Translation: X:64.15, Y:-14.65, Z:-4.47 [[ 9.12624341e-01 4.02443027e-01 7.18082345e-02 6.41463774e+01] [-4.01250571e-01 9.15444865e-01 -3.09625338e-02 -1.46482936e+01] [-7.81971354e-02 -5.55933116e-04 9.96937761e-01 -4.46578133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.945779523 meters 0.015195988287203473 Centerline is valid? [True, True] Translation: X:64.18, Y:-14.66, Z:-4.47 [[ 9.11998396e-01 4.03812210e-01 7.20737477e-02 6.41766904e+01] [-4.02614340e-01 9.14841656e-01 -3.10875808e-02 -1.46609361e+01] [-7.84896114e-02 -6.66100523e-04 9.96914709e-01 -4.46818962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.975779523 meters 0.015397597086429309 Centerline is valid? [True, True] Translation: X:64.21, Y:-14.67, Z:-4.47 [[ 9.10515872e-01 4.07311119e-01 7.11231318e-02 6.42063915e+01] [-4.06153620e-01 9.13288990e-01 -3.06994753e-02 -1.46728110e+01] [-7.74602109e-02 -9.34557939e-04 9.96995006e-01 -4.47333194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.005779523 meters 0.015637637570814128 Centerline is valid? [True, True] Translation: X:64.24, Y:-14.68, Z:-4.48 [[ 9.09980323e-01 4.08776015e-01 6.95555959e-02 6.42359128e+01] [-4.07671820e-01 9.12634173e-01 -3.00425188e-02 -1.46849757e+01] [-7.57594749e-02 -1.01775540e-03 9.97125602e-01 -4.47890325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03577952299999 meters 0.016786334574014235 Centerline is valid? [True, True] Translation: X:64.27, Y:-14.70, Z:-4.48 [[ 9.09483668e-01 4.10103135e-01 6.82266573e-02 6.42651623e+01] [-4.09043067e-01 9.12038504e-01 -2.94879130e-02 -1.46955776e+01] [-7.43184240e-02 -1.08886588e-03 9.97233968e-01 -4.48459354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06577952299999 meters 0.015764990492167237 Centerline is valid? [True, True] Translation: X:64.29, Y:-14.71, Z:-4.49 [[ 9.09407656e-01 4.10385132e-01 6.75407927e-02 6.42933668e+01] [-4.09345795e-01 9.11911655e-01 -2.92087945e-02 -1.47125697e+01] [-7.35780911e-02 -1.08483814e-03 9.97288869e-01 -4.48683644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09577952299999 meters 0.015663333352890003 Centerline is valid? [True, True] Translation: X:64.32, Y:-14.73, Z:-4.49 [[ 9.09802267e-01 4.09490712e-01 6.76549422e-02 6.43192304e+01] [-4.08443671e-01 9.12313746e-01 -2.92813422e-02 -1.47321803e+01] [-7.37129714e-02 -9.93001447e-04 9.97279004e-01 -4.48773342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12577952299999 meters 0.015209158095082751 Centerline is valid? [True, True] Translation: X:64.35, Y:-14.75, Z:-4.49 [[ 9.10548458e-01 4.07701047e-01 6.84204779e-02 6.43473753e+01] [-4.06623627e-01 9.13115081e-01 -2.96323385e-02 -1.47493973e+01] [-7.45569056e-02 -8.39702731e-04 9.97216407e-01 -4.48889278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15577952299999 meters 0.014932370851589202 Centerline is valid? [True, True] Translation: X:64.38, Y:-14.76, Z:-4.49 [[ 9.11455166e-01 4.05453796e-01 6.96900225e-02 6.43753269e+01] [-4.04328863e-01 9.14115300e-01 -3.01892176e-02 -1.47639665e+01] [-7.59450487e-02 -6.61569187e-04 9.97111785e-01 -4.49103911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.185779523 meters 0.014409125566429187 Centerline is valid? [True, True] Translation: X:64.40, Y:-14.78, Z:-4.49 [[ 9.13466493e-01 4.00284536e-01 7.31522847e-02 6.44034215e+01] [-3.99027269e-01 9.16390875e-01 -3.17017688e-02 -1.47806994e+01] [-7.97258141e-02 -2.31252832e-04 9.96816804e-01 -4.49440753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.215779523 meters 0.014403281343101459 Centerline is valid? [True, True] Translation: X:64.43, Y:-14.80, Z:-4.50 [[ 9.14450596e-01 3.98057667e-01 7.30082278e-02 6.44314151e+01] [-3.96797696e-01 9.17360394e-01 -3.16464218e-02 -1.47975491e+01] [-7.95719575e-02 -3.04072861e-05 9.96829124e-01 -4.49724531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.245779523 meters 0.016134102146644815 Centerline is valid? [True, True] Translation: X:64.46, Y:-14.82, Z:-4.50 [[ 9.16552170e-01 3.93906511e-01 6.90635992e-02 6.44559876e+01] [-3.92765773e-01 9.19150450e-01 -2.99582669e-02 -1.48190360e+01] [-7.52805947e-02 3.32496628e-04 9.97162335e-01 -4.50352851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.275779523 meters 0.017353544658937802 Centerline is valid? [True, True] Translation: X:64.48, Y:-14.84, Z:-4.51 [[ 9.17369301e-01 3.92237204e-01 6.77018498e-02 6.44829989e+01] [-3.91135227e-01 9.19863984e-01 -2.93851225e-02 -1.48351656e+01] [-7.38024315e-02 4.76430875e-04 9.97272768e-01 -4.50755069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.305779523 meters 0.01826621435732656 Centerline is valid? [True, True] Translation: X:64.51, Y:-14.85, Z:-4.51 [[ 9.18132742e-01 3.90246384e-01 6.88478603e-02 6.45124146e+01] [-3.89099775e-01 9.20710225e-01 -2.99006043e-02 -1.48511244e+01] [-7.50575317e-02 6.64036802e-04 9.97178984e-01 -4.50903822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.335779523 meters 0.016091958058925594 Centerline is valid? [True, True] Translation: X:64.54, Y:-14.87, Z:-4.50 [[ 9.20016602e-01 3.84427257e-01 7.60600855e-02 6.45411714e+01] [-3.83005284e-01 9.23154394e-01 -3.30592829e-02 -1.48679552e+01] [-8.29240917e-02 1.28367446e-03 9.96555040e-01 -4.50138731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.365779523 meters 0.018348720815484675 Centerline is valid? [True, True] Translation: X:64.57, Y:-14.88, Z:-4.50 [[ 9.21386356e-01 3.80741176e-01 7.79957743e-02 6.45694864e+01] [-3.79230639e-01 9.24680129e-01 -3.39231646e-02 -1.48829082e+01] [-8.50370883e-02 1.67795370e-03 9.96376374e-01 -4.50421781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.395779523 meters 0.01796391480441665 Centerline is valid? [True, True] Translation: X:64.60, Y:-14.90, Z:-4.50 [[ 9.22418114e-01 3.78063747e-01 7.88202096e-02 6.45966902e+01] [-3.76510471e-01 9.25777503e-01 -3.42911177e-02 -1.48982705e+01] [-8.59342052e-02 1.95411390e-03 9.96298898e-01 -4.50381942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42577952299999 meters 0.01799065051214555 Centerline is valid? [True, True] Translation: X:64.63, Y:-14.91, Z:-4.51 [[ 9.23399244e-01 3.75932455e-01 7.75153180e-02 6.46256706e+01] [-3.74421060e-01 9.26644607e-01 -3.37437659e-02 -1.49122548e+01] [-8.45145282e-02 2.13560040e-03 9.96419959e-01 -4.50817176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45577952299999 meters 0.01954314105438268 Centerline is valid? [True, True] Translation: X:64.65, Y:-14.93, Z:-4.51 [[ 9.25013625e-01 3.73083019e-01 7.18251682e-02 6.46509304e+01] [-3.71775613e-01 9.27795265e-01 -3.12864058e-02 -1.49296256e+01] [-7.83114777e-02 2.23750572e-03 9.96926430e-01 -4.51477004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48577952299999 meters 0.022586634434369354 Centerline is valid? [True, True] Translation: X:64.68, Y:-14.94, Z:-4.52 [[ 9.25795161e-01 3.71631820e-01 6.92322883e-02 6.46775042e+01] [-3.70412177e-01 9.28377380e-01 -3.01705145e-02 -1.49440900e+01] [-7.54860136e-02 2.28723369e-03 9.97144237e-01 -4.52279144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51577952299999 meters 0.02110275226866198 Centerline is valid? [True, True] Translation: X:64.71, Y:-14.96, Z:-4.52 [[ 9.26104484e-01 3.71041707e-01 6.82534746e-02 6.47072351e+01] [-3.69853963e-01 9.28613324e-01 -2.97546659e-02 -1.49571247e+01] [-7.44213079e-02 2.31211144e-03 9.97224209e-01 -4.52412124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.545779523 meters 0.023271436473928177 Centerline is valid? [True, True] Translation: X:64.74, Y:-14.97, Z:-4.53 [[ 9.27232364e-01 3.68596156e-01 6.61590221e-02 6.47368970e+01] [-3.67472660e-01 9.29586399e-01 -2.88612254e-02 -1.49674926e+01] [-7.21386639e-02 2.44943038e-03 9.97391605e-01 -4.53342264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.575779523 meters 0.022968695416575487 Centerline is valid? [True, True] Translation: X:64.77, Y:-14.98, Z:-4.54 [[ 9.27297916e-01 3.68374139e-01 6.64760690e-02 6.47658849e+01] [-3.67238983e-01 9.29674315e-01 -2.90033943e-02 -1.49805727e+01] [-7.24851943e-02 2.48218316e-03 9.97366400e-01 -4.53587060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.605779523 meters 0.023802520958867125 Centerline is valid? [True, True] Translation: X:64.79, Y:-15.00, Z:-4.54 [[ 9.26998211e-01 3.68890047e-01 6.77823754e-02 6.47924064e+01] [-3.67709666e-01 9.29469655e-01 -2.95932829e-02 -1.49976180e+01] [-7.39183286e-02 2.50868567e-03 9.97261143e-01 -4.53537224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.635779523 meters 0.021595984203981875 Centerline is valid? [True, True] Translation: X:64.82, Y:-15.01, Z:-4.54 [[ 9.26532852e-01 3.69752037e-01 6.94284161e-02 6.48230252e+01] [-3.68514531e-01 9.29127062e-01 -3.03305727e-02 -1.50087171e+01] [-7.57226113e-02 2.51689183e-03 9.97125745e-01 -4.53524812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.665779523 meters 0.020965875702085645 Centerline is valid? [True, True] Translation: X:64.85, Y:-15.02, Z:-4.54 [[ 9.24980797e-01 3.73339879e-01 7.09073997e-02 6.48515446e+01] [-3.72057872e-01 9.27691807e-01 -3.09976086e-02 -1.50200727e+01] [-7.73528572e-02 2.29053649e-03 9.97001148e-01 -4.53537258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.695779523 meters 0.01960646375436243 Centerline is valid? [True, True] Translation: X:64.88, Y:-15.03, Z:-4.54 [[ 9.24105806e-01 3.75402441e-01 7.14245570e-02 6.48819442e+01] [-3.74106592e-01 9.26859426e-01 -3.12387929e-02 -1.50292954e+01] [-7.79276430e-02 2.14755227e-03 9.96956704e-01 -4.53859727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.725779523 meters 0.019691248715529252 Centerline is valid? [True, True] Translation: X:64.91, Y:-15.04, Z:-4.54 [[ 9.22855867e-01 3.78290503e-01 7.23418536e-02 6.49118118e+01] [-3.76968274e-01 9.25684882e-01 -3.16610129e-02 -1.50385758e+01] [-7.89428207e-02 1.94796788e-03 9.96877242e-01 -4.54279477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.755779523 meters 0.018286250293512534 Centerline is valid? [True, True] Translation: X:64.94, Y:-15.05, Z:-4.54 [[ 9.22182495e-01 3.79827735e-01 7.28720586e-02 6.49425806e+01] [-3.78489263e-01 9.25055392e-01 -3.19123862e-02 -1.50483951e+01] [-7.95319001e-02 1.84775222e-03 9.96830609e-01 -4.54497262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78577952299999 meters 0.017888489779908014 Centerline is valid? [True, True] Translation: X:64.97, Y:-15.06, Z:-4.55 [[ 9.21421109e-01 3.81612744e-01 7.31768624e-02 6.49721435e+01] [-3.80266952e-01 9.24320699e-01 -3.20669869e-02 -1.50617645e+01] [-7.98760594e-02 1.72045625e-03 9.96803318e-01 -4.54595677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81577952299999 meters 0.017888489779908014 Centerline is valid? [True, True] Translation: X:65.00, Y:-15.07, Z:-4.55 [[ 9.21316276e-01 3.81867245e-01 7.31691643e-02 6.50016841e+01] [-3.80520861e-01 9.24215590e-01 -3.20845423e-02 -1.50748033e+01] [-7.98761182e-02 1.71761761e-03 9.96803318e-01 -4.54859696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84577952299999 meters 0.016729866866629455 Centerline is valid? [True, True] Translation: X:65.03, Y:-15.09, Z:-4.55 [[ 9.19541317e-01 3.86095895e-01 7.33057025e-02 6.50306239e+01] [-3.84755914e-01 9.22457624e-01 -3.21685949e-02 -1.50887723e+01] [-8.00415666e-02 1.37554952e-03 9.96790578e-01 -4.54605276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87577952299999 meters 0.016405492067144933 Centerline is valid? [True, True] Translation: X:65.06, Y:-15.10, Z:-4.55 [[ 9.18500953e-01 3.88636364e-01 7.29230866e-02 6.50595053e+01] [-3.87316669e-01 9.21390478e-01 -3.20216202e-02 -1.50997483e+01] [-7.96354037e-02 1.16756163e-03 9.96823374e-01 -4.54826078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90577952299999 meters 0.015980691179474336 Centerline is valid? [True, True] Translation: X:65.09, Y:-15.11, Z:-4.55 [[ 9.17490621e-01 3.91116828e-01 7.23780846e-02 6.50892295e+01] [-3.89822996e-01 9.20340535e-01 -3.18014455e-02 -1.51079390e+01] [-7.90505656e-02 9.62886236e-04 9.96870142e-01 -4.55314539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.935779523 meters 0.015327314397566481 Centerline is valid? [True, True] Translation: X:65.12, Y:-15.11, Z:-4.56 [[ 9.16518387e-01 3.93586420e-01 7.13006055e-02 6.51208099e+01] [-3.92336909e-01 9.19287311e-01 -3.13462930e-02 -1.51146719e+01] [-7.78832171e-02 7.55594718e-04 9.96962203e-01 -4.55975999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.965779523 meters 0.015054785346721347 Centerline is valid? [True, True] Translation: X:65.15, Y:-15.12, Z:-4.57 [[ 9.15671015e-01 3.96459115e-01 6.60814797e-02 6.51520437e+01] [-3.95392304e-01 9.18052248e-01 -2.90688012e-02 -1.51229090e+01] [-7.21908422e-02 4.89350229e-04 9.97390717e-01 -4.57131946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.995779523 meters 0.015415970098647392 Centerline is valid? [True, True] Translation: X:65.18, Y:-15.14, Z:-4.57 [[ 9.15725466e-01 3.96626414e-01 6.42989794e-02 6.51791068e+01] [-3.95615279e-01 9.17979985e-01 -2.83072051e-02 -1.51393040e+01] [-7.02525614e-02 4.83969909e-04 9.97529119e-01 -4.57465306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.025779523 meters 0.015439691301826024 Centerline is valid? [True, True] Translation: X:65.21, Y:-15.16, Z:-4.57 [[ 9.16365004e-01 3.94798920e-01 6.64002515e-02 6.52070041e+01] [-3.93715033e-01 9.18767319e-01 -2.92418611e-02 -1.51596663e+01] [-7.25510362e-02 6.53440920e-04 9.97364487e-01 -4.56906906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.055779523 meters 0.015809548569742298 Centerline is valid? [True, True] Translation: X:65.24, Y:-15.17, Z:-4.57 [[ 9.16967059e-01 3.92998978e-01 6.87256530e-02 6.52366777e+01] [-3.91830924e-01 9.19538519e-01 -3.02892551e-02 -1.51735863e+01] [-7.50995315e-02 8.45413042e-04 9.97175684e-01 -4.56950488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.085779523 meters 0.016331575732589223 Centerline is valid? [True, True] Translation: X:65.27, Y:-15.19, Z:-4.57 [[ 9.17741260e-01 3.90808946e-01 7.08473510e-02 6.52660281e+01] [-3.89559157e-01 9.20471186e-01 -3.12483395e-02 -1.51860406e+01] [-7.74250758e-02 1.07865608e-03 9.96997590e-01 -4.57247206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.115779523 meters 0.017108044583022414 Centerline is valid? [True, True] Translation: X:65.29, Y:-15.20, Z:-4.58 [[ 9.18780920e-01 3.88101648e-01 7.22407895e-02 6.52941524e+01] [-3.86792109e-01 9.21615583e-01 -3.18838748e-02 -1.51988679e+01] [-7.89524217e-02 1.35212843e-03 9.96877468e-01 -4.57547850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.145779523 meters 0.019106482224681216 Centerline is valid? [True, True] Translation: X:65.32, Y:-15.22, Z:-4.58 [[ 9.20863966e-01 3.82756740e-01 7.42080543e-02 6.53205191e+01] [-3.81355796e-01 9.23847254e-01 -3.27720789e-02 -1.52161446e+01] [-8.11006412e-02 1.87895491e-03 9.96704146e-01 -4.57747872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17577952299999 meters 0.019902897774416426 Centerline is valid? [True, True] Translation: X:65.35, Y:-15.23, Z:-4.58 [[ 9.21778017e-01 3.80698555e-01 7.34431531e-02 6.53488344e+01] [-3.79319199e-01 9.24696935e-01 -3.24426167e-02 -1.52319168e+01] [-8.02635159e-02 2.04649288e-03 9.96771579e-01 -4.57996591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20577952299999 meters 0.020622317301006443 Centerline is valid? [True, True] Translation: X:65.38, Y:-15.25, Z:-4.58 [[ 9.22523820e-01 3.79176179e-01 7.19390482e-02 6.53774661e+01] [-3.77846680e-01 9.25321995e-01 -3.17976859e-02 -1.52469708e+01] [-7.86237086e-02 2.15219219e-03 9.96902042e-01 -4.58351309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23577952299999 meters 0.021752971382043455 Centerline is valid? [True, True] Translation: X:65.40, Y:-15.26, Z:-4.59 [[ 9.23241170e-01 3.77734026e-01 7.03046804e-02 6.54047924e+01] [-3.76458706e-01 9.25911434e-01 -3.10943466e-02 -1.52617072e+01] [-7.68413002e-02 2.24077199e-03 9.97040818e-01 -4.58732779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26577952299999 meters 0.024383175272893902 Centerline is valid? [True, True] Translation: X:65.43, Y:-15.28, Z:-4.59 [[ 9.24680774e-01 3.74725895e-01 6.74238099e-02 6.54318554e+01] [-3.73543904e-01 9.27132529e-01 -2.98366433e-02 -1.52775813e+01] [-7.36913703e-02 2.40361727e-03 9.97278198e-01 -4.59226137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.295779523 meters 0.024717005069859275 Centerline is valid? [True, True] Translation: X:65.46, Y:-15.29, Z:-4.59 [[ 9.25238547e-01 3.73338102e-01 6.74706842e-02 6.54588591e+01] [-3.72149496e-01 9.27691894e-01 -2.98747855e-02 -1.52935752e+01] [-7.37454026e-02 2.53212197e-03 9.97273886e-01 -4.59109801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.325779523 meters 0.02573592797679385 Centerline is valid? [True, True] Translation: X:65.49, Y:-15.31, Z:-4.59 [[ 9.25687338e-01 3.72260203e-01 6.72702950e-02 6.54861800e+01] [-3.71075120e-01 9.28124712e-01 -2.97955325e-02 -1.53071272e+01] [-7.35269141e-02 2.61901439e-03 9.97289794e-01 -4.59377506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.355779523 meters 0.025225537383743887 Centerline is valid? [True, True] Translation: X:65.52, Y:-15.32, Z:-4.60 [[ 9.26372416e-01 3.70803658e-01 6.58695210e-02 6.55171838e+01] [-3.69663186e-01 9.28707400e-01 -2.91837989e-02 -1.53151508e+01] [-7.19949710e-02 2.68552933e-03 9.97401380e-01 -4.60159541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.385779523 meters 0.023817649812096504 Centerline is valid? [True, True] Translation: X:65.55, Y:-15.33, Z:-4.61 [[ 9.26319386e-01 3.70925582e-01 6.59288152e-02 6.55487769e+01] [-3.69782933e-01 9.28658715e-01 -2.92159708e-02 -1.53254936e+01] [-7.20623198e-02 2.68396944e-03 9.97396520e-01 -4.60625827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.415779523 meters 0.024876149517193413 Centerline is valid? [True, True] Translation: X:65.58, Y:-15.34, Z:-4.61 [[ 9.26184976e-01 3.71112720e-01 6.67588169e-02 6.55786722e+01] [-3.69939969e-01 9.28583831e-01 -2.96055297e-02 -1.53389298e+01] [-7.29781466e-02 2.72344214e-03 9.97329822e-01 -4.61144514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.445779523 meters 0.02334388023649219 Centerline is valid? [True, True] Translation: X:65.61, Y:-15.35, Z:-4.61 [[ 9.25812482e-01 3.71629745e-01 6.90114591e-02 6.56073961e+01] [-3.70376055e-01 9.28376819e-01 -3.06277490e-02 -1.53532708e+01] [-7.54508214e-02 2.79536033e-03 9.97145606e-01 -4.60915368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.475779523 meters 0.022550181131132434 Centerline is valid? [True, True] Translation: X:65.64, Y:-15.37, Z:-4.61 [[ 9.25259084e-01 3.72450527e-01 7.19460386e-02 6.56367192e+01] [-3.71088551e-01 9.28047626e-01 -3.19513786e-02 -1.53670560e+01] [-7.86696582e-02 2.86495209e-03 9.96896623e-01 -4.60667487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.505779523 meters 0.023267961464314493 Centerline is valid? [True, True] Translation: X:65.67, Y:-15.38, Z:-4.61 [[ 9.24546994e-01 3.73935552e-01 7.33829612e-02 6.56652650e+01] [-3.72521463e-01 9.27450423e-01 -3.26109266e-02 -1.53798726e+01] [-8.02534432e-02 2.81360604e-03 9.96770519e-01 -4.60764319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53577952299999 meters 0.020750191282308993 Centerline is valid? [True, True] Translation: X:65.70, Y:-15.39, Z:-4.61 [[ 9.23610835e-01 3.75968347e-01 7.47718297e-02 6.56974447e+01] [-3.74505112e-01 9.26628555e-01 -3.32481829e-02 -1.53870006e+01] [-8.17859769e-02 2.70594955e-03 9.96646242e-01 -4.60956853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56577952299999 meters 0.019473696157676284 Centerline is valid? [True, True] Translation: X:65.73, Y:-15.40, Z:-4.61 [[ 9.20586467e-01 3.83313929e-01 7.47729125e-02 6.57273950e+01] [-3.81872959e-01 9.23615791e-01 -3.32703291e-02 -1.53951921e+01] [-8.18144232e-02 2.07446139e-03 9.96645422e-01 -4.61157526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59577952299999 meters 0.01741908394302523 Centerline is valid? [True, True] Translation: X:65.76, Y:-15.41, Z:-4.61 [[ 9.18786914e-01 3.88014279e-01 7.26328120e-02 6.57571599e+01] [-3.86668143e-01 9.21651933e-01 -3.23336077e-02 -1.54051803e+01] [-7.94880730e-02 1.62290109e-03 9.96834496e-01 -4.61476205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62577952299999 meters 0.015551536523104455 Centerline is valid? [True, True] Translation: X:65.79, Y:-15.41, Z:-4.62 [[ 9.15358207e-01 3.96727140e-01 6.87526720e-02 6.57873586e+01] [-3.95544589e-01 9.17936208e-01 -3.06202065e-02 -1.54131777e+01] [-7.52584340e-02 8.33709972e-04 9.97163714e-01 -4.62084567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65577952299999 meters 0.015011234012774597 Centerline is valid? [True, True] Translation: X:65.82, Y:-15.42, Z:-4.63 [[ 9.13794405e-01 4.00333393e-01 6.86509963e-02 6.58174384e+01] [-3.99163376e-01 9.16369397e-01 -3.05896467e-02 -1.54221110e+01] [-7.51557291e-02 5.49684547e-04 9.97171657e-01 -4.62642994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.685779523 meters 0.014689628380399835 Centerline is valid? [True, True] Translation: X:65.85, Y:-15.43, Z:-4.63 [[ 9.12476358e-01 4.03299887e-01 6.88193045e-02 6.58472234e+01] [-4.02131132e-01 9.15067810e-01 -3.06831533e-02 -1.54310242e+01] [-7.53488425e-02 3.23267121e-04 9.97157183e-01 -4.63158769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.715779523 meters 0.0174026628044146 Centerline is valid? [True, True] Translation: X:65.88, Y:-15.44, Z:-4.64 [[ 9.11420832e-01 4.05616629e-01 6.91897204e-02 6.58774379e+01] [-4.04440511e-01 9.14043286e-01 -3.08665633e-02 -1.54406856e+01] [-7.57623907e-02 1.49302879e-04 9.97125889e-01 -4.63861197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.745779523 meters 0.014419851261915998 Centerline is valid? [True, True] Translation: X:65.91, Y:-15.45, Z:-4.64 [[ 9.09165712e-01 4.10190973e-01 7.18406141e-02 6.59072837e+01] [-4.08935382e-01 9.11999626e-01 -3.20708021e-02 -1.54530977e+01] [-7.86737667e-02 -2.20495339e-04 9.96900391e-01 -4.63542654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.775779523 meters 0.01458298224639161 Centerline is valid? [True, True] Translation: X:65.94, Y:-15.47, Z:-4.64 [[ 9.08036718e-01 4.12543674e-01 7.26432067e-02 6.59359565e+01] [-4.11265588e-01 9.10937731e-01 -3.24509883e-02 -1.54658918e+01] [-7.95608878e-02 -4.08962146e-04 9.96829924e-01 -4.63680685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.805779523 meters 0.014800134615869879 Centerline is valid? [True, True] Translation: X:65.97, Y:-15.48, Z:-4.64 [[ 9.07009034e-01 4.14732316e-01 7.30186172e-02 6.59656476e+01] [-4.13446291e-01 9.09943276e-01 -3.26404582e-02 -1.54790618e+01] [-7.99798525e-02 -5.84085984e-04 9.96796309e-01 -4.63868099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.835779523 meters 0.015309797565757297 Centerline is valid? [True, True] Translation: X:66.00, Y:-15.49, Z:-4.64 [[ 9.05477612e-01 4.18070933e-01 7.29862228e-02 6.59959406e+01] [-4.16795130e-01 9.08413979e-01 -3.26475382e-02 -1.54907847e+01] [-7.99506918e-02 -8.58687266e-04 9.96798450e-01 -4.64162867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.865779523 meters 0.01565840604470616 Centerline is valid? [True, True] Translation: X:66.02, Y:-15.50, Z:-4.64 [[ 9.04748174e-01 4.19745608e-01 7.24180039e-02 6.60242621e+01] [-4.18494397e-01 9.07641251e-01 -3.24006004e-02 -1.55024831e+01] [-7.93295773e-02 -9.92144874e-04 9.96847949e-01 -4.64483354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.895779523 meters 0.015906551808008956 Centerline is valid? [True, True] Translation: X:66.05, Y:-15.52, Z:-4.65 [[ 9.04082014e-01 4.21268006e-01 7.18956138e-02 6.60535039e+01] [-4.20038080e-01 9.06935531e-01 -3.21862271e-02 -1.55156554e+01] [-7.87637144e-02 -1.09990661e-03 9.96892706e-01 -4.64764658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92577952299999 meters 0.01602697173470198 Centerline is valid? [True, True] Translation: X:66.08, Y:-15.53, Z:-4.65 [[ 9.03552873e-01 4.22292558e-01 7.25341302e-02 6.60834339e+01] [-4.21042265e-01 9.06458825e-01 -3.24932202e-02 -1.55296612e+01] [-7.94708475e-02 -1.18059204e-03 9.96836491e-01 -4.64976867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95577952299999 meters 0.016337463398942702 Centerline is valid? [True, True] Translation: X:66.11, Y:-15.55, Z:-4.65 [[ 9.03127880e-01 4.23129149e-01 7.29503697e-02 6.61122932e+01] [-4.21865208e-01 9.06068534e-01 -3.27041051e-02 -1.55450351e+01] [-7.99360946e-02 -1.23923379e-03 9.96799220e-01 -4.65063946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98577952299999 meters 0.016444042413100823 Centerline is valid? [True, True] Translation: X:66.14, Y:-15.56, Z:-4.65 [[ 9.03139328e-01 4.23297745e-01 7.18218114e-02 6.61411857e+01] [-4.22071347e-01 9.05989816e-01 -3.22215987e-02 -1.55584899e+01] [-7.87091598e-02 -1.21333561e-03 9.96896883e-01 -4.65487814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01577952299999 meters 0.01640876564863586 Centerline is valid? [True, True] Translation: X:66.17, Y:-15.57, Z:-4.66 [[ 9.03415665e-01 4.23129048e-01 6.92960626e-02 6.61706288e+01] [-4.21985454e-01 9.06068714e-01 -3.11088844e-02 -1.55720298e+01] [-7.59500670e-02 -1.13767694e-03 9.97110973e-01 -4.66292983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.045779523 meters 0.016250838462044732 Centerline is valid? [True, True] Translation: X:66.20, Y:-15.59, Z:-4.67 [[ 9.03679296e-01 4.22671881e-01 6.86455475e-02 6.61994906e+01] [-4.21546673e-01 9.06282152e-01 -3.08392990e-02 -1.55850050e+01] [-7.52471390e-02 -1.06846623e-03 9.97164343e-01 -4.66773122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.075779523 meters 0.015491809249495392 Centerline is valid? [True, True] Translation: X:66.23, Y:-15.60, Z:-4.67 [[ 9.04761625e-01 4.20415027e-01 6.82466670e-02 6.62267726e+01] [-4.19294903e-01 9.07331511e-01 -3.06808227e-02 -1.56026101e+01] [-7.48210304e-02 -8.56648674e-04 9.97196610e-01 -4.67151348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.105779523 meters 0.015269158759472275 Centerline is valid? [True, True] Translation: X:66.25, Y:-15.62, Z:-4.67 [[ 9.05411081e-01 4.19087831e-01 6.77950101e-02 6.62542858e+01] [-4.17977244e-01 9.07945410e-01 -3.04984780e-02 -1.56175546e+01] [-7.43357093e-02 -7.23111494e-04 9.97233012e-01 -4.67385074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.135779523 meters 0.015169256133941423 Centerline is valid? [True, True] Translation: X:66.28, Y:-15.63, Z:-4.68 [[ 9.05908296e-01 4.17991561e-01 6.79206504e-02 6.62814205e+01] [-4.16872970e-01 9.08450695e-01 -3.05657000e-02 -1.56320711e+01] [-7.44787668e-02 -6.24562041e-04 9.97222404e-01 -4.67553563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.165779523 meters 0.01501138870185454 Centerline is valid? [True, True] Translation: X:66.31, Y:-15.65, Z:-4.68 [[ 9.06299257e-01 4.17030628e-01 6.86083985e-02 6.63100386e+01] [-4.15885080e-01 9.08892276e-01 -3.08938514e-02 -1.56475869e+01] [-7.52413257e-02 -5.34134797e-04 9.97165211e-01 -4.67586078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.195779523 meters 0.01478524014595793 Centerline is valid? [True, True] Translation: X:66.34, Y:-15.66, Z:-4.68 [[ 9.06515430e-01 4.16159089e-01 7.10027377e-02 6.63404490e+01] [-4.14927744e-01 9.09291704e-01 -3.19932009e-02 -1.56574178e+01] [-7.78764616e-02 -4.58675547e-04 9.96962911e-01 -4.67862428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.225779523 meters 0.014821746785384069 Centerline is valid? [True, True] Translation: X:66.37, Y:-15.67, Z:-4.68 [[ 9.06379742e-01 4.16355153e-01 7.15831727e-02 6.63710387e+01] [-4.15102543e-01 9.09201944e-01 -3.22754412e-02 -1.56657116e+01] [-7.85216060e-02 -4.60551016e-04 9.96912306e-01 -4.68371979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.255779523 meters 0.014689158958366338 Centerline is valid? [True, True] Translation: X:66.40, Y:-15.68, Z:-4.69 [[ 9.06159156e-01 4.16731107e-01 7.21856483e-02 6.64018672e+01] [-4.15456715e-01 9.09029679e-01 -3.25693180e-02 -1.56772857e+01] [-7.91915447e-02 -4.77026600e-04 9.96859304e-01 -4.68705112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28577952299999 meters 0.014687258219980417 Centerline is valid? [True, True] Translation: X:66.43, Y:-15.69, Z:-4.69 [[ 9.06155644e-01 4.16681207e-01 7.25170381e-02 6.64314181e+01] [-4.15392999e-01 9.09052565e-01 -3.27427819e-02 -1.56919987e+01] [-7.95651014e-02 -4.53013365e-04 9.96829569e-01 -4.68823687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31577952299999 meters 0.014577743453534618 Centerline is valid? [True, True] Translation: X:66.46, Y:-15.71, Z:-4.69 [[ 9.07050719e-01 4.15030743e-01 7.07705836e-02 6.64575685e+01] [-4.13797136e-01 9.09807345e-01 -3.19769536e-02 -1.57145148e+01] [-7.76590155e-02 -2.79946056e-04 9.96979939e-01 -4.68535512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34577952299999 meters 0.014525910589947167 Centerline is valid? [True, True] Translation: X:66.49, Y:-15.73, Z:-4.69 [[ 9.07833908e-01 4.13427413e-01 7.01097017e-02 6.64852576e+01] [-4.12210204e-01 9.10537072e-01 -3.17015484e-02 -1.57316100e+01] [-7.69437716e-02 -1.20193867e-04 9.97035426e-01 -4.68665574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37577952299999 meters 0.014700545004080747 Centerline is valid? [True, True] Translation: X:66.51, Y:-15.75, Z:-4.69 [[ 9.09871096e-01 4.08698334e-01 7.14161020e-02 6.65145543e+01] [-4.07418913e-01 9.12669479e-01 -3.23148834e-02 -1.57463057e+01] [-7.83863356e-02 3.06107773e-04 9.96923010e-01 -4.69144208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40577952299999 meters 0.014941465511162221 Centerline is valid? [True, True] Translation: X:66.54, Y:-15.76, Z:-4.70 [[ 9.10940532e-01 4.06195339e-01 7.20603505e-02 6.65446914e+01] [-4.04882980e-01 9.13786105e-01 -3.26301482e-02 -1.57571525e+01] [-7.91019611e-02 5.48115083e-04 9.96866380e-01 -4.69817095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.435779523 meters 0.0153553558311807 Centerline is valid? [True, True] Translation: X:66.57, Y:-15.77, Z:-4.71 [[ 9.11836620e-01 4.04197201e-01 7.19624966e-02 6.65735065e+01] [-4.02880506e-01 9.14671567e-01 -3.26071057e-02 -1.57687641e+01] [-7.90017504e-02 7.40066051e-04 9.96874203e-01 -4.70546706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.465779523 meters 0.015899377664426277 Centerline is valid? [True, True] Translation: X:66.60, Y:-15.78, Z:-4.71 [[ 9.12751202e-01 4.02250167e-01 7.12744512e-02 6.66008930e+01] [-4.00951128e-01 9.15529334e-01 -3.23145685e-02 -1.57834620e+01] [-7.82523914e-02 9.17589572e-04 9.96933158e-01 -4.70907711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.495779523 meters 0.01566488028125795 Centerline is valid? [True, True] Translation: X:66.63, Y:-15.80, Z:-4.71 [[ 9.12660547e-01 4.02360407e-01 7.18110579e-02 6.66294100e+01] [-4.01040565e-01 9.15480876e-01 -3.25765504e-02 -1.57997998e+01] [-7.88491642e-02 9.32185096e-04 9.96886122e-01 -4.70706034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.525779523 meters 0.01585856935724486 Centerline is valid? [True, True] Translation: X:66.66, Y:-15.82, Z:-4.70 [[ 9.12566319e-01 4.02576086e-01 7.17997844e-02 6.66564675e+01] [-4.01255435e-01 9.15386050e-01 -3.25953350e-02 -1.58172341e+01] [-7.88466234e-02 9.35351122e-04 9.96886320e-01 -4.70448887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.555779523 meters 0.015912671952352693 Centerline is valid? [True, True] Translation: X:66.69, Y:-15.83, Z:-4.71 [[ 9.12611481e-01 4.02653757e-01 7.07830199e-02 6.66867732e+01] [-4.01368859e-01 9.15351887e-01 -3.21552850e-02 -1.58308890e+01] [-7.77388172e-02 9.35182329e-04 9.96973320e-01 -4.70609402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.585779523 meters 0.015555888699210381 Centerline is valid? [True, True] Translation: X:66.72, Y:-15.84, Z:-4.71 [[ 9.12239832e-01 4.03518927e-01 7.06467650e-02 6.67189170e+01] [-4.02239796e-01 9.14970874e-01 -3.21161336e-02 -1.58396456e+01] [-7.75992001e-02 8.80675919e-04 9.96984247e-01 -4.71197633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.615779523 meters 0.015348570620438264 Centerline is valid? [True, True] Translation: X:66.75, Y:-15.85, Z:-4.72 [[ 9.11761270e-01 4.04491750e-01 7.12587588e-02 6.67495062e+01] [-4.03191404e-01 9.14541273e-01 -3.24183724e-02 -1.58489070e+01] [-7.82820402e-02 8.26897437e-04 9.96930910e-01 -4.71762387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.645779523 meters 0.014972038623599212 Centerline is valid? [True, True] Translation: X:66.78, Y:-15.86, Z:-4.72 [[ 9.10784513e-01 4.06327483e-01 7.32771893e-02 6.67792954e+01] [-4.04956468e-01 9.13727243e-01 -3.33584179e-02 -1.58607635e+01] [-8.05098062e-02 7.08258617e-04 9.96753565e-01 -4.71998364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67577952299999 meters 0.014840298654777172 Centerline is valid? [True, True] Translation: X:66.81, Y:-15.88, Z:-4.72 [[ 9.10402193e-01 4.07102794e-01 7.37235525e-02 6.68091695e+01] [-4.05715781e-01 9.13382108e-01 -3.35831749e-02 -1.58756706e+01] [-8.10095781e-02 6.63387354e-04 9.96713102e-01 -4.72108135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70577952299999 meters 0.014862983459899611 Centerline is valid? [True, True] Translation: X:66.84, Y:-15.89, Z:-4.72 [[ 9.10146102e-01 4.07752518e-01 7.32936391e-02 6.68377968e+01] [-4.06381778e-01 9.13092270e-01 -3.34119236e-02 -1.58892206e+01] [-8.05476513e-02 6.24532649e-04 9.96750564e-01 -4.72343052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73577952299999 meters 0.014862983459899611 Centerline is valid? [True, True] Translation: X:66.87, Y:-15.90, Z:-4.73 [[ 9.10034219e-01 4.08003194e-01 7.32878817e-02 6.68671384e+01] [-4.06632248e-01 9.12980292e-01 -3.34245475e-02 -1.59026924e+01] [-8.05477137e-02 6.16265910e-04 9.96750564e-01 -4.72606770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76577952299999 meters 0.014746781841746215 Centerline is valid? [True, True] Translation: X:66.90, Y:-15.92, Z:-4.73 [[ 9.09594460e-01 4.09067008e-01 7.28155334e-02 6.68965034e+01] [-4.07715175e-01 9.12504186e-01 -3.32332040e-02 -1.59155924e+01] [-8.00390864e-02 5.40740254e-04 9.96791579e-01 -4.72946742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.795779523 meters 0.014497323030843553 Centerline is valid? [True, True] Translation: X:66.93, Y:-15.93, Z:-4.73 [[ 9.09035857e-01 4.10690762e-01 7.06180540e-02 6.69265467e+01] [-4.09422660e-01 9.11774607e-01 -3.22513748e-02 -1.59283015e+01] [-7.76330901e-02 4.05024660e-04 9.96981915e-01 -4.73357856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.825779523 meters 0.014470771742681495 Centerline is valid? [True, True] Translation: X:66.96, Y:-15.94, Z:-4.74 [[ 9.08669998e-01 4.11666733e-01 6.96371662e-02 6.69565969e+01] [-4.10434788e-01 9.11334399e-01 -3.18260662e-02 -1.59422326e+01] [-7.65644777e-02 3.37875977e-04 9.97064575e-01 -4.73662514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.855779523 meters 0.014421403974290103 Centerline is valid? [True, True] Translation: X:66.99, Y:-15.96, Z:-4.74 [[ 9.08010595e-01 4.13218778e-01 6.90434693e-02 6.69866934e+01] [-4.12010547e-01 9.10631754e-01 -3.15771832e-02 -1.59556230e+01] [-7.59214606e-02 2.25779335e-04 9.97113775e-01 -4.73991615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.885779523 meters 0.014366967445054883 Centerline is valid? [True, True] Translation: X:67.02, Y:-15.97, Z:-4.74 [[ 9.05795174e-01 4.18177468e-01 6.82840296e-02 6.70172506e+01] [-4.17008069e-01 9.08365333e-01 -3.12520830e-02 -1.59653980e+01] [-7.50957622e-02 -1.67005396e-04 9.97176313e-01 -4.74374548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.915779523 meters 0.014510548705920136 Centerline is valid? [True, True] Translation: X:67.05, Y:-15.98, Z:-4.75 [[ 9.04522667e-01 4.20804211e-01 6.90113150e-02 6.70482859e+01] [-4.19615741e-01 9.07151409e-01 -3.16061717e-02 -1.59761762e+01] [-7.59037218e-02 -3.69735366e-04 9.97115083e-01 -4.74655912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.945779523 meters 0.014733072754549355 Centerline is valid? [True, True] Translation: X:67.08, Y:-15.99, Z:-4.75 [[ 9.03392906e-01 4.23024291e-01 7.02261175e-02 6.70791025e+01] [-4.21798446e-01 9.06118178e-01 -3.21856922e-02 -1.59870116e+01] [-7.72484913e-02 -5.44941182e-04 9.97011722e-01 -4.74904990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.975779523 meters 0.014717080048318242 Centerline is valid? [True, True] Translation: X:67.11, Y:-16.00, Z:-4.75 [[ 9.02758090e-01 4.24125165e-01 7.17333618e-02 6.71094202e+01] [-4.22847622e-01 9.05603360e-01 -3.29004955e-02 -1.59989463e+01] [-7.89159016e-02 -6.31092935e-04 9.96881077e-01 -4.75151559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.005779523 meters 0.014654875163170336 Centerline is valid? [True, True] Translation: X:67.14, Y:-16.01, Z:-4.75 [[ 9.02860989e-01 4.23777561e-01 7.24887182e-02 6.71390571e+01] [-4.22469838e-01 9.05766105e-01 -3.32715951e-02 -1.60144292e+01] [-7.97575793e-02 -5.84671782e-04 9.96814118e-01 -4.75244654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03577952299999 meters 0.01454425460770245 Centerline is valid? [True, True] Translation: X:67.17, Y:-16.03, Z:-4.75 [[ 9.03129138e-01 4.23186424e-01 7.26017298e-02 6.71676131e+01] [-4.21870755e-01 9.06042488e-01 -3.33478118e-02 -1.60301485e+01] [-7.98925931e-02 -5.11166059e-04 9.96803347e-01 -4.75364774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06577952299999 meters 0.014486094987226654 Centerline is valid? [True, True] Translation: X:67.20, Y:-16.05, Z:-4.76 [[ 9.03450928e-01 4.22532051e-01 7.24091541e-02 6.71962810e+01] [-4.21219331e-01 9.06347881e-01 -3.32835503e-02 -1.60456773e+01] [-7.96912501e-02 -4.30081037e-04 9.96819502e-01 -4.75533932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09577952299999 meters 0.014368060562390797 Centerline is valid? [True, True] Translation: X:67.22, Y:-16.06, Z:-4.76 [[ 9.03715388e-01 4.22023059e-01 7.20765863e-02 6.72247862e+01] [-4.20718823e-01 9.06585025e-01 -3.31551627e-02 -1.60599062e+01] [-7.93357970e-02 -3.61145839e-04 9.96847883e-01 -4.75811088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12577952299999 meters 0.014254236585335815 Centerline is valid? [True, True] Translation: X:67.25, Y:-16.07, Z:-4.76 [[ 9.04256341e-01 4.20967284e-01 7.14633789e-02 6.72528846e+01] [-4.19680113e-01 9.07075788e-01 -3.28955614e-02 -1.60736517e+01] [-7.86706559e-02 -2.45738901e-04 9.96900631e-01 -4.76178943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15577952299999 meters 0.014270261905836851 Centerline is valid? [True, True] Translation: X:67.28, Y:-16.09, Z:-4.76 [[ 9.04535587e-01 4.20344785e-01 7.15935378e-02 6.72820870e+01] [-4.19049222e-01 9.07364443e-01 -3.29775164e-02 -1.60881617e+01] [-7.88233576e-02 -1.71879243e-04 9.96888584e-01 -4.76440381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.185779523 meters 0.014146811438115121 Centerline is valid? [True, True] Translation: X:67.31, Y:-16.10, Z:-4.77 [[ 9.05797004e-01 4.17811349e-01 7.04660551e-02 6.73104937e+01] [-4.16546870e-01 9.08533804e-01 -3.24812697e-02 -1.61044469e+01] [-7.75918362e-02 6.90220334e-05 9.96985207e-01 -4.76831076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.215779523 meters 0.017657955552453468 Centerline is valid? [True, True] Translation: X:67.34, Y:-16.12, Z:-4.78 [[ 9.06687175e-01 4.16244669e-01 6.82549758e-02 6.73387627e+01] [-4.15052312e-01 9.09252621e-01 -3.14841188e-02 -1.61186618e+01] [-7.51661122e-02 2.16861244e-04 9.97171003e-01 -4.77572157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.245779523 meters 0.01431691310125957 Centerline is valid? [True, True] Translation: X:67.37, Y:-16.13, Z:-4.78 [[ 9.07032395e-01 4.15628309e-01 6.74191635e-02 6.73664405e+01] [-4.14461750e-01 9.09534512e-01 -3.11196032e-02 -1.61322282e+01] [-7.42542441e-02 2.83823740e-04 9.97239303e-01 -4.77716560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.275779523 meters 0.014414710360435144 Centerline is valid? [True, True] Translation: X:67.39, Y:-16.15, Z:-4.78 [[ 9.07716486e-01 4.14486348e-01 6.52061955e-02 6.73948281e+01] [-4.13391599e-01 9.10055453e-01 -3.01074426e-02 -1.61467436e+01] [-7.18203778e-02 3.73328565e-04 9.97417512e-01 -4.78254638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.305779523 meters 0.01458333915783563 Centerline is valid? [True, True] Translation: X:67.42, Y:-16.16, Z:-4.79 [[ 9.07926014e-01 4.14148498e-01 6.44311648e-02 6.74224672e+01] [-4.13077462e-01 9.10209235e-01 -2.97684255e-02 -1.61609275e+01] [-7.09743900e-02 4.12465908e-04 9.97478053e-01 -4.78649778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.335779523 meters 0.014200867526356445 Centerline is valid? [True, True] Translation: X:67.45, Y:-16.17, Z:-4.79 [[ 9.07247459e-01 4.15189314e-01 6.72300617e-02 6.74523951e+01] [-4.14024519e-01 9.09734962e-01 -3.10804709e-02 -1.61727773e+01] [-7.40658171e-02 3.62784257e-04 9.97253289e-01 -4.78506130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.365779523 meters 0.01411908674294556 Centerline is valid? [True, True] Translation: X:67.48, Y:-16.18, Z:-4.79 [[ 9.06947005e-01 4.15421531e-01 6.98003029e-02 6.74810699e+01] [-4.14164868e-01 9.09628941e-01 -3.22901390e-02 -1.61841152e+01] [-7.69063946e-02 3.76611636e-04 9.97038246e-01 -4.78529444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.395779523 meters 0.014072686826935072 Centerline is valid? [True, True] Translation: X:67.51, Y:-16.20, Z:-4.79 [[ 9.06946356e-01 4.15187490e-01 7.11874672e-02 6.75107138e+01] [-4.13878676e-01 9.09735772e-01 -3.29433709e-02 -1.61954863e+01] [-7.84394610e-02 4.14895486e-04 9.96918793e-01 -4.78748053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42577952299999 meters 0.0139915003285613 Centerline is valid? [True, True] Translation: X:67.54, Y:-16.21, Z:-4.79 [[ 9.07046116e-01 4.15017791e-01 7.09054065e-02 6.75414204e+01] [-4.13717162e-01 9.09813186e-01 -3.28340727e-02 -1.62074446e+01] [-7.81373982e-02 4.47234565e-04 9.96942499e-01 -4.79105293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45577952299999 meters 0.013995592267709465 Centerline is valid? [True, True] Translation: X:67.57, Y:-16.22, Z:-4.79 [[ 9.06949130e-01 4.15473569e-01 6.94621457e-02 6.75699248e+01] [-4.14225028e-01 9.09605154e-01 -3.21883400e-02 -1.62240185e+01] [-7.65565303e-02 4.20227686e-04 9.97065154e-01 -4.79230900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48577952299999 meters 0.013839252512032961 Centerline is valid? [True, True] Translation: X:67.60, Y:-16.24, Z:-4.79 [[ 9.06621116e-01 4.16148719e-01 6.97021967e-02 6.75981629e+01] [-4.14891725e-01 9.09296484e-01 -3.23227722e-02 -1.62405170e+01] [-7.68310426e-02 3.85643230e-04 9.97044052e-01 -4.79120710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51577952299999 meters 0.013794392399473837 Centerline is valid? [True, True] Translation: X:67.63, Y:-16.25, Z:-4.79 [[ 9.05568070e-01 4.18336078e-01 7.02950644e-02 6.76282852e+01] [-4.17062447e-01 9.08292286e-01 -3.26196110e-02 -1.62527703e+01] [-7.74944248e-02 2.21846658e-04 9.96992761e-01 -4.79085665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.545779523 meters 0.013736767949112537 Centerline is valid? [True, True] Translation: X:67.66, Y:-16.26, Z:-4.80 [[ 9.04875734e-01 4.19883504e-01 6.99839276e-02 6.76590860e+01] [-4.18624209e-01 9.07578003e-01 -3.24952262e-02 -1.62624065e+01] [-7.71600827e-02 1.07175327e-04 9.97018711e-01 -4.79557713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.575779523 meters 0.013669512807441398 Centerline is valid? [True, True] Translation: X:67.69, Y:-16.27, Z:-4.80 [[ 9.04120284e-01 4.21516173e-01 6.99330243e-02 6.76905542e+01] [-4.20261936e-01 9.06820884e-01 -3.24929081e-02 -1.62717678e+01] [-7.71130132e-02 -1.26908805e-05 9.97022358e-01 -4.80108039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.605779523 meters 0.01373884408522188 Centerline is valid? [True, True] Translation: X:67.72, Y:-16.28, Z:-4.81 [[ 9.03103721e-01 4.23994888e-01 6.80588300e-02 6.77203490e+01] [-4.22812313e-01 9.05664561e-01 -3.16457138e-02 -1.62788101e+01] [-7.50560912e-02 -1.96749501e-04 9.97179294e-01 -4.81014990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.635779523 meters 0.013836452043009395 Centerline is valid? [True, True] Translation: X:67.75, Y:-16.29, Z:-4.81 [[ 9.02493131e-01 4.25556937e-01 6.63885668e-02 6.77491364e+01] [-4.24435363e-01 9.04931598e-01 -3.08775967e-02 -1.62920789e+01] [-7.32172874e-02 -3.10836496e-04 9.97315964e-01 -4.81445431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.665779523 meters 0.013924793606565863 Centerline is valid? [True, True] Translation: X:67.78, Y:-16.31, Z:-4.82 [[ 9.01955617e-01 4.26778620e-01 6.58488730e-02 6.77767423e+01] [-4.25677013e-01 9.04356046e-01 -3.06467228e-02 -1.63070508e+01] [-7.26301924e-02 -3.88367822e-04 9.97358864e-01 -4.81616982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.695779523 meters 0.014033728716246717 Centerline is valid? [True, True] Translation: X:67.81, Y:-16.32, Z:-4.81 [[ 9.01408566e-01 4.27827808e-01 6.65279122e-02 6.78055669e+01] [-4.26705479e-01 9.03860137e-01 -3.09723719e-02 -1.63237772e+01] [-7.33827698e-02 -4.69063280e-04 9.97303740e-01 -4.81436255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.725779523 meters 0.014353407028285546 Centerline is valid? [True, True] Translation: X:67.84, Y:-16.34, Z:-4.81 [[ 8.99999783e-01 4.30295957e-01 6.96116385e-02 6.78350068e+01] [-4.29072505e-01 9.02687614e-01 -3.24323553e-02 -1.63371735e+01] [-7.67930752e-02 -6.79327349e-04 9.97046820e-01 -4.81026123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.755779523 meters 0.014732926582866849 Centerline is valid? [True, True] Translation: X:67.87, Y:-16.35, Z:-4.81 [[ 8.99143756e-01 4.32064553e-01 6.97189234e-02 6.78659883e+01] [-4.30840947e-01 9.01842316e-01 -3.25040829e-02 -1.63474106e+01] [-7.69193374e-02 -8.11923793e-04 9.97036988e-01 -4.81326783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78577952299999 meters 0.014782943177287127 Centerline is valid? [True, True] Translation: X:67.90, Y:-16.36, Z:-4.82 [[ 8.98149426e-01 4.34230588e-01 6.90753624e-02 6.78965707e+01] [-4.33034395e-01 9.00801229e-01 -3.22235577e-02 -1.63579713e+01] [-7.62156257e-02 -9.70437921e-04 9.97090887e-01 -4.81715474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81577952299999 meters 0.015456038972480187 Centerline is valid? [True, True] Translation: X:67.93, Y:-16.37, Z:-4.82 [[ 8.97385065e-01 4.35920466e-01 6.83622118e-02 6.79257386e+01] [-4.34752223e-01 8.99984540e-01 -3.19113234e-02 -1.63670813e+01] [-7.54357327e-02 -1.08387851e-03 9.97150077e-01 -4.82211283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84577952299999 meters 0.01585299310556745 Centerline is valid? [True, True] Translation: X:67.95, Y:-16.38, Z:-4.83 [[ 8.96998636e-01 4.37157651e-01 6.54724018e-02 6.79547257e+01] [-4.36088472e-01 8.99384191e-01 -3.05764882e-02 -1.63796549e+01] [-7.22515889e-02 -1.12469151e-03 9.97385804e-01 -4.82954297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87577952299999 meters 0.015443402532045597 Centerline is valid? [True, True] Translation: X:67.98, Y:-16.40, Z:-4.83 [[ 8.97372142e-01 4.36566848e-01 6.42855003e-02 6.79831495e+01] [-4.35533365e-01 8.99671219e-01 -3.00397263e-02 -1.63961301e+01] [-7.09501630e-02 -1.04166675e-03 9.97479318e-01 -4.83375734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90577952299999 meters 0.01467070802332822 Centerline is valid? [True, True] Translation: X:68.01, Y:-16.42, Z:-4.83 [[ 8.99110820e-01 4.32842893e-01 6.51671959e-02 6.80081249e+01] [-4.31769426e-01 9.01469071e-01 -3.04742053e-02 -1.64175894e+01] [-7.19367547e-02 -7.37515037e-04 9.97408923e-01 -4.83290599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.935779523 meters 0.014086918512772113 Centerline is valid? [True, True] Translation: X:68.04, Y:-16.44, Z:-4.83 [[ 9.00469402e-01 4.29874689e-01 6.60500381e-02 6.80357523e+01] [-4.28762396e-01 9.02888428e-01 -3.09078350e-02 -1.64359307e+01] [-7.29223110e-02 -4.88212872e-04 9.97337505e-01 -4.83230368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.965779523 meters 0.01382621535415804 Centerline is valid? [True, True] Translation: X:68.06, Y:-16.45, Z:-4.83 [[ 9.01985645e-01 4.26664697e-01 6.61750136e-02 6.80630534e+01] [-4.25539144e-01 9.04409855e-01 -3.09717716e-02 -1.64522623e+01] [-7.30638960e-02 -2.23965245e-04 9.97327237e-01 -4.83380249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.995779523 meters 0.014024076282916116 Centerline is valid? [True, True] Translation: X:68.09, Y:-16.47, Z:-4.84 [[ 9.04721042e-01 4.21042918e-01 6.48282169e-02 6.80908252e+01] [-4.19946992e-01 9.07040684e-01 -3.03598743e-02 -1.64679161e+01] [-7.15846402e-02 2.42802445e-04 9.97434499e-01 -4.83992570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.025779523 meters 0.014342648380296159 Centerline is valid? [True, True] Translation: X:68.12, Y:-16.48, Z:-4.84 [[ 9.06007715e-01 4.18264460e-01 6.48449087e-02 6.81192446e+01] [-4.17159463e-01 9.08325168e-01 -3.03870267e-02 -1.64832010e+01] [-7.16100759e-02 4.80213332e-04 9.97432587e-01 -4.84404312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.055779523 meters 0.014730717108561227 Centerline is valid? [True, True] Translation: X:68.15, Y:-16.50, Z:-4.85 [[ 9.07295601e-01 4.15133679e-01 6.69232489e-02 6.81463432e+01] [-4.13946562e-01 9.09760098e-01 -3.13816403e-02 -1.64995144e+01] [-7.39116773e-02 7.69775382e-04 9.97264494e-01 -4.84584618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.085779523 meters 0.014870336684051728 Centerline is valid? [True, True] Translation: X:68.18, Y:-16.52, Z:-4.85 [[ 9.07441831e-01 4.14703214e-01 6.76059719e-02 6.81753481e+01] [-4.13489154e-01 9.09956348e-01 -3.17200861e-02 -1.65152143e+01] [-7.46729050e-02 8.29796870e-04 9.97207736e-01 -4.84629578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.115779523 meters 0.015187165754507438 Centerline is valid? [True, True] Translation: X:68.20, Y:-16.53, Z:-4.85 [[ 9.07588520e-01 4.14194280e-01 6.87471926e-02 6.82032958e+01] [-4.12935572e-01 9.10188043e-01 -3.22790944e-02 -1.65313476e+01] [-7.59426890e-02 9.07974231e-04 9.97111771e-01 -4.84657228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.145779523 meters 0.015427063059938122 Centerline is valid? [True, True] Translation: X:68.23, Y:-16.55, Z:-4.85 [[ 9.08238721e-01 4.12648019e-01 6.94552998e-02 6.82320312e+01] [-4.11356998e-01 9.10889934e-01 -3.26335541e-02 -1.65460028e+01] [-7.67323049e-02 1.06813384e-03 9.97051158e-01 -4.84665976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17577952299999 meters 0.016426395507060706 Centerline is valid? [True, True] Translation: X:68.26, Y:-16.56, Z:-4.85 [[ 9.10181982e-01 4.08355674e-01 6.93859069e-02 6.82615472e+01] [-4.07053202e-01 9.12821751e-01 -3.26211851e-02 -1.65573239e+01] [-7.66580110e-02 1.44745927e-03 9.97056395e-01 -4.85038950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20577952299999 meters 0.017343771463618395 Centerline is valid? [True, True] Translation: X:68.29, Y:-16.57, Z:-4.85 [[ 9.10866304e-01 4.06841327e-01 6.93015918e-02 6.82896069e+01] [-4.05536195e-01 9.13497458e-01 -3.26004499e-02 -1.65706520e+01] [-7.65700382e-02 1.59034744e-03 9.97062937e-01 -4.85411033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23577952299999 meters 0.017859300034641243 Centerline is valid? [True, True] Translation: X:68.32, Y:-16.59, Z:-4.86 [[ 9.11466543e-01 4.05564279e-01 6.88938089e-02 6.83183100e+01] [-4.04269431e-01 9.14064938e-01 -3.24271017e-02 -1.65855362e+01] [-7.61246892e-02 1.70455737e-03 9.97096849e-01 -4.85618488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26577952299999 meters 0.018641533597865613 Centerline is valid? [True, True] Translation: X:68.34, Y:-16.60, Z:-4.86 [[ 9.11989240e-01 4.04523326e-01 6.80918852e-02 6.83443851e+01] [-4.03254118e-01 9.14525932e-01 -3.20692393e-02 -1.66021313e+01] [-7.52445501e-02 1.78846806e-03 9.97163507e-01 -4.85670505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.295779523 meters 0.01877085786086967 Centerline is valid? [True, True] Translation: X:68.37, Y:-16.62, Z:-4.86 [[ 9.13450956e-01 4.01433977e-01 6.67690987e-02 6.83730190e+01] [-4.00204275e-01 9.15885742e-01 -3.14618329e-02 -1.66175568e+01] [-7.37827142e-02 2.01756266e-03 9.97272300e-01 -4.85582989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.325779523 meters 0.01975638523861387 Centerline is valid? [True, True] Translation: X:68.40, Y:-16.63, Z:-4.86 [[ 9.14412950e-01 3.99280495e-01 6.65134864e-02 6.84023567e+01] [-3.98054154e-01 9.16826211e-01 -3.13462871e-02 -1.66297169e+01] [-7.34972687e-02 2.18748137e-03 9.97293019e-01 -4.85971214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.355779523 meters 0.020788400882386853 Centerline is valid? [True, True] Translation: X:68.43, Y:-16.64, Z:-4.87 [[ 9.15639159e-01 3.96573091e-01 6.58385411e-02 6.84321464e+01] [-3.95363644e-01 9.18000034e-01 -3.10407316e-02 -1.66412332e+01] [-7.27497018e-02 2.39194393e-03 9.97347362e-01 -4.86530438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.385779523 meters 0.022191950977663088 Centerline is valid? [True, True] Translation: X:68.46, Y:-16.65, Z:-4.87 [[ 9.18542535e-01 3.90161216e-01 6.36697478e-02 6.84602940e+01] [-3.89014513e-01 9.20742274e-01 -3.00228774e-02 -1.66538081e+01] [-7.03371908e-02 2.80883401e-03 9.97519318e-01 -4.87069547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.415779523 meters 0.02587617207444338 Centerline is valid? [True, True] Translation: X:68.49, Y:-16.67, Z:-4.87 [[ 9.19695460e-01 3.87392903e-01 6.39296372e-02 6.84855197e+01] [-3.86229636e-01 9.21909703e-01 -3.01524204e-02 -1.66731213e+01] [-7.06181865e-02 3.03952369e-03 9.97498788e-01 -4.87310828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.445779523 meters 0.026885288427658676 Centerline is valid? [True, True] Translation: X:68.51, Y:-16.69, Z:-4.87 [[ 9.20664931e-01 3.84950367e-01 6.47248032e-02 6.85133713e+01] [-3.83750541e-01 9.22931429e-01 -3.05466603e-02 -1.66889523e+01] [-7.14955033e-02 3.28506059e-03 9.97435512e-01 -4.87357710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.475779523 meters 0.026963611257548908 Centerline is valid? [True, True] Translation: X:68.54, Y:-16.70, Z:-4.87 [[ 9.21032832e-01 3.83925816e-01 6.55705002e-02 6.85422286e+01] [-3.82691526e-01 9.23357636e-01 -3.09494954e-02 -1.67023928e+01] [-7.24273324e-02 3.41222666e-03 9.97367855e-01 -4.87421838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.505779523 meters 0.024472391211003457 Centerline is valid? [True, True] Translation: X:68.57, Y:-16.71, Z:-4.88 [[ 9.21333598e-01 3.82860318e-01 6.75453782e-02 6.85744735e+01] [-3.81546033e-01 9.23799148e-01 -3.19023402e-02 -1.67083715e+01] [-7.46125029e-02 3.62102682e-03 9.97206028e-01 -4.87500191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53577952299999 meters 0.024180659688816223 Centerline is valid? [True, True] Translation: X:68.61, Y:-16.72, Z:-4.88 [[ 9.21036181e-01 3.83386741e-01 6.86072894e-02 6.86054555e+01] [-3.82031402e-01 9.23580708e-01 -3.24142610e-02 -1.67187801e+01] [-7.57915668e-02 3.64456822e-03 9.97117022e-01 -4.87702474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56577952299999 meters 0.024920005308510976 Centerline is valid? [True, True] Translation: X:68.63, Y:-16.73, Z:-4.88 [[ 9.20559260e-01 3.84501431e-01 6.87698968e-02 6.86343171e+01] [-3.83141157e-01 9.23117451e-01 -3.25119278e-02 -1.67299021e+01] [-7.59835747e-02 3.58057841e-03 9.97102641e-01 -4.87912475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59577952299999 meters 0.02351436454436741 Centerline is valid? [True, True] Translation: X:68.67, Y:-16.74, Z:-4.88 [[ 9.18912854e-01 3.88587936e-01 6.78128585e-02 6.86652221e+01] [-3.87274903e-01 9.21406032e-01 -3.20791975e-02 -1.67380035e+01] [-7.49487660e-02 3.21576874e-03 9.97182201e-01 -4.88072047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62577952299999 meters 0.02351436454436741 Centerline is valid? [True, True] Translation: X:68.69, Y:-16.75, Z:-4.88 [[ 9.18805802e-01 3.88841152e-01 6.78119215e-02 6.86944010e+01] [-3.87528660e-01 9.21299265e-01 -3.20811786e-02 -1.67518960e+01] [-7.49495559e-02 3.19730996e-03 9.97182201e-01 -4.88335548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65577952299999 meters 0.022472948071437033 Centerline is valid? [True, True] Translation: X:68.72, Y:-16.76, Z:-4.89 [[ 9.17815265e-01 3.91341660e-01 6.68344617e-02 6.87242736e+01] [-3.90071703e-01 9.20240664e-01 -3.16415507e-02 -1.67619509e+01] [-7.38864464e-02 2.97086598e-03 9.97262236e-01 -4.88586043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.685779523 meters 0.021639084606926345 Centerline is valid? [True, True] Translation: X:68.75, Y:-16.77, Z:-4.89 [[ 9.16810553e-01 3.93853038e-01 6.58649674e-02 6.87547947e+01] [-3.92624858e-01 9.19169327e-01 -3.12004832e-02 -1.67716030e+01] [-7.28294629e-02 2.74470884e-03 9.97340632e-01 -4.88941079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.715779523 meters 0.01983873866634157 Centerline is valid? [True, True] Translation: X:68.79, Y:-16.78, Z:-4.89 [[ 9.14502142e-01 3.99310449e-01 6.50922265e-02 6.87876979e+01] [-3.98124425e-01 9.16812923e-01 -3.08384091e-02 -1.67758190e+01] [-7.19914934e-02 2.28698595e-03 9.97402624e-01 -4.89370495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.745779523 meters 0.019277227465871915 Centerline is valid? [True, True] Translation: X:68.82, Y:-16.79, Z:-4.90 [[ 9.13115345e-01 4.02364628e-01 6.57500841e-02 6.88169362e+01] [-4.01162063e-01 9.15477153e-01 -3.11541595e-02 -1.67857604e+01] [-7.27280316e-02 2.07090169e-03 9.97349660e-01 -4.89513465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.775779523 meters 0.018370931292838 Centerline is valid? [True, True] Translation: X:68.85, Y:-16.80, Z:-4.90 [[ 9.11699105e-01 4.05426217e-01 6.65907157e-02 6.88471332e+01] [-4.04199608e-01 9.14125869e-01 -3.15685513e-02 -1.67957405e+01] [-7.36710142e-02 1.86507885e-03 9.97280855e-01 -4.89549043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.805779523 meters 0.01651500365976652 Centerline is valid? [True, True] Translation: X:68.88, Y:-16.80, Z:-4.89 [[ 9.09112733e-01 4.10967732e-01 6.79673659e-02 6.88798411e+01] [-4.09703839e-01 9.11648717e-01 -3.22394321e-02 -1.67998547e+01] [-7.52117282e-02 1.46278746e-03 9.97166514e-01 -4.89458605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.835779523 meters 0.01568268147132669 Centerline is valid? [True, True] Translation: X:68.91, Y:-16.81, Z:-4.90 [[ 9.08044499e-01 4.13405869e-01 6.74594278e-02 6.89114495e+01] [-4.12167082e-01 9.10545994e-01 -3.20045169e-02 -1.68087673e+01] [-7.46557669e-02 1.25696999e-03 9.97208572e-01 -4.89712735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.865779523 meters 0.015857562757381316 Centerline is valid? [True, True] Translation: X:68.94, Y:-16.82, Z:-4.91 [[ 9.07067462e-01 4.15983973e-01 6.46989420e-02 6.89423805e+01] [-4.14849817e-01 9.09371374e-01 -3.07137371e-02 -1.68158534e+01] [-7.16117882e-02 1.01908730e-03 9.97432059e-01 -4.90503263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89577952299999 meters 0.015936366505558703 Centerline is valid? [True, True] Translation: X:68.97, Y:-16.83, Z:-4.91 [[ 9.06879562e-01 4.16434299e-01 6.44355129e-02 6.89737314e+01] [-4.15309262e-01 9.09165268e-01 -3.06060879e-02 -1.68262966e+01] [-7.13279551e-02 9.95370232e-04 9.97452421e-01 -4.91050992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92577952299999 meters 0.015635567165013926 Centerline is valid? [True, True] Translation: X:69.01, Y:-16.84, Z:-4.91 [[ 9.06900497e-01 4.16359744e-01 6.46223779e-02 6.90050809e+01] [-4.15226446e-01 9.09199382e-01 -3.07161592e-02 -1.68359142e+01] [-7.15435983e-02 1.02357972e-03 9.97436948e-01 -4.91470348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95577952299999 meters 0.015807672447596503 Centerline is valid? [True, True] Translation: X:69.04, Y:-16.85, Z:-4.92 [[ 9.07143529e-01 4.15727895e-01 6.52758387e-02 6.90355151e+01] [-4.14568269e-01 9.09488371e-01 -3.10492153e-02 -1.68479530e+01] [-7.22756411e-02 1.10480330e-03 9.97384084e-01 -4.91819856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98577952299999 meters 0.016307195975758526 Centerline is valid? [True, True] Translation: X:69.06, Y:-16.86, Z:-4.92 [[ 9.08409085e-01 4.12657806e-01 6.71302383e-02 6.90645581e+01] [-4.11421107e-01 9.10885036e-01 -3.19550341e-02 -1.68629854e+01] [-7.43344238e-02 1.40944636e-03 9.97232374e-01 -4.91599211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01577952299999 meters 0.017229395264057527 Centerline is valid? [True, True] Translation: X:69.09, Y:-16.88, Z:-4.92 [[ 9.09019407e-01 4.11207779e-01 6.77634101e-02 6.90920665e+01] [-4.09942013e-01 9.11540303e-01 -3.22772625e-02 -1.68781286e+01] [-7.50417408e-02 1.56158931e-03 9.97179171e-01 -4.91555741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.045779523 meters 0.01693362074866543 Centerline is valid? [True, True] Translation: X:69.12, Y:-16.89, Z:-4.92 [[ 9.09463103e-01 4.10139194e-01 6.82840084e-02 6.91221332e+01] [-4.08849422e-01 9.12021392e-01 -3.25442806e-02 -1.68896566e+01] [-7.56241614e-02 1.67994500e-03 9.97134978e-01 -4.91575994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.075779523 meters 0.01726923666731534 Centerline is valid? [True, True] Translation: X:69.15, Y:-16.90, Z:-4.92 [[ 9.09725558e-01 4.09134423e-01 7.07702777e-02 6.91549296e+01] [-4.07744072e-01 9.12472250e-01 -3.37515240e-02 -1.68964177e+01] [-7.83848248e-02 1.84846282e-03 9.96921463e-01 -4.91758733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.105779523 meters 0.017594940001149095 Centerline is valid? [True, True] Translation: X:69.18, Y:-16.91, Z:-4.92 [[ 9.09605827e-01 4.09242580e-01 7.16781068e-02 6.91845567e+01] [-4.07814851e-01 9.12423676e-01 -3.42064701e-02 -1.69074957e+01] [-7.93995458e-02 1.88300811e-03 9.96841094e-01 -4.91983307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.135779523 meters 0.017527325347106285 Centerline is valid? [True, True] Translation: X:69.22, Y:-16.92, Z:-4.92 [[ 9.09474636e-01 4.09630014e-01 7.11276149e-02 6.92151499e+01] [-4.08223553e-01 9.12249860e-01 -3.39664968e-02 -1.69195805e+01] [-7.87998534e-02 1.85569966e-03 9.96888730e-01 -4.92306221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.165779523 meters 0.01770984604465041 Centerline is valid? [True, True] Translation: X:69.24, Y:-16.93, Z:-4.93 [[ 9.09861666e-01 4.09549531e-01 6.64900848e-02 6.92448584e+01] [-4.08318951e-01 9.12286185e-01 -3.17734337e-02 -1.69313098e+01] [-7.36707806e-02 1.76026770e-03 9.97281062e-01 -4.92959657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.195779523 meters 0.01783152823081791 Centerline is valid? [True, True] Translation: X:69.27, Y:-16.94, Z:-4.93 [[ 9.09926052e-01 4.09516104e-01 6.58114089e-02 6.92746031e+01] [-4.08309036e-01 9.12301186e-01 -3.14686704e-02 -1.69435860e+01] [-7.29267536e-02 1.76277004e-03 9.97335741e-01 -4.93289796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.225779523 meters 0.017866708206459855 Centerline is valid? [True, True] Translation: X:69.31, Y:-16.96, Z:-4.94 [[ 9.09935822e-01 4.09502374e-01 6.57617312e-02 6.93050071e+01] [-4.08295673e-01 9.12307314e-01 -3.14643907e-02 -1.69550508e+01] [-7.28796510e-02 1.78034592e-03 9.97339153e-01 -4.93530105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.255779523 meters 0.020229648512792173 Centerline is valid? [True, True] Translation: X:69.34, Y:-16.96, Z:-4.94 [[ 9.10797789e-01 4.07552168e-01 6.59440484e-02 6.93363466e+01] [-4.06331939e-01 9.13179816e-01 -3.15749711e-02 -1.69618368e+01] [-7.30872219e-02 1.96324074e-03 9.97323620e-01 -4.94203764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28577952299999 meters 0.018106008847204234 Centerline is valid? [True, True] Translation: X:69.37, Y:-16.97, Z:-4.94 [[ 9.10704208e-01 4.07740404e-01 6.60727502e-02 6.93673975e+01] [-4.06514574e-01 9.13095772e-01 -3.16545777e-02 -1.69727370e+01] [-7.32375991e-02 1.96842124e-03 9.97312579e-01 -4.94277158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31577952299999 meters 0.018797550136106435 Centerline is valid? [True, True] Translation: X:69.40, Y:-16.99, Z:-4.94 [[ 9.10766442e-01 4.07547551e-01 6.64039275e-02 6.93964855e+01] [-4.06307131e-01 9.13181762e-01 -3.18368319e-02 -1.69862755e+01] [-7.36138785e-02 2.01552880e-03 9.97284781e-01 -4.94489366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34577952299999 meters 0.019278262661383428 Centerline is valid? [True, True] Translation: X:69.43, Y:-17.00, Z:-4.94 [[ 9.10507946e-01 4.07619091e-01 6.94403139e-02 6.94252459e+01] [-4.06260807e-01 9.13149585e-01 -3.33165468e-02 -1.69980764e+01] [-7.69898544e-02 2.12410259e-03 9.97029614e-01 -4.94334297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37577952299999 meters 0.01897500534677734 Centerline is valid? [True, True] Translation: X:69.46, Y:-17.01, Z:-4.95 [[ 9.10102300e-01 4.08390115e-01 7.02233488e-02 6.94559632e+01] [-4.07001730e-01 9.12805074e-01 -3.37118384e-02 -1.70086325e+01] [-7.78678107e-02 2.10019719e-03 9.96961480e-01 -4.94586365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40577952299999 meters 0.018423338924443422 Centerline is valid? [True, True] Translation: X:69.49, Y:-17.02, Z:-4.95 [[ 9.09510903e-01 4.09748443e-01 6.99723553e-02 6.94866308e+01] [-4.08372388e-01 9.12196377e-01 -3.36119365e-02 -1.70180121e+01] [-7.76009677e-02 1.99564492e-03 9.96982501e-01 -4.94968601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.435779523 meters 0.019635073437848347 Centerline is valid? [True, True] Translation: X:69.52, Y:-17.03, Z:-4.96 [[ 9.09263002e-01 4.10436353e-01 6.91577398e-02 6.95174609e+01] [-4.09092563e-01 9.11887198e-01 -3.32417444e-02 -1.70283232e+01] [-7.67076779e-02 1.93357128e-03 9.97051751e-01 -4.95543262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.465779523 meters 0.017070323250280402 Centerline is valid? [True, True] Translation: X:69.55, Y:-17.04, Z:-4.95 [[ 9.07861108e-01 4.13312343e-01 7.04351911e-02 6.95491543e+01] [-4.11926435e-01 9.10587678e-01 -3.38628580e-02 -1.70364590e+01] [-7.81333543e-02 1.72865458e-03 9.96941418e-01 -4.95342536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.495779523 meters 0.016733817885627146 Centerline is valid? [True, True] Translation: X:69.58, Y:-17.05, Z:-4.95 [[ 9.07267192e-01 4.14459370e-01 7.13419424e-02 6.95793941e+01] [-4.13039284e-01 9.10066282e-01 -3.43207176e-02 -1.70476508e+01] [-7.91504393e-02 1.67103625e-03 9.96861282e-01 -4.95460512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.525779523 meters 0.01683485477794548 Centerline is valid? [True, True] Translation: X:69.61, Y:-17.06, Z:-4.96 [[ 9.06970908e-01 4.15192832e-01 7.08426751e-02 6.96086847e+01] [-4.13793130e-01 9.09731995e-01 -3.41019354e-02 -1.70585989e+01] [-7.86067273e-02 1.61525104e-03 9.96904395e-01 -4.95781625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.555779523 meters 0.016539923089672105 Centerline is valid? [True, True] Translation: X:69.64, Y:-17.06, Z:-4.96 [[ 9.06963450e-01 4.15493913e-01 6.91527916e-02 6.96415023e+01] [-4.14159740e-01 9.09594607e-01 -3.33070540e-02 -1.70649403e+01] [-7.67398845e-02 1.56797839e-03 9.97049914e-01 -4.96449806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.585779523 meters 0.016746477806833703 Centerline is valid? [True, True] Translation: X:69.67, Y:-17.08, Z:-4.97 [[ 9.06828736e-01 4.15760138e-01 6.93191979e-02 6.96707289e+01] [-4.14418424e-01 9.09472945e-01 -3.34115528e-02 -1.70765166e+01] [-7.69351269e-02 1.57140341e-03 9.97034862e-01 -4.96733511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.615779523 meters 0.016742028928630102 Centerline is valid? [True, True] Translation: X:69.70, Y:-17.09, Z:-4.97 [[ 9.06768835e-01 4.15712032e-01 7.03831426e-02 6.97014336e+01] [-4.14326785e-01 9.09494848e-01 -3.39475572e-02 -1.70897670e+01] [-7.81255136e-02 1.62096568e-03 9.96942213e-01 -4.96776471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64577952299999 meters 0.017072975554195534 Centerline is valid? [True, True] Translation: X:69.73, Y:-17.10, Z:-4.97 [[ 9.07189318e-01 4.14918664e-01 6.96422547e-02 6.97298899e+01] [-4.13558283e-01 9.09856931e-01 -3.36141588e-02 -1.71041440e+01] [-7.73116300e-02 1.69327452e-03 9.97005539e-01 -4.96998649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67577952299999 meters 0.0168670741007372 Centerline is valid? [True, True] Translation: X:69.76, Y:-17.12, Z:-4.97 [[ 9.07825497e-01 4.13545310e-01 6.95208125e-02 6.97598730e+01] [-4.12184048e-01 9.10481709e-01 -3.35763084e-02 -1.71157715e+01] [-7.71827530e-02 1.82605893e-03 9.97015290e-01 -4.97359456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70577952299999 meters 0.01750545109730839 Centerline is valid? [True, True] Translation: X:69.79, Y:-17.13, Z:-4.98 [[ 9.08576083e-01 4.11763606e-01 7.02868046e-02 6.97899825e+01] [-4.10365085e-01 9.11288459e-01 -3.39682583e-02 -1.71271237e+01] [-7.80384463e-02 2.01949654e-03 9.96948305e-01 -4.97681492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73577952299999 meters 0.018828798278328663 Centerline is valid? [True, True] Translation: X:69.82, Y:-17.14, Z:-4.98 [[ 9.09909130e-01 4.08383260e-01 7.27219898e-02 6.98200920e+01] [-4.06873317e-01 9.12807372e-01 -3.51682436e-02 -1.71360351e+01] [-8.07432904e-02 2.41126866e-03 9.96732014e-01 -4.97913441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76577952299999 meters 0.02160318828877631 Centerline is valid? [True, True] Translation: X:69.85, Y:-17.15, Z:-4.98 [[ 9.10739722e-01 4.06794532e-01 7.12135374e-02 6.98475528e+01] [-4.05340277e-01 9.13516214e-01 -3.44584702e-02 -1.71496309e+01] [-7.90722383e-02 2.51698251e-03 9.96865711e-01 -4.98467649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.795779523 meters 0.020594761387165404 Centerline is valid? [True, True] Translation: X:69.87, Y:-17.16, Z:-4.99 [[ 9.11181357e-01 4.05877907e-01 7.07930679e-02 6.98746631e+01] [-4.04436496e-01 9.13923612e-01 -3.42746540e-02 -1.71649471e+01] [-7.86107812e-02 2.59912546e-03 9.96901996e-01 -4.98533659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.825779523 meters 0.021155127015748353 Centerline is valid? [True, True] Translation: X:69.90, Y:-17.18, Z:-4.99 [[ 9.12159118e-01 4.03621094e-01 7.11038448e-02 6.99040534e+01] [-4.02158546e-01 9.14921874e-01 -3.44451534e-02 -1.71765529e+01] [-7.89572534e-02 2.82444189e-03 9.96874001e-01 -4.98818387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.855779523 meters 0.020459932243684562 Centerline is valid? [True, True] Translation: X:69.94, Y:-17.19, Z:-4.99 [[ 9.12040947e-01 4.03753308e-01 7.18649992e-02 6.99353546e+01] [-4.02258811e-01 9.14863448e-01 -3.48241332e-02 -1.71860176e+01] [-7.98070199e-02 2.85270630e-03 9.96806251e-01 -4.99146624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.885779523 meters 0.021474313003290023 Centerline is valid? [True, True] Translation: X:69.96, Y:-17.20, Z:-5.00 [[ 9.11622332e-01 4.04668670e-01 7.20277072e-02 6.99638974e+01] [-4.03168215e-01 9.14459084e-01 -3.49281308e-02 -1.71973603e+01] [-8.00007114e-02 2.80198192e-03 9.96790868e-01 -4.99531533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.915779523 meters 0.019391506110468765 Centerline is valid? [True, True] Translation: X:70.00, Y:-17.20, Z:-5.00 [[ 9.10524700e-01 4.07240999e-01 7.14110633e-02 6.99961950e+01] [-4.05772476e-01 9.13317116e-01 -3.46488591e-02 -1.72035571e+01] [-7.93313823e-02 2.57199805e-03 9.96844981e-01 -4.99777064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.945779523 meters 0.0212314980256988 Centerline is valid? [True, True] Translation: X:70.03, Y:-17.21, Z:-5.00 [[ 9.10133503e-01 4.08306517e-01 7.03050090e-02 7.00254810e+01] [-4.06884731e-01 9.12841573e-01 -3.41332440e-02 -1.72146179e+01] [-7.81141610e-02 2.45977429e-03 9.96941386e-01 -5.00148369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.975779523 meters 0.019083515714692613 Centerline is valid? [True, True] Translation: X:70.06, Y:-17.22, Z:-5.00 [[ 9.09307341e-01 4.10040972e-01 7.08982385e-02 7.00561087e+01] [-4.08598720e-01 9.12064079e-01 -3.44412740e-02 -1.72249237e+01] [-7.87860701e-02 2.34877372e-03 9.96888779e-01 -5.00215130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.005779523 meters 0.02055113732495772 Centerline is valid? [True, True] Translation: X:70.09, Y:-17.23, Z:-5.01 [[ 9.08913146e-01 4.11302863e-01 6.86064720e-02 7.00865769e+01] [-4.09954551e-01 9.11496122e-01 -3.33479398e-02 -1.72344373e+01] [-7.62506363e-02 2.18484545e-03 9.97086289e-01 -5.00860022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03577952299999 meters 0.020171119966898667 Centerline is valid? [True, True] Translation: X:70.12, Y:-17.24, Z:-5.01 [[ 9.07548852e-01 4.14449020e-01 6.77280749e-02 7.01171472e+01] [-4.13142277e-01 9.10070517e-01 -3.29410604e-02 -1.72439211e+01] [-7.52897143e-02 1.91429051e-03 9.97159864e-01 -5.01283721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06577952299999 meters 0.017534511445007513 Centerline is valid? [True, True] Translation: X:70.15, Y:-17.26, Z:-5.01 [[ 9.06451288e-01 4.16381253e-01 7.05174742e-02 7.01464083e+01] [-4.14968564e-01 9.09188232e-01 -3.43198001e-02 -1.72579639e+01] [-7.84037791e-02 1.84669202e-03 9.96919975e-01 -5.01081138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09577952299999 meters 0.017290374268564942 Centerline is valid? [True, True] Translation: X:70.17, Y:-17.27, Z:-5.01 [[ 9.05513327e-01 4.18085160e-01 7.24597440e-02 7.01748760e+01] [-4.16597073e-01 9.08406119e-01 -3.52874007e-02 -1.72700849e+01] [-8.05760134e-02 1.76669435e-03 9.96746901e-01 -5.01044855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12577952299999 meters 0.015958934714276837 Centerline is valid? [True, True] Translation: X:70.21, Y:-17.28, Z:-5.01 [[ 9.03721096e-01 4.21666111e-01 7.40666724e-02 7.02076888e+01] [-4.20122069e-01 9.06749946e-01 -3.60829809e-02 -1.72755627e+01] [-8.23749214e-02 1.49190743e-03 9.96600294e-01 -5.01217138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15577952299999 meters 0.015620824763166065 Centerline is valid? [True, True] Translation: X:70.24, Y:-17.29, Z:-5.02 [[ 9.03080703e-01 4.23133589e-01 7.35065256e-02 7.02379780e+01] [-4.21615913e-01 9.06066276e-01 -3.58319145e-02 -1.72861852e+01] [-8.17634705e-02 1.36758972e-03 9.96650824e-01 -5.01659514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.185779523 meters 0.015739517707537395 Centerline is valid? [True, True] Translation: X:70.27, Y:-17.30, Z:-5.02 [[ 9.02427425e-01 4.24659984e-01 7.27230352e-02 7.02660349e+01] [-4.23177745e-01 9.05352070e-01 -3.54714628e-02 -1.72984974e+01] [-8.09032613e-02 1.23565080e-03 9.96721192e-01 -5.02160407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.215779523 meters 0.015221443764455164 Centerline is valid? [True, True] Translation: X:70.29, Y:-17.31, Z:-5.03 [[ 9.01475892e-01 4.26817989e-01 7.18861658e-02 7.02947961e+01] [-4.25374987e-01 9.04336943e-01 -3.50829585e-02 -1.73108721e+01] [-7.99833532e-02 1.04786447e-03 9.96795649e-01 -5.02604224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.245779523 meters 0.0149281088731253 Centerline is valid? [True, True] Translation: X:70.32, Y:-17.32, Z:-5.03 [[ 9.00837760e-01 4.28144346e-01 7.19982635e-02 7.03232618e+01] [-4.26700114e-01 9.03709871e-01 -3.51494112e-02 -1.73246879e+01] [-8.01145631e-02 9.42249615e-04 9.96785217e-01 -5.02809731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.275779523 meters 0.0142701262172033 Centerline is valid? [True, True] Translation: X:70.35, Y:-17.34, Z:-5.03 [[ 9.00481275e-01 4.28888976e-01 7.20258222e-02 7.03533740e+01] [-4.27444350e-01 9.03356765e-01 -3.51835652e-02 -1.73373052e+01] [-8.01548570e-02 8.95110885e-04 9.96782021e-01 -5.03005739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.305779523 meters 0.013995354644410549 Centerline is valid? [True, True] Translation: X:70.38, Y:-17.35, Z:-5.03 [[ 8.99475164e-01 4.30684258e-01 7.38613547e-02 7.03827827e+01] [-4.29170272e-01 9.02502349e-01 -3.60886067e-02 -1.73473637e+01] [-8.22028409e-02 7.61707701e-04 9.96615328e-01 -5.03257027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.335779523 meters 0.013965510195494444 Centerline is valid? [True, True] Translation: X:70.41, Y:-17.36, Z:-5.04 [[ 8.98782245e-01 4.31895505e-01 7.52113571e-02 7.04122794e+01] [-4.30327984e-01 9.01923393e-01 -3.67698194e-02 -1.73585132e+01] [-8.37156021e-02 6.82509207e-04 9.96489454e-01 -5.03507655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.365779523 meters 0.013699144122371222 Centerline is valid? [True, True] Translation: X:70.44, Y:-17.37, Z:-5.04 [[ 8.97342158e-01 4.34811279e-01 7.56055721e-02 7.04422247e+01] [-4.33235518e-01 9.00521495e-01 -3.69867949e-02 -1.73694471e+01] [-8.41667184e-02 4.34791148e-04 9.96451592e-01 -5.03777819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39577952299999 meters 0.013467364778840194 Centerline is valid? [True, True] Translation: X:70.47, Y:-17.38, Z:-5.04 [[ 8.96444366e-01 4.36817944e-01 7.46832126e-02 7.04703585e+01] [-4.35285588e-01 8.99549895e-01 -3.65573876e-02 -1.73849945e+01] [-8.31501990e-02 2.63138029e-04 9.96536991e-01 -5.03982313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42577952299999 meters 0.013381011556936013 Centerline is valid? [True, True] Translation: X:70.50, Y:-17.40, Z:-5.04 [[ 8.95644182e-01 4.38667481e-01 7.34325527e-02 7.04975097e+01] [-4.37190557e-01 8.98649447e-01 -3.59664785e-02 -1.74012526e+01] [-8.17674475e-02 1.09148553e-04 9.96651430e-01 -5.04126412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45577952299999 meters 0.01332253230879396 Centerline is valid? [True, True] Translation: X:70.53, Y:-17.42, Z:-5.04 [[ 8.95128267e-01 4.39813582e-01 7.28656231e-02 7.05255847e+01] [-4.38361351e-01 8.98089089e-01 -3.57115272e-02 -1.74161802e+01] [-8.11462358e-02 2.49244525e-05 9.96702206e-01 -5.04312932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48577952299999 meters 0.013288816938610658 Centerline is valid? [True, True] Translation: X:70.56, Y:-17.42, Z:-5.05 [[ 8.94184581e-01 4.41873241e-01 7.19859341e-02 7.05572259e+01] [-4.40461401e-01 8.97077487e-01 -3.52949970e-02 -1.74249116e+01] [-8.01728756e-02 -1.46783225e-04 9.96780963e-01 -5.04864982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51577952299999 meters 0.01331311174421063 Centerline is valid? [True, True] Translation: X:70.59, Y:-17.44, Z:-5.05 [[ 8.93451703e-01 4.43317489e-01 7.22056735e-02 7.05868164e+01] [-4.41899645e-01 8.96364624e-01 -3.54282952e-02 -1.74360070e+01] [-8.04285943e-02 -2.54190816e-04 9.96760341e-01 -5.05306648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.545779523 meters 0.01331311174421063 Centerline is valid? [True, True] Translation: X:70.62, Y:-17.45, Z:-5.06 [[ 8.93329788e-01 4.43564635e-01 7.21962962e-02 7.06158148e+01] [-4.42146054e-01 8.96242350e-01 -3.54473941e-02 -1.74503331e+01] [-8.04285886e-02 -2.55094410e-04 9.96760341e-01 -5.05570716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.575779523 meters 0.013331975867776975 Centerline is valid? [True, True] Translation: X:70.64, Y:-17.46, Z:-5.06 [[ 8.92696314e-01 4.44834225e-01 7.22205219e-02 7.06448807e+01] [-4.43416838e-01 8.95612858e-01 -3.54840154e-02 -1.74647748e+01] [-8.04661325e-02 -3.47345731e-04 9.96757283e-01 -5.05901478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.605779523 meters 0.013514119200523372 Centerline is valid? [True, True] Translation: X:70.67, Y:-17.48, Z:-5.06 [[ 8.91486471e-01 4.47299765e-01 7.19360312e-02 7.06702771e+01] [-4.45899483e-01 8.94383935e-01 -3.53698668e-02 -1.74828619e+01] [-8.01593638e-02 -5.44481404e-04 9.96781912e-01 -5.05999802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.635779523 meters 0.013607137743218391 Centerline is valid? [True, True] Translation: X:70.70, Y:-17.50, Z:-5.06 [[ 8.90849976e-01 4.48747913e-01 7.07928765e-02 7.06986153e+01] [-4.47394836e-01 8.93658152e-01 -3.48276794e-02 -1.74991119e+01] [-7.88934797e-02 -6.46130027e-04 9.96882842e-01 -5.06310208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.665779523 meters 0.013696370906805356 Centerline is valid? [True, True] Translation: X:70.73, Y:-17.51, Z:-5.07 [[ 8.90370835e-01 4.49966063e-01 6.90674826e-02 7.07269250e+01] [-4.48680056e-01 8.93045369e-01 -3.40025884e-02 -1.75139811e+01] [-7.69804063e-02 -7.14288914e-04 9.97032350e-01 -5.06736279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.695779523 meters 0.014126660993450271 Centerline is valid? [True, True] Translation: X:70.75, Y:-17.53, Z:-5.07 [[ 8.89131608e-01 4.52656978e-01 6.74288052e-02 7.07539131e+01] [-4.51437472e-01 8.91684272e-01 -3.32169907e-02 -1.75281699e+01] [-7.51611077e-02 -9.05613003e-04 9.97170992e-01 -5.07215480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.725779523 meters 0.018262887775140367 Centerline is valid? [True, True] Translation: X:70.78, Y:-17.54, Z:-5.08 [[ 8.88715868e-01 4.53666332e-01 6.61132809e-02 7.07807758e+01] [-4.52496003e-01 8.91171103e-01 -3.25796479e-02 -1.75425346e+01] [-7.36985348e-02 -9.61945238e-04 9.97280101e-01 -5.07608613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.755779523 meters 0.01458875405719147 Centerline is valid? [True, True] Translation: X:70.81, Y:-17.56, Z:-5.07 [[ 8.87824141e-01 4.54979656e-01 6.90058504e-02 7.08097082e+01] [-4.53707698e-01 8.90501142e-01 -3.40153128e-02 -1.75595853e+01] [-7.69260639e-02 -1.10886961e-03 9.97036183e-01 -5.07418245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78577952299999 meters 0.014769634837609671 Centerline is valid? [True, True] Translation: X:70.84, Y:-17.58, Z:-5.07 [[ 8.86948254e-01 4.55950017e-01 7.37046583e-02 7.08373649e+01] [-4.54499741e-01 8.90004505e-01 -3.63588550e-02 -1.75791604e+01] [-8.21752985e-02 -1.25032515e-03 9.96617107e-01 -5.07110208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81577952299999 meters 0.014865909907780682 Centerline is valid? [True, True] Translation: X:70.87, Y:-17.59, Z:-5.07 [[ 8.86594640e-01 4.56047552e-01 7.72695009e-02 7.08660538e+01] [-4.54451288e-01 8.89954466e-01 -3.81454455e-02 -1.75948267e+01] [-8.61624744e-02 -1.29567669e-03 9.96280256e-01 -5.07074010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84577952299999 meters 0.014640767529885286 Centerline is valid? [True, True] Translation: X:70.90, Y:-17.61, Z:-5.07 [[ 8.86489122e-01 4.55808719e-01 7.98464092e-02 7.08951943e+01] [-4.54100498e-01 8.90076821e-01 -3.94460390e-02 -1.76109777e+01] [-8.90492866e-02 -1.28980968e-03 9.96026386e-01 -5.07233768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87577952299999 meters 0.018812346561133026 Centerline is valid? [True, True] Translation: X:70.92, Y:-17.63, Z:-5.08 [[ 8.87519160e-01 4.54821286e-01 7.38060790e-02 7.09205203e+01] [-4.53356749e-01 8.90582076e-01 -3.64859478e-02 -1.76276901e+01] [-8.23249568e-02 -1.07850620e-03 9.96604956e-01 -5.08327492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90577952299999 meters 0.014457943983661724 Centerline is valid? [True, True] Translation: X:70.95, Y:-17.65, Z:-5.09 [[ 8.87186679e-01 4.55889377e-01 7.11665136e-02 7.09469029e+01] [-4.54529759e-01 8.90035744e-01 -3.52004640e-02 -1.76474244e+01] [-7.93882585e-02 -1.11791556e-03 9.96843144e-01 -5.08679153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.935779523 meters 0.017151122082359617 Centerline is valid? [True, True] Translation: X:70.97, Y:-17.67, Z:-5.09 [[ 8.86864636e-01 4.57155787e-01 6.69305920e-02 7.09729184e+01] [-4.55955598e-01 8.89385903e-01 -3.31241277e-02 -1.76669149e+01] [-7.46700117e-02 -1.14076059e-03 9.97207645e-01 -5.09210474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.965779523 meters 0.01623143976296623 Centerline is valid? [True, True] Translation: X:71.00, Y:-17.69, Z:-5.09 [[ 8.85245917e-01 4.60261993e-01 6.70713411e-02 7.09984111e+01] [-4.59064049e-01 8.87782054e-01 -3.32148224e-02 -1.76860066e+01] [-7.48322533e-02 -1.38675553e-03 9.97195172e-01 -5.08962509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.995779523 meters 0.01671625196767291 Centerline is valid? [True, True] Translation: X:71.03, Y:-17.70, Z:-5.09 [[ 8.84480760e-01 4.61688830e-01 6.73588121e-02 7.10275833e+01] [-4.60483971e-01 8.87040675e-01 -3.33669590e-02 -1.76989220e+01] [-7.51551584e-02 -1.50522004e-03 9.97170716e-01 -5.09282184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.025779523 meters 0.01622731096551732 Centerline is valid? [True, True] Translation: X:71.06, Y:-17.71, Z:-5.10 [[ 8.83881319e-01 4.62751398e-01 6.79334819e-02 7.10563744e+01] [-4.61527493e-01 8.86486667e-01 -3.36713989e-02 -1.77127465e+01] [-7.58036129e-02 -1.59164910e-03 9.97121497e-01 -5.09686123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.055779523 meters 0.01615290739908558 Centerline is valid? [True, True] Translation: X:71.08, Y:-17.73, Z:-5.10 [[ 8.84016743e-01 4.62109878e-01 7.04901310e-02 7.10817656e+01] [-4.60788183e-01 8.86821279e-01 -3.49609809e-02 -1.77314396e+01] [-7.86679627e-02 -1.57492686e-03 9.96899629e-01 -5.10007555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.085779523 meters 0.017806016216293973 Centerline is valid? [True, True] Translation: X:71.11, Y:-17.75, Z:-5.10 [[ 8.84834605e-01 4.60548132e-01 7.04495516e-02 7.11064333e+01] [-4.59222087e-01 8.87633589e-01 -3.49526424e-02 -1.77542956e+01] [-7.86307625e-02 -1.42468252e-03 9.96902790e-01 -5.10302432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.115779523 meters 0.016244967478589858 Centerline is valid? [True, True] Translation: X:71.13, Y:-17.78, Z:-5.10 [[ 8.85429522e-01 4.59331963e-01 7.09133896e-02 7.11308117e+01] [-4.57982730e-01 8.88263724e-01 -3.52047713e-02 -1.77758911e+01] [-7.91604682e-02 -1.30576396e-03 9.96861031e-01 -5.10304387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14577952299999 meters 0.0141707239067234 Centerline is valid? [True, True] Translation: X:71.15, Y:-17.80, Z:-5.10 [[ 8.86659954e-01 4.57037610e-01 7.03615569e-02 7.11527696e+01] [-4.55700548e-01 8.89446721e-01 -3.49505576e-02 -1.78031076e+01] [-7.85565753e-02 -1.07454025e-03 9.96909078e-01 -5.10338680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17577952299999 meters 0.014064886442695067 Centerline is valid? [True, True] Translation: X:71.18, Y:-17.82, Z:-5.11 [[ 8.86952541e-01 4.56529977e-01 6.99683517e-02 7.11812515e+01] [-4.55204598e-01 8.89707464e-01 -3.47764699e-02 -1.78179402e+01] [-7.81278657e-02 -1.00483709e-03 9.96942840e-01 -5.10707306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20577952299999 meters 0.015742841392416888 Centerline is valid? [True, True] Translation: X:71.21, Y:-17.83, Z:-5.11 [[ 8.87382819e-01 4.55894416e-01 6.86441136e-02 7.12114648e+01] [-4.54615348e-01 8.90033398e-01 -3.41384900e-02 -1.78313111e+01] [-7.66591006e-02 -9.12758078e-04 9.97056944e-01 -5.11334103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23577952299999 meters 0.014069535490830254 Centerline is valid? [True, True] Translation: X:71.24, Y:-17.85, Z:-5.12 [[ 8.86903531e-01 4.56704108e-01 6.94513075e-02 7.12391723e+01] [-4.55395251e-01 8.89618128e-01 -3.45651968e-02 -1.78464691e+01] [-7.75712095e-02 -9.71800512e-04 9.96986340e-01 -5.11526767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26577952299999 meters 0.013722400081517741 Centerline is valid? [True, True] Translation: X:71.27, Y:-17.87, Z:-5.11 [[ 8.86883835e-01 4.56662974e-01 6.99713575e-02 7.12651108e+01] [-4.55332448e-01 8.89639262e-01 -3.48474535e-02 -1.78690869e+01] [-7.81628086e-02 -9.54586265e-04 9.96940151e-01 -5.11349245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.295779523 meters 0.013601860723953096 Centerline is valid? [True, True] Translation: X:71.29, Y:-17.89, Z:-5.11 [[ 8.87110452e-01 4.56195806e-01 7.01457933e-02 7.12901222e+01] [-4.54855202e-01 8.89878974e-01 -3.49593642e-02 -1.78918100e+01] [-7.83695819e-02 -8.93361536e-04 9.96923974e-01 -5.11128540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.325779523 meters 0.01340518782198228 Centerline is valid? [True, True] Translation: X:71.31, Y:-17.91, Z:-5.11 [[ 8.88385090e-01 4.54002781e-01 6.82158835e-02 7.13134245e+01] [-4.52726942e-01 8.91000021e-01 -3.40187893e-02 -1.79145661e+01] [-7.62249786e-02 -6.61383212e-04 9.97090425e-01 -5.11359485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.355779523 meters 0.01318493376255397 Centerline is valid? [True, True] Translation: X:71.34, Y:-17.93, Z:-5.12 [[ 8.89111569e-01 4.52725893e-01 6.72300822e-02 7.13425230e+01] [-4.51482259e-01 8.91649584e-01 -3.35378858e-02 -1.79294888e+01] [-7.51291441e-02 -5.34267140e-04 9.97173669e-01 -5.12064023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.385779523 meters 0.01292713412493165 Centerline is valid? [True, True] Translation: X:71.37, Y:-17.94, Z:-5.13 [[ 8.90077408e-01 4.50992964e-01 6.60874740e-02 7.13718342e+01] [-4.49784824e-01 8.92527432e-01 -3.29908383e-02 -1.79439491e+01] [-7.38635194e-02 -3.60742984e-04 9.97268294e-01 -5.12825411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.415779523 meters 0.013028243610695999 Centerline is valid? [True, True] Translation: X:71.40, Y:-17.96, Z:-5.14 [[ 8.93048424e-01 4.45384235e-01 6.40108947e-02 7.13968251e+01] [-4.44234913e-01 8.95339527e-01 -3.19761472e-02 -1.79646356e+01] [-7.15531561e-02 1.20373648e-04 9.97436781e-01 -5.13673972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.445779523 meters 0.013310729445247766 Centerline is valid? [True, True] Translation: X:71.42, Y:-17.99, Z:-5.14 [[ 8.94554945e-01 4.42484737e-01 6.30769993e-02 7.14216815e+01] [-4.41360070e-01 8.96775961e-01 -3.15303841e-02 -1.79854454e+01] [-7.05176504e-02 3.65992240e-04 9.97510465e-01 -5.13832735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.475779523 meters 0.013806591032675406 Centerline is valid? [True, True] Translation: X:71.45, Y:-18.01, Z:-5.14 [[ 8.95885872e-01 4.39799039e-01 6.29707105e-02 7.14470166e+01] [-4.38670292e-01 8.98096017e-01 -3.14947651e-02 -1.80070269e+01] [-7.04051116e-02 5.92335161e-04 9.97518305e-01 -5.13779533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.505779523 meters 0.015222867267400948 Centerline is valid? [True, True] Translation: X:71.47, Y:-18.03, Z:-5.13 [[ 8.98872646e-01 4.33323291e-01 6.52601849e-02 7.14697483e+01] [-4.32092227e-01 9.01237805e-01 -3.26607781e-02 -1.80315219e+01] [-7.29676216e-02 1.15946140e-03 9.97333636e-01 -5.13356587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53577952299999 meters 0.016421146223357403 Centerline is valid? [True, True] Translation: X:71.50, Y:-18.05, Z:-5.14 [[ 9.00293214e-01 4.30192081e-01 6.63844975e-02 7.14963076e+01] [-4.28908240e-01 9.02736205e-01 -3.32425343e-02 -1.80479628e+01] [-7.42283643e-02 1.45517009e-03 9.97240208e-01 -5.13616875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56577952299999 meters 0.01678903835460479 Centerline is valid? [True, True] Translation: X:71.52, Y:-18.06, Z:-5.14 [[ 9.01709477e-01 4.27176434e-01 6.66356743e-02 7.15242988e+01] [-4.25873229e-01 9.04166640e-01 -3.33868285e-02 -1.80618554e+01] [-7.45118200e-02 1.72686994e-03 9.97218635e-01 -5.14036437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59577952299999 meters 0.021111784729828515 Centerline is valid? [True, True] Translation: X:71.55, Y:-18.08, Z:-5.15 [[ 9.03932259e-01 4.22335121e-01 6.73759395e-02 7.15494230e+01] [-4.20987781e-01 9.06437170e-01 -3.37778733e-02 -1.80798775e+01] [-7.53376381e-02 2.16846205e-03 9.97155724e-01 -5.14588866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62577952299999 meters 0.018766799731646338 Centerline is valid? [True, True] Translation: X:71.58, Y:-18.10, Z:-5.14 [[ 9.04121147e-01 4.21656581e-01 6.90700997e-02 7.15760247e+01] [-4.20238033e-01 9.06752720e-01 -3.46337975e-02 -1.80982199e+01] [-7.72330695e-02 2.28726593e-03 9.97010442e-01 -5.14270506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65577952299999 meters 0.019641829868610777 Centerline is valid? [True, True] Translation: X:71.60, Y:-18.12, Z:-5.14 [[ 9.04587995e-01 4.20505735e-01 6.99677491e-02 7.16011631e+01] [-4.19045014e-01 9.07286613e-01 -3.51038134e-02 -1.81181981e+01] [-7.82421569e-02 2.43485177e-03 9.96931410e-01 -5.14173646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.685779523 meters 0.020347670771452574 Centerline is valid? [True, True] Translation: X:71.63, Y:-18.14, Z:-5.14 [[ 9.05655115e-01 4.18381906e-01 6.88868179e-02 7.16274054e+01] [-4.16958397e-01 9.08267496e-01 -3.45810805e-02 -1.81372911e+01] [-7.70357559e-02 2.59559530e-03 9.97024952e-01 -5.14268169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.715779523 meters 0.021579967608669766 Centerline is valid? [True, True] Translation: X:71.66, Y:-18.15, Z:-5.15 [[ 9.05831558e-01 4.18226764e-01 6.74949099e-02 7.16555963e+01] [-4.16859506e-01 9.08339044e-01 -3.38870571e-02 -1.81499202e+01] [-7.54807362e-02 2.56007093e-03 9.97143974e-01 -5.14890605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.745779523 meters 0.019495649482296405 Centerline is valid? [True, True] Translation: X:71.69, Y:-18.16, Z:-5.16 [[ 9.05510632e-01 4.19002596e-01 6.69874630e-02 7.16878963e+01] [-4.17656597e-01 9.07981612e-01 -3.36505335e-02 -1.81569390e+01] [-7.49230455e-02 2.49315998e-03 9.97186202e-01 -5.15559566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.775779523 meters 0.021495252457443454 Centerline is valid? [True, True] Translation: X:71.72, Y:-18.17, Z:-5.16 [[ 9.05028259e-01 4.20066494e-01 6.68430343e-02 7.17159810e+01] [-4.18727662e-01 9.07490105e-01 -3.35984197e-02 -1.81704759e+01] [-7.47729626e-02 2.41849178e-03 9.97197651e-01 -5.16153254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.805779523 meters 0.019805651033336622 Centerline is valid? [True, True] Translation: X:71.75, Y:-18.18, Z:-5.16 [[ 9.04449569e-01 4.21378544e-01 6.64161063e-02 7.17457872e+01] [-4.20058816e-01 9.06881894e-01 -3.34039077e-02 -1.81818353e+01] [-7.43072543e-02 2.31347903e-03 9.97232711e-01 -5.16419649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.835779523 meters 0.02042000790991464 Centerline is valid? [True, True] Translation: X:71.77, Y:-18.20, Z:-5.16 [[ 9.03494243e-01 4.23712221e-01 6.45453809e-02 7.17729988e+01] [-4.22470483e-01 9.05794477e-01 -3.24816445e-02 -1.82000712e+01] [-7.22277192e-02 2.07846062e-03 9.97386002e-01 -5.16450199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.865779523 meters 0.0182038214707065 Centerline is valid? [True, True] Translation: X:71.80, Y:-18.22, Z:-5.16 [[ 9.02737147e-01 4.25373334e-01 6.42119245e-02 7.17993144e+01] [-4.24147176e-01 9.05015862e-01 -3.23336000e-02 -1.82175216e+01] [-7.18666615e-02 1.95343535e-03 9.97412336e-01 -5.16077066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89577952299999 meters 0.018632195539062507 Centerline is valid? [True, True] Translation: X:71.83, Y:-18.23, Z:-5.16 [[ 9.03815044e-01 4.23354655e-01 6.23634712e-02 7.18290352e+01] [-4.22192037e-01 9.05961672e-01 -3.14218568e-02 -1.82290722e+01] [-6.98015039e-02 2.07018590e-03 9.97558752e-01 -5.16382153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92577952299999 meters 0.020705936846084256 Centerline is valid? [True, True] Translation: X:71.86, Y:-18.24, Z:-5.17 [[ 9.04770098e-01 4.21352090e-01 6.20764546e-02 7.18565691e+01] [-4.20195125e-01 9.06894422e-01 -3.12819975e-02 -1.82410309e+01] [-6.94775255e-02 2.21879228e-03 9.97581050e-01 -5.17183676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95577952299999 meters 0.021403591982945835 Centerline is valid? [True, True] Translation: X:71.89, Y:-18.25, Z:-5.18 [[ 9.05923493e-01 4.18795929e-01 6.25507410e-02 7.18858832e+01] [-4.17614386e-01 9.08077090e-01 -3.15312972e-02 -1.82529402e+01] [-7.00060738e-02 2.44285363e-03 9.97543574e-01 -5.17721491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98577952299999 meters 0.02226418939475698 Centerline is valid? [True, True] Translation: X:71.91, Y:-18.27, Z:-5.18 [[ 9.07423332e-01 4.14848542e-01 6.69595661e-02 7.19134416e+01] [-4.13483173e-01 9.09885709e-01 -3.37588827e-02 -1.82682856e+01] [-7.49303755e-02 2.94694401e-03 9.97184413e-01 -5.17709893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01577952299999 meters 0.021955435115675836 Centerline is valid? [True, True] Translation: X:71.94, Y:-18.28, Z:-5.18 [[ 9.07746044e-01 4.13892934e-01 6.84818057e-02 7.19416183e+01] [-4.12460528e-01 9.10320248e-01 -3.45450266e-02 -1.82838260e+01] [-7.66383168e-02 3.11206948e-03 9.97054103e-01 -5.17682910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.045779523 meters 0.021800691952417958 Centerline is valid? [True, True] Translation: X:71.97, Y:-18.30, Z:-5.18 [[ 9.08096235e-01 4.13062487e-01 6.88520826e-02 7.19695188e+01] [-4.11610506e-01 9.10696997e-01 -3.47529910e-02 -1.82992437e+01] [-7.70585418e-02 3.21881968e-03 9.97021374e-01 -5.17539224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.075779523 meters 0.021898448006409024 Centerline is valid? [True, True] Translation: X:72.00, Y:-18.31, Z:-5.18 [[ 9.07806401e-01 4.13686496e-01 6.89276509e-02 7.19983621e+01] [-4.12231590e-01 9.10413820e-01 -3.48108111e-02 -1.83125057e+01] [-7.71534484e-02 3.18732207e-03 9.97014136e-01 -5.17554155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.105779523 meters 0.02200820026350298 Centerline is valid? [True, True] Translation: X:72.03, Y:-18.32, Z:-5.18 [[ 9.07338104e-01 4.14527913e-01 7.00298132e-02 7.20286358e+01] [-4.13026804e-01 9.10031022e-01 -3.53892528e-02 -1.83248254e+01] [-7.83991355e-02 3.18582769e-03 9.96916960e-01 -5.17561167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.135779523 meters 0.02116183367609132 Centerline is valid? [True, True] Translation: X:72.06, Y:-18.33, Z:-5.18 [[ 9.06819342e-01 4.15505106e-01 7.09520102e-02 7.20594740e+01] [-4.13965364e-01 9.09585348e-01 -3.58771737e-02 -1.83343745e+01] [-7.94440578e-02 3.16244034e-03 9.96834310e-01 -5.17696159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.165779523 meters 0.020655034582591207 Centerline is valid? [True, True] Translation: X:72.09, Y:-18.34, Z:-5.19 [[ 9.05706722e-01 4.18249127e-01 6.90145000e-02 7.20914806e+01] [-4.16798733e-01 9.08327849e-01 -3.49189722e-02 -1.83378919e+01] [-7.72926220e-02 2.86119172e-03 9.97004345e-01 -5.18567047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.195779523 meters 0.02041431959302975 Centerline is valid? [True, True] Translation: X:72.12, Y:-18.35, Z:-5.19 [[ 9.04610793e-01 4.20952594e-01 6.69195526e-02 7.21200298e+01] [-4.19596199e-01 9.07079047e-01 -3.38619556e-02 -1.83479971e+01] [-7.49556020e-02 2.55270061e-03 9.97183605e-01 -5.19254323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.225779523 meters 0.018445874160827228 Centerline is valid? [True, True] Translation: X:72.15, Y:-18.36, Z:-5.20 [[ 9.03366307e-01 4.23834375e-01 6.55266284e-02 7.21497649e+01] [-4.22540933e-01 9.05736860e-01 -3.31647505e-02 -1.83588438e+01] [-7.34062439e-02 2.27223555e-03 9.97299534e-01 -5.19697633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.255779523 meters 0.02047485186827355 Centerline is valid? [True, True] Translation: X:72.18, Y:-18.37, Z:-5.20 [[ 9.01045661e-01 4.29123992e-01 6.30025052e-02 7.21772096e+01] [-4.27941017e-01 9.03243850e-01 -3.18909492e-02 -1.83724798e+01] [-7.05917968e-02 1.77384518e-03 9.97503710e-01 -5.20156490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28577952299999 meters 0.016166941767638374 Centerline is valid? [True, True] Translation: X:72.21, Y:-18.38, Z:-5.20 [[ 8.99202504e-01 4.32879664e-01 6.36400338e-02 7.22066152e+01] [-4.31681576e-01 9.01450470e-01 -3.22190569e-02 -1.83839727e+01] [-7.13153129e-02 1.49922653e-03 9.97452695e-01 -5.20021752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31577952299999 meters 0.014544722192642995 Centerline is valid? [True, True] Translation: X:72.24, Y:-18.38, Z:-5.20 [[ 8.96876142e-01 4.37245315e-01 6.65561404e-02 7.22420346e+01] [-4.35945721e-01 8.99341455e-01 -3.37086942e-02 -1.83841293e+01] [-7.45956647e-02 1.21765895e-03 9.97213119e-01 -5.20259117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34577952299999 meters 0.014083030581654913 Centerline is valid? [True, True] Translation: X:72.27, Y:-18.39, Z:-5.21 [[ 8.95654645e-01 4.39580896e-01 6.76120694e-02 7.22727591e+01] [-4.38245877e-01 8.98202396e-01 -3.42491882e-02 -1.83920464e+01] [-7.57846116e-02 1.04473383e-03 9.97123664e-01 -5.20612167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37577952299999 meters 0.013551851343428829 Centerline is valid? [True, True] Translation: X:72.30, Y:-18.40, Z:-5.21 [[ 8.94369469e-01 4.42228151e-01 6.73610854e-02 7.23025749e+01] [-4.40909068e-01 8.96902205e-01 -3.41412938e-02 -1.84039733e+01] [-7.55145473e-02 8.34817399e-04 9.97144351e-01 -5.20934967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40577952299999 meters 0.012870870073840641 Centerline is valid? [True, True] Translation: X:72.33, Y:-18.42, Z:-5.21 [[ 8.91367584e-01 4.48689350e-01 6.43560265e-02 7.23287547e+01] [-4.47500856e-01 8.93687743e-01 -3.26374329e-02 -1.84210494e+01] [-7.21582606e-02 2.92572745e-04 9.97393152e-01 -5.21074509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.435779523 meters 0.012870870073840641 Centerline is valid? [True, True] Translation: X:72.36, Y:-18.44, Z:-5.21 [[ 8.91242496e-01 4.48938803e-01 6.43487693e-02 7.23575394e+01] [-4.47749926e-01 8.93562459e-01 -3.26517347e-02 -1.84357409e+01] [-7.21582752e-02 2.88456917e-04 9.97393152e-01 -5.21338470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.465779523 meters 0.012748382767894853 Centerline is valid? [True, True] Translation: X:72.39, Y:-18.45, Z:-5.21 [[ 8.89162903e-01 4.53106577e-01 6.39043189e-02 7.23858932e+01] [-4.51943211e-01 8.91456353e-01 -3.24484989e-02 -1.84523149e+01] [-7.16705393e-02 -2.91216095e-05 9.97428360e-01 -5.21276393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.495779523 meters 0.012780983745710421 Centerline is valid? [True, True] Translation: X:72.42, Y:-18.47, Z:-5.21 [[ 8.87026644e-01 4.57117853e-01 6.50153903e-02 7.24153711e+01] [-4.55922658e-01 8.89406068e-01 -3.30359833e-02 -1.84665351e+01] [-7.29264205e-02 -3.38192121e-04 9.97337266e-01 -5.21181602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.525779523 meters 0.013489476667735145 Centerline is valid? [True, True] Translation: X:72.45, Y:-18.47, Z:-5.21 [[ 8.83247891e-01 4.63796301e-01 6.90373332e-02 7.24510485e+01] [-4.62466692e-01 8.85941388e-01 -3.51057737e-02 -1.84680361e+01] [-7.74449588e-02 -9.20366457e-04 9.96996204e-01 -5.21314717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.555779523 meters 0.014659638502817866 Centerline is valid? [True, True] Translation: X:72.48, Y:-18.47, Z:-5.22 [[ 8.81529087e-01 4.66881912e-01 7.01979290e-02 7.24844135e+01] [-4.65515141e-01 8.84318868e-01 -3.57182380e-02 -1.84707269e+01] [-7.87535523e-02 -1.19153309e-03 9.96893404e-01 -5.21915586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.585779523 meters 0.019266337476981966 Centerline is valid? [True, True] Translation: X:72.52, Y:-18.48, Z:-5.23 [[ 8.80463504e-01 4.69179211e-01 6.82267290e-02 7.25158268e+01] [-4.67893645e-01 8.83101959e-01 -3.47342159e-02 -1.84784676e+01] [-7.65477300e-02 -1.34064353e-03 9.97065017e-01 -5.22888435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.615779523 meters 0.016513828219014256 Centerline is valid? [True, True] Translation: X:72.54, Y:-18.50, Z:-5.23 [[ 8.78703750e-01 4.72817085e-01 6.57550353e-02 7.25394737e+01] [-4.71631740e-01 8.81159186e-01 -3.34961321e-02 -1.85031554e+01] [-7.37781969e-02 -1.57898480e-03 9.97273425e-01 -5.22667742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64577952299999 meters 0.01584953193763739 Centerline is valid? [True, True] Translation: X:72.56, Y:-18.53, Z:-5.23 [[ 8.78572504e-01 4.73331633e-01 6.37771111e-02 7.25628160e+01] [-4.72217721e-01 8.80882909e-01 -3.24919091e-02 -1.85281229e+01] [-7.15596156e-02 -1.57018417e-03 9.97435089e-01 -5.22500564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67577952299999 meters 0.01574618563062115 Centerline is valid? [True, True] Translation: X:72.59, Y:-18.55, Z:-5.23 [[ 8.78616010e-01 4.73340982e-01 6.31048504e-02 7.25894463e+01] [-4.72249131e-01 8.80877943e-01 -3.21684328e-02 -1.85479428e+01] [-7.08143084e-02 -1.53751067e-03 9.97488331e-01 -5.22540388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70577952299999 meters 0.01592675372593126 Centerline is valid? [True, True] Translation: X:72.62, Y:-18.55, Z:-5.23 [[ 8.78574346e-01 4.73043595e-01 6.58549675e-02 7.26217853e+01] [-4.71851688e-01 8.81037645e-01 -3.35954341e-02 -1.85527643e+01] [-7.39128104e-02 -1.55769106e-03 9.97263491e-01 -5.23202606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73577952299999 meters 0.01562553261239669 Centerline is valid? [True, True] Translation: X:72.65, Y:-18.56, Z:-5.24 [[ 8.78110597e-01 4.73653496e-01 6.76324323e-02 7.26546156e+01] [-4.72396602e-01 8.80709766e-01 -3.45218665e-02 -1.85602284e+01] [-7.59159463e-02 -1.63531440e-03 9.97112880e-01 -5.23875302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76577952299999 meters 0.015556359868227341 Centerline is valid? [True, True] Translation: X:72.69, Y:-18.57, Z:-5.24 [[ 8.78105920e-01 4.73637001e-01 6.78084336e-02 7.26857092e+01] [-4.72371637e-01 8.80718671e-01 -3.46360879e-02 -1.85713165e+01] [-7.61250864e-02 -1.61662697e-03 9.97096965e-01 -5.24450779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.795779523 meters 0.014974087627711238 Centerline is valid? [True, True] Translation: X:72.71, Y:-18.60, Z:-5.25 [[ 8.79534508e-01 4.71438109e-01 6.45380416e-02 7.27066477e+01] [-4.70284461e-01 8.81898136e-01 -3.29879421e-02 -1.85993795e+01] [-7.24677516e-02 -1.33720469e-03 9.97369860e-01 -5.24505749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.825779523 meters 0.01421019829125356 Centerline is valid? [True, True] Translation: X:72.73, Y:-18.63, Z:-5.24 [[ 8.80979868e-01 4.68899935e-01 6.33034137e-02 7.27297664e+01] [-4.67782122e-01 8.83250624e-01 -3.23762592e-02 -1.86264029e+01] [-7.10940055e-02 -1.08937269e-03 9.97469025e-01 -5.24287423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.855779523 meters 0.01372673174723322 Centerline is valid? [True, True] Translation: X:72.75, Y:-18.65, Z:-5.24 [[ 8.82392739e-01 4.66290951e-01 6.28951767e-02 7.27541424e+01] [-4.65180536e-01 8.84630994e-01 -3.21725632e-02 -1.86498097e+01] [-7.06407977e-02 -8.68775826e-04 9.97501440e-01 -5.24109112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.885779523 meters 0.012988091935650214 Centerline is valid? [True, True] Translation: X:72.78, Y:-18.67, Z:-5.25 [[ 8.85520864e-01 4.60349769e-01 6.26968149e-02 7.27804452e+01] [-4.59230071e-01 8.87737545e-01 -3.20903869e-02 -1.86680444e+01] [-7.04311187e-02 -3.75555629e-04 9.97516575e-01 -5.24585835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.915779523 meters 0.012850316743907098 Centerline is valid? [True, True] Translation: X:72.81, Y:-18.68, Z:-5.25 [[ 8.86789294e-01 4.57866601e-01 6.29517532e-02 7.28094335e+01] [-4.56730105e-01 8.89020894e-01 -3.22406826e-02 -1.86795774e+01] [-7.07273556e-02 -1.61268668e-04 9.97495672e-01 -5.25357009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.945779523 meters 0.012946138156333498 Centerline is valid? [True, True] Translation: X:72.84, Y:-18.70, Z:-5.26 [[ 8.89049941e-01 4.53359031e-01 6.36850944e-02 7.28365698e+01] [-4.52182800e-01 8.91327965e-01 -3.26370129e-02 -1.86958408e+01] [-7.15605901e-02 2.18630117e-04 9.97436231e-01 -5.26015107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.975779523 meters 0.01324845543150205 Centerline is valid? [True, True] Translation: X:72.86, Y:-18.72, Z:-5.26 [[ 8.90326659e-01 4.50805227e-01 6.39772441e-02 7.28618872e+01] [-4.49610631e-01 8.92622236e-01 -3.27997609e-02 -1.87195174e+01] [-7.18938143e-02 4.37652414e-04 9.97412196e-01 -5.26033257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.005779523 meters 0.014140640021639218 Centerline is valid? [True, True] Translation: X:72.88, Y:-18.75, Z:-5.26 [[ 8.91920273e-01 4.47716528e-01 6.34676033e-02 7.28838684e+01] [-4.46531410e-01 8.94175272e-01 -3.25619851e-02 -1.87453746e+01] [-7.13297004e-02 7.02416280e-04 9.97452545e-01 -5.25937833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03577952299999 meters 0.01733451902208662 Centerline is valid? [True, True] Translation: X:72.91, Y:-18.77, Z:-5.26 [[ 8.95200219e-01 4.41336441e-01 6.19573633e-02 7.29063655e+01] [-4.40191067e-01 8.97340919e-01 -3.17977971e-02 -1.87720940e+01] [-6.96304039e-02 1.19231707e-03 9.97572145e-01 -5.26039210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06577952299999 meters 0.01616469070648684 Centerline is valid? [True, True] Translation: X:72.93, Y:-18.79, Z:-5.26 [[ 8.95639762e-01 4.40374465e-01 6.24479656e-02 7.29343914e+01] [-4.39208298e-01 8.97813284e-01 -3.20527518e-02 -1.87864588e+01] [-7.01818265e-02 1.28005436e-03 9.97533394e-01 -5.26270065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09577952299999 meters 0.01639358042000136 Centerline is valid? [True, True] Translation: X:72.96, Y:-18.80, Z:-5.27 [[ 8.95958668e-01 4.39633663e-01 6.30896797e-02 7.29633164e+01] [-4.38440288e-01 8.98176136e-01 -3.23997249e-02 -1.87996198e+01] [-7.09096544e-02 1.36775704e-03 9.97481804e-01 -5.26725411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12577952299999 meters 0.016677695246000265 Centerline is valid? [True, True] Translation: X:72.99, Y:-18.81, Z:-5.27 [[ 8.95996291e-01 4.39493813e-01 6.35282246e-02 7.29918087e+01] [-4.38282056e-01 8.98244517e-01 -3.26439324e-02 -1.88143494e+01] [-7.14106858e-02 1.40556147e-03 9.97446008e-01 -5.27080397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15577952299999 meters 0.015570951614332423 Centerline is valid? [True, True] Translation: X:73.02, Y:-18.83, Z:-5.27 [[ 8.95665337e-01 4.39915560e-01 6.52526157e-02 7.30190572e+01] [-4.38636568e-01 8.98038005e-01 -3.35515016e-02 -1.88323809e+01] [-7.33591564e-02 1.42873360e-03 9.97304564e-01 -5.26697532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.185779523 meters 0.016603334912278302 Centerline is valid? [True, True] Translation: X:73.04, Y:-18.85, Z:-5.27 [[ 8.95445616e-01 4.40147621e-01 6.66874825e-02 7.30444757e+01] [-4.38810724e-01 8.97924240e-01 -3.43104789e-02 -1.88516355e+01] [-7.49819827e-02 1.45998546e-03 9.97183820e-01 -5.26603789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.215779523 meters 0.016868353532075605 Centerline is valid? [True, True] Translation: X:73.07, Y:-18.87, Z:-5.27 [[ 8.95465254e-01 4.40090091e-01 6.68033715e-02 7.30721674e+01] [-4.38746910e-01 8.97952397e-01 -3.43895570e-02 -1.88682822e+01] [-7.51207508e-02 1.48488055e-03 9.97173339e-01 -5.26720628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.245779523 meters 0.015939863183062845 Centerline is valid? [True, True] Translation: X:73.10, Y:-18.88, Z:-5.27 [[ 8.96010313e-01 4.39247805e-01 6.50145029e-02 7.31012265e+01] [-4.37972578e-01 8.98364648e-01 -3.34810368e-02 -1.88814043e+01] [-7.31132029e-02 1.52478479e-03 9.97322483e-01 -5.27093682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.275779523 meters 0.02019389481988644 Centerline is valid? [True, True] Translation: X:73.13, Y:-18.90, Z:-5.28 [[ 8.98071523e-01 4.35861277e-01 5.90972648e-02 7.31263495e+01] [-4.34799316e-01 9.00012342e-01 -3.04522528e-02 -1.88964657e+01] [-6.64612255e-02 1.65285070e-03 9.97787640e-01 -5.28382023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.305779523 meters 0.018201927949158453 Centerline is valid? [True, True] Translation: X:73.15, Y:-18.91, Z:-5.29 [[ 8.98522681e-01 4.34838054e-01 5.97733925e-02 7.31541676e+01] [-4.33748955e-01 9.00506963e-01 -3.08067095e-02 -1.89125084e+01] [-6.72222857e-02 1.75388062e-03 9.97736482e-01 -5.28570484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.335779523 meters 0.01905149160368162 Centerline is valid? [True, True] Translation: X:73.18, Y:-18.93, Z:-5.29 [[ 8.99638748e-01 4.32356096e-01 6.09781023e-02 7.31811162e+01] [-4.31215482e-01 9.01700736e-01 -3.14482340e-02 -1.89294656e+01] [-6.85808354e-02 1.99734803e-03 9.97643563e-01 -5.28689100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.365779523 meters 0.020228374639459624 Centerline is valid? [True, True] Translation: X:73.21, Y:-18.95, Z:-5.29 [[ 9.00417973e-01 4.30660641e-01 6.14726484e-02 7.32076971e+01] [-4.29496902e-01 9.02511376e-01 -3.17116223e-02 -1.89453922e+01] [-6.91367121e-02 2.15140262e-03 9.97604875e-01 -5.28909021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39577952299999 meters 0.02137955156488883 Centerline is valid? [True, True] Translation: X:73.23, Y:-18.96, Z:-5.29 [[ 9.01069537e-01 4.29319909e-01 6.13033934e-02 7.32346163e+01] [-4.28158299e-01 9.03149651e-01 -3.16414056e-02 -1.89615747e+01] [-6.89504237e-02 2.26355010e-03 9.97617520e-01 -5.29217129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42577952299999 meters 0.02146303293408138 Centerline is valid? [True, True] Translation: X:73.26, Y:-18.98, Z:-5.29 [[ 9.02097912e-01 4.27123782e-01 6.15193712e-02 7.32626089e+01] [-4.25947541e-01 9.04189823e-01 -3.17719436e-02 -1.89774218e+01] [-6.91957421e-02 2.45737906e-03 9.97600075e-01 -5.29323198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45577952299999 meters 0.0227904435380065 Centerline is valid? [True, True] Translation: X:73.29, Y:-18.99, Z:-5.29 [[ 9.02175688e-01 4.26793086e-01 6.26633030e-02 7.32898581e+01] [-4.25571604e-01 9.04345758e-01 -3.23660333e-02 -1.89942237e+01] [-7.04828915e-02 2.53212605e-03 9.97509775e-01 -5.29414174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48577952299999 meters 0.021502711086317638 Centerline is valid? [True, True] Translation: X:73.32, Y:-19.01, Z:-5.29 [[ 9.01884555e-01 4.27120404e-01 6.45941946e-02 7.33188447e+01] [-4.25821635e-01 9.04191009e-01 -3.33849326e-02 -1.90077481e+01] [-7.26648759e-02 2.60374953e-03 9.97353015e-01 -5.29351196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51577952299999 meters 0.0223204982256107 Centerline is valid? [True, True] Translation: X:73.35, Y:-19.02, Z:-5.29 [[ 9.00854026e-01 4.28849106e-01 6.74571640e-02 7.33469731e+01] [-4.27435672e-01 9.03372414e-01 -3.48859291e-02 -1.90223044e+01] [-7.58997406e-02 2.59353140e-03 9.97112081e-01 -5.29337632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.545779523 meters 0.019712138761880108 Centerline is valid? [True, True] Translation: X:73.38, Y:-19.03, Z:-5.30 [[ 8.98814701e-01 4.33112805e-01 6.74198133e-02 7.33798376e+01] [-4.31711255e-01 9.01336911e-01 -3.48878926e-02 -1.90267890e+01] [-7.58783593e-02 2.25185856e-03 9.97114539e-01 -5.29908235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.575779523 meters 0.01869480201337958 Centerline is valid? [True, True] Translation: X:73.41, Y:-19.04, Z:-5.30 [[ 8.97221832e-01 4.36498585e-01 6.67979736e-02 7.34095589e+01] [-4.35131862e-01 8.99702828e-01 -3.45699836e-02 -1.90365699e+01] [-7.51880747e-02 1.95101739e-03 9.97167462e-01 -5.30364355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.605779523 meters 0.016323414237744274 Centerline is valid? [True, True] Translation: X:73.44, Y:-19.05, Z:-5.31 [[ 8.95548891e-01 4.40129787e-01 6.54060735e-02 7.34405951e+01] [-4.38828695e-01 8.97932711e-01 -3.38559103e-02 -1.90462511e+01] [-7.36312475e-02 1.61756112e-03 9.97284224e-01 -5.30702307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.635779523 meters 0.015598789906325503 Centerline is valid? [True, True] Translation: X:73.47, Y:-19.06, Z:-5.31 [[ 8.94234124e-01 4.43071571e-01 6.35052272e-02 7.34696666e+01] [-4.41851143e-01 8.96485222e-01 -3.28909326e-02 -1.90602985e+01] [-7.15045349e-02 1.35233705e-03 9.97439358e-01 -5.30988279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.665779523 meters 0.014938324539286847 Centerline is valid? [True, True] Translation: X:73.50, Y:-19.07, Z:-5.31 [[ 8.92450482e-01 4.46794225e-01 6.25064611e-02 7.34977505e+01] [-4.45619675e-01 8.94636131e-01 -3.23928605e-02 -1.90741915e+01] [-7.03934815e-02 1.05491508e-03 9.97518744e-01 -5.30908880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.695779523 meters 0.014609560466266285 Centerline is valid? [True, True] Translation: X:73.53, Y:-19.09, Z:-5.31 [[ 8.91725630e-01 4.48148901e-01 6.31503192e-02 7.35272082e+01] [-4.46952101e-01 8.93958396e-01 -3.27445494e-02 -1.90865703e+01] [-7.11281919e-02 9.73986045e-04 9.97466707e-01 -5.30985008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.725779523 meters 0.01450802455284392 Centerline is valid? [True, True] Translation: X:73.56, Y:-19.10, Z:-5.31 [[ 8.90939385e-01 4.49623460e-01 6.37632843e-02 7.35562730e+01] [-4.48405607e-01 8.93217759e-01 -3.30824242e-02 -1.90980980e+01] [-7.18291319e-02 8.82620551e-04 9.97416561e-01 -5.31274876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.755779523 meters 0.014156938519628515 Centerline is valid? [True, True] Translation: X:73.59, Y:-19.11, Z:-5.32 [[ 8.90391317e-01 4.50761648e-01 6.33816958e-02 7.35874958e+01] [-4.49559989e-01 8.92643991e-01 -3.29016931e-02 -1.91078205e+01] [-7.14081113e-02 8.01507382e-04 9.97446860e-01 -5.31815367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78577952299999 meters 0.016803125873092618 Centerline is valid? [True, True] Translation: X:73.62, Y:-19.12, Z:-5.32 [[ 8.90850261e-01 4.49956102e-01 6.26523647e-02 7.36164684e+01] [-4.48778402e-01 8.93050244e-01 -3.25454594e-02 -1.91217562e+01] [-7.05957377e-02 8.76102845e-04 9.97504624e-01 -5.32388464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81577952299999 meters 0.014436686306586979 Centerline is valid? [True, True] Translation: X:73.64, Y:-19.14, Z:-5.32 [[ 8.90621009e-01 4.50204805e-01 6.41081239e-02 7.36436631e+01] [-4.48970807e-01 8.92924875e-01 -3.33223853e-02 -1.91368548e+01] [-7.22456366e-02 8.94940309e-04 9.97386468e-01 -5.32407679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84577952299999 meters 0.014359686969032288 Centerline is valid? [True, True] Translation: X:73.67, Y:-19.15, Z:-5.33 [[ 8.90867284e-01 4.49692366e-01 6.42826481e-02 7.36724799e+01] [-4.48448994e-01 8.93182996e-01 -3.34310669e-02 -1.91526326e+01] [-7.24498637e-02 9.55154889e-04 9.97371598e-01 -5.32537839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87577952299999 meters 0.015198829676079877 Centerline is valid? [True, True] Translation: X:73.70, Y:-19.17, Z:-5.33 [[ 8.92286245e-01 4.47093751e-01 6.27091343e-02 7.36987343e+01] [-4.45902562e-01 8.94486354e-01 -3.26353791e-02 -1.91686676e+01] [-7.06835389e-02 1.15793622e-03 9.97498119e-01 -5.32831596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90577952299999 meters 0.016167524674619346 Centerline is valid? [True, True] Translation: X:73.73, Y:-19.18, Z:-5.33 [[ 8.93163106e-01 4.45396686e-01 6.23013486e-02 7.37251560e+01] [-4.44215483e-01 8.95332396e-01 -3.24423476e-02 -1.91842342e+01] [-7.02301298e-02 1.30108426e-03 9.97529968e-01 -5.33072933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.935779523 meters 0.016202361394026036 Centerline is valid? [True, True] Translation: X:73.75, Y:-19.20, Z:-5.33 [[ 8.93998354e-01 4.43663066e-01 6.26899270e-02 7.37535108e+01] [-4.42462161e-01 8.96192484e-01 -3.26537584e-02 -1.91988196e+01] [-7.06695080e-02 1.45448569e-03 9.97498724e-01 -5.33134614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.965779523 meters 0.017112953216754906 Centerline is valid? [True, True] Translation: X:73.78, Y:-19.21, Z:-5.33 [[ 8.94836833e-01 4.41854356e-01 6.34962315e-02 7.37802492e+01] [-4.40616310e-01 8.97085308e-01 -3.30940615e-02 -1.92139616e+01] [-7.15842916e-02 1.63630997e-03 9.97433212e-01 -5.33265292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.995779523 meters 0.018730867487560154 Centerline is valid? [True, True] Translation: X:73.81, Y:-19.23, Z:-5.33 [[ 8.96641772e-01 4.38040566e-01 6.44514985e-02 7.38074412e+01] [-4.36753708e-01 8.98953009e-01 -3.36108099e-02 -1.92295329e+01] [-7.26617667e-02 1.98742521e-03 9.97354660e-01 -5.33411241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.025779523 meters 0.019359787405429367 Centerline is valid? [True, True] Translation: X:73.84, Y:-19.24, Z:-5.34 [[ 8.97353848e-01 4.36619327e-01 6.41843765e-02 7.38357743e+01] [-4.35338196e-01 8.99643880e-01 -3.34894596e-02 -1.92441755e+01] [-7.23652268e-02 2.10998477e-03 9.97375968e-01 -5.33751537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.055779523 meters 0.01917760760282555 Centerline is valid? [True, True] Translation: X:73.87, Y:-19.25, Z:-5.34 [[ 8.98257732e-01 4.35077825e-01 6.19704221e-02 7.38663846e+01] [-4.33878592e-01 9.00390224e-01 -3.23544730e-02 -1.92548195e+01] [-6.98742760e-02 2.17501603e-03 9.97553435e-01 -5.34416024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.085779523 meters 0.020109705579746732 Centerline is valid? [True, True] Translation: X:73.89, Y:-19.27, Z:-5.35 [[ 8.98572241e-01 4.34597360e-01 6.07705650e-02 7.38943251e+01] [-4.33442868e-01 9.00622239e-01 -3.17311078e-02 -1.92684076e+01] [-6.85215780e-02 2.17212466e-03 9.97647270e-01 -5.35060092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.115779523 meters 0.020714024654208678 Centerline is valid? [True, True] Translation: X:73.92, Y:-19.28, Z:-5.36 [[ 8.98970154e-01 4.33999056e-01 5.91395126e-02 7.39225040e+01] [-4.32903407e-01 9.00910705e-01 -3.08956503e-02 -1.92832624e+01] [-6.66881031e-02 2.17257101e-03 9.97771505e-01 -5.35547646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14577952299999 meters 0.022061067191979103 Centerline is valid? [True, True] Translation: X:73.95, Y:-19.30, Z:-5.36 [[ 9.00030373e-01 4.31908476e-01 5.83129150e-02 7.39496571e+01] [-4.30837735e-01 9.01914479e-01 -3.04814288e-02 -1.92997257e+01] [-6.57584499e-02 2.31080745e-03 9.97832895e-01 -5.35676090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17577952299999 meters 0.02340946072219246 Centerline is valid? [True, True] Translation: X:73.98, Y:-19.31, Z:-5.36 [[ 9.00611496e-01 4.30502813e-01 5.97181847e-02 7.39764836e+01] [-4.29375481e-01 9.02585806e-01 -3.12339429e-02 -1.93149735e+01] [-6.73470862e-02 2.48812372e-03 9.97726505e-01 -5.35717838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20577952299999 meters 0.022252340224311815 Centerline is valid? [True, True] Translation: X:74.01, Y:-19.32, Z:-5.35 [[ 9.00992864e-01 4.28686269e-01 6.66328902e-02 7.40074829e+01] [-4.27275743e-01 9.03448608e-01 -3.48719319e-02 -1.93245161e+01] [-7.51485103e-02 2.94874412e-03 9.97167993e-01 -5.35474235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23577952299999 meters 0.02295869412301236 Centerline is valid? [True, True] Translation: X:74.04, Y:-19.34, Z:-5.36 [[ 9.01470504e-01 4.27331900e-01 6.88358767e-02 7.40365670e+01] [-4.25820586e-01 9.04089210e-01 -3.60489652e-02 -1.93369396e+01] [-7.76386462e-02 3.18534541e-03 9.96976476e-01 -5.35685812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26577952299999 meters 0.02389194696523279 Centerline is valid? [True, True] Translation: X:74.06, Y:-19.35, Z:-5.36 [[ 9.02221166e-01 4.25676199e-01 6.92585125e-02 7.40648379e+01] [-4.24140491e-01 9.04869324e-01 -3.62815521e-02 -1.93527119e+01] [-7.81140966e-02 3.35864473e-03 9.96938768e-01 -5.35902027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.295779523 meters 0.02480790264281733 Centerline is valid? [True, True] Translation: X:74.09, Y:-19.37, Z:-5.36 [[ 9.03003154e-01 4.24099125e-01 6.87403531e-02 7.40915002e+01] [-4.22581333e-01 9.05609111e-01 -3.60160370e-02 -1.93705214e+01] [-7.75262599e-02 3.47420501e-03 9.96984257e-01 -5.36066307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.325779523 meters 0.025364305728357003 Centerline is valid? [True, True] Translation: X:74.12, Y:-19.39, Z:-5.36 [[ 9.03496933e-01 4.23225306e-01 6.76286342e-02 7.41187338e+01] [-4.21753483e-01 9.06017726e-01 -3.54383941e-02 -1.93885241e+01] [-7.62711665e-02 3.49586836e-03 9.97080984e-01 -5.36192501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.355779523 meters 0.025364305728357003 Centerline is valid? [True, True] Translation: X:74.15, Y:-19.40, Z:-5.36 [[ 9.03382765e-01 4.23470274e-01 6.76203190e-02 7.41473419e+01] [-4.21997951e-01 9.05903265e-01 -3.54542530e-02 -1.94036131e+01] [-7.62712900e-02 3.49312507e-03 9.97080984e-01 -5.36456767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.385779523 meters 0.026092891174075143 Centerline is valid? [True, True] Translation: X:74.18, Y:-19.41, Z:-5.37 [[ 9.03155660e-01 4.24300938e-01 6.54107594e-02 7.41766423e+01] [-4.22923938e-01 9.05515114e-01 -3.43179507e-02 -1.94143691e+01] [-7.37915698e-02 3.33067544e-03 9.97268124e-01 -5.36897771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.415779523 meters 0.025646865528688268 Centerline is valid? [True, True] Translation: X:74.21, Y:-19.42, Z:-5.38 [[ 9.02348548e-01 4.26298193e-01 6.35369898e-02 7.42082798e+01] [-4.25002781e-01 9.04577411e-01 -3.33518097e-02 -1.94226095e+01] [-7.16919419e-02 3.09155975e-03 9.97422031e-01 -5.37573006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.445779523 meters 0.02289300104632494 Centerline is valid? [True, True] Translation: X:74.24, Y:-19.43, Z:-5.38 [[ 9.00466369e-01 4.30679830e-01 6.06234490e-02 7.42420249e+01] [-4.29509179e-01 9.02500938e-01 -3.18421341e-02 -1.94253725e+01] [-6.84264846e-02 2.63444308e-03 9.97652683e-01 -5.38492057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.475779523 meters 0.02218858746283391 Centerline is valid? [True, True] Translation: X:74.27, Y:-19.44, Z:-5.39 [[ 8.99513012e-01 4.32600003e-01 6.11030092e-02 7.42704374e+01] [-4.31414905e-01 9.01582459e-01 -3.20974967e-02 -1.94394352e+01] [-6.89747785e-02 2.51136701e-03 9.97615243e-01 -5.38692080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.505779523 meters 0.020568390082399142 Centerline is valid? [True, True] Translation: X:74.30, Y:-19.45, Z:-5.39 [[ 8.98485806e-01 4.34558505e-01 6.23070033e-02 7.42989442e+01] [-4.33330740e-01 9.00640384e-01 -3.27317730e-02 -1.94540969e+01] [-7.03400737e-02 2.40949357e-03 9.97520159e-01 -5.38547963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53577952299999 meters 0.019825016813182363 Centerline is valid? [True, True] Translation: X:74.33, Y:-19.47, Z:-5.38 [[ 8.96852633e-01 4.37238767e-01 6.69149883e-02 7.43262890e+01] [-4.35828013e-01 8.99342301e-01 -3.51762480e-02 -1.94682380e+01] [-7.55598988e-02 2.38448430e-03 9.97138414e-01 -5.38203733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56577952299999 meters 0.01813686312744646 Centerline is valid? [True, True] Translation: X:74.36, Y:-19.48, Z:-5.38 [[ 8.95923830e-01 4.38874515e-01 6.86269035e-02 7.43573175e+01] [-4.37395266e-01 8.98545406e-01 -3.60767845e-02 -1.94778863e+01] [-7.74975702e-02 2.30496830e-03 9.96989876e-01 -5.38387069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59577952299999 meters 0.020736909102502078 Centerline is valid? [True, True] Translation: X:74.39, Y:-19.49, Z:-5.39 [[ 8.94454123e-01 4.41742790e-01 6.93911347e-02 7.43851500e+01] [-4.40237198e-01 8.97139286e-01 -3.65008367e-02 -1.94923923e+01] [-7.83774945e-02 2.09976520e-03 9.96921541e-01 -5.38803494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62577952299999 meters 0.01605293229956005 Centerline is valid? [True, True] Translation: X:74.42, Y:-19.49, Z:-5.39 [[ 8.91029426e-01 4.48894595e-01 6.75292891e-02 7.44213574e+01] [-4.47487599e-01 8.93583536e-01 -3.55431136e-02 -1.94909147e+01] [-7.62981725e-02 1.45144072e-03 9.97083990e-01 -5.39406208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65577952299999 meters 0.01532071063533119 Centerline is valid? [True, True] Translation: X:74.45, Y:-19.50, Z:-5.40 [[ 8.87337733e-01 4.56491912e-01 6.51681059e-02 7.44518412e+01] [-4.55201718e-01 8.89727223e-01 -3.43054509e-02 -1.94980753e+01] [-7.36419988e-02 7.75887254e-04 9.97284440e-01 -5.40197506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.685779523 meters 0.013963399259438692 Centerline is valid? [True, True] Translation: X:74.48, Y:-19.51, Z:-5.40 [[ 8.85632883e-01 4.59869401e-01 6.46106105e-02 7.44827342e+01] [-4.58610111e-01 8.87986426e-01 -3.40128509e-02 -1.95093252e+01] [-7.30148145e-02 4.91819908e-04 9.97330735e-01 -5.40229727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.715779523 meters 0.013764251657901202 Centerline is valid? [True, True] Translation: X:74.51, Y:-19.52, Z:-5.40 [[ 8.84194599e-01 4.62660269e-01 6.43846815e-02 7.45108741e+01] [-4.61415684e-01 8.86535616e-01 -3.39141364e-02 -1.95243316e+01] [-7.27700367e-02 2.78594407e-04 9.97348707e-01 -5.40316298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.745779523 meters 0.013708118916779189 Centerline is valid? [True, True] Translation: X:74.54, Y:-19.54, Z:-5.40 [[ 8.83150790e-01 4.64620626e-01 6.45937708e-02 7.45383602e+01] [-4.63371654e-01 8.85509828e-01 -3.40448902e-02 -1.95398006e+01] [-7.30163770e-02 1.35849210e-04 9.97330733e-01 -5.40352581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.775779523 meters 0.013663356762139126 Centerline is valid? [True, True] Translation: X:74.57, Y:-19.55, Z:-5.40 [[ 8.82186096e-01 4.66383699e-01 6.50687206e-02 7.45674764e+01] [-4.65119677e-01 8.84582526e-01 -3.43138473e-02 -1.95547391e+01] [-7.35620722e-02 6.45661566e-06 9.97290640e-01 -5.40485249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.805779523 meters 0.013675031328752783 Centerline is valid? [True, True] Translation: X:74.60, Y:-19.57, Z:-5.41 [[ 8.81339928e-01 4.67855796e-01 6.59612356e-02 7.45983502e+01] [-4.66559136e-01 8.83804811e-01 -3.48084407e-02 -1.95674513e+01] [-7.45821882e-02 -9.67484676e-05 9.97214865e-01 -5.40781443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.835779523 meters 0.013717079865369564 Centerline is valid? [True, True] Translation: X:74.63, Y:-19.57, Z:-5.41 [[ 8.79654187e-01 4.70405965e-01 7.01907316e-02 7.46324778e+01] [-4.68943384e-01 8.82450074e-01 -3.70671086e-02 -1.95715531e+01] [-7.93764052e-02 -3.09241929e-04 9.96844667e-01 -5.41296765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.865779523 meters 0.013816399187667366 Centerline is valid? [True, True] Translation: X:74.66, Y:-19.58, Z:-5.42 [[ 8.78474342e-01 4.72418014e-01 7.14426387e-02 7.46633885e+01] [-4.70907506e-01 8.81374489e-01 -3.77509071e-02 -1.95839040e+01] [-8.08019277e-02 -4.79671532e-04 9.96730063e-01 -5.41593614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89577952299999 meters 0.014087242869218383 Centerline is valid? [True, True] Translation: X:74.69, Y:-19.60, Z:-5.42 [[ 8.77454829e-01 4.74363781e-01 7.10776061e-02 7.46912740e+01] [-4.72872987e-01 8.80328690e-01 -3.75837139e-02 -1.95993536e+01] [-8.04000085e-02 -6.32668678e-04 9.96762478e-01 -5.41877444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92577952299999 meters 0.014338440029132765 Centerline is valid? [True, True] Translation: X:74.72, Y:-19.62, Z:-5.42 [[ 8.76545859e-01 4.76425506e-01 6.84550579e-02 7.47173290e+01] [-4.75047471e-01 8.79214502e-01 -3.62182297e-02 -1.96171746e+01] [-7.74419680e-02 -7.72462878e-04 9.96996562e-01 -5.42114908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95577952299999 meters 0.014907832077327465 Centerline is valid? [True, True] Translation: X:74.74, Y:-19.64, Z:-5.42 [[ 8.75405520e-01 4.79145491e-01 6.39122284e-02 7.47424674e+01] [-4.77950474e-01 8.77735002e-01 -3.38321077e-02 -1.96382231e+01] [-7.23085018e-02 -9.30065958e-04 9.97381881e-01 -5.42193538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98577952299999 