+ python -m lidar_slam --no-model /working/f5d9b053-cb01-4ee7-9660-7228cd122273 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/f5d9b053-cb01-4ee7-9660-7228cd122273 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 0.007552018 Adjusted end_distance from 9.223372036854776e+18 to 113.457552018 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.007552018 meters 0.04881673933373315 Centerline is valid? [0, True] SLAMing on 0.037552018 meters 0.04982598637918815 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99999629e-01 -3.60084220e-04 7.82751966e-04 2.99865024e-02] [ 3.60131968e-04 9.99999933e-01 -6.08589231e-05 -2.38462294e-03] [-7.82730000e-04 6.11407946e-05 9.99999692e-01 9.44185245e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06755201799999999 meters 0.05015853385252057 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.00, Z:0.00 [[ 9.99996883e-01 -5.56552839e-04 2.43377571e-03 6.00860932e-02] [ 5.57015012e-04 9.99999827e-01 -1.89225930e-04 -2.81928077e-03] [-2.43366997e-03 1.90580990e-04 9.99997020e-01 2.37304423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.09755201799999999 meters 0.05003137144497205 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:0.00 [[ 9.99996331e-01 -4.88103819e-04 2.66447725e-03 9.14523844e-02] [ 4.88657074e-04 9.99999859e-01 -2.06994054e-04 -4.44208707e-03] [-2.66437584e-03 2.08295310e-04 9.99996429e-01 2.24178243e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.127552018 meters 0.051691984827421045 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:0.00 [[ 9.99995737e-01 -8.68208169e-04 2.78785770e-03 1.22421719e-01] [ 8.68815425e-04 9.99999599e-01 -2.16617932e-04 -8.04155906e-03] [-2.78766852e-03 2.19039143e-04 9.99996090e-01 2.16989018e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.157552018 meters 0.04860374154627606 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.00, Z:0.00 [[ 9.99997721e-01 -1.23236313e-03 1.74354565e-03 1.53816867e-01] [ 1.23260128e-03 9.99999231e-01 -1.35520030e-04 -4.09245265e-03] [-1.74337730e-03 1.37668818e-04 9.99998471e-01 1.94647255e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.187552018 meters 0.05014663579411335 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.01, Z:0.00 [[ 9.99998077e-01 -1.73162406e-03 9.20441256e-04 1.85145508e-01] [ 1.73169044e-03 9.99998498e-01 -7.13295957e-05 -7.62408360e-03] [-9.20316357e-04 7.29233778e-05 9.99999574e-01 1.16967721e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21755201799999999 meters 0.051262675215917666 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.01, Z:0.00 [[ 9.99997647e-01 -2.13854187e-03 3.63501266e-04 2.15828855e-01] [ 2.13855227e-03 9.99997713e-01 -2.82040858e-05 -1.05948398e-02] [-3.63440119e-04 2.89813859e-05 9.99999934e-01 1.83216103e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.24755201799999998 meters 0.0524468140190207 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.01, Z:-0.00 [[ 9.99996078e-01 -2.72359173e-03 -6.52632972e-04 2.45893945e-01] [ 2.72362561e-03 9.99996290e-01 5.10286749e-05 -1.21784056e-02] [ 6.52491569e-04 -5.28060027e-05 9.99999786e-01 -3.83653723e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.277552018 meters 0.053794385437354715 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.02, Z:-0.00 [[ 9.99994964e-01 -3.02732859e-03 -9.52836270e-04 2.76144142e-01] [ 3.02740090e-03 9.99995415e-01 7.44559994e-05 -1.52232949e-02] [ 9.52606499e-04 -7.73402418e-05 9.99999543e-01 -3.97241018e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.307552018 meters 0.05417561780837 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.02, Z:-0.00 [[ 9.99995602e-01 -2.85131320e-03 -8.16380841e-04 3.07070099e-01] [ 2.85136637e-03 9.99995933e-01 6.39740749e-05 -1.73858404e-02] [ 8.16195110e-04 -6.63015944e-05 9.99999665e-01 -4.68826259e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.33755201799999995 meters 0.0551084078220429 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.02, Z:-0.00 [[ 9.99995038e-01 -3.01947168e-03 -8.97840430e-04 3.38067306e-01] [ 3.01953607e-03 9.99995439e-01 7.03627134e-05 -1.99875299e-02] [ 8.97623877e-04 -7.30734258e-05 9.99999594e-01 -9.50677482e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.367552018 meters 0.05098347729194887 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.01, Z:-0.00 [[ 9.99997344e-01 -2.14035342e-03 -8.54613551e-04 3.69645906e-01] [ 2.14041148e-03 9.99997707e-01 6.70299666e-05 -1.47189168e-02] [ 8.54468124e-04 -6.88590132e-05 9.99999633e-01 -1.71240556e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.397552018 meters 0.05542498334363082 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.02, Z:-0.00 [[ 9.99998134e-01 -1.76236317e-03 -7.91015150e-04 3.99589910e-01] [ 1.76241272e-03 9.99998445e-01 6.19398212e-05 -2.17909535e-02] [ 7.90904759e-04 -6.33338008e-05 9.99999685e-01 -4.11387090e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.427552018 meters 0.05032546167583427 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.02, Z:0.00 [[ 9.99999381e-01 -1.04659383e-03 -3.78526999e-04 4.30433148e-01] [ 1.04660510e-03 9.99999452e-01 2.95758693e-05 -1.60446101e-02] [ 3.78495837e-04 -2.99720193e-05 9.99999928e-01 2.82626186e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.45755201799999995 meters 0.05084662654575316 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.02, Z:0.00 [[ 9.99999959e-01 -2.86457761e-04 2.46676094e-05 4.61119536e-01] [ 2.86457805e-04 9.99999959e-01 -1.79270755e-06 -1.68152766e-02] [-2.46670948e-05 1.79977371e-06 1.00000000e+00 1.46743208e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.487552018 meters 0.04874305843898062 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.02, Z:0.00 [[ 9.99999989e-01 -1.47707079e-04 -3.11174873e-05 4.91984200e-01] [ 1.47707154e-04 9.99999989e-01 2.43193428e-06 -1.50296216e-02] [ 3.11171277e-05 -2.43653053e-06 1.00000000e+00 1.73719997e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5175520180000001 meters 0.049624957509349546 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.02, Z:0.00 [[ 9.99999954e-01 -9.72379913e-06 3.02352717e-04 5.22588216e-01] [ 9.73090465e-06 1.00000000e+00 -2.34993023e-05 -1.77277106e-02] [-3.02352489e-04 2.35022434e-05 9.99999954e-01 2.10507782e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5475520180000001 meters 0.04949851697664467 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.02, Z:0.00 [[ 9.99999969e-01 2.66082212e-05 2.46624333e-04 5.53034022e-01] [-2.66034672e-05 9.99999999e-01 -1.92792825e-05 -1.95130079e-02] [-2.46624845e-04 1.92727209e-05 9.99999969e-01 1.96220066e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.577552018 meters 0.051027691800600954 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.02, Z:0.00 [[ 9.99999504e-01 -7.09370429e-04 -6.99036592e-04 5.82822436e-01] [ 7.09409319e-04 9.99999747e-01 5.53871726e-05 -2.28229837e-02] [ 6.98997125e-04 -5.58830482e-05 9.99999754e-01 8.32299002e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.607552018 meters 0.0513305661490733 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.03, Z:-0.00 [[ 9.99998239e-01 -1.25858890e-03 -1.39237776e-03 6.12948102e-01] [ 1.25874185e-03 9.99999202e-01 1.08979278e-04 -2.53307545e-02] [ 1.39223949e-03 -1.10731730e-04 9.99999025e-01 -4.29598618e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.637552018 meters 0.05051034330104786 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.03, Z:-0.00 [[ 9.99996312e-01 -1.86954961e-03 -1.96995892e-03 6.43602587e-01] [ 1.86985695e-03 9.99998240e-01 1.54185672e-04 -2.68370340e-02] [ 1.96966720e-03 -1.57868644e-04 9.99998048e-01 -8.96357648e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.667552018 meters 0.05051034330104786 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.03, Z:-0.00 [[ 9.99996312e-01 -1.86954961e-03 -1.96995892e-03 6.73607508e-01] [ 1.86985695e-03 9.99998240e-01 1.54185672e-04 -2.91854733e-02] [ 1.96966720e-03 -1.57868644e-04 9.99998048e-01 -1.10896299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.697552018 meters 0.05212928212530891 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.03, Z:-0.00 [[ 9.99991146e-01 -3.40730557e-03 -2.46956902e-03 7.03980173e-01] [ 3.40779324e-03 9.99994175e-01 1.93289390e-04 -3.42044992e-02] [ 2.46889604e-03 -2.01703460e-04 9.99996932e-01 -1.99233573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.727552018 meters 0.054565959854848314 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.04, Z:-0.00 [[ 9.99986934e-01 -4.37244708e-03 -2.64841421e-03 7.33350516e-01] [ 4.37301130e-03 9.99990417e-01 2.07287330e-04 -3.99028906e-02] [ 2.64748248e-03 -2.18866167e-04 9.99996471e-01 -2.38473934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.757552018 