meters 0.015194202544818448 Centerline is valid? [True, True] Translation: X:74.77, Y:-19.65, Z:-5.42 [[ 8.75216418e-01 4.79473881e-01 6.40391969e-02 7.47716770e+01] [-4.78273533e-01 8.77555646e-01 -3.39192683e-02 -1.96516797e+01] [-7.24613620e-02 -9.41552398e-04 9.97370776e-01 -5.42411939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01577952299999 meters 0.015011676442026271 Centerline is valid? [True, True] Translation: X:74.80, Y:-19.66, Z:-5.43 [[ 8.75500555e-01 4.78592595e-01 6.66926210e-02 7.48022706e+01] [-4.77286201e-01 8.78036643e-01 -3.53487632e-02 -1.96596484e+01] [-7.54762214e-02 -8.83605863e-04 9.97147210e-01 -5.42867437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.045779523 meters 0.014615425253716476 Centerline is valid? [True, True] Translation: X:74.83, Y:-19.67, Z:-5.43 [[ 8.75867600e-01 4.77834858e-01 6.73037520e-02 7.48302790e+01] [-4.76501275e-01 8.78449306e-01 -3.56840528e-02 -1.96746272e+01] [-7.61740185e-02 -8.15817987e-04 9.97094205e-01 -5.43232903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.075779523 meters 0.01468268310089278 Centerline is valid? [True, True] Translation: X:74.86, Y:-19.69, Z:-5.44 [[ 8.76100249e-01 4.77352199e-01 6.76995726e-02 7.48564492e+01] [-4.75999785e-01 8.78711728e-01 -3.59152260e-02 -1.96911051e+01] [-7.66326205e-02 -7.59643562e-04 9.97059108e-01 -5.43514424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.105779523 meters 0.014224563579237409 Centerline is valid? [True, True] Translation: X:74.88, Y:-19.72, Z:-5.43 [[ 8.76787072e-01 4.76082089e-01 6.77515660e-02 7.48790701e+01] [-4.74722318e-01 8.79400617e-01 -3.59621502e-02 -1.97171191e+01] [-7.67017046e-02 -6.32032034e-04 9.97053885e-01 -5.43411216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.135779523 meters 0.014096245993190813 Centerline is valid? [True, True] Translation: X:74.91, Y:-19.74, Z:-5.44 [[ 8.77215501e-01 4.75420172e-01 6.68477758e-02 7.49061629e+01] [-4.74093009e-01 8.79758694e-01 -3.55029411e-02 -1.97366024e+01] [-7.56887263e-02 -5.48332916e-04 9.97131343e-01 -5.43593580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.165779523 meters 0.01761927246866279 Centerline is valid? [True, True] Translation: X:74.93, Y:-19.75, Z:-5.44 [[ 8.78166147e-01 4.73885587e-01 6.52431487e-02 7.49340245e+01] [-4.72615492e-01 8.80586340e-01 -3.46741238e-02 -1.97528291e+01] [-7.38837930e-02 -3.85281139e-04 9.97266783e-01 -5.44229657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.195779523 meters 0.013842616539145588 Centerline is valid? [True, True] Translation: X:74.96, Y:-19.76, Z:-5.44 [[ 8.78852938e-01 4.72344771e-01 6.71411245e-02 7.49626696e+01] [-4.70993145e-01 8.81413841e-01 -3.57085205e-02 -1.97645862e+01] [-7.60458493e-02 -2.40471236e-04 9.97104293e-01 -5.44368558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.225779523 meters 0.013746574754003822 Centerline is valid? [True, True] Translation: X:74.99, Y:-19.78, Z:-5.45 [[ 8.79061382e-01 4.71732127e-01 6.87014302e-02 7.49908693e+01] [-4.70313369e-01 8.81741896e-01 -3.65590628e-02 -1.97806511e+01] [-7.78230137e-02 -1.73540774e-04 9.96967175e-01 -5.44500037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.255779523 meters 0.013711039516990823 Centerline is valid? [True, True] Translation: X:75.02, Y:-19.80, Z:-5.45 [[ 8.79349143e-01 4.71094197e-01 6.93926700e-02 7.50177870e+01] [-4.69642985e-01 8.82082903e-01 -3.69488681e-02 -1.97995206e+01] [-7.86164852e-02 -9.88252214e-05 9.96904930e-01 -5.44596877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28577952299999 meters 0.013726335948166845 Centerline is valid? [True, True] Translation: X:75.04, Y:-19.82, Z:-5.45 [[ 8.79929446e-01 4.70162301e-01 6.83489610e-02 7.50415215e+01] [-4.68749736e-01 8.82579974e-01 -3.64180408e-02 -1.98232901e+01] [-7.74458141e-02 6.74905688e-06 9.96996563e-01 -5.44738869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31577952299999 meters 0.013845918071507656 Centerline is valid? [True, True] Translation: X:75.07, Y:-19.84, Z:-5.45 [[ 8.79881557e-01 4.70514675e-01 6.65160557e-02 7.50689275e+01] [-4.69176907e-01 8.82392169e-01 -3.54554559e-02 -1.98398506e+01] [-7.53755590e-02 -1.11955375e-05 9.97155216e-01 -5.45291265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34577952299999 meters 0.013913847709198214 Centerline is valid? [True, True] Translation: X:75.10, Y:-19.85, Z:-5.46 [[ 8.79461033e-01 4.71519653e-01 6.49423481e-02 7.50971346e+01] [-4.70245679e-01 8.81855550e-01 -3.46379932e-02 -1.98536132e+01] [-7.36022646e-02 -7.60932769e-05 9.97287672e-01 -5.45939508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37577952299999 meters 0.01388603947639541 Centerline is valid? [True, True] Translation: X:75.13, Y:-19.87, Z:-5.46 [[ 8.78717692e-01 4.72960725e-01 6.45241799e-02 7.51264007e+01] [-4.71705658e-01 8.81083492e-01 -3.44333013e-02 -1.98679862e+01] [-7.31367889e-02 -1.79269619e-04 9.97321903e-01 -5.46322118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40577952299999 meters 0.014240915489939839 Centerline is valid? [True, True] Translation: X:75.15, Y:-19.88, Z:-5.47 [[ 8.77019792e-01 4.76148258e-01 6.41803693e-02 7.51530556e+01] [-4.74913321e-01 8.79364918e-01 -3.42735907e-02 -1.98828953e+01] [-7.27572757e-02 -4.21494959e-04 9.97349588e-01 -5.46778660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.435779523 meters 0.014242444102217552 Centerline is valid? [True, True] Translation: X:75.18, Y:-19.90, Z:-5.47 [[ 8.76306508e-01 4.77516789e-01 6.37543800e-02 7.51790172e+01] [-4.76300491e-01 8.78622474e-01 -3.40645208e-02 -1.99020488e+01] [-7.22824116e-02 -5.15281187e-04 9.97384072e-01 -5.46765188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.465779523 meters 0.014238769045437728 Centerline is valid? [True, True] Translation: X:75.21, Y:-19.92, Z:-5.47 [[ 8.75727587e-01 4.78524904e-01 6.41491224e-02 7.52061976e+01] [-4.77294726e-01 8.78073786e-01 -3.42953317e-02 -1.99221694e+01] [-7.27388331e-02 -5.84669760e-04 9.97350851e-01 -5.46774723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.495779523 meters 0.014516583230821644 Centerline is valid? [True, True] Translation: X:75.23, Y:-19.94, Z:-5.47 [[ 8.74503500e-01 4.80472138e-01 6.62582294e-02 7.52317810e+01] [-4.79163324e-01 8.77009671e-01 -3.54477909e-02 -1.99413301e+01] [-7.51407838e-02 -7.49296193e-04 9.97172654e-01 -5.46710858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.525779523 meters 0.01459015203906655 Centerline is valid? [True, True] Translation: X:75.26, Y:-19.96, Z:-5.47 [[ 8.73790795e-01 4.81771878e-01 6.62231407e-02 7.52605183e+01] [-4.80466493e-01 8.76296269e-01 -3.54513600e-02 -1.99551767e+01] [-7.51105594e-02 -8.40928149e-04 9.97174858e-01 -5.47184424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.555779523 meters 0.015209925982441173 Centerline is valid? [True, True] Translation: X:75.29, Y:-19.97, Z:-5.48 [[ 8.72905919e-01 4.83502102e-01 6.52761451e-02 7.52886208e+01] [-4.82237140e-01 8.75342676e-01 -3.49648400e-02 -1.99667589e+01] [-7.40445692e-02 -9.57565779e-04 9.97254473e-01 -5.47871499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.585779523 meters 0.01678588216708569 Centerline is valid? [True, True] Translation: X:75.32, Y:-19.98, Z:-5.49 [[ 8.71322435e-01 4.86466947e-01 6.43981663e-02 7.53159677e+01] [-4.85242552e-01 8.73698189e-01 -3.45129153e-02 -1.99832120e+01] [-7.30539538e-02 -1.17685317e-03 9.97327296e-01 -5.48509833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.615779523 meters 0.015971194572805467 Centerline is valid? [True, True] Translation: X:75.34, Y:-20.00, Z:-5.48 [[ 8.70479206e-01 4.87724267e-01 6.62645512e-02 7.53421069e+01] [-4.86429862e-01 8.72996761e-01 -3.55337076e-02 -2.00038128e+01] [-7.51793901e-02 -1.30170293e-03 9.97169176e-01 -5.48277100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64577952299999 meters 0.01688838456999084 Centerline is valid? [True, True] Translation: X:75.37, Y:-20.02, Z:-5.48 [[ 8.70027350e-01 4.88280369e-01 6.80785759e-02 7.53678414e+01] [-4.86913769e-01 8.72685750e-01 -3.65316702e-02 -2.00237340e+01] [-7.72489005e-02 -1.36484378e-03 9.97010905e-01 -5.48061567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67577952299999 meters 0.01608075902974108 Centerline is valid? [True, True] Translation: X:75.39, Y:-20.05, Z:-5.48 [[ 8.70374244e-01 4.87462123e-01 6.94935506e-02 7.53915566e+01] [-4.86033560e-01 8.73143168e-01 -3.73146954e-02 -2.00484963e+01] [-7.88673196e-02 -1.29844802e-03 9.96884276e-01 -5.47714190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70577952299999 meters 0.015655638826448423 Centerline is valid? [True, True] Translation: X:75.42, Y:-20.06, Z:-5.48 [[ 8.70506467e-01 4.87185563e-01 6.97761930e-02 7.54195715e+01] [-4.85742727e-01 8.73297567e-01 -3.74881712e-02 -2.00633313e+01] [-7.91990754e-02 -1.25958277e-03 9.96858024e-01 -5.48125584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73577952299999 meters 0.015594439070242739 Centerline is valid? [True, True] Translation: X:75.45, Y:-20.08, Z:-5.49 [[ 8.70338864e-01 4.87535672e-01 6.94206734e-02 7.54499332e+01] [-4.86106902e-01 8.73102151e-01 -3.73190737e-02 -2.00753817e+01] [-7.88057189e-02 -1.26562823e-03 9.96889190e-01 -5.48986499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76577952299999 meters 0.015418500444153427 Centerline is valid? [True, True] Translation: X:75.48, Y:-20.09, Z:-5.49 [[ 8.70517577e-01 4.87341602e-01 6.85369348e-02 7.54773837e+01] [-4.85946500e-01 8.73210569e-01 -3.68686990e-02 -2.00943984e+01] [-7.78148267e-02 -1.21043310e-03 9.96967095e-01 -5.49359067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.795779523 meters 0.015032080747332331 Centerline is valid? [True, True] Translation: X:75.50, Y:-20.12, Z:-5.50 [[ 8.71252835e-01 4.86232680e-01 6.70542972e-02 7.55015360e+01] [-4.84892242e-01 8.73828727e-01 -3.60952697e-02 -2.01163891e+01] [-7.61446709e-02 -1.06600250e-03 9.97096210e-01 -5.49560329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.825779523 meters 0.014740411663264535 Centerline is valid? [True, True] Translation: X:75.52, Y:-20.14, Z:-5.50 [[ 8.72488244e-01 4.84249507e-01 6.53198227e-02 7.55245755e+01] [-4.82970522e-01 8.74929534e-01 -3.51821733e-02 -2.01390269e+01] [-7.41871921e-02 -8.51516266e-04 9.97243970e-01 -5.49747396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.855779523 meters 0.01422391646459776 Centerline is valid? [True, True] Translation: X:75.55, Y:-20.16, Z:-5.50 [[ 8.75817408e-01 4.78605384e-01 6.22957018e-02 7.55469314e+01] [-4.77426686e-01 8.78030051e-01 -3.35706478e-02 -2.01644453e+01] [-7.07645910e-02 -3.39872747e-04 9.97492986e-01 -5.50306138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.885779523 meters 0.014098540869456663 Centerline is valid? [True, True] Translation: X:75.57, Y:-20.18, Z:-5.51 [[ 8.77112620e-01 4.76253260e-01 6.20989807e-02 7.55739715e+01] [-4.75074731e-01 8.79308145e-01 -3.34841030e-02 -2.01797142e+01] [-7.05510527e-02 -1.32327280e-04 9.97508161e-01 -5.50969101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.915779523 meters 0.016924873154930343 Centerline is valid? [True, True] Translation: X:75.60, Y:-20.19, Z:-5.52 [[ 8.78644950e-01 4.73444946e-01 6.19107004e-02 7.56017827e+01] [-4.72265038e-01 8.80823405e-01 -3.34045471e-02 -2.01942781e+01] [-7.03476079e-02 1.12477282e-04 9.97522532e-01 -5.51784815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.945779523 meters 0.013904351784154813 Centerline is valid? [True, True] Translation: X:75.63, Y:-20.21, Z:-5.52 [[ 8.78437523e-01 4.73441601e-01 6.48117878e-02 7.56284702e+01] [-4.72147212e-01 8.80825200e-01 -3.49853905e-02 -2.02096412e+01] [-7.36513952e-02 1.31774926e-04 9.97284039e-01 -5.51819065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.975779523 meters 0.013989342977609419 Centerline is valid? [True, True] Translation: X:75.65, Y:-20.24, Z:-5.51 [[ 8.79055332e-01 4.71890480e-01 6.76838172e-02 7.56501518e+01] [-4.70473138e-01 8.81657130e-01 -3.65476642e-02 -2.02392537e+01] [-7.69204147e-02 2.84001174e-04 9.97037195e-01 -5.51065064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.005779523 meters 0.014110670347501651 Centerline is valid? [True, True] Translation: X:75.67, Y:-20.26, Z:-5.51 [[ 8.79314535e-01 4.71321903e-01 6.82759960e-02 7.56746750e+01] [-4.69876280e-01 8.81961188e-01 -3.68882615e-02 -2.02635256e+01] [-7.76030242e-02 3.55113482e-04 9.96984275e-01 -5.50670413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03577952299999 meters 0.014259931235258153 Centerline is valid? [True, True] Translation: X:75.70, Y:-20.28, Z:-5.51 [[ 8.79747200e-01 4.70532093e-01 6.81499410e-02 7.57008097e+01] [-4.69087573e-01 8.82382769e-01 -3.68442376e-02 -2.02845364e+01] [-7.74707298e-02 4.45324448e-04 9.96994527e-01 -5.50596270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06577952299999 meters 0.014453285914181891 Centerline is valid? [True, True] Translation: X:75.73, Y:-20.30, Z:-5.52 [[ 8.80102245e-01 4.70047119e-01 6.69010082e-02 7.57294625e+01] [-4.68651922e-01 8.82641182e-01 -3.61928199e-02 -2.02967208e+01] [-7.60619157e-02 5.00095981e-04 9.97102971e-01 -5.51714493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09577952299999 meters 0.014268170380542684 Centerline is valid? [True, True] Translation: X:75.76, Y:-20.31, Z:-5.53 [[ 8.79939186e-01 4.70347553e-01 6.69343584e-02 7.57602947e+01] [-4.68950121e-01 8.82481124e-01 -3.62332626e-02 -2.03078698e+01] [-7.61105343e-02 4.94192118e-04 9.97099264e-01 -5.52539112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12577952299999 meters 0.014339080231919134 Centerline is valid? [True, True] Translation: X:75.79, Y:-20.33, Z:-5.53 [[ 8.80325416e-01 4.69438414e-01 6.82256392e-02 7.57873763e+01] [-4.67981830e-01 8.82965010e-01 -3.69567125e-02 -2.03263802e+01] [-7.75897527e-02 6.05573823e-04 9.96985187e-01 -5.52950616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15577952299999 meters 0.01470445697692297 Centerline is valid? [True, True] Translation: X:75.81, Y:-20.35, Z:-5.53 [[ 8.81040935e-01 4.68185637e-01 6.75949754e-02 7.58098528e+01] [-4.66750279e-01 8.83629829e-01 -3.66401798e-02 -2.03495634e+01] [-7.68833424e-02 7.31524653e-04 9.97039827e-01 -5.52879346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.185779523 meters 0.01739350175991558 Centerline is valid? [True, True] Translation: X:75.83, Y:-20.37, Z:-5.53 [[ 8.82487030e-01 4.65764120e-01 6.54249609e-02 7.58335402e+01] [-4.64412245e-01 8.84908434e-01 -3.54729350e-02 -2.03735955e+01] [-7.44171201e-02 9.20252064e-04 9.97226777e-01 -5.53010537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.215779523 meters 0.018792730634784312 Centerline is valid? [True, True] Translation: X:75.86, Y:-20.40, Z:-5.53 [[ 8.84616653e-01 4.62090986e-01 6.26522060e-02 7.58554540e+01] [-4.60840756e-01 8.86831716e-01 -3.39897783e-02 -2.03982977e+01] [-7.12683335e-02 1.19523391e-03 9.97456463e-01 -5.53225385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.245779523 meters 0.018792730634784312 Centerline is valid? [True, True] Translation: X:75.88, Y:-20.41, Z:-5.53 [[ 8.84492882e-01 4.62328295e-01 6.26489457e-02 7.58837965e+01] [-4.61078234e-01 8.86708040e-01 -3.39957868e-02 -2.04137831e+01] [-7.12685379e-02 1.18296615e-03 9.97456463e-01 -5.53488969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.275779523 meters 0.018684814288743475 Centerline is valid? [True, True] Translation: X:75.91, Y:-20.43, Z:-5.54 [[ 8.84952412e-01 4.61371359e-01 6.32115236e-02 7.59125464e+01] [-4.60094653e-01 8.87206177e-01 -3.43236028e-02 -2.04277562e+01] [-7.19175815e-02 1.29147107e-03 9.97409742e-01 -5.53955302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.305779523 meters 0.016613482771082495 Centerline is valid? [True, True] Translation: X:75.94, Y:-20.44, Z:-5.54 [[ 8.84893780e-01 4.61230434e-01 6.50344838e-02 7.59423962e+01] [-4.59877013e-01 8.87279347e-01 -3.53340323e-02 -2.04390633e+01] [-7.40008854e-02 1.35900134e-03 9.97257250e-01 -5.54332828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.335779523 meters 0.01699925580544453 Centerline is valid? [True, True] Translation: X:75.97, Y:-20.45, Z:-5.55 [[ 8.85084351e-01 4.60643486e-01 6.65828008e-02 7.59707745e+01] [-4.59221470e-01 8.87584049e-01 -3.61966494e-02 -2.04533602e+01] [-7.57715827e-02 1.46083627e-03 9.97124131e-01 -5.54849554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.365779523 meters 0.016924906750778825 Centerline is valid? [True, True] Translation: X:76.00, Y:-20.47, Z:-5.55 [[ 8.85691150e-01 4.59209768e-01 6.83928041e-02 7.59962138e+01] [-4.57703150e-01 8.88326333e-01 -3.72042012e-02 -2.04741642e+01] [-7.78396614e-02 1.64782987e-03 9.96964529e-01 -5.54910263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39577952299999 meters 0.017372680878362735 Centerline is valid? [True, True] Translation: X:76.02, Y:-20.50, Z:-5.55 [[ 8.86377609e-01 4.57979749e-01 6.77442595e-02 7.60201777e+01] [-4.56496333e-01 8.88960886e-01 -3.68733123e-02 -2.04965535e+01] [-7.71092273e-02 1.75867233e-03 9.97021100e-01 -5.54812883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42577952299999 meters 0.018109635651489986 Centerline is valid? [True, True] Translation: X:76.04, Y:-20.52, Z:-5.55 [[ 8.87217790e-01 4.56541492e-01 6.64414048e-02 7.60446876e+01] [-4.55109862e-01 8.89700185e-01 -3.61744936e-02 -2.05191073e+01] [-7.56280874e-02 1.85651571e-03 9.97134367e-01 -5.54748640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45577952299999 meters 0.01896956766699013 Centerline is valid? [True, True] Translation: X:76.07, Y:-20.54, Z:-5.55 [[ 8.88369883e-01 4.54499209e-01 6.50339941e-02 7.60703523e+01] [-4.53120724e-01 8.90744884e-01 -3.54282572e-02 -2.05395536e+01] [-7.40308124e-02 2.00514622e-03 9.97253939e-01 -5.54903845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48577952299999 meters 0.02092749843144795 Centerline is valid? [True, True] Translation: X:76.10, Y:-20.55, Z:-5.56 [[ 8.90619088e-01 4.50528880e-01 6.18172174e-02 7.60965277e+01] [-4.49272696e-01 8.92759054e-01 -3.36944571e-02 -2.05549250e+01] [-7.03682065e-02 2.23613875e-03 9.97518579e-01 -5.55764720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51577952299999 meters 0.021486213129773245 Centerline is valid? [True, True] Translation: X:76.13, Y:-20.57, Z:-5.57 [[ 8.91468595e-01 4.48945654e-01 6.10863695e-02 7.61254932e+01] [-4.47714721e-01 8.93555997e-01 -3.33047935e-02 -2.05675801e+01] [-6.95361341e-02 2.34091066e-03 9.97576687e-01 -5.56519115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.545779523 meters 0.023118080148441904 Centerline is valid? [True, True] Translation: X:76.15, Y:-20.58, Z:-5.57 [[ 8.92913233e-01 4.45818648e-01 6.28624744e-02 7.61503799e+01] [-4.44506279e-01 8.95119317e-01 -3.42866678e-02 -2.05849700e+01] [-7.15550511e-02 2.67225481e-03 9.97433072e-01 -5.57018081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.575779523 meters 0.024057589276653333 Centerline is valid? [True, True] Translation: X:76.17, Y:-20.61, Z:-5.57 [[ 8.93269352e-01 4.44865999e-01 6.45298989e-02 7.61743091e+01] [-4.43479506e-01 8.95592659e-01 -3.52096071e-02 -2.06056514e+01] [-7.34560608e-02 2.83397530e-03 9.97294428e-01 -5.56886079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.605779523 meters 0.02445191583265318 Centerline is valid? [True, True] Translation: X:76.20, Y:-20.63, Z:-5.57 [[ 8.93223591e-01 4.44889018e-01 6.50029108e-02 7.62006784e+01] [-4.43480812e-01 8.95581113e-01 -3.54857719e-02 -2.06258728e+01] [-7.40026094e-02 2.86918498e-03 9.97253920e-01 -5.56727497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.635779523 meters 0.026289288060124937 Centerline is valid? [True, True] Translation: X:76.23, Y:-20.64, Z:-5.57 [[ 8.93056184e-01 4.45272252e-01 6.46782396e-02 7.62273670e+01] [-4.43877455e-01 8.95390718e-01 -3.53308236e-02 -2.06440795e+01] [-7.36441308e-02 2.84319807e-03 9.97280531e-01 -5.56836259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.665779523 meters 0.024469383799940826 Centerline is valid? [True, True] Translation: X:76.26, Y:-20.66, Z:-5.57 [[ 8.92387383e-01 4.46442878e-01 6.58294388e-02 7.62576314e+01] [-4.44999379e-01 8.94807703e-01 -3.59823137e-02 -2.06566246e+01] [-7.49687366e-02 2.81610345e-03 9.97181908e-01 -5.56966595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.695779523 meters 0.02497388667497758 Centerline is valid? [True, True] Translation: X:76.29, Y:-20.67, Z:-5.57 [[ 8.91922012e-01 4.47221599e-01 6.68428458e-02 7.62867558e+01] [-4.45734924e-01 8.94418809e-01 -3.65427248e-02 -2.06684328e+01] [-7.61281944e-02 2.79906980e-03 9.97094110e-01 -5.57368733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.725779523 meters 0.02414219394521208 Centerline is valid? [True, True] Translation: X:76.32, Y:-20.68, Z:-5.58 [[ 8.90553952e-01 4.49686980e-01 6.85221061e-02 7.63165072e+01] [-4.48130285e-01 8.93182224e-01 -3.74801677e-02 -2.06775100e+01] [-7.80570704e-02 2.67128050e-03 9.96945313e-01 -5.57812792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.755779523 meters 0.02337288860238021 Centerline is valid? [True, True] Translation: X:76.34, Y:-20.69, Z:-5.58 [[ 8.89480287e-01 4.51798286e-01 6.85793498e-02 7.63446209e+01] [-4.50244081e-01 8.92116613e-01 -3.75262008e-02 -2.06922008e+01] [-7.81350505e-02 2.50136953e-03 9.96939646e-01 -5.57995562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78577952299999 meters 0.022337826174782832 Centerline is valid? [True, True] Translation: X:76.37, Y:-20.71, Z:-5.58 [[ 8.88158936e-01 4.54493330e-01 6.78934202e-02 7.63722489e+01] [-4.52976435e-01 8.90747276e-01 -3.71704251e-02 -2.07072481e+01] [-7.73695894e-02 2.25912585e-03 9.96999921e-01 -5.58132463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81577952299999 meters 0.018370036477236538 Centerline is valid? [True, True] Translation: X:76.40, Y:-20.72, Z:-5.59 [[ 8.85117999e-01 4.60966355e-01 6.38447161e-02 7.64029839e+01] [-4.59640897e-01 8.87416160e-01 -3.49686216e-02 -2.07152524e+01] [-7.27761908e-02 1.60571386e-03 9.97347005e-01 -5.58588000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84577952299999 meters 0.016918676563774524 Centerline is valid? [True, True] Translation: X:76.43, Y:-20.73, Z:-5.59 [[ 8.83266663e-01 4.64728510e-01 6.21885298e-02 7.64331671e+01] [-4.63479372e-01 8.85452308e-01 -3.40746658e-02 -2.07256737e+01] [-7.09004459e-02 1.27391563e-03 9.97482583e-01 -5.59115727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87577952299999 meters 0.017271342047908592 Centerline is valid? [True, True] Translation: X:76.46, Y:-20.74, Z:-5.60 [[ 8.81405651e-01 4.68325942e-01 6.16026760e-02 7.64613090e+01] [-4.67107596e-01 8.83555219e-01 -3.37737895e-02 -2.07386532e+01] [-7.02465077e-02 9.93331044e-04 9.97529168e-01 -5.59710756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90577952299999 meters 0.015349773298118454 Centerline is valid? [True, True] Translation: X:76.49, Y:-20.75, Z:-5.60 [[ 8.78259194e-01 4.73969687e-01 6.33523854e-02 7.64929419e+01] [-4.72694876e-01 8.80540978e-01 -3.47439316e-02 -2.07462075e+01] [-7.22519418e-02 5.67829389e-04 9.97386251e-01 -5.59665703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.935779523 meters 0.014649081170984412 Centerline is valid? [True, True] Translation: X:76.52, Y:-20.76, Z:-5.60 [[ 8.76800941e-01 4.76622117e-01 6.36511334e-02 7.65218196e+01] [-4.75341010e-01 8.79108198e-01 -3.49242074e-02 -2.07608588e+01] [-7.26018828e-02 3.65583867e-04 9.97360934e-01 -5.59833908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.965779523 meters 0.014390505188694964 Centerline is valid? [True, True] Translation: X:76.55, Y:-20.77, Z:-5.60 [[ 8.75046470e-01 4.79640966e-01 6.51016120e-02 7.65498545e+01] [-4.78307533e-01 8.77464829e-01 -3.57404355e-02 -2.07741163e+01] [-7.42669518e-02 1.35950525e-04 9.97238387e-01 -5.60106651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.995779523 meters 0.014315409309694762 Centerline is valid? [True, True] Translation: X:76.58, Y:-20.79, Z:-5.60 [[ 8.74144608e-01 4.81147882e-01 6.60902353e-02 7.65787697e+01] [-4.79776473e-01 8.76639444e-01 -3.63017982e-02 -2.07876963e+01] [-7.54038404e-02 2.44811762e-05 9.97153078e-01 -5.60305301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.025779523 meters 0.014309633574151309 Centerline is valid? [True, True] Translation: X:76.61, Y:-20.80, Z:-5.61 [[ 8.72867896e-01 4.83420372e-01 6.63805692e-02 7.66072611e+01] [-4.82041811e-01 8.75388325e-01 -3.64824911e-02 -2.08007000e+01] [-7.57451547e-02 -1.53814558e-04 9.97127197e-01 -5.60692766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.055779523 meters 0.014461051146726876 Centerline is valid? [True, True] Translation: X:76.64, Y:-20.81, Z:-5.61 [[ 8.71423464e-01 4.86119912e-01 6.56397644e-02 7.66361393e+01] [-4.84777954e-01 8.73892041e-01 -3.60975974e-02 -2.08141225e+01] [-7.49098285e-02 -3.64417291e-04 9.97190245e-01 -5.61003323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.085779523 meters 0.015679301168969956 Centerline is valid? [True, True] Translation: X:76.66, Y:-20.83, Z:-5.61 [[ 8.68359251e-01 4.91643267e-01 6.51084371e-02 7.66644876e+01] [-4.90336936e-01 8.70796321e-01 -3.58253601e-02 -2.08265020e+01] [-7.43094845e-02 -8.15788718e-04 9.97234895e-01 -5.61033615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.115779523 meters 0.015649273989405688 Centerline is valid? [True, True] Translation: X:76.69, Y:-20.84, Z:-5.61 [[ 8.66926906e-01 4.94092007e-01 6.56568954e-02 7.66915931e+01] [-4.92769147e-01 8.69409025e-01 -3.61457531e-02 -2.08434556e+01] [-7.49420251e-02 -1.01796638e-03 9.97187373e-01 -5.60938974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14577952299999 meters 0.01847042106073476 Centerline is valid? [True, True] Translation: X:76.72, Y:-20.86, Z:-5.61 [[ 8.66253274e-01 4.95377759e-01 6.48547683e-02 7.67185968e+01] [-4.94089166e-01 8.68676966e-01 -3.57242942e-02 -2.08583088e+01] [-7.40348641e-02 -1.09775157e-03 9.97255050e-01 -5.61358960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17577952299999 meters 0.017092066791377595 Centerline is valid? [True, True] Translation: X:76.75, Y:-20.87, Z:-5.62 [[ 8.64027395e-01 4.99292663e-01 6.45251760e-02 7.67477828e+01] [-4.98026656e-01 8.66432254e-01 -3.55612085e-02 -2.08708195e+01] [-7.36621441e-02 -1.40939928e-03 9.97282258e-01 -5.61584503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20577952299999 meters 0.017656024989324736 Centerline is valid? [True, True] Translation: X:76.78, Y:-20.88, Z:-5.62 [[ 8.62968017e-01 5.01108411e-01 6.46263237e-02 7.67769950e+01] [-4.99842115e-01 8.65383127e-01 -3.56357119e-02 -2.08841283e+01] [-7.37838851e-02 -1.55047864e-03 9.97273049e-01 -5.62143868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23577952299999 meters 0.021188322363805405 Centerline is valid? [True, True] Translation: X:76.80, Y:-20.90, Z:-5.63 [[ 8.61423540e-01 5.04007165e-01 6.26599012e-02 7.68046982e+01] [-5.02823108e-01 8.63697745e-01 -3.45706022e-02 -2.08969274e+01] [-7.15430467e-02 -1.72691575e-03 9.97436018e-01 -5.63064841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26577952299999 meters 0.019650655574531425 Centerline is valid? [True, True] Translation: X:76.83, Y:-20.91, Z:-5.63 [[ 8.60465629e-01 5.05626557e-01 6.27748816e-02 7.68321026e+01] [-5.04441145e-01 8.62750465e-01 -3.46520855e-02 -2.09141922e+01] [-7.16800730e-02 -1.84930460e-03 9.97425961e-01 -5.62962476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.295779523 meters 0.019801186803734768 Centerline is valid? [True, True] Translation: X:76.86, Y:-20.93, Z:-5.63 [[ 8.60419924e-01 5.05659074e-01 6.31383867e-02 7.68581086e+01] [-5.04458542e-01 8.62731415e-01 -3.48724174e-02 -2.09338391e+01] [-7.21050239e-02 -1.84577577e-03 9.97395337e-01 -5.62915882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.325779523 meters 0.01913843491881513 Centerline is valid? [True, True] Translation: X:76.88, Y:-20.95, Z:-5.63 [[ 8.60850978e-01 5.04874855e-01 6.35371920e-02 7.68836681e+01] [-5.03655526e-01 8.63190728e-01 -3.51123726e-02 -2.09543092e+01] [-7.25720690e-02 -1.77433759e-03 9.97361593e-01 -5.62824449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.355779523 meters 0.018254893073667167 Centerline is valid? [True, True] Translation: X:76.91, Y:-20.97, Z:-5.63 [[ 8.62421067e-01 5.02349631e-01 6.22475033e-02 7.69102337e+01] [-5.01171426e-01 8.64663263e-01 -3.44186416e-02 -2.09719920e+01] [-7.11133213e-02 -1.51330839e-03 9.97467095e-01 -5.63372208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.385779523 meters 0.01776475157647506 Centerline is valid? [True, True] Translation: X:76.94, Y:-20.99, Z:-5.64 [[ 8.62657830e-01 5.01994442e-01 6.18308005e-02 7.69382381e+01] [-5.00829729e-01 8.64869617e-01 -3.42071251e-02 -2.09870429e+01] [-7.06473674e-02 -1.45765878e-03 9.97500288e-01 -5.64019418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.415779523 meters 0.01747759901836712 Centerline is valid? [True, True] Translation: X:76.96, Y:-21.00, Z:-5.65 [[ 8.63245544e-01 5.00853390e-01 6.28729848e-02 7.69645672e+01] [-4.99644542e-01 8.65531054e-01 -3.48040967e-02 -2.10029216e+01] [-7.18502706e-02 -1.36966229e-03 9.97414489e-01 -5.64651132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.445779523 meters 0.017046959331660814 Centerline is valid? [True, True] Translation: X:76.99, Y:-21.02, Z:-5.65 [[ 8.63771273e-01 4.99873157e-01 6.34508792e-02 7.69898533e+01] [-4.98637964e-01 8.66097673e-01 -3.51426008e-02 -2.10227650e+01] [-7.25215016e-02 -1.28384820e-03 9.97366023e-01 -5.64725980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.475779523 meters 0.016702029847479823 Centerline is valid? [True, True] Translation: X:77.02, Y:-21.04, Z:-5.65 [[ 8.64409758e-01 4.98682968e-01 6.41176094e-02 7.70152113e+01] [-4.97416901e-01 8.66783656e-01 -3.55319565e-02 -2.10431399e+01] [-7.32952774e-02 -1.17901265e-03 9.97309587e-01 -5.64559092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.505779523 meters 0.01641282954703717 Centerline is valid? [True, True] Translation: X:77.04, Y:-21.06, Z:-5.64 [[ 8.64967719e-01 4.97347143e-01 6.69078802e-02 7.70410868e+01] [-4.95962683e-01 8.67550934e-01 -3.70997871e-02 -2.10638212e+01] [-7.64974671e-02 -1.09369348e-03 9.97069176e-01 -5.63878064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53577952299999 meters 0.016124004694966432 Centerline is valid? [True, True] Translation: X:77.07, Y:-21.08, Z:-5.64 [[ 8.65711187e-01 4.96119007e-01 6.64083759e-02 7.70695874e+01] [-4.94750019e-01 8.68254000e-01 -3.68430374e-02 -2.10790771e+01] [-7.59378692e-02 -9.60115681e-04 9.97112089e-01 -5.64149397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56577952299999 meters 0.01786187878438004 Centerline is valid? [True, True] Translation: X:77.10, Y:-21.09, Z:-5.65 [[ 8.66457933e-01 4.95058610e-01 6.45571385e-02 7.70984791e+01] [-4.93760655e-01 8.68859189e-01 -3.58346931e-02 -2.10927451e+01] [-7.38313363e-02 -8.26520930e-04 9.97270400e-01 -5.65074810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59577952299999 meters 0.015022259542866305 Centerline is valid? [True, True] Translation: X:77.13, Y:-21.10, Z:-5.66 [[ 8.67706692e-01 4.92933833e-01 6.40416602e-02 7.71283322e+01] [-4.91649057e-01 8.70066579e-01 -3.55718016e-02 -2.11017158e+01] [-7.32550527e-02 -6.20131537e-04 9.97313046e-01 -5.65914014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62577952299999 meters 0.01478348887423172 Centerline is valid? [True, True] Translation: X:77.15, Y:-21.12, Z:-5.66 [[ 8.68689349e-01 4.91119662e-01 6.46551830e-02 7.71546364e+01] [-4.89803697e-01 8.71091999e-01 -3.59314291e-02 -2.11193687e+01] [-7.39672439e-02 -4.55097927e-04 9.97260568e-01 -5.66083136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65577952299999 meters 0.014412469773829104 Centerline is valid? [True, True] Translation: X:77.18, Y:-21.14, Z:-5.66 [[ 8.70315085e-01 4.88108657e-01 6.55865220e-02 7.71794313e+01] [-4.86744371e-01 8.72782851e-01 -3.64693358e-02 -2.11409183e+01] [-7.50437901e-02 -1.84057311e-04 9.97180222e-01 -5.65850415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.685779523 meters 0.014873582088450226 Centerline is valid? [True, True] Translation: X:77.20, Y:-21.17, Z:-5.66 [[ 8.74900392e-01 4.79752420e-01 6.62338332e-02 7.72024725e+01] [-4.78335405e-01 8.77403729e-01 -3.68501882e-02 -2.11659722e+01] [-7.57927792e-02 5.58256688e-04 9.97123434e-01 -5.65562282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.715779523 meters 0.01832689269236683 Centerline is valid? [True, True] Translation: X:77.23, Y:-21.18, Z:-5.66 [[ 8.77250549e-01 4.75545950e-01 6.54791936e-02 7.72296499e+01] [-4.74147846e-01 8.79690392e-01 -3.64504394e-02 -2.11823702e+01] [-7.49352763e-02 9.29349347e-04 9.97187967e-01 -5.66237014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.745779523 meters 0.01646774007375981 Centerline is valid? [True, True] Translation: X:77.26, Y:-21.20, Z:-5.67 [[ 8.78923045e-01 4.72523260e-01 6.49311168e-02 7.72583354e+01] [-4.71138755e-01 8.81317389e-01 -3.61653471e-02 -2.11964547e+01] [-7.43138901e-02 1.19499145e-03 9.97234184e-01 -5.66539131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.775779523 meters 0.017382355091390383 Centerline is valid? [True, True] Translation: X:77.29, Y:-21.21, Z:-5.67 [[ 8.80730421e-01 4.69345422e-01 6.34728264e-02 7.72863777e+01] [-4.68012815e-01 8.83013465e-01 -3.53726758e-02 -2.12115850e+01] [-7.26493638e-02 1.44769544e-03 9.97356493e-01 -5.67103798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.805779523 meters 0.02097651234008099 Centerline is valid? [True, True] Translation: X:77.31, Y:-21.23, Z:-5.68 [[ 8.83998098e-01 4.63387813e-01 6.17988512e-02 7.73124452e+01] [-4.62108805e-01 8.86153550e-01 -3.44577713e-02 -2.12298669e+01] [-7.07305827e-02 1.90281107e-03 9.97493641e-01 -5.67569782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.835779523 meters 0.019555266568855114 Centerline is valid? [True, True] Translation: X:77.34, Y:-21.25, Z:-5.67 [[ 8.85031856e-01 4.61339475e-01 6.23257836e-02 7.73382531e+01] [-4.60032885e-01 8.87221232e-01 -3.47596125e-02 -2.12483064e+01] [-7.13327399e-02 2.09145433e-03 9.97450383e-01 -5.67327268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.865779523 meters 0.02376995081785311 Centerline is valid? [True, True] Translation: X:77.36, Y:-21.27, Z:-5.68 [[ 8.86791433e-01 4.57901893e-01 6.26642729e-02 7.73625054e+01] [-4.56571808e-01 8.88999520e-01 -3.49576510e-02 -2.12683243e+01] [-7.17156831e-02 2.38940507e-03 9.97422253e-01 -5.67596552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89577952299999 meters 0.023334037164518068 Centerline is valid? [True, True] Translation: X:77.39, Y:-21.28, Z:-5.68 [[ 8.89747914e-01 4.51953171e-01 6.39294914e-02 7.73915669e+01] [-4.50551909e-01 8.92036800e-01 -3.56836741e-02 -2.12810615e+01] [-7.31548086e-02 2.94592024e-03 9.97316247e-01 -5.67592162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92577952299999 meters 0.024062646215092597 Centerline is valid? [True, True] Translation: X:77.42, Y:-21.29, Z:-5.68 [[ 8.91194304e-01 4.49095150e-01 6.39238436e-02 7.74210800e+01] [-4.47686231e-01 8.93478252e-01 -3.56882606e-02 -2.12930332e+01] [-7.31419888e-02 3.18734999e-03 9.97316444e-01 -5.68199831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95577952299999 meters 0.025518311286118655 Centerline is valid? [True, True] Translation: X:77.45, Y:-21.31, Z:-5.68 [[ 8.92992480e-01 4.45513874e-01 6.38891084e-02 7.74465730e+01] [-4.44096924e-01 8.95268255e-01 -3.56745507e-02 -2.13101319e+01] [-7.30913979e-02 3.48414903e-03 9.97319161e-01 -5.68314149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98577952299999 meters 0.0245952602530643 Centerline is valid? [True, True] Translation: X:77.47, Y:-21.33, Z:-5.68 [[ 8.93615095e-01 4.44192243e-01 6.43840980e-02 7.74741578e+01] [-4.42749104e-01 8.95924150e-01 -3.59603572e-02 -2.13260765e+01] [-7.36565800e-02 3.62871632e-03 9.97277063e-01 -5.68201283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01577952299999 meters 0.027095810521094662 Centerline is valid? [True, True] Translation: X:77.50, Y:-21.34, Z:-5.68 [[ 8.94174751e-01 4.43055688e-01 6.44451027e-02 7.75005608e+01] [-4.41605436e-01 8.96486277e-01 -3.60138019e-02 -2.13436383e+01] [-7.37302700e-02 3.74332467e-03 9.97271194e-01 -5.68361839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.045779523 meters 0.026101830978239197 Centerline is valid? [True, True] Translation: X:77.53, Y:-21.36, Z:-5.68 [[ 8.93522139e-01 4.44196405e-01 6.56333808e-02 7.75300033e+01] [-4.42693651e-01 8.95921652e-01 -3.66977565e-02 -2.13561915e+01] [-7.51033784e-02 3.73477694e-03 9.97168759e-01 -5.68131472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.075779523 meters 0.026223522764333283 Centerline is valid? [True, True] Translation: X:77.56, Y:-21.37, Z:-5.68 [[ 8.92744037e-01 4.45787781e-01 6.54319446e-02 7.75592161e+01] [-4.44296928e-01 8.95131405e-01 -3.66061214e-02 -2.13677432e+01] [-7.48887501e-02 3.60868465e-03 9.97185365e-01 -5.68466630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.105779523 meters 0.026820939434961562 Centerline is valid? [True, True] Translation: X:77.59, Y:-21.38, Z:-5.69 [[ 8.91995720e-01 4.47396249e-01 6.46547143e-02 7.75898605e+01] [-4.45943497e-01 8.94329191e-01 -3.61897158e-02 -2.13778430e+01] [-7.40137415e-02 3.44872224e-03 9.97251258e-01 -5.69103879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.135779523 meters 0.024292163256048892 Centerline is valid? [True, True] Translation: X:77.62, Y:-21.39, Z:-5.70 [[ 8.89498940e-01 4.52495026e-01 6.35601049e-02 7.76206714e+01] [-4.51102581e-01 8.91761909e-01 -3.55971833e-02 -2.13856539e+01] [-7.27880288e-02 2.99152942e-03 9.97342947e-01 -5.69515397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.165779523 meters 0.024292163256048892 Centerline is valid? [True, True] Translation: X:77.65, Y:-21.40, Z:-5.70 [[ 8.89377025e-01 4.52735542e-01 6.35534047e-02 7.76488234e+01] [-4.51342856e-01 8.91639846e-01 -3.56091413e-02 -2.14015226e+01] [-7.27882718e-02 2.98557695e-03 9.97342947e-01 -5.69779445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.195779523 meters 0.022296801104940048 Centerline is valid? [True, True] Translation: X:77.68, Y:-21.41, Z:-5.70 [[ 8.88480221e-01 4.54576319e-01 6.29544888e-02 7.76785086e+01] [-4.53212777e-01 8.90703302e-01 -3.52959694e-02 -2.14134354e+01] [-7.21184829e-02 2.82799192e-03 9.97392063e-01 -5.69871705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.225779523 meters 0.023597606335212067 Centerline is valid? [True, True] Translation: X:77.70, Y:-21.43, Z:-5.70 [[ 8.87696689e-01 4.56130984e-01 6.27623545e-02 7.77041909e+01] [-4.54778180e-01 8.89908520e-01 -3.52084345e-02 -2.14303803e+01] [-7.19124118e-02 2.71146138e-03 9.97407265e-01 -5.69994025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.255779523 meters 0.021830977687215074 Centerline is valid? [True, True] Translation: X:77.73, Y:-21.44, Z:-5.70 [[ 8.87345283e-01 4.56880762e-01 6.22761437e-02 7.77338250e+01] [-4.55549419e-01 8.89524012e-01 -3.49536672e-02 -2.14427751e+01] [-7.13657832e-02 2.64611064e-03 9.97446702e-01 -5.70010856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28577952299999 meters 0.02349274021499199 Centerline is valid? [True, True] Translation: X:77.76, Y:-21.45, Z:-5.70 [[ 8.87254442e-01 4.57240649e-01 6.09142372e-02 7.77638021e+01] [-4.55966513e-01 8.89339278e-01 -3.42080034e-02 -2.14549870e+01] [-6.98147134e-02 2.57635059e-03 9.97556649e-01 -5.70462029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31577952299999 meters 0.025577792340281777 Centerline is valid? [True, True] Translation: X:77.79, Y:-21.47, Z:-5.71 [[ 8.87596983e-01 4.56678263e-01 6.01378387e-02 7.77931024e+01] [-4.55433740e-01 8.89628111e-01 -3.37924851e-02 -2.14677074e+01] [-6.89326053e-02 2.60530697e-03 9.97617917e-01 -5.71072031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34577952299999 meters 0.021950788333725307 Centerline is valid? [True, True] Translation: X:77.83, Y:-21.48, Z:-5.71 [[ 8.87535474e-01 4.56530383e-01 6.21352639e-02 7.78260292e+01] [-4.55199928e-01 8.89703659e-01 -3.49345769e-02 -2.14756646e+01] [-7.12306674e-02 2.72170864e-03 9.97456157e-01 -5.70969226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37577952299999 meters 0.02207224344056248 Centerline is valid? [True, True] Translation: X:77.86, Y:-21.49, Z:-5.71 [[ 8.87502238e-01 4.56464630e-01 6.30858126e-02 7.78556950e+01] [-4.55091466e-01 8.89737194e-01 -3.54892014e-02 -2.14905499e+01] [-7.23293591e-02 2.78693071e-03 9.97376908e-01 -5.71034430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40577952299999 meters 0.02299064017673143 Centerline is valid? [True, True] Translation: X:77.88, Y:-21.51, Z:-5.71 [[ 8.87540249e-01 4.56247596e-01 6.41126994e-02 7.78831368e+01] [-4.54826954e-01 8.89848236e-01 -3.60909850e-02 -2.15064131e+01] [-7.35169975e-02 2.87201800e-03 9.97289829e-01 -5.71103662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.435779523 meters 0.023804055294435855 Centerline is valid? [True, True] Translation: X:77.91, Y:-21.52, Z:-5.71 [[ 8.88691299e-01 4.54074118e-01 6.35961551e-02 7.79122739e+01] [-4.52669051e-01 8.90958700e-01 -3.58235446e-02 -2.15199130e+01] [-7.29280920e-02 3.04806119e-03 9.97332544e-01 -5.71091365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.465779523 meters 0.025288325872802327 Centerline is valid? [True, True] Translation: X:77.94, Y:-21.53, Z:-5.71 [[ 8.89609191e-01 4.52409242e-01 6.26208008e-02 7.79397081e+01] [-4.51042607e-01 8.91804925e-01 -3.52780637e-02 -2.15340083e+01] [-7.18056606e-02 3.13904042e-03 9.97413702e-01 -5.71368787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.495779523 meters 0.026777696149919823 Centerline is valid? [True, True] Translation: X:77.97, Y:-21.55, Z:-5.72 [[ 8.90661223e-01 4.50435263e-01 6.18923207e-02 7.79669235e+01] [-4.49094184e-01 8.92803078e-01 -3.48866332e-02 -2.15476802e+01] [-7.09718242e-02 3.27669014e-03 9.97472939e-01 -5.71798347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.525779523 meters 0.028442682616565126 Centerline is valid? [True, True] Translation: X:78.00, Y:-21.56, Z:-5.73 [[ 8.93403640e-01 4.45406281e-01 5.86786276e-02 7.79971411e+01] [-4.44189580e-01 8.95321754e-01 -3.30843513e-02 -2.15567147e+01] [-6.72722296e-02 3.49324489e-03 9.97728542e-01 -5.72636993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.555779523 meters 0.03195398998069149 Centerline is valid? [True, True] Translation: X:78.02, Y:-21.57, Z:-5.73 [[ 8.94064714e-01 4.44242590e-01 5.74178489e-02 7.80227530e+01] [-4.43075101e-01 8.95899676e-01 -3.23763116e-02 -2.15732662e+01] [-6.58235687e-02 3.50609857e-03 9.97825117e-01 -5.73227843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.585779523 meters 0.03273017787252516 Centerline is valid? [True, True] Translation: X:78.05, Y:-21.59, Z:-5.74 [[ 8.94196039e-01 4.44017434e-01 5.71135954e-02 7.80517189e+01] [-4.42860764e-01 8.96011237e-01 -3.22212152e-02 -2.15874527e+01] [-6.54812046e-02 3.51871251e-03 9.97847599e-01 -5.73657271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.615779523 meters 0.027095095921962277 Centerline is valid? [True, True] Translation: X:78.08, Y:-21.59, Z:-5.73 [[ 8.93463629e-01 4.45128929e-01 5.98580040e-02 7.80845454e+01] [-4.43859407e-01 8.95459171e-01 -3.37890432e-02 -2.15931711e+01] [-6.86408792e-02 3.62074300e-03 9.97634863e-01 -5.73365440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64577952299999 meters 0.027482705096004388 Centerline is valid? [True, True] Translation: X:78.11, Y:-21.61, Z:-5.73 [[ 8.92991524e-01 4.45665042e-01 6.28395479e-02 7.81129767e+01] [-4.44265772e-01 8.95191837e-01 -3.54894171e-02 -2.16054997e+01] [-7.20698429e-02 3.77428837e-03 9.97392447e-01 -5.73356157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67577952299999 meters 0.030020193886306504 Centerline is valid? [True, True] Translation: X:78.14, Y:-21.62, Z:-5.73 [[ 8.92487903e-01 4.46275281e-01 6.56027185e-02 7.81403649e+01] [-4.44750158e-01 8.94887201e-01 -3.70701321e-02 -2.16202928e+01] [-7.52505167e-02 3.90782510e-03 9.97157003e-01 -5.73336063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70577952299999 meters 0.02960699776663199 Centerline is valid? [True, True] Translation: X:78.17, Y:-21.63, Z:-5.73 [[ 8.92061935e-01 4.46995063e-01 6.64899826e-02 7.81718220e+01] [-4.45428828e-01 8.94527848e-01 -3.75910695e-02 -2.16300816e+01] [-7.62801635e-02 3.91700724e-03 9.97078730e-01 -5.73177553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73577952299999 meters 0.030031643611280467 Centerline is valid? [True, True] Translation: X:78.20, Y:-21.64, Z:-5.73 [[ 8.92004844e-01 4.47258758e-01 6.54748886e-02 7.82014025e+01] [-4.45739307e-01 8.94396313e-01 -3.70365337e-02 -2.16445965e+01] [-7.51254130e-02 3.85203598e-03 9.97166653e-01 -5.73482444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76577952299999 meters 0.02743078022279614 Centerline is valid? [True, True] Translation: X:78.23, Y:-21.66, Z:-5.74 [[ 8.91927533e-01 4.47562655e-01 6.44433549e-02 7.82337077e+01] [-4.46089949e-01 8.94244564e-01 -3.64748837e-02 -2.16550174e+01] [-7.39529156e-02 3.78542009e-03 9.97254550e-01 -5.73816124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.795779523 meters 0.025474843408905483 Centerline is valid? [True, True] Translation: X:78.27, Y:-21.66, Z:-5.74 [[ 8.91930504e-01 4.47624812e-01 6.39687731e-02 7.82671123e+01] [-4.46172214e-01 8.94213505e-01 -3.62293061e-02 -2.16615584e+01] [-7.34188771e-02 3.77293413e-03 9.97294056e-01 -5.74229089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.825779523 meters 0.02647581099673273 Centerline is valid? [True, True] Translation: X:78.30, Y:-21.68, Z:-5.74 [[ 8.91877525e-01 4.47597317e-01 6.48931533e-02 7.82960355e+01] [-4.46100710e-01 8.94226943e-01 -3.67740405e-02 -2.16756550e+01] [-7.44891680e-02 3.84905845e-03 9.97214395e-01 -5.74451816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.855779523 meters 0.02569167829636706 Centerline is valid? [True, True] Translation: X:78.33, Y:-21.69, Z:-5.75 [[ 8.92009749e-01 4.47181534e-01 6.59339304e-02 7.83261042e+01] [-4.45633562e-01 8.94434423e-01 -3.73870580e-02 -2.16870039e+01] [-7.56923789e-02 3.96724802e-03 9.97123325e-01 -5.74615165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.885779523 meters 0.026280669152448935 Centerline is valid? [True, True] Translation: X:78.36, Y:-21.69, Z:-5.75 [[ 8.92769026e-01 4.45717311e-01 6.55709126e-02 7.83582208e+01] [-4.44180830e-01 8.95164436e-01 -3.72024509e-02 -2.16940286e+01] [-7.52785254e-02 4.08785349e-03 9.97154167e-01 -5.75038750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.915779523 meters 0.027018768507663153 Centerline is valid? [True, True] Translation: X:78.39, Y:-21.71, Z:-5.76 [[ 8.93041166e-01 4.45249489e-01 6.50412797e-02 7.83876033e+01] [-4.43735092e-01 8.95397114e-01 -3.69212287e-02 -2.17060051e+01] [-7.46769323e-02 4.11107888e-03 9.97199305e-01 -5.75542297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.945779523 meters 0.030396679112087273 Centerline is valid? [True, True] Translation: X:78.41, Y:-21.72, Z:-5.76 [[ 8.93727055e-01 4.44119369e-01 6.33240618e-02 7.84148523e+01] [-4.42679727e-01 8.95958191e-01 -3.59663728e-02 -2.17206400e+01] [-7.27090746e-02 4.11184203e-03 9.97344716e-01 -5.75989768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.975779523 meters 0.027936384193546254 Centerline is valid? [True, True] Translation: X:78.44, Y:-21.73, Z:-5.76 [[ 8.93888537e-01 4.43793504e-01 6.33293735e-02 7.84448508e+01] [-4.42351452e-01 8.96119444e-01 -3.59879688e-02 -2.17324468e+01] [-7.27219098e-02 4.15539239e-03 9.97343600e-01 -5.76053591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.005779523 meters 0.031511811751883716 Centerline is valid? [True, True] Translation: X:78.47, Y:-21.75, Z:-5.76 [[ 8.93978183e-01 4.43494906e-01 6.41504211e-02 7.84700750e+01] [-4.42012820e-01 8.96266800e-01 -3.64758765e-02 -2.17501520e+01] [-7.36727581e-02 4.25332929e-03 9.97273400e-01 -5.76144555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03577952299999 meters 0.025572411871874205 Centerline is valid? [True, True] Translation: X:78.51, Y:-21.75, Z:-5.76 [[ 8.93299546e-01 4.44433840e-01 6.70409117e-02 7.85072694e+01] [-4.42816231e-01 8.95800966e-01 -3.81367890e-02 -2.17499140e+01] [-7.70045930e-02 4.38077247e-03 9.97021114e-01 -5.76044730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06577952299999 meters 0.03154642993824074 Centerline is valid? [True, True] Translation: X:78.53, Y:-21.77, Z:-5.76 [[ 8.92616856e-01 4.45643782e-01 6.80938180e-02 7.85341958e+01] [-4.43976573e-01 8.95199738e-01 -3.87586402e-02 -2.17661807e+01] [-7.82301151e-02 4.36455560e-03 9.96925774e-01 -5.76465260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09577952299999 meters 0.026507056392929215 Centerline is valid? [True, True] Translation: X:78.57, Y:-21.77, Z:-5.77 [[ 8.91828513e-01 4.47288727e-01 6.76365155e-02 7.85679743e+01] [-4.45646795e-01 8.94379702e-01 -3.85211981e-02 -2.17694187e+01] [-7.77228242e-02 4.21230649e-03 9.96966107e-01 -5.76943864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12577952299999 meters 0.025532278567060022 Centerline is valid? [True, True] Translation: X:78.60, Y:-21.78, Z:-5.77 [[ 8.90910756e-01 4.49355758e-01 6.60108228e-02 7.85984491e+01] [-4.47797358e-01 8.93344224e-01 -3.75981914e-02 -2.17798458e+01] [-7.58653511e-02 3.93716104e-03 9.97110298e-01 -5.77431919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15577952299999 meters 0.023442558847335707 Centerline is valid? [True, True] Translation: X:78.63, Y:-21.79, Z:-5.78 [[ 8.88541524e-01 4.54197207e-01 6.47985933e-02 7.86283418e+01] [-4.52708049e-01 8.90894440e-01 -3.69123194e-02 -2.17903958e+01] [-7.44941789e-02 3.46328379e-03 9.97215435e-01 -5.77679845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.185779523 meters 0.023827761667262738 Centerline is valid? [True, True] Translation: X:78.66, Y:-21.80, Z:-5.78 [[ 8.86962244e-01 4.57139566e-01 6.57373224e-02 7.86550866e+01] [-4.55614687e-01 8.89388976e-01 -3.74500378e-02 -2.18049921e+01] [-7.55859439e-02 3.26587995e-03 9.97133942e-01 -5.77657907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.215779523 meters 0.022555579602218354 Centerline is valid? [True, True] Translation: X:78.68, Y:-21.82, Z:-5.78 [[ 8.85161968e-01 4.60379864e-01 6.73696643e-02 7.86846623e+01] [-4.58787397e-01 8.87716725e-01 -3.83815269e-02 -2.18162039e+01] [-7.74752599e-02 3.06551498e-03 9.96989562e-01 -5.77579995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.245779523 meters 0.02009381552313107 Centerline is valid? [True, True] Translation: X:78.72, Y:-21.82, Z:-5.78 [[ 8.81704214e-01 4.66799470e-01 6.85268799e-02 7.87198441e+01] [-4.65170755e-01 8.84359520e-01 -3.90436615e-02 -2.18164149e+01] [-7.88279591e-02 2.54826045e-03 9.96884978e-01 -5.77806777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.275779523 meters 0.018531079130330915 Centerline is valid? [True, True] Translation: X:78.75, Y:-21.82, Z:-5.78 [[ 8.79746318e-01 4.70660841e-01 6.72665447e-02 7.87522117e+01] [-4.69102654e-01 8.82311561e-01 -3.83276524e-02 -2.18227429e+01] [-7.73893751e-02 2.16369642e-03 9.96998597e-01 -5.78330057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.305779523 meters 0.017488463723406743 Centerline is valid? [True, True] Translation: X:78.78, Y:-21.83, Z:-5.79 [[ 8.77555730e-01 4.74885463e-01 6.61795894e-02 7.87822717e+01] [-4.73388745e-01 8.80045834e-01 -3.77150632e-02 -2.18313009e+01] [-7.61514072e-02 1.76839709e-03 9.97094698e-01 -5.78851806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.335779523 meters 0.015390083135655635 Centerline is valid? [True, True] Translation: X:78.81, Y:-21.84, Z:-5.79 [[ 8.72980769e-01 4.83345288e-01 6.54363072e-02 7.88120923e+01] [-4.81905422e-01 8.75429201e-01 -3.72944906e-02 -2.18419325e+01] [-7.53109704e-02 1.02326186e-03 9.97159571e-01 -5.79126786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.365779523 meters 0.01473714399068462 Centerline is valid? [True, True] Translation: X:78.84, Y:-21.86, Z:-5.79 [[ 8.70745902e-01 4.87330819e-01 6.56524691e-02 7.88393612e+01] [-4.85892537e-01 8.73217159e-01 -3.74197328e-02 -2.18565946e+01] [-7.55646515e-02 6.83034258e-04 9.97140671e-01 -5.79238109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39577952299999 meters 0.013937938193519815 Centerline is valid? [True, True] Translation: X:78.87, Y:-21.86, Z:-5.79 [[ 8.66528413e-01 4.94615384e-01 6.69636662e-02 7.88714459e+01] [-4.93139670e-01 8.69111971e-01 -3.81791509e-02 -2.18635821e+01] [-7.70829193e-02 6.08787620e-05 9.97024684e-01 -5.79342653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42577952299999 meters 0.01396443069448446 Centerline is valid? [True, True] Translation: X:78.90, Y:-21.87, Z:-5.80 [[ 8.64701857e-01 4.97736644e-01 6.74457671e-02 7.89035894e+01] [-4.96247522e-01 8.67328192e-01 -3.84734265e-02 -2.18731761e+01] [-7.76472494e-02 -2.01751410e-04 9.96980874e-01 -5.79681181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45577952299999 meters 0.014125762475703399 Centerline is valid? [True, True] Translation: X:78.94, Y:-21.88, Z:-5.80 [[ 8.63212459e-01 5.00343460e-01 6.72359565e-02 7.89357863e+01] [-4.98869602e-01 8.65826918e-01 -3.83779752e-02 -2.18831269e+01] [-7.74168699e-02 -4.13628503e-04 9.96998725e-01 -5.80178056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48577952299999 meters 0.014628624255560635 Centerline is valid? [True, True] Translation: X:78.97, Y:-21.89, Z:-5.81 [[ 8.61780696e-01 5.02878081e-01 6.66908403e-02 7.89655992e+01] [-5.01433772e-01 8.64357135e-01 -3.80908828e-02 -2.18940919e+01] [-7.67997737e-02 -6.15052158e-04 9.97046346e-01 -5.80625538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51577952299999 meters 0.014733045815168306 Centerline is valid? [True, True] Translation: X:78.99, Y:-21.91, Z:-5.81 [[ 8.60053232e-01 5.06026449e-01 6.51588126e-02 7.89913737e+01] [-5.04655455e-01 8.62517533e-01 -3.72341010e-02 -2.19131590e+01] [-7.50420582e-02 -8.59441264e-04 9.97179999e-01 -5.80829664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.545779523 meters 0.01488131334014573 Centerline is valid? [True, True] Translation: X:79.02, Y:-21.93, Z:-5.81 [[ 8.59626383e-01 5.06955876e-01 6.35469975e-02 7.90170000e+01] [-5.05653009e-01 8.61971537e-01 -3.63332372e-02 -2.19331320e+01] [-7.31950512e-02 -8.99721253e-04 9.97317239e-01 -5.81039615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.575779523 meters 0.0150552160430133 Centerline is valid? [True, True] Translation: X:79.04, Y:-21.95, Z:-5.81 [[ 8.59283829e-01 5.07643714e-01 6.26830116e-02 7.90433506e+01] [-5.06376447e-01 8.61566595e-01 -3.58593922e-02 -2.19515586e+01] [-7.22093839e-02 -9.27804814e-04 9.97389064e-01 -5.81333530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.605779523 meters 0.015274633924828642 Centerline is valid? [True, True] Translation: X:79.07, Y:-21.96, Z:-5.82 [[ 8.58265998e-01 5.09070667e-01 6.50117873e-02 7.90737069e+01] [-5.07709814e-01 8.60724064e-01 -3.72132946e-02 -2.19647823e+01] [-7.49014065e-02 -1.06821703e-03 9.97190372e-01 -5.81697406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.635779523 meters 0.017780504129566423 Centerline is valid? [True, True] Translation: X:79.10, Y:-21.98, Z:-5.82 [[ 8.58156253e-01 5.09160499e-01 6.57528032e-02 7.91036537e+01] [-5.07766805e-01 8.60670929e-01 -3.76619753e-02 -2.19783371e+01] [-7.57675163e-02 -1.06723125e-03 9.97124939e-01 -5.82308550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.665779523 meters 0.018467735430674953 Centerline is valid? [True, True] Translation: X:79.13, Y:-21.99, Z:-5.83 [[ 8.57537159e-01 5.10111483e-01 6.64552154e-02 7.91324490e+01] [-5.08688754e-01 8.60107534e-01 -3.80891166e-02 -2.19936801e+01] [-7.65883272e-02 -1.14218782e-03 9.97062146e-01 -5.82664616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.695779523 meters 0.019268500683530677 Centerline is valid? [True, True] Translation: X:79.16, Y:-22.01, Z:-5.83 [[ 8.56923855e-01 5.11208403e-01 6.59353891e-02 7.91572222e+01] [-5.09809198e-01 8.59455937e-01 -3.78163204e-02 -2.20119312e+01] [-7.60005824e-02 -1.20876077e-03 9.97107041e-01 -5.82871888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.725779523 meters 0.0177533514910461 Centerline is valid? [True, True] Translation: X:79.18, Y:-22.03, Z:-5.83 [[ 8.56377918e-01 5.12130333e-01 6.58740011e-02 7.91825195e+01] [-5.10735655e-01 8.58906795e-01 -3.77916389e-02 -2.20310970e+01] [-7.59338718e-02 -1.28027608e-03 9.97112034e-01 -5.82897152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.755779523 meters 0.016488988868474164 Centerline is valid? [True, True] Translation: X:79.21, Y:-22.05, Z:-5.83 [[ 8.55964983e-01 5.13063708e-01 6.39498221e-02 7.92065347e+01] [-5.11751297e-01 8.58349523e-01 -3.66975061e-02 -2.20544669e+01] [-7.37194579e-02 -1.31462420e-03 9.97278152e-01 -5.83019385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78577952299999 meters 0.016333318660042867 Centerline is valid? [True, True] Translation: X:79.23, Y:-22.07, Z:-5.83 [[ 8.56037523e-01 5.13009285e-01 6.34131982e-02 7.92334224e+01] [-5.11717274e-01 8.58382100e-01 -3.64088201e-02 -2.20729026e+01] [-7.31108170e-02 -1.28231271e-03 9.97322999e-01 -5.83388626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81577952299999 meters 0.016541463643366713 Centerline is valid? [True, True] Translation: X:79.26, Y:-22.09, Z:-5.84 [[ 8.55912235e-01 5.13162292e-01 6.38647649e-02 7.92613658e+01] [-5.11850494e-01 8.58290634e-01 -3.66914140e-02 -2.20885642e+01] [-7.36431796e-02 -1.28458124e-03 9.97283827e-01 -5.83707805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84577952299999 meters 0.016490871343589383 Centerline is valid? [True, True] Translation: X:79.29, Y:-22.10, Z:-5.84 [[ 8.55617760e-01 5.13192466e-01 6.74665949e-02 7.92895692e+01] [-5.11726533e-01 8.58272509e-01 -3.87847450e-02 -2.21034798e+01] [-7.78087626e-02 -1.33953010e-03 9.96967403e-01 -5.83885833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87577952299999 meters 0.015188852467843322 Centerline is valid? [True, True] Translation: X:79.31, Y:-22.12, Z:-5.84 [[ 8.55728848e-01 5.12926097e-01 6.80805213e-02 7.93147356e+01] [-5.11430831e-01 8.58431771e-01 -3.91586479e-02 -2.21235800e+01] [-7.85279748e-02 -1.30929298e-03 9.96911051e-01 -5.83992337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90577952299999 meters 0.015039769752095774 Centerline is valid? [True, True] Translation: X:79.34, Y:-22.14, Z:-5.84 [[ 8.56176770e-01 5.12162005e-01 6.82013129e-02 7.93387805e+01] [-5.10657216e-01 8.58887995e-01 -3.92507357e-02 -2.21436259e+01] [-7.86800243e-02 -1.22192450e-03 9.96899173e-01 -5.84102522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.935779523 meters 0.014284258020934894 Centerline is valid? [True, True] Translation: X:79.36, Y:-22.17, Z:-5.84 [[ 8.57815002e-01 5.09540571e-01 6.72445431e-02 7.93588161e+01] [-5.08068113e-01 8.60446108e-01 -3.87206431e-02 -2.21707590e+01] [-7.75900440e-02 -9.49659590e-04 9.96984896e-01 -5.84092824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.965779523 meters 0.01391230900995175 Centerline is valid? [True, True] Translation: X:79.38, Y:-22.19, Z:-5.84 [[ 8.58834112e-01 5.07985934e-01 6.59868106e-02 7.93842222e+01] [-5.06562657e-01 8.61365008e-01 -3.80078752e-02 -2.21905043e+01] [-7.61461956e-02 -7.83994325e-04 9.97096356e-01 -5.84494305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.995779523 meters 0.013115784159486417 Centerline is valid? [True, True] Translation: X:79.41, Y:-22.21, Z:-5.85 [[ 8.61675061e-01 5.03285581e-01 6.49593204e-02 7.94085172e+01] [-5.01891400e-01 8.64120076e-01 -3.74368421e-02 -2.22120884e+01] [-7.49740756e-02 -3.44131089e-04 9.97185424e-01 -5.85209241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.025779523 meters 0.013029120670829791 Centerline is valid? [True, True] Translation: X:79.43, Y:-22.23, Z:-5.85 [[ 8.62779970e-01 5.01159711e-01 6.67058228e-02 7.94332760e+01] [-4.99681310e-01 8.65354796e-01 -3.84664170e-02 -2.22311443e+01] [-7.70020221e-02 -1.43598869e-04 9.97030926e-01 -5.85359285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.055779523 meters 0.013029120670829791 Centerline is valid? [True, True] Translation: X:79.46, Y:-22.25, Z:-5.86 [[ 8.62640764e-01 5.01399962e-01 6.67007520e-02 7.94612396e+01] [-4.99921598e-01 8.65215611e-01 -3.84752078e-02 -2.22473691e+01] [-7.70019997e-02 -1.54863913e-04 9.97030926e-01 -5.85623041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.085779523 meters 0.012874711501268945 Centerline is valid? [True, True] Translation: X:79.49, Y:-22.27, Z:-5.86 [[ 8.63202872e-01 5.00134104e-01 6.88961535e-02 7.94859290e+01] [-4.98550503e-01 8.65947965e-01 -3.97683075e-02 -2.22668506e+01] [-7.95499707e-02 -2.00946785e-05 9.96830879e-01 -5.85537423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.115779523 meters 0.01286212674517091 Centerline is valid? [True, True] Translation: X:79.51, Y:-22.29, Z:-5.85 [[ 8.63408456e-01 4.99633274e-01 6.99459006e-02 7.95128957e+01] [-4.97998285e-01 8.66237029e-01 -4.03871019e-02 -2.22866191e+01] [-8.07684691e-02 3.76267445e-05 9.96732890e-01 -5.85464344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14577952299999 meters 0.012863430103716676 Centerline is valid? [True, True] Translation: X:79.54, Y:-22.31, Z:-5.86 [[ 8.63392062e-01 4.99819432e-01 6.88090311e-02 7.95381987e+01] [-4.98235796e-01 8.66129629e-01 -3.97562322e-02 -2.23086160e+01] [-7.94684780e-02 4.20929936e-05 9.96837379e-01 -5.85543006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17577952299999 meters 0.012794145424147278 Centerline is valid? [True, True] Translation: X:79.57, Y:-22.33, Z:-5.86 [[ 8.63463942e-01 4.99903467e-01 6.72795997e-02 7.95654438e+01] [-4.98387872e-01 8.66081128e-01 -3.88974043e-02 -2.23268775e+01] [-7.77145388e-02 5.51695165e-05 9.96975650e-01 -5.85897549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20577952299999 meters 0.012926807975599398 Centerline is valid? [True, True] Translation: X:79.59, Y:-22.34, Z:-5.86 [[ 8.63504347e-01 5.00035770e-01 6.57607110e-02 7.95922833e+01] [-4.98586435e-01 8.66004749e-01 -3.80439514e-02 -2.23436808e+01] [-7.59724245e-02 6.37190019e-05 9.97109917e-01 -5.86392275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23577952299999 meters 0.01304898800695771 Centerline is valid? [True, True] Translation: X:79.62, Y:-22.36, Z:-5.87 [[ 8.64370109e-01 4.98924158e-01 6.27614519e-02 7.96178826e+01] [-4.97599616e-01 8.66645634e-01 -3.63313700e-02 -2.23601687e+01] [-7.25185365e-02 1.73675864e-04 9.97367050e-01 -5.87254223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26577952299999 meters 0.013127063414008686 Centerline is valid? [True, True] Translation: X:79.64, Y:-22.38, Z:-5.88 [[ 8.65196136e-01 4.97581544e-01 6.20342913e-02 7.96435468e+01] [-4.96283407e-01 8.67417156e-01 -3.59201503e-02 -2.23793747e+01] [-7.16828123e-02 2.91385759e-04 9.97427436e-01 -5.87596427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.295779523 meters 0.017555509523934684 Centerline is valid? [True, True] Translation: X:79.66, Y:-22.41, Z:-5.88 [[ 8.68470318e-01 4.92001039e-01 6.07806158e-02 7.96633968e+01] [-4.90739811e-01 8.70594284e-01 -3.52140719e-02 -2.24075990e+01] [-7.02406167e-02 7.54908323e-04 9.97529792e-01 -5.87761852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.325779523 meters 0.018000482386640586 Centerline is valid? [True, True] Translation: X:79.69, Y:-22.43, Z:-5.88 [[ 8.70336831e-01 4.88635786e-01 6.12280106e-02 7.96880760e+01] [-4.87346248e-01 8.72487229e-01 -3.54918178e-02 -2.24296614e+01] [-7.07632296e-02 1.05059498e-03 9.97492587e-01 -5.87770548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.355779523 meters 0.019353288012746012 Centerline is valid? [True, True] Translation: X:79.71, Y:-22.45, Z:-5.88 [[ 8.72411572e-01 4.84823512e-01 6.20017113e-02 7.97129332e+01] [-4.83489987e-01 8.74610893e-01 -3.59613434e-02 -2.24499616e+01] [-7.16622769e-02 1.39588556e-03 9.97427977e-01 -5.87965955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.385779523 meters 0.01764602722945925 Centerline is valid? [True, True] Translation: X:79.74, Y:-22.47, Z:-5.88 [[ 8.75628847e-01 4.78174358e-01 6.79956266e-02 7.97376511e+01] [-4.76548146e-01 8.78262295e-01 -3.94614355e-02 -2.24682594e+01] [-7.85874417e-02 2.15038150e-03 9.96904905e-01 -5.87880512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.415779523 meters 0.018536210866525318 Centerline is valid? [True, True] Translation: X:79.77, Y:-22.48, Z:-5.88 [[ 8.77076965e-01 4.75189238e-01 7.02223993e-02 7.97656786e+01] [-4.73444858e-01 8.79880072e-01 -4.07556803e-02 -2.24838243e+01] [-8.11539504e-02 2.49943453e-03 9.96698444e-01 -5.88201150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.445779523 meters 0.019062014409712374 Centerline is valid? [True, True] Translation: X:79.79, Y:-22.50, Z:-5.89 [[ 8.78653309e-01 4.72219691e-01 7.05473321e-02 7.97927220e+01] [-4.70448996e-01 8.81476469e-01 -4.09509181e-02 -2.24996714e+01] [-8.15236431e-02 2.79273816e-03 9.96667495e-01 -5.88599505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.475779523 meters 0.023746269519568503 Centerline is valid? [True, True] Translation: X:79.81, Y:-22.53, Z:-5.89 [[ 8.82126412e-01 4.66251658e-01 6.68010808e-02 7.98125185e+01] [-4.64646474e-01 8.84646432e-01 -3.87858844e-02 -2.25253667e+01] [-7.71793207e-02 3.17516638e-03 9.97012172e-01 -5.89094722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.505779523 meters 0.022487294142977548 Centerline is valid? [True, True] Translation: X:79.84, Y:-22.55, Z:-5.89 [[ 8.83104717e-01 4.64427249e-01 6.65837042e-02 7.98362728e+01] [-4.62826400e-01 8.85604997e-01 -3.86718558e-02 -2.25494651e+01] [-7.69271247e-02 3.33460213e-03 9.97031142e-01 -5.88904874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53577952299999 meters 0.023969176150069466 Centerline is valid? [True, True] Translation: X:79.86, Y:-22.57, Z:-5.89 [[ 8.84861631e-01 4.61269244e-01 6.51964646e-02 7.98596555e+01] [-4.59725583e-01 8.87253157e-01 -3.78711402e-02 -2.25713457e+01] [-7.53145613e-02 3.53823624e-03 9.97153548e-01 -5.88856689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56577952299999 meters 0.024241389792529613 Centerline is valid? [True, True] Translation: X:79.89, Y:-22.58, Z:-5.89 [[ 8.85048341e-01 4.60872991e-01 6.54638814e-02 7.98901734e+01] [-4.59314125e-01 8.87458789e-01 -3.80451275e-02 -2.25829186e+01] [-7.56304687e-02 3.60329157e-03 9.97129404e-01 -5.89339344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59577952299999 meters 0.028220127252047516 Centerline is valid? [True, True] Translation: X:79.92, Y:-22.60, Z:-5.90 [[ 8.84653471e-01 4.61486254e-01 6.64730965e-02 7.99182606e+01] [-4.59878863e-01 8.87139949e-01 -3.86541244e-02 -2.25965647e+01] [-7.68092866e-02 3.62593329e-03 9.97039210e-01 -5.89950246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62577952299999 meters 0.025227728907816275 Centerline is valid? [True, True] Translation: X:79.95, Y:-22.60, Z:-5.91 [[ 8.84165519e-01 4.62348424e-01 6.69721529e-02 7.99512755e+01] [-4.60718291e-01 8.86691072e-01 -3.89563745e-02 -2.26032855e+01] [-7.73950284e-02 3.58858731e-03 9.96994048e-01 -5.90509238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65577952299999 meters 0.02234390647274538 Centerline is valid? [True, True] Translation: X:79.98, Y:-22.62, Z:-5.90 [[ 8.82021859e-01 4.66216086e-01 6.84105439e-02 7.99761989e+01] [-4.64524791e-01 8.84664572e-01 -3.98160030e-02 -2.26242285e+01] [-7.90832456e-02 3.34019137e-03 9.96862420e-01 -5.90219534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.685779523 meters 0.023417772259571534 Centerline is valid? [True, True] Translation: X:80.00, Y:-22.65, Z:-5.90 [[ 8.80864682e-01 4.68508961e-01 6.76517997e-02 7.99983159e+01] [-4.66861340e-01 8.83453291e-01 -3.93798430e-02 -2.26474986e+01] [-7.82170144e-02 3.10430299e-03 9.96931523e-01 -5.90101927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.715779523 meters 0.01909896767507343 Centerline is valid? [True, True] Translation: X:80.03, Y:-22.66, Z:-5.90 [[ 8.77822331e-01 4.74468520e-01 6.56321445e-02 8.00283493e+01] [-4.72933309e-01 8.80268891e-01 -3.82199511e-02 -2.26579850e+01] [-7.59080987e-02 2.51069933e-03 9.97111657e-01 -5.90336006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.745779523 meters 0.018596886897643015 Centerline is valid? [True, True] Translation: X:80.06, Y:-22.67, Z:-5.91 [[ 8.75804202e-01 4.78272384e-01 6.49809640e-02 8.00591099e+01] [-4.76777541e-01 8.78208883e-01 -3.78461992e-02 -2.26655061e+01] [-7.51676517e-02 2.16439616e-03 9.97168561e-01 -5.91088370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.775779523 meters 0.017845328971678048 Centerline is valid? [True, True] Translation: X:80.09, Y:-22.67, Z:-5.92 [[ 8.73757489e-01 4.81995023e-01 6.50280580e-02 8.00912259e+01] [-4.80507802e-01 8.76171998e-01 -3.78798284e-02 -2.26706104e+01] [-7.52336523e-02 1.85129454e-03 9.97164214e-01 -5.91845863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.805779523 meters 0.014606458807195032 Centerline is valid? [True, True] Translation: X:80.13, Y:-22.67, Z:-5.92 [[ 8.69307964e-01 4.89811263e-01 6.62464452e-02 8.01259121e+01] [-4.88290001e-01 8.71827669e-01 -3.85926337e-02 -2.26725316e+01] [-7.66585905e-02 1.20140702e-03 9.97056677e-01 -5.92350748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.835779523 meters 0.014087848163558426 Centerline is valid? [True, True] Translation: X:80.15, Y:-22.69, Z:-5.92 [[ 8.67799053e-01 4.92541878e-01 6.57822391e-02 8.01520193e+01] [-4.91049488e-01 8.70288219e-01 -3.83251312e-02 -2.26927944e+01] [-7.61262398e-02 9.56177731e-04 9.97097729e-01 -5.92295992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.865779523 meters 0.013852375123381009 Centerline is valid? [True, True] Translation: X:80.18, Y:-22.72, Z:-5.92 [[ 8.66900381e-01 4.94132786e-01 6.57002185e-02 8.01754694e+01] [-4.92647838e-01 8.69386053e-01 -3.82883659e-02 -2.27162656e+01] [-7.60383906e-02 8.25128395e-04 9.97104549e-01 -5.91989222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89577952299999 meters 0.013787008124092545 Centerline is valid? [True, True] Translation: X:80.20, Y:-22.74, Z:-5.91 [[ 8.66201301e-01 4.95008601e-01 6.82773068e-02 8.02001030e+01] [-4.93405538e-01 8.68887707e-01 -3.98136545e-02 -2.27363502e+01] [-7.90334139e-02 7.98238023e-04 9.96871648e-01 -5.91449660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92577952299999 meters 0.01372751444379487 Centerline is valid? [True, True] Translation: X:80.23, Y:-22.75, Z:-5.92 [[ 8.65863857e-01 4.95351933e-01 7.00445839e-02 8.02318545e+01] [-4.93664013e-01 8.68692013e-01 -4.08659945e-02 -2.27466030e+01] [-8.10902199e-02 8.05897228e-04 9.96706440e-01 -5.91890990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95577952299999 meters 0.01350630647271919 Centerline is valid? [True, True] Translation: X:80.26, Y:-22.75, Z:-5.93 [[ 8.65212697e-01 4.96394760e-01 7.07052351e-02 8.02638552e+01] [-4.94676099e-01 8.68096595e-01 -4.12778404e-02 -2.27538166e+01] [-8.18690775e-02 7.37921824e-04 9.96642819e-01 -5.92630226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98577952299999 meters 0.01352255487679616 Centerline is valid? [True, True] Translation: X:80.29, Y:-22.76, Z:-5.94 [[ 8.64915207e-01 4.97328814e-01 6.77180649e-02 8.02947408e+01] [-4.95753697e-01 8.67561894e-01 -3.95554216e-02 -2.27628971e+01] [-7.84216635e-02 6.40604640e-04 9.96920073e-01 -5.93805986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01577952299999 meters 0.013353179210508494 Centerline is valid? [True, True] Translation: X:80.32, Y:-22.78, Z:-5.94 [[ 8.64838093e-01 4.97792398e-01 6.52518351e-02 8.03203611e+01] [-4.96330345e-01 8.67296018e-01 -3.81288127e-02 -2.27832778e+01] [-7.55728899e-02 5.88783839e-04 9.97140106e-01 -5.94118310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.045779523 meters 0.013496355378741798 Centerline is valid? [True, True] Translation: X:80.34, Y:-22.81, Z:-5.94 [[ 8.64759121e-01 4.98450009e-01 6.11494197e-02 8.03408613e+01] [-4.97166344e-01 8.66918290e-01 -3.57533951e-02 -2.28123698e+01] [-7.08328304e-02 5.16641120e-04 9.97488067e-01 -5.93842995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.075779523 meters 0.01361314628085341 Centerline is valid? [True, True] Translation: X:80.37, Y:-22.83, Z:-5.94 [[ 8.64411729e-01 4.99055732e-01 6.11206924e-02 8.03672956e+01] [-4.97773373e-01 8.66569756e-01 -3.57565016e-02 -2.28297736e+01] [-7.08098306e-02 4.84086205e-04 9.97489716e-01 -5.94069094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.105779523 meters 0.013415446315675372 Centerline is valid? [True, True] Translation: X:80.40, Y:-22.84, Z:-5.94 [[ 8.63799252e-01 4.99995114e-01 6.20945876e-02 8.03975243e+01] [-4.98672194e-01 8.66028116e-01 -3.63503133e-02 -2.28423521e+01] [-7.19506377e-02 4.34529200e-04 9.97408099e-01 -5.94404377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.135779523 meters 0.012982110566601974 Centerline is valid? [True, True] Translation: X:80.43, Y:-22.85, Z:-5.95 [[ 8.62885860e-01 5.01274910e-01 6.44317935e-02 8.04292070e+01] [-4.99853464e-01 8.65288012e-01 -3.77249289e-02 -2.28511752e+01] [-7.46626189e-02 3.45852573e-04 9.97208791e-01 -5.94779658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.165779523 meters 0.012700605317149538 Centerline is valid? [True, True] Translation: X:80.46, Y:-22.86, Z:-5.95 [[ 8.60879132e-01 5.04131356e-01 6.88381858e-02 8.04599530e+01] [-5.02515678e-01 8.63626980e-01 -4.03290659e-02 -2.28592931e+01] [-7.97816612e-02 1.26183704e-04 9.96812355e-01 -5.95029104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.195779523 meters 0.012638309470915623 Centerline is valid? [True, True] Translation: X:80.49, Y:-22.88, Z:-5.95 [[ 8.60115794e-01 5.05416056e-01 6.89596316e-02 8.04864768e+01] [-5.03797113e-01 8.62875779e-01 -4.04210285e-02 -2.28799800e+01] [-7.99330326e-02 2.51017201e-05 9.96800236e-01 -5.95100099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.225779523 meters 0.012871829091850636 Centerline is valid? [True, True] Translation: X:80.51, Y:-22.91, Z:-5.95 [[ 8.59928824e-01 5.06247601e-01 6.50828947e-02 8.05059015e+01] [-5.04806383e-01 8.62388176e-01 -3.81726409e-02 -2.29076641e+01] [-7.54515267e-02 -2.85064014e-05 9.97149470e-01 -5.95116822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.255779523 meters 0.012864018869969348 Centerline is valid? [True, True] Translation: X:80.53, Y:-22.93, Z:-5.95 [[ 8.60037367e-01 5.06247081e-01 6.36366264e-02 8.05325181e+01] [-5.04868557e-01 8.62388481e-01 -3.73342637e-02 -2.29263155e+01] [-7.37798557e-02 -1.92698957e-05 9.97274552e-01 -5.95424829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28577952299999 meters 0.012868949760138991 Centerline is valid? [True, True] Translation: X:80.56, Y:-22.94, Z:-5.96 [[ 8.59689578e-01 5.06727394e-01 6.45071994e-02 8.05616159e+01] [-5.05310264e-01 8.62106343e-01 -3.78707014e-02 -2.29364197e+01] [-7.48021876e-02 -3.91027272e-05 9.97198391e-01 -5.96086312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31577952299999 meters 0.012806335154748041 Centerline is valid? [True, True] Translation: X:80.59, Y:-22.95, Z:-5.97 [[ 8.58950312e-01 5.07803220e-01 6.58805862e-02 8.05912644e+01] [-5.06327283e-01 8.61473083e-01 -3.86886164e-02 -2.29498686e+01] [-7.64005557e-02 -1.25539140e-04 9.97077198e-01 -5.96514696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34577952299999 meters 0.012832552049099298 Centerline is valid? [True, True] Translation: X:80.62, Y:-22.97, Z:-5.97 [[ 8.58214394e-01 5.08971224e-01 6.64555997e-02 8.06192420e+01] [-5.07470945e-01 8.60783509e-01 -3.90511351e-02 -2.29664559e+01] [-7.70797883e-02 -2.10039663e-04 9.97024905e-01 -5.96756496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37577952299999 meters 0.013026503012512795 Centerline is valid? [True, True] Translation: X:80.64, Y:-22.99, Z:-5.96 [[ 8.56694000e-01 5.11461115e-01 6.69545948e-02 8.06428424e+01] [-5.09943832e-01 8.59306322e-01 -3.93691938e-02 -2.29910822e+01] [-7.76703184e-02 -4.15730539e-04 9.96979011e-01 -5.96496579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40577952299999 meters 0.013131176469743253 Centerline is valid? [True, True] Translation: X:80.67, Y:-23.01, Z:-5.97 [[ 8.55721722e-01 5.13031611e-01 6.73713554e-02 8.06689259e+01] [-5.11498234e-01 8.58369544e-01 -3.96394118e-02 -2.30111767e+01] [-7.81657910e-02 -5.40023561e-04 9.96940228e-01 -5.96533540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.435779523 meters 0.017197928662900992 Centerline is valid? [True, True] Translation: X:80.70, Y:-23.03, Z:-5.97 [[ 8.54308669e-01 5.15505403e-01 6.64144402e-02 8.06955559e+01] [-5.14020828e-01 8.56886014e-01 -3.91017507e-02 -2.30270654e+01] [-7.70667687e-02 -7.33440944e-04 9.97025664e-01 -5.97211439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.465779523 meters 0.013895823019935562 Centerline is valid? [True, True] Translation: X:80.72, Y:-23.04, Z:-5.97 [[ 8.53051220e-01 5.17664997e-01 6.57766450e-02 8.07236819e+01] [-5.16213704e-01 8.55582922e-01 -3.87462848e-02 -2.30426068e+01] [-7.63349695e-02 -9.02240057e-04 9.97081821e-01 -5.97416638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.495779523 meters 0.014003471702517003 Centerline is valid? [True, True] Translation: X:80.75, Y:-23.06, Z:-5.98 [[ 8.52410482e-01 5.18726021e-01 6.57243091e-02 8.07517375e+01] [-5.17278539e-01 8.54939974e-01 -3.87369891e-02 -2.30601405e+01] [-7.62842233e-02 -9.77959003e-04 9.97085634e-01 -5.97793075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.525779523 meters 0.014587612186411102 Centerline is valid? [True, True] Translation: X:80.78, Y:-23.08, Z:-5.98 [[ 8.51160809e-01 5.20609745e-01 6.70132117e-02 8.07769267e+01] [-5.19108593e-01 8.53793991e-01 -3.95232751e-02 -2.30785448e+01] [-7.77916796e-02 -1.14647121e-03 9.96968977e-01 -5.97919762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.555779523 meters 0.014565272313716127 Centerline is valid? [True, True] Translation: X:80.80, Y:-23.10, Z:-5.98 [[ 8.50405871e-01 5.21778077e-01 6.75091999e-02 8.08025039e+01] [-5.20256604e-01 8.53080353e-01 -3.98368864e-02 -2.30981097e+01] [-7.83767861e-02 -1.24458490e-03 9.96923031e-01 -5.98022779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.585779523 meters 0.01794794964451108 Centerline is valid? [True, True] Translation: X:80.83, Y:-23.12, Z:-5.99 [[ 8.50343684e-01 5.21896846e-01 6.73743429e-02 8.08285999e+01] [-5.20380050e-01 8.53007714e-01 -3.97799339e-02 -2.31176172e+01] [-7.82318563e-02 -1.23364841e-03 9.96934429e-01 -5.98548946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.615779523 meters 0.01528348262142179 Centerline is valid? [True, True] Translation: X:80.85, Y:-23.14, Z:-5.99 [[ 8.49368760e-01 5.23846318e-01 6.44805746e-02 8.08518526e+01] [-5.22460908e-01 8.51811754e-01 -3.80963950e-02 -2.31381932e+01] [-7.48819676e-02 -1.33069175e-03 9.97191516e-01 -5.98822455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64577952299999 meters 0.017164513694314574 Centerline is valid? [True, True] Translation: X:80.88, Y:-23.15, Z:-5.99 [[ 8.48859685e-01 5.24870223e-01 6.28369587e-02 8.08789197e+01] [-5.23556788e-01 8.51181151e-01 -3.71340482e-02 -2.31535439e+01] [-7.29761910e-02 -1.37711976e-03 9.97332732e-01 -5.99413786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67577952299999 meters 0.019469301294074686 Centerline is valid? [True, True] Translation: X:80.90, Y:-23.18, Z:-6.00 [[ 8.48575714e-01 5.25475363e-01 6.16027607e-02 8.09024372e+01] [-5.24213342e-01 8.50807689e-01 -3.64231874e-02 -2.31753672e+01] [-7.15515901e-02 -1.38515675e-03 9.97435938e-01 -5.99852124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70577952299999 meters 0.01860015128132693 Centerline is valid? [True, True] Translation: X:80.93, Y:-23.20, Z:-6.00 [[ 8.47023969e-01 5.27594035e-01 6.47682778e-02 8.09266234e+01] [-5.26203365e-01 8.49495079e-01 -3.83161805e-02 -2.31961549e+01] [-7.52357215e-02 -1.62656248e-03 9.97164450e-01 -5.99613541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73577952299999 meters 0.01700136514420626 Centerline is valid? [True, True] Translation: X:80.95, Y:-23.21, Z:-5.99 [[ 8.46199958e-01 5.28569707e-01 6.75255138e-02 8.09533020e+01] [-5.27059306e-01 8.48888060e-01 -3.99693565e-02 -2.32135581e+01] [-7.84481935e-02 -1.76788265e-03 9.96916624e-01 -5.99315375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76577952299999 meters 0.01680364832742453 Centerline is valid? [True, True] Translation: X:80.98, Y:-23.23, Z:-5.99 [[ 8.45841554e-01 5.28896629e-01 6.94292577e-02 8.09803714e+01] [-5.27299466e-01 8.48684269e-01 -4.11130608e-02 -2.32331608e+01] [-8.06680781e-02 -1.83487532e-03 9.96739331e-01 -5.99417425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.795779523 meters 0.01682074034685699 Centerline is valid? [True, True] Translation: X:81.00, Y:-23.26, Z:-6.00 [[ 8.46057317e-01 5.28742562e-01 6.79582166e-02 8.10036436e+01] [-5.27209949e-01 8.48780423e-01 -4.02674024e-02 -2.32552940e+01] [-7.89726933e-02 -1.75971744e-03 9.96875226e-01 -5.99928434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.825779523 meters 0.01861800432936143 Centerline is valid? [True, True] Translation: X:81.03, Y:-23.28, Z:-6.01 [[ 8.46603484e-01 5.28136016e-01 6.58398711e-02 8.10290193e+01] [-5.26693967e-01 8.49158225e-01 -3.90355413e-02 -2.32755887e+01] [-7.65245434e-02 -1.62983760e-03 9.97066366e-01 -6.00584297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.855779523 meters 0.01714393716397997 Centerline is valid? [True, True] Translation: X:81.05, Y:-23.30, Z:-6.01 [[ 8.46142765e-01 5.29034998e-01 6.45321034e-02 8.10539761e+01] [-5.27651561e-01 8.48598367e-01 -3.82706298e-02 -2.32958544e+01] [-7.50083401e-02 -1.66804857e-03 9.97181511e-01 -6.00745040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.885779523 meters 0.016570081981737903 Centerline is valid? [True, True] Translation: X:81.08, Y:-23.32, Z:-6.01 [[ 8.46129870e-01 5.29186926e-01 6.34463600e-02 8.10786910e+01] [-5.27848661e-01 8.48503695e-01 -3.76466515e-02 -2.33180294e+01] [-7.37565867e-02 -1.63611984e-03 9.97274932e-01 -6.01003973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.915779523 meters 0.016606664805502807 Centerline is valid? [True, True] Translation: X:81.10, Y:-23.34, Z:-6.01 [[ 8.46528904e-01 5.28562794e-01 6.33260392e-02 8.11009248e+01] [-5.27226037e-01 8.48892777e-01 -3.76000042e-02 -2.33414639e+01] [-7.36309805e-02 -1.55764635e-03 9.97284339e-01 -6.01169765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.945779523 meters 0.01623124086141214 Centerline is valid? [True, True] Translation: X:81.13, Y:-23.36, Z:-6.01 [[ 8.46844156e-01 5.27950632e-01 6.42114081e-02 8.11270963e+01] [-5.26572929e-01 8.49273722e-01 -3.81457128e-02 -2.33607612e+01] [-7.46721147e-02 -1.50851525e-03 9.97206999e-01 -6.01377691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.975779523 meters 0.01623124086141214 Centerline is valid? [True, True] Translation: X:81.15, Y:-23.38, Z:-6.02 [[ 8.46694747e-01 5.28191348e-01 6.42020711e-02 8.11548252e+01] [-5.26813145e-01 8.49124029e-01 -3.81614209e-02 -2.33773300e+01] [-7.46720536e-02 -1.51142045e-03 9.97207000e-01 -6.01641716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.005779523 meters 0.01631385284292408 Centerline is valid? [True, True] Translation: X:81.18, Y:-23.40, Z:-6.02 [[ 8.47246883e-01 5.27019027e-01 6.65106380e-02 8.11795582e+01] [-5.25534104e-01 8.49852271e-01 -3.95603770e-02 -2.33964550e+01] [-7.73732881e-02 -1.43620240e-03 9.97001159e-01 -6.01989436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03577952299999 meters 0.016572580525020593 Centerline is valid? [True, True] Translation: X:81.20, Y:-23.42, Z:-6.02 [[ 8.47219055e-01 5.27012791e-01 6.69133117e-02 8.12048957e+01] [-5.25508170e-01 8.49856154e-01 -3.98206018e-02 -2.34160281e+01] [-7.78526563e-02 -1.42671938e-03 9.96963855e-01 -6.02201135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06577952299999 meters 0.016237804323312104 Centerline is valid? [True, True] Translation: X:81.23, Y:-23.44, Z:-6.02 [[ 8.47599933e-01 5.26523185e-01 6.59370131e-02 8.12255547e+01] [-5.25058982e-01 8.50159711e-01 -3.92623387e-02 -2.34442513e+01] [-7.67295236e-02 -1.34206534e-03 9.97051041e-01 -6.02125273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09577952299999 meters 0.016211194861367236 Centerline is valid? [True, True] Translation: X:81.25, Y:-23.47, Z:-6.02 [[ 8.48017837e-01 5.25999696e-01 6.47307385e-02 8.12499312e+01] [-5.24585584e-01 8.50483832e-01 -3.85644408e-02 -2.34650124e+01] [-7.53373306e-02 -1.25347861e-03 9.97157317e-01 -6.02379591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12577952299999 meters 0.01597935488792366 Centerline is valid? [True, True] Translation: X:81.28, Y:-23.48, Z:-6.03 [[ 8.48649314e-01 5.25109743e-01 6.36718176e-02 8.12757766e+01] [-5.23737405e-01 8.51033764e-01 -3.79560624e-02 -2.34849894e+01] [-7.41179647e-02 -1.13592618e-03 9.97248834e-01 -6.02760759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15577952299999 meters 0.0150726831450471 Centerline is valid? [True, True] Translation: X:81.30, Y:-23.51, Z:-6.03 [[ 8.50472228e-01 5.22170904e-01 6.35179991e-02 8.12997367e+01] [-5.20796263e-01 8.52840426e-01 -3.78742695e-02 -2.35069621e+01] [-7.39475589e-02 -8.68922217e-04 9.97261753e-01 -6.03340335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.185779523 meters 0.014563949758457448 Centerline is valid? [True, True] Translation: X:81.32, Y:-23.53, Z:-6.04 [[ 8.51682361e-01 5.20109856e-01 6.42097665e-02 8.13246750e+01] [-5.18697654e-01 8.54099102e-01 -3.83075358e-02 -2.35267211e+01] [-7.47656309e-02 -6.79602692e-04 9.97200902e-01 -6.03609211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.215779523 meters 0.014000422034428833 Centerline is valid? [True, True] Translation: X:81.35, Y:-23.55, Z:-6.04 [[ 8.54226711e-01 5.15751621e-01 6.55514444e-02 8.13459685e+01] [-5.14265216e-01 8.56738107e-01 -3.91293223e-02 -2.35533573e+01] [-7.63414318e-02 -2.85515403e-04 9.97081694e-01 -6.03549298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.245779523 meters 0.013848993437492598 Centerline is valid? [True, True] Translation: X:81.37, Y:-23.58, Z:-6.04 [[ 8.55956592e-01 5.12868761e-01 6.56044661e-02 8.13707686e+01] [-5.11369874e-01 8.58467025e-01 -3.91818676e-02 -2.35768930e+01] [-7.64144268e-02 -1.01697328e-05 9.97076143e-01 -6.03597482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.275779523 meters 0.01405865084353614 Centerline is valid? [True, True] Translation: X:81.39, Y:-23.60, Z:-6.04 [[ 8.57822097e-01 5.09848207e-01 6.47769753e-02 8.13945865e+01] [-5.08376546e-01 8.60264337e-01 -3.87112109e-02 -2.36004263e+01] [-7.54621632e-02 2.76237223e-04 9.97148628e-01 -6.03765588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.305779523 meters 0.014535078062449795 Centerline is valid? [True, True] Translation: X:81.42, Y:-23.62, Z:-6.04 [[ 8.59301665e-01 5.07468071e-01 6.38498688e-02 8.14187032e+01] [-5.06030221e-01 8.61670419e-01 -3.81772720e-02 -2.36207191e+01] [-7.43912898e-02 4.95830158e-04 9.97229006e-01 -6.04064543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.335779523 meters 0.016694592574755158 Centerline is valid? [True, True] Translation: X:81.45, Y:-23.64, Z:-6.05 [[ 8.59003100e-01 5.07998980e-01 6.36451942e-02 8.14467961e+01] [-5.06570391e-01 8.61357545e-01 -3.80738584e-02 -2.36351921e+01] [-7.41627495e-02 4.64791507e-04 9.97246043e-01 -6.04835498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.365779523 meters 0.014308251158065322 Centerline is valid? [True, True] Translation: X:81.48, Y:-23.65, Z:-6.05 [[ 8.58322750e-01 5.09126910e-01 6.38110226e-02 8.14759797e+01] [-5.07692955e-01 8.60691376e-01 -3.81866289e-02 -2.36503805e+01] [-7.43634372e-02 3.80045728e-04 9.97231134e-01 -6.05000072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39577952299999 meters 0.014382242524826007 Centerline is valid? [True, True] Translation: X:81.50, Y:-23.67, Z:-6.05 [[ 8.58461340e-01 5.08860249e-01 6.40731938e-02 8.15045471e+01] [-5.07412032e-01 8.60849038e-01 -3.83661663e-02 -2.36662365e+01] [-7.46803642e-02 4.24361081e-04 9.97207432e-01 -6.05253546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42577952299999 meters 0.01463585754937078 Centerline is valid? [True, True] Translation: X:81.53, Y:-23.68, Z:-6.05 [[ 8.60023247e-01 5.06019445e-01 6.56074414e-02 8.15305184e+01] [-5.04490771e-01 8.62521779e-01 -3.93095793e-02 -2.36847374e+01] [-7.64792586e-02 7.08803371e-04 9.97070921e-01 -6.05289953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45577952299999 meters 0.015636273492313325 Centerline is valid? [True, True] Translation: X:81.55, Y:-23.70, Z:-6.05 [[ 8.61048267e-01 5.04238239e-01 6.58762504e-02 8.15541217e+01] [-5.02690079e-01 8.63564130e-01 -3.94927618e-02 -2.37049624e+01] [-7.68021276e-02 8.89836587e-04 9.97045958e-01 -6.05398506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48577952299999 meters 0.01744178973536037 Centerline is valid? [True, True] Translation: X:81.58, Y:-23.73, Z:-6.05 [[ 8.63517645e-01 5.00085482e-01 6.52057313e-02 8.15776399e+01] [-4.98555565e-01 8.65975126e-01 -3.91079321e-02 -2.37253335e+01] [-7.60238505e-02 1.26170928e-03 9.97105201e-01 -6.05394253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51577952299999 meters 0.01661245879765358 Centerline is valid? [True, True] Translation: X:81.61, Y:-23.74, Z:-6.06 [[ 8.64455421e-01 4.98589274e-01 6.42305317e-02 8.16068042e+01] [-4.97100071e-01 8.66837258e-01 -3.85316370e-02 -2.37396219e+01] [-7.48888788e-02 1.37988058e-03 9.97190930e-01 -6.05598254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.545779523 meters 0.017670043696509298 Centerline is valid? [True, True] Translation: X:81.63, Y:-23.75, Z:-6.06 [[ 8.66062110e-01 4.96083020e-01 6.19520695e-02 8.16343211e+01] [-4.94689911e-01 8.68273697e-01 -3.71843902e-02 -2.37542118e+01] [-7.22378970e-02 1.55692772e-03 9.97386215e-01 -6.06253664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.575779523 meters 0.018271188790438132 Centerline is valid? [True, True] Translation: X:81.66, Y:-23.77, Z:-6.07 [[ 8.66766979e-01 4.94970657e-01 6.09840366e-02 8.16615574e+01] [-4.93616780e-01 8.68908143e-01 -3.66212157e-02 -2.37699640e+01] [-7.11159532e-02 1.63931673e-03 9.97466708e-01 -6.06736666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.605779523 meters 0.02106983309556359 Centerline is valid? [True, True] Translation: X:81.69, Y:-23.79, Z:-6.07 [[ 8.67788017e-01 4.93298823e-01 6.00018975e-02 8.16886456e+01] [-4.91982932e-01 8.69858125e-01 -3.60504697e-02 -2.37864000e+01] [-6.99767924e-02 1.76425621e-03 9.97547060e-01 -6.07401501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.635779523 meters 0.01993290736590826 Centerline is valid? [True, True] Translation: X:81.71, Y:-23.80, Z:-6.07 [[ 8.68414442e-01 4.92134059e-01 6.05014468e-02 8.17144228e+01] [-4.90791899e-01 8.70517370e-01 -3.63705925e-02 -2.38038324e+01] [-7.05667677e-02 1.89112789e-03 9.97505266e-01 -6.07408762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.665779523 meters 0.02196574654080703 Centerline is valid? [True, True] Translation: X:81.74, Y:-23.82, Z:-6.08 [[ 8.70961493e-01 4.87687408e-01 5.98921479e-02 8.17400157e+01] [-4.86360425e-01 8.73015437e-01 -3.60219745e-02 -2.38220448e+01] [-6.98542331e-02 2.24458219e-03 9.97554684e-01 -6.07673472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.695779523 meters 0.023267271086649964 Centerline is valid? [True, True] Translation: X:81.77, Y:-23.84, Z:-6.08 [[ 8.72184325e-01 4.85388443e-01 6.07664600e-02 8.17667780e+01] [-4.84015500e-01 8.74295091e-01 -3.65662350e-02 -2.38396637e+01] [-7.08766455e-02 2.48058847e-03 9.97482004e-01 -6.07887396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.725779523 meters 0.025708298744565428 Centerline is valid? [True, True] Translation: X:81.79, Y:-23.86, Z:-6.08 [[ 8.74283572e-01 4.81003820e-01 6.52959530e-02 8.17926831e+01] [-4.79404560e-01 8.76713139e-01 -3.93108140e-02 -2.38578606e+01] [-7.61544716e-02 3.06562121e-03 9.97091319e-01 -6.07538196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.755779523 meters 0.02626353185159692 Centerline is valid? [True, True] Translation: X:81.82, Y:-23.87, Z:-6.07 [[ 8.75095541e-01 4.79218194e-01 6.75108583e-02 8.18204934e+01] [-4.77501503e-01 8.77689414e-01 -4.06645706e-02 -2.38743212e+01] [-7.87407677e-02 3.34884808e-03 9.96889501e-01 -6.07456764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78577952299999 meters 0.028603790326229325 Centerline is valid? [True, True] Translation: X:81.85, Y:-23.89, Z:-6.08 [[ 8.75723530e-01 4.78049165e-01 6.76557062e-02 8.18463393e+01] [-4.76320163e-01 8.78326194e-01 -4.07700826e-02 -2.38909646e+01] [-7.89138828e-02 3.47754371e-03 9.96875371e-01 -6.07788520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81577952299999 meters 0.024365891887883816 Centerline is valid? [True, True] Translation: X:81.88, Y:-23.90, Z:-6.08 [[ 8.75398807e-01 4.79105982e-01 6.42992032e-02 8.18773216e+01] [-4.77546083e-01 8.77751123e-01 -3.87647428e-02 -2.39009738e+01] [-7.50111179e-02 3.22877691e-03 9.97177470e-01 -6.08037994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84577952299999 meters 0.024158347864106162 Centerline is valid? [True, True] Translation: X:81.91, Y:-23.92, Z:-6.08 [[ 8.74663925e-01 4.80707448e-01 6.23166680e-02 8.19059568e+01] [-4.79245018e-01 8.76875859e-01 -3.75890962e-02 -2.39153279e+01] [-7.27133403e-02 3.01287373e-03 9.97348331e-01 -6.08461017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87577952299999 meters 0.02349136196219188 Centerline is valid? [True, True] Translation: X:81.94, Y:-23.93, Z:-6.09 [[ 8.73513876e-01 4.82976253e-01 6.08888096e-02 8.19351328e+01] [-4.81584143e-01 8.75629044e-01 -3.67490039e-02 -2.39292145e+01] [-7.10649064e-02 2.77767964e-03 9.97467826e-01 -6.08792052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90577952299999 meters 0.024529006495572915 Centerline is valid? [True, True] Translation: X:81.96, Y:-23.94, Z:-6.09 [[ 8.72320014e-01 4.85271475e-01 5.97443646e-02 8.19631508e+01] [-4.83936418e-01 8.74359835e-01 -3.60613772e-02 -2.39428879e+01] [-6.97376305e-02 2.54458727e-03 9.97562122e-01 -6.09347311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.935779523 meters 0.022616090502909497 Centerline is valid? [True, True] Translation: X:81.99, Y:-23.95, Z:-6.10 [[ 8.69642282e-01 4.90248132e-01 5.81297694e-02 8.19940911e+01] [-4.88994069e-01 8.71580368e-01 -3.51064453e-02 -2.39525046e+01] [-6.78756351e-02 2.10493671e-03 9.97691569e-01 -6.09753196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.965779523 meters 0.01905161134654153 Centerline is valid? [True, True] Translation: X:82.02, Y:-23.96, Z:-6.10 [[ 8.68130219e-01 4.92871924e-01 5.85422054e-02 8.20242024e+01] [-4.91605273e-01 8.70099749e-01 -3.53649825e-02 -2.39644996e+01] [-6.83679652e-02 1.92175314e-03 9.97658322e-01 -6.09840264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.995779523 meters 0.019140975083232942 Centerline is valid? [True, True] Translation: X:82.05, Y:-23.98, Z:-6.10 [[ 8.66792415e-01 4.95100836e-01 5.95488959e-02 8.20522513e+01] [-4.93794094e-01 8.68833671e-01 -3.59922880e-02 -2.39781433e+01] [-6.95578977e-02 1.79294915e-03 9.97576305e-01 -6.10264867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.025779523 meters 0.017843645060247795 Centerline is valid? [True, True] Translation: X:82.08, Y:-23.99, Z:-6.10 [[ 8.64444133e-01 4.98849372e-01 6.23349383e-02 8.20807567e+01] [-4.97425458e-01 8.66687260e-01 -3.76975719e-02 -2.39895493e+01] [-7.28303069e-02 1.58045959e-03 9.97343095e-01 -6.10207676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.055779523 meters 0.017841636548847496 Centerline is valid? [True, True] Translation: X:82.11, Y:-24.01, Z:-6.10 [[ 8.63312366e-01 5.00651867e-01 6.35568067e-02 8.21072547e+01] [-4.99175766e-01 8.65647484e-01 -3.84446253e-02 -2.40055565e+01] [-7.42651632e-02 1.46370276e-03 9.97237456e-01 -6.10175631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.085779523 meters 0.016072455392008984 Centerline is valid? [True, True] Translation: X:82.14, Y:-24.02, Z:-6.10 [[ 8.60976753e-01 5.04504916e-01 6.47597120e-02 8.21375491e+01] [-5.02981698e-01 8.63408026e-01 -3.91917317e-02 -2.40180031e+01] [-7.56864765e-02 1.17021998e-03 9.97130978e-01 -6.09878029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.115779523 meters 0.015757529900990448 Centerline is valid? [True, True] Translation: X:82.17, Y:-24.03, Z:-6.10 [[ 8.59812459e-01 5.06588571e-01 6.39574450e-02 8.21667978e+01] [-5.05107122e-01 8.62187355e-01 -3.87267406e-02 -2.40320782e+01] [-7.47618245e-02 9.92373044e-04 9.97200925e-01 -6.10214464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14577952299999 meters 0.015405371817828252 Centerline is valid? [True, True] Translation: X:82.20, Y:-24.05, Z:-6.11 [[ 8.58474657e-01 5.09084198e-01 6.20849668e-02 8.21963517e+01] [-5.07693427e-01 8.60716381e-01 -3.76124433e-02 -2.40453320e+01] [-7.25854484e-02 7.69199840e-04 9.97361901e-01 -6.10797433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17577952299999 meters 0.01486465672496655 Centerline is valid? [True, True] Translation: X:82.23, Y:-24.06, Z:-6.12 [[ 8.56010738e-01 5.13613425e-01 5.87100140e-02 8.22267991e+01] [-5.12379247e-01 8.58021623e-01 -3.55865525e-02 -2.40551664e+01] [-6.86521926e-02 3.80678370e-04 9.97640582e-01 -6.11772183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20577952299999 meters 0.01466601185514716 Centerline is valid? [True, True] Translation: X:82.26, Y:-24.07, Z:-6.12 [[ 8.54601104e-01 5.16039550e-01 5.79666735e-02 8.22561196e+01] [-5.14841250e-01 8.56564735e-01 -3.51474409e-02 -2.40702384e+01] [-6.77896779e-02 1.93407152e-04 9.97699615e-01 -6.12149062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23577952299999 meters 0.017656844006653998 Centerline is valid? [True, True] Translation: X:82.28, Y:-24.09, Z:-6.13 [[ 8.53511616e-01 5.17963204e-01 5.68510418e-02 8.22844402e+01] [-5.16813469e-01 8.55402897e-01 -3.44923526e-02 -2.40852559e+01] [-6.64963153e-02 5.82394957e-05 9.97786669e-01 -6.12721450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26577952299999 meters 0.014461601453321189 Centerline is valid? [True, True] Translation: X:82.31, Y:-24.10, Z:-6.13 [[ 8.51872412e-01 5.20477325e-01 5.84529469e-02 8.23126510e+01] [-5.19266342e-01 8.53875482e-01 -3.54841902e-02 -2.40997313e+01] [-6.83802547e-02 -1.24645178e-04 9.97659323e-01 -6.12770497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.295779523 meters 0.014420670683905786 Centerline is valid? [True, True] Translation: X:82.34, Y:-24.11, Z:-6.13 [[ 8.49779106e-01 5.23515714e-01 6.16990171e-02 8.23424510e+01] [-5.22172740e-01 8.52015939e-01 -3.74762556e-02 -2.41128217e+01] [-7.21879547e-02 -3.71005904e-04 9.97390977e-01 -6.12521211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.325779523 meters 0.017944355975038316 Centerline is valid? [True, True] Translation: X:82.37, Y:-24.13, Z:-6.13 [[ 8.49184083e-01 5.24442496e-01 6.20198549e-02 8.23708066e+01] [-5.23086559e-01 8.51445758e-01 -3.76904870e-02 -2.41287613e+01] [-7.25730355e-02 -4.35590910e-04 9.97363006e-01 -6.12802853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.355779523 meters 0.014408842337365032 Centerline is valid? [True, True] Translation: X:82.40, Y:-24.15, Z:-6.12 [[ 8.48250849e-01 5.25731981e-01 6.38465432e-02 8.23992385e+01] [-5.24296749e-01 8.50650099e-01 -3.88243180e-02 -2.41460044e+01] [-7.47222539e-02 -5.41774319e-04 9.97204237e-01 -6.12457102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.385779523 meters 0.014678402996142224 Centerline is valid? [True, True] Translation: X:82.43, Y:-24.16, Z:-6.13 [[ 8.47461337e-01 5.27059354e-01 6.33854918e-02 8.24261507e+01] [-5.25646668e-01 8.49828240e-01 -3.85686787e-02 -2.41612361e+01] [-7.41947638e-02 -6.32908571e-04 9.97243569e-01 -6.12686442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.415779523 meters 0.017082439510382505 Centerline is valid? [True, True] Translation: X:82.45, Y:-24.18, Z:-6.13 [[ 8.45422948e-01 5.30724204e-01 5.99321240e-02 8.24539565e+01] [-5.29469263e-01 8.47544120e-01 -3.64864993e-02 -2.41762255e+01] [-7.01593876e-02 -8.85693729e-04 9.97535401e-01 -6.13322363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.445779523 meters 0.01574196088715615 Centerline is valid? [True, True] Translation: X:82.48, Y:-24.19, Z:-6.14 [[ 8.43748282e-01 5.33352919e-01 6.01955232e-02 8.24827737e+01] [-5.32093132e-01 8.45892101e-01 -3.66531319e-02 -2.41905404e+01] [-7.04679725e-02 -1.10360740e-03 9.97513432e-01 -6.13546315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.475779523 meters 0.01703778767353471 Centerline is valid? [True, True] Translation: X:82.51, Y:-24.20, Z:-6.14 [[ 8.41761644e-01 5.36531280e-01 5.97621996e-02 8.25126631e+01] [-5.35296137e-01 8.43879366e-01 -3.64096415e-02 -2.42010026e+01] [-6.99669987e-02 -1.34223495e-03 9.97548404e-01 -6.14207580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50577952299999 meters 0.016697128297572496 Centerline is valid? [True, True] Translation: X:82.54, Y:-24.22, Z:-6.15 [[ 8.41425312e-01 5.37142460e-01 5.90035702e-02 8.25397121e+01] [-5.35938767e-01 8.43490443e-01 -3.59654064e-02 -2.42185129e+01] [-6.90874945e-02 -1.36009736e-03 9.97609677e-01 -6.14551512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53577952299999 meters 0.018478189991230305 Centerline is valid? [True, True] Translation: X:82.57, Y:-24.23, Z:-6.15 [[ 8.41983315e-01 5.36290404e-01 5.87937043e-02 8.25661910e+01] [-5.35091809e-01 8.44032578e-01 -3.58575392e-02 -2.42339515e+01] [-6.88538560e-02 -1.26857983e-03 9.97625951e-01 -6.15062805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56577952299999 meters 0.016777099900959404 Centerline is valid? [True, True] Translation: X:82.59, Y:-24.25, Z:-6.15 [[ 8.42238446e-01 5.35743773e-01 6.01083141e-02 8.25911571e+01] [-5.34488177e-01 8.44379704e-01 -3.66783939e-02 -2.42549446e+01] [-7.04044616e-02 -1.23522969e-03 9.97517762e-01 -6.14902023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59577952299999 meters 0.016419127636652986 Centerline is valid? [True, True] Translation: X:82.62, Y:-24.27, Z:-6.15 [[ 8.42149493e-01 5.35660845e-01 6.20619835e-02 8.26178004e+01] [-5.34320464e-01 8.44432291e-01 -3.78912656e-02 -2.42727468e+01] [-7.27040103e-02 -1.25087767e-03 9.97352777e-01 -6.14907183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62577952299999 meters 0.016763140513684566 Centerline is valid? [True, True] Translation: X:82.65, Y:-24.29, Z:-6.15 [[ 8.41620513e-01 5.36320795e-01 6.35209979e-02 8.26456482e+01] [-5.34916862e-01 8.44013187e-01 -3.88032392e-02 -2.42882430e+01] [-7.44235440e-02 -1.32085083e-03 9.97225848e-01 -6.14979165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65577952299999 meters 0.016449582132758798 Centerline is valid? [True, True] Translation: X:82.67, Y:-24.31, Z:-6.15 [[ 8.41177645e-01 5.37029065e-01 6.34031033e-02 8.26730209e+01] [-5.35630723e-01 8.43562640e-01 -3.87530735e-02 -2.43069012e+01] [-7.42960160e-02 -1.36243103e-03 9.97235301e-01 -6.15088315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.685779523 meters 0.019565142028971035 Centerline is valid? [True, True] Translation: X:82.70, Y:-24.32, Z:-6.16 [[ 8.41579235e-01 5.36591104e-01 6.17606606e-02 8.26986891e+01] [-5.35261433e-01 8.43841441e-01 -3.77732857e-02 -2.43249823e+01] [-7.23850139e-02 -1.26888685e-03 9.97375957e-01 -6.15556405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.715779523 meters 0.01651219797370933 Centerline is valid? [True, True] Translation: X:82.72, Y:-24.34, Z:-6.15 [[ 8.41438096e-01 5.36657241e-01 6.30946576e-02 8.27239785e+01] [-5.35268509e-01 8.43799350e-01 -3.86041548e-02 -2.43429917e+01] [-7.39564303e-02 -1.28957674e-03 9.97260640e-01 -6.15318637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.745779523 meters 0.016109200389490458 Centerline is valid? [True, True] Translation: X:82.75, Y:-24.36, Z:-6.16 [[ 8.42760858e-01 5.34818210e-01 6.10214545e-02 8.27487543e+01] [-5.33513251e-01 8.44966464e-01 -3.73535205e-02 -2.43631841e+01] [-7.15384256e-02 -1.07566955e-03 9.97437265e-01 -6.15720278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.775779523 meters 0.015553553464548408 Centerline is valid? [True, True] Translation: X:82.77, Y:-24.38, Z:-6.16 [[ 8.43490680e-01 5.33712903e-01 6.06136052e-02 8.27747152e+01] [-5.32421107e-01 8.45665193e-01 -3.71234097e-02 -2.43810883e+01] [-7.10720589e-02 -9.58712654e-04 9.97470723e-01 -6.16183021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.805779523 meters 0.015595989273329341 Centerline is valid? [True, True] Translation: X:82.80, Y:-24.40, Z:-6.17 [[ 8.44349596e-01 5.32156191e-01 6.23181233e-02 8.28014508e+01] [-5.30784796e-01 8.46645791e-01 -3.81890733e-02 -2.43968043e+01] [-7.30839286e-02 -8.32583747e-04 9.97325446e-01 -6.16803064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.835779523 meters 0.015389111426528898 Centerline is valid? [True, True] Translation: X:82.83, Y:-24.41, Z:-6.17 [[ 8.44635952e-01 5.31596317e-01 6.32096854e-02 8.28285057e+01] [-5.30182313e-01 8.46997491e-01 -3.87552015e-02 -2.44135613e+01] [-7.41405673e-02 -7.78620748e-04 9.97247497e-01 -6.17142751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.865779523 meters 0.015389111426528898 Centerline is valid? [True, True] Translation: X:82.86, Y:-24.43, Z:-6.17 [[ 8.44495178e-01 5.31820976e-01 6.32008181e-02 8.28559874e+01] [-5.30406518e-01 8.46856445e-01 -3.87696563e-02 -2.44305331e+01] [-7.41405366e-02 -7.81338142e-04 9.97247497e-01 -6.17406739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89577952299999 meters 0.01534091488287038 Centerline is valid? [True, True] Translation: X:82.88, Y:-24.45, Z:-6.18 [[ 8.44686680e-01 5.31503892e-01 6.33089643e-02 8.28830854e+01] [-5.30081966e-01 8.47055531e-01 -3.88591848e-02 -2.44491074e+01] [-7.42800164e-02 -7.35104466e-04 9.97237153e-01 -6.17656545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92577952299999 meters 0.015118310629929448 Centerline is valid? [True, True] Translation: X:82.91, Y:-24.47, Z:-6.17 [[ 8.45587860e-01 5.30121676e-01 6.28663685e-02 8.29065035e+01] [-5.28714065e-01 8.47921377e-01 -3.86105732e-02 -2.44721408e+01] [-7.37740395e-02 -5.89701263e-04 9.97274808e-01 -6.17433030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95577952299999 meters 0.01812050794652257 Centerline is valid? [True, True] Translation: X:82.93, Y:-24.49, Z:-6.18 [[ 8.46816169e-01 5.28248472e-01 6.20961165e-02 8.29318345e+01] [-5.26868725e-01 8.49089741e-01 -3.81570237e-02 -2.44926343e+01] [-7.28815649e-02 -4.04517079e-04 9.97340521e-01 -6.17746883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98577952299999 meters 0.014788864705884797 Centerline is valid? [True, True] Translation: X:82.96, Y:-24.51, Z:-6.18 [[ 8.47231980e-01 5.27479174e-01 6.29578732e-02 8.29582126e+01] [-5.26057154e-01 8.49567899e-01 -3.87073074e-02 -2.45109278e+01] [-7.39042866e-02 -3.25370946e-04 9.97265286e-01 -6.17529953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01577952299999 meters 0.014677071725922242 Centerline is valid? [True, True] Translation: X:82.98, Y:-24.53, Z:-6.18 [[ 8.49589130e-01 5.23562107e-01 6.38829386e-02 8.29835252e+01] [-5.22085259e-01 8.51987511e-01 -3.92971152e-02 -2.45292976e+01] [-7.50019463e-02 3.40613857e-05 9.97183387e-01 -6.18041904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.045779523 meters 0.014897054030555015 Centerline is valid? [True, True] Translation: X:83.01, Y:-24.55, Z:-6.19 [[ 8.50800578e-01 5.21594272e-01 6.38575982e-02 8.30090021e+01] [-5.20111645e-01 8.53193627e-01 -3.93002708e-02 -2.45474636e+01] [-7.49816919e-02 2.23612666e-04 9.97184886e-01 -6.18503615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.075779523 meters 0.015616754011473886 Centerline is valid? [True, True] Translation: X:83.03, Y:-24.57, Z:-6.19 [[ 8.53488702e-01 5.17292291e-01 6.29739812e-02 8.30329470e+01] [-5.15837169e-01 8.55808572e-01 -3.87776199e-02 -2.45694177e+01] [-7.39530367e-02 6.11940254e-04 9.97261537e-01 -6.19067401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.105779523 meters 0.015986367123907327 Centerline is valid? [True, True] Translation: X:83.06, Y:-24.59, Z:-6.19 [[ 8.54777681e-01 5.15209275e-01 6.25661214e-02 8.30593716e+01] [-5.13765942e-01 8.57064033e-01 -3.85460787e-02 -2.45878366e+01] [-7.34824696e-02 8.03985401e-04 9.97296185e-01 -6.19341434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.135779523 meters 0.017381164223440985 Centerline is valid? [True, True] Translation: X:83.08, Y:-24.61, Z:-6.20 [[ 8.56137180e-01 5.12956884e-01 6.24849140e-02 8.30832842e+01] [-5.11509712e-01 8.58413773e-01 -3.85176500e-02 -2.46069433e+01] [-7.33958045e-02 1.01475194e-03 9.97302375e-01 -6.19802547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.165779523 meters 0.018219077158593912 Centerline is valid? [True, True] Translation: X:83.11, Y:-24.63, Z:-6.20 [[ 8.57549055e-01 5.10570292e-01 6.26705337e-02 8.31096560e+01] [-5.09107434e-01 8.59835137e-01 -3.86414160e-02 -2.46253772e+01] [-7.36154860e-02 1.23087518e-03 9.97285940e-01 -6.20051233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.195779523 meters 0.018571873479359517 Centerline is valid? [True, True] Translation: X:83.13, Y:-24.65, Z:-6.20 [[ 8.60703920e-01 5.05125366e-01 6.35383856e-02 8.31342613e+01] [-5.03605310e-01 8.63044231e-01 -3.91962714e-02 -2.46458198e+01] [-7.46354681e-02 1.73811611e-03 9.97209369e-01 -6.19841763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.225779523 meters 0.02098863567231774 Centerline is valid? [True, True] Translation: X:83.16, Y:-24.67, Z:-6.20 [[ 8.62229227e-01 5.02402376e-01 6.44407749e-02 8.31569413e+01] [-5.00829597e-01 8.64631582e-01 -3.97736448e-02 -2.46691040e+01] [-7.56999028e-02 2.02015165e-03 9.97128599e-01 -6.19881835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25577952299999 meters 0.021764849132390903 Centerline is valid? [True, True] Translation: X:83.18, Y:-24.69, Z:-6.20 [[ 8.65124566e-01 4.97250835e-01 6.55827230e-02 8.31825413e+01] [-4.95606077e-01 8.67603153e-01 -4.04893194e-02 -2.46892716e+01] [-7.70331251e-02 2.52510878e-03 9.97025336e-01 -6.19873270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28577952299999 meters 0.022577472659278175 Centerline is valid? [True, True] Translation: X:83.21, Y:-24.71, Z:-6.20 [[ 8.65848466e-01 4.95923425e-01 6.60786751e-02 8.32092784e+01] [-4.94249369e-01 8.68362158e-01 -4.08010257e-02 -2.47061291e+01] [-7.76144053e-02 2.66816206e-03 9.96979882e-01 -6.20167817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.31577952299999 meters 0.02348387666410947 Centerline is valid? [True, True] Translation: X:83.24, Y:-24.72, Z:-6.21 [[ 8.67404636e-01 4.93171862e-01 6.62624452e-02 8.32376236e+01] [-4.91478735e-01 8.69926928e-01 -4.09364488e-02 -2.47205716e+01] [-7.78321901e-02 2.94188272e-03 9.96962133e-01 -6.20721106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.34577952299999 meters 0.023361007403615325 Centerline is valid? [True, True] Translation: X:83.26, Y:-24.74, Z:-6.21 [[ 8.68059293e-01 4.92129073e-01 6.54372951e-02 8.32648954e+01] [-4.90473994e-01 8.70517044e-01 -4.04392997e-02 -2.47359410e+01] [-7.68656358e-02 3.00841842e-03 9.97036922e-01 -6.21184479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.37577952299999 meters 0.025497122049882737 Centerline is valid? [True, True] Translation: X:83.29, Y:-24.75, Z:-6.22 [[ 8.69248103e-01 4.90243520e-01 6.37889194e-02 8.32908703e+01] [-4.88664405e-01 8.71579950e-01 -3.94397047e-02 -2.47534172e+01] [-7.49322028e-02 3.11151417e-03 9.97183776e-01 -6.21725830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.40577952299999 meters 0.02765542888146716 Centerline is valid? [True, True] Translation: X:83.32, Y:-24.77, Z:-6.22 [[ 8.69742939e-01 4.89452905e-01 6.31116014e-02 8.33153125e+01] [-4.87903687e-01 8.72023998e-01 -3.90402305e-02 -2.47734059e+01] [-7.41431852e-02 3.16258180e-03 9.97242591e-01 -6.21998319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.435779523 meters 0.025862174467176976 Centerline is valid? [True, True] Translation: X:83.34, Y:-24.79, Z:-6.22 [[ 8.70120462e-01 4.88721456e-01 6.35745227e-02 8.33432940e+01] [-4.87145988e-01 8.72433764e-01 -3.93460664e-02 -2.47897491e+01] [-7.46938270e-02 3.26574376e-03 9.97201167e-01 -6.21771664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.465779523 meters 0.024082062160830798 Centerline is valid? [True, True] Translation: X:83.37, Y:-24.80, Z:-6.22 [[ 8.69609466e-01 4.89479463e-01 6.47242830e-02 8.33722500e+01] [-4.87846802e-01 8.72008663e-01 -4.00797853e-02 -2.48049964e+01] [-7.60583673e-02 3.27822626e-03 9.97097978e-01 -6.21676924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.495779523 meters 0.02387203328139094 Centerline is valid? [True, True] Translation: X:83.40, Y:-24.82, Z:-6.22 [[ 8.69241345e-01 4.90061451e-01 6.52629898e-02 8.34006518e+01] [-4.88401389e-01 8.71681741e-01 -4.04354499e-02 -2.48195785e+01] [-7.67044118e-02 3.27362997e-03 9.97048503e-01 -6.21888574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.525779523 meters 0.02563339149107751 Centerline is valid? [True, True] Translation: X:83.43, Y:-24.84, Z:-6.22 [[ 8.68254637e-01 4.91856097e-01 6.48958087e-02 8.34270381e+01] [-4.90218016e-01 8.70670929e-01 -4.02297033e-02 -2.48360184e+01] [-7.62901189e-02 3.11653184e-03 9.97080792e-01 -6.22279957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.555779523 meters 0.0238557433305324 Centerline is valid? [True, True] Translation: X:83.46, Y:-24.85, Z:-6.23 [[ 8.67527375e-01 4.93247746e-01 6.40540000e-02 8.34558703e+01] [-4.91654263e-01 8.69883801e-01 -3.97272922e-02 -2.48492376e+01] [-7.53149343e-02 2.97209127e-03 9.97155368e-01 -6.22634443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.585779523 meters 0.02530019136012123 Centerline is valid? [True, True] Translation: X:83.48, Y:-24.86, Z:-6.24 [[ 8.66214769e-01 4.95816438e-01 6.19518715e-02 8.34843936e+01] [-4.94331069e-01 8.68423227e-01 -3.84433621e-02 -2.48611314e+01] [-7.28612951e-02 2.67547311e-03 9.97338495e-01 -6.23572016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.615779523 meters 0.02507623771395166 Centerline is valid? [True, True] Translation: X:83.51, Y:-24.87, Z:-6.24 [[ 8.65339540e-01 4.97448467e-01 6.10942189e-02 8.35140986e+01] [-4.96006737e-01 8.67489873e-01 -3.79293729e-02 -2.48741668e+01] [-7.18665245e-02 2.51864198e-03 9.97411078e-01 -6.24110974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64577952299999 meters 0.02109779039461071 Centerline is valid? [True, True] Translation: X:83.54, Y:-24.89, Z:-6.24 [[ 8.63881833e-01 4.99915405e-01 6.15854404e-02 8.35439378e+01] [-4.98455118e-01 8.66071051e-01 -3.82548180e-02 -2.48857824e+01] [-7.24615399e-02 2.35006433e-03 9.97368439e-01 -6.24111010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67577952299999 meters 0.022485475909058906 Centerline is valid? [True, True] Translation: X:83.57, Y:-24.90, Z:-6.24 [[ 8.63027596e-01 5.01216197e-01 6.29737397e-02 8.35720655e+01] [-4.99691232e-01 8.65319013e-01 -3.91366652e-02 -2.49007338e+01] [-7.41083048e-02 2.30859654e-03 9.97247527e-01 -6.24257636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.70577952299999 meters 0.020294439876173614 Centerline is valid? [True, True] Translation: X:83.60, Y:-24.92, Z:-6.24 [[ 8.62210396e-01 5.02431737e-01 6.44638139e-02 8.35996616e+01] [-5.00835337e-01 8.64613885e-01 -4.00848452e-02 -2.49179285e+01] [-7.58762070e-02 2.27581428e-03 9.97114648e-01 -6.23912498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.73577952299999 meters 0.021650785166213393 Centerline is valid? [True, True] Translation: X:83.62, Y:-24.94, Z:-6.24 [[ 8.61824054e-01 5.02957670e-01 6.55200923e-02 8.36248230e+01] [-5.01308215e-01 8.64308022e-01 -4.07641558e-02 -2.49366915e+01] [-7.71321862e-02 2.28576954e-03 9.97018255e-01 -6.23870732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.76577952299999 meters 0.02099866834285165 Centerline is valid? [True, True] Translation: X:83.65, Y:-24.95, Z:-6.24 [[ 8.61632016e-01 5.03168582e-01 6.64202383e-02 8.36542162e+01] [-5.01472417e-01 8.64185173e-01 -4.13449024e-02 -2.49516387e+01] [-7.82028410e-02 2.31617418e-03 9.96934778e-01 -6.23981862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.795779523 meters 0.020587167948843504 Centerline is valid? [True, True] Translation: X:83.69, Y:-24.96, Z:-6.25 [[ 8.61229795e-01 5.03918677e-01 6.59485176e-02 8.36858049e+01] [-5.02246824e-01 8.63748163e-01 -4.10760163e-02 -2.49605828e+01] [-7.76618827e-02 2.25345554e-03 9.96977208e-01 -6.24672600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.825779523 meters 0.022914828695290743 Centerline is valid? [True, True] Translation: X:83.71, Y:-24.97, Z:-6.26 [[ 8.61535275e-01 5.03636743e-01 6.40858898e-02 8.37144864e+01] [-5.02055806e-01 8.63912640e-01 -3.99364301e-02 -2.49744613e+01] [-7.54780638e-02 2.23195025e-03 9.97144965e-01 -6.25635819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.855779523 meters 0.020719175314144488 Centerline is valid? [True, True] Translation: X:83.74, Y:-24.99, Z:-6.26 [[ 8.60643380e-01 5.05591149e-01 6.05851602e-02 8.37420913e+01] [-5.04181846e-01 8.62770960e-01 -3.77748156e-02 -2.49893174e+01] [-7.13697293e-02 1.96470703e-03 9.97447994e-01 -6.25984651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.885779523 meters 0.02399880002705269 Centerline is valid? [True, True] Translation: X:83.77, Y:-25.01, Z:-6.26 [[ 8.61121466e-01 5.04844892e-01 6.00121257e-02 8.37689460e+01] [-5.03459644e-01 8.63207722e-01 -3.74274811e-02 -2.50070005e+01] [-7.06980029e-02 2.01592397e-03 9.97495729e-01 -6.26439140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.915779523 meters 0.023384591877170038 Centerline is valid? [True, True] Translation: X:83.80, Y:-25.02, Z:-6.26 [[ 8.61247590e-01 5.04552332e-01 6.06591581e-02 8.37980059e+01] [-5.03134887e-01 8.63378609e-01 -3.78505367e-02 -2.50235370e+01] [-7.14693961e-02 2.07894482e-03 9.97440627e-01 -6.26427891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.945779523 meters 0.022190007819938497 Centerline is valid? [True, True] Translation: X:83.83, Y:-25.04, Z:-6.26 [[ 8.61930205e-01 5.02984810e-01 6.38952446e-02 8.38264285e+01] [-5.01405569e-01 8.64292056e-01 -3.98960871e-02 -2.50368843e+01] [-7.52912781e-02 2.35021110e-03 9.97158814e-01 -6.26236295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.975779523 meters 0.021844296491600336 Centerline is valid? [True, True] Translation: X:83.85, Y:-25.05, Z:-6.26 [[ 8.62879601e-01 5.01255143e-01 6.46689707e-02 8.38545249e+01] [-4.99631631e-01 8.65295800e-01 -4.03907376e-02 -2.50517065e+01] [-7.62038537e-02 2.54168029e-03 9.97089019e-01 -6.26452277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00577952299999 meters 0.022698158194237025 Centerline is valid? [True, True] Translation: X:83.88, Y:-25.07, Z:-6.27 [[ 8.63929519e-01 4.99469220e-01 6.44692474e-02 8.38806497e+01] [-4.97849991e-01 8.66327426e-01 -4.02762589e-02 -2.50693360e+01] [-7.59682287e-02 2.69983473e-03 9.97106584e-01 -6.26778519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03577952299999 meters 0.023545416110893887 Centerline is valid? [True, True] Translation: X:83.91, Y:-25.09, Z:-6.27 [[ 8.64989882e-01 4.97720155e-01 6.37742261e-02 8.39069022e+01] [-4.96129421e-01 8.67333027e-01 -3.98624869e-02 -2.50876916e+01] [-7.51538558e-02 2.84037795e-03 9.97167905e-01 -6.27170997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.06577952299999 meters 0.026974348202654107 Centerline is valid? [True, True] Translation: X:83.93, Y:-25.10, Z:-6.28 [[ 8.66961032e-01 4.94427753e-01 6.26080391e-02 8.39337727e+01] [-4.92885840e-01 8.69213297e-01 -3.91381259e-02 -2.51037883e+01] [-7.37707157e-02 3.07261407e-03 9.97270495e-01 -6.27936501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.09577952299999 meters 0.02788331330503478 Centerline is valid? [True, True] Translation: X:83.96, Y:-25.12, Z:-6.28 [[ 8.67312419e-01 4.93764333e-01 6.29757958e-02 8.39608383e+01] [-4.92201023e-01 8.69590000e-01 -3.93876228e-02 -2.51180080e+01] [-7.42113256e-02 3.16462330e-03 9.97237517e-01 -6.28249482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.12577952299999 meters 0.028910392116620196 Centerline is valid? [True, True] Translation: X:83.99, Y:-25.13, Z:-6.28 [[ 8.67894552e-01 4.92723482e-01 6.31079729e-02 8.39886290e+01] [-4.91150096e-01 8.70179798e-01 -3.94804027e-02 -2.51310963e+01] [-7.43682046e-02 3.26933949e-03 9.97225492e-01 -6.28413188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.15577952299999 meters 0.0278243921019273 Centerline is valid? [True, True] Translation: X:84.02, Y:-25.15, Z:-6.28 [[ 8.68128353e-01 4.92378637e-01 6.25814806e-02 8.40162636e+01] [-4.90829720e-01 8.70374927e-01 -3.91621286e-02 -2.51471468e+01] [-7.37519471e-02 3.28090357e-03 9.97271220e-01 -6.28477194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.185779523 meters 0.02413924700897854 Centerline is valid? [True, True] Translation: X:84.05, Y:-25.16, Z:-6.28 [[ 8.69080161e-01 4.90730294e-01 6.23173450e-02 8.40462747e+01] [-4.89188630e-01 8.71304795e-01 -3.90184259e-02 -2.51597610e+01] [-7.34449252e-02 3.42520320e-03 9.97293393e-01 -6.28406825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.215779523 meters 0.031275735639688246 Centerline is valid? [True, True] Translation: X:84.07, Y:-25.18, Z:-6.29 [[ 8.70047385e-01 4.88972028e-01 6.26410699e-02 8.40681784e+01] [-4.87409312e-01 8.72292047e-01 -3.92268807e-02 -2.51820339e+01] [-7.38221545e-02 3.59740425e-03 9.97264934e-01 -6.28988100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.245779523 meters 0.025600709791266933 Centerline is valid? [True, True] Translation: X:84.10, Y:-25.19, Z:-6.29 [[ 8.69867003e-01 4.89059763e-01 6.44355914e-02 8.41002110e+01] [-4.87405526e-01 8.72242421e-01 -4.03610322e-02 -2.51926379e+01] [-7.59424131e-02 3.70246674e-03 9.97105331e-01 -6.28786407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.275779523 meters 0.026212371233113242 Centerline is valid? [True, True] Translation: X:84.13, Y:-25.21, Z:-6.29 [[ 8.70647421e-01 4.87308888e-01 6.71052672e-02 8.41286906e+01] [-4.85507137e-01 8.73220320e-01 -4.20605790e-02 -2.52071336e+01] [-7.90941769e-02 4.03984843e-03 9.96858962e-01 -6.28685038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.305779523 meters 0.02807063905367008 Centerline is valid? [True, True] Translation: X:84.16, Y:-25.22, Z:-6.29 [[ 8.71681747e-01 4.85533084e-01 6.65474028e-02 8.41564115e+01] [-4.83754426e-01 8.74208280e-01 -4.17317415e-02 -2.52215986e+01] [-7.84384317e-02 4.18419669e-03 9.96910179e-01 -6.29238712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.335779523 meters 0.027660558878091514 Centerline is valid? [True, True] Translation: X:84.18, Y:-25.24, Z:-6.29 [[ 8.71348168e-01 4.86328231e-01 6.50939534e-02 8.41828500e+01] [-4.84627197e-01 8.73766863e-01 -4.08405436e-02 -2.52386647e+01] [-7.67388488e-02 4.04003267e-03 9.97043042e-01 -6.29365991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.365779523 meters 0.029827963035588302 Centerline is valid? [True, True] Translation: X:84.21, Y:-25.25, Z:-6.30 [[ 8.71603990e-01 4.86141821e-01 6.30286749e-02 8.42099014e+01] [-4.84545260e-01 8.73871029e-01 -3.95640843e-02 -2.52523852e+01] [-7.43126890e-02 3.94396809e-03 9.97227190e-01 -6.30070852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39577952299999 meters 0.03137549547424589 Centerline is valid? [True, True] Translation: X:84.24, Y:-25.27, Z:-6.31 [[ 8.71844648e-01 4.85715745e-01 6.29851141e-02 8.42375027e+01] [-4.84118848e-01 8.74107693e-01 -3.95560538e-02 -2.52675914e+01] [-7.42687710e-02 3.99445294e-03 9.97230261e-01 -6.30557915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42577952299999 meters 0.02566171414584538 Centerline is valid? [True, True] Translation: X:84.27, Y:-25.28, Z:-6.30 [[ 8.70430470e-01 4.87933076e-01 6.53613809e-02 8.42687943e+01] [-4.86217672e-01 8.72872016e-01 -4.10709036e-02 -2.52776592e+01] [-7.70919726e-02 3.96950742e-03 9.97016084e-01 -6.30200441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.45577952299999 meters 0.029469128747963782 Centerline is valid? [True, True] Translation: X:84.29, Y:-25.30, Z:-6.30 [[ 8.69780273e-01 4.88921987e-01 6.66150678e-02 8.42937766e+01] [-4.87141535e-01 8.72318470e-01 -4.18761526e-02 -2.52968649e+01] [-7.85837257e-02 3.97208505e-03 9.96899604e-01 -6.30319708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.48577952299999 meters 0.024803420499302196 Centerline is valid? [True, True] Translation: X:84.33, Y:-25.31, Z:-6.30 [[ 8.69144821e-01 4.89939489e-01 6.74283072e-02 8.43261376e+01] [-4.88116542e-01 8.71747510e-01 -4.24089632e-02 -2.53056879e+01] [-7.95582846e-02 3.94665854e-03 9.96822403e-01 -6.30365583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.51577952299999 meters 0.029117987530405235 Centerline is valid? [True, True] Translation: X:84.35, Y:-25.32, Z:-6.31 [[ 8.69282492e-01 4.89814603e-01 6.65552761e-02 8.43511683e+01] [-4.88036484e-01 8.71817778e-01 -4.18825998e-02 -2.53230369e+01] [-7.85387819e-02 3.92640780e-03 9.96903327e-01 -6.30833501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.545779523 meters 0.02531708586698659 Centerline is valid? [True, True] Translation: X:84.38, Y:-25.34, Z:-6.31 [[ 8.68136649e-01 4.92374054e-01 6.25023917e-02 8.43808533e+01] [-4.90811332e-01 8.70376721e-01 -3.93522551e-02 -2.53351080e+01] [-7.37766562e-02 3.48625277e-03 9.97268696e-01 -6.31199061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.575779523 meters 0.027403922392813387 Centerline is valid? [True, True] Translation: X:84.41, Y:-25.35, Z:-6.32 [[ 8.68469474e-01 4.91965186e-01 6.10821480e-02 8.44078962e+01] [-4.90471592e-01 8.70608065e-01 -3.84605601e-02 -2.53492244e+01] [-7.20998673e-02 3.44276401e-03 9.97391476e-01 -6.31921162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.605779523 meters 0.024574719672322255 Centerline is valid? [True, True] Translation: X:84.44, Y:-25.36, Z:-6.32 [[ 8.66801730e-01 4.94540743e-01 6.39078632e-02 8.44400794e+01] [-4.92910815e-01 8.69147804e-01 -4.02619283e-02 -2.53578106e+01] [-7.54565429e-02 3.39823217e-03 9.97143301e-01 -6.32088674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.635779523 meters 0.024175373632072148 Centerline is valid? [True, True] Translation: X:84.47, Y:-25.37, Z:-6.32 [[ 8.66341988e-01 4.95213764e-01 6.49221702e-02 8.44697085e+01] [-4.93533143e-01 8.68764519e-01 -4.09053390e-02 -2.53716177e+01] [-7.66589649e-02 3.39677000e-03 9.97051586e-01 -6.32388950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.665779523 meters 0.023430166297579026 Centerline is valid? [True, True] Translation: X:84.50, Y:-25.38, Z:-6.33 [[ 8.65409961e-01 4.96904123e-01 6.44351793e-02 8.44992698e+01] [-4.95252802e-01 8.67799441e-01 -4.06053247e-02 -2.53841566e+01] [-7.60937658e-02 3.22854932e-03 9.97095439e-01 -6.32680958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.695779523 meters 0.0230267421637239 Centerline is valid? [True, True] Translation: X:84.53, Y:-25.40, Z:-6.33 [[ 8.64706844e-01 4.98223105e-01 6.36852557e-02 8.45268653e+01] [-4.96612006e-01 8.67043344e-01 -4.01541423e-02 -2.53996444e+01] [-7.52235986e-02 3.09469907e-03 9.97161889e-01 -6.32901700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.725779523 meters 0.023930881777366474 Centerline is valid? [True, True] Translation: X:84.55, Y:-25.42, Z:-6.33 [[ 8.63912382e-01 4.99671628e-01 6.31162406e-02 8.45532440e+01] [-4.98091487e-01 8.66209847e-01 -3.98167170e-02 -2.54168882e+01] [-7.45671929e-02 2.96049264e-03 9.97211597e-01 -6.33144816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75577952299999 meters 0.022374643561349047 Centerline is valid? [True, True] Translation: X:84.58, Y:-25.43, Z:-6.33 [[ 8.63135146e-01 5.01120816e-01 6.22546975e-02 8.45824460e+01] [-4.99585803e-01 8.65372756e-01 -3.92940062e-02 -2.54307244e+01] [-7.35645636e-02 2.81447474e-03 9.97286485e-01 -6.33465273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78577952299999 meters 0.022374643561349047 Centerline is valid? [True, True] Translation: X:84.61, Y:-25.45, Z:-6.34 [[ 8.62996130e-01 5.01361351e-01 6.22452904e-02 8.46097481e+01] [-4.99825889e-01 8.65233432e-01 -3.93089019e-02 -2.54480500e+01] [-7.35646703e-02 2.81162265e-03 9.97286485e-01 -6.33729456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.81577952299999 meters 0.023792333007065427 Centerline is valid? [True, True] Translation: X:84.64, Y:-25.46, Z:-6.35 [[ 8.62038055e-01 5.03202936e-01 6.06398908e-02 8.46408585e+01] [-5.01748632e-01 8.64164344e-01 -3.83183518e-02 -2.54573357e+01] [-7.16847386e-02 2.60589524e-03 9.97423936e-01 -6.34636372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.84577952299999 meters 0.023154806515971297 Centerline is valid? [True, True] Translation: X:84.67, Y:-25.47, Z:-6.35 [[ 8.60824472e-01 5.05022340e-01 6.27189348e-02 8.46702172e+01] [-5.03469574e-01 8.63102479e-01 -3.96547446e-02 -2.54693640e+01] [-7.41594000e-02 2.55869922e-03 9.97243118e-01 -6.34982575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.87577952299999 meters 0.01976901445041257 Centerline is valid? [True, True] Translation: X:84.70, Y:-25.48, Z:-6.35 [[ 8.58380341e-01 5.08542851e-01 6.75822362e-02 8.46997825e+01] [-5.06748609e-01 8.61033198e-01 -4.27513624e-02 -2.54806080e+01] [-7.99314487e-02 2.44972485e-03 9.96797353e-01 -6.34646161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.90577952299999 meters 0.02177785373934542 Centerline is valid? [True, True] Translation: X:84.73, Y:-25.50, Z:-6.35 [[ 8.58420078e-01 5.08454279e-01 6.77437502e-02 8.47269450e+01] [-5.06650918e-01 8.61085456e-01 -4.28565681e-02 -2.54980198e+01] [-8.01237634e-02 2.46650538e-03 9.96781871e-01 -6.34990304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.935779523 meters 0.019905085032841566 Centerline is valid? [True, True] Translation: X:84.75, Y:-25.52, Z:-6.35 [[ 8.57887924e-01 5.09386958e-01 6.74776708e-02 8.47530887e+01] [-5.07598664e-01 8.60534258e-01 -4.27128477e-02 -2.55165499e+01] [-7.98242149e-02 2.39126072e-03 9.96806088e-01 -6.34921934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.965779523 meters 0.021760314818640648 Centerline is valid? [True, True] Translation: X:84.78, Y:-25.53, Z:-6.36 [[ 8.59051363e-01 5.07927091e-01 6.35674909e-02 8.47810878e+01] [-5.06334789e-01 8.61396726e-01 -4.02586733e-02 -2.55306469e+01] [-7.52052993e-02 2.39783603e-03 9.97165189e-01 -6.35672404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.995779523 meters 0.019585918928327322 Centerline is valid? [True, True] Translation: X:84.81, Y:-25.54, Z:-6.36 [[ 8.58885201e-01 5.08217491e-01 6.34916722e-02 8.48111400e+01] [-5.06629031e-01 8.61225479e-01 -4.02206394e-02 -2.55439675e+01] [-7.51214782e-02 2.37818759e-03 9.97171554e-01 -6.36022869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.025779523 meters 0.023096148584811134 Centerline is valid? [True, True] Translation: X:84.84, Y:-25.56, Z:-6.37 [[ 8.59544291e-01 5.07203920e-01 6.26721320e-02 