meters 0.054388817250770174 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.04, Z:-0.00 [[ 9.99981930e-01 -5.26738450e-03 -2.89720947e-03 7.63731002e-01] [ 5.26806344e-03 9.99986098e-01 2.26760154e-04 -4.22697057e-02] [ 2.89597476e-03 -2.42018740e-04 9.99995777e-01 -2.18944819e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7875520180000001 meters 0.05162941284453657 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.04, Z:-0.00 [[ 9.99977809e-01 -6.08371001e-03 -2.71491239e-03 7.95438698e-01] [ 6.08431022e-03 9.99981468e-01 2.12874795e-04 -4.15861647e-02] [ 2.71356701e-03 -2.29388441e-04 9.99996292e-01 -8.51875676e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.817552018 meters 0.05297881978410578 Centerline is valid? [True, True] Translation: X:0.83, Y:-0.05, Z:-0.00 [[ 9.99978400e-01 -6.06028626e-03 -2.54396131e-03 8.26225947e-01] [ 6.06081568e-03 9.99981613e-01 2.00449386e-04 -4.59988904e-02] [ 2.54269976e-03 -2.15863537e-04 9.99996744e-01 -8.21683143e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.847552018 meters 0.05404072024715211 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.05, Z:-0.00 [[ 9.99979391e-01 -5.90552379e-03 -2.51839638e-03 8.57391694e-01] [ 5.90604126e-03 9.99982540e-01 1.98088643e-04 -4.98351422e-02] [ 2.51718259e-03 -2.12958314e-04 9.99996809e-01 -6.08533950e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.877552018 meters 0.05280637394533342 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.05, Z:-0.00 [[ 9.99982179e-01 -5.53115517e-03 -2.24683898e-03 8.88473647e-01] [ 5.53156611e-03 9.99984685e-01 1.76725110e-04 -5.08482923e-02] [ 2.24582707e-03 -1.89150499e-04 9.99997460e-01 -3.02305219e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.907552018 meters 0.0520070977860417 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.05, Z:-0.00 [[ 9.99987678e-01 -4.52438522e-03 -2.04277024e-03 9.20248807e-01] [ 4.52472340e-03 9.99989750e-01 1.60958594e-04 -5.28106459e-02] [ 2.04202106e-03 -1.70199581e-04 9.99997901e-01 -2.94336917e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.937552018 meters 0.0560185235760274 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.06, Z:-0.00 [[ 9.99990256e-01 -4.05084730e-03 -1.75469421e-03 9.49728169e-01] [ 4.05109577e-03 9.99991785e-01 1.38074740e-04 -6.10720568e-02] [ 1.75412048e-03 -1.45181829e-04 9.99998451e-01 -1.11219047e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.967552018 meters 0.050646154043515614 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.06, Z:-0.00 [[ 9.99992116e-01 -3.61655968e-03 -1.63983646e-03 9.81929164e-01] [ 3.61677646e-03 9.99993451e-01 1.29249977e-04 -5.66589655e-02] [ 1.63935829e-03 -1.35179880e-04 9.99998647e-01 -5.65909918e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.997552018 meters 0.05508255338820946 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.07, Z:-0.00 [[ 9.99994293e-01 -2.89868586e-03 -1.73532473e-03 1.01137056e+00] [ 2.89892819e-03 9.99995789e-01 1.37147738e-04 -6.57217232e-02] [ 1.73491988e-03 -1.42177537e-04 9.99998485e-01 -1.51817384e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.027552018 meters 0.05020897699688277 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.06, Z:-0.00 [[ 9.99997284e-01 8.17178974e-04 -2.18264988e-03 1.04233311e+00] [-8.16805916e-04 9.99999652e-01 1.71805465e-04 -6.40992158e-02] [ 2.18278951e-03 -1.70022197e-04 9.99997603e-01 -3.28727883e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.057552018 meters 0.04892511413427742 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.06, Z:-0.00 [[ 9.99995606e-01 2.42965794e-03 -1.69865138e-03 1.07223395e+00] [-2.42943485e-03 9.99997040e-01 1.33386787e-04 -6.48637162e-02] [ 1.69897044e-03 -1.29259438e-04 9.99998548e-01 -2.35845533e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.087552018 meters 0.04928863231917253 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.07, Z:-0.00 [[ 9.99992093e-01 3.91093919e-03 -7.19673722e-04 1.10143936e+00] [-3.91089965e-03 9.99992351e-01 5.63314227e-05 -6.73538900e-02] [ 7.19888526e-04 -5.35164056e-05 9.99999739e-01 -1.15251083e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1175520179999998 meters 0.048879240852646645 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.07, Z:0.00 [[ 9.99974973e-01 6.99255890e-03 1.07630405e-03 