8.48398350e+01] [-5.05651730e-01 8.61822575e-01 -3.97262800e-02 -2.55569802e+01] [-7.41615831e-02 2.45622520e-03 9.97243213e-01 -6.36893912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.055779523 meters 0.020251029207427284 Centerline is valid? [True, True] Translation: X:84.87, Y:-25.57, Z:-6.37 [[ 8.59756646e-01 5.06584783e-01 6.47330477e-02 8.48673827e+01] [-5.04925127e-01 8.62186193e-01 -4.10558765e-02 -2.55745625e+01] [-7.66102223e-02 2.61272029e-03 9.97057695e-01 -6.36822241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.085779523 meters 0.020700213110987405 Centerline is valid? [True, True] Translation: X:84.89, Y:-25.60, Z:-6.37 [[ 8.60332862e-01 5.05530463e-01 6.53170623e-02 8.48916596e+01] [-5.03835870e-01 8.62804371e-01 -4.14491618e-02 -2.55956539e+01] [-7.73096608e-02 2.75099712e-03 9.97003334e-01 -6.36726888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.115779523 meters 0.02217462087488952 Centerline is valid? [True, True] Translation: X:84.91, Y:-25.62, Z:-6.36 [[ 8.60951488e-01 5.04211142e-01 6.73324543e-02 8.49145992e+01] [-5.02404370e-01 8.63575275e-01 -4.27503540e-02 -2.56189812e+01] [-7.97018476e-02 2.97786160e-03 9.96814300e-01 -6.36352065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14577952299999 meters 0.025176779734124008 Centerline is valid? [True, True] Translation: X:84.94, Y:-25.63, Z:-6.37 [[ 8.61187230e-01 5.03761310e-01 6.76838082e-02 8.49418650e+01] [-5.01932474e-01 8.63837493e-01 -4.29950758e-02 -2.56332032e+01] [-8.01270669e-02 3.05410890e-03 9.96779979e-01 -6.36956956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17577952299999 meters 0.02151982458194795 Centerline is valid? [True, True] Translation: X:84.97, Y:-25.64, Z:-6.37 [[ 8.60190132e-01 5.05359369e-01 6.84459247e-02 8.49737280e+01] [-5.03492328e-01 8.62903914e-01 -4.35006979e-02 -2.56425937e+01] [-8.10457416e-02 2.95687305e-03 9.96705997e-01 -6.37257117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.20577952299999 meters 0.02132541411114829 Centerline is valid? [True, True] Translation: X:85.00, Y:-25.65, Z:-6.38 [[ 8.59347753e-01 5.06828378e-01 6.81647595e-02 8.50042994e+01] [-5.04979405e-01 8.62042345e-01 -4.33450684e-02 -2.56528869e+01] [-8.07294198e-02 2.82668747e-03 9.96732046e-01 -6.37974934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.23577952299999 meters 0.020247284205209024 Centerline is valid? [True, True] Translation: X:85.03, Y:-25.67, Z:-6.38 [[ 8.57378070e-01 5.10357578e-01 6.66182228e-02 8.50318588e+01] [-5.08600509e-01 8.59958781e-01 -4.23841693e-02 -2.56669242e+01] [-7.89200076e-02 2.45719525e-03 9.96877924e-01 -6.38456675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.26577952299999 meters 0.018608786968346988 Centerline is valid? [True, True] Translation: X:85.06, Y:-25.69, Z:-6.38 [[ 8.56346208e-01 5.12258579e-01 6.52864474e-02 8.50573488e+01] [-5.10576511e-01 8.58828353e-01 -4.15389792e-02 -2.56871152e+01] [-7.73485505e-02 2.23802084e-03 9.97001601e-01 -6.38479242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.295779523 meters 0.02103361698105063 Centerline is valid? [True, True] Translation: X:85.08, Y:-25.71, Z:-6.39 [[ 8.55167364e-01 5.14630839e-01 6.19990275e-02 8.50818886e+01] [-5.13118857e-01 8.57409670e-01 -3.94676690e-02 -2.57087000e+01] [-7.34698453e-02 1.93859232e-03 9.97295555e-01 -6.38632399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.325779523 meters 0.020080136265401418 Centerline is valid? [True, True] Translation: X:85.11, Y:-25.72, Z:-6.39 [[ 8.54057264e-01 5.16342304e-01 6.30619901e-02 8.51115582e+01] [-5.14780927e-01 8.56380309e-01 -4.01667018e-02 -2.57218483e+01] [-7.47448139e-02 1.84155377e-03 9.97200994e-01 -6.38900615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.355779523 meters 0.01786242460915215 Centerline is valid? [True, True] Translation: X:85.14, Y:-25.73, Z:-6.39 [[ 8.52412315e-01 5.18786804e-01 6.52188426e-02 8.51408719e+01] [-5.17121922e-01 8.54901953e-01 -4.15640270e-02 -2.57330293e+01] [-7.73185846e-02 1.70359523e-03 9.97004982e-01 -6.39064588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.385779523 meters 0.01638891123432616 Centerline is valid? [True, True] Translation: X:85.17, Y:-25.74, Z:-6.40 [[ 8.50260948e-01 5.22239220e-01 6.57458541e-02 8.51720312e+01] [-5.20555896e-01 8.52797856e-01 -4.19210706e-02 -2.57431771e+01] [-7.79607506e-02 1.41945727e-03 9.96955419e-01 -6.39648665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.415779523 meters 0.01867939867014333 Centerline is valid? [True, True] Translation: X:85.20, Y:-25.76, Z:-6.40 [[ 8.49473124e-01 5.23638985e-01 6.47890833e-02 8.51970353e+01] [-5.22006756e-01 8.51939286e-01 -4.13327856e-02 -2.57629645e+01] [-7.68398233e-02 1.29075130e-03 9.97042615e-01 -6.40076584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.445779523 meters 0.015029872518899872 Centerline is valid? [True, True] Translation: X:85.22, Y:-25.79, Z:-6.39 [[ 8.46518107e-01 5.28069559e-01 6.74509873e-02 8.52217092e+01] [-5.26312292e-01 8.49200592e-01 -4.30549207e-02 -2.57856911e+01] [-8.00154113e-02 9.46486177e-04 9.96793177e-01 -6.39331760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.475779523 meters 0.015045167901460705 Centerline is valid? [True, True] Translation: X:85.25, Y:-25.80, Z:-6.39 [[ 8.45151849e-01 5.30155511e-01 6.82164693e-02 8.52478959e+01] [-5.28362882e-01 8.47900070e-01 -4.35676105e-02 -2.58029057e+01] [-8.09383579e-02 7.78196213e-04 9.96718805e-01 -6.39463204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50577952299999 meters 0.014601621803178476 Centerline is valid? [True, True] Translation: X:85.28, Y:-25.82, Z:-6.40 [[ 8.43923223e-01 5.32287721e-01 6.68084989e-02 8.52764246e+01] [-5.30574092e-01 8.46563320e-01 -4.26811345e-02 -2.58167475e+01] [-7.92762684e-02 5.72741955e-04 9.96852519e-01 -6.39973482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53577952299999 meters 0.014643383207174631 Centerline is valid? [True, True] Translation: X:85.30, Y:-25.83, Z:-6.41 [[ 8.43022848e-01 5.33990688e-01 6.45478363e-02 8.53045386e+01] [-5.32394567e-01 8.45490255e-01 -4.12583759e-02 -2.58314096e+01] [-7.66061551e-02 4.16836205e-04 9.97061344e-01 -6.40760339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.56577952299999 meters 0.014426478137550637 Centerline is valid? [True, True] Translation: X:85.33, Y:-25.84, Z:-6.42 [[ 8.41278063e-01 5.37148171e-01 6.10169155e-02 8.53342241e+01] [-5.35728837e-01 8.43487891e-01 -3.90229390e-02 -2.58436539e+01] [-7.24281297e-02 1.40621296e-04 9.97373624e-01 -6.41789211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.59577952299999 meters 0.014335644108836152 Centerline is valid? [True, True] Translation: X:85.36, Y:-25.86, Z:-6.42 [[ 8.40421179e-01 5.38539016e-01 6.05637707e-02 8.53615896e+01] [-5.37142947e-01 8.42600574e-01 -3.87521321e-02 -2.58621765e+01] [-7.19006030e-02 3.67102282e-05 9.97411802e-01 -6.42043680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.62577952299999 meters 0.01833295085384563 Centerline is valid? [True, True] Translation: X:85.38, Y:-25.89, Z:-6.42 [[ 8.40419540e-01 5.38541996e-01 6.05600089e-02 8.53836424e+01] [-5.37144374e-01 8.42598668e-01 -3.87737827e-02 -2.58896974e+01] [-7.19090932e-02 5.67765709e-05 9.97411189e-01 -6.42101235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.65577952299999 meters 0.014457107478903535 Centerline is valid? [True, True] Translation: X:85.41, Y:-25.91, Z:-6.42 [[ 8.40148035e-01 5.38654327e-01 6.32676463e-02 8.54078089e+01] [-5.37127055e-01 8.42526861e-01 -4.05341274e-02 -2.59113679e+01] [-7.51385745e-02 7.19029156e-05 9.97173099e-01 -6.41685820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.685779523 meters 0.014398924158222198 Centerline is valid? [True, True] Translation: X:85.43, Y:-25.93, Z:-6.42 [[ 8.40571230e-01 5.37737310e-01 6.54109505e-02 8.54336848e+01] [-5.36100045e-01 8.43112420e-01 -4.19307630e-02 -2.59313123e+01] [-7.76965205e-02 1.78979577e-04 9.96977040e-01 -6.41546448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.715779523 meters 0.017681209441073036 Centerline is valid? [True, True] Translation: X:85.46, Y:-25.95, Z:-6.42 [[ 8.42043188e-01 5.35163611e-01 6.75513076e-02 8.54612231e+01] [-5.33407052e-01 8.44748309e-01 -4.33267924e-02 -2.59493835e+01] [-8.02507755e-02 4.50686544e-04 9.96774603e-01 -6.41864526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.745779523 meters 0.014533707337058457 Centerline is valid? [True, True] Translation: X:85.49, Y:-25.97, Z:-6.42 [[ 8.42012671e-01 5.35191650e-01 6.77093791e-02 8.54882703e+01] [-5.33424774e-01 8.44730534e-01 -4.34549897e-02 -2.59673523e+01] [-8.04529276e-02 4.71791728e-04 9.96758298e-01 -6.42077972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.775779523 meters 0.014782628696690536 Centerline is valid? [True, True] Translation: X:85.51, Y:-25.99, Z:-6.43 [[ 8.43148962e-01 5.34004093e-01 6.27650838e-02 8.55100958e+01] [-5.32481188e-01 8.45481705e-01 -4.03047351e-02 -2.59918598e+01] [-7.45896236e-02 5.61669200e-04 9.97214156e-01 -6.42785879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.805779523 meters 0.015050939399358804 Centerline is valid? [True, True] Translation: X:85.53, Y:-26.01, Z:-6.43 [[ 8.43522076e-01 5.33744917e-01 5.98904916e-02 8.55336107e+01] [-5.32356414e-01 8.45645336e-01 -3.84787529e-02 -2.60148285e+01] [-7.11839536e-02 5.74590165e-04 9.97463039e-01 -6.43134266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.835779523 meters 0.015218153471615375 Centerline is valid? [True, True] Translation: X:85.56, Y:-26.04, Z:-6.43 [[ 8.43429730e-01 5.34075232e-01 5.82231740e-02 8.55566161e+01] [-5.32762455e-01 8.45436778e-01 -3.74275368e-02 -2.60365409e+01] [-6.92131331e-02 5.48376146e-04 9.97601745e-01 -6.43417539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.865779523 meters 0.014952632532456888 Centerline is valid? [True, True] Translation: X:85.58, Y:-26.06, Z:-6.44 [[ 8.41972376e-01 5.36344863e-01 5.84525897e-02 8.55817658e+01] [-5.35025857e-01 8.43998841e-01 -3.75937318e-02 -2.60566354e+01] [-6.94971229e-02 3.79236823e-04 9.97582080e-01 -6.43518030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89577952299999 meters 0.014831550778087862 Centerline is valid? [True, True] Translation: X:85.61, Y:-26.07, Z:-6.44 [[ 8.40762741e-01 5.38081852e-01 5.98826696e-02 8.56085011e+01] [-5.36700280e-01 8.42892551e-01 -3.85351402e-02 -2.60721968e+01] [-7.12097157e-02 2.59864563e-04 9.97461332e-01 -6.43858408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92577952299999 meters 0.01460056458509292 Centerline is valid? [True, True] Translation: X:85.64, Y:-26.09, Z:-6.44 [[ 8.38493826e-01 5.41461543e-01 6.12168349e-02 8.56353928e+01] [-5.40025156e-01 8.40725518e-01 -3.94136304e-02 -2.60888805e+01] [-7.28075204e-02 -1.05450887e-05 9.97346011e-01 -6.44017833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.95577952299999 meters 0.014636708646948427 Centerline is valid? [True, True] Translation: X:85.66, Y:-26.11, Z:-6.44 [[ 8.37407604e-01 5.43156995e-01 6.10653988e-02 8.56611042e+01] [-5.41730693e-01 8.39631145e-01 -3.93369721e-02 -2.61099497e+01] [-7.26385622e-02 -1.39921246e-04 9.97358321e-01 -6.44170585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.98577952299999 meters 0.014685594000026076 Centerline is valid? [True, True] Translation: X:85.69, Y:-26.13, Z:-6.44 [[ 8.36422055e-01 5.44660217e-01 6.11832741e-02 8.56853595e+01] [-5.43230582e-01 8.38656774e-01 -3.94379155e-02 -2.61307162e+01] [-7.27920309e-02 -2.49883273e-04 9.97347110e-01 -6.44324880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.01577952299999 meters 0.014945461623424255 Centerline is valid? [True, True] Translation: X:85.71, Y:-26.15, Z:-6.45 [[ 8.34520872e-01 5.47693088e-01 6.00599413e-02 8.57089938e+01] [-5.46321753e-01 8.36679177e-01 -3.87362420e-02 -2.61525743e+01] [-7.14664742e-02 -4.85850023e-04 9.97442884e-01 -6.44593211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.045779523 meters 0.015091685390147798 Centerline is valid? [True, True] Translation: X:85.74, Y:-26.17, Z:-6.45 [[ 8.33081929e-01 5.49942518e-01 5.94787980e-02 8.57350201e+01] [-5.48601905e-01 8.35202250e-01 -3.83816610e-02 -2.61709647e+01] [-7.07845331e-02 -6.55113715e-04 9.97491414e-01 -6.44870647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.075779523 meters 0.018935610750405278 Centerline is valid? [True, True] Translation: X:85.76, Y:-26.19, Z:-6.45 [[ 8.30097965e-01 5.54345097e-01 6.03231459e-02 8.57603262e+01] [-5.52976016e-01 8.32286286e-01 -3.89495001e-02 -2.61882222e+01] [-7.17975915e-02 -1.02535207e-03 9.97418696e-01 -6.45126033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.105779523 meters 0.01673984618365555 Centerline is valid? [True, True] Translation: X:85.79, Y:-26.21, Z:-6.45 [[ 8.27626262e-01 5.57729516e-01 6.30282208e-02 8.57881704e+01] [-5.56243690e-01 8.30021634e-01 -4.07068115e-02 -2.62055902e+01] [-7.50181771e-02 -1.36902388e-03 9.97181227e-01 -6.44780086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.135779523 meters 0.01959067655671694 Centerline is valid? [True, True] Translation: X:85.81, Y:-26.22, Z:-6.45 [[ 8.26344274e-01 5.59631686e-01 6.29882223e-02 8.58139637e+01] [-5.58151627e-01 8.28740042e-01 -4.07026204e-02 -2.62246609e+01] [-7.49793381e-02 -1.52260150e-03 9.97183925e-01 -6.45067960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.165779523 meters 0.019551964531797698 Centerline is valid? [True, True] Translation: X:85.84, Y:-26.24, Z:-6.45 [[ 8.22803901e-01 5.65152314e-01 5.99716877e-02 8.58375472e+01] [-5.63823818e-01 8.24984373e-01 -3.87748099e-02 -2.62439950e+01] [-7.13893787e-02 -1.90940106e-03 9.97446696e-01 -6.45235631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.195779523 meters 0.01946164401266011 Centerline is valid? [True, True] Translation: X:85.86, Y:-26.26, Z:-6.46 [[ 8.21403675e-01 5.67384636e-01 5.80575447e-02 8.58616873e+01] [-5.66144780e-01 8.23450395e-01 -3.75437793e-02 -2.62647411e+01] [-6.91092716e-02 -2.03037756e-03 9.97607030e-01 -6.45639669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.225779523 meters 0.020332681542983434 Centerline is valid? [True, True] Translation: X:85.89, Y:-26.28, Z:-6.46 [[ 8.20158584e-01 5.69277759e-01 5.71203171e-02 8.58876020e+01] [-5.68080797e-01 8.22142485e-01 -3.69586504e-02 -2.62830529e+01] [-6.80007772e-02 -2.13700087e-03 9.97682979e-01 -6.46053183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25577952299999 meters 0.023588296462363753 Centerline is valid? [True, True] Translation: X:85.91, Y:-26.30, Z:-6.47 [[ 8.19422147e-01 5.70585933e-01 5.45805590e-02 8.59135962e+01] [-5.69495896e-01 8.21235106e-01 -3.53175077e-02 -2.62989358e+01] [-6.49751442e-02 -2.14345632e-03 9.97884581e-01 -6.47082180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28577952299999 meters 0.02151763419304234 Centerline is valid? [True, True] Translation: X:85.94, Y:-26.32, Z:-6.48 [[ 8.19687073e-01 5.70389972e-01 5.26154239e-02 8.59361464e+01] [-5.69375672e-01 8.21371492e-01 -3.40619581e-02 -2.63221724e+01] [-6.26454086e-02 -2.03779566e-03 9.98033767e-01 -6.47553864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.31577952299999 meters 0.02276548004783047 Centerline is valid? [True, True] Translation: X:85.96, Y:-26.34, Z:-6.48 [[ 8.20703975e-01 5.69065909e-01 5.10781425e-02 8.59592279e+01] [-5.68106439e-01 8.22289797e-01 -3.30841809e-02 -2.63434335e+01] [-6.08281149e-02 -1.86550293e-03 9.98146512e-01 -6.48181817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.34577952299999 meters 0.020318531045263374 Centerline is valid? [True, True] Translation: X:85.98, Y:-26.37, Z:-6.48 [[ 8.22016901e-01 5.66808034e-01 5.49260155e-02 8.59793943e+01] [-5.65691899e-01 8.23847913e-01 -3.55990422e-02 -2.63722640e+01] [-6.54285064e-02 -1.80818768e-03 9.97855621e-01 -6.47532892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.37577952299999 meters 0.02193791038294746 Centerline is valid? [True, True] Translation: X:86.00, Y:-26.40, Z:-6.48 [[ 8.23277083e-01 5.64821228e-01 5.64962378e-02 8.60013458e+01] [-5.63635529e-01 8.25211550e-01 -3.66181372e-02 -2.63958341e+01] [-6.73040492e-02 -1.69641367e-03 9.97731070e-01 -6.47594906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.40577952299999 meters 0.023010823775876058 Centerline is valid? [True, True] Translation: X:86.02, Y:-26.42, Z:-6.47 [[ 8.24159789e-01 5.63153066e-01 6.01603296e-02 8.60230073e+01] [-5.61802539e-01 8.26350964e-01 -3.90127068e-02 -2.64188377e+01] [-7.16836718e-02 -1.64552169e-03 9.97426059e-01 -6.47290373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.435779523 meters 0.018484290693143723 Centerline is valid? [True, True] Translation: X:86.05, Y:-26.44, Z:-6.47 [[ 8.23522800e-01 5.63880496e-01 6.20401821e-02 8.60470905e+01] [-5.62445513e-01 8.25854531e-01 -4.02409968e-02 -2.64436470e+01] [-7.39272787e-02 -1.75484371e-03 9.97262091e-01 -6.46900851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.465779523 meters 0.020904664314068618 Centerline is valid? [True, True] Translation: X:86.07, Y:-26.46, Z:-6.47 [[ 8.23946203e-01 5.63283184e-01 6.18442265e-02 8.60718506e+01] [-5.61853753e-01 8.26262215e-01 -4.01386737e-02 -2.64634538e+01] [-7.37089875e-02 -1.67530300e-03 9.97278386e-01 -6.47485101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.495779523 meters 0.01931563321126229 Centerline is valid? [True, True] Translation: X:86.10, Y:-26.48, Z:-6.48 [[ 8.23413336e-01 5.64098820e-01 6.15060917e-02 8.60980531e+01] [-5.62685706e-01 8.25705492e-01 -3.99404196e-02 -2.64806522e+01] [-7.33162612e-02 -1.72112452e-03 9.97307256e-01 -6.47714682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.525779523 meters 0.017963404894424186 Centerline is valid? [True, True] Translation: X:86.12, Y:-26.51, Z:-6.49 [[ 8.24359330e-01 5.63316097e-01 5.57375117e-02 8.61190754e+01] [-5.62153078e-01 8.26240144e-01 -3.62096904e-02 -2.65052191e+01] [-6.64500711e-02 -1.48321766e-03 9.97788649e-01 -6.48863615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.555779523 meters 0.020017391804166985 Centerline is valid? [True, True] Translation: X:86.14, Y:-26.53, Z:-6.50 [[ 8.25381504e-01 5.62125762e-01 5.25357137e-02 8.61413214e+01] [-5.61089002e-01 8.27050761e-01 -3.41492482e-02 -2.65265108e+01] [-6.26458741e-02 -1.29105335e-03 9.98034983e-01 -6.49721998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.585779523 meters 0.017671185108338018 Centerline is valid? [True, True] Translation: X:86.17, Y:-26.55, Z:-6.50 [[ 8.25643276e-01 5.61832418e-01 5.15510902e-02 8.61655154e+01] [-5.60833248e-01 8.27250142e-01 -3.35152455e-02 -2.65491568e+01] [-6.14755981e-02 -1.23992825e-03 9.98107817e-01 -6.49689993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.615779523 meters 0.016862382176911203 Centerline is valid? [True, True] Translation: X:86.19, Y:-26.58, Z:-6.49 [[ 8.26998639e-01 5.59651849e-01 5.35075561e-02 8.61850189e+01] [-5.58569248e-01 8.28727096e-01 -3.48108542e-02 -2.65773915e+01] [-6.38251205e-02 -1.09914638e-03 9.97960493e-01 -6.49205461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64577952299999 meters 0.01675542019761917 Centerline is valid? [True, True] Translation: X:86.21, Y:-26.60, Z:-6.49 [[ 8.28059604e-01 5.57884037e-01 5.55220052e-02 8.62086736e+01] [-5.56713116e-01 8.29918329e-01 -3.61396306e-02 -2.65990377e+01] [-6.62404528e-02 -9.84060278e-04 9.97803204e-01 -6.49095676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67577952299999 meters 0.01675542019761917 Centerline is valid? [True, True] Translation: X:86.24, Y:-26.62, Z:-6.49 [[ 8.27908319e-01 5.58109384e-01 5.55133416e-02 8.62356824e+01] [-5.56938078e-01 8.29766800e-01 -3.61529330e-02 -2.66167379e+01] [-6.62404190e-02 -9.86179808e-04 9.97803204e-01 -6.49359718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.70577952299999 meters 0.015495980555918824 Centerline is valid? [True, True] Translation: X:86.26, Y:-26.64, Z:-6.49 [[ 8.30967456e-01 5.53226613e-01 5.85952369e-02 8.62562589e+01] [-5.51907473e-01 8.33030579e-01 -3.81863366e-02 -2.66448276e+01] [-6.99373218e-02 -6.07546174e-04 9.97551203e-01 -6.49066694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.73577952299999 meters 0.01732767175161779 Centerline is valid? [True, True] Translation: X:86.28, Y:-26.66, Z:-6.50 [[ 8.32737160e-01 5.50621804e-01 5.80038930e-02 8.62793010e+01] [-5.49322357e-01 8.34754746e-01 -3.78082318e-02 -2.66646550e+01] [-6.92370618e-02 -3.78515684e-04 9.97600163e-01 -6.49965283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.76577952299999 meters 0.018137647577995467 Centerline is valid? [True, True] Translation: X:86.30, Y:-26.69, Z:-6.51 [[ 8.33880662e-01 5.49012187e-01 5.68213047e-02 8.63040685e+01] [-5.47760349e-01 8.35814314e-01 -3.70544606e-02 -2.66857403e+01] [-6.78354102e-02 -2.25459561e-04 9.97696500e-01 -6.50613226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.795779523 meters 0.01536125027056455 Centerline is valid? [True, True] Translation: X:86.33, Y:-26.71, Z:-6.51 [[ 8.34472482e-01 5.48346515e-01 5.45140027e-02 8.63259398e+01] [-5.47191549e-01 8.36251205e-01 -3.55714851e-02 -2.67079024e+01] [-6.50929003e-02 -1.46176111e-04 9.97879198e-01 -6.51049043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.825779523 meters 0.015350085039371872 Centerline is valid? [True, True] Translation: X:86.35, Y:-26.73, Z:-6.51 [[ 8.33035835e-01 5.50553960e-01 5.42368320e-02 8.63532180e+01] [-5.49414284e-01 8.34799524e-01 -3.54076121e-02 -2.67256407e+01] [-6.47706826e-02 -3.02680548e-04 9.97900129e-01 -6.51149167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.855779523 meters 0.01568152657943176 Centerline is valid? [True, True] Translation: X:86.38, Y:-26.74, Z:-6.51 [[ 8.31591654e-01 5.52671461e-01 5.48596114e-02 8.63796176e+01] [-5.51508797e-01 8.33399093e-01 -3.58329388e-02 -2.67440360e+01] [-6.55237929e-02 -4.57185427e-04 9.97850902e-01 -6.51043321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.885779523 meters 0.01873532841745167 Centerline is valid? [True, True] Translation: X:86.40, Y:-26.76, Z:-6.51 [[ 8.32093333e-01 5.51824679e-01 5.57692452e-02 8.64048585e+01] [-5.50619783e-01 8.33960059e-01 -3.64482542e-02 -2.67644721e+01] [-6.66223691e-02 -3.79300392e-04 9.97778190e-01 -6.51305677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.915779523 meters 0.015332412282927836 Centerline is valid? [True, True] Translation: X:86.43, Y:-26.78, Z:-6.51 [[ 8.32112962e-01 5.51654791e-01 5.71402634e-02 8.64306511e+01] [-5.50388122e-01 8.34072457e-01 -3.73637863e-02 -2.67841331e+01] [-6.82710316e-02 -3.58431323e-04 9.97666747e-01 -6.50721647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.945779523 meters 0.01548579844877243 Centerline is valid? [True, True] Translation: X:86.46, Y:-26.80, Z:-6.51 [[ 8.33383069e-01 5.49665639e-01 5.77957200e-02 8.64564567e+01] [-5.48363562e-01 8.35384733e-01 -3.78120605e-02 -2.68032029e+01] [-6.90656526e-02 -1.81135862e-04 9.97612100e-01 -6.50953548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.975779523 meters 0.015076501898035886 Centerline is valid? [True, True] Translation: X:86.48, Y:-26.82, Z:-6.52 [[ 8.33693479e-01 5.49297220e-01 5.68132581e-02 8.64835749e+01] [-5.48036937e-01 8.35627038e-01 -3.71882927e-02 -2.68186826e+01] [-6.79021204e-02 -1.32126882e-04 9.97691979e-01 -6.51576897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00577952299999 meters 0.015119081319875103 Centerline is valid? [True, True] Translation: X:86.51, Y:-26.83, Z:-6.52 [[ 8.33599606e-01 5.49531075e-01 5.59222127e-02 8.65116727e+01] [-5.48309448e-01 8.35473267e-01 -3.66219886e-02 -2.68329335e+01] [-6.68464345e-02 -1.34602262e-04 9.97763267e-01 -6.52396033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03577952299999 meters 0.015225592606926594 Centerline is valid? [True, True] Translation: X:86.54, Y:-26.85, Z:-6.53 [[ 8.33554321e-01 5.49800133e-01 5.39166725e-02 8.65392987e+01] [-5.48664059e-01 8.35296232e-01 -3.53264050e-02 -2.68466580e+01] [-6.44588555e-02 -1.35662793e-04 9.97920356e-01 -6.53283207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.06577952299999 meters 0.015314134200072058 Centerline is valid? [True, True] Translation: X:86.57, Y:-26.87, Z:-6.53 [[ 8.33938995e-01 5.49293374e-01 5.31275972e-02 8.65651621e+01] [-5.48188302e-01 8.35629573e-01 -3.48253225e-02 -2.68660976e+01] [-6.35243102e-02 -8.17328707e-05 9.97980288e-01 -6.53360504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.09577952299999 meters 0.01601195309330358 Centerline is valid? [True, True] Translation: X:86.59, Y:-26.89, Z:-6.53 [[ 8.37255956e-01 5.44279658e-01 5.25558542e-02 8.65862102e+01] [-5.43187245e-01 8.38903783e-01 -3.44682441e-02 -2.68910575e+01] [-6.28496690e-02 3.11073039e-04 9.98022957e-01 -6.52980007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.12577952299999 meters 0.01781503877670091 Centerline is valid? [True, True] Translation: X:86.61, Y:-26.91, Z:-6.53 [[ 8.39634380e-01 5.40549750e-01 5.31043888e-02 8.66109476e+01] [-5.39425893e-01 8.41311830e-01 -3.48440961e-02 -2.69121672e+01] [-6.35123179e-02 6.10418637e-04 9.97980868e-01 -6.52910920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.15577952299999 meters 0.01678159735093028 Centerline is valid? [True, True] Translation: X:86.64, Y:-26.93, Z:-6.53 [[ 8.41408803e-01 5.37580229e-01 5.51246118e-02 8.66376970e+01] [-5.36361520e-01 8.43212143e-01 -3.61884223e-02 -2.69321184e+01] [-6.59359224e-02 8.82536549e-04 9.97823469e-01 -6.52641182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.185779523 meters 0.020098795383561633 Centerline is valid? [True, True] Translation: X:86.66, Y:-26.95, Z:-6.53 [[ 8.45047173e-01 5.31403377e-01 5.92091651e-02 8.66613559e+01] [-5.29980065e-01 8.47117603e-01 -3.88959887e-02 -2.69517065e+01] [-7.08265858e-02 1.48926810e-03 9.97487532e-01 -6.52973475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.215779523 meters 0.021997752644393846 Centerline is valid? [True, True] Translation: X:86.69, Y:-26.97, Z:-6.54 [[ 8.46954692e-01 5.28269329e-01 5.99938758e-02 8.66894913e+01] [-5.26798974e-01 8.49074977e-01 -3.94274539e-02 -2.69660922e+01] [-7.17676134e-02 1.78855488e-03 9.97419777e-01 -6.53637528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.245779523 meters 0.020828038734563337 Centerline is valid? [True, True] Translation: X:86.72, Y:-26.98, Z:-6.54 [[ 8.48102150e-01 5.26374606e-01 6.04360709e-02 8.67152818e+01] [-5.24876345e-01 8.50250468e-01 -3.97361837e-02 -2.69832476e+01] [-7.23019156e-02 1.97887879e-03 9.97380829e-01 -6.53783777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.275779523 meters 0.020453620959994746 Centerline is valid? [True, True] Translation: X:86.74, Y:-27.00, Z:-6.54 [[ 8.49559372e-01 5.24101455e-01 5.97205025e-02 8.67428198e+01] [-5.22631607e-01 8.51653093e-01 -3.92837467e-02 -2.69998493e+01] [-7.14498195e-02 2.16205296e-03 9.97441852e-01 -6.54047628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.305779523 meters 0.023114079047797952 Centerline is valid? [True, True] Translation: X:86.76, Y:-27.02, Z:-6.54 [[ 8.52407796e-01 5.19800316e-01 5.66443441e-02 8.67642105e+01] [-5.18467391e-01 8.54284396e-01 -3.72791477e-02 -2.70235490e+01] [-6.77680921e-02 2.40879080e-03 9.97698193e-01 -6.54061384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.335779523 meters 0.025180842428924398 Centerline is valid? [True, True] Translation: X:86.79, Y:-27.04, Z:-6.54 [[ 8.54097689e-01 5.17202149e-01 5.49461015e-02 8.67890796e+01] [-5.15941490e-01 8.55859466e-01 -3.61794636e-02 -2.70428568e+01] [-6.57382374e-02 2.55182278e-03 9.97833640e-01 -6.54400350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.365779523 meters 0.02714437368498808 Centerline is valid? [True, True] Translation: X:86.82, Y:-27.06, Z:-6.55 [[ 8.56512661e-01 5.13252413e-01 5.43876974e-02 8.68172682e+01] [-5.12008701e-01 8.58233026e-01 -3.58212700e-02 -2.70582930e+01] [-6.50626714e-02 2.83439702e-03 9.97877154e-01 -6.54899745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39577952299999 meters 0.02754890340788321 Centerline is valid? [True, True] Translation: X:86.84, Y:-27.07, Z:-6.55 [[ 8.56887215e-01 5.12483699e-01 5.57203672e-02 8.68439488e+01] [-5.11176351e-01 8.58691827e-01 -3.67026362e-02 -2.70733375e+01] [-6.66561267e-02 2.96708573e-03 9.97771596e-01 -6.55227517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42577952299999 meters 0.024256692120430953 Centerline is valid? [True, True] Translation: X:86.88, Y:-27.09, Z:-6.55 [[ 8.56707155e-01 5.12346181e-01 5.96174599e-02 8.68750906e+01] [-5.10847545e-01 8.58773034e-01 -3.92894642e-02 -2.70853635e+01] [-7.13276739e-02 3.20413205e-03 9.97447791e-01 -6.55116319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.45577952299999 meters 0.02645534258335935 Centerline is valid? [True, True] Translation: X:86.90, Y:-27.11, Z:-6.55 [[ 8.56414688e-01 5.12628492e-01 6.13670217e-02 8.68989614e+01] [-5.11039545e-01 8.58604205e-01 -4.04648308e-02 -2.71051375e+01] [-7.34334081e-02 3.29370064e-03 9.97294684e-01 -6.55111437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.48577952299999 meters 0.02842756943317927 Centerline is valid? [True, True] Translation: X:86.93, Y:-27.12, Z:-6.55 [[ 8.56361085e-01 5.12613043e-01 6.22379357e-02 8.69265698e+01] [-5.10977066e-01 8.58613175e-01 -4.10591543e-02 -2.71231189e+01] [-7.44857696e-02 3.35930416e-03 9.97216418e-01 -6.55462059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.51577952299999 meters 0.026416064250558962 Centerline is valid? [True, True] Translation: X:86.96, Y:-27.14, Z:-6.55 [[ 8.55650788e-01 5.13860366e-01 6.17191506e-02 8.69554146e+01] [-5.12253063e-01 8.57867706e-01 -4.07406159e-02 -2.71379731e+01] [-7.38818540e-02 3.24391617e-03 9.97261725e-01 -6.55489034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.545779523 meters 0.026853678733200815 Centerline is valid? [True, True] Translation: X:86.98, Y:-27.15, Z:-6.56 [[ 8.53768517e-01 5.17242210e-01 5.94963581e-02 8.69828316e+01] [-5.15755514e-01 8.55834276e-01 -3.92930277e-02 -2.71525595e+01] [-7.12430350e-02 2.86157518e-03 9.97454882e-01 -6.55843748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.575779523 meters 0.02447490715880825 Centerline is valid? [True, True] Translation: X:87.01, Y:-27.17, Z:-6.56 [[ 8.52280697e-01 5.19707168e-01 5.93470567e-02 8.70114235e+01] [-5.18232568e-01 8.54340306e-01 -3.92128464e-02 -2.71663789e+01] [-7.10817800e-02 2.66477443e-03 9.97466932e-01 -6.55810963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.605779523 meters 0.021244942560440617 Centerline is valid? [True, True] Translation: X:87.04, Y:-27.18, Z:-6.56 [[ 8.50967079e-01 5.21755912e-01 6.02146075e-02 8.70420027e+01] [-5.20241574e-01 8.53091018e-01 -3.98047801e-02 -2.71790648e+01] [-7.21369201e-02 2.54641523e-03 9.97391488e-01 -6.55802828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.635779523 meters 0.020518455729399067 Centerline is valid? [True, True] Translation: X:87.07, Y:-27.19, Z:-6.56 [[ 8.48250002e-01 5.26171270e-01 6.01309309e-02 8.70697337e+01] [-5.24671793e-01 8.50375842e-01 -3.97547062e-02 -2.71929420e+01] [-7.20516753e-02 2.17292625e-03 9.97398533e-01 -6.56069520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.665779523 meters 0.01995614295652624 Centerline is valid? [True, True] Translation: X:87.10, Y:-27.21, Z:-6.57 [[ 8.46278350e-01 5.29423530e-01 5.93605872e-02 8.70966862e+01] [-5.27968873e-01 8.48355562e-01 -3.92646030e-02 -2.72067173e+01] [-7.11464891e-02 1.88824115e-03 9.97464090e-01 -6.56621605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.695779523 meters 0.016760006166384192 Centerline is valid? [True, True] Translation: X:87.13, Y:-27.21, Z:-6.57 [[ 8.41284417e-01 5.37354402e-01 5.90827940e-02 8.71296266e+01] [-5.35931713e-01 8.43355645e-01 -3.90954562e-02 -2.72126273e+01] [-7.08359233e-02 1.22605505e-03 9.97487227e-01 -6.57222731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.725779523 meters 0.016044608837721852 Centerline is valid? [True, True] Translation: X:87.16, Y:-27.23, Z:-6.57 [[ 8.38153486e-01 5.42239152e-01 5.89528350e-02 8.71578338e+01] [-5.40833496e-01 8.40223791e-01 -3.90270529e-02 -2.72268875e+01] [-7.06955706e-02 8.26992529e-04 9.97497595e-01 -6.57472516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75577952299999 meters 0.015210517679770654 Centerline is valid? [True, True] Translation: X:87.19, Y:-27.24, Z:-6.58 [[ 8.35287996e-01 5.46665757e-01 5.87410714e-02 8.71868431e+01] [-5.45279637e-01 8.37350781e-01 -3.89074078e-02 -2.72417490e+01] [-7.04562295e-02 4.68580603e-04 9.97514762e-01 -6.57596730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78577952299999 meters 0.01772972526915341 Centerline is valid? [True, True] Translation: X:87.22, Y:-27.25, Z:-6.58 [[ 8.31226931e-01 5.52819256e-01 5.87593369e-02 8.72166402e+01] [-5.51446103e-01 8.33301187e-01 -3.89400411e-02 -2.72545850e+01] [-7.04910298e-02 -3.45964509e-05 9.97512413e-01 -6.57920894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.81577952299999 meters 0.017794955951081933 Centerline is valid? [True, True] Translation: X:87.24, Y:-27.27, Z:-6.58 [[ 8.29318157e-01 5.55543357e-01 6.00247756e-02 8.72441671e+01] [-5.54115797e-01 8.31487532e-01 -3.98016074e-02 -2.72686408e+01] [-7.20213711e-02 -2.52480745e-04 9.97403057e-01 -6.58130057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.84577952299999 meters 0.01505474061528512 Centerline is valid? [True, True] Translation: X:87.27, Y:-27.28, Z:-6.58 [[ 8.27098790e-01 5.58666778e-01 6.16362140e-02 8.72734427e+01] [-5.57169229e-01 8.29392037e-01 -4.08815139e-02 -2.72849928e+01] [-7.39597288e-02 -5.28751141e-04 9.97261089e-01 -6.57957574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.87577952299999 meters 0.015518006183743889 Centerline is valid? [True, True] Translation: X:87.30, Y:-27.30, Z:-6.58 [[ 8.24521221e-01 5.62298540e-01 6.31277194e-02 8.73011643e+01] [-5.60736065e-01 8.26933870e-01 -4.18979716e-02 -2.73003695e+01] [-7.57616175e-02 -8.52222277e-04 9.97125594e-01 -6.58074356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.90577952299999 meters 0.01587356653789842 Centerline is valid? [True, True] Translation: X:87.33, Y:-27.32, Z:-6.58 [[ 8.22953654e-01 5.64531763e-01 6.36488133e-02 8.73285760e+01] [-5.62949103e-01 8.25410668e-01 -4.22556024e-02 -2.73171888e+01] [-7.63910393e-02 -1.05663994e-03 9.97077375e-01 -6.58239194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.935779523 meters 0.01886491186887044 Centerline is valid? [True, True] Translation: X:87.36, Y:-27.33, Z:-6.59 [[ 8.22091502e-01 5.65780241e-01 6.37046468e-02 8.73556873e+01] [-5.64196806e-01 8.24555265e-01 -4.23152284e-02 -2.73336776e+01] [-7.64691221e-02 -1.15496861e-03 9.97071281e-01 -6.58824313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.965779523 meters 0.01699692108029576 Centerline is valid? [True, True] Translation: X:87.38, Y:-27.35, Z:-6.59 [[ 8.19739206e-01 5.69282449e-01 6.28102492e-02 8.73843168e+01] [-5.67751784e-01 8.22140750e-01 -4.17432447e-02 -2.73478330e+01] [-7.54025620e-02 -1.44205675e-03 9.97152132e-01 -6.58782367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.995779523 meters 0.017244861493744483 Centerline is valid? [True, True] Translation: X:87.41, Y:-27.36, Z:-6.59 [[ 8.19568056e-01 5.69621852e-01 6.19608473e-02 8.74112543e+01] [-5.68131843e-01 8.21905640e-01 -4.11986466e-02 -2.73642379e+01] [-7.43936192e-02 -1.43683563e-03 9.97227920e-01 -6.59209354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.025779523 meters 0.019839237789769943 Centerline is valid? [True, True] Translation: X:87.44, Y:-27.38, Z:-6.60 [[ 8.20537690e-01 5.68424831e-01 6.00925232e-02 8.74361136e+01] [-5.67018615e-01 8.22734222e-01 -3.99786327e-02 -2.73844302e+01] [-7.21650228e-02 -1.26960438e-03 9.97391898e-01 -6.59888982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.055779523 meters 0.01958997584087506 Centerline is valid? [True, True] Translation: X:87.46, Y:-27.40, Z:-6.60 [[ 8.20922892e-01 5.67919646e-01 5.96060462e-02 8.74609909e+01] [-5.66533309e-01 8.23083131e-01 -3.96758133e-02 -2.74048682e+01] [-7.15934050e-02 -1.19802720e-03 9.97433180e-01 -6.60091789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.085779523 meters 0.016266687739778428 Centerline is valid? [True, True] Translation: X:87.49, Y:-27.43, Z:-6.60 [[ 8.21004115e-01 5.67744750e-01 6.01509842e-02 8.74865897e+01] [-5.66330889e-01 8.23203812e-01 -4.00600556e-02 -2.74255268e+01] [-7.22604058e-02 -1.17588990e-03 9.97385107e-01 -6.59902980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.115779523 meters 0.016149151099078732 Centerline is valid? [True, True] Translation: X:87.51, Y:-27.44, Z:-6.60 [[ 8.21855639e-01 5.66410144e-01 6.10971133e-02 8.75117815e+01] [-5.64946057e-01 8.24122826e-01 -4.07126608e-02 -2.74441936e+01] [-7.34115897e-02 -1.05664336e-03 9.97301169e-01 -6.60143194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14577952299999 meters 0.015147979607850604 Centerline is valid? [True, True] Translation: X:87.54, Y:-27.46, Z:-6.60 [[ 8.24636176e-01 5.62122790e-01 6.31913517e-02 8.75363495e+01] [-5.60542219e-01 8.27053509e-01 -4.21297152e-02 -2.74649048e+01] [-7.59447022e-02 -6.79733237e-04 9.97111799e-01 -6.60450155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17577952299999 meters 0.01490316647075001 Centerline is valid? [True, True] Translation: X:87.56, Y:-27.48, Z:-6.61 [[ 8.26124256e-01 5.60025431e-01 6.23717081e-02 8.75609621e+01] [-5.58477997e-01 8.28475288e-01 -4.16055808e-02 -2.74832731e+01] [-7.49736022e-02 -4.61847120e-04 9.97185412e-01 -6.60849340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.20577952299999 meters 0.014802412958806679 Centerline is valid? [True, True] Translation: X:87.58, Y:-27.51, Z:-6.61 [[ 8.28521858e-01 5.56704768e-01 6.02605321e-02 8.75833584e+01] [-5.55250286e-01 8.30710408e-01 -4.02161391e-02 -2.75078022e+01] [-7.24475676e-02 -1.39727402e-04 9.97372213e-01 -6.61167347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.23577952299999 meters 0.014851110645773113 Centerline is valid? [True, True] Translation: X:87.61, Y:-27.53, Z:-6.61 [[ 8.29567396e-01 5.55156721e-01 6.01577178e-02 8.76070722e+01] [-5.53701478e-01 8.31745763e-01 -4.01703638e-02 -2.75288886e+01] [-7.23367743e-02 1.46068562e-05 9.97380264e-01 -6.61330922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.26577952299999 meters 0.014881742130492159 Centerline is valid? [True, True] Translation: X:87.63, Y:-27.55, Z:-6.62 [[ 8.30402657e-01 5.53865789e-01 6.05319357e-02 8.76320311e+01] [-5.52387182e-01 8.32605949e-01 -4.04442205e-02 -2.75490921e+01] [-7.27999198e-02 1.47922797e-04 9.97346555e-01 -6.61505092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.295779523 meters 0.015233109184318172 Centerline is valid? [True, True] Translation: X:87.66, Y:-27.57, Z:-6.62 [[ 8.32312977e-01 5.50886737e-01 6.14728522e-02 8.76583776e+01] [-5.49352544e-01 8.34579906e-01 -4.10872560e-02 -2.75680426e+01] [-7.39384316e-02 4.27188684e-04 9.97262717e-01 -6.62053092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.325779523 meters 0.01841832991632178 Centerline is valid? [True, True] Translation: X:87.68, Y:-27.59, Z:-6.63 [[ 8.33564774e-01 5.49033378e-01 6.10910619e-02 8.76843542e+01] [-5.47511474e-01 8.35800203e-01 -4.08559211e-02 -2.75865097e+01] [-7.34911863e-02 6.07999254e-04 9.97295681e-01 -6.62878588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.355779523 meters 0.01612116987942346 Centerline is valid? [True, True] Translation: X:87.71, Y:-27.61, Z:-6.63 [[ 8.35042120e-01 5.46869028e-01 6.03235020e-02 8.77089037e+01] [-5.45378067e-01 8.37217784e-01 -4.03626753e-02 -2.76084706e+01] [-7.25770057e-02 8.05418990e-04 9.97362487e-01 -6.62858860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.385779523 meters 0.016447495406424338 Centerline is valid? [True, True] Translation: X:87.73, Y:-27.63, Z:-6.63 [[ 8.35873831e-01 5.45605269e-01 6.02480605e-02 8.77333031e+01] [-5.44113257e-01 8.38041779e-01 -4.03328716e-02 -2.76287989e+01] [-7.24962190e-02 9.31423495e-04 9.97368252e-01 -6.62944479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.415779523 meters 0.016999601580921998 Centerline is valid? [True, True] Translation: X:87.76, Y:-27.65, Z:-6.63 [[ 8.36873954e-01 5.44037724e-01 6.05387521e-02 8.77584172e+01] [-5.42525763e-01 8.39060051e-01 -4.05465920e-02 -2.76497771e+01] [-7.28545241e-02 1.08855410e-03 9.97341984e-01 -6.62948243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.445779523 meters 0.01774559616436237 Centerline is valid? [True, True] Translation: X:87.78, Y:-27.67, Z:-6.63 [[ 8.39725923e-01 5.39365887e-01 6.28077486e-02 8.77832158e+01] [-5.37723523e-01 8.42070054e-01 -4.20884408e-02 -2.76699562e+01] [-7.55895934e-02 1.56955093e-03 9.97137779e-01 -6.62819952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.475779523 meters 0.019027191895332647 Centerline is valid? [True, True] Translation: X:87.81, Y:-27.69, Z:-6.63 [[ 8.41350141e-01 5.36735989e-01 6.35957395e-02 8.78074592e+01] [-5.35042949e-01 8.43748225e-01 -4.26377177e-02 -2.76883929e+01] [-7.65439899e-02 1.84679780e-03 9.97064495e-01 -6.63150838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50577952299999 meters 0.019955248803237548 Centerline is valid? [True, True] Translation: X:87.83, Y:-27.71, Z:-6.64 [[ 8.42974368e-01 5.34097358e-01 6.42979560e-02 8.78331023e+01] [-5.32357752e-01 8.45420312e-01 -4.31244784e-02 -2.77068611e+01] [-7.73914680e-02 2.12331459e-03 9.96998522e-01 -6.63512775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53577952299999 meters 0.020899936726959768 Centerline is valid? [True, True] Translation: X:87.86, Y:-27.73, Z:-6.64 [[ 8.45485909e-01 5.29994610e-01 6.52632488e-02 8.78587305e+01] [-5.28189193e-01 8.47997187e-01 -4.37829520e-02 -2.77255290e+01] [-7.85477799e-02 2.54652624e-03 9.96907098e-01 -6.63822782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.56577952299999 meters 0.021775340520231813 Centerline is valid? [True, True] Translation: X:87.88, Y:-27.74, Z:-6.64 [[ 8.46262694e-01 5.28851734e-01 6.44615866e-02 8.78834981e+01] [-5.27086371e-01 8.48710159e-01 -4.32553372e-02 -2.77435189e+01] [-7.75848635e-02 2.62855448e-03 9.96982287e-01 -6.64183085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.59577952299999 meters 0.021775340520231813 Centerline is valid? [True, True] Translation: X:87.91, Y:-27.76, Z:-6.64 [[ 8.46119065e-01 5.29082655e-01 6.44520863e-02 8.79102667e+01] [-5.27316883e-01 8.48566236e-01 -4.32694882e-02 -2.77615879e+01] [-7.75850000e-02 2.62446568e-03 9.96982287e-01 -6.64447121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.62577952299999 meters 0.021905274850016906 Centerline is valid? [True, True] Translation: X:87.94, Y:-27.78, Z:-6.65 [[ 8.46648612e-01 5.28454587e-01 6.26248942e-02 8.79374624e+01] [-5.26784122e-01 8.48957509e-01 -4.20670453e-02 -2.77786819e+01] [-7.53963973e-02 2.62620564e-03 9.97150182e-01 -6.64982338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.65577952299999 meters 0.024380128386276234 Centerline is valid? [True, True] Translation: X:87.96, Y:-27.79, Z:-6.66 [[ 8.47342914e-01 5.27718705e-01 5.93544812e-02 8.79630615e+01] [-5.26215139e-01 8.49415314e-01 -3.98905059e-02 -2.77944433e+01] [-7.14675714e-02 2.56771089e-03 9.97439619e-01 -6.65815277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.685779523 meters 0.023095242450628627 Centerline is valid? [True, True] Translation: X:87.99, Y:-27.81, Z:-6.66 [[ 8.47150424e-01 5.28019398e-01 5.94278975e-02 8.79916244e+01] [-5.26511901e-01 8.49228461e-01 -3.99529618e-02 -2.78108578e+01] [-7.15638008e-02 2.55667325e-03 9.97432748e-01 -6.65909401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.715779523 meters 0.02168626356469818 Centerline is valid? [True, True] Translation: X:88.02, Y:-27.83, Z:-6.66 [[ 8.46591741e-01 5.28699429e-01 6.13134318e-02 8.80170081e+01] [-5.27094439e-01 8.48805129e-01 -4.12468891e-02 -2.78292675e+01] [-7.38503621e-02 2.60130677e-03 9.97265941e-01 -6.65596902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.745779523 meters 0.023595824487321677 Centerline is valid? [True, True] Translation: X:88.04, Y:-27.85, Z:-6.66 [[ 8.46335788e-01 5.28936700e-01 6.27829735e-02 8.80415057e+01] [-5.27252781e-01 8.48657108e-01 -4.22565645e-02 -2.78478254e+01] [-7.56322646e-02 2.66074537e-03 9.97132228e-01 -6.65816611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.775779523 meters 0.022028677795797657 Centerline is valid? [True, True] Translation: X:88.07, Y:-27.86, Z:-6.66 [[ 8.45550410e-01 5.29944906e-01 6.48297793e-02 8.80709981e+01] [-5.28150468e-01 8.48027859e-01 -4.36558513e-02 -2.78606060e+01] [-7.81126550e-02 2.67334473e-03 9.96940954e-01 -6.65999025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.805779523 meters 0.021558913222859587 Centerline is valid? [True, True] Translation: X:88.10, Y:-27.87, Z:-6.66 [[ 8.44462575e-01 5.31463684e-01 6.65530762e-02 8.81009941e+01] [-5.29575209e-01 8.47077024e-01 -4.48398653e-02 -2.78734296e+01] [-8.02063417e-02 2.62072887e-03 9.96774836e-01 -6.66430947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.835779523 meters 0.02115705113891261 Centerline is valid? [True, True] Translation: X:88.13, Y:-27.88, Z:-6.67 [[ 8.41311442e-01 5.36547874e-01 6.56615257e-02 8.81324024e+01] [-5.34723343e-01 8.43867202e-01 -4.42616273e-02 -2.78827632e+01] [-7.91580900e-02 2.12706301e-03 9.96859806e-01 -6.67454360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.865779523 meters 0.018520785978963176 Centerline is valid? [True, True] Translation: X:88.16, Y:-27.90, Z:-6.67 [[ 8.39205236e-01 5.39959762e-01 6.46376645e-02 8.81599001e+01] [-5.38200510e-01 8.41688924e-01 -4.35886075e-02 -2.78992306e+01] [-7.79409004e-02 1.79176368e-03 9.96956371e-01 -6.67408318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89577952299999 meters 0.018734874877715597 Centerline is valid? [True, True] Translation: X:88.19, Y:-27.92, Z:-6.67 [[ 8.36163635e-01 5.44717073e-01 6.41380168e-02 8.81870280e+01] [-5.42998525e-01 8.38618810e-01 -4.32561433e-02 -2.79157626e+01] [-7.73497071e-02 1.34236561e-03 9.97003120e-01 -6.67160838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92577952299999 meters 0.01824032428748614 Centerline is valid? [True, True] Translation: X:88.22, Y:-27.93, Z:-6.67 [[ 8.34446712e-01 5.47280213e-01 6.46765265e-02 8.82155480e+01] [-5.45538763e-01 8.36948678e-01 -4.36390781e-02 -2.79305527e+01] [-7.80137373e-02 1.13093296e-03 9.96951643e-01 -6.67227643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.95577952299999 meters 0.015705064050676485 Centerline is valid? [True, True] Translation: X:88.24, Y:-27.94, Z:-6.67 [[ 8.32233771e-01 5.50592917e-01 6.50721858e-02 8.82438713e+01] [-5.48838279e-01 8.34773457e-01 -4.39296999e-02 -2.79433739e+01] [-7.85079151e-02 8.45673351e-04 9.96913132e-01 -6.67394946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.98577952299999 meters 0.017562158347579463 Centerline is valid? [True, True] Translation: X:88.28, Y:-27.95, Z:-6.69 [[ 8.28452244e-01 5.56200627e-01 6.56333902e-02 8.82781693e+01] [-5.54431290e-01 8.31047982e-01 -4.43305292e-02 -2.79476612e+01] [-7.92011647e-02 3.36521208e-04 9.96858597e-01 -6.68689243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.01577952299999 meters 0.014608212265745045 Centerline is valid? [True, True] Translation: X:88.31, Y:-27.96, Z:-6.69 [[ 8.25948436e-01 5.59896027e-01 6.57694428e-02 8.83074614e+01] [-5.58129172e-01 8.28562876e-01 -4.44453373e-02 -2.79620673e+01] [-7.93788864e-02 1.71220382e-06 9.96844518e-01 -6.68784691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.045779523 meters 0.01715750846120395 Centerline is valid? [True, True] Translation: X:88.33, Y:-27.98, Z:-6.69 [[ 8.22840722e-01 5.64808228e-01 6.26483157e-02 8.83336728e+01] [-5.63217838e-01 8.25222079e-01 -4.23578366e-02 -2.79784626e+01] [-7.56228280e-02 -4.30896101e-04 9.97136401e-01 -6.69363250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.075779523 meters 0.01507184209630582 Centerline is valid? [True, True] Translation: X:88.36, Y:-28.00, Z:-6.69 [[ 8.21413564e-01 5.67070525e-01 6.09161428e-02 8.83597376e+01] [-5.65572432e-01 8.23669013e-01 -4.11968472e-02 -2.79970073e+01] [-7.35362570e-02 -6.12841916e-04 9.97292356e-01 -6.69307122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.105779523 meters 0.015319425626754375 Centerline is valid? [True, True] Translation: X:88.39, Y:-28.01, Z:-6.70 [[ 8.20791780e-01 5.68010766e-01 6.05361364e-02 8.83859089e+01] [-5.66532241e-01 8.23020848e-01 -4.09622261e-02 -2.80133765e+01] [-7.30894877e-02 -6.74214579e-04 9.97325159e-01 -6.69535287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.135779523 meters 0.018121290646462104 Centerline is valid? [True, True] Translation: X:88.41, Y:-28.03, Z:-6.70 [[ 8.20715552e-01 5.68061258e-01 6.10932800e-02 8.84137842e+01] [-5.66554706e-01 8.22985996e-01 -4.13499177e-02 -2.80295431e+01] [-7.37682002e-02 -6.76164728e-04 9.97275185e-01 -6.70031712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.165779523 meters 0.018605206447001487 Centerline is valid? [True, True] Translation: X:88.44, Y:-28.04, Z:-6.70 [[ 8.20159052e-01 5.68386601e-01 6.53896198e-02 8.84432326e+01] [-5.66659148e-01 8.22761288e-01 -4.42862639e-02 -2.80436654e+01] [-7.89717668e-02 -7.31846074e-04 9.96876584e-01 -6.70138924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.195779523 meters 0.01817324674227387 Centerline is valid? [True, True] Translation: X:88.47, Y:-28.06, Z:-6.70 [[ 8.19374042e-01 5.69376046e-01 6.66115460e-02 8.84693339e+01] [-5.67584623e-01 8.22076786e-01 -4.51381585e-02 -2.80612491e+01] [-8.04603919e-02 -8.22653853e-04 9.96757467e-01 -6.70285065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.225779523 meters 0.019097486668492092 Centerline is valid? [True, True] Translation: X:88.49, Y:-28.08, Z:-6.71 [[ 8.17632260e-01 5.72095108e-01 6.46890649e-02 8.84938281e+01] [-5.70412336e-01 8.20186630e-01 -4.38595244e-02 -2.80796378e+01] [-7.81489255e-02 -1.03847855e-03 9.96941155e-01 -6.70662856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25577952299999 meters 0.019335957959160266 Centerline is valid? [True, True] Translation: X:88.52, Y:-28.10, Z:-6.71 [[ 8.16875859e-01 5.73360062e-01 6.30243634e-02 8.85206856e+01] [-5.71765146e-01 8.19302753e-01 -4.27506494e-02 -2.80969268e+01] [-7.61475494e-02 -1.11316085e-03 9.97095939e-01 -6.71174847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28577952299999 meters 0.016222033820762052 Centerline is valid? [True, True] Translation: X:88.55, Y:-28.11, Z:-6.71 [[ 8.15943763e-01 5.74757836e-01 6.23635019e-02 8.85471131e+01] [-5.73198698e-01 8.18322650e-01 -4.23236696e-02 -2.81142105e+01] [-7.53593268e-02 -1.21294389e-03 9.97155705e-01 -6.71333817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.31577952299999 meters 0.01639445099610288 Centerline is valid? [True, True] Translation: X:88.57, Y:-28.13, Z:-6.72 [[ 8.15821562e-01 5.75061758e-01 6.11486186e-02 8.85733471e+01] [-5.73562225e-01 8.18109121e-01 -4.15191646e-02 -2.81302850e+01] [-7.39023264e-02 -1.20030801e-03 9.97264762e-01 -6.71930540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.34577952299999 meters 0.018911313498290064 Centerline is valid? [True, True] Translation: X:88.60, Y:-28.15, Z:-6.72 [[ 8.16138339e-01 5.74591067e-01 6.13458867e-02 8.85982624e+01] [-5.73078995e-01 8.18439854e-01 -4.16733749e-02 -2.81500348e+01] [-7.41530675e-02 -1.14480015e-03 9.97246214e-01 -6.72303627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.37577952299999 meters 0.01608855690170961 Centerline is valid? [True, True] Translation: X:88.62, Y:-28.17, Z:-6.72 [[ 8.15878730e-01 5.74682411e-01 6.38907248e-02 8.86235044e+01] [-5.73040537e-01 8.18375666e-01 -4.34259407e-02 -2.81704992e+01] [-7.72427388e-02 -1.18167396e-03 9.97011616e-01 -6.71847734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.40577952299999 meters 0.016006862403903106 Centerline is valid? [True, True] Translation: X:88.65, Y:-28.20, Z:-6.71 [[ 8.15940483e-01 5.74060994e-01 6.85208196e-02 8.86466310e+01] [-5.72167761e-01 8.18811685e-01 -4.65991264e-02 -2.81951884e+01] [-8.28563885e-02 -1.18329014e-03 9.96560795e-01 -6.71277628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.435779523 meters 0.018194759242999726 Centerline is valid? [True, True] Translation: X:88.67, Y:-28.21, Z:-6.72 [[ 8.16184721e-01 5.73704530e-01 6.85974756e-02 8.86716050e+01] [-5.71803724e-01 8.19061560e-01 -4.66761402e-02 -2.82132012e+01] [-8.29638685e-02 -1.12793955e-03 9.96551918e-01 -6.71760782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.465779523 meters 0.017847551418130114 Centerline is valid? [True, True] Translation: X:88.70, Y:-28.23, Z:-6.73 [[ 8.15816300e-01 5.74455747e-01 6.66660285e-02 8.86998379e+01] [-5.72661391e-01 8.18534829e-01 -4.53835335e-02 -2.82287320e+01] [-8.06392979e-02 -1.15243420e-03 9.96742683e-01 -6.72771675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.495779523 meters 0.0166429901097069 Centerline is valid? [True, True] Translation: X:88.73, Y:-28.24, Z:-6.73 [[ 8.15152578e-01 5.75533441e-01 6.54792494e-02 8.87270034e+01] [-5.73803841e-01 8.17777343e-01 -4.46023476e-02 -2.82440662e+01] [-7.92175892e-02 -1.21452611e-03 9.96856609e-01 -6.73223796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.525779523 meters 0.016599276397965212 Centerline is valid? [True, True] Translation: X:88.75, Y:-28.26, Z:-6.74 [[ 8.15173161e-01 5.75679193e-01 6.39232623e-02 8.87533880e+01] [-5.74030486e-01 8.17674783e-01 -4.35539896e-02 -2.82635243e+01] [-7.73415652e-02 -1.18985792e-03 9.97003945e-01 -6.73714220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.555779523 meters 0.016324022592646377 Centerline is valid? [True, True] Translation: X:88.78, Y:-28.29, Z:-6.74 [[ 8.15587048e-01 5.75221175e-01 6.27564124e-02 8.87783820e+01] [-5.73628983e-01 8.17997175e-01 -4.27833144e-02 -2.82858133e+01] [-7.59444364e-02 -1.10537990e-03 9.97111438e-01 -6.73884336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.585779523 meters 0.015533639925066957 Centerline is valid? [True, True] Translation: X:88.80, Y:-28.31, Z:-6.74 [[ 8.17918886e-01 5.71839743e-01 6.33087934e-02 8.87996332e+01] [-5.70207183e-01 8.20364983e-01 -4.31863772e-02 -2.83130451e+01] [-7.66320041e-02 -7.76175221e-04 9.97059142e-01 -6.73584689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.615779523 meters 0.01503175592110917 Centerline is valid? [True, True] Translation: X:88.82, Y:-28.33, Z:-6.74 [[ 8.19204092e-01 5.69857791e-01 6.45503969e-02 8.88239995e+01] [-5.68153719e-01 8.21743113e-01 -4.40409872e-02 -2.83348103e+01] [-7.81409437e-02 -5.95991059e-04 9.96942144e-01 -6.73547122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64577952299999 meters 0.017538201581251616 Centerline is valid? [True, True] Translation: X:88.85, Y:-28.36, Z:-6.74 [[ 8.21681333e-01 5.66159907e-01 6.55953286e-02 8.88465684e+01] [-5.64386433e-01 8.24295401e-01 -4.47777433e-02 -2.83558506e+01] [-7.94212906e-02 -2.28077688e-04 9.96841114e-01 -6.74052951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67577952299999 meters 0.014600642640393204 Centerline is valid? [True, True] Translation: X:88.87, Y:-28.38, Z:-6.74 [[ 8.22164259e-01 5.65399930e-01 6.60972829e-02 8.88734601e+01] [-5.63594963e-01 8.24816889e-01 -4.51421964e-02 -2.83750771e+01] [-8.00415499e-02 -1.37795235e-04 9.96791518e-01 -6.74156622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.70577952299999 meters 0.014689577039978297 Centerline is valid? [True, True] Translation: X:88.90, Y:-28.39, Z:-6.75 [[ 8.23008576e-01 5.64172055e-01 6.60815864e-02 8.88993726e+01] [-5.62361872e-01 8.25657249e-01 -4.51578600e-02 -2.83937500e+01] [-8.00375435e-02 3.54141564e-06 9.96791850e-01 -6.74617161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.73577952299999 meters 0.014849806731242499 Centerline is valid? [True, True] Translation: X:88.92, Y:-28.42, Z:-6.75 [[ 8.25180992e-01 5.61139980e-01 6.47939312e-02 8.89227754e+01] [-5.59388547e-01 8.27720862e-01 -4.43015582e-02 -2.84151103e+01] [-7.84906641e-02 3.11820711e-04 9.96914800e-01 -6.75039662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.76577952299999 meters 0.015156510241277569 Centerline is valid? [True, True] Translation: X:88.95, Y:-28.44, Z:-6.75 [[ 8.26811956e-01 5.58807861e-01 6.41542150e-02 8.89464922e+01] [-5.57082158e-01 8.29296977e-01 -4.38861401e-02 -2.84365282e+01] [-7.77268166e-02 5.46416790e-04 9.96974545e-01 -6.75302833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.795779523 meters 0.015790958980697434 Centerline is valid? [True, True] Translation: X:88.97, Y:-28.46, Z:-6.75 [[ 8.28800539e-01 5.55945997e-01 6.33538947e-02 8.89699308e+01] [-5.54253118e-01 8.31218005e-01 -4.33602231e-02 -2.84592066e+01] [-7.67668405e-02 8.22882568e-04 9.97048733e-01 -6.75475521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.825779523 meters 0.01989798136328678 Centerline is valid? [True, True] Translation: X:88.99, Y:-28.48, Z:-6.76 [[ 8.33518312e-01 5.49046809e-01 6.16021568e-02 8.89913055e+01] [-5.47425839e-01 8.35790365e-01 -4.21831309e-02 -2.84845880e+01] [-7.46470026e-02 1.43779965e-03 9.97208984e-01 -6.76054268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.855779523 meters 0.02180547239130931 Centerline is valid? [True, True] Translation: X:89.01, Y:-28.51, Z:-6.76 [[ 8.35384912e-01 5.46272400e-01 6.09796176e-02 8.90147790e+01] [-5.44676346e-01 8.37605914e-01 -4.17613588e-02 -2.85052464e+01] [-7.38899660e-02 1.67265373e-03 9.97264997e-01 -6.76459151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.885779523 meters 0.021725715434770473 Centerline is valid? [True, True] Translation: X:89.04, Y:-28.53, Z:-6.76 [[ 8.38435347e-01 5.41293811e-01 6.34600632e-02 8.90387534e+01] [-5.39549098e-01 8.40830598e-01 -4.34819002e-02 -2.85255331e+01] [-7.68956464e-02 2.21694222e-03 9.97036682e-01 -6.76380329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.915779523 meters 0.023619855979343844 Centerline is valid? [True, True] Translation: X:89.06, Y:-28.55, Z:-6.76 [[ 8.40364733e-01 5.38086555e-01 6.51918311e-02 8.90621609e+01] [-5.36234788e-01 8.42885618e-01 -4.46775987e-02 -2.85462082e+01] [-7.89896720e-02 2.58735060e-03 9.96872077e-01 -6.76451832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.945779523 meters 0.025656954153522114 Centerline is valid? [True, True] Translation: X:89.09, Y:-28.57, Z:-6.77 [[ 8.42398867e-01 5.34834841e-01 6.56950685e-02 8.90857449e+01] [-5.32942818e-01 8.44951533e-01 -4.50428549e-02 -2.85686282e+01] [-7.95996370e-02 2.93233499e-03 9.96822602e-01 -6.76541778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.975779523 meters 0.025825203174905005 Centerline is valid? [True, True] Translation: X:89.11, Y:-28.59, Z:-6.77 [[ 8.46885689e-01 5.27810345e-01 6.48141145e-02 8.91099986e+01] [-5.25947791e-01 8.49354834e-01 -4.44441874e-02 -2.85896375e+01] [-7.85082834e-02 3.55030589e-03 9.96907140e-01 -6.76630143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00577952299999 meters 0.02619825100396628 Centerline is valid? [True, True] Translation: X:89.14, Y:-28.61, Z:-6.77 [[ 8.48686191e-01 5.24986928e-01 6.41909234e-02 8.91359855e+01] [-5.23150322e-01 8.51101836e-01 -4.40386850e-02 -2.86079272e+01] [-7.77527467e-02 3.79352160e-03 9.96965456e-01 -6.76932608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03577952299999 meters 0.02765545606910109 Centerline is valid? [True, True] Translation: X:89.16, Y:-28.63, Z:-6.77 [[ 8.50196085e-01 5.22537295e-01 6.41980767e-02 8.91616006e+01] [-5.20691645e-01 8.52606874e-01 -4.40650524e-02 -2.86267810e+01] [-7.77613548e-02 4.03653289e-03 9.96963830e-01 -6.77250427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.06577952299999 meters 0.030472198166010066 Centerline is valid? [True, True] Translation: X:89.19, Y:-28.65, Z:-6.78 [[ 8.52372622e-01 5.18966231e-01 6.43036865e-02 8.91875055e+01] [-5.17102709e-01 8.54783479e-01 -4.41587220e-02 -2.86450725e+01] [-7.78826144e-02 4.38807520e-03 9.96952879e-01 -6.77731566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.09577952299999 meters 0.03052105768997737 Centerline is valid? [True, True] Translation: X:89.21, Y:-28.66, Z:-6.78 [[ 8.52237584e-01 5.19215735e-01 6.40790216e-02 8.92122607e+01] [-5.17364266e-01 8.54632048e-01 -4.40258867e-02 -2.86648159e+01] [-7.76229186e-02 4.36831931e-03 9.96973219e-01 -6.77651979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.12577952299999 meters 0.029664403159190982 Centerline is valid? [True, True] Translation: X:89.24, Y:-28.68, Z:-6.78 [[ 8.52134154e-01 5.19643683e-01 6.19501911e-02 8.92412844e+01] [-5.17912840e-01 8.54372736e-01 -4.25854206e-02 -2.86806306e+01] [-7.50577991e-02 4.20369200e-03 9.97170324e-01 -6.78075470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.15577952299999 meters 0.031319072888701185 Centerline is valid? [True, True] Translation: X:89.27, Y:-28.70, Z:-6.79 [[ 8.52040035e-01 5.19886339e-01 6.12043495e-02 8.92691606e+01] [-5.18195822e-01 8.54225352e-01 -4.20967668e-02 -2.86970890e+01] [-7.41678410e-02 4.15229249e-03 9.97237128e-01 -6.78766868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.185779523 meters 0.030013043341828857 Centerline is valid? [True, True] Translation: X:89.30, Y:-28.71, Z:-6.79 [[ 8.51029711e-01 5.21592967e-01 6.07388530e-02 8.92960532e+01] [-5.19930557e-01 8.53185103e-01 -4.18018662e-02 -2.87126636e+01] [-7.36250439e-02 3.99464444e-03 9.97277993e-01 -6.78917648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.215779523 meters 0.029295167394000954 Centerline is valid? [True, True] Translation: X:89.32, Y:-28.73, Z:-6.79 [[ 8.49135250e-01 5.24813365e-01 5.95000848e-02 8.93234373e+01] [-5.23225341e-01 8.51209509e-01 -4.09586857e-02 -2.87261484e+01] [-7.21427036e-02 3.64751159e-03 9.97387651e-01 -6.79321002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.245779523 meters 0.028557978422558833 Centerline is valid? [True, True] Translation: X:89.35, Y:-28.74, Z:-6.79 [[ 8.47736752e-01 5.27010863e-01 6.00162395e-02 8.93506378e+01] [-5.25399302e-01 8.49851315e-01 -4.13317727e-02 -2.87417701e+01] [-7.27871733e-02 3.50597244e-03 9.97341334e-01 -6.79431360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.275779523 meters 0.028423010757258067 Centerline is valid? [True, True] Translation: X:89.38, Y:-28.76, Z:-6.80 [[ 8.46397723e-01 5.29062181e-01 6.08613338e-02 8.93788899e+01] [-5.27408788e-01 8.48576279e-01 -4.19317103e-02 -2.87552951e+01] [-7.38299664e-02 3.39210182e-03 9.97265075e-01 -6.79740456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.305779523 meters 0.023560101077119863 Centerline is valid? [True, True] Translation: X:89.41, Y:-28.76, Z:-6.80 [[ 8.43006142e-01 5.34033474e-01 6.44119014e-02 8.94130763e+01] [-5.32194031e-01 8.45457473e-01 -4.43979174e-02 -2.87621829e+01] [-7.81674974e-02 3.14808763e-03 9.96935270e-01 -6.79565034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.335779523 meters 0.024269337263733644 Centerline is valid? [True, True] Translation: X:89.44, Y:-28.78, Z:-6.80 [[ 8.41880381e-01 5.35785071e-01 6.45893340e-02 8.94430289e+01] [-5.33938876e-01 8.44349030e-01 -4.45420301e-02 -2.87755267e+01] [-7.84008963e-02 3.01230488e-03 9.96917361e-01 -6.80100641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.365779523 meters 0.021385198365898597 Centerline is valid? [True, True] Translation: X:89.47, Y:-28.79, Z:-6.80 [[ 8.38781957e-01 5.40717570e-01 6.37913714e-02 8.94713719e+01] [-5.38930358e-01 8.41200407e-01 -4.39993680e-02 -2.87878971e+01] [-7.74525590e-02 2.52676933e-03 9.96992837e-01 -6.80064615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39577952299999 meters 0.020532733894996748 Centerline is valid? [True, True] Translation: X:89.50, Y:-28.80, Z:-6.80 [[ 8.37621802e-01 5.42701343e-01 6.21688676e-02 8.94994218e+01] [-5.41008390e-01 8.39922605e-01 -4.28945157e-02 -2.88046523e+01] [-7.54959485e-02 2.29550259e-03 9.97143466e-01 -6.80327778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42577952299999 meters 0.021092142904356403 Centerline is valid? [True, True] Translation: X:89.53, Y:-28.82, Z:-6.81 [[ 8.36811956e-01 5.44098580e-01 6.08480551e-02 8.95274875e+01] [-5.42479817e-01 8.39018588e-01 -4.19935425e-02 -2.88192859e+01] [-7.39012761e-02 2.13185669e-03 9.97263283e-01 -6.80816968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.45577952299999 meters 0.01892281087610024 Centerline is valid? [True, True] Translation: X:89.56, Y:-28.83, Z:-6.81 [[ 8.35216366e-01 5.46538808e-01 6.09011728e-02 8.95554154e+01] [-5.44922029e-01 8.37431538e-01 -4.20523590e-02 -2.88347457e+01] [-7.39838090e-02 1.93642786e-03 9.97257563e-01 -6.80747538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.48577952299999 meters 0.01892281087610024 Centerline is valid? [True, True] Translation: X:89.58, Y:-28.85, Z:-6.81 [[ 8.35065612e-01 5.46770247e-01 6.08910507e-02 8.95819459e+01] [-5.45153015e-01 8.37280453e-01 -4.20670101e-02 -2.88531678e+01] [-7.39838761e-02 1.93377366e-03 9.97257563e-01 -6.81011602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.51577952299999 meters 0.017866607489063574 Centerline is valid? [True, True] Translation: X:89.62, Y:-28.86, Z:-6.82 [[ 8.32757501e-01 5.50143491e-01 6.21054242e-02 8.96153149e+01] [-5.48468345e-01 8.35068432e-01 -4.29323735e-02 -2.88594664e+01] [-7.54812450e-02 1.68939682e-03 9.97145791e-01 -6.81517830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.545779523 meters 0.01918811909148381 Centerline is valid? [True, True] Translation: X:89.65, Y:-28.87, Z:-6.82 [[ 8.32272675e-01 5.50910682e-01 6.18030326e-02 8.96452575e+01] [-5.49252537e-01 8.34562623e-01 -4.27420038e-02 -2.88721661e+01] [-7.51255275e-02 1.62752935e-03 9.97172756e-01 -6.82204554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.575779523 meters 0.01722888076435599 Centerline is valid? [True, True] Translation: X:89.67, Y:-28.89, Z:-6.82 [[ 8.31045730e-01 5.52776484e-01 6.16534980e-02 8.96715044e+01] [-5.51129782e-01 8.33328258e-01 -4.26612082e-02 -2.88890970e+01] [-7.49597148e-02 1.47433603e-03 9.97185473e-01 -6.82268852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.605779523 meters 0.01862530346028535 Centerline is valid? [True, True] Translation: X:89.70, Y:-28.91, Z:-6.82 [[ 8.31347936e-01 5.52361357e-01 6.12987784e-02 8.96968486e+01] [-5.50730924e-01 8.33603396e-01 -4.24361658e-02 -2.89087797e+01] [-7.45389679e-02 1.52008603e-03 9.97216943e-01 -6.82368729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.635779523 meters 0.017189924160575524 Centerline is valid? [True, True] Translation: X:89.72, Y:-28.93, Z:-6.82 [[ 8.31019087e-01 5.52720748e-01 6.25064104e-02 8.97236352e+01] [-5.51024612e-01 8.33365114e-01 -4.32950656e-02 -2.89264954e+01] [-7.60207429e-02 1.53645532e-03 9.97105053e-01 -6.82145691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.665779523 meters 0.017733249965017666 Centerline is valid? [True, True] Translation: X:89.75, Y:-28.94, Z:-6.83 [[ 8.31709341e-01 5.51703722e-01 6.23103041e-02 8.97529196e+01] [-5.50013667e-01 8.34038550e-01 -4.31817498e-02 -2.89386486e+01] [-7.57927278e-02 1.64314587e-03 9.97122241e-01 -6.82566113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.695779523 meters 0.017927116342182848 Centerline is valid? [True, True] Translation: X:89.78, Y:-28.95, Z:-6.83 [[ 8.31798533e-01 5.51601757e-01 6.20217826e-02 8.97829152e+01] [-5.49925530e-01 8.34105953e-01 -4.30019880e-02 -2.89526987e+01] [-7.54527102e-02 1.66162884e-03 9.97147997e-01 -6.83197548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.725779523 meters 0.021147520170014474 Centerline is valid? [True, True] Translation: X:89.81, Y:-28.97, Z:-6.84 [[ 8.32448758e-01 5.50779505e-01 6.05887927e-02 8.98114153e+01] [-5.49175991e-01 8.34649023e-01 -4.20325914e-02 -2.89674964e+01] [-7.37210666e-02 1.71606822e-03 9.97277424e-01 -6.84114378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75577952299999 meters 0.017928975101954816 Centerline is valid? [True, True] Translation: X:89.84, Y:-28.98, Z:-6.84 [[ 8.31995902e-01 5.51406285e-01 6.11058664e-02 8.98396159e+01] [-5.49775225e-01 8.34235122e-01 -4.24141845e-02 -2.89843363e+01] [-7.43641078e-02 1.69393622e-03 9.97229718e-01 -6.84053094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78577952299999 meters 0.018277017214614038 Centerline is valid? [True, True] Translation: X:89.86, Y:-29.01, Z:-6.84 [[ 8.32224516e-01 5.50917410e-01 6.23887981e-02 8.98640622e+01] [-5.49215139e-01 8.34557870e-01 -4.33115814e-02 -2.90078606e+01] [-7.59281667e-02 1.78008741e-03 9.97111701e-01 -6.83576306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.81577952299999 meters 0.01758481376258212 Centerline is valid? [True, True] Translation: X:89.89, Y:-29.03, Z:-6.83 [[ 8.32453137e-01 5.50502869e-01 6.29949620e-02 8.98910815e+01] [-5.48764135e-01 8.34831205e-01 -4.37582328e-02 -2.90261962e+01] [-7.66791928e-02 1.85730241e-03 9.97054087e-01 -6.83393597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.84577952299999 meters 0.022172564118774052 Centerline is valid? [True, True] Translation: X:89.92, Y:-29.04, Z:-6.84 [[ 8.32697303e-01 5.50337412e-01 6.11876998e-02 8.99187528e+01] [-5.48695080e-01 8.34940333e-01 -4.25246874e-02 -2.90402155e+01] [-7.44910049e-02 1.83680266e-03 9.97219994e-01 -6.84421547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.87577952299999 meters 0.019348823197071607 Centerline is valid? [True, True] Translation: X:89.95, Y:-29.05, Z:-6.85 [[ 8.32274599e-01 5.51120363e-01 5.98776858e-02 8.99509549e+01] [-5.49548323e-01 8.34423934e-01 -4.16333949e-02 -2.90512210e+01] [-7.29083859e-02 1.74473521e-03 9.97337116e-01 -6.85037253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.90577952299999 meters 0.01921844837237019 Centerline is valid? [True, True] Translation: X:89.98, Y:-29.07, Z:-6.86 [[ 8.32078105e-01 5.51509259e-01 5.90217237e-02 8.99800327e+01] [-5.49981129e-01 8.34167025e-01 -4.10625445e-02 -2.90671444e+01] [-7.18803492e-02 1.70640999e-03 9.97411802e-01 -6.85684481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.935779523 meters 0.02075855226088524 Centerline is valid? [True, True] Translation: X:90.01, Y:-29.09, Z:-6.86 [[ 8.32014627e-01 5.51497446e-01 6.00185608e-02 9.00052341e+01] [-5.49915280e-01 8.34174728e-01 -4.17816646e-02 -2.90869063e+01] [-7.31084479e-02 1.75783239e-03 9.97322448e-01 -6.85801223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.965779523 meters 0.01743729709001287 Centerline is valid? [True, True] Translation: X:90.03, Y:-29.11, Z:-6.85 [[ 8.31285360e-01 5.52464299e-01 6.12196679e-02 9.00309709e+01] [-5.50818875e-01 8.33534772e-01 -4.26421310e-02 -2.91066475e+01] [-7.45869770e-02 1.72683065e-03 9.97213017e-01 -6.85283342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.995779523 meters 0.017934069571739802 Centerline is valid? [True, True] Translation: X:90.06, Y:-29.12, Z:-6.85 [[ 8.31248050e-01 5.52532810e-01 6.11078805e-02 9.00573264e+01] [-5.50891876e-01 8.33489339e-01 -4.25871165e-02 -2.91247265e+01] [-7.44635461e-02 1.73662257e-03 9.97222224e-01 -6.85356622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.025779523 meters 0.017532636811159606 Centerline is valid? [True, True] Translation: X:90.09, Y:-29.14, Z:-6.86 [[ 8.30920980e-01 5.52994080e-01 6.13829956e-02 9.00858590e+01] [-5.51338410e-01 8.33183415e-01 -4.27943203e-02 -2.91388187e+01] [-7.48082997e-02 1.71589539e-03 9.97196457e-01 -6.85755040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.055779523 meters 0.017318815063912987 Centerline is valid? [True, True] Translation: X:90.11, Y:-29.15, Z:-6.86 [[ 8.30409716e-01 5.53680748e-01 6.21074265e-02 9.01149261e+01] [-5.51985888e-01 8.32727305e-01 -4.33222234e-02 -2.91529194e+01] [-7.57052309e-02 1.69277222e-03 9.97128804e-01 -6.86186638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.085779523 meters 0.019751430545191885 Centerline is valid? [True, True] Translation: X:90.14, Y:-29.17, Z:-6.87 [[ 8.30350374e-01 5.53784241e-01 6.19779884e-02 9.01432257e+01] [-5.52095049e-01 8.32658471e-01 -4.32542223e-02 -2.91694959e+01] [-7.55600037e-02 1.69841912e-03 9.97139810e-01 -6.86788347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.115779523 meters 0.01971659906115023 Centerline is valid? [True, True] Translation: X:90.17, Y:-29.19, Z:-6.87 [[ 8.29925923e-01 5.54380217e-01 6.23340830e-02 9.01694690e+01] [-5.52671131e-01 8.32261836e-01 -4.35299542e-02 -2.91891048e+01] [-7.60104239e-02 1.67638929e-03 9.97105614e-01 -6.86766524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14577952299999 meters 0.01685564747092286 Centerline is valid? [True, True] Translation: X:90.19, Y:-29.21, Z:-6.86 [[ 8.29156216e-01 5.55426377e-01 6.32574743e-02 9.01934474e+01] [-5.53668599e-01 8.31564155e-01 -4.41830038e-02 -2.92090617e+01] [-7.71430540e-02 1.61093508e-03 9.97018733e-01 -6.86466277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17577952299999 meters 0.0199084175136847 Centerline is valid? [True, True] Translation: X:90.22, Y:-29.23, Z:-6.87 [[ 8.29224915e-01 5.55400011e-01 6.25848925e-02 9.02197630e+01] [-5.53678464e-01 8.31581775e-01 -4.37253952e-02 -2.92280017e+01] [-7.63295409e-02 1.60627996e-03 9.97081351e-01 -6.86859131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.20577952299999 meters 0.01915566353366835 Centerline is valid? [True, True] Translation: X:90.25, Y:-29.24, Z:-6.87 [[ 8.27353522e-01 5.58332914e-01 6.12413795e-02 9.02492342e+01] [-5.56690686e-01 8.29615931e-01 -4.28122371e-02 -2.92411697e+01] [-7.47103052e-02 1.32834955e-03 9.97204395e-01 -6.87347176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.23577952299999 meters 0.015809746000564402 Centerline is valid? [True, True] Translation: X:90.28, Y:-29.25, Z:-6.88 [[ 8.25283577e-01 5.61516371e-01 6.00531609e-02 9.02774961e+01] [-5.59944139e-01 8.27464977e-01 -4.20032562e-02 -2.92544798e+01] [-7.32774033e-02 1.03818209e-03 9.97311057e-01 -6.87832564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.26577952299999 meters 0.01486440971915241 Centerline is valid? [True, True] Translation: X:90.31, Y:-29.27, Z:-6.89 [[ 8.21756814e-01 5.66891688e-01 5.78753209e-02 9.03084177e+01] [-5.65443510e-01 8.23792150e-01 -4.04985201e-02 -2.92652876e+01] [-7.06355094e-02 5.54710232e-04 9.97502039e-01 -6.88689177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.295779523 meters 0.01448325742317927 Centerline is valid? [True, True] Translation: X:90.33, Y:-29.28, Z:-6.89 [[ 8.20031090e-01 5.69301284e-01 5.86946292e-02 9.03340472e+01] [-5.67816353e-01 8.22128890e-01 -4.10935235e-02 -2.92824895e+01] [-7.16491460e-02 3.70196573e-04 9.97429829e-01 -6.88710830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.325779523 meters 0.0142061008170306 Centerline is valid? [True, True] Translation: X:90.36, Y:-29.30, Z:-6.89 [[ 8.18532334e-01 5.71283065e-01 6.03363767e-02 9.03595980e+01] [-5.69717639e-01 8.20753076e-01 -4.22634553e-02 -2.93018886e+01] [-7.36656630e-02 2.19306687e-04 9.97282970e-01 -6.88515047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.355779523 meters 0.014155284036717961 Centerline is valid? [True, True] Translation: X:90.38, Y:-29.32, Z:-6.88 [[ 8.17619146e-01 5.72515041e-01 6.10365421e-02 9.03842574e+01] [-5.70914768e-01 8.19894207e-01 -4.27763563e-02 -2.93219523e+01] [-7.45336147e-02 1.28104652e-04 9.97218494e-01 -6.88396368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.385779523 meters 0.017669311439495274 Centerline is valid? [True, True] Translation: X:90.41, Y:-29.34, Z:-6.89 [[ 8.17244887e-01 5.73090792e-01 6.06443643e-02 9.04104449e+01] [-5.71511103e-01 8.19491877e-01 -4.25220268e-02 -2.93409555e+01] [-7.40665459e-02 9.19814937e-05 9.97253297e-01 -6.88631483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.415779523 meters 0.016737154729721496 Centerline is valid? [True, True] Translation: X:90.44, Y:-29.36, Z:-6.89 [[ 8.16214763e-01 5.74472690e-01 6.14376816e-02 9.04396281e+01] [-5.72854120e-01 8.18523749e-01 -4.30932645e-02 -2.93570633e+01] [-7.50441051e-02 -2.14703266e-05 9.97180215e-01 -6.88878751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.445779523 meters 0.014189910723778744 Centerline is valid? [True, True] Translation: X:90.47, Y:-29.37, Z:-6.89 [[ 8.13482959e-01 5.78238917e-01 6.23316193e-02 9.04705896e+01] [-5.76581718e-01 8.15867411e-01 -4.37480398e-02 -2.93679783e+01] [-7.61511560e-02 -3.50987247e-04 9.97096223e-01 -6.89484781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.475779523 meters 0.01659629771805819 Centerline is valid? [True, True] Translation: X:90.50, Y:-29.39, Z:-6.90 [[ 8.12660322e-01 5.79576540e-01 6.06154618e-02 9.04971479e+01] [-5.78012054e-01 8.14917683e-01 -4.25586045e-02 -2.93855644e+01] [-7.40625805e-02 -4.50778322e-04 9.97253494e-01 -6.90087193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50577952299999 meters 0.014604294125329882 Centerline is valid? [True, True] Translation: X:90.52, Y:-29.40, Z:-6.90 [[ 8.10895029e-01 5.82020053e-01 6.08433229e-02 9.05224868e+01] [-5.80448966e-01 8.13174166e-01 -4.27407751e-02 -2.94046464e+01] [-7.43522066e-02 -6.58161786e-04 9.97231827e-01 -6.90063286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53577952299999 meters 0.015892093490490342 Centerline is valid? [True, True] Translation: X:90.55, Y:-29.43, Z:-6.90 [[ 8.10475366e-01 5.82757039e-01 5.93625743e-02 9.05463688e+01] [-5.81262144e-01 8.12646143e-01 -4.17200856e-02 -2.94271119e+01] [-7.25534406e-02 -6.92115603e-04 9.97364286e-01 -6.90120611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.56577952299999 meters 0.014661865106483273 Centerline is valid? [True, True] Translation: X:90.57, Y:-29.45, Z:-6.90 [[ 8.10120536e-01 5.83209431e-01 5.97618347e-02 9.05714023e+01] [-5.81693937e-01 8.12321514e-01 -4.20228687e-02 -2.94465383e+01] [-7.30539574e-02 -7.19508042e-04 9.97327730e-01 -6.90130980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.59577952299999 meters 0.017668011629714386 Centerline is valid? [True, True] Translation: X:90.60, Y:-29.46, Z:-6.91 [[ 8.11049220e-01 5.82041261e-01 5.85417166e-02 9.05975543e+01] [-5.80582428e-01 8.13159044e-01 -4.11875471e-02 -2.94632874e+01] [-7.15765781e-02 -5.83163958e-04 9.97434937e-01 -6.90768629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.62577952299999 meters 0.016402931900554318 Centerline is valid? [True, True] Translation: X:90.63, Y:-29.48, Z:-6.91 [[ 8.10544194e-01 5.82715394e-01 5.88292392e-02 9.06253279e+01] [-5.81242292e-01 8.12676059e-01 -4.14128161e-02 -2.94809781e+01] [-7.19409997e-02 -6.27124193e-04 9.97408692e-01 -6.91044706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.65577952299999 meters 0.01837585089190098 Centerline is valid? [True, True] Translation: X:90.65, Y:-29.50, Z:-6.92 [[ 8.10542243e-01 5.82799775e-01 5.80146137e-02 9.06516930e+01] [-5.81365769e-01 8.12615564e-01 -4.08630389e-02 -2.95005853e+01] [-7.09585479e-02 -6.06491308e-04 9.97479081e-01 -6.91536565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.685779523 meters 0.018276792726856825 Centerline is valid? [True, True] Translation: X:90.67, Y:-29.52, Z:-6.92 [[ 8.10794750e-01 5.82521870e-01 5.72725433e-02 9.06731897e+01] [-5.81121982e-01 8.12814839e-01 -4.03643314e-02 -2.95249997e+01] [-7.00650789e-02 -5.55145893e-04 9.97542268e-01 -6.91752869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.715779523 meters 0.01818920920026237 Centerline is valid? [True, True] Translation: X:90.70, Y:-29.55, Z:-6.92 [[ 8.11225021e-01 5.81894764e-01 5.75538856e-02 9.06966964e+01] [-5.80477862e-01 8.13263948e-01 -4.05857465e-02 -2.95457376e+01] [-7.04231336e-02 -4.84583392e-04 9.97517091e-01 -6.91926138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.745779523 meters 0.01640664287622738 Centerline is valid? [True, True] Translation: X:90.72, Y:-29.57, Z:-6.92 [[ 8.12433057e-01 5.80043270e-01 5.91805045e-02 9.07213889e+01] [-5.78538654e-01 8.14585603e-01 -4.17530935e-02 -2.95669326e+01] [-7.24261878e-02 -3.16615994e-04 9.97373725e-01 -6.92009258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.775779523 meters 0.017455870909719673 Centerline is valid? [True, True] Translation: X:90.75, Y:-29.59, Z:-6.92 [[ 8.13371188e-01 5.78693544e-01 5.95070741e-02 9.07460375e+01] [-5.77167064e-01 8.15545063e-01 -4.20051227e-02 -2.95860265e+01] [-7.28387938e-02 -1.79766720e-04 9.97343711e-01 -6.92346440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.805779523 meters 0.017255906663792595 Centerline is valid? [True, True] Translation: X:90.77, Y:-29.61, Z:-6.92 [[ 8.13942680e-01 5.77849963e-01 5.98893498e-02 9.07717817e+01] [-5.76300081e-01 8.16143010e-01 -4.22942672e-02 -2.96072513e+01] [-7.33180150e-02 -8.91279243e-05 9.97308609e-01 -6.92470151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.835779523 meters 0.01656572825548648 Centerline is valid? [True, True] Translation: X:90.80, Y:-29.63, Z:-6.93 [[ 8.14203074e-01 5.77423343e-01 6.04618639e-02 9.07960247e+01] [-5.75840537e-01 8.16444904e-01 -4.27246234e-02 -2.96286129e+01] [-7.40339756e-02 -2.98724446e-05 9.97255719e-01 -6.92528752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.865779523 meters 0.017770304959609993 Centerline is valid? [True, True] Translation: X:90.82, Y:-29.66, Z:-6.92 [[ 8.14599482e-01 5.76918912e-01 5.99354024e-02 9.08180679e+01] [-5.75360513e-01 8.16801425e-01 -4.23758445e-02 -2.96556230e+01] [-7.34027482e-02 3.48771162e-05 9.97302379e-01 -6.92201026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89577952299999 meters 0.014107154967660906 Centerline is valid? [True, True] Translation: X:90.84, Y:-29.68, Z:-6.92 [[ 8.13931966e-01 5.77833103e-01 6.01968393e-02 9.08433294e+01] [-5.76261684e-01 8.16154951e-01 -4.25860025e-02 -2.96772752e+01] [-7.37375504e-02 -2.70232013e-05 9.97277681e-01 -6.92009470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92577952299999 meters 0.01429638860979569 Centerline is valid? [True, True] Translation: X:90.87, Y:-29.70, Z:-6.93 [[ 8.14287010e-01 5.77629483e-01 5.72786730e-02 9.08680240e+01] [-5.76204622e-01 8.16299075e-01 -4.05469266e-02 -2.96951296e+01] [-7.01776281e-02 1.25994756e-05 9.97534511e-01 -6.92839563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.95577952299999 meters 0.014403526362070575 Centerline is valid? [True, True] Translation: X:90.89, Y:-29.71, Z:-6.94 [[ 8.14249736e-01 5.77824481e-01 5.58232639e-02 9.08933571e+01] [-5.76471001e-01 8.16161056e-01 -3.95261369e-02 -2.97114709e+01] [-6.83999435e-02 3.65371638e-06 9.97657981e-01 -6.93659231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98577952299999 meters 0.017313915181465193 Centerline is valid? [True, True] Translation: X:90.92, Y:-29.73, Z:-6.94 [[ 8.14495808e-01 5.77595834e-01 5.45859919e-02 9.09188417e+01] [-5.76300038e-01 8.16322884e-01 -3.86680182e-02 -2.97300402e+01] [-6.68942805e-02 3.70295456e-05 9.97760068e-01 -6.94494500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01577952299999 meters 0.014318662594058751 Centerline is valid? [True, True] Translation: X:90.94, Y:-29.75, Z:-6.94 [[ 8.13671215e-01 5.78562658e-01 5.66074580e-02 9.09415268e+01] [-5.77169800e-01 8.15637941e-01 -4.01219643e-02 -2.97545555e+01] [-6.93842608e-02 -2.60277579e-05 9.97590008e-01 -6.94287205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.045779523 meters 0.014396132216913384 Centerline is valid? [True, True] Translation: X:90.96, Y:-29.78, Z:-6.94 [[ 8.13528651e-01 5.78711375e-01 5.71338546e-02 9.09637987e+01] [-5.77291225e-01 8.15532429e-01 -4.05178718e-02 -2.97772582e+01] [-7.00426646e-02 -2.04232987e-05 9.97543996e-01 -6.94242637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.075779523 meters 0.014352961940559001 Centerline is valid? [True, True] Translation: X:90.99, Y:-29.80, Z:-6.94 [[ 8.13184383e-01 5.79187592e-01 5.72092007e-02 9.09885321e+01] [-5.77764167e-01 8.15194290e-01 -4.05812345e-02 -2.97995436e+01] [-7.01407612e-02 -5.34000610e-05 9.97537102e-01 -6.94143331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.105779523 meters 0.014266688274212196 Centerline is valid? [True, True] Translation: X:91.02, Y:-29.82, Z:-6.94 [[ 8.12920769e-01 5.79504218e-01 5.77467311e-02 9.10150893e+01] [-5.78052947e-01 8.14969237e-01 -4.09869877e-02 -2.98197337e+01] [-7.08139416e-02 -6.14945036e-05 9.97489540e-01 -6.94277365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.135779523 meters 0.01780669807710009 Centerline is valid? [True, True] Translation: X:91.04, Y:-29.84, Z:-6.95 [[ 8.12311127e-01 5.80345761e-01 5.78742654e-02 9.10414549e+01] [-5.78888414e-01 8.14370177e-01 -4.11025462e-02 -2.98372013e+01] [-7.09847642e-02 -1.14686087e-04 9.97477393e-01 -6.94987542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.165779523 meters 0.01786111757786381 Centerline is valid? [True, True] Translation: X:91.07, Y:-29.86, Z:-6.95 [[ 8.11373759e-01 5.81641101e-01 5.80194136e-02 9.10674496e+01] [-5.80178098e-01 8.13445502e-01 -4.12284980e-02 -2.98573988e+01] [-7.11758200e-02 -2.09871623e-04 9.97463763e-01 -6.95228024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.195779523 meters 0.017792967805847 Centerline is valid? [True, True] Translation: X:91.09, Y:-29.88, Z:-6.95 [[ 8.09326192e-01 5.84566737e-01 5.72087842e-02 9.10887960e+01] [-5.83149897e-01 8.11345510e-01 -4.06775262e-02 -2.98811310e+01] [-7.01948189e-02 -4.39909163e-04 9.97533204e-01 -6.95231511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.225779523 meters 0.014747820504890076 Centerline is valid? [True, True] Translation: X:91.11, Y:-29.90, Z:-6.95 [[ 8.08159248e-01 5.86131363e-01 5.76945067e-02 9.11138003e+01] [-5.84692917e-01 8.10215840e-01 -4.10424884e-02 -2.99029406e+01] [-7.08012929e-02 -5.64702894e-04 9.97490280e-01 -6.95077494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25577952299999 meters 0.01833447058715159 Centerline is valid? [True, True] Translation: X:91.14, Y:-29.92, Z:-6.96 [[ 8.08385178e-01 5.85930709e-01 5.65562347e-02 9.11374307e+01] [-5.84546254e-01 8.10360993e-01 -4.02583881e-02 -2.99230970e+01] [-6.94195924e-02 -5.15450916e-04 9.97587417e-01 -6.95689647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28577952299999 meters 0.014755351239824818 Centerline is valid? [True, True] Translation: X:91.16, Y:-29.94, Z:-6.96 [[ 8.08553342e-01 5.85750455e-01 5.60169432e-02 9.11628352e+01] [-5.84391253e-01 8.10491312e-01 -3.98835420e-02 -2.99445804e+01] [-6.87630486e-02 -4.87840489e-04 9.97632901e-01 -6.96103590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31577952299999 meters 0.014751755598568545 Centerline is valid? [True, True] Translation: X:91.19, Y:-29.97, Z:-6.97 [[ 8.09001058e-01 5.85210886e-01 5.51861158e-02 9.11885098e+01] [-5.83888922e-01 8.10881030e-01 -3.93151543e-02 -2.99653515e+01] [-6.77570307e-02 -4.16560243e-04 9.97701765e-01 -6.96672890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.34577952299999 meters 0.0147121745533742 Centerline is valid? [True, True] Translation: X:91.21, Y:-29.99, Z:-6.97 [[ 8.09200293e-01 5.84940536e-01 5.51312538e-02 9.12134789e+01] [-5.83618992e-01 8.11076093e-01 -3.92993955e-02 -2.99872126e+01] [-6.77034514e-02 -3.74564450e-04 9.97705419e-01 -6.97045643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37577952299999 meters 0.014686001808380856 Centerline is valid? [True, True] Translation: X:91.23, Y:-30.01, Z:-6.97 [[ 8.08781170e-01 5.85275860e-01 5.76644258e-02 9.12347567e+01] [-5.83828881e-01 8.10834143e-01 -4.11318637e-02 -3.00107022e+01] [-7.08297722e-02 -3.99480315e-04 9.97488338e-01 -6.97026430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.40577952299999 meters 0.014686001808380856 Centerline is valid? [True, True] Translation: X:91.26, Y:-30.03, Z:-6.97 [[ 8.08616944e-01 5.85503629e-01 5.76553336e-02 9.12609942e+01] [-5.84056320e-01 8.10669684e-01 -4.11446040e-02 -3.00295221e+01] [-7.08297461e-02 -4.03738048e-04 9.97488338e-01 -6.97290345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.435779523 meters 0.014648358092967153 Centerline is valid? [True, True] Translation: X:91.29, Y:-30.05, Z:-6.97 [[ 8.08141208e-01 5.85948205e-01 5.97702982e-02 9.12858556e+01] [-5.84391865e-01 8.10348388e-01 -4.26806617e-02 -3.00506447e+01] [-7.34434219e-02 -4.37274522e-04 9.97299289e-01 -6.97248870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.465779523 meters 0.01801156646986593 Centerline is valid? [True, True] Translation: X:91.31, Y:-30.07, Z:-6.97 [[ 8.08068454e-01 5.85966922e-01 6.05651743e-02 9.13088280e+01] [-5.84367226e-01 8.10334859e-01 -4.32707846e-02 -3.00743984e+01] [-7.44333205e-02 -4.26546946e-04 9.97225902e-01 -6.97402858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.495779523 meters 0.017603863108984468 Centerline is valid? [True, True] Translation: X:91.33, Y:-30.10, Z:-6.98 [[ 8.08157554e-01 5.85901852e-01 6.00032315e-02 9.13337241e+01] [-5.84329712e-01 8.10381924e-01 -4.28943440e-02 -3.00960535e+01] [-7.37574098e-02 -3.96282829e-04 9.97276134e-01 -6.97633138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.525779523 meters 0.01797012701817605 Centerline is valid? [True, True] Translation: X:91.36, Y:-30.12, Z:-6.98 [[ 8.08330159e-01 5.85709512e-01 5.95543535e-02 9.13582718e+01] [-5.84158462e-01 8.10520969e-01 -4.25987148e-02 -3.01164719e+01] [-7.32205247e-02 -3.55353590e-04 9.97315712e-01 -6.98046630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.555779523 meters 0.01766645033710182 Centerline is valid? [True, True] Translation: X:91.38, Y:-30.14, Z:-6.98 [[ 8.07928672e-01 5.86242425e-01 5.97585073e-02 9.13825975e+01] [-5.84680446e-01 8.10135587e-01 -4.27680544e-02 -3.01389947e+01] [-7.34849413e-02 -3.86093299e-04 9.97296252e-01 -6.98448165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.585779523 meters 0.01761660164010369 Centerline is valid? [True, True] Translation: X:91.41, Y:-30.16, Z:-6.99 [[ 8.07324469e-01 5.87116814e-01 5.93384247e-02 9.14077268e+01] [-5.85577253e-01 8.09502101e-01 -4.24927067e-02 -3.01595721e+01] [-7.29827620e-02 -4.41829862e-04 9.97333104e-01 -6.98849610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.615779523 meters 0.015242687109380837 Centerline is valid? [True, True] Translation: X:91.43, Y:-30.18, Z:-6.99 [[ 8.05993687e-01 5.89029110e-01 5.84712214e-02 9.14326317e+01] [-5.87537461e-01 8.08111605e-01 -4.18970968e-02 -3.01782944e+01] [-7.19298822e-02 -5.85237361e-04 9.97409519e-01 -6.99114762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64577952299999 meters 0.015492057254740482 Centerline is valid? [True, True] Translation: X:91.46, Y:-30.20, Z:-7.00 [[ 8.04534413e-01 5.91114673e-01 5.75136641e-02 9.14563521e+01] [-5.89675476e-01 8.06587188e-01 -4.12303508e-02 -3.02003238e+01] [-7.07616499e-02 -7.43161163e-04 9.97492976e-01 -6.99526659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67577952299999 meters 0.01828469622629633 Centerline is valid? [True, True] Translation: X:91.48, Y:-30.22, Z:-7.00 [[ 8.03969082e-01 5.91831022e-01 5.80496020e-02 9.14825624e+01] [-5.90365081e-01 8.06061665e-01 -4.16372703e-02 -3.02184030e+01] [-7.14337871e-02 -7.95380063e-04 9.97445027e-01 -6.99916872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.70577952299999 meters 0.015988470554116594 Centerline is valid? [True, True] Translation: X:91.51, Y:-30.24, Z:-7.00 [[ 8.02525937e-01 5.93577774e-01 6.01460511e-02 9.15096801e+01] [-5.92007620e-01 8.04776044e-01 -4.31566591e-02 -3.02372385e+01] [-7.40209347e-02 -9.72582312e-04 9.97256213e-01 -6.99671006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.73577952299999 meters 0.018979523285815557 Centerline is valid? [True, True] Translation: X:91.53, Y:-30.26, Z:-7.00 [[ 8.02223915e-01 5.93800558e-01 6.19490748e-02 9.15333236e+01] [-5.92133244e-01 8.04611643e-01 -4.44783605e-02 -3.02574378e+01] [-7.62562222e-02 -1.00050211e-03 9.97087753e-01 -6.99738468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.76577952299999 meters 0.017663445191411536 Centerline is valid? [True, True] Translation: X:91.56, Y:-30.28, Z:-7.00 [[ 8.01372369e-01 5.94735012e-01 6.39733662e-02 9.15599748e+01] [-5.92958702e-01 8.03921031e-01 -4.59451223e-02 -3.02756438e+01] [-7.87547073e-02 -1.11441270e-03 9.96893402e-01 -6.99662995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.795779523 meters 0.01925633687643135 Centerline is valid? [True, True] Translation: X:91.59, Y:-30.29, Z:-7.00 [[ 8.00283165e-01 5.96011066e-01 6.57089490e-02 9.15869173e+01] [-5.94139064e-01 8.02975243e-01 -4.72179202e-02 -3.02926452e+01] [-8.09050622e-02 -1.25254684e-03 9.96721025e-01 -6.99988111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.825779523 meters 0.019279620116404866 Centerline is valid? [True, True] Translation: X:91.61, Y:-30.31, Z:-7.00 [[ 7.99325498e-01 5.97327213e-01 6.54136715e-02 9.16134539e+01] [-5.95474528e-01 8.01996477e-01 -4.70291049e-02 -3.03106151e+01] [-8.05532983e-02 -1.36061250e-03 9.96749374e-01 -7.00438307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.855779523 meters 0.01938816582013854 Centerline is valid? [True, True] Translation: X:91.64, Y:-30.33, Z:-7.01 [[ 7.98452298e-01 5.98643469e-01 6.40306581e-02 9.16394077e+01] [-5.96870801e-01 8.01014304e-01 -4.60579274e-02 -3.03284594e+01] [-7.88617504e-02 -1.44297218e-03 9.96884518e-01 -7.00918728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.885779523 meters 0.02024964206929759 Centerline is valid? [True, True] Translation: X:91.67, Y:-30.35, Z:-7.01 [[ 7.98069488e-01 5.99241515e-01 6.32036386e-02 9.16657515e+01] [-5.97514449e-01 8.00566964e-01 -4.54864642e-02 -3.03459473e+01] [-7.78561228e-02 -1.46372816e-03 9.96963531e-01 -7.01312447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.915779523 meters 0.020190193290316773 Centerline is valid? [True, True] Translation: X:91.69, Y:-30.37, Z:-7.02 [[ 7.99176523e-01 5.97911980e-01 6.17911694e-02 9.16889780e+01] [-5.96255503e-01 8.01560737e-01 -4.44945054e-02 -3.03661197e+01] [-7.61331731e-02 -1.28436059e-03 9.97096831e-01 -7.01626304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.945779523 meters 0.017067297621401387 Centerline is valid? [True, True] Translation: X:91.71, Y:-30.39, Z:-7.02 [[ 7.99611339e-01 5.97328057e-01 6.18134173e-02 9.17145472e+01] [-5.95667058e-01 8.01996086e-01 -4.45312648e-02 -3.03860662e+01] [-7.61738927e-02 -1.21251214e-03 9.97093811e-01 -7.01782290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.975779523 meters 0.016342057037834687 Centerline is valid? [True, True] Translation: X:91.74, Y:-30.41, Z:-7.02 [[ 8.01597113e-01 5.94663473e-01 6.17852846e-02 9.17377460e+01] [-5.92994350e-01 8.03974172e-01 -4.45334950e-02 -3.04064441e+01] [-7.61562158e-02 -9.40403574e-04 9.97095455e-01 -7.02117932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00577952299999 meters 0.018395836429941914 Centerline is valid? [True, True] Translation: X:91.76, Y:-30.43, Z:-7.02 [[ 8.02835188e-01 5.92884155e-01 6.28015874e-02 9.17625974e+01] [-5.91152483e-01 8.05287396e-01 -4.52874345e-02 -3.04270918e+01] [-7.74235291e-02 -7.66968311e-04 9.96997998e-01 -7.02397724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03577952299999 meters 0.017343179706163996 Centerline is valid? [True, True] Translation: X:91.79, Y:-30.45, Z:-7.02 [[ 8.03869364e-01 5.91035032e-01 6.68702898e-02 9.17876521e+01] [-5.89062843e-01 8.06645661e-01 -4.82467105e-02 -3.04484073e+01] [-8.24561252e-02 -6.06750461e-04 9.96594511e-01 -7.02121383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.06577952299999 meters 0.0178521272865306 Centerline is valid? [True, True] Translation: X:91.81, Y:-30.47, Z:-7.02 [[ 8.04625334e-01 5.89887759e-01 6.79006940e-02 9.18123789e+01] [-5.87848009e-01 8.07485111e-01 -4.90154385e-02 -3.04674259e+01] [-8.37424066e-02 -4.76224237e-04 9.96487322e-01 -7.02322449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.09577952299999 meters 0.01773447073595209 Centerline is valid? [True, True] Translation: X:91.84, Y:-30.49, Z:-7.03 [[ 8.05430977e-01 5.88763292e-01 6.81082004e-02 9.18383908e+01] [-5.86705777e-01 8.08305428e-01 -4.91799400e-02 -3.04881186e+01] [-8.40075714e-02 -3.48427442e-04 9.96465055e-01 -7.02636507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.12577952299999 meters 0.017988111662867293 Centerline is valid? [True, True] Translation: X:91.86, Y:-30.51, Z:-7.03 [[ 8.06693996e-01 5.87137950e-01 6.71850021e-02 9.18629130e+01] [-5.85127996e-01 8.09486877e-01 -4.85409518e-02 -3.05076638e+01] [-8.28856124e-02 -1.54131215e-04 9.96559056e-01 -7.03050422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.15577952299999 meters 0.018288436431515315 Centerline is valid? [True, True] Translation: X:91.89, Y:-30.53, Z:-7.03 [[ 8.08138947e-01 5.85138238e-01 6.72657809e-02 9.18886667e+01] [-5.83115331e-01 8.10933560e-01 -4.86135066e-02 -3.05276554e+01] [-8.29937007e-02 6.27600101e-05 9.96550070e-01 -7.03442832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.185779523 meters 0.015071676543711835 Centerline is valid? [True, True] Translation: X:91.92, Y:-30.55, Z:-7.03 [[ 8.07961230e-01 5.85166713e-01 6.91271910e-02 9.19155988e+01] [-5.83027664e-01 8.10913010e-01 -4.99883217e-02 -3.05476307e+01] [-8.53076405e-02 8.55611957e-05 9.96354655e-01 -7.03321139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.215779523 meters 0.017774669296242974 Centerline is valid? [True, True] Translation: X:91.94, Y:-30.57, Z:-7.04 [[ 8.10723178e-01 5.81274374e-01 6.96278006e-02 9.19381807e+01] [-5.79087288e-01 8.13707459e-01 -5.03794020e-02 -3.05690416e+01] [-8.59409160e-02 5.23174642e-04 9.96300098e-01 -7.03538960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.245779523 meters 0.015558207504879237 Centerline is valid? [True, True] Translation: X:91.96, Y:-30.59, Z:-7.04 [[ 8.11067111e-01 5.80736845e-01 7.01060455e-02 9.19646797e+01] [-5.78515458e-01 8.14091120e-01 -5.07495181e-02 -3.05893071e+01] [-8.65448241e-02 6.03834016e-04 9.96247775e-01 -7.03630353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.275779523 meters 0.017545963982799014 Centerline is valid? [True, True] Translation: X:91.99, Y:-30.61, Z:-7.04 [[ 8.13006009e-01 5.78090949e-01 6.95131934e-02 9.19885128e+01] [-5.75894946e-01 8.15971840e-01 -5.03484642e-02 -3.06102426e+01] [-8.58267997e-02 9.01307159e-04 9.96309665e-01 -7.04206050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.305779523 meters 0.016470513400023833 Centerline is valid? [True, True] Translation: X:92.01, Y:-30.63, Z:-7.04 [[ 8.14090471e-01 5.76592890e-01 6.92628664e-02 9.20120491e+01] [-5.74405163e-01 8.17030894e-01 -5.01918983e-02 -3.06329608e+01] [-8.55301934e-02 1.07579802e-03 9.96334998e-01 -7.04408246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.335779523 meters 0.017448796579564115 Centerline is valid? [True, True] Translation: X:92.04, Y:-30.65, Z:-7.05 [[ 8.14382397e-01 5.76336387e-01 6.79535222e-02 9.20370965e+01] [-5.74227834e-01 8.17211818e-01 -4.92670068e-02 -3.06532821e+01] [-8.39267901e-02 1.10137923e-03 9.96471315e-01 -7.04888970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.365779523 meters 0.0161556969465553 Centerline is valid? [True, True] Translation: X:92.06, Y:-30.67, Z:-7.05 [[ 8.13543490e-01 5.77540922e-01 6.77751619e-02 9.20635389e+01] [-5.75445277e-01 8.16361126e-01 -4.91654838e-02 -3.06716053e+01] [-8.37240864e-02 9.97362473e-04 9.96488476e-01 -7.05216609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39577952299999 meters 0.018086326085605064 Centerline is valid? [True, True] Translation: X:92.09, Y:-30.69, Z:-7.06 [[ 8.11977128e-01 5.79391100e-01 7.07042880e-02 9.20917931e+01] [-5.77114660e-01 8.15049205e-01 -5.13172747e-02 -3.06888705e+01] [-8.73602459e-02 8.63972201e-04 9.96176411e-01 -7.05641327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42577952299999 meters 0.015624212117095254 Centerline is valid? [True, True] Translation: X:92.12, Y:-30.71, Z:-7.05 [[ 8.09859028e-01 5.81893999e-01 7.43486986e-02 9.21193702e+01] [-5.79383864e-01 8.13264379e-01 -5.39943363e-02 -3.07058485e+01] [-9.18841284e-02 6.51364414e-04 9.95769493e-01 -7.05422598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45577952299999 meters 0.015631951875303415 Centerline is valid? [True, True] Translation: X:92.14, Y:-30.72, Z:-7.05 [[ 8.07400881e-01 5.84912649e-01 7.73369955e-02 9.21445323e+01] [-5.82207146e-01 8.11096218e-01 -5.61939972e-02 -3.07247346e+01] [-9.55963243e-02 3.44931463e-04 9.95420124e-01 -7.05151809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.48577952299999 meters 0.015582354722573393 Centerline is valid? [True, True] Translation: X:92.17, Y:-30.74, Z:-7.06 [[ 8.06157119e-01 5.86712800e-01 7.66732610e-02 9.21697494e+01] [-5.84059234e-01 8.09795077e-01 -5.57381726e-02 -3.07435355e+01] [-9.47919287e-02 1.51998567e-04 9.95497096e-01 -7.05502750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.51577952299999 meters 0.017911478440701376 Centerline is valid? [True, True] Translation: X:92.19, Y:-30.76, Z:-7.06 [[ 8.05714747e-01 5.87509143e-01 7.52113905e-02 9.21940416e+01] [-5.84956961e-01 8.09217523e-01 -5.47024128e-02 -3.07624599e+01] [-9.30005429e-02 7.91143130e-05 9.95666055e-01 -7.05981233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.545779523 meters 0.017848835784891444 Centerline is valid? [True, True] Translation: X:92.22, Y:-30.78, Z:-7.06 [[ 8.05293214e-01 5.88182275e-01 7.44610736e-02 9.22192318e+01] [-5.85681407e-01 8.08728391e-01 -5.41819061e-02 -3.07818503e+01] [-9.20876210e-02 2.18549970e-05 9.95750907e-01 -7.06457591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.575779523 meters 0.017767681916659436 Centerline is valid? [True, True] Translation: X:92.24, Y:-30.80, Z:-7.07 [[ 8.05767817e-01 5.87580538e-01 7.40765592e-02 9.22440812e+01] [-5.85100527e-01 8.09165681e-01 -5.39284205e-02 -3.08014702e+01] [-9.16274998e-02 1.11551816e-04 9.95793346e-01 -7.06791252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.605779523 meters 0.017828337679720897 Centerline is valid? [True, True] Translation: X:92.27, Y:-30.82, Z:-7.07 [[ 8.06425721e-01 5.86710639e-01 7.38118099e-02 9.22694515e+01] [-5.84242946e-01 8.09796626e-01 -5.37550467e-02 -3.08210152e+01] [-9.13112124e-02 2.25423014e-04 9.95822380e-01 -7.07079266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.635779523 meters 0.015547116891157023 Centerline is valid? [True, True] Translation: X:92.30, Y:-30.84, Z:-7.07 [[ 8.06426872e-01 5.86439561e-01 7.59232578e-02 9.22966663e+01] [-5.83825157e-01 8.09992940e-01 -5.53138638e-02 -3.08388283e+01] [-9.39355408e-02 2.80678228e-04 9.95578242e-01 -7.07201441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.665779523 meters 0.01879124523311492 Centerline is valid? [True, True] Translation: X:92.32, Y:-30.86, Z:-7.08 [[ 8.07450175e-01 5.84966768e-01 7.64074279e-02 9.23215671e+01] [-5.82309633e-01 8.11057120e-01 -5.56941554e-02 -3.08587548e+01] [-9.45500185e-02 4.77474226e-04 9.95519998e-01 -7.07673811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.695779523 meters 0.018463881452555255 Centerline is valid? [True, True] Translation: X:92.35, Y:-30.88, Z:-7.08 [[ 8.08023387e-01 5.84045817e-01 7.73866283e-02 9.23452510e+01] [-5.81313060e-01 8.11720460e-01 -5.64359892e-02 -3.08784999e+01] [-9.57775129e-02 6.15741400e-04 9.95402576e-01 -7.07768930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.725779523 meters 0.01727287023547921 Centerline is valid? [True, True] Translation: X:92.37, Y:-30.90, Z:-7.08 [[ 8.07967372e-01 5.84219989e-01 7.66533067e-02 9.23711021e+01] [-5.81537229e-01 8.11595115e-01 -5.59269187e-02 -3.08972437e+01] [-9.48850731e-02 6.10373981e-04 9.95488046e-01 -7.08161333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75577952299999 meters 0.01563736866879584 Centerline is valid? [True, True] Translation: X:92.40, Y:-30.92, Z:-7.09 [[ 8.07437652e-01 5.84980179e-01 7.64370841e-02 9.23982712e+01] [-5.82313279e-01 8.11047407e-01 -5.57973899e-02 -3.09156445e+01] [-9.46344660e-02 5.42584413e-04 9.95511940e-01 -7.08521476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78577952299999 meters 0.015501926196943194 Centerline is valid? [True, True] Translation: X:92.43, Y:-30.93, Z:-7.09 [[ 8.07667513e-01 5.84760597e-01 7.56850844e-02 9.24252549e+01] [-5.82142117e-01 8.11205706e-01 -5.52798103e-02 -3.09339477e+01] [-9.37216272e-02 5.88231621e-04 9.95598268e-01 -7.09232970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81577952299999 meters 0.01760432342019786 Centerline is valid? [True, True] Translation: X:92.45, Y:-30.95, Z:-7.10 [[ 8.08643758e-01 5.83584096e-01 7.43295095e-02 9.24499741e+01] [-5.81050980e-01 8.12052376e-01 -5.43203282e-02 -3.09540642e+01] [-9.20599344e-02 7.36560019e-04 9.95753195e-01 -7.09749098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84577952299999 meters 0.018104972420014694 Centerline is valid? [True, True] Translation: X:92.48, Y:-30.97, Z:-7.10 [[ 8.08950717e-01 5.83300960e-01 7.32033387e-02 9.24755518e+01] [-5.80840452e-01 8.12255737e-01 -5.35255795e-02 -3.09736212e+01] [-9.06813537e-02 7.80095524e-04 9.95879653e-01 -7.10128289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87577952299999 meters 0.015679504807681568 Centerline is valid? [True, True] Translation: X:92.50, Y:-30.99, Z:-7.10 [[ 8.09002694e-01 5.83100181e-01 7.42214283e-02 9.25004723e+01] [-5.80567175e-01 8.12399827e-01 -5.42980367e-02 -3.09943316e+01] [-9.19586706e-02 8.36733008e-04 9.95762473e-01 -7.09959991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90577952299999 meters 0.018448074052780292 Centerline is valid? [True, True] Translation: X:92.52, Y:-31.01, Z:-7.10 [[ 8.10537546e-01 5.81063704e-01 7.34428893e-02 9.25239281e+01] [-5.78572862e-01 8.13857363e-01 -5.37553288e-02 -3.10138575e+01] [-9.10073067e-02 1.07864958e-03 9.95849641e-01 -7.10313788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.935779523 meters 0.01903638841982336 Centerline is valid? [True, True] Translation: X:92.55, Y:-31.03, Z:-7.11 [[ 8.12837420e-01 5.78098167e-01 7.13991487e-02 9.25492756e+01] [-5.75730717e-01 8.15966037e-01 -5.22835401e-02 -3.10325531e+01] [-8.84842991e-02 1.39133479e-03 9.96076600e-01 -7.11054424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.965779523 meters 0.019025577079797067 Centerline is valid? [True, True] Translation: X:92.58, Y:-31.05, Z:-7.12 [[ 8.13757705e-01 5.76912653e-01 7.04995641e-02 9.25757937e+01] [-5.74597908e-01 8.16804428e-01 -5.16504576e-02 -3.10505571e+01] [-8.73821587e-02 1.52205576e-03 9.96173701e-01 -7.11627823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.995779523 meters 0.017606589054301323 Centerline is valid? [True, True] Translation: X:92.60, Y:-31.07, Z:-7.12 [[ 8.14360842e-01 5.76023787e-01 7.08026585e-02 9.26021656e+01] [-5.73683458e-01 8.17431275e-01 -5.18979806e-02 -3.10677004e+01] [-8.77707787e-02 1.64536918e-03 9.96139339e-01 -7.12028390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.025779523 meters 0.019734374706419366 Centerline is valid? [True, True] Translation: X:92.63, Y:-31.09, Z:-7.12 [[ 8.17264597e-01 5.71990439e-01 7.00393929e-02 9.26254247e+01] [-5.69684283e-01 8.20257678e-01 -5.13532873e-02 -3.10877402e+01] [-8.68239390e-02 2.06888235e-03 9.96221523e-01 -7.12462658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.055779523 meters 0.020990017567759287 Centerline is valid? [True, True] Translation: X:92.65, Y:-31.11, Z:-7.13 [[ 8.18718484e-01 5.69997153e-01 6.93057644e-02 9.26501496e+01] [-5.67729967e-01 8.21643515e-01 -5.08391482e-02 -3.11085174e+01] [-8.59228016e-02 2.27599100e-03 9.96299198e-01 -7.12751257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.085779523 meters 0.0214636880748624 Centerline is valid? [True, True] Translation: X:92.68, Y:-31.13, Z:-7.13 [[ 8.20798100e-01 5.67217881e-01 6.74859546e-02 9.26750759e+01] [-5.65056988e-01 8.23563919e-01 -4.95284992e-02 -3.11285263e+01] [-8.36724476e-02 2.51948780e-03 9.96490127e-01 -7.13124785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.115779523 meters 0.02232632900042193 Centerline is valid? [True, True] Translation: X:92.70, Y:-31.15, Z:-7.13 [[ 8.21493956e-01 5.66311756e-01 6.66233875e-02 9.27007424e+01] [-5.64200873e-01 8.24187020e-01 -4.89196349e-02 -3.11468402e+01] [-8.26138956e-02 2.59821103e-03 9.96578243e-01 -7.13475819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14577952299999 meters 0.021997658316604125 Centerline is valid? [True, True] Translation: X:92.73, Y:-31.16, Z:-7.14 [[ 8.22356254e-01 5.65099006e-01 6.62820033e-02 9.27283420e+01] [-5.63003835e-01 8.25018595e-01 -4.86929022e-02 -3.11624474e+01] [-8.22001959e-02 2.72589064e-03 9.96612110e-01 -7.13869431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17577952299999 meters 0.021514239685440792 Centerline is valid? [True, True] Translation: X:92.75, Y:-31.18, Z:-7.14 [[ 8.22545760e-01 5.64673947e-01 6.75411463e-02 9.27539708e+01] [-5.62495654e-01 8.25309220e-01 -4.96319601e-02 -3.11799268e+01] [-8.37682056e-02 2.83295709e-03 9.96481240e-01 -7.14088076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20577952299999 meters 0.020406986145128796 Centerline is valid? [True, True] Translation: X:92.78, Y:-31.20, Z:-7.14 [[ 8.22782842e-01 5.64387131e-01 6.70489538e-02 9.27817176e+01] [-5.62237626e-01 8.25505290e-01 -4.92936911e-02 -3.11957504e+01] [-8.31699909e-02 2.86055860e-03 9.96531269e-01 -7.14471356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23577952299999 meters 0.020987748696882892 Centerline is valid? [True, True] Translation: X:92.81, Y:-31.21, Z:-7.15 [[ 8.23018693e-01 5.64252766e-01 6.52613748e-02 9.28083312e+01] [-5.62214169e-01 8.25597287e-01 -4.80036167e-02 -3.12122427e+01] [-8.09657875e-02 2.81700425e-03 9.96712900e-01 -7.15032179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26577952299999 meters 0.021148063653432803 Centerline is valid? [True, True] Translation: X:92.83, Y:-31.23, Z:-7.15 [[ 8.22556003e-01 5.65030374e-01 6.43606960e-02 9.28343083e+01] [-5.63049042e-01 8.25065641e-01 -4.73546560e-02 -3.12298581e+01] [-7.98586179e-02 2.71362829e-03 9.96802507e-01 -7.15427669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.295779523 meters 0.021148063653432803 Centerline is valid? [True, True] Translation: X:92.86, Y:-31.25, Z:-7.16 [[ 8.22401206e-01 5.65256950e-01 6.43493348e-02 9.28602716e+01] [-5.63275104e-01 8.24910439e-01 -4.73700895e-02 -3.12490664e+01] [-7.98587103e-02 2.71084057e-03 9.96802507e-01 -7.15691770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.325779523 meters 0.020575313443120958 Centerline is valid? [True, True] Translation: X:92.89, Y:-31.27, Z:-7.16 [[ 8.21817036e-01 5.66172534e-01 6.37606563e-02 9.28869159e+01] [-5.64227457e-01 8.24282595e-01 -4.69636022e-02 -3.12664805e+01] [-7.91463009e-02 2.61997538e-03 9.96859568e-01 -7.15985399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.355779523 meters 0.02108784336740264 Centerline is valid? [True, True] Translation: X:92.91, Y:-31.29, Z:-7.16 [[ 8.20857938e-01 5.67589151e-01 6.35200834e-02 9.29116168e+01] [-5.65661098e-01 8.23308167e-01 -4.68100962e-02 -3.12853170e+01] [-7.88655062e-02 2.49359889e-03 9.96882146e-01 -7.16016268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.385779523 meters 0.022122993284053698 Centerline is valid? [True, True] Translation: X:92.94, Y:-31.30, Z:-7.16 [[ 8.21054882e-01 5.67412868e-01 6.25421265e-02 9.29384562e+01] [-5.65541667e-01 8.23429682e-01 -4.61105313e-02 -3.13035060e+01] [-7.76627521e-02 2.48909841e-03 9.96976580e-01 -7.16319420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.415779523 meters 0.020514793041609018 Centerline is valid? [True, True] Translation: X:92.96, Y:-31.32, Z:-7.17 [[ 8.20085518e-01 5.68857117e-01 6.21395458e-02 9.29647910e+01] [-5.67012264e-01 8.22432992e-01 -4.58373892e-02 -3.13202108e+01] [-7.71805376e-02 2.35669450e-03 9.97014348e-01 -7.16717735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.445779523 meters 0.02051789434038428 Centerline is valid? [True, True] Translation: X:92.99, Y:-31.34, Z:-7.17 [[ 8.19537575e-01 5.69757689e-01 6.11092386e-02 9.29904518e+01] [-5.67975121e-01 8.21809672e-01 -4.50901845e-02 -3.13367167e+01] [-7.59106427e-02 2.24457333e-03 9.97112098e-01 -7.17263537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.475779523 meters 0.020175577428425656 Centerline is valid? [True, True] Translation: X:93.02, Y:-31.35, Z:-7.18 [[ 8.18659086e-01 5.71049332e-01 6.08272999e-02 9.30172140e+01] [-5.69285848e-01 8.20912995e-01 -4.48940776e-02 -3.13537351e+01] [-7.55706540e-02 2.12482352e-03 9.97138186e-01 -7.17778317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50577952299999 meters 0.019835472443965742 Centerline is valid? [True, True] Translation: X:93.04, Y:-31.37, Z:-7.18 [[ 8.17787509e-01 5.72300212e-01 6.07952044e-02 9.30438494e+01] [-5.70540366e-01 8.20041683e-01 -4.48924217e-02 -3.13717335e+01] [-7.55465442e-02 2.02634358e-03 9.97140218e-01 -7.18147784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53577952299999 meters 0.019427858751259998 Centerline is valid? [True, True] Translation: X:93.07, Y:-31.39, Z:-7.18 [[ 8.16977232e-01 5.73350329e-01 6.17867485e-02 9.30705380e+01] [-5.71533765e-01 8.19307928e-01 -4.56472814e-02 -3.13901466e+01] [-7.67942568e-02 1.97957660e-03 9.97044996e-01 -7.18231250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.56577952299999 meters 0.0208956082769865 Centerline is valid? [True, True] Translation: X:93.10, Y:-31.41, Z:-7.18 [[ 8.17337019e-01 5.72880394e-01 6.13860915e-02 9.30961594e+01] [-5.71084342e-01 8.19636467e-01 -4.53732912e-02 -3.14085980e+01] [-7.63077481e-02 2.02863488e-03 9.97082249e-01 -7.18443822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59577952299999 meters 0.019951195047148998 Centerline is valid? [True, True] Translation: X:93.12, Y:-31.43, Z:-7.19 [[ 8.17606124e-01 5.72506393e-01 6.12915734e-02 9.31200299e+01] [-5.70713100e-01 8.19897621e-01 -4.53260348e-02 -3.14280194e+01] [-7.62022599e-02 2.07893971e-03 9.97090213e-01 -7.18507549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.62577952299999 meters 0.019486948132319968 Centerline is valid? [True, True] Translation: X:93.15, Y:-31.45, Z:-7.19 [[ 8.17861792e-01 5.72130567e-01 6.13897699e-02 9.31459155e+01] [-5.70328872e-01 8.20159776e-01 -4.54193725e-02 -3.14464443e+01] [-7.63352313e-02 2.13441115e-03 9.97079925e-01 -7.18768272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.65577952299999 meters 0.022020537177661285 Centerline is valid? [True, True] Translation: X:93.17, Y:-31.47, Z:-7.19 [[ 8.19339921e-01 5.69822380e-01 6.31232857e-02 9.31708970e+01] [-5.67908583e-01 8.21764273e-01 -4.67260167e-02 -3.14660901e+01] [-7.84979910e-02 2.43623512e-03 9.96911295e-01 -7.19053622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.685779523 meters 0.02335353602784234 Centerline is valid? [True, True] Translation: X:93.20, Y:-31.49, Z:-7.19 [[ 8.19932620e-01 5.68812649e-01 6.45187452e-02 9.31951882e+01] [-5.66808280e-01 8.22462992e-01 -4.77807694e-02 -3.14858225e+01] [-8.02425862e-02 2.60725249e-03 9.96771955e-01 -7.19252372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.715779523 meters 0.022938411266216603 Centerline is valid? [True, True] Translation: X:93.22, Y:-31.50, Z:-7.19 [[ 8.20606083e-01 5.67768099e-01 6.51539861e-02 9.32214262e+01] [-5.65718891e-01 8.23183939e-01 -4.82735934e-02 -3.15035598e+01] [-8.10419212e-02 2.75476369e-03 9.96706887e-01 -7.19451734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.745779523 meters 0.021302452136785114 Centerline is valid? [True, True] Translation: X:93.25, Y:-31.52, Z:-7.19 [[ 8.20685294e-01 5.67596744e-01 6.56474257e-02 9.32451624e+01] [-5.65513745e-01 8.23301902e-01 -4.86639686e-02 -3.15230565e+01] [-8.16691606e-02 2.81328176e-03 9.96655524e-01 -7.19443441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.775779523 meters 0.023652220124381753 Centerline is valid? [True, True] Translation: X:93.27, Y:-31.55, Z:-7.20 [[ 8.22536191e-01 5.65146230e-01 6.35920791e-02 9.32681423e+01] [-5.63183103e-01 8.24985385e-01 -4.71583249e-02 -3.15458530e+01] [-7.91138854e-02 2.97544455e-03 9.96861144e-01 -7.19641752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.805779523 meters 0.022921604791824816 Centerline is valid? [True, True] Translation: X:93.29, Y:-31.57, Z:-7.20 [[ 8.22727935e-01 5.64926218e-01 6.30643541e-02 9.32922552e+01] [-5.62993134e-01 8.25136003e-01 -4.67900286e-02 -3.15666013e+01] [-7.84695831e-02 2.99066528e-03 9.96912022e-01 -7.19719606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.835779523 meters 0.02368137026697195 Centerline is valid? [True, True] Translation: X:93.31, Y:-31.59, Z:-7.20 [[ 8.22442786e-01 5.65453402e-01 6.20508882e-02 9.33135744e+01] [-5.63581774e-01 8.24775103e-01 -4.60609702e-02 -3.15894243e+01] [-7.72233601e-02 2.91176304e-03 9.97009566e-01 -7.19826581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.865779523 meters 0.026036962968641546 Centerline is valid? [True, True] Translation: X:93.34, Y:-31.61, Z:-7.20 [[ 8.22792701e-01 5.65016743e-01 6.13860857e-02 9.33377650e+01] [-5.63182253e-01 8.25074207e-01 -4.55884148e-02 -3.16078359e+01] [-7.64062936e-02 2.93826091e-03 9.97072437e-01 -7.20397000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89577952299999 meters 0.023550420223622328 Centerline is valid? [True, True] Translation: X:93.37, Y:-31.62, Z:-7.21 [[ 8.22210073e-01 5.65762114e-01 6.23203566e-02 9.33652141e+01] [-5.63871753e-01 8.24563305e-01 -4.63033778e-02 -3.16233751e+01] [-7.75837761e-02 2.93041497e-03 9.96981530e-01 -7.21012175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92577952299999 meters 0.024129821325642724 Centerline is valid? [True, True] Translation: X:93.39, Y:-31.64, Z:-7.22 [[ 8.22856077e-01 5.64809066e-01 6.24387374e-02 9.33913385e+01] [-5.62907008e-01 8.25216001e-01 -4.64139123e-02 -3.16414510e+01] [-7.77404437e-02 3.04476690e-03 9.96968983e-01 -7.21544881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.95577952299999 meters 0.025322016046069713 Centerline is valid? [True, True] Translation: X:93.41, Y:-31.66, Z:-7.22 [[ 8.22831465e-01 5.64739642e-01 6.33838922e-02 9.34133142e+01] [-5.62777349e-01 8.25263241e-01 -4.71406264e-02 -3.16649865e+01] [-7.89305768e-02 3.11777179e-03 9.96875240e-01 -7.21642565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.98577952299999 meters 0.024825418420056252 Centerline is valid? [True, True] Translation: X:93.44, Y:-31.69, Z:-7.22 [[ 8.24271347e-01 5.62596781e-01 6.37307515e-02 9.34369576e+01] [-5.60605186e-01 8.26724624e-01 -4.74154267e-02 -3.16861618e+01] [-7.93635479e-02 3.35538783e-03 9.96840092e-01 -7.21605401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.01577952299999 meters 0.025915396953818063 Centerline is valid? [True, True] Translation: X:93.46, Y:-31.71, Z:-7.22 [[ 8.24796412e-01 5.61739189e-01 6.44977746e-02 9.34610472e+01] [-5.59694858e-01 8.27306985e-01 -4.80085331e-02 -3.17068158e+01] [-8.03277338e-02 3.49819302e-03 9.96762368e-01 -7.21696206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.045779523 meters 0.02699113450355246 Centerline is valid? [True, True] Translation: X:93.49, Y:-31.73, Z:-7.22 [[ 8.25624067e-01 5.60317550e-01 6.62506162e-02 9.34857371e+01] [-5.58153885e-01 8.28269364e-01 -4.93366097e-02 -3.17278181e+01] [-8.25175241e-02 3.75545352e-03 9.96582538e-01 -7.21559002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.075779523 meters 0.026316897888113616 Centerline is valid? [True, True] Translation: X:93.51, Y:-31.75, Z:-7.22 [[ 8.25684694e-01 5.60120128e-01 6.71582407e-02 9.35100761e+01] [-5.57893914e-01 8.28402460e-01 -5.00374399e-02 -3.17474360e+01] [-8.36610290e-02 3.84797447e-03 9.96486842e-01 -7.21524387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.105779523 meters 0.02713980807225268 Centerline is valid? [True, True] Translation: X:93.54, Y:-31.77, Z:-7.22 [[ 8.26418002e-01 5.58967190e-01 6.77419050e-02 9.35352629e+01] [-5.56696214e-01 8.29180035e-01 -5.04954974e-02 -3.17677767e+01] [-8.43955614e-02 4.01872612e-03 9.96424226e-01 -7.21732691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.135779523 meters 0.029662813618793155 Centerline is valid? [True, True] Translation: X:93.56, Y:-31.79, Z:-7.22 [[ 8.27864231e-01 5.56817427e-01 6.77876643e-02 9.35595707e+01] [-5.54534126e-01 8.30623979e-01 -5.05540278e-02 -3.17882297e+01] [-8.44554231e-02 4.26129821e-03 9.96418147e-01 -7.22219999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.165779523 meters 0.0284300226640801 Centerline is valid? [True, True] Translation: X:93.59, Y:-31.80, Z:-7.23 [[ 8.30021935e-01 5.53604596e-01 6.77166040e-02 9.35871890e+01] [-5.51313651e-01 8.32766942e-01 -5.05220684e-02 -3.18044926e+01] [-8.43613985e-02 4.60133679e-03 9.96424599e-01 -7.22923227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.195779523 meters 0.029164519484760936 Centerline is valid? [True, True] Translation: X:93.61, Y:-31.83, Z:-7.23 [[ 8.30599958e-01 5.52666379e-01 6.82904321e-02 9.36102344e+01] [-5.50332449e-01 8.33389085e-01 -5.09590932e-02 -3.18254512e+01] [-8.50758782e-02 4.74417997e-03 9.96363181e-01 -7.23020598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.225779523 meters 0.029077387616466117 Centerline is valid? [True, True] Translation: X:93.64, Y:-31.85, Z:-7.23 [[ 8.32832547e-01 5.49281327e-01 6.84103305e-02 9.36360372e+01] [-5.46925817e-01 8.35621817e-01 -5.10718097e-02 -3.18450370e+01] [-8.52179561e-02 5.11888948e-03 9.96349184e-01 -7.23208830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25577952299999 meters 0.02757703716256214 Centerline is valid? [True, True] Translation: X:93.66, Y:-31.86, Z:-7.23 [[ 8.34029122e-01 5.47548365e-01 6.77215662e-02 9.36622605e+01] [-5.45233434e-01 8.36757550e-01 -5.05698074e-02 -3.18630956e+01] [-8.43559472e-02 5.25262996e-03 9.96421840e-01 -7.23391185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28577952299999 meters 0.03266255612297906 Centerline is valid? [True, True] Translation: X:93.68, Y:-31.89, Z:-7.24 [[ 8.35493482e-01 5.45434676e-01 6.67207217e-02 9.36821624e+01] [-5.43179155e-01 8.38135911e-01 -4.98457683e-02 -3.18877797e+01] [-8.31086434e-02 5.40450937e-03 9.96525837e-01 -7.23638054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.31577952299999 meters 0.03419163258610263 Centerline is valid? [True, True] Translation: X:93.71, Y:-31.91, Z:-7.24 [[ 8.38159810e-01 5.41363383e-01 6.64365818e-02 9.37055071e+01] [-5.39113257e-01 8.40768759e-01 -4.96466589e-02 -3.19091067e+01] [-8.27346856e-02 5.79499220e-03 9.96554760e-01 -7.23896209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.34577952299999 meters 0.03502545215295086 Centerline is valid? [True, True] Translation: X:93.73, Y:-31.93, Z:-7.24 [[ 8.39310120e-01 5.39605999e-01 6.62109369e-02 9.37310137e+01] [-5.37363849e-01 8.41896525e-01 -4.95008610e-02 -3.19285334e+01] [-8.24537192e-02 5.96720965e-03 9.96577030e-01 -7.24331742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.37577952299999 meters 0.03376481933598657 Centerline is valid? [True, True] Translation: X:93.76, Y:-31.94, Z:-7.25 [[ 8.41338441e-01 5.36562340e-01 6.51957326e-02 9.37602282e+01] [-5.34378274e-01 8.43838042e-01 -4.87567267e-02 -3.19423577e+01] [-8.11756627e-02 6.18172529e-03 9.96680640e-01 -7.25376610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.40577952299999 meters 0.03448580932581739 Centerline is valid? [True, True] Translation: X:93.79, Y:-31.96, Z:-7.26 [[ 8.41772471e-01 5.35985203e-01 6.43348306e-02 9.37851637e+01] [-5.33854934e-01 8.44204793e-01 -4.81370754e-02 -3.19613273e+01] [-8.01125324e-02 6.17499816e-03 9.96766699e-01 -7.25804655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.435779523 meters 0.03618434691950076 Centerline is valid? [True, True] Translation: X:93.81, Y:-31.98, Z:-7.26 [[ 8.41785049e-01 5.36024773e-01 6.38386589e-02 9.38073805e+01] [-5.33925628e-01 8.44179907e-01 -4.77881564e-02 -3.19826855e+01] [-7.95069488e-02 6.14225950e-03 9.96815388e-01 -7.25984747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.465779523 meters 0.034814799981230674 Centerline is valid? [True, True] Translation: X:93.83, Y:-32.00, Z:-7.26 [[ 8.42362706e-01 5.35262159e-01 6.26058464e-02 9.38329150e+01] [-5.33239688e-01 8.44663879e-01 -4.68867508e-02 -3.20014774e+01] [-7.79776005e-02 6.11172828e-03 9.96936377e-01 -7.26046859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.495779523 meters 0.036100433307671376 Centerline is valid? [True, True] Translation: X:93.86, Y:-32.02, Z:-7.26 [[ 8.42559044e-01 5.35058897e-01 6.16946883e-02 9.38563842e+01] [-5.33092795e-01 8.44793032e-01 -4.62255839e-02 -3.20213052e+01] [-7.68526527e-02 6.05878992e-03 9.97024052e-01 -7.26245333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.525779523 meters 0.03861513632495386 Centerline is valid? [True, True] Translation: X:93.88, Y:-32.04, Z:-7.27 [[ 8.43186084e-01 5.34068944e-01 6.17056791e-02 9.38799986e+01] [-5.32097827e-01 8.45418423e-01 -4.62557308e-02 -3.20408527e+01] [-7.68708672e-02 6.16873076e-03 9.97021974e-01 -7.26579861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.555779523 meters 0.03570806341897233 Centerline is valid? [True, True] Translation: X:93.91, Y:-32.06, Z:-7.27 [[ 8.43206099e-01 5.33987550e-01 6.21351044e-02 9.39094792e+01] [-5.31987775e-01 8.45469395e-01 -4.65887159e-02 -3.20554963e+01] [-7.74111235e-02 6.22877340e-03 9.96979799e-01 -7.26803555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.585779523 meters 0.03641979456333815 Centerline is valid? [True, True] Translation: X:93.93, Y:-32.07, Z:-7.27 [[ 8.42645950e-01 5.34808589e-01 6.26703703e-02 9.39337540e+01] [-5.32774490e-01 8.44950291e-01 -4.70143518e-02 -3.20744154e+01] [-7.80970268e-02 6.22727865e-03 9.96926314e-01 -7.27038310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.615779523 meters 0.03712121966755232 Centerline is valid? [True, True] Translation: X:93.96, Y:-32.09, Z:-7.28 [[ 8.42266590e-01 5.35405661e-01 6.26719233e-02 9.39607709e+01] [-5.33372064e-01 8.44572404e-01 -4.70286716e-02 -3.20913762e+01] [-7.81103939e-02 6.18322578e-03 9.96925541e-01 -7.27511419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64577952299999 meters 0.03804994404794177 Centerline is valid? [True, True] Translation: X:93.99, Y:-32.11, Z:-7.28 [[ 8.41866376e-01 5.36025281e-01 6.27527085e-02 9.39856231e+01] [-5.33986295e-01 8.44179502e-01 -4.71126823e-02 -3.21099823e+01] [-7.82281390e-02 6.15349680e-03 9.96916492e-01 -7.27827544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67577952299999 meters 0.038435369463248575 Centerline is valid? [True, True] Translation: X:94.01, Y:-32.13, Z:-7.28 [[ 8.41968101e-01 5.35865892e-01 6.27492010e-02 9.40129633e+01] [-5.33825016e-01 8.44280450e-01 -4.71314547e-02 -3.21267761e+01] [-7.82340626e-02 6.18608817e-03 9.96915826e-01 -7.28340538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.70577952299999 meters 0.03832858338541844 Centerline is valid? [True, True] Translation: X:94.04, Y:-32.14, Z:-7.29 [[ 8.41503641e-01 5.36675001e-01 6.20609855e-02 9.40400417e+01] [-5.34679139e-01 8.43767259e-01 -4.66372321e-02 -3.21436254e+01] [-7.73940641e-02 6.06268629e-03 9.96982148e-01 -7.28733850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.73577952299999 meters 0.03922997729041136 Centerline is valid? [True, True] Translation: X:94.06, Y:-32.16, Z:-7.29 [[ 8.40630287e-01 5.38249199e-01 6.02371939e-02 9.40641647e+01] [-5.36371476e-01 8.42766046e-01 -4.52883225e-02 -3.21627180e+01] [-7.51422650e-02 5.76122299e-03 9.97156181e-01 -7.29059495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.76577952299999 meters 0.039766003868605744 Centerline is valid? [True, True] Translation: X:94.09, Y:-32.18, Z:-7.29 [[ 8.39712678e-01 5.39795107e-01 5.91934190e-02 9.40881660e+01] [-5.37984326e-01 8.41778196e-01 -4.45234028e-02 -3.21817248e+01] [-7.38612444e-02 5.54173419e-03 9.97253130e-01 -7.29277614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.795779523 meters 0.03932008940054718 Centerline is valid? [True, True] Translation: X:94.11, Y:-32.20, Z:-7.30 [[ 8.38841417e-01 5.41193692e-01 5.87746894e-02 9.41145162e+01] [-5.39410544e-01 8.40880656e-01 -4.42265536e-02 -3.21994983e+01] [-7.33576313e-02 5.39537778e-03 9.97291105e-01 -7.29584228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.825779523 meters 0.03832867203254283 Centerline is valid? [True, True] Translation: X:94.14, Y:-32.22, Z:-7.30 [[ 8.37705355e-01 5.42971437e-01 5.85811931e-02 9.41411218e+01] [-5.41203888e-01 8.39734894e-01 -4.40869569e-02 -3.22161741e+01] [-7.31306303e-02 5.22751040e-03 9.97308670e-01 -7.29855548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.855779523 meters 0.035677362038946406 Centerline is valid? [True, True] Translation: X:94.17, Y:-32.23, Z:-7.30 [[ 8.35416142e-01 5.46552203e-01 5.79703252e-02 9.41705467e+01] [-5.44828548e-01 8.37410824e-01 -4.36458928e-02 -3.22298870e+01] [-7.23997367e-02 4.87859522e-03 9.97363764e-01 -7.30121047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.885779523 meters 0.03748940634492666 Centerline is valid? [True, True] Translation: X:94.19, Y:-32.25, Z:-7.30 [[ 8.34280527e-01 5.48309659e-01 5.77279885e-02 9.41944842e+01] [-5.46604031e-01 8.36262105e-01 -4.34709534e-02 -3.22482604e+01] [-7.21112728e-02 4.71261864e-03 9.97385460e-01 -7.30443055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.915779523 meters 0.03661441099790869 Centerline is valid? [True, True] Translation: X:94.22, Y:-32.26, Z:-7.31 [[ 8.32909927e-01 5.50388096e-01 5.77407795e-02 9.42230673e+01] [-5.48685749e-01 8.34896576e-01 -4.34931770e-02 -3.22620147e+01] [-7.21457060e-02 4.54435603e-03 9.97383751e-01 -7.30815575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.945779523 meters 0.037328945935416295 Centerline is valid? [True, True] Translation: X:94.25, Y:-32.28, Z:-7.31 [[ 8.32660336e-01 5.50774125e-01 5.76595823e-02 9.42476551e+01] [-5.49076250e-01 8.34642105e-01 -4.34491581e-02 -3.22806981e+01] [-7.20557872e-02 4.51888333e-03 9.97390367e-01 -7.31103874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.975779523 meters 0.03941177025270245 Centerline is valid? [True, True] Translation: X:94.27, Y:-32.30, Z:-7.31 [[ 8.32747685e-01 5.50833173e-01 5.58042111e-02 9.42698006e+01] [-5.49241787e-01 8.34603859e-01 -4.20696780e-02 -3.23025004e+01] [-6.97477842e-02 4.38342231e-03 9.97555027e-01 -7.31249339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00577952299999 meters 0.02988612863591085 Centerline is valid? [True, True] Translation: X:94.30, Y:-32.31, Z:-7.31 [[ 8.33223503e-01 5.50251738e-01 5.44207588e-02 9.43043700e+01] [-5.48736596e-01 8.34987598e-01 -4.10348649e-02 -3.23102681e+01] [-6.80201644e-02 4.32855195e-03 9.97674557e-01 -7.31307711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03577952299999 meters 0.04144909431342574 Centerline is valid? [True, True] Translation: X:94.32, Y:-32.34, Z:-7.32 [[ 8.33383165e-01 5.50058370e-01 5.39285619e-02 9.43206726e+01] [-5.48568847e-01 8.35115034e-01 -4.06829235e-02 -3.23396835e+01] [-6.74145354e-02 4.32093450e-03 9.97715696e-01 -7.31934484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.06577952299999 meters 0.04215783133003111 Centerline is valid? [True, True] Translation: X:94.35, Y:-32.35, Z:-7.32 [[ 8.33608468e-01 5.49639887e-01 5.47075538e-02 9.43483515e+01] [-5.48104687e-01 8.35389925e-01 -4.12907468e-02 -3.23536138e+01] [-6.83971807e-02 4.43484959e-03 9.97648314e-01 -7.32298515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.09577952299999 meters 0.044572206067184365 Centerline is valid? [True, True] Translation: X:94.37, Y:-32.37, Z:-7.33 [[ 8.33724168e-01 5.49327985e-01 5.60604728e-02 9.43733820e+01] [-5.47713826e-01 8.35594237e-01 -4.23300843e-02 -3.23715922e+01] [-7.00969079e-02 4.58651834e-03 9.97529642e-01 -7.32617451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.12577952299999 meters 0.03263077830055858 Centerline is valid? [True, True] Translation: X:94.41, Y:-32.38, Z:-7.32 [[ 8.33143404e-01 5.49906334e-01 5.89499212e-02 9.44103571e+01] [-5.48121245e-01 8.35212601e-01 -4.45310161e-02 -3.23764492e+01] [-7.37236048e-02 4.78901816e-03 9.97267214e-01 -7.32186426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.15577952299999 meters 0.030821961326170214 Centerline is valid? [True, True] Translation: X:94.44, Y:-32.39, Z:-7.32 [[ 8.33000825e-01 5.50048466e-01 5.96348018e-02 9.44386878e+01] [-5.48220305e-01 8.35118648e-01 -4.50704122e-02 -3.23930562e+01] [-7.45930462e-02 4.85068134e-03 9.97202261e-01 -7.32168646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.185779523 meters 0.03340612531529303 Centerline is valid? [True, True] Translation: X:94.46, Y:-32.41, Z:-7.32 [[ 8.32707074e-01 5.50462436e-01 5.99169054e-02 9.44626188e+01] [-5.48615985e-01 8.34845795e-01 -4.53100402e-02 -3.24128986e+01] [-7.49628516e-02 4.85861890e-03 9.97174491e-01 -7.32283325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.215779523 meters 0.03340612531529303 Centerline is valid? [True, True] Translation: X:94.49, Y:-32.43, Z:-7.33 [[ 8.32560653e-01 5.50684942e-01 5.99070419e-02 9.44883738e+01] [-5.48838131e-01 8.34699062e-01 -4.53230775e-02 -3.24324876e+01] [-7.49630880e-02 4.85494206e-03 9.97174491e-01 -7.32547800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.245779523 meters 0.02790296254981569 Centerline is valid? [True, True] Translation: X:94.52, Y:-32.44, Z:-7.33 [[ 8.32460827e-01 5.51117049e-01 5.72622971e-02 9.45235049e+01] [-5.49429326e-01 8.34415150e-01 -4.33448124e-02 -3.24398755e+01] [-7.16685933e-02 4.62127304e-03 9.97417794e-01 -7.32800595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.275779523 meters 0.03145263235306952 Centerline is valid? [True, True] Translation: X:94.55, Y:-32.46, Z:-7.33 [[ 8.33157547e-01 5.50278459e-01 5.51554081e-02 9.45486939e+01] [-5.48709184e-01 8.34968855e-01 -4.17760930e-02 -3.24579381e+01] [-6.90415320e-02 4.54178813e-03 9.97603448e-01 -7.33382846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.305779523 meters 0.03290432179760423 Centerline is valid? [True, True] Translation: X:94.57, Y:-32.48, Z:-7.34 [[ 8.34816164e-01 5.48019228e-01 5.25061718e-02 9.45738007e+01] [-5.46592334e-01 8.36453593e-01 -3.97769772e-02 -3.24755129e+01] [-6.57175244e-02 4.50699254e-03 9.97828088e-01 -7.33578210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.335779523 meters 0.029819724545271854 Centerline is valid? [True, True] Translation: X:94.60, Y:-32.49, Z:-7.34 [[ 8.35650915e-01 5.46808898e-01 5.18418441e-02 9.46019777e+01] [-5.45414499e-01 8.37245037e-01 -3.92908616e-02 -3.24912456e+01] [-6.48889195e-02 4.55815105e-03 9.97882083e-01 -7.33610178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.365779523 meters 0.035752785946494774 Centerline is valid? [True, True] Translation: X:94.62, Y:-32.51, Z:-7.34 [[ 8.36998593e-01 5.44782782e-01 5.14303096e-02 9.46238385e+01] [-5.43405901e-01 8.38564098e-01 -3.89907741e-02 -3.25129166e+01] [-6.43691136e-02 4.68768929e-03 9.97915148e-01 -7.34150746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39577952299999 meters 0.03279562661156907 Centerline is valid? [True, True] Translation: X:94.65, Y:-32.53, Z:-7.34 [[ 8.38148211e-01 5.42909115e-01 5.25097045e-02 9.46530192e+01] [-5.41468841e-01 8.39776871e-01 -3.98283949e-02 -3.25279958e+01] [-6.57196340e-02 4.94972909e-03 9.97825852e-01 -7.34181069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42577952299999 meters 0.035075933055278216 Centerline is valid? [True, True] Translation: X:94.68, Y:-32.54, Z:-7.34 [[ 8.40930995e-01 5.38306589e-01 5.53270068e-02 9.46809001e+01] [-5.36697215e-01 8.42730479e-01 -4.19695076e-02 -3.25435605e+01] [-6.92182174e-02 5.59960930e-03 9.97585827e-01 -7.34270107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.45577952299999 meters 0.03559934739579683 Centerline is valid? [True, True] Translation: X:94.71, Y:-32.56, Z:-7.34 [[ 8.44095372e-01 5.33201877e-01 5.65575994e-02 9.47084936e+01] [-5.31507246e-01 8.45965536e-01 -4.29227108e-02 -3.25595557e+01] [-7.07322499e-02 6.17008762e-03 9.97476255e-01 -7.34218535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.48577952299999 meters 0.035575646025702956 Centerline is valid? [True, True] Translation: X:94.74, Y:-32.58, Z:-7.34 [[ 8.45574054e-01 5.30845037e-01 5.66397860e-02 9.47350243e+01] [-5.29138680e-01 8.47444774e-01 -4.30071145e-02 -3.25769431e+01] [-7.08292040e-02 6.39539850e-03 9.97467956e-01 -7.34317748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.51577952299999 meters 0.03482161599896952 Centerline is valid? [True, True] Translation: X:94.76, Y:-32.59, Z:-7.34 [[ 8.46457111e-01 5.29404736e-01 5.69296458e-02 9.47627829e+01] [-5.27677033e-01 8.48344056e-01 -4.32355431e-02 -3.25932764e+01] [-7.11850279e-02 6.55656628e-03 9.97441579e-01 -7.34385285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.545779523 meters 0.04309788520851889 Centerline is valid? [True, True] Translation: X:94.78, Y:-32.62, Z:-7.35 [[ 8.46787815e-01 5.28828179e-01 5.73685786e-02 9.47827435e+01] [-5.27072046e-01 8.48702774e-01 -4.35736206e-02 -3.26175128e+01] [-7.17318302e-02 6.66023684e-03 9.97401717e-01 -7.34549351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.575779523 meters 0.036569347444057335 Centerline is valid? [True, True] Translation: X:94.82, Y:-32.62, Z:-7.34 [[ 8.46076393e-01 5.29913145e-01 5.78515005e-02 9.48186579e+01] [-5.28128611e-01 8.48025945e-01 -4.39564205e-02 -3.26225831e+01] [-7.23526584e-02 6.63745705e-03 9.97357026e-01 -7.34448481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.605779523 meters 0.03566350811651601 Centerline is valid? [True, True] Translation: X:94.85, Y:-32.64, Z:-7.35 [[ 8.44908209e-01 5.31836398e-01 5.72727082e-02 9.48476665e+01] [-5.30090456e-01 8.46822757e-01 -4.35353487e-02 -3.26370063e+01] [-7.16535157e-02 6.42365751e-03 9.97408898e-01 -7.34713677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.635779523 meters 0.034427966902089144 Centerline is valid? [True, True] Translation: X:94.88, Y:-32.65, Z:-7.35 [[ 8.41355853e-01 5.37685698e-01 5.49037175e-02 9.48793527e+01] [-5.36093548e-01 8.43126214e-01 -4.17360219e-02 -3.26469110e+01] [-6.87316255e-02 5.68131764e-03 9.97619009e-01 -7.35250488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.665779523 meters 0.035715593929361134 Centerline is valid? [True, True] Translation: X:94.91, Y:-32.66, Z:-7.36 [[ 8.39478353e-01 5.40694077e-01 5.40926139e-02 9.49069403e+01] [-5.39153603e-01 8.41202163e-01 -4.11377455e-02 -3.26612002e+01] [-6.77457591e-02 5.37001919e-03 9.97688165e-01 -7.35949434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.695779523 meters 0.03361092582381326 Centerline is valid? [True, True] Translation: X:94.94, Y:-32.68, Z:-7.36 [[ 8.37397982e-01 5.43982247e-01 5.33660441e-02 9.49361581e+01] [-5.42488312e-01 8.39081525e-01 -4.06032677e-02 -3.26750901e+01] [-6.68659185e-02 5.05063924e-03 9.97749187e-01 -7.36364413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.725779523 meters 0.030675650859767773 Centerline is valid? [True, True] Translation: X:94.97, Y:-32.68, Z:-7.37 [[ 8.33632352e-01 5.49633103e-01 5.44109796e-02 9.49679905e+01] [-5.48090531e-01 8.35392909e-01 -4.14180880e-02 -3.26849418e+01] [-6.82192988e-02 4.70531538e-03 9.97659254e-01 -7.36552720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75577952299999 meters 0.031101199576355116 Centerline is valid? [True, True] Translation: X:94.99, Y:-32.70, Z:-7.37 [[ 8.32227804e-01 5.51620464e-01 5.57830204e-02 9.49936075e+01] [-5.50002270e-01 8.34082155e-01 -4.24789433e-02 -3.27007630e+01] [-6.99598763e-02 4.67136983e-03 9.97538868e-01 -7.36665321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78577952299999 meters 0.030957645293643452 Centerline is valid? [True, True] Translation: X:95.02, Y:-32.72, Z:-7.36 [[ 8.30945132e-01 5.53318321e-01 5.80432863e-02 9.50213229e+01] [-5.51569882e-01 8.32956533e-01 -4.42049780e-02 -3.27166632e+01] [-7.28069588e-02 4.71698271e-03 9.97334897e-01 -7.36394403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.81577952299999 meters 0.02778856051162259 Centerline is valid? [True, True] Translation: X:95.05, Y:-32.73, Z:-7.36 [[ 8.30983209e-01 5.53176207e-01 5.88471807e-02 9.50502942e+01] [-5.51378002e-01 8.33050435e-01 -4.48248960e-02 -3.27322334e+01] [-7.38187354e-02 4.80169502e-03 9.97260116e-01 -7.36320962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84577952299999 meters 0.029900856513701585 Centerline is valid? [True, True] Translation: X:95.07, Y:-32.75, Z:-7.36 [[ 8.32311371e-01 5.51234874e-01 5.82914792e-02 9.50744582e+01] [-5.49464019e-01 8.34335449e-01 -4.44257875e-02 -3.27509994e+01] [-7.31236908e-02 4.94701768e-03 9.97310610e-01 -7.36420574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87577952299999 meters 0.03254961040289713 Centerline is valid? [True, True] Translation: X:95.10, Y:-32.77, Z:-7.37 [[ 8.33415705e-01 5.49688819e-01 5.71004728e-02 9.51005481e+01] [-5.47985357e-01 8.35354615e-01 -4.35283464e-02 -3.27689109e+01] [-7.16261888e-02 4.98698459e-03 9.97419079e-01 -7.37098555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90577952299999 meters 0.03617602326351284 Centerline is valid? [True, True] Translation: X:95.12, Y:-32.79, Z:-7.38 [[ 8.33855262e-01 5.49132654e-01 5.60243639e-02 9.51239342e+01] [-5.47491451e-01 8.35720592e-01 -4.27106907e-02 -3.27884930e+01] [-7.02745495e-02 4.94167396e-03 9.97515447e-01 -7.37642140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.935779523 meters 0.0344312832198087 Centerline is valid? [True, True] Translation: X:95.15, Y:-32.80, Z:-7.38 [[ 8.35180039e-01 5.47076679e-01 5.64039820e-02 9.51541555e+01] [-5.45406878e-01 8.37066541e-01 -4.30225994e-02 -3.28008462e+01] [-7.07505469e-02 5.16849652e-03 9.97480650e-01 -7.37979140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.965779523 meters 0.03392550124311493 Centerline is valid? [True, True] Translation: X:95.18, Y:-32.82, Z:-7.38 [[ 8.36043029e-01 5.45748789e-01 5.64828522e-02 9.51804933e+01] [-5.44071010e-01 8.37932131e-01 -4.30868879e-02 -3.28187730e+01] [-7.08434136e-02 5.29180982e-03 9.97473412e-01 -7.38044226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.995779523 meters 0.034372752278343785 Centerline is valid? [True, True] Translation: X:95.21, Y:-32.83, Z:-7.38 [[ 8.39112453e-01 5.41041738e-01 5.62506003e-02 9.52074505e+01] [-5.39367030e-01 8.40976636e-01 -4.29127687e-02 -3.28348967e+01] [-7.05230396e-02 5.66891942e-03 9.97494042e-01 -7.38206715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.025779523 meters 0.03417804629999122 Centerline is valid? [True, True] Translation: X:95.23, Y:-32.85, Z:-7.38 [[ 8.40682671e-01 5.38616846e-01 5.60762029e-02 9.52332084e+01] [-5.36945898e-01 8.42530380e-01 -4.27979190e-02 -3.28527855e+01] [-7.02975847e-02 5.86958177e-03 9.97508796e-01 -7.38340689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.055779523 meters 0.0369919877873384 Centerline is valid? [True, True] Translation: X:95.26, Y:-32.87, Z:-7.39 [[ 8.42805951e-01 5.35229346e-01 5.66363539e-02 9.52578618e+01] [-5.33515693e-01 8.44683789e-01 -4.32469783e-02 -3.28719799e+01] [-7.09868620e-02 6.23242708e-03 9.97457780e-01 -7.38788492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.085779523 meters 0.04030135088167355 Centerline is valid? [True, True] Translation: X:95.28, Y:-32.89, Z:-7.39 [[ 8.46017510e-01 5.30305094e-01 5.50534263e-02 9.52808483e+01] [-5.28675556e-01 8.47782257e-01 -4.20404586e-02 -3.28921983e+01] [-6.89675874e-02 6.46156332e-03 9.97597975e-01 -7.38741198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.115779523 meters 0.04272576568660363 Centerline is valid? [True, True] Translation: X:95.31, Y:-32.91, Z:-7.39 [[ 8.47819369e-01 5.27427247e-01 5.49801462e-02 9.53072890e+01] [-5.25795187e-01 8.49573797e-01 -4.19974279e-02 -3.29081497e+01] [-6.88602793e-02 6.69793662e-03 9.97603829e-01 -7.39341562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14577952299999 meters 0.0442034628790593 Centerline is valid? [True, True] Translation: X:95.34, Y:-32.92, Z:-7.40 [[ 8.48636912e-01 5.26144474e-01 5.46569642e-02 9.53350325e+01] [-5.24528742e-01 8.50368293e-01 -4.17536182e-02 -3.29240099e+01] [-6.84469849e-02 6.76451291e-03 9.97631822e-01 -7.39694956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17577952299999 meters 0.04185070613781514 Centerline is valid? [True, True] Translation: X:95.37, Y:-32.93, Z:-7.40 [[ 8.48467241e-01 5.26346209e-01 5.53444566e-02 9.53687576e+01] [-5.24689840e-01 8.50242880e-01 -4.22802070e-02 -3.29326016e+01] [-6.93102568e-02 6.83469652e-03 9.97571739e-01 -7.39573890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20577952299999 meters 0.0427043149466542 Centerline is valid? [True, True] Translation: X:95.40, Y:-32.95, Z:-7.40 [[ 8.48322610e-01 5.26492689e-01 5.61622527e-02 9.53971396e+01] [-5.24785749e-01 8.50151313e-01 -4.29262548e-02 -3.29505064e+01] [-7.03467722e-02 6.94216271e-03 9.97498440e-01 -7.39680187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23577952299999 meters 0.04023949332580554 Centerline is valid? [True, True] Translation: X:95.43, Y:-32.96, Z:-7.40 [[ 8.47846195e-01 5.27244361e-01 5.63046534e-02 9.54287297e+01] [-5.25528454e-01 8.49685525e-01 -4.30621978e-02 -3.29617385e+01] [-7.05455500e-02 6.92042307e-03 9.97484553e-01 -7.39648911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26577952299999 meters 0.041489678743961284 Centerline is valid? [True, True] Translation: X:95.46, Y:-32.98, Z:-7.40 [[ 8.47895247e-01 5.27240762e-01 5.55952136e-02 9.54572706e+01] [-5.25567625e-01 8.49688440e-01 -4.25232504e-02 -3.29768092e+01] [-6.96586013e-02 6.83621753e-03 9.97547465e-01 -7.40219319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.295779523 meters 0.04312853808329984 Centerline is valid? [True, True] Translation: X:95.49, Y:-32.99, Z:-7.41 [[ 8.47526383e-01 5.28061199e-01 5.33891438e-02 9.54896915e+01] [-5.26518674e-01 8.49181321e-01 -4.08554775e-02 -3.29857136e+01] [-6.69112561e-02 6.51571389e-03 9.97737656e-01 -7.40960561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.325779523 meters 0.04244826569989823 Centerline is valid? [True, True] Translation: X:95.52, Y:-33.00, Z:-7.41 [[ 8.47183110e-01 5.28627193e-01 5.32359661e-02 9.55187133e+01] [-5.27093260e-01 8.48829449e-01 -4.07585814e-02 -3.30004692e+01] [-6.67343502e-02 6.46966290e-03 9.97749803e-01 -7.41079783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.355779523 meters 0.042556216516021664 Centerline is valid? [True, True] Translation: X:95.55, Y:-33.01, Z:-7.42 [[ 8.47781262e-01 5.27589008e-01 5.40071340e-02 9.55489072e+01] [-5.26006570e-01 8.49473597e-01 -4.13726574e-02 -3.30133138e+01] [-6.77053937e-02 6.66685633e-03 9.97683082e-01 -7.41637643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.385779523 meters 0.042507775435390346 Centerline is valid? [True, True] Translation: X:95.58, Y:-33.02, Z:-7.42 [[ 8.48611099e-01 5.26067038e-01 5.57913393e-02 9.55801285e+01] [-5.24374446e-01 8.50414134e-01 -4.27462292e-02 -3.30241189e+01] [-6.99331257e-02 7.01937185e-03 9.97526985e-01 -7.41632951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.415779523 meters 0.04291678698602177 Centerline is valid? [True, True] Translation: X:95.61, Y:-33.04, Z:-7.42 [[ 8.48649009e-01 5.25902158e-01 5.67607214e-02 9.56066852e+01] [-5.24149721e-01 8.50514964e-01 -4.34898236e-02 -3.30404235e+01] [-7.11472351e-02 7.15647941e-03 9.97440151e-01 -7.41505031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.445779523 meters 0.044203413909075236 Centerline is valid? [True, True] Translation: X:95.64, Y:-33.05, Z:-7.42 [[ 8.49128109e-01 5.25030877e-01 5.76544253e-02 9.56384444e+01] [-5.23219119e-01 8.51051327e-01 -4.41971930e-02 -3.30520593e+01] [-7.22717662e-02 7.36318127e-03 9.97357797e-01 -7.41724446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.475779523 meters 0.04339190977347929 Centerline is valid? [True, True] Translation: X:95.67, Y:-33.07, Z:-7.42 [[ 8.48773525e-01 5.25619741e-01 5.75099167e-02 9.56676604e+01] [-5.23818082e-01 8.50688323e-01 -4.40907604e-02 -3.30659929e+01] [-7.20979887e-02 7.29833593e-03 9.97370851e-01 -7.41972118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50577952299999 meters 0.04399550110616215 Centerline is valid? [True, True] Translation: X:95.70, Y:-33.08, Z:-7.42 [[ 8.48067465e-01 5.26803141e-01 5.70966416e-02 9.56954762e+01] [-5.25028234e-01 8.49957114e-01 -4.37979190e-02 -3.30811969e+01] [-7.16025780e-02 7.16624122e-03 9.97407497e-01 -7.42221861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53577952299999 meters 0.0461149826828619 Centerline is valid? [True, True] Translation: X:95.73, Y:-33.09, Z:-7.43 [[ 8.47183243e-01 5.28396406e-01 5.54778353e-02 9.57254502e+01] [-5.26723964e-01 8.48970275e-01 -4.25598097e-02 -3.30898774e+01] [-6.95874837e-02 6.83445229e-03 9.97552441e-01 -7.42846572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56577952299999 meters 0.04651004667439438 Centerline is valid? [True, True] Translation: X:95.75, Y:-33.10, Z:-7.43 [[ 8.46889912e-01 5.29033961e-01 5.38567177e-02 9.57545256e+01] [-5.27459614e-01 8.48575156e-01 -4.13105364e-02 -3.31041408e+01] [-6.75561493e-02 6.57823301e-03 9.97693787e-01 -7.43325117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.59577952299999 meters 0.04694554642521911 Centerline is valid? [True, True] Translation: X:95.79, Y:-33.11, Z:-7.44 [[ 8.47034022e-01 5.29011002e-01 5.17757330e-02 9.57866549e+01] [-5.27554681e-01 8.48591260e-01 -3.97357846e-02 -3.31144708e+01] [-6.49571017e-02 6.34303112e-03 9.97867898e-01 -7.43934065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62577952299999 meters 0.04457214423624105 Centerline is valid? [True, True] Translation: X:95.82, Y:-33.13, Z:-7.44 [[ 8.47616987e-01 5.27994565e-01 5.26040239e-02 9.58183145e+01] [-5.26488792e-01 8.49222640e-01 -4.03789434e-02 -3.31261759e+01] [-6.59923908e-02 6.53044936e-03 9.97798756e-01 -7.44268999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65577952299999 meters 0.04795521584035809 Centerline is valid? [True, True] Translation: X:95.84, Y:-33.15, Z:-7.44 [[ 8.47553551e-01 5.27877059e-01 5.47611986e-02 9.58427159e+01] [-5.26244508e-01 8.49293468e-01 -4.20395463e-02 -3.31466051e+01] [-6.87000403e-02 6.81298675e-03 9.97614098e-01 -7.44052183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.685779523 meters 0.04069231817762248 Centerline is valid? [True, True] Translation: X:95.88, Y:-33.15, Z:-7.44 [[ 8.48162786e-01 5.26573349e-01 5.77961687e-02 9.58800479e+01] [-5.24750233e-01 8.50098192e-01 -4.43875771e-02 -3.31497473e+01] [-7.25057336e-02 7.31933804e-03 9.97341138e-01 -7.43770844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.715779523 meters 0.045760177781710855 Centerline is valid? [True, True] Translation: X:95.90, Y:-33.17, Z:-7.44 [[ 8.48566176e-01 5.26000693e-01 5.70851611e-02 9.59037985e+01] [-5.24220728e-01 8.50452982e-01 -4.38446458e-02 -3.31690428e+01] [-7.16105596e-02 7.27985871e-03 9.97406102e-01 -7.44075505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.745779523 meters 0.08503881818999584 Centerline is valid? [True, True] Translation: X:95.91, Y:-33.22, Z:-7.45 [[ 8.49192673e-01 5.25093121e-01 5.61161223e-02 9.59055704e+01] [-5.23371046e-01 8.51014041e-01 -4.31027820e-02 -3.32175636e+01] [-7.03885823e-02 7.23301298e-03 9.97493424e-01 -7.44811217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.775779523 meters 0.07439154820760191 Centerline is valid? [True, True] Translation: X:95.94, Y:-33.22, Z:-7.45 [[ 8.49173748e-01 5.25025802e-01 5.70250300e-02 9.59422541e+01] [-5.23246635e-01 8.51054453e-01 -4.38095509e-02 -3.32209218e+01] [-7.15325504e-02 7.36376546e-03 9.97411083e-01 -7.44725102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.805779523 meters 0.05516081049851769 Centerline is valid? [True, True] Translation: X:95.98, Y:-33.21, Z:-7.45 [[ 8.49374495e-01 5.24580779e-01 5.81203378e-02 9.59847975e+01] [-5.22731412e-01 8.51327247e-01 -4.46518644e-02 -3.32121825e+01] [-7.29029370e-02 7.54482850e-03 9.97310502e-01 -7.44922813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.835779523 meters 0.04978706884616178 Centerline is valid? [True, True] Translation: X:96.02, Y:-33.22, Z:-7.44 [[ 8.47850043e-01 5.26877149e-01 5.95883816e-02 9.60214771e+01] [-5.24939243e-01 8.49908125e-01 -4.57708365e-02 -3.32157927e+01] [-7.47602575e-02 7.52652574e-03 9.97173132e-01 -7.44373749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.865779523 meters 0.053596996340882025 Centerline is valid? [True, True] Translation: X:96.05, Y:-33.23, Z:-7.44 [[ 8.47055319e-01 5.28047003e-01 6.05280886e-02 9.60479647e+01] [-5.26050316e-01 8.49181662e-01 -4.64926880e-02 -3.32317370e+01] [-7.59496674e-02 7.54105856e-03 9.97083136e-01 -7.44498300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89577952299999 meters 0.05280015643427409 Centerline is valid? [True, True] Translation: X:96.08, Y:-33.24, Z:-7.45 [[ 8.46176388e-01 5.29425342e-01 6.07809818e-02 9.60780052e+01] [-5.27415128e-01 8.48323807e-01 -4.66904870e-02 -3.32435894e+01] [-7.62810809e-02 7.45157838e-03 9.97058509e-01 -7.44729148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92577952299999 meters 0.05273221534975532 Centerline is valid? [True, True] Translation: X:96.11, Y:-33.25, Z:-7.45 [[ 8.44706500e-01 5.32029795e-01 5.84399278e-02 9.61062212e+01] [-5.30177554e-01 8.46697189e-01 -4.48957827e-02 -3.32536995e+01] [-7.33668166e-02 6.94022149e-03 9.97280875e-01 -7.45423078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.95577952299999 meters 0.04804119696844036 Centerline is valid? [True, True] Translation: X:96.14, Y:-33.26, Z:-7.46 [[ 8.44390123e-01 5.32637833e-01 5.74652754e-02 9.61352995e+01] [-5.30848467e-01 8.46316193e-01 -4.41452896e-02 -3.32643779e+01] [-7.21472445e-02 6.77049316e-03 9.97371012e-01 -7.45819949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.98577952299999 meters 0.04877230522809557 Centerline is valid? [True, True] Translation: X:96.16, Y:-33.27, Z:-7.46 [[ 8.44043233e-01 5.32970362e-01 5.94442101e-02 9.61648151e+01] [-5.31056478e-01 8.46105180e-01 -4.56622622e-02 -3.32724077e+01] [-7.46326865e-02 6.97269061e-03 9.97186715e-01 -7.45862717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.01577952299999 meters 0.05109556651904575 Centerline is valid? [True, True] Translation: X:96.19, Y:-33.28, Z:-7.46 [[ 8.43679194e-01 5.33388925e-01 6.08413771e-02 9.61907655e+01] [-5.31385465e-01 8.45840372e-01 -4.67284898e-02 -3.32846809e+01] [-7.63865520e-02 7.09363109e-03 9.97053045e-01 -7.45915497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.045779523 meters 0.050615858300107563 Centerline is valid? [True, True] Translation: X:96.22, Y:-33.29, Z:-7.46 [[ 8.42900929e-01 5.34592192e-01 6.10672779e-02 9.62246693e+01] [-5.32577596e-01 8.45081147e-01 -4.68930659e-02 -3.32889271e+01] [-7.66754721e-02 7.00314471e-03 9.97031508e-01 -7.46215694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.075779523 meters 0.05119216369454566 Centerline is valid? [True, True] Translation: X:96.25, Y:-33.30, Z:-7.47 [[ 8.42346610e-01 5.35499595e-01 6.07649013e-02 9.62504290e+01] [-5.33507503e-01 8.44507432e-01 -4.66577057e-02 -3.33025116e+01] [-7.63015932e-02 6.88342945e-03 9.97061024e-01 -7.46608366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.105779523 meters 0.05119216369454566 Centerline is valid? [True, True] Translation: X:96.27, Y:-33.32, Z:-7.47 [[ 8.42402313e-01 5.35411605e-01 6.07680477e-02 9.62723235e+01] [-5.33419580e-01 8.44563197e-01 -4.66536073e-02 -3.33191900e+01] [-7.63013394e-02 6.88624026e-03 9.97061024e-01 -7.46832579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.135779523 meters 0.04990529554262956 Centerline is valid? [True, True] Translation: X:96.30, Y:-33.33, Z:-7.47 [[ 8.42336009e-01 5.35587169e-01 6.01367759e-02 9.62985349e+01] [-5.33637502e-01 8.44452643e-01 -4.61600532e-02 -3.33324242e+01] [-7.55053916e-02 6.79103614e-03 9.97122268e-01 -7.47116495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.165779523 meters 0.05249389872204259 Centerline is valid? [True, True] Translation: X:96.32, Y:-33.35, Z:-7.47 [[ 8.42613510e-01 5.35202873e-01 5.96687286e-02 9.63216445e+01] [-5.33284360e-01 8.44696574e-01 -4.57765102e-02 -3.33484728e+01] [-7.49016904e-02 6.75150623e-03 9.97168067e-01 -7.47345155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.195779523 meters 0.05281723996923697 Centerline is valid? [True, True] Translation: X:96.35, Y:-33.36, Z:-7.48 [[ 8.43412664e-01 5.34023045e-01 5.89445974e-02 9.63480068e+01] [-5.32148665e-01 8.45442851e-01 -4.52126648e-02 -3.33612586e+01] [-7.39788934e-02 6.76564527e-03 9.97236857e-01 -7.47993137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.225779523 meters 0.053633498815454095 Centerline is valid? [True, True] Translation: X:96.38, Y:-33.37, Z:-7.48 [[ 8.43662999e-01 5.33638693e-01 5.88429158e-02 9.63775217e+01] [-5.31770203e-01 8.45685359e-01 -4.51300846e-02 -3.33680054e+01] [-7.38457518e-02 6.78367324e-03 9.97246603e-01 -7.48192599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25577952299999 meters 0.051321019178381236 Centerline is valid? [True, True] Translation: X:96.41, Y:-33.38, Z:-7.49 [[ 8.43291085e-01 5.34207560e-01 5.90121099e-02 9.64072348e+01] [-5.32330177e-01 8.45326419e-01 -4.52529402e-02 -3.33768885e+01] [-7.40589583e-02 6.74747414e-03 9.97231038e-01 -7.48593391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28577952299999 meters 0.05598415493939221 Centerline is valid? [True, True] Translation: X:96.43, Y:-33.39, Z:-7.49 [[ 8.42570005e-01 5.35363220e-01 5.88388504e-02 9.64307279e+01] [-5.33501319e-01 8.44596098e-01 -4.50973779e-02 -3.33929130e+01] [-7.38385409e-02 6.60709366e-03 9.97248322e-01 -7.49125936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31577952299999 meters 0.054121917815704995 Centerline is valid? [True, True] Translation: X:96.46, Y:-33.40, Z:-7.49 [[ 8.40457938e-01 5.38605165e-01 5.94552790e-02 9.64614834e+01] [-5.36712352e-01 8.42534100e-01 -4.55646887e-02 -3.34021404e+01] [-7.46344767e-02 6.38482174e-03 9.97190518e-01 -7.49344990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34577952299999 meters 0.04739516278839753 Centerline is valid? [True, True] Translation: X:96.49, Y:-33.41, Z:-7.49 [[ 8.39233131e-01 5.40351754e-01 6.08911682e-02 9.64924089e+01] [-5.38370983e-01 8.41415055e-01 -4.66625070e-02 -3.34108389e+01] [-7.64489131e-02 6.37868376e-03 9.97053096e-01 -7.49405319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37577952299999 meters 0.05249560308575064 Centerline is valid? [True, True] Translation: X:96.52, Y:-33.43, Z:-7.49 [[ 8.36583537e-01 5.43992504e-01 6.48084979e-02 9.65157150e+01] [-5.41759081e-01 8.39065391e-01 -4.96625355e-02 -3.34283570e+01] [-8.13946147e-02 6.43626733e-03 9.96661172e-01 -7.49168844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40577952299999 meters 0.03904789448203309 Centerline is valid? [True, True] Translation: X:96.55, Y:-33.43, Z:-7.49 [[ 8.35182201e-01 5.45876658e-01 6.70027332e-02 9.65540248e+01] [-5.43495509e-01 8.37840628e-01 -5.13391962e-02 -3.34280489e+01] [-8.41624809e-02 6.46189822e-03 9.96431092e-01 -7.49283790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.435779523 meters 0.03982582121428231 Centerline is valid? [True, True] Translation: X:96.58, Y:-33.44, Z:-7.49 [[ 8.33484770e-01 5.48375777e-01 6.77284696e-02 9.65804856e+01] [-5.45950981e-01 8.36208480e-01 -5.18931959e-02 -3.34412671e+01] [-8.50920922e-02 6.27576400e-03 9.96353326e-01 -7.49494191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.465779523 meters 0.0369204036632642 Centerline is valid? [True, True] Translation: X:96.61, Y:-33.45, Z:-7.50 [[ 8.29371766e-01 5.54821712e-01 6.56912594e-02 9.66141576e+01] [-5.52561111e-01 8.31951468e-01 -5.03286599e-02 -3.34467921e+01] [-8.25753729e-02 5.44273420e-03 9.96569960e-01 -7.50009894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.495779523 meters 0.03688197692007923 Centerline is valid? [True, True] Translation: X:96.64, Y:-33.46, Z:-7.51 [[ 8.27221513e-01 5.58212106e-01 6.40610179e-02 9.66419094e+01] [-5.56072796e-01 8.29683370e-01 -4.90769863e-02 -3.34597860e+01] [-8.05457291e-02 4.97494952e-03 9.96738499e-01 -7.50602112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.525779523 meters 0.030866912837159532 Centerline is valid? [True, True] Translation: X:96.67, Y:-33.47, Z:-7.51 [[ 8.23648974e-01 5.63424241e-01 6.44631079e-02 9.66714699e+01] [-5.61273861e-01 8.26155516e-01 -4.93833516e-02 -3.34698703e+01] [-8.10803296e-02 4.49308945e-03 9.96697443e-01 -7.50815376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.555779523 meters 0.03179180917085587 Centerline is valid? [True, True] Translation: X:96.70, Y:-33.49, Z:-7.51 [[ 8.21339208e-01 5.66846398e-01 6.39301605e-02 9.66968753e+01] [-5.64742002e-01 8.23813205e-01 -4.89721828e-02 -3.34854922e+01] [-8.04262159e-02 4.11872700e-03 9.96752055e-01 -7.51200887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.585779523 meters 0.030380275371807226 Centerline is valid? [True, True] Translation: X:96.72, Y:-33.50, Z:-7.51 [[ 8.19447772e-01 5.69539357e-01 6.42671771e-02 9.67211931e+01] [-5.67421043e-01 8.21954936e-01 -4.92284840e-02 -3.35017331e+01] [-8.08622825e-02 3.87362284e-03 9.96717757e-01 -7.51377671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61577952299999 meters 0.028942845524971075 Centerline is valid? [True, True] Translation: X:96.75, Y:-33.51, Z:-7.52 [[ 8.14122765e-01 5.77124032e-01 6.42804426e-02 9.67532064e+01] [-5.75028524e-01 8.16650547e-01 -4.92349592e-02 -3.35086530e+01] [-8.09093368e-02 3.12021303e-03 9.96716581e-01 -7.51768183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64577952299999 meters 0.02747756403243977 Centerline is valid? [True, True] Translation: X:96.78, Y:-33.52, Z:-7.52 [[ 8.11979056e-01 5.79956281e-01 6.58841800e-02 9.67776673e+01] [-5.77764250e-01 8.14642414e-01 -5.04599723e-02 -3.35245721e+01] [-8.29366253e-02 2.90691682e-03 9.96550584e-01 -7.51869390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67577952299999 meters 0.023434599489949706 Centerline is valid? [True, True] Translation: X:96.81, Y:-33.53, Z:-7.52 [[ 8.06939553e-01 5.86916230e-01 6.61656762e-02 9.68071905e+01] [-5.84728884e-01 8.09644674e-01 -5.06718306e-02 -3.35343252e+01] [-8.33108072e-02 2.20012237e-03 9.96521183e-01 -7.52211951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.70577952299999 meters 0.02432567017982541 Centerline is valid? [True, True] Translation: X:96.83, Y:-33.55, Z:-7.53 [[ 8.04542418e-01 5.90386679e-01 6.44598019e-02 9.68284382e+01] [-5.88322114e-01 8.07118553e-01 -4.93632634e-02 -3.35527260e+01] [-8.11701151e-02 1.79171240e-03 9.96698652e-01 -7.52633866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.73577952299999 meters 0.021206265920092785 Centerline is valid? [True, True] Translation: X:96.85, Y:-33.57, Z:-7.53 [[ 8.02915757e-01 5.92663133e-01 6.38490219e-02 9.68509890e+01] [-5.90645304e-01 8.05448965e-01 -4.88885442e-02 -3.35710296e+01] [-8.04015664e-02 1.54125758e-03 9.96761362e-01 -7.52944623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.76577952299999 meters 0.02003268317831857 Centerline is valid? [True, True] Translation: X:96.87, Y:-33.59, Z:-7.53 [[ 7.98727436e-01 5.98253932e-01 6.42395245e-02 9.68749218e+01] [-5.96231144e-01 8.01305995e-01 -4.91642681e-02 -3.35863444e+01] [-8.08882328e-02 9.67244513e-04 9.96722709e-01 -7.53062991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.795779523 meters 0.02237651386482865 Centerline is valid? [True, True] Translation: X:96.90, Y:-33.60, Z:-7.53 [[ 7.96346172e-01 6.01372618e-01 6.46818958e-02 9.68997947e+01] [-5.99332651e-01 7.98968430e-01 -4.94956695e-02 -3.36003921e+01] [-8.14441331e-02 6.49714892e-04 9.96677697e-01 -7.53275766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.825779523 meters 0.021839850922566358 Centerline is valid? [True, True] Translation: X:96.92, Y:-33.62, Z:-7.54 [[ 7.92001680e-01 6.07007454e-01 6.53857020e-02 9.69232600e+01] [-6.04943926e-01 7.94696136e-01 -5.00089814e-02 -3.36162946e+01] [-8.23175892e-02 5.25140148e-05 9.96606147e-01 -7.53505388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.855779523 meters 0.02142602438223535 Centerline is valid? [True, True] Translation: X:96.94, Y:-33.64, Z:-7.54 [[ 7.90452432e-01 6.09041285e-01 6.52201292e-02 9.69431211e+01] [-6.06997209e-01 7.93138500e-01 -4.98568642e-02 -3.36364217e+01] [-8.20934841e-02 -1.78956851e-04 9.96624617e-01 -7.53747053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.885779523 meters 0.020938103332718557 Centerline is valid? [True, True] Translation: X:96.96, Y:-33.66, Z:-7.54 [[ 7.89092324e-01 6.10830144e-01 6.49602965e-02 9.69627502e+01] [-6.08810761e-01 7.91761572e-01 -4.96293333e-02 -3.36570870e+01] [-8.17481593e-02 -3.86401629e-04 9.96652943e-01 -7.53967451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.915779523 meters 0.019321484750480393 Centerline is valid? [True, True] Translation: X:96.98, Y:-33.68, Z:-7.54 [[ 7.88712011e-01 6.11405606e-01 6.41603359e-02 9.69798491e+01] [-6.09438336e-01 7.91317247e-01 -4.90094882e-02 -3.36812180e+01] [-8.07358562e-02 -4.47396366e-04 9.96735432e-01 -7.54203447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.945779523 meters 0.020024529500664086 Centerline is valid? [True, True] Translation: X:97.00, Y:-33.70, Z:-7.55 [[ 7.89261971e-01 6.10775981e-01 6.33896015e-02 9.69992643e+01] [-6.08855929e-01 7.91803347e-01 -4.83933532e-02 -3.37019528e+01] [-7.97495964e-02 -4.00101410e-04 9.96814848e-01 -7.54547344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.975779523 meters 0.019231859993306035 Centerline is valid? [True, True] Translation: X:97.02, Y:-33.73, Z:-7.55 [[ 7.91387975e-01 6.08144698e-01 6.21699198e-02 9.70157102e+01] [-6.06291984e-01 7.93826179e-01 -4.74344569e-02 -3.37254078e+01] [-7.81991234e-02 -1.54065219e-04 9.96937748e-01 -7.54808908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00577952299999 meters 0.020767662065958505 Centerline is valid? [True, True] Translation: X:97.03, Y:-33.75, Z:-7.55 [[ 7.92704556e-01 6.06480756e-01 6.16488367e-02 9.70349830e+01] [-6.04654566e-01 7.95098165e-01 -4.70293878e-02 -3.37458315e+01] [-7.75392956e-02 4.15939858e-06 9.96989297e-01 -7.55017866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03577952299999 meters 0.02095942115661036 Centerline is valid? [True, True] Translation: X:97.05, Y:-33.77, Z:-7.55 [[ 7.93943921e-01 6.04863336e-01 6.15905464e-02 9.70531438e+01] [-6.03037898e-01 7.96329282e-01 -4.69570952e-02 -3.37668033e+01] [-7.74489808e-02 1.39866705e-04 9.96996307e-01 -7.55174338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.06577952299999 meters 0.019575815483842508 Centerline is valid? [True, True] Translation: X:97.07, Y:-33.80, Z:-7.55 [[ 7.98103575e-01 5.99410965e-01 6.11324734e-02 9.70654715e+01] [-5.97597404e-01 8.00441168e-01 -4.65969818e-02 -3.37977378e+01] [-7.68636902e-02 6.56610327e-04 9.97041394e-01 -7.55335749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.09577952299999 meters 0.020708035272033028 Centerline is valid? [True, True] Translation: X:97.08, Y:-33.82, Z:-7.56 [[ 8.00869374e-01 5.95755816e-01 6.06898085e-02 9.70814285e+01] [-5.93959820e-01 8.03165017e-01 -4.62351274e-02 -3.38221021e+01] [-7.62887771e-02 9.80989848e-04 9.97085282e-01 -7.55638152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.12577952299999 meters 0.022326713041092152 Centerline is valid? [True, True] Translation: X:97.10, Y:-33.85, Z:-7.56 [[ 8.07655306e-01 5.86332958e-01 6.25025515e-02 9.70951858e+01] [-5.84400215e-01 8.10067875e-01 -4.76070010e-02 -3.38535927e+01] [-7.85448629e-02 1.92354244e-03 9.96908724e-01 -7.55712958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.15577952299999 meters 0.02381681371470321 Centerline is valid? [True, True] Translation: X:97.12, Y:-33.88, Z:-7.56 [[ 8.11327354e-01 5.81108443e-01 6.37252087e-02 9.71150682e+01] [-5.79083260e-01 8.13822367e-01 -4.85358927e-02 -3.38770723e+01] [-8.00656172e-02 2.47629584e-03 9.96786519e-01 -7.55790944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.185779523 meters 0.026585355962409404 Centerline is valid? [True, True] Translation: X:97.13, Y:-33.90, Z:-7.56 [[ 8.15042031e-01 5.75860214e-01 6.39648492e-02 9.71346472e+01] [-5.73803708e-01 8.17542657e-01 -4.87166051e-02 -3.39011662e+01] [-8.03479474e-02 3.00281305e-03 9.96762354e-01 -7.55949716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.215779523 meters 0.028869591350569806 Centerline is valid? [True, True] Translation: X:97.15, Y:-33.93, Z:-7.56 [[ 8.21875534e-01 5.65946978e-01 6.49971143e-02 9.71457183e+01] [-5.63792472e-01 8.24431748e-01 -4.95009224e-02 -3.39348665e+01] [-8.16005820e-02 4.03871329e-03 9.96656929e-01 -7.55662536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.245779523 meters 0.03074118961589751 Centerline is valid? [True, True] Translation: X:97.17, Y:-33.96, Z:-7.56 [[ 8.24864369e-01 5.61615440e-01 6.47060308e-02 9.71650158e+01] [-5.59467004e-01 8.27386440e-01 -4.92782880e-02 -3.39595050e+01] [-8.12123399e-02 4.44701478e-03 9.96686902e-01 -7.55905319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.275779523 meters 0.03301323261751464 Centerline is valid? [True, True] Translation: X:97.18, Y:-33.99, Z:-7.56 [[ 8.29488125e-01 5.54934471e-01 6.32232809e-02 9.71837934e+01] [-5.52864282e-01 8.31879134e-01 -4.81476158e-02 -3.39850842e+01] [-7.93128999e-02 4.98398176e-03 9.96837311e-01 -7.56289813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.305779523 meters 0.03641976502231922 Centerline is valid? [True, True] Translation: X:97.20, Y:-34.01, Z:-7.57 [[ 8.31279311e-01 5.52286379e-01 6.28845176e-02 9.72035411e+01] [-5.50230802e-01 8.33638185e-01 -4.78898845e-02 -3.40072645e+01] [-7.88718660e-02 5.20887161e-03 9.96871153e-01 -7.56560440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.335779523 meters 0.040230459303330544 Centerline is valid? [True, True] Translation: X:97.23, Y:-34.03, Z:-7.57 [[ 8.33084272e-01 5.49612747e-01 6.24213482e-02 9.72251130e+01] [-5.47580055e-01 8.35401967e-01 -4.75356375e-02 -3.40275006e+01] [-7.82731094e-02 5.42050663e-03 9.96917217e-01 -7.57147578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36577952299999 meters 0.03868167512868244 Centerline is valid? [True, True] Translation: X:97.25, Y:-34.05, Z:-7.57 [[ 8.35079561e-01 5.46400442e-01 6.39428134e-02 9.72471587e+01] [-5.44258060e-01 8.37503558e-01 -4.86924473e-02 -3.40494138e+01] [-8.01579084e-02 5.86067601e-03 9.96764948e-01 -7.56861639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39577952299999 meters 0.04251335828396066 Centerline is valid? [True, True] Translation: X:97.27, Y:-34.07, Z:-7.57 [[ 8.36075799e-01 5.44835364e-01 6.42781792e-02 9.72656055e+01] [-5.42665871e-01 8.38521270e-01 -4.89472370e-02 -3.40719007e+01] [-8.05668062e-02 6.04202616e-03 9.96730898e-01 -7.56984437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42577952299999 meters 0.04288927971352081 Centerline is valid? [True, True] Translation: X:97.29, Y:-34.09, Z:-7.57 [[ 8.37621939e-01 5.42457237e-01 6.42622218e-02 9.72897618e+01] [-5.40282570e-01 8.40060075e-01 -4.89266204e-02 -3.40899951e+01] [-8.05247262e-02 6.26225233e-03 9.96732940e-01 -7.57054658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.45577952299999 meters 0.0437455596378719 Centerline is valid? [True, True] Translation: X:97.31, Y:-34.11, Z:-7.57 [[ 8.38039434e-01 5.41959380e-01 6.30074346e-02 9.73140201e+01] [-5.39867661e-01 8.40381921e-01 -4.79701483e-02 -3.41061089e+01] [-7.89481808e-02 6.18519957e-03 9.96859533e-01 -7.57427290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.48577952299999 meters 0.04127210116823225 Centerline is valid? [True, True] Translation: X:97.34, Y:-34.12, Z:-7.58 [[ 8.36894683e-01 5.43965684e-01 6.08984695e-02 9.73425372e+01] [-5.42018973e-01 8.39087597e-01 -4.63404445e-02 -3.41174436e+01] [-7.63067620e-02 5.77394575e-03 9.97067671e-01 -7.58077126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.51577952299999 meters 0.04002482912924531 Centerline is valid? [True, True] Translation: X:97.37, Y:-34.13, Z:-7.58 [[ 8.35816718e-01 5.45566482e-01 6.13809973e-02 9.73678900e+01] [-5.43593148e-01 8.38048358e-01 -4.67058852e-02 -3.41335463e+01] [-7.69214094e-02 5.67127012e-03 9.97021030e-01 -7.58284137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.545779523 meters 0.03951794569178597 Centerline is valid? [True, True] Translation: X:97.39, Y:-34.15, Z:-7.58 [[ 8.34643089e-01 5.47117657e-01 6.35073510e-02 9.73924571e+01] [-5.45009564e-01 8.37036174e-01 -4.83220244e-02 -3.41511570e+01] [-7.95957828e-02 5.71952998e-03 9.96810814e-01 -7.58329639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.575779523 meters 0.0401229896945354 Centerline is valid? [True, True] Translation: X:97.41, Y:-34.17, Z:-7.58 [[ 8.34050592e-01 5.47739771e-01 6.58843977e-02 9.74147797e+01] [-5.45472686e-01 8.36628153e-01 -5.01286609e-02 -3.41681102e+01] [-8.25782033e-02 5.87169994e-03 9.96567290e-01 -7.58292626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.605779523 meters 0.03720504869337341 Centerline is valid? [True, True] Translation: X:97.44, Y:-34.18, Z:-7.58 [[ 8.33381142e-01 5.48712354e-01 6.62617925e-02 9.74424410e+01] [-5.46422974e-01 8.35991089e-01 -5.04066775e-02 -3.41796968e+01] [-8.30530347e-02 5.80100873e-03 9.96528244e-01 -7.58413698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.635779523 meters 0.03963290130474113 Centerline is valid? [True, True] Translation: X:97.46, Y:-34.20, Z:-7.59 [[ 8.33295749e-01 5.49092548e-01 6.41527058e-02 9.74642879e+01] [-5.46948536e-01 8.35742975e-01 -4.87952829e-02 -3.41963427e+01] [-8.04082993e-02 5.57267327e-03 9.96746433e-01 -7.58961863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.665779523 meters 0.039876319465176495 Centerline is valid? [True, True] Translation: X:97.49, Y:-34.21, Z:-7.60 [[ 8.32505288e-01 5.50513427e-01 6.22086228e-02 9.74917126e+01] [-5.48502216e-01 8.34809722e-01 -4.73080036e-02 -3.42079337e+01] [-7.79760543e-02 5.26259571e-03 9.96941342e-01 -7.59634082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.695779523 meters 0.04036510172916968 Centerline is valid? [True, True] Translation: X:97.52, Y:-34.22, Z:-7.60 [[ 8.31974141e-01 5.51298392e-01 6.23627385e-02 9.75150403e+01] [-5.49279623e-01 8.34291946e-01 -4.74219879e-02 -3.42232898e+01] [-7.81723961e-02 5.19928620e-03 9.96926298e-01 -7.59793503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.725779523 meters 0.04192291142172452 Centerline is valid? [True, True] Translation: X:97.54, Y:-34.24, Z:-7.60 [[ 8.31672021e-01 5.51809558e-01 6.18697108e-02 9.75383598e+01] [-5.49824631e-01 8.33954532e-01 -4.70394959e-02 -3.42393278e+01] [-7.75533691e-02 5.10394170e-03 9.96975137e-01 -7.60286826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75577952299999 meters 0.03543117937241723 Centerline is valid? [True, True] Translation: X:97.57, Y:-34.25, Z:-7.60 [[ 8.29254877e-01 5.55290230e-01 6.31593936e-02 9.75665044e+01] [-5.53233480e-01 8.31642444e-01 -4.79954419e-02 -3.42529100e+01] [-7.91774325e-02 4.85856320e-03 9.96848699e-01 -7.60011127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78577952299999 meters 0.035451924057758565 Centerline is valid? [True, True] Translation: X:97.59, Y:-34.27, Z:-7.60 [[ 8.28154892e-01 5.56910871e-01 6.33226363e-02 9.75913036e+01] [-5.54848240e-01 8.30558878e-01 -4.81184011e-02 -3.42685524e+01] [-7.93908385e-02 4.71503601e-03 9.96832415e-01 -7.60104997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.81577952299999 meters 0.03970820809473554 Centerline is valid? [True, True] Translation: X:97.62, Y:-34.28, Z:-7.61 [[ 8.25873962e-01 5.60385553e-01 6.24518321e-02 9.76163570e+01] [-5.58389465e-01 8.28220615e-01 -4.74533366e-02 -3.42831768e+01] [-7.83160591e-02 4.31802996e-03 9.96919229e-01 -7.60553706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.84577952299999 meters 0.03369039025732296 Centerline is valid? [True, True] Translation: X:97.65, Y:-34.29, Z:-7.61 [[ 8.24813039e-01 5.62052617e-01 6.14841995e-02 9.76458185e+01] [-5.60122813e-01 8.27091352e-01 -4.67154065e-02 -3.42910598e+01] [-7.71095661e-02 4.09277358e-03 9.97014225e-01 -7.61072491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.87577952299999 meters 0.033315063707386114 Centerline is valid? [True, True] Translation: X:97.67, Y:-34.31, Z:-7.62 [[ 8.23499792e-01 5.64062432e-01 6.06767282e-02 9.76693991e+01] [-5.62188981e-01 8.25723179e-01 -4.60953616e-02 -3.43071053e+01] [-7.61028426e-02 3.84773270e-03 9.97092550e-01 -7.61574301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.90577952299999 meters 0.026157981878837843 Centerline is valid? [True, True] Translation: X:97.70, Y:-34.32, Z:-7.62 [[ 8.20830948e-01 5.67889486e-01 6.11398936e-02 9.76983056e+01] [-5.65998119e-01 8.23097299e-01 -4.64431564e-02 -3.43182476e+01] [-7.66986615e-02 3.51691538e-03 9.97048117e-01 -7.61723447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.935779523 meters 0.02649243163153328 Centerline is valid? [True, True] Translation: X:97.72, Y:-34.33, Z:-7.62 [[ 8.19490601e-01 5.69734664e-01 6.19481002e-02 9.77206805e+01] [-5.67798230e-01 8.21821718e-01 -4.70556480e-02 -3.43345926e+01] [-7.77195280e-02 3.38763960e-03 9.96969508e-01 -7.61871511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.965779523 meters 0.026334456886873754 Centerline is valid? [True, True] Translation: X:97.75, Y:-34.34, Z:-7.62 [[ 8.15796688e-01 5.75011170e-01 6.19509336e-02 9.77517050e+01] [-5.73090353e-01 8.18140494e-01 -4.70486958e-02 -3.43435398e+01] [-7.77380930e-02 2.87868782e-03 9.96969660e-01 -7.62162478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.995779523 meters 0.02135923143137846 Centerline is valid? [True, True] Translation: X:97.78, Y:-34.36, Z:-7.62 [[ 8.13597742e-01 5.77898819e-01 6.39661609e-02 9.77798060e+01] [-5.75859850e-01 8.16104000e-01 -4.85766940e-02 -3.43570495e+01] [-8.02754539e-02 2.68634471e-03 9.96769098e-01 -7.61980877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.025779523 meters 0.02135923143137846 Centerline is valid? [True, True] Translation: X:97.80, Y:-34.37, Z:-7.62 [[ 8.13765303e-01 5.77662763e-01 6.39668965e-02 9.78016791e+01] [-5.75623142e-01 8.16271032e-01 -4.85757254e-02 -3.43735610e+01] [-8.02747124e-02 2.70841391e-03 9.96769098e-01 -7.62204176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.055779523 meters 0.026640187059909934 Centerline is valid? [True, True] Translation: X:97.82, Y:-34.39, Z:-7.62 [[ 8.11862341e-01 5.80242136e-01 6.47966251e-02 9.78211463e+01] [-5.78159787e-01 8.14440303e-01 -4.91757473e-02 -3.43935995e+01] [-8.13068237e-02 2.46113438e-03 9.96686081e-01 -7.62430026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.085779523 meters 0.022581237396665732 Centerline is valid? [True, True] Translation: X:97.85, Y:-34.40, Z:-7.63 [[ 8.09583797e-01 5.83360941e-01 6.52999876e-02 9.78490255e+01] [-5.81256909e-01 8.12210168e-01 -4.95484452e-02 -3.44044796e+01] [-8.19419416e-02 2.15754945e-03 9.96634769e-01 -7.62630418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11577952299999 meters 0.024270430867087623 Centerline is valid? [True, True] Translation: X:97.87, Y:-34.42, Z:-7.63 [[ 8.09454895e-01 5.83595269e-01 6.48022732e-02 9.78700617e+01] [-5.81524580e-01 8.12041934e-01 -4.91636034e-02 -3.44222285e+01] [-8.13138097e-02 2.11160475e-03 9.96686312e-01 -7.62921623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14577952299999 meters 0.020819556760014374 Centerline is valid? [True, True] Translation: X:97.89, Y:-34.44, Z:-7.63 [[ 8.10558346e-01 5.81946981e-01 6.58246089e-02 9.78934965e+01] [-5.79805684e-01 8.13223460e-01 -4.99296738e-02 -3.44387829e+01] [-8.25865391e-02 2.30543141e-03 9.96581230e-01 -7.62852342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17577952299999 meters 0.02450296349070488 Centerline is valid? [True, True] Translation: X:97.92, Y:-34.46, Z:-7.63 [[ 8.11110629e-01 5.81312473e-01 6.46170012e-02 9.79161775e+01] [-5.79249144e-01 8.13677141e-01 -4.89891760e-02 -3.44555551e+01] [-8.10553959e-02 2.30629871e-03 9.96706930e-01 -7.63474378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.20577952299999 meters 0.024617397563687988 Centerline is valid? [True, True] Translation: X:97.94, Y:-34.47, Z:-7.64 [[ 8.11590744e-01 5.80776868e-01 6.33931671e-02 9.79384221e+01] [-5.78791375e-01 8.14059557e-01 -4.80373003e-02 -3.44734360e+01] [-7.95047664e-02 2.29520998e-03 9.96831843e-01 -7.64042598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.23577952299999 meters 0.025189012109621274 Centerline is valid? [True, True] Translation: X:97.96, Y:-34.49, Z:-7.65 [[ 8.12708766e-01 5.79483249e-01 6.08574321e-02 9.79569873e+01] [-5.77651828e-01 8.14980889e-01 -4.60924678e-02 -3.44944371e+01] [-7.63074571e-02 2.30534567e-03 9.97081670e-01 -7.64907404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.26577952299999 meters 0.025223149537282375 Centerline is valid? [True, True] Translation: X:97.98, Y:-34.51, Z:-7.65 [[ 8.13770166e-01 5.77990096e-01 6.08733570e-02 9.79785517e+01] [-5.76154105e-01 8.16040130e-01 -4.60972061e-02 -3.45141765e+01] [-7.63188308e-02 2.44009654e-03 9.97080479e-01 -7.65150483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.295779523 meters 0.02680534174908044 Centerline is valid? [True, True] Translation: X:98.00, Y:-34.53, Z:-7.65 [[ 8.15080976e-01 5.76104885e-01 6.12059173e-02 9.79991811e+01] [-5.74245314e-01 8.17371607e-01 -4.63246842e-02 -3.45333493e+01] [-7.67158558e-02 2.61115761e-03 9.97049577e-01 -7.65262463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.325779523 meters 0.02697779313603995 Centerline is valid? [True, True] Translation: X:98.02, Y:-34.55, Z:-7.65 [[ 8.18687614e-01 5.70738525e-01 6.33097667e-02 9.80244688e+01] [-5.68733350e-01 8.21125568e-01 -4.79080164e-02 -3.45508922e+01] [-7.93282187e-02 3.21532397e-03 9.96843366e-01 -7.65003365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.355779523 meters 0.02965528969393068 Centerline is valid? [True, True] Translation: X:98.04, Y:-34.58, Z:-7.65 [[ 8.22788021e-01 5.64764219e-01 6.37279286e-02 9.80442618e+01] [-5.62714640e-01 8.25243487e-01 -4.82226289e-02 -3.45750251e+01] [-7.98254733e-02 3.81636301e-03 9.96801550e-01 -7.65065105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.385779523 meters 0.037895375911903735 Centerline is valid? [True, True] Translation: X:98.06, Y:-34.61, Z:-7.66 [[ 8.24970366e-01 5.61678514e-01 6.27785136e-02 9.80577524e+01] [-5.59680805e-01 8.27345648e-01 -4.75034338e-02 -3.46054564e+01] [-7.86211881e-02 4.05299617e-03 9.96896325e-01 -7.65500391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.415779523 meters 0.03031179750271735 Centerline is valid? [True, True] Translation: X:98.08, Y:-34.62, Z:-7.66 [[ 8.26754578e-01 5.59099074e-01 6.23305217e-02 9.80843138e+01] [-5.57122806e-01 8.29089885e-01 -4.71608036e-02 -3.46213717e+01] [-7.80451667e-02 4.26465514e-03 9.96940703e-01 -7.65574477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.445779523 meters 0.033255074550252305 Centerline is valid? [True, True] Translation: X:98.10, Y:-34.64, Z:-7.66 [[ 8.29806786e-01 5.54620158e-01 6.17833116e-02 9.81030796e+01] [-5.52666126e-01 8.32090682e-01 -4.67466699e-02 -3.46440854e+01] [-7.73359633e-02 4.64516046e-03 9.96994268e-01 -7.65915661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.475779523 meters 0.037512634539724476 Centerline is valid? [True, True] Translation: X:98.12, Y:-34.66, Z:-7.66 [[ 8.31233693e-01 5.52555581e-01 6.10972830e-02 9.81245568e+01] [-5.50639024e-01 8.33462314e-01 -4.62302627e-02 -3.46618992e+01] [-7.64670725e-02 4.78560369e-03 9.97060622e-01 -7.66405112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50577952299999 meters 0.043371110281731705 Centerline is valid? [True, True] Translation: X:98.14, Y:-34.69, Z:-7.66 [[ 8.33261469e-01 5.49329425e-01 6.25500346e-02 9.81428456e+01] [-5.47312121e-01 8.35589721e-01 -4.73208131e-02 -3.46859665e+01] [-7.82608810e-02 5.19621816e-03 9.96919372e-01 -7.66228839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53577952299999 meters 0.03868655464317056 Centerline is valid? [True, True] Translation: X:98.17, Y:-34.70, Z:-7.66 [[ 8.34029493e-01 5.48113566e-01 6.29787494e-02 9.81690688e+01] [-5.46065083e-01 8.36386834e-01 -4.76444129e-02 -3.46989698e+01] [-7.87891459e-02 5.34634951e-03 9.96876967e-01 -7.66385026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.56577952299999 meters 0.04061623028379897 Centerline is valid? [True, True] Translation: X:98.19, Y:-34.72, Z:-7.67 [[ 8.34666373e-01 5.47130894e-01 6.30858998e-02 9.81885740e+01] [-5.45074581e-01 8.37029464e-01 -4.77009130e-02 -3.47190766e+01] [-7.89034001e-02 5.42782764e-03 9.96867490e-01 -7.66675078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.59577952299999 meters 0.040151764820872286 Centerline is valid? [True, True] Translation: X:98.21, Y:-34.74, Z:-7.67 [[ 8.35141909e-01 5.46444908e-01 6.27371827e-02 9.82103296e+01] [-5.44410012e-01 8.37477284e-01 -4.74292975e-02 -3.47375126e+01] [-7.84584634e-02 5.45544370e-03 9.96902456e-01 -7.66996198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.62577952299999 meters 0.035583154443995076 Centerline is valid? [True, True] Translation: X:98.24, Y:-34.75, Z:-7.67 [[ 8.34900998e-01 5.46894649e-01 6.20206939e-02 9.82355218e+01] [-5.44909088e-01 8.37184459e-01 -4.68643472e-02 -3.47516688e+01] [-7.75526218e-02 5.33145044e-03 9.96974005e-01 -7.67187286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.65577952299999 meters 0.035882287454085074 Centerline is valid? [True, True] Translation: X:98.26, Y:-34.77, Z:-7.67 [[ 8.34277123e-01 5.47780647e-01 6.25942938e-02 9.82583564e+01] [-5.45762614e-01 8.36605357e-01 -4.72720417e-02 -3.47680537e+01] [-7.82614311e-02 5.27635754e-03 9.96918908e-01 -7.67346538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.685779523 meters 0.036294953555930785 Centerline is valid? [True, True] Translation: X:98.28, Y:-34.78, Z:-7.67 [[ 8.32349211e-01 5.50523644e-01 6.41756069e-02 9.82835626e+01] [-5.48410990e-01 8.34803758e-01 -4.84569180e-02 -3.47824367e+01] [-8.02507169e-02 5.13846937e-03 9.96761465e-01 -7.67197584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.715779523 meters 0.03533788359857857 Centerline is valid? [True, True] Translation: X:98.31, Y:-34.79, Z:-7.68 [[ 8.31613268e-01 5.51661302e-01 6.39467049e-02 9.83094982e+01] [-5.49567477e-01 8.34053203e-01 -4.82788097e-02 -3.47949577e+01] [-7.99685050e-02 5.00626945e-03 9.96784819e-01 -7.67638286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.745779523 meters 0.035011873115793915 Centerline is valid? [True, True] Translation: X:98.33, Y:-34.81, Z:-7.68 [[ 8.30614679e-01 5.53011810e-01 6.52471630e-02 9.83307716e+01] [-5.50836534e-01 8.33158591e-01 -4.92531679e-02 -3.48126648e+01] [-8.15988179e-02 4.96988312e-03 9.96652865e-01 -7.67635256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.775779523 meters 0.03387395296084604 Centerline is valid? [True, True] Translation: X:98.35, Y:-34.83, Z:-7.68 [[ 8.28772691e-01 5.55843248e-01 6.46073555e-02 9.83546915e+01] [-5.53719749e-01 8.31274188e-01 -4.87612947e-02 -3.48312307e+01] [-8.08100634e-02 4.63766077e-03 9.96718730e-01 -7.68017021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.805779523 meters 0.03389636919932731 Centerline is valid? [True, True] Translation: X:98.38, Y:-34.85, Z:-7.68 [[ 8.28300383e-01 5.56644203e-01 6.37628909e-02 9.83774443e+01] [-5.54578415e-01 8.30738825e-01 -4.81226180e-02 -3.48488248e+01] [-7.97574854e-02 4.49845996e-03 9.96804147e-01 -7.68391701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.835779523 meters 0.034817024687364154 Centerline is valid? [True, True] Translation: X:98.40, Y:-34.87, Z:-7.69 [[ 8.27962448e-01 5.57194374e-01 6.33451937e-02 9.83991494e+01] [-5.55159114e-01 8.30370461e-01 -4.77834307e-02 -3.48664140e+01] [-7.92246365e-02 4.39622473e-03 9.96847095e-01 -7.68653172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86577952299999 meters 0.03554028872136817 Centerline is valid? [True, True] Translation: X:98.42, Y:-34.88, Z:-7.69 [[ 8.28436508e-01 5.56421030e-01 6.39420894e-02 9.84216543e+01] [-5.54345877e-01 8.30888301e-01 -4.82211574e-02 -3.48839444e+01] [-7.99600001e-02 4.50213361e-03 9.96787906e-01 -7.68819457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89577952299999 meters 0.03222321577064717 Centerline is valid? [True, True] Translation: X:98.45, Y:-34.90, Z:-7.69 [[ 8.29675698e-01 5.54496269e-01 6.45919855e-02 9.84478368e+01] [-5.52374794e-01 8.32172850e-01 -4.86871113e-02 -3.48978875e+01] [-8.07485182e-02 4.71552832e-03 9.96723352e-01 -7.69136893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92577952299999 meters 0.032694535846973787 Centerline is valid? [True, True] Translation: X:98.47, Y:-34.92, Z:-7.69 [[ 8.30495079e-01 5.53293557e-01 6.43751784e-02 9.84702038e+01] [-5.51183012e-01 8.32972431e-01 -4.85202691e-02 -3.49153322e+01] [-8.04687012e-02 4.81333999e-03 9.96745514e-01 -7.69486425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.95577952299999 meters 0.034835248617804994 Centerline is valid? [True, True] Translation: X:98.49, Y:-34.93, Z:-7.70 [[ 8.31285402e-01 5.52280763e-01 6.28533172e-02 9.84909217e+01] [-5.50268056e-01 8.33644508e-01 -4.73487101e-02 -3.49327488e+01] [-7.85471045e-02 4.77411882e-03 9.96898972e-01 -7.69887409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.98577952299999 meters 0.033712840920660396 Centerline is valid? [True, True] Translation: X:98.52, Y:-34.95, Z:-7.70 [[ 8.31122486e-01 5.52710480e-01 6.12089786e-02 9.85164533e+01] [-5.50803737e-01 8.33360638e-01 -4.61008671e-02 -3.49466471e+01] [-7.64895859e-02 4.60133313e-03 9.97059763e-01 -7.70350131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.01577952299999 meters 0.029977515921701888 Centerline is valid? [True, True] Translation: X:98.54, Y:-34.96, Z:-7.70 [[ 8.30705542e-01 5.53224418e-01 6.22177295e-02 9.85398504e+01] [-5.51257600e-01 8.33019511e-01 -4.68353722e-02 -3.49634826e+01] [-7.77390541e-02 4.60840703e-03 9.96963090e-01 -7.70357232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.045779523 meters 0.03001631362240908 Centerline is valid? [True, True] Translation: X:98.56, Y:-34.98, Z:-7.71 [[ 8.28317151e-01 5.56834570e-01 6.18543324e-02 9.85619717e+01] [-5.54902667e-01 8.30612680e-01 -4.65360714e-02 -3.49833267e+01] [-7.72898861e-02 4.22349204e-03 9.96999717e-01 -7.70502836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.075779523 meters 0.02857855138423728 Centerline is valid? [True, True] Translation: X:98.59, Y:-35.00, Z:-7.71 [[ 8.26793809e-01 5.59044460e-01 6.22999957e-02 9.85874439e+01] [-5.57091028e-01 8.29127819e-01 -4.68683838e-02 -3.49983468e+01] [-7.78561698e-02 4.04372087e-03 9.96956401e-01 -7.70700365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.105779523 meters 0.026468855175756284 Centerline is valid? [True, True] Translation: X:98.62, Y:-35.01, Z:-7.71 [[ 8.23316796e-01 5.64230174e-01 6.15935475e-02 9.86173060e+01] [-5.62335511e-01 8.25610068e-01 -4.63334519e-02 -3.50080585e+01] [-7.69949845e-02 3.51087016e-03 9.97025299e-01 -7.71124205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.135779523 meters 0.028963856939301216 Centerline is valid? [True, True] Translation: X:98.64, Y:-35.03, Z:-7.72 [[ 8.21241239e-01 5.67335116e-01 6.07757664e-02 9.86399052e+01] [-5.65499103e-01 8.23480894e-01 -4.57163169e-02 -3.50260281e+01] [-7.59841544e-02 3.17548329e-03 9.97103969e-01 -7.71526881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.165779523 meters 0.029333821504640683 Centerline is valid? [True, True] Translation: X:98.67, Y:-35.04, Z:-7.72 [[ 8.18919410e-01 5.70706417e-01 6.05407794e-02 9.86654790e+01] [-5.68894016e-01 8.21149236e-01 -4.55360360e-02 -3.50420982e+01] [-7.57007228e-02 2.84905664e-03 9.97126513e-01 -7.71851034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.195779523 meters 0.02249082346586472 Centerline is valid? [True, True] Translation: X:98.69, Y:-35.06, Z:-7.72 [[ 8.14954926e-01 5.76130502e-01 6.26267761e-02 9.86913597e+01] [-5.74206863e-01 8.17354120e-01 -4.71033050e-02 -3.50580477e+01] [-7.83259042e-02 2.42634584e-03 9.96924855e-01 -7.71639476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.225779523 meters 0.023093692755474366 Centerline is valid? [True, True] Translation: X:98.71, Y:-35.08, Z:-7.72 [[ 8.13563921e-01 5.78090140e-01 6.26541037e-02 9.87121660e+01] [-5.76170705e-01 8.15969842e-01 -4.71225582e-02 -3.50763900e+01] [-7.83649453e-02 2.23775416e-03 9.96922228e-01 -7.71843274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25577952299999 meters 0.023468643527918758 Centerline is valid? [True, True] Translation: X:98.73, Y:-35.09, Z:-7.72 [[ 8.12654959e-01 5.79418806e-01 6.21752755e-02 9.87346725e+01] [-5.77533123e-01 8.15027295e-01 -4.67546870e-02 -3.50936905e+01] [-7.77650915e-02 2.08714718e-03 9.96969525e-01 -7.72018150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28577952299999 meters 0.01983062319345182 Centerline is valid? [True, True] Translation: X:98.76, Y:-35.11, Z:-7.72 [[ 8.11522446e-01 5.80910735e-01 6.30399677e-02 9.87579299e+01] [-5.78978593e-01 8.13964932e-01 -4.73801465e-02 -3.51086005e+01] [-7.88359587e-02 1.95126061e-03 9.96885693e-01 -7.72088641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.31577952299999 meters 0.02342113659953499 Centerline is valid? [True, True] Translation: X:98.78, Y:-35.12, Z:-7.73 [[ 8.11286366e-01 5.81379446e-01 6.17444133e-02 9.87802509e+01] [-5.79528012e-01 8.13630433e-01 -4.63982932e-02 -3.51249832e+01] [-7.72121477e-02 1.85968552e-03 9.97012952e-01 -7.72707656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.34577952299999 meters 0.019406776534198224 Centerline is valid? [True, True] Translation: X:98.80, Y:-35.14, Z:-7.73 [[ 8.10854755e-01 5.82001808e-01 6.15504806e-02 9.88022653e+01] [-5.80164365e-01 8.13185524e-01 -4.62451451e-02 -3.51440747e+01] [-7.69667178e-02 1.78870030e-03 9.97032058e-01 -7.73104885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.37577952299999 meters 0.022749544926518945 Centerline is valid? [True, True] Translation: X:98.82, Y:-35.16, Z:-7.74 [[ 8.10853825e-01 5.82064645e-01 6.09657593e-02 9.88224972e+01] [-5.80263747e-01 8.13140633e-01 -4.57853019e-02 -3.51626948e+01] [-7.62237417e-02 1.74896724e-03 9.97089205e-01 -7.73565423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.40577952299999 meters 0.022860674027492426 Centerline is valid? [True, True] Translation: X:98.84, Y:-35.18, Z:-7.74 [[ 8.10853420e-01 5.81970359e-01 6.18646325e-02 9.88410296e+01] [-5.80117752e-01 8.13208091e-01 -4.64326831e-02 -3.51821652e+01] [-7.73312649e-02 1.76132834e-03 9.97003898e-01 -7.73682606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.435779523 meters 0.01734022928998866 Centerline is valid? [True, True] Translation: X:98.86, Y:-35.20, Z:-7.73 [[ 8.11399142e-01 5.80864920e-01 6.50182920e-02 9.88626199e+01] [-5.78815770e-01 8.13997626e-01 -4.87869897e-02 -3.52025493e+01] [-8.12633862e-02 1.95210886e-03 9.96690750e-01 -7.73283382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.465779523 meters 0.023121170930293693 Centerline is valid? [True, True] Translation: X:98.88, Y:-35.22, Z:-7.74 [[ 8.11903642e-01 5.80193796e-01 6.47119435e-02 9.88809538e+01] [-5.78163907e-01 8.14476031e-01 -4.85313450e-02 -3.52237553e+01] [-8.08639121e-02 1.98866568e-03 9.96723168e-01 -7.73689947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.495779523 meters 0.02282807790333077 Centerline is valid? [True, True] Translation: X:98.90, Y:-35.24, Z:-7.74 [[ 8.13181696e-01 5.78453535e-01 6.42420163e-02 9.89027774e+01] [-5.76448357e-01 8.15712531e-01 -4.81701028e-02 -3.52415692e+01] [-8.02671840e-02 2.13884114e-03 9.96771089e-01 -7.73929020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.525779523 meters 0.019191763234191587 Centerline is valid? [True, True] Translation: X:98.93, Y:-35.26, Z:-7.74 [[ 8.14149205e-01 5.77087931e-01 6.42696791e-02 9.89255168e+01] [-5.75077817e-01 8.16678881e-01 -4.81779028e-02 -3.52599446e+01] [-8.02905758e-02 2.26393448e-03 9.96768929e-01 -7.74005769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.555779523 meters 0.01951982949623868 Centerline is valid? [True, True] Translation: X:98.95, Y:-35.28, Z:-7.74 [[ 8.15418809e-01 5.75433153e-01 6.29988255e-02 9.89468033e+01] [-5.73498835e-01 8.17845414e-01 -4.72013341e-02 -3.52798706e+01] [-7.86845131e-02 2.35910261e-03 9.96896776e-01 -7.74244943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.585779523 meters 0.02366041236097989 Centerline is valid? [True, True] Translation: X:98.97, Y:-35.30, Z:-7.75 [[ 8.17743112e-01 5.72247637e-01 6.18776576e-02 9.89654749e+01] [-5.70374426e-01 8.20076759e-01 -4.63370725e-02 -3.53033092e+01] [-7.72607091e-02 2.59838847e-03 9.97007538e-01 -7.74687685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61577952299999 meters 0.02561469998539155 Centerline is valid? [True, True] Translation: X:98.98, Y:-35.33, Z:-7.75 [[ 8.19024184e-01 5.70394825e-01 6.20413565e-02 9.89822533e+01] [-5.68506938e-01 8.21365963e-01 -4.64523008e-02 -3.53265187e+01] [-7.74548105e-02 2.77461610e-03 9.96992003e-01 -7.74845878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64577952299999 meters 0.021677706864387438 Centerline is valid? [True, True] Translation: X:99.00, Y:-35.35, Z:-7.75 [[ 8.21132025e-01 5.67258558e-01 6.29279465e-02 9.90016985e+01] [-5.65307893e-01 8.23533898e-01 -4.71052520e-02 -3.53498878e+01] [-7.85441544e-02 3.10596605e-03 9.96905797e-01 -7.74558536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67577952299999 meters 0.03368933373739981 Centerline is valid? [True, True] Translation: X:99.01, Y:-35.38, Z:-7.75 [[ 8.22439259e-01 5.65410345e-01 6.24884529e-02 9.90123802e+01] [-5.63481883e-01 8.24803334e-01 -4.67720812e-02 -3.53821313e+01] [-7.79861028e-02 3.25608475e-03 9.96949129e-01 -7.74964427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.70577952299999 meters 0.034871941695184205 Centerline is valid? [True, True] Translation: X:99.03, Y:-35.40, Z:-7.75 [[ 8.23457407e-01 5.64038224e-01 6.14717829e-02 9.90332587e+01] [-5.62170547e-01 8.25742060e-01 -4.59818042e-02 -3.54010091e+01] [-7.66953318e-02 3.30643145e-03 9.97049093e-01 -7.75401181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.73577952299999 meters 0.028938382182779502 Centerline is valid? [True, True] Translation: X:99.06, Y:-35.41, Z:-7.76 [[ 8.24347439e-01 5.62823308e-01 6.06730921e-02 9.90627363e+01] [-5.61001810e-01 8.26570396e-01 -4.53690262e-02 -3.54083517e+01] [-7.56853272e-02 3.36212602e-03 9.97126084e-01 -7.76041481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.76577952299999 meters 0.023643080569546632 Centerline is valid? [True, True] Translation: X:99.09, Y:-35.42, Z:-7.76 [[ 8.24353358e-01 5.62584037e-01 6.27753357e-02 9.90865507e+01] [-5.60634019e-01 8.26732724e-01 -4.69308088e-02 -3.54241982e+01] [-7.83009481e-02 3.49358108e-03 9.96923646e-01 -7.75665311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.795779523 meters 0.025395912137672505 Centerline is valid? [True, True] Translation: X:99.10, Y:-35.45, Z:-7.75 [[ 8.23465656e-01 5.63537053e-01 6.58050415e-02 9.91033616e+01] [-5.61399472e-01 8.26083191e-01 -4.91649707e-02 -3.54484364e+01] [-8.20667214e-02 3.54274934e-03 9.96620541e-01 -7.75418650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.825779523 meters 0.025266191981977205 Centerline is valid? [True, True] Translation: X:99.12, Y:-35.47, Z:-7.76 [[ 8.23096937e-01 5.64064583e-01 6.58982520e-02 9.91243248e+01] [-5.61923373e-01 8.25723310e-01 -4.92253908e-02 -3.54682246e+01] [-8.21800223e-02 3.48750031e-03 9.96611399e-01 -7.75649325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.855779523 meters 0.025879764682671946 Centerline is valid? [True, True] Translation: X:99.15, Y:-35.48, Z:-7.76 [[ 8.22598031e-01 5.64870671e-01 6.52196602e-02 9.91483125e+01] [-5.62777856e-01 8.25172641e-01 -4.86949318e-02 -3.54832449e+01] [-8.13238181e-02 3.35217450e-03 9.96682096e-01 -7.76389350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.885779523 meters 0.024205266719592063 Centerline is valid? [True, True] Translation: X:99.17, Y:-35.50, Z:-7.76 [[ 8.20503712e-01 5.68039287e-01 6.40704797e-02 9.91702794e+01] [-5.66029857e-01 8.22996048e-01 -4.78299802e-02 -3.55028022e+01] [-7.98990594e-02 2.97887191e-03 9.96798509e-01 -7.76397522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.915779523 meters 0.024205266719592063 Centerline is valid? [True, True] Translation: X:99.19, Y:-35.52, Z:-7.77 [[ 8.20654935e-01 5.67820623e-01 6.40719740e-02 9.91923183e+01] [-5.65810684e-01 8.23146861e-01 -4.78279784e-02 -3.55191346e+01] [-7.98983568e-02 2.99765908e-03 9.96798509e-01 -7.76621005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.945779523 meters 0.022350503715988183 Centerline is valid? [True, True] Translation: X:99.22, Y:-35.53, Z:-7.77 [[ 8.19635709e-01 5.69246529e-01 6.44646687e-02 9.92172163e+01] [-5.67218400e-01 8.22161933e-01 -4.80941092e-02 -3.55338725e+01] [-8.03778013e-02 2.85410307e-03 9.96760384e-01 -7.76817948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.975779523 meters 0.02006466687364334 Centerline is valid? [True, True] Translation: X:99.24, Y:-35.55, Z:-7.77 [[ 8.17790825e-01 5.71878886e-01 6.45964856e-02 9.92408645e+01] [-5.69852533e-01 8.20334003e-01 -4.81686073e-02 -3.55501200e+01] [-8.05373031e-02 2.58137424e-03 9.96748253e-01 -7.76933186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00577952299999 meters 0.02412249284403639 Centerline is valid? [True, True] Translation: X:99.26, Y:-35.57, Z:-7.78 [[ 8.17148931e-01 5.72850351e-01 6.41100583e-02 9.92611268e+01] [-5.70857986e-01 8.19656281e-01 -4.77989734e-02 -3.55696701e+01] [-7.99298707e-02 2.46114127e-03 9.96797451e-01 -7.77587584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03577952299999 meters 0.019495395584080845 Centerline is valid? [True, True] Translation: X:99.28, Y:-35.59, Z:-7.78 [[ 8.15994085e-01 5.74504793e-01 6.40148102e-02 9.92826670e+01] [-5.72523976e-01 8.18498014e-01 -4.77210525e-02 -3.55894056e+01] [-7.98119684e-02 2.29008290e-03 9.96807306e-01 -7.77604733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.06577952299999 meters 0.02250032489506596 Centerline is valid? [True, True] Translation: X:99.30, Y:-35.61, Z:-7.78 [[ 8.15694215e-01 5.74901822e-01 6.42716294e-02 9.93049811e+01] [-5.72906819e-01 8.18219292e-01 -4.79058019e-02 -3.56071872e+01] [-8.01294200e-02 2.25483069e-03 9.96781918e-01 -7.78208994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.09577952299999 meters 0.0232148459236347 Centerline is valid? [True, True] Translation: X:99.33, Y:-35.62, Z:-7.78 [[ 8.14924666e-01 5.75957839e-01 6.45782972e-02 9.93276351e+01] [-5.73948985e-01 8.17476594e-01 -4.81100895e-02 -3.56240785e+01] [-8.05006296e-02 2.14145051e-03 9.96752258e-01 -7.78408669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.12577952299999 meters 0.02315295391754699 Centerline is valid? [True, True] Translation: X:99.35, Y:-35.64, Z:-7.79 [[ 8.14772341e-01 5.76202072e-01 6.43211010e-02 9.93509216e+01] [-5.74211898e-01 8.17304599e-01 -4.78945620e-02 -3.56416708e+01] [-8.01668775e-02 2.08922298e-03 9.96779267e-01 -7.78664875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.15577952299999 meters 0.018491538808050424 Centerline is valid? [True, True] Translation: X:99.37, Y:-35.66, Z:-7.78 [[ 8.14685416e-01 5.76355254e-01 6.40491489e-02 9.93731380e+01] [-5.74384314e-01 8.17196694e-01 -4.76678445e-02 -3.56598651e+01] [-7.98143654e-02 2.04547125e-03 9.96807646e-01 -7.78454375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.185779523 meters 0.018713247414245314 Centerline is valid? [True, True] Translation: X:99.39, Y:-35.68, Z:-7.79 [[ 8.14464849e-01 5.76549548e-01 6.50970674e-02 9.93943416e+01] [-5.74514674e-01 8.17059606e-01 -4.84405764e-02 -3.56805428e+01] [-8.11165767e-02 2.05392633e-03 9.96702504e-01 -7.78555590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.215779523 meters 0.01867019512544634 Centerline is valid? [True, True] Translation: X:99.42, Y:-35.70, Z:-7.79 [[ 8.14462741e-01 5.76414898e-01 6.63046695e-02 9.94170113e+01] [-5.74303699e-01 8.17154483e-01 -4.93336837e-02 -3.56986649e+01] [-8.26178282e-02 2.10143029e-03 9.96579088e-01 -7.78683437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.245779523 meters 0.022156221623648612 Centerline is valid? [True, True] Translation: X:99.44, Y:-35.72, Z:-7.79 [[ 8.14711570e-01 5.75992893e-01 6.69122181e-02 9.94391545e+01] [-5.73841947e-01 8.17451852e-01 -4.97784062e-02 -3.57157811e+01] [-8.33695248e-02 2.15800595e-03 9.96516365e-01 -7.79326177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.275779523 meters 0.021756749057884543 Centerline is valid? [True, True] Translation: X:99.46, Y:-35.73, Z:-7.80 [[ 8.14944405e-01 5.75746663e-01 6.61921154e-02 9.94620432e+01] [-5.73641625e-01 8.17625306e-01 -4.92356000e-02 -3.57327723e+01] [-8.24675810e-02 2.15372416e-03 9.96591421e-01 -7.79653111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.305779523 meters 0.018702804392822858 Centerline is valid? [True, True] Translation: X:99.48, Y:-35.75, Z:-7.80 [[ 8.14295238e-01 5.76754593e-01 6.54018745e-02 9.94841683e+01] [-5.74703422e-01 8.16914961e-01 -4.86407512e-02 -3.57493131e+01] [-8.14815464e-02 2.02125093e-03 9.96672801e-01 -7.79589678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.335779523 meters 0.02102200631024018 Centerline is valid? [True, True] Translation: X:99.51, Y:-35.77, Z:-7.80 [[ 8.12115796e-01 5.79578598e-01 6.75024705e-02 9.95059646e+01] [-5.77403794e-01 8.14914386e-01 -5.01936485e-02 -3.57680306e+01] [-8.40998987e-02 1.78687217e-03 9.96455726e-01 -7.79977661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36577952299999 meters 0.01779922971866028 Centerline is valid? [True, True] Translation: X:99.53, Y:-35.79, Z:-7.80 [[ 8.10824915e-01 5.81382893e-01 6.75047421e-02 9.95276798e+01] [-5.79214776e-01 8.13628534e-01 -5.01881617e-02 -3.57866791e+01] [-8.41023230e-02 1.59406783e-03 9.96455849e-01 -7.79703371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39577952299999 meters 0.017186355355513154 Centerline is valid? [True, True] Translation: X:99.55, Y:-35.80, Z:-7.80 [[ 8.09749883e-01 5.82952032e-01 6.68734268e-02 9.95508608e+01] [-5.80830270e-01 8.12505344e-01 -4.97118045e-02 -3.58038226e+01] [-8.33146142e-02 1.41201732e-03 9.96522293e-01 -7.79954060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42577952299999 meters 0.01657752615658876 Centerline is valid? [True, True] Translation: X:99.57, Y:-35.82, Z:-7.80 [[ 8.08482021e-01 5.84801411e-01 6.60615703e-02 9.95749282e+01] [-5.82737678e-01 8.11175609e-01 -4.91012339e-02 -3.58196923e+01] [-8.23020054e-02 1.20089878e-03 9.96606712e-01 -7.80317685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.45577952299999 meters 0.02035331631922878 Centerline is valid? [True, True] Translation: X:99.60, Y:-35.83, Z:-7.81 [[ 8.04920059e-01 5.89761477e-01 6.54606679e-02 9.96021222e+01] [-5.87753415e-01 8.07577211e-01 -4.86309662e-02 -3.58298234e+01] [-8.15452141e-02 6.69309048e-04 9.96669419e-01 -7.81265231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.48577952299999 meters 0.018483762336273774 Centerline is valid? [True, True] Translation: X:99.63, Y:-35.84, Z:-7.81 [[ 8.00620317e-01 5.95509359e-01 6.61491642e-02 9.96264398e+01] [-5.93478856e-01 8.03348366e-01 -4.91350185e-02 -3.58446654e+01] [-8.24011863e-02 8.03637521e-05 9.96599236e-01 -7.81394063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.51577952299999 meters 0.015063342826850297 Centerline is valid? [True, True] Translation: X:99.65, Y:-35.86, Z:-7.81 [[ 7.98880836e-01 5.97808223e-01 6.64434960e-02 9.96482223e+01] [-5.95768146e-01 8.01639134e-01 -4.93458684e-02 -3.58622933e+01] [-8.27630725e-02 -1.63449785e-04 9.96569239e-01 -7.81197480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.545779523 meters 0.01850769819993631 Centerline is valid? [True, True] Translation: X:99.67, Y:-35.88, Z:-7.82 [[ 7.97743440e-01 5.99422117e-01 6.55631783e-02 9.96691840e+01] [-5.97443596e-01 8.00433010e-01 -4.86636003e-02 -3.58808894e+01] [-8.16489705e-02 -3.49233155e-04 9.96661088e-01 -7.81893152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.575779523 meters 0.015128866880470247 Centerline is valid? [True, True] Translation: X:99.69, Y:-35.90, Z:-7.82 [[ 7.97316490e-01 6.00049766e-01 6.50130184e-02 9.96900361e+01] [-5.98108735e-01 7.99962556e-01 -4.82270635e-02 -3.58992022e+01] [-8.09466186e-02 -4.32621209e-04 9.96718344e-01 -7.81829665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.605779523 meters 0.01900225269397221 Centerline is valid? [True, True] Translation: X:99.71, Y:-35.92, Z:-7.83 [[ 7.98327463e-01 5.98773647e-01 6.43691027e-02 9.97108065e+01] [-5.96868360e-01 8.00918236e-01 -4.77298652e-02 -3.59188184e+01] [-8.01337736e-02 -3.15818596e-04 9.96784068e-01 -7.82712073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.635779523 meters 0.01483167276199639 Centerline is valid? [True, True] Translation: X:99.73, Y:-35.94, Z:-7.82 [[ 7.99561321e-01 5.97047732e-01 6.50822525e-02 9.97331741e+01] [-5.95094798e-01 8.02205699e-01 -4.82514036e-02 -3.59383797e+01] [-8.10177450e-02 -1.50153841e-04 9.96712648e-01 -7.82433977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.665779523 meters 0.019133476728841435 Centerline is valid? [True, True] Translation: X:99.75, Y:-35.96, Z:-7.83 [[ 8.03904503e-01 5.91058615e-01 6.62364253e-02 9.97504518e+01] [-5.89015890e-01 8.06628480e-01 -4.90996655e-02 -3.59620291e+01] [-8.24489673e-02 4.57135263e-04 9.96595183e-01 -7.82908293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.695779523 meters 0.020853619201296858 Centerline is valid? [True, True] Translation: X:99.77, Y:-35.98, Z:-7.83 [[ 8.06410794e-01 5.87613208e-01 6.64255157e-02 9.97705810e+01] [-5.85547828e-01 8.09141563e-01 -4.92307961e-02 -3.59827515e+01] [-8.26763116e-02 8.04928868e-04 9.96576128e-01 -7.83197313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.725779523 meters 0.016180362910470404 Centerline is valid? [True, True] Translation: X:99.79, Y:-36.00, Z:-7.83 [[ 8.08829523e-01 5.84234525e-01 6.68193220e-02 9.97901836e+01] [-5.82133607e-01 8.11584064e-01 -4.95153629e-02 -3.60044145e+01] [-8.31580814e-02 1.15171452e-03 9.96535703e-01 -7.82821915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75577952299999 meters 0.018679677066107816 Centerline is valid? [True, True] Translation: X:99.81, Y:-36.03, Z:-7.83 [[ 8.14296583e-01 5.76654439e-01 6.62626154e-02 9.98053383e+01] [-5.74563954e-01 8.16985942e-01 -4.90941315e-02 -3.60325741e+01] [-8.24459741e-02 1.90507320e-03 9.96593715e-01 -7.83057778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78577952299999 meters 0.024175467076296406 Centerline is valid? [True, True] Translation: X:99.82, Y:-36.06, Z:-7.84 [[ 8.17016815e-01 5.72873460e-01 6.55707427e-02 9.98227516e+01] [-5.70814357e-01 8.19640702e-01 -4.85807564e-02 -3.60553280e+01] [-8.15750755e-02 2.26257356e-03 9.96664632e-01 -7.83863487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.81577952299999 meters 0.022020358430803473 Centerline is valid? [True, True] Translation: X:99.84, Y:-36.08, Z:-7.84 [[ 8.21358679e-01 5.66694067e-01 6.50211855e-02 9.98434549e+01] [-5.64650323e-01 8.23923365e-01 -4.81695138e-02 -3.60791568e+01] [-8.08698516e-02 2.85021488e-03 9.96720594e-01 -7.83746351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.84577952299999 meters 0.023447606064300644 Centerline is valid? [True, True] Translation: X:99.87, Y:-36.10, Z:-7.84 [[ 8.22891484e-01 5.64424074e-01 6.53840209e-02 9.98677420e+01] [-5.62350227e-01 8.25479200e-01 -4.84387475e-02 -3.60992555e+01] [-8.13131445e-02 3.09111380e-03 9.96683810e-01 -7.83972733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.87577952299999 meters 0.02448993303462873 Centerline is valid? [True, True] Translation: X:99.89, Y:-36.12, Z:-7.84 [[ 8.24285653e-01 5.62345765e-01 6.57297740e-02 9.98933280e+01] [-5.60241452e-01 8.26895480e-01 -4.87173471e-02 -3.61187508e+01] [-8.17476469e-02 3.33246624e-03 9.96647489e-01 -7.84206565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.90577952299999 meters 0.02672425460488334 Centerline is valid? [True, True] Translation: X:99.91, Y:-36.14, Z:-7.84 [[ 8.26744798e-01 5.58671398e-01 6.61763431e-02 9.99140742e+01] [-5.56526017e-01 8.29380718e-01 -4.90552384e-02 -3.61408521e+01] [-8.22911416e-02 3.72730653e-03 9.96601362e-01 -7.84470526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.935779523 meters 0.02901869683352066 Centerline is valid? [True, True] Translation: X:99.94, Y:-36.16, Z:-7.85 [[ 8.27759964e-01 5.57177833e-01 6.60780206e-02 9.99363523e+01] [-5.55034070e-01 8.30384178e-01 -4.89826361e-02 -3.61630679e+01] [-8.21621819e-02 3.87031234e-03 9.96611457e-01 -7.85079609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.965779523 meters 0.028832969217352823 Centerline is valid? [True, True] Translation: X:99.96, Y:-36.19, Z:-7.85 [[ 8.28683401e-01 5.55813351e-01 6.59949916e-02 9.99591621e+01] [-5.53668855e-01 8.31297399e-01 -4.89431645e-02 -3.61851378e+01] [-8.20647292e-02 4.01901665e-03 9.96618898e-01 -7.84963291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.995779523 meters 0.030551456562280338 Centerline is valid? [True, True] Translation: X:99.98, Y:-36.21, Z:-7.85 [[ 8.30572832e-01 5.52937108e-01 6.64027452e-02 9.99820526e+01] [-5.50755852e-01 8.33211689e-01 -4.92572159e-02 -3.62065998e+01] [-8.25636860e-02 4.34000483e-03 9.96576340e-01 -7.85058191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.025779523 meters 0.034586903497690606 Centerline is valid? [True, True] Translation: X:100.00, Y:-36.23, Z:-7.86 [[ 8.31835940e-01 5.51008841e-01 6.66200111e-02 1.00004904e+02] [-5.48806964e-01 8.34487013e-01 -4.94200538e-02 -3.62255630e+01] [-8.28244206e-02 4.54785092e-03 9.96553778e-01 -7.85669601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.055779523 meters 0.03559416970955023 Centerline is valid? [True, True] Translation: X:100.03, Y:-36.24, Z:-7.86 [[ 8.32778133e-01 5.49579203e-01 6.66579301e-02 1.00030613e+02] [-5.47370247e-01 8.35428438e-01 -4.94483279e-02 -3.62444042e+01] [-8.28637031e-02 4.69291852e-03 9.96549840e-01 -7.85863558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.085779523 meters 0.036086886925565075 Centerline is valid? [True, True] Translation: X:100.06, Y:-36.26, Z:-7.86 [[ 8.35304936e-01 5.45791026e-01 6.61650967e-02 1.00058058e+02] [-5.43602298e-01 8.37906191e-01 -4.90892766e-02 -3.62589802e+01] [-8.22326308e-02 5.03701647e-03 9.96600433e-01 -7.86142845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11577952299999 meters 0.039920541915582745 Centerline is valid? [True, True] Translation: X:100.08, Y:-36.28, Z:-7.87 [[ 8.36352545e-01 5.44250293e-01 6.56204134e-02 1.00080065e+02] [-5.42092783e-01 8.38907110e-01 -4.86854782e-02 -3.62796756e+01] [-8.15465171e-02 5.14587109e-03 9.96656252e-01 -7.86502251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14577952299999 meters 0.03158821651047772 Centerline is valid? [True, True] Translation: X:100.11, Y:-36.29, Z:-7.87 [[ 8.37942430e-01 5.41875853e-01 6.49849523e-02 1.00110846e+02] [-5.39752511e-01 8.40441648e-01 -4.82189145e-02 -3.62910346e+01] [-8.07447258e-02 5.32888327e-03 9.96720569e-01 -7.86544462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17577952299999 meters 0.03285863401185981 Centerline is valid? [True, True] Translation: X:100.13, Y:-36.31, Z:-7.87 [[ 8.39042273e-01 5.40179868e-01 6.49135933e-02 1.00134338e+02] [-5.38055874e-01 8.41531687e-01 -4.81694609e-02 -3.63104998e+01] [-8.06470187e-02 5.48907378e-03 9.96727610e-01 -7.86867895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.20577952299999 meters 0.035061400697982296 Centerline is valid? [True, True] Translation: X:100.16, Y:-36.33, Z:-7.87 [[ 8.40213312e-01 5.38302607e-01 6.53597210e-02 1.00157168e+02] [-5.36143481e-01 8.42732282e-01 -4.85022674e-02 -3.63298225e+01] [-8.11896438e-02 5.71006243e-03 9.96682315e-01 -7.87113198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.23577952299999 meters 0.03458340338105551 Centerline is valid? [True, True] Translation: X:100.19, Y:-36.34, Z:-7.87 [[ 8.42348641e-01 5.34790901e-01 6.66892739e-02 1.00185223e+02] [-5.32531931e-01 8.44961886e-01 -4.94889209e-02 -3.63429164e+01] [-8.28161193e-02 6.17275752e-03 9.96545728e-01 -7.87252341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.26577952299999 meters 0.03946437870842657 Centerline is valid? [True, True] Translation: X:100.21, Y:-36.36, Z:-7.87 [[ 8.43221144e-01 5.33316465e-01 6.74659244e-02 1.00207060e+02] [-5.30999714e-01 8.45891650e-01 -5.00661552e-02 -3.63639230e+01] [-8.37699671e-02 6.39245416e-03 9.96464615e-01 -7.87450413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.295779523 meters 0.0385584596751734 Centerline is valid? [True, True] Translation: X:100.24, Y:-36.37, Z:-7.88 [[ 8.44815713e-01 5.30724484e-01 6.79553716e-02 1.00237179e+02] [-5.28365209e-01 8.47517906e-01 -5.04341700e-02 -3.63746078e+01] [-8.43600431e-02 6.70232516e-03 9.96412797e-01 -7.87697467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.325779523 meters 0.03960568320037322 Centerline is valid? [True, True] Translation: X:100.26, Y:-36.39, Z:-7.88 [[ 8.45104792e-01 5.30209756e-01 6.83776624e-02 1.00264308e+02] [-5.27819200e-01 8.47839260e-01 -5.07492060e-02 -3.63904001e+01] [-8.48809908e-02 6.79735410e-03 9.96367911e-01 -7.87904900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.355779523 meters 0.04132391147417511 Centerline is valid? [True, True] Translation: X:100.29, Y:-36.41, Z:-7.88 [[ 8.45269468e-01 5.29844804e-01 6.91665470e-02 1.00290868e+02] [-5.27395401e-01 8.48066277e-01 -5.13583580e-02 -3.64072431e+01] [-8.58697751e-02 6.93353313e-03 9.96282243e-01 -7.88132400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.385779523 meters 0.03379639548257429 Centerline is valid? [True, True] Translation: X:100.32, Y:-36.41, Z:-7.89 [[ 8.44768400e-01 5.30810077e-01 6.78749784e-02 1.00324765e+02] [-5.28452734e-01 8.47464118e-01 -5.04209881e-02 -3.64147130e+01] [-8.42855774e-02 6.72533952e-03 9.96418944e-01 -7.88639756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.415779523 meters 0.0401322204279416 Centerline is valid? [True, True] Translation: X:100.34, Y:-36.44, Z:-7.89 [[ 8.44140766e-01 5.32022811e-01 6.61671892e-02 1.00344833e+02] [-5.29786078e-01 8.46705519e-01 -4.91576685e-02 -3.64389950e+01] [-8.21771252e-02 6.44153626e-03 9.96596923e-01 -7.89056738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.445779523 meters 0.04595139119299398 Centerline is valid? [True, True] Translation: X:100.37, Y:-36.46, Z:-7.89 [[ 8.43597637e-01 5.33026087e-01 6.50093596e-02 1.00365993e+02] [-5.30869758e-01 8.46075832e-01 -4.83009999e-02 -3.64602950e+01] [-8.07485410e-02 6.23510640e-03 9.96715003e-01 -7.89388567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.475779523 meters 0.037363797200583616 Centerline is valid? [True, True] Translation: X:100.41, Y:-36.46, Z:-7.89 [[ 8.42370658e-01 5.34866658e-01 6.57976595e-02 1.00405145e+02] [-5.32663019e-01 8.44914214e-01 -4.88884262e-02 -3.64575069e+01] [-8.17421669e-02 6.13419582e-03 9.96634632e-01 -7.89474456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50577952299999 meters 0.03858033713590567 Centerline is valid? [True, True] Translation: X:100.43, Y:-36.47, Z:-7.90 [[ 8.41682928e-01 5.35916033e-01 6.60594698e-02 1.00431375e+02] [-5.33698188e-01 8.44249578e-01 -4.90804962e-02 -3.64689105e+01] [-8.20737043e-02 6.05439645e-03 9.96607872e-01 -7.89650346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53577952299999 meters 0.0380145395622078 Centerline is valid? [True, True] Translation: X:100.46, Y:-36.48, Z:-7.90 [[ 8.40133690e-01 5.38396807e-01 6.56068606e-02 1.00460507e+02] [-5.36217464e-01 8.42671728e-01 -4.87359297e-02 -3.64777223e+01] [-8.15243155e-02 5.76515209e-03 9.96654679e-01 -7.90052851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.56577952299999 meters 0.037495240398696776 Centerline is valid? [True, True] Translation: X:100.49, Y:-36.49, Z:-7.90 [[ 8.39240109e-01 5.39835019e-01 6.52241749e-02 1.00485897e+02] [-5.37685664e-01 8.41752286e-01 -4.84480744e-02 -3.64935316e+01] [-8.10565654e-02 5.58946343e-03 9.96693830e-01 -7.90368610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.59577952299999 meters 0.03630150417801694 Centerline is valid? [True, True] Translation: X:100.51, Y:-36.51, Z:-7.91 [[ 8.38600446e-01 5.40824809e-01 6.52519574e-02 1.00511099e+02] [-5.38677000e-01 8.41117332e-01 -4.84636368e-02 -3.65081860e+01] [-8.10948893e-02 5.49189878e-03 9.96691255e-01 -7.90653265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.62577952299999 meters 0.03618060569186759 Centerline is valid? [True, True] Translation: X:100.54, Y:-36.52, Z:-7.91 [[ 8.37263809e-01 5.42838260e-01 6.56957873e-02 1.00539294e+02] [-5.40667811e-01 8.39820364e-01 -4.87860044e-02 -3.65190754e+01] [-8.16555698e-02 5.32715836e-03 9.96646371e-01 -7.90922465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.65577952299999 meters 0.03633598787813264 Centerline is valid? [True, True] Translation: X:100.57, Y:-36.53, Z:-7.91 [[ 8.36482261e-01 5.44010971e-01 6.59506746e-02 1.00566634e+02] [-5.41827527e-01 8.39061804e-01 -4.89716247e-02 -3.65307384e+01] [-8.19777931e-02 5.23000440e-03 9.96620434e-01 -7.91175915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.685779523 meters 0.03512583203383771 Centerline is valid? [True, True] Translation: X:100.60, Y:-36.54, Z:-7.91 [[ 8.34496422e-01 5.46925038e-01 6.69979503e-02 1.00600700e+02] [-5.44681461e-01 8.37166550e-01 -4.97420765e-02 -3.65353634e+01] [-8.32936299e-02 5.01704346e-03 9.96512419e-01 -7.91415325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.715779523 meters 0.03639818208055198 Centerline is valid? [True, True] Translation: X:100.63, Y:-36.55, Z:-7.92 [[ 8.33531609e-01 5.48381146e-01 6.71056997e-02 1.00626875e+02] [-5.46135213e-01 8.36214284e-01 -4.98196820e-02 -3.65486392e+01] [-8.34349189e-02 4.87749416e-03 9.96501292e-01 -7.91921393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.745779523 meters 0.03684874486121604 Centerline is valid? [True, True] Translation: X:100.65, Y:-36.56, Z:-7.92 [[ 8.31382599e-01 5.51514115e-01 6.80819807e-02 1.00653027e+02] [-5.49214594e-01 8.34152816e-01 -5.05213773e-02 -3.65623340e+01] [-8.46540286e-02 4.61097654e-03 9.96399736e-01 -7.92051895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.775779523 meters 0.03618836011099149 Centerline is valid? [True, True] Translation: X:100.68, Y:-36.58, Z:-7.92 [[ 8.30492097e-01 5.52927832e-01 6.74810276e-02 1.00678450e+02] [-5.50673749e-01 8.33217402e-01 -5.00717772e-02 -3.65763329e+01] [-8.39124457e-02 4.42418480e-03 9.96463310e-01 -7.92242625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.805779523 meters 0.03018865362170846 Centerline is valid? [True, True] Translation: X:100.71, Y:-36.59, Z:-7.92 [[ 8.29491994e-01 5.54412508e-01 6.76003119e-02 1.00707531e+02] [-5.52155926e-01 8.32231031e-01 -5.01532123e-02 -3.65860624e+01] [-8.40646455e-02 4.27577531e-03 9.96451129e-01 -7.92263994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.835779523 meters 0.03018865362170846 Centerline is valid? [True, True] Translation: X:100.73, Y:-36.60, Z:-7.92 [[ 8.29646752e-01 5.54180423e-01 6.76041784e-02 1.00729625e+02] [-5.51923498e-01 8.32385506e-01 -5.01479998e-02 -3.66023285e+01] [-8.40637780e-02 4.29279058e-03 9.96451129e-01 -7.92487524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86577952299999 meters 0.02964183023649747 Centerline is valid? [True, True] Translation: X:100.76, Y:-36.61, Z:-7.93 [[ 8.27724402e-01 5.57217450e-01 6.61893285e-02 1.00759104e+02] [-5.55066112e-01 8.30357560e-01 -4.90706978e-02 -3.66104094e+01] [-8.23038584e-02 3.87756075e-03 9.96599739e-01 -7.93092776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89577952299999 meters 0.03182475533479005 Centerline is valid? [True, True] Translation: X:100.78, Y:-36.62, Z:-7.94 [[ 8.26661478e-01 5.58848928e-01 6.57166394e-02 1.00784454e+02] [-5.56733687e-01 8.29261294e-01 -4.87166155e-02 -3.66247906e+01] [-8.17214938e-02 3.68548243e-03 9.96648391e-01 -7.93610640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92577952299999 meters 0.028376760389586905 Centerline is valid? [True, True] Translation: X:100.81, Y:-36.64, Z:-7.93 [[ 8.25673361e-01 5.60043662e-01 6.79308344e-02 1.00808531e+02] [-5.57789220e-01 8.28454970e-01 -5.03343624e-02 -3.66397781e+01] [-8.44670780e-02 3.66865498e-03 9.96419517e-01 -7.93410392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95577952299999 meters 0.028060839735026155 Centerline is valid? [True, True] Translation: X:100.83, Y:-36.65, Z:-7.94 [[ 8.24835049e-01 5.61419956e-01 6.67440994e-02 1.00832028e+02] [-5.59248943e-01 8.27523819e-01 -4.94464193e-02 -3.66537367e+01] [-8.29925386e-02 3.45857264e-03 9.96544167e-01 -7.93870255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98577952299999 meters 0.029578099537316452 Centerline is valid? [True, True] Translation: X:100.86, Y:-36.67, Z:-7.95 [[ 8.24870409e-01 5.61653868e-01 6.42941743e-02 1.00857340e+02] [-5.59640921e-01 8.27365719e-01 -4.76236005e-02 -3.66673322e+01] [-7.99427752e-02 3.30164788e-03 9.96793987e-01 -7.94608040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01577952299999 meters 0.026965227075830156 Centerline is valid? [True, True] Translation: X:100.88, Y:-36.68, Z:-7.95 [[ 8.24266054e-01 5.62414191e-01 6.53892235e-02 1.00882557e+02] [-5.60336356e-01 8.26849220e-01 -4.84100819e-02 -3.66798319e+01] [-8.12935454e-02 3.26282796e-03 9.96684862e-01 -7.94671085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.045779523 meters 0.025854084094729442 Centerline is valid? [True, True] Translation: X:100.91, Y:-36.69, Z:-7.95 [[ 8.23845642e-01 5.63063464e-01 6.50991116e-02 1.00908966e+02] [-5.61006764e-01 8.26407551e-01 -4.81868331e-02 -3.66922162e+01] [-8.09306425e-02 3.17747046e-03 9.96714671e-01 -7.95057115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.075779523 meters 0.024631878778369455 Centerline is valid? [True, True] Translation: X:100.93, Y:-36.71, Z:-7.95 [[ 8.23372712e-01 5.63762485e-01 6.50325926e-02 1.00932769e+02] [-5.61714239e-01 8.25931200e-01 -4.81120166e-02 -3.67089305e+01] [-8.08361973e-02 3.08438832e-03 9.96722627e-01 -7.95170268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.105779523 meters 0.0272785494016354 Centerline is valid? [True, True] Translation: X:100.95, Y:-36.73, Z:-7.95 [[ 8.23549297e-01 5.63592807e-01 6.42627698e-02 1.00954344e+02] [-5.61594348e-01 8.26047145e-01 -4.75173937e-02 -3.67254278e+01] [-7.98645388e-02 3.04330788e-03 9.96801080e-01 -7.95496535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.135779523 meters 0.0279162427151599 Centerline is valid? [True, True] Translation: X:100.98, Y:-36.74, Z:-7.96 [[ 8.25322745e-01 5.60875962e-01 6.52726713e-02 1.00978646e+02] [-5.58807247e-01 8.27893101e-01 -4.82438985e-02 -3.67416618e+01] [-8.10976372e-02 3.34194495e-03 9.96700559e-01 -7.95663395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.165779523 meters 0.027938006719802684 Centerline is valid? [True, True] Translation: X:101.00, Y:-36.76, Z:-7.96 [[ 8.26809089e-01 5.58585283e-01 6.61000092e-02 1.01000734e+02] [-5.56456854e-01 8.29439248e-01 -4.88498012e-02 -3.67603933e+01] [-8.21127220e-02 3.60765648e-03 9.96616519e-01 -7.95792086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.195779523 meters 0.030516233539851494 Centerline is valid? [True, True] Translation: X:101.02, Y:-36.78, Z:-7.96 [[ 8.28511880e-01 5.56012302e-01 6.64709349e-02 1.01021832e+02] [-5.53852262e-01 8.31165014e-01 -4.91161010e-02 -3.67804067e+01] [-8.25574719e-02 3.87819550e-03 9.96578759e-01 -7.96063432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.225779523 meters 0.030547332234289053 Centerline is valid? [True, True] Translation: X:101.04, Y:-36.80, Z:-7.96 [[ 8.32155668e-01 5.50430873e-01 6.74002900e-02 1.01042132e+02] [-5.48192061e-01 8.34868664e-01 -4.97973662e-02 -3.68042971e+01] [-8.36803978e-02 4.49085667e-03 9.96482525e-01 -7.96065669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25577952299999 meters 0.03511228515926095 Centerline is valid? [True, True] Translation: X:101.06, Y:-36.83, Z:-7.97 [[ 8.34093872e-01 5.47794703e-01 6.48720058e-02 1.01063401e+02] [-5.45713118e-01 8.36600280e-01 -4.79287502e-02 -3.68254961e+01] [-8.05270536e-02 4.57557234e-03 9.96741921e-01 -7.96810691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28577952299999 meters 0.03716368693830624 Centerline is valid? [True, True] Translation: X:101.09, Y:-36.85, Z:-7.97 [[ 8.37667706e-01 5.42380490e-01 6.43134451e-02 1.01085207e+02] [-5.40318917e-01 8.40117784e-01 -4.75139769e-02 -3.68466585e+01] [-7.98015230e-02 5.05115300e-03 9.96797975e-01 -7.97189909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.31577952299999 meters 0.03716003330975354 Centerline is valid? [True, True] Translation: X:101.11, Y:-36.87, Z:-7.97 [[ 8.39150593e-01 5.39815910e-01 6.65211649e-02 1.01107251e+02] [-5.37602089e-01 8.41765273e-01 -4.91448761e-02 -3.68662644e+01] [-8.25243925e-02 5.47803473e-03 9.96573989e-01 -7.97037817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.34577952299999 meters 0.040847213859975556 Centerline is valid? [True, True] Translation: X:101.13, Y:-36.89, Z:-7.97 [[ 8.41836160e-01 5.35670895e-01 6.60951818e-02 1.01128820e+02] [-5.33472984e-01 8.44406620e-01 -4.88265851e-02 -3.68857017e+01] [-8.19661896e-02 5.84399108e-03 9.96617977e-01 -7.97245214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.37577952299999 meters 0.04231280441608416 Centerline is valid? [True, True] Translation: X:101.15, Y:-36.90, Z:-7.98 [[ 8.42713046e-01 5.34411288e-01 6.51098905e-02 1.01151819e+02] [-5.32275123e-01 8.45204161e-01 -4.80949141e-02 -3.69039090e+01] [-8.07336154e-02 5.87383657e-03 9.96718406e-01 -7.97705181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.40577952299999 meters 0.042888785323576095 Centerline is valid? [True, True] Translation: X:101.18, Y:-36.92, Z:-7.98 [[ 8.43413397e-01 5.33335749e-01 6.48600108e-02 1.01175083e+02] [-5.31213105e-01 8.45882715e-01 -4.79068904e-02 -3.69221569e+01] [-8.04144193e-02 5.95082545e-03 9.96743753e-01 -7.98073094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.435779523 meters 0.041891209913806335 Centerline is valid? [True, True] Translation: X:101.20, Y:-36.94, Z:-7.98 [[ 8.44005073e-01 5.32319660e-01 6.55073754e-02 1.01198675e+02] [-5.30151606e-01 8.46521414e-01 -4.83815183e-02 -3.69397979e+01] [-8.12078294e-02 6.10540670e-03 9.96678490e-01 -7.98331081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.465779523 meters 0.040178774762479615 Centerline is valid? [True, True] Translation: X:101.22, Y:-36.96, Z:-7.98 [[ 8.44226338e-01 5.31862656e-01 6.63626763e-02 1.01223487e+02] [-5.29636435e-01 8.46807736e-01 -4.90092340e-02 -3.69551588e+01] [-8.22626090e-02 6.22679488e-03 9.96591235e-01 -7.98437750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.495779523 meters 0.045099678393741766 Centerline is valid? [True, True] Translation: X:101.24, Y:-36.97, Z:-7.98 [[ 8.44040704e-01 5.31961834e-01 6.79109473e-02 1.01244984e+02] [-5.29632844e-01 8.46744590e-01 -5.01263303e-02 -3.69722129e+01] [-8.41685218e-02 6.34079497e-03 9.96431360e-01 -7.98486055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.525779523 meters 0.043968527469930456 Centerline is valid? [True, True] Translation: X:101.27, Y:-36.98, Z:-7.99 [[ 8.43745305e-01 5.32476650e-01 6.75461141e-02 1.01271870e+02] [-5.30175490e-01 8.46421666e-01 -4.98428809e-02 -3.69835412e+01] [-8.37126647e-02 6.24340260e-03 9.96470376e-01 -7.98825574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.555779523 meters 0.04544150491251017 Centerline is valid? [True, True] Translation: X:101.29, Y:-37.00, Z:-7.99 [[ 8.43023572e-01 5.33534423e-01 6.82076026e-02 1.01293747e+02] [-5.31193446e-01 8.45755792e-01 -5.03057054e-02 -3.70013827e+01] [-8.45268004e-02 6.17746401e-03 9.96402057e-01 -7.98931149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.585779523 meters 0.039045189785820264 Centerline is valid? [True, True] Translation: X:101.33, Y:-37.01, Z:-8.00 [[ 8.41790424e-01 5.35867562e-01 6.50756298e-02 1.01325529e+02] [-5.33744471e-01 8.44283061e-01 -4.79890903e-02 -3.70078967e+01] [-8.06580487e-02 5.66299913e-03 9.96725744e-01 -7.99665808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61577952299999 meters 0.03244476118655523 Centerline is valid? [True, True] Translation: X:101.36, Y:-37.02, Z:-8.00 [[ 8.39495652e-01 5.39265844e-01 6.66288181e-02 1.01355974e+02] [-5.37050734e-01 8.42117866e-01 -4.91325736e-02 -3.70180639e+01] [-8.26048369e-02 5.46352628e-03 9.96567404e-01 -7.99590537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64577952299999 meters 0.036169909149491836 Centerline is valid? [True, True] Translation: X:101.38, Y:-37.04, Z:-8.00 [[ 8.38062197e-01 5.41334803e-01 6.78850839e-02 1.01378688e+02] [-5.39042036e-01 8.40790056e-01 -5.00576222e-02 -3.70361362e+01] [-8.41750365e-02 5.35848698e-03 9.96436576e-01 -7.99725700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67577952299999 meters 0.033814178055754096 Centerline is valid? [True, True] Translation: X:101.41, Y:-37.05, Z:-8.00 [[ 8.36744508e-01 5.43239265e-01 6.89182851e-02 1.01406921e+02] [-5.40882768e-01 8.39561560e-01 -5.08155306e-02 -3.70475023e+01] [-8.54661344e-02 5.24290331e-03 9.96327282e-01 -7.99936318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70577952299999 meters 0.034927219641939504 Centerline is valid? [True, True] Translation: X:101.43, Y:-37.06, Z:-8.00 [[ 8.35768809e-01 5.44718681e-01 6.90800703e-02 1.01433180e+02] [-5.42356520e-01 8.38603335e-01 -5.09298740e-02 -3.70604766e+01] [-8.56732311e-02 5.09957363e-03 9.96310239e-01 -8.00370767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73577952299999 meters 0.031394844993748935 Centerline is valid? [True, True] Translation: X:101.46, Y:-37.07, Z:-8.01 [[ 8.35423178e-01 5.45100284e-01 7.02409734e-02 1.01459577e+02] [-5.42661489e-01 8.38355188e-01 -5.17598925e-02 -3.70722512e+01] [-8.71012166e-02 5.12434269e-03 9.96186287e-01 -8.00727295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76577952299999 meters 0.035257647178730186 Centerline is valid? [True, True] Translation: X:101.48, Y:-37.09, Z:-8.01 [[ 8.35847035e-01 5.44785546e-01 6.75902501e-02 1.01480155e+02] [-5.42528810e-01 8.38560854e-01 -4.97813726e-02 -3.70889524e+01] [-8.37987101e-02 4.93995471e-03 9.96470458e-01 -8.01450454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.795779523 meters 0.036740158985696214 Centerline is valid? [True, True] Translation: X:101.50, Y:-37.11, Z:-8.02 [[ 8.36140426e-01 5.44365532e-01 6.73450545e-02 1.01502511e+02] [-5.42124916e-01 8.38833498e-01 -4.95876766e-02 -3.71058882e+01] [-8.34851096e-02 4.95282904e-03 9.96496717e-01 -8.01749865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.825779523 meters 0.03475629198927154 Centerline is valid? [True, True] Translation: X:101.53, Y:-37.12, Z:-8.02 [[ 8.36396032e-01 5.43969471e-01 6.73713054e-02 1.01528999e+02] [-5.41727017e-01 8.39090216e-01 -4.95928240e-02 -3.71185444e+01] [-8.35075854e-02 4.98238486e-03 9.96494686e-01 -8.02006498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.855779523 meters 0.03554187969170522 Centerline is valid? [True, True] Translation: X:101.55, Y:-37.13, Z:-8.02 [[ 8.36234675e-01 5.44364602e-01 6.61721078e-02 1.01554570e+02] [-5.42204729e-01 8.38834800e-01 -4.86848027e-02 -3.71324211e+01] [-8.20097500e-02 4.83309034e-03 9.96619808e-01 -8.02347516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.885779523 meters 0.0330908712672413 Centerline is valid? [True, True] Translation: X:101.58, Y:-37.15, Z:-8.03 [[ 8.36257777e-01 5.44402852e-01 6.55626788e-02 1.01578098e+02] [-5.42284816e-01 8.38810374e-01 -4.82113591e-02 -3.71484393e+01] [-8.12410566e-02 4.76347882e-03 9.96683099e-01 -8.02627549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.915779523 meters 0.033567643553847996 Centerline is valid? [True, True] Translation: X:101.60, Y:-37.16, Z:-8.03 [[ 8.35939512e-01 5.45014530e-01 6.45313436e-02 1.01603028e+02] [-5.42966491e-01 8.38413930e-01 -4.74285877e-02 -3.71634245e+01] [-7.99532469e-02 4.60907329e-03 9.96787959e-01 -8.03089870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.945779523 meters 0.03398561614694833 Centerline is valid? [True, True] Translation: X:101.63, Y:-37.18, Z:-8.03 [[ 8.35726138e-01 5.45156471e-01 6.60775613e-02 1.01627668e+02] [-5.43011389e-01 8.38321220e-01 -4.85403368e-02 -3.71792704e+01] [-8.18563005e-02 4.68555989e-03 9.96633128e-01 -8.03144628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.975779523 meters 0.036585906665256504 Centerline is valid? [True, True] Translation: X:101.65, Y:-37.20, Z:-8.03 [[ 8.35365090e-01 5.45543728e-01 6.74329828e-02 1.01649486e+02] [-5.43313040e-01 8.38069061e-01 -4.95094938e-02 -3.71968480e+01] [-8.35230904e-02 4.72128390e-03 9.96494658e-01 -8.03161728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00577952299999 meters 0.0371683711425259 Centerline is valid? [True, True] Translation: X:101.67, Y:-37.21, Z:-8.03 [[ 8.34321252e-01 5.47035059e-01 6.82692680e-02 1.01673577e+02] [-5.44754721e-01 8.37096961e-01 -5.01095901e-02 -3.72117764e+01] [-8.45596994e-02 4.61748993e-03 9.96407716e-01 -8.03349106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03577952299999 meters 0.034616282010639425 Centerline is valid? [True, True] Translation: X:101.70, Y:-37.23, Z:-8.04 [[ 8.33980430e-01 5.47449576e-01 6.91057432e-02 1.01696474e+02] [-5.45115027e-01 8.36825891e-01 -5.07152319e-02 -3.72286846e+01] [-8.55935073e-02 4.62493187e-03 9.96319407e-01 -8.03511126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06577952299999 meters 0.03525072828090929 Centerline is valid? [True, True] Translation: X:101.72, Y:-37.25, Z:-8.04 [[ 8.31908170e-01 5.50753624e-01 6.78177193e-02 1.01720566e+02] [-5.48518343e-01 8.34657373e-01 -4.97463219e-02 -3.72453514e+01] [-8.40025265e-02 4.18510861e-03 9.96456753e-01 -8.03926728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09577952299999 meters 0.035384375254322926 Centerline is valid? [True, True] Translation: X:101.75, Y:-37.26, Z:-8.04 [[ 8.30698409e-01 5.52626950e-01 6.74062873e-02 1.01745099e+02] [-5.50425176e-01 8.33419285e-01 -4.94410745e-02 -3.72603130e+01] [-8.35001699e-02 3.96850434e-03 9.96499861e-01 -8.04225987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12577952299999 meters 0.03516592498422279 Centerline is valid? [True, True] Translation: X:101.77, Y:-37.27, Z:-8.05 [[ 8.29891909e-01 5.53871069e-01 6.71286766e-02 1.01770681e+02] [-5.51691866e-01 8.32593670e-01 -4.92327679e-02 -3.72745017e+01] [-8.31595170e-02 3.82353084e-03 9.96528913e-01 -8.04500493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15577952299999 meters 0.029116722852983196 Centerline is valid? [True, True] Translation: X:101.80, Y:-37.28, Z:-8.05 [[ 8.28714504e-01 5.55411715e-01 6.89209572e-02 1.01801757e+02] [-5.53121610e-01 8.31567060e-01 -5.05243457e-02 -3.72815558e+01] [-8.53742112e-02 3.74858734e-03 9.96341905e-01 -8.04611097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.185779523 meters 0.029204856898799293 Centerline is valid? [True, True] Translation: X:101.82, Y:-37.30, Z:-8.04 [[ 8.28972340e-01 5.54691113e-01 7.15725441e-02 1.01821813e+02] [-5.52219597e-01 8.32046930e-01 -5.24540013e-02 -3.73011987e+01] [-8.86474840e-02 3.95915474e-03 9.96055194e-01 -8.04483614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.215779523 meters 0.031540971749573966 Centerline is valid? [True, True] Translation: X:101.84, Y:-37.32, Z:-8.05 [[ 8.29152889e-01 5.54359943e-01 7.20453969e-02 1.01844608e+02] [-5.51855388e-01 8.32267362e-01 -5.27889148e-02 -3.73195604e+01] [-8.92250922e-02 4.01144078e-03 9.96003409e-01 -8.04612842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.245779523 meters 0.0334038482626649 Centerline is valid? [True, True] Translation: X:101.87, Y:-37.34, Z:-8.05 [[ 8.30722381e-01 5.52108043e-01 7.12533090e-02 1.01865865e+02] [-5.49652341e-01 8.33762071e-01 -5.21834553e-02 -3.73388628e+01] [-8.82192119e-02 4.18541609e-03 9.96092291e-01 -8.04995020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.275779523 meters 0.03314450120914892 Centerline is valid? [True, True] Translation: X:101.89, Y:-37.36, Z:-8.05 [[ 8.31785596e-01 5.50630127e-01 7.02793476e-02 1.01889381e+02] [-5.48236599e-01 8.34738387e-01 -5.14631663e-02 -3.73556353e+01] [-8.70020390e-02 4.27660998e-03 9.96198954e-01 -8.05398223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.305779523 meters 0.03364579126807214 Centerline is valid? [True, True] Translation: X:101.91, Y:-37.37, Z:-8.06 [[ 8.34306232e-01 5.46899414e-01 6.95280041e-02 1.01911307e+02] [-5.44546096e-01 8.37185711e-01 -5.08884642e-02 -3.73749985e+01] [-8.60387228e-02 4.59535957e-03 9.96281196e-01 -8.05815519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.335779523 meters 0.037489186814426013 Centerline is valid? [True, True] Translation: X:101.93, Y:-37.39, Z:-8.06 [[ 8.35423414e-01 5.45326280e-01 6.84614237e-02 1.01933033e+02] [-5.43039785e-01 8.38210794e-01 -5.01044604e-02 -3.73942208e+01] [-8.47083833e-02 4.68116262e-03 9.96394790e-01 -8.06247398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36577952299999 meters 0.035395098196600014 Centerline is valid? [True, True] Translation: X:101.96, Y:-37.41, Z:-8.07 [[ 8.36772548e-01 5.43284747e-01 6.82157336e-02 1.01957620e+02] [-5.41009967e-01 8.39534491e-01 -4.99004455e-02 -3.74104780e+01] [-8.43796121e-02 4.84993118e-03 9.96421878e-01 -8.06521480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39577952299999 meters 0.035262728345967574 Centerline is valid? [True, True] Translation: X:101.98, Y:-37.43, Z:-8.07 [[ 8.39688250e-01 5.38747746e-01 6.83703884e-02 1.01981278e+02] [-5.36447943e-01 8.42450361e-01 -5.00099412e-02 -3.74290817e+01] [-8.45414014e-02 5.31560577e-03 9.96405789e-01 -8.06566860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42577952299999 meters 0.03515801167683198 Centerline is valid? [True, True] Translation: X:102.01, Y:-37.45, Z:-8.07 [[ 8.41545043e-01 5.35821135e-01 6.85394118e-02 1.02006221e+02] [-5.33500415e-01 8.44312797e-01 -5.01319124e-02 -3.74452498e+01] [-8.47304407e-02 5.62245777e-03 9.96388047e-01 -8.06767939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45577952299999 meters 0.03870252335815901 Centerline is valid? [True, True] Translation: X:102.03, Y:-37.47, Z:-8.07 [[ 8.45843800e-01 5.29022670e-01 6.84344936e-02 1.02027977e+02] [-5.26687120e-01 8.48584357e-01 -5.00526397e-02 -3.74663838e+01] [-8.45514219e-02 6.29314865e-03 9.96399244e-01 -8.07132712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48577952299999 meters 0.04417364459775724 Centerline is valid? [True, True] Translation: X:102.05, Y:-37.49, Z:-8.07 [[ 8.47830898e-01 5.25895985e-01 6.79424800e-02 1.02046757e+02] [-5.23584132e-01 8.50523620e-01 -4.96913242e-02 -3.74906715e+01] [-8.39191519e-02 6.55623560e-03 9.96450998e-01 -8.07423969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51577952299999 meters 0.04415253315760698 Centerline is valid? [True, True] Translation: X:102.07, Y:-37.51, Z:-8.08 [[ 8.49714004e-01 5.22730166e-01 6.88424643e-02 1.02070100e+02] [-5.20346417e-01 8.52469792e-01 -5.03473895e-02 -3.75089920e+01] [-8.50042205e-02 6.95895225e-03 9.96356289e-01 -8.07588127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.545779523 meters 0.048011298364023784 Centerline is valid? [True, True] Translation: X:102.09, Y:-37.53, Z:-8.08 [[ 8.53325952e-01 5.16683847e-01 6.98041668e-02 1.02093469e+02] [-5.14213104e-01 8.56141948e-01 -5.10475025e-02 -3.75290674e+01] [-8.61376954e-02 7.66594132e-03 9.96253748e-01 -8.07599418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.575779523 meters 0.04953509393031477 Centerline is valid? [True, True] Translation: X:102.12, Y:-37.55, Z:-8.08 [[ 8.54973905e-01 5.13819112e-01 7.07781132e-02 1.02116900e+02] [-5.11269277e-01 8.57860642e-01 -5.17575691e-02 -3.75468699e+01] [-8.73117859e-02 8.06469623e-03 9.96148389e-01 -8.07561383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.605779523 meters 0.05496223825549161 Centerline is valid? [True, True] Translation: X:102.14, Y:-37.56, Z:-8.08 [[ 8.56573773e-01 5.11289881e-01 6.97425930e-02 1.02141020e+02] [-5.08806252e-01 8.59369220e-01 -5.09974718e-02 -3.75626355e+01] [-8.60091291e-02 8.19762947e-03 9.96260623e-01 -8.07779337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.635779523 meters 0.05249877653385437 Centerline is valid? [True, True] Translation: X:102.17, Y:-37.57, Z:-8.08 [[ 8.56970884e-01 5.10659710e-01 6.94806808e-02 1.02167861e+02] [-5.08192907e-01 8.59743547e-01 -5.08035704e-02 -3.75737958e+01] [-8.56789035e-02 8.22759150e-03 9.96288830e-01 -8.08107999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.665779523 meters 0.04965342476740118 Centerline is valid? [True, True] Translation: X:102.19, Y:-37.59, Z:-8.08 [[ 8.57237158e-01 5.10217431e-01 6.94451368e-02 1.02193066e+02] [-5.07752558e-01 8.60005790e-01 -5.07679236e-02 -3.75869961e+01] [-8.56258993e-02 8.25920472e-03 9.96293125e-01 -8.08413849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.695779523 meters 0.050352282642416014 Centerline is valid? [True, True] Translation: X:102.22, Y:-37.60, Z:-8.09 [[ 8.56436676e-01 5.11551703e-01 6.95059320e-02 1.02218568e+02] [-5.09087638e-01 8.59214084e-01 -5.08029068e-02 -3.76008705e+01] [-8.57087892e-02 8.12486190e-03 9.96287102e-01 -8.08734022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.725779523 meters 0.050352282642416014 Centerline is valid? [True, True] Translation: X:102.24, Y:-37.62, Z:-8.09 [[ 8.56584921e-01 5.11303079e-01 6.95085164e-02 1.02240828e+02] [-5.08838491e-01 8.59361864e-01 -5.07993704e-02 -3.76170211e+01] [-8.57068428e-02 8.14536613e-03 9.96287102e-01 -8.08958118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75577952299999 meters 0.04915939879564993 Centerline is valid? [True, True] Translation: X:102.27, Y:-37.63, Z:-8.09 [[ 8.55765489e-01 5.12612102e-01 6.99589987e-02 1.02268290e+02] [-5.10122267e-01 8.58582654e-01 -5.10989105e-02 -3.76298543e+01] [-8.62595027e-02 8.04104112e-03 9.96240252e-01 -8.09089005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78577952299999 meters 0.048686449095567325 Centerline is valid? [True, True] Translation: X:102.30, Y:-37.64, Z:-8.09 [[ 8.54816454e-01 5.14074632e-01 7.08244530e-02 1.02295917e+02] [-5.11527961e-01 8.57708259e-01 -5.17270424e-02 -3.76418959e+01] [-8.73382786e-02 7.98843890e-03 9.96146681e-01 -8.09227722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81577952299999 meters 0.04867686485257362 Centerline is valid? [True, True] Translation: X:102.33, Y:-37.65, Z:-8.10 [[ 8.52810662e-01 5.17392363e-01 7.08457387e-02 1.02327438e+02] [-5.14855761e-01 8.55714118e-01 -5.17387043e-02 -3.76493811e+01] [-8.73929092e-02 7.64798190e-03 9.96144562e-01 -8.09565298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84577952299999 meters 0.04906074269146813 Centerline is valid? [True, True] Translation: X:102.35, Y:-37.66, Z:-8.10 [[ 8.51778435e-01 5.19148687e-01 7.04140510e-02 1.02352891e+02] [-5.16649148e-01 8.54651737e-01 -5.14204857e-02 -3.76636086e+01] [-8.68743687e-02 7.41950138e-03 9.96191646e-01 -8.09960361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87577952299999 meters 0.04522267766199273 Centerline is valid? [True, True] Translation: X:102.38, Y:-37.67, Z:-8.10 [[ 8.49741539e-01 5.22559203e-01 6.97939562e-02 1.02383573e+02] [-5.20115252e-01 8.52574223e-01 -5.09638905e-02 -3.76722451e+01] [-8.61361780e-02 7.00523357e-03 9.96258744e-01 -8.10493993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90577952299999 meters 0.04596436887506577 Centerline is valid? [True, True] Translation: X:102.41, Y:-37.69, Z:-8.11 [[ 8.49013411e-01 5.23829279e-01 6.91311324e-02 1.02408983e+02] [-5.21436043e-01 8.51796065e-01 -5.04768947e-02 -3.76858423e+01] [-8.53269019e-02 6.80809641e-03 9.96329749e-01 -8.10886112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.935779523 meters 0.0458079388989045 Centerline is valid? [True, True] Translation: X:102.44, Y:-37.70, Z:-8.11 [[ 8.48143183e-01 5.25310758e-01 6.85692966e-02 1.02436325e+02] [-5.22961604e-01 8.50884862e-01 -5.00610824e-02 -3.76993855e+01] [-8.46422017e-02 6.59985646e-03 9.96389552e-01 -8.11176050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.965779523 meters 0.04750266554614404 Centerline is valid? [True, True] Translation: X:102.47, Y:-37.71, Z:-8.11 [[ 8.46819332e-01 5.27370519e-01 6.91184074e-02 1.02465652e+02] [-5.24990722e-01 8.49610996e-01 -5.04568860e-02 -3.77080883e+01] [-8.53332331e-02 6.44134392e-03 9.96331646e-01 -8.11076133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.995779523 meters 0.04765141680146429 Centerline is valid? [True, True] Translation: X:102.49, Y:-37.72, Z:-8.11 [[ 8.46098519e-01 5.28432573e-01 6.98305906e-02 1.02492760e+02] [-5.26007542e-01 8.48951194e-01 -5.09699530e-02 -3.77205661e+01] [-8.62169467e-02 6.39418441e-03 9.96255867e-01 -8.11071730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.025779523 meters 0.04627772875411623 Centerline is valid? [True, True] Translation: X:102.52, Y:-37.73, Z:-8.11 [[ 8.45936089e-01 5.28611474e-01 7.04417729e-02 1.02519320e+02] [-5.26146494e-01 8.48839684e-01 -5.13912304e-02 -3.77329935e+01] [-8.69597663e-02 6.41100457e-03 9.96191196e-01 -8.11258156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.055779523 meters 0.046172877991118355 Centerline is valid? [True, True] Translation: X:102.55, Y:-37.74, Z:-8.12 [[ 8.44144950e-01 5.31568235e-01 6.96743471e-02 1.02545534e+02] [-5.29168856e-01 8.46994088e-01 -5.08068626e-02 -3.77448510e+01] [-8.60210744e-02 6.01886197e-03 9.96275137e-01 -8.11752982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.085779523 meters 0.04595934018809387 Centerline is valid? [True, True] Translation: X:102.57, Y:-37.76, Z:-8.12 [[ 8.42888654e-01 5.33569504e-01 6.95866497e-02 1.02571030e+02] [-5.31183293e-01 8.45736307e-01 -5.07386203e-02 -3.77603862e+01] [-8.59245366e-02 5.80374158e-03 9.96284744e-01 -8.12079182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11577952299999 meters 0.04619620942214629 Centerline is valid? [True, True] Translation: X:102.60, Y:-37.77, Z:-8.12 [[ 8.40713334e-01 5.36971378e-01 6.97339862e-02 1.02598502e+02] [-5.34587035e-01 8.43582767e-01 -5.08410991e-02 -3.77719141e+01] [-8.61266041e-02 5.46390498e-03 9.96269218e-01 -8.12172604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14577952299999 meters 0.04336339253368053 Centerline is valid? [True, True] Translation: X:102.63, Y:-37.78, Z:-8.12 [[ 8.40371195e-01 5.37524013e-01 6.96002188e-02 1.02625879e+02] [-5.35151203e-01 8.43231203e-01 -5.07378394e-02 -3.77827521e+01] [-8.59618833e-02 5.39197793e-03 9.96283836e-01 -8.12312046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17577952299999 meters 0.04091030895061723 Centerline is valid? [True, True] Translation: X:102.66, Y:-37.79, Z:-8.12 [[ 8.39159457e-01 5.39518651e-01 6.87824892e-02 1.02656024e+02] [-5.37210043e-01 8.41958164e-01 -5.01180679e-02 -3.77915734e+01] [-8.49516107e-02 5.10640673e-03 9.96371993e-01 -8.12481374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20577952299999 meters 0.03803293274019911 Centerline is valid? [True, True] Translation: X:102.69, Y:-37.80, Z:-8.13 [[ 8.37227783e-01 5.42479244e-01 6.90355646e-02 1.02685849e+02] [-5.40163875e-01 8.40055372e-01 -5.02987091e-02 -3.78015015e+01] [-8.52797026e-02 4.82095859e-03 9.96345387e-01 -8.12524230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23577952299999 meters 0.037055041167769275 Centerline is valid? [True, True] Translation: X:102.71, Y:-37.82, Z:-8.13 [[ 8.36043662e-01 5.44216162e-01 6.97120140e-02 1.02709365e+02] [-5.41861473e-01 8.38931946e-01 -5.07871346e-02 -3.78176320e+01] [-8.61228151e-02 4.68600733e-03 9.96273508e-01 -8.12774054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26577952299999 meters 0.03671855349435398 Centerline is valid? [True, True] Translation: X:102.73, Y:-37.84, Z:-8.13 [[ 8.33527495e-01 5.47987756e-01 7.02946190e-02 1.02732356e+02] [-5.45607391e-01 8.36475162e-01 -5.12042789e-02 -3.78360033e+01] [-8.68590207e-02 4.32691067e-03 9.96211217e-01 -8.13103064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.295779523 meters 0.03353084583256901 Centerline is valid? [True, True] Translation: X:102.76, Y:-37.85, Z:-8.13 [[ 8.33327454e-01 5.48216361e-01 7.08814167e-02 1.02757609e+02] [-5.45797224e-01 8.36325311e-01 -5.16271779e-02 -3.78499559e+01] [-8.75827865e-02 4.33546428e-03 9.96147810e-01 -8.13264041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.325779523 meters 0.03447100958119653 Centerline is valid? [True, True] Translation: X:102.78, Y:-37.86, Z:-8.13 [[ 8.32444444e-01 5.49625223e-01 7.03445888e-02 1.02783566e+02] [-5.47249990e-01 8.35401120e-01 -5.12095333e-02 -3.78642730e+01] [-8.69119995e-02 4.13301595e-03 9.96207419e-01 -8.13353300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.355779523 meters 0.035953410588090644 Centerline is valid? [True, True] Translation: X:102.81, Y:-37.88, Z:-8.13 [[ 8.31878658e-01 5.50527497e-01 6.99812425e-02 1.02806680e+02] [-5.48182034e-01 8.34807459e-01 -5.09211612e-02 -3.78793819e+01] [-8.64543626e-02 3.99776739e-03 9.96247791e-01 -8.13388223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.385779523 meters 0.03383063403775718 Centerline is valid? [True, True] Translation: X:102.83, Y:-37.89, Z:-8.14 [[ 8.31076601e-01 5.51799454e-01 6.94913321e-02 1.02833497e+02] [-5.49492083e-01 8.33968042e-01 -5.05544740e-02 -3.78916729e+01] [-8.58494813e-02 3.82970361e-03 9.96300758e-01 -8.13801211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.415779523 meters 0.033675412449633825 Centerline is valid? [True, True] Translation: X:102.85, Y:-37.91, Z:-8.14 [[ 8.30587004e-01 5.52610737e-01 6.88955838e-02 1.02853255e+02] [-5.50347698e-01 8.33431301e-01 -5.00966772e-02 -3.79127178e+01] [-8.51036978e-02 3.69312313e-03 9.96365255e-01 -8.14392248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.445779523 meters 0.033046974354031824 Centerline is valid? [True, True] Translation: X:102.87, Y:-37.93, Z:-8.15 [[ 8.30782546e-01 5.52331376e-01 6.87779935e-02 1.02874150e+02] [-5.50077370e-01 8.33616465e-01 -4.99847577e-02 -3.79308261e+01] [-8.49426178e-02 3.69324650e-03 9.96379000e-01 -8.14817206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.475779523 meters 0.0341310168455708 Centerline is valid? [True, True] Translation: X:102.90, Y:-37.95, Z:-8.15 [[ 8.31354906e-01 5.51520529e-01 6.83675802e-02 1.02895795e+02] [-5.49293188e-01 8.34152986e-01 -4.96567141e-02 -3.79501059e+01] [-8.44157184e-02 3.72850688e-03 9.96423647e-01 -8.15149185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50577952299999 meters 0.036118115143188134 Centerline is valid? [True, True] Translation: X:102.92, Y:-37.97, Z:-8.15 [[ 8.34462500e-01 5.46768660e-01 6.86758250e-02 1.02916850e+02] [-5.44507251e-01 8.37273150e-01 -4.98550499e-02 -3.79704014e+01] [-8.47596032e-02 4.20768492e-03 9.96392546e-01 -8.15217010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53577952299999 meters 0.03619950598525433 Centerline is valid? [True, True] Translation: X:102.94, Y:-37.99, Z:-8.15 [[ 8.36640016e-01 5.43384900e-01 6.90386451e-02 1.02940283e+02] [-5.41088428e-01 8.39471237e-01 -5.01134346e-02 -3.79887036e+01] [-8.51868405e-02 4.57089282e-03 9.96354510e-01 -8.15284632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.56577952299999 meters 0.038293583019914326 Centerline is valid? [True, True] Translation: X:102.96, Y:-38.01, Z:-8.15 [[ 8.38228858e-01 5.40960623e-01 6.88039625e-02 1.02962317e+02] [-5.38672043e-01 8.41034240e-01 -4.99383319e-02 -3.80072697e+01] [-8.48811595e-02 4.79697989e-03 9.96379535e-01 -8.15421555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.59577952299999 meters 0.03908733605872553 Centerline is valid? [True, True] Translation: X:102.99, Y:-38.03, Z:-8.16 [[ 8.40930068e-01 5.36952945e-01 6.72172329e-02 1.02985345e+02] [-5.34756586e-01 8.43596918e-01 -4.87814956e-02 -3.80256015e+01] [-8.28976182e-02 5.07696840e-03 9.96545137e-01 -8.15702993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.62577952299999 meters 0.03996109187638243 Centerline is valid? [True, True] Translation: X:103.01, Y:-38.05, Z:-8.16 [[ 8.42781199e-01 5.34031441e-01 6.73072828e-02 1.03006875e+02] [-5.31820143e-01 8.45447567e-01 -4.88441142e-02 -3.80457822e+01] [-8.29890712e-02 5.36953236e-03 9.96535991e-01 -8.15975694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.65577952299999 meters 0.04556895623448409 Centerline is valid? [True, True] Translation: X:103.02, Y:-38.07, Z:-8.16 [[ 8.45401846e-01 5.29814811e-01 6.77641865e-02 1.03023265e+02] [-5.27560120e-01 8.48093382e-01 -4.91725110e-02 -3.80718677e+01] [-8.35226827e-02 5.82084918e-03 9.96488876e-01 -8.16103282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.685779523 meters 0.04471322384743919 Centerline is valid? [True, True] Translation: X:103.05, Y:-38.09, Z:-8.16 [[ 8.46803591e-01 5.27535269e-01 6.80457008e-02 1.03047222e+02] [-5.25254823e-01 8.49511463e-01 -4.93725252e-02 -3.80904252e+01] [-8.38513512e-02 6.06749917e-03 9.96459802e-01 -8.16336046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.715779523 meters 0.04598335404261732 Centerline is valid? [True, True] Translation: X:103.07, Y:-38.11, Z:-8.17 [[ 8.48342694e-01 5.25026004e-01 6.82815423e-02 1.03070037e+02] [-5.22721723e-01 8.51062595e-01 -4.95425159e-02 -3.81101437e+01] [-8.41229757e-02 6.33678599e-03 9.96435231e-01 -8.16648448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.745779523 meters 0.049030817106482216 Centerline is valid? [True, True] Translation: X:103.09, Y:-38.13, Z:-8.17 [[ 8.49509390e-01 5.23449410e-01 6.58370164e-02 1.03092721e+02] [-5.21303057e-01 8.52033788e-01 -4.77655450e-02 -3.81268765e+01] [-8.10982088e-02 6.25624105e-03 9.96686480e-01 -8.17057628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.775779523 meters 0.04914517979223658 Centerline is valid? [True, True] Translation: X:103.12, Y:-38.14, Z:-8.18 [[ 8.50387525e-01 5.22186112e-01 6.45191606e-02 1.03117562e+02] [-5.20121928e-01 8.52808710e-01 -4.68026086e-02 -3.81412801e+01] [-7.94621743e-02 6.24252424e-03 9.96818335e-01 -8.17578228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.805779523 meters 0.04815472318975409 Centerline is valid? [True, True] Translation: X:103.14, Y:-38.16, Z:-8.18 [[ 8.50346454e-01 5.22236354e-01 6.46536879e-02 1.03142160e+02] [-5.20164068e-01 8.52777913e-01 -4.68953521e-02 -3.81554925e+01] [-7.96256947e-02 6.24677113e-03 9.96805260e-01 -8.17827603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.835779523 meters 0.049553135393060346 Centerline is valid? [True, True] Translation: X:103.16, Y:-38.17, Z:-8.18 [[ 8.50015603e-01 5.22688764e-01 6.53447086e-02 1.03163519e+02] [-5.20575187e-01 8.52500672e-01 -4.73717083e-02 -3.81729422e+01] [-8.04670676e-02 6.24985730e-03 9.96737674e-01 -8.17994165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86577952299999 meters 0.05020789389625705 Centerline is valid? [True, True] Translation: X:103.19, Y:-38.19, Z:-8.18 [[ 8.49622335e-01 5.23093133e-01 6.71971865e-02 1.03187227e+02] [-5.20859815e-01 8.52251642e-01 -4.87051618e-02 -3.81889997e+01] [-8.27462482e-02 6.38067916e-03 9.96550222e-01 -8.17946595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89577952299999 meters 0.05297974041059951 Centerline is valid? [True, True] Translation: X:103.21, Y:-38.21, Z:-8.18 [[ 8.49349045e-01 5.23581672e-01 6.68463357e-02 1.03210031e+02] [-5.21375167e-01 8.51952350e-01 -4.84265270e-02 -3.82055179e+01] [-8.23051348e-02 6.27900508e-03 9.96587397e-01 -8.18087939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92577952299999 meters 0.05545924772773558 Centerline is valid? [True, True] Translation: X:103.23, Y:-38.22, Z:-8.18 [[ 8.50198163e-01 5.22304710e-01 6.60369121e-02 1.03234335e+02] [-5.20149531e-01 8.52735624e-01 -4.78165396e-02 -3.82195009e+01] [-8.12868312e-02 6.30446531e-03 9.96670811e-01 -8.18332048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.95577952299999 meters 0.054949860167595725 Centerline is valid? [True, True] Translation: X:103.26, Y:-38.23, Z:-8.19 [[ 8.50810140e-01 5.21313593e-01 6.59866895e-02 1.03259560e+02] [-5.19159295e-01 8.53341271e-01 -4.77734491e-02 -3.82342109e+01] [-8.12141139e-02 6.38853167e-03 9.96676203e-01 -8.18692823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.98577952299999 meters 0.0477685604895375 Centerline is valid? [True, True] Translation: X:103.29, Y:-38.24, Z:-8.19 [[ 8.50790257e-01 5.21502929e-01 6.47351057e-02 1.03290600e+02] [-5.19430633e-01 8.53226637e-01 -4.68628047e-02 -3.82395272e+01] [-7.96728065e-02 6.24502068e-03 9.96801507e-01 -8.19026993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.01577952299999 meters 0.046815574690838385 Centerline is valid? [True, True] Translation: X:103.32, Y:-38.25, Z:-8.20 [[ 8.51548198e-01 5.20305503e-01 6.44037982e-02 1.03316335e+02] [-5.18253006e-01 8.53956941e-01 -4.65979100e-02 -3.82536871e+01] [-7.92432195e-02 6.30290433e-03 9.96835385e-01 -8.19519703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.045779523 meters 0.04515065422734941 Centerline is valid? [True, True] Translation: X:103.35, Y:-38.26, Z:-8.20 [[ 8.50633029e-01 5.22121978e-01 6.17421291e-02 1.03345264e+02] [-5.20240885e-01 8.52850580e-01 -4.46688923e-02 -3.82638257e+01] [-7.59794211e-02 5.87605522e-03 9.97092072e-01 -8.20107575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.075779523 meters 0.04799538401947884 Centerline is valid? [True, True] Translation: X:103.37, Y:-38.28, Z:-8.20 [[ 8.50345829e-01 5.22629893e-01 6.14000576e-02 1.03366859e+02] [-5.20771161e-01 8.52539974e-01 -4.44183673e-02 -3.82813947e+01] [-7.55603700e-02 5.79559407e-03 9.97124386e-01 -8.20398491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.105779523 meters 0.04582001369085125 Centerline is valid? [True, True] Translation: X:103.39, Y:-38.29, Z:-8.20 [[ 8.50432376e-01 5.22125940e-01 6.44148870e-02 1.03393563e+02] [-5.20079132e-01 8.52846431e-01 -4.65903618e-02 -3.82930705e+01] [-7.92620430e-02 6.12111356e-03 9.96835022e-01 -8.20421178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1854.71 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%| | 0/3633 [00:00