1.12997675e+00] [-6.99247147e-03 9.99975549e-01 -8.49776628e-05 -6.98176728e-02] [-1.07687195e-03 7.74495106e-05 9.99999417e-01 2.85606189e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1475520179999998 meters 0.04845015679914318 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.07, Z:0.00 [[ 9.99957798e-01 9.06466669e-03 1.49462606e-03 1.15927662e+00] [-9.06450088e-03 9.99958910e-01 -1.17671164e-04 -7.26108227e-02] [-1.49563130e-03 1.04118159e-04 9.99998876e-01 2.64258258e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1775520179999999 meters 0.04773033185219452 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.08, Z:-0.00 [[ 9.99936552e-01 1.11757734e-02 1.41190294e-03 1.18939037e+00] [-1.11756277e-02 9.99937545e-01 -1.11014946e-04 -7.55250079e-02] [-1.41305544e-03 9.52290008e-05 9.99998997e-01 -5.94603938e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.207552018 meters 0.0473068017967498 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.08, Z:-0.00 [[ 9.99904038e-01 1.38390860e-02 6.28827044e-04 1.21765108e+00] [-1.38390575e-02 9.99904234e-01 -4.97382111e-05 -7.91945509e-02] [-6.29455155e-04 4.10310645e-05 9.99999801e-01 -2.64399017e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.237552018 meters 0.04727145399692363 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.08, Z:-0.00 [[ 9.99891675e-01 1.47073811e-02 5.76071775e-04 1.24663749e+00] [-1.47073572e-02 9.99891840e-01 -4.56793868e-05 -8.20467334e-02] [-5.76681291e-04 3.72019452e-05 9.99999833e-01 -3.11389658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.267552018 meters 0.0481371781089221 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.09, Z:-0.00 [[ 9.99893366e-01 1.46005203e-02 2.83848032e-04 1.27433357e+00] [-1.46005144e-02 9.99893407e-01 -2.28633766e-05 -8.55778313e-02] [-2.84151593e-04 1.87166113e-05 9.99999959e-01 -3.37542994e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.297552018 meters 0.048629671680490226 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.09, Z:-0.00 [[ 9.99893992e-01 1.45500839e-02 -5.47078882e-04 1.30241753e+00] [-1.45500630e-02 9.99894141e-01 4.21700333e-05 -8.90823065e-02] [ 5.47634547e-04 -3.42055307e-05 9.99999849e-01 -3.99371263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3275520179999998 meters 0.04731221361759138 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.09, Z:-0.01 [[ 9.99915234e-01 1.29196518e-02 -1.61472385e-03 1.33210010e+00] [-1.29194651e-02 9.99916532e-01 1.26001966e-04 -9.25514854e-02] [ 1.61621698e-03 -1.05129917e-04 9.99998688e-01 -5.48734681e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3575520179999998 meters 0.04898925687982074 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.10, Z:-0.01 [[ 9.99929439e-01 1.17495187e-02 -1.75069801e-03 1.35934843e+00] [-1.17492985e-02 9.99930965e-01 1.35996602e-04 -9.88648704e-02] [ 1.75217505e-03 -1.15417533e-04 9.99998458e-01 -6.69591201e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3875520179999998 meters 0.05309717166354127 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.11, Z:-0.01 [[ 9.99947368e-01 1.01156323e-02 -1.71306189e-03 1.38761090e+00] [-1.01154187e-02 9.99948829e-01 1.33302544e-04 -1.08723028e-01] [ 1.71432267e-03 -1.15967190e-04 9.99998524e-01 -8.32020281e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4175520179999999 meters 0.044667360230721154 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.10, Z:-0.01 [[ 9.99975648e-01 6.64624717e-03 -2.12863112e-03 1.41830354e+00] [-6.64590907e-03 9.99977902e-01 1.65868549e-04 -1.01531507e-01] [ 2.12968648e-03 -1.51717820e-04 9.99997721e-01 -6.17108270e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4475520179999999 meters 0.04667072026147578 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.11, Z:-0.01 [[ 9.99984263e-01 5.39573411e-03 -1.53605057e-03 1.44608516e+00] [-5.39555766e-03 9.99985437e-01 1.18992432e-04 -1.07329523e-01] [ 1.53667025e-03 -1.10702711e-04 9.99998813e-01 -5.53323548e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.477552018 meters 0.04870375501449801 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.11, Z:-0.00 [[ 9.99992984e-01 3.62758738e-03 -9.33747337e-04 1.47470566e+00] [-3.62752145e-03 9.99993418e-01 7.22917772e-05 -1.12697208e-01] [ 9.34003436e-04 -6.89040815e-05 9.99999561e-01 -4.93917705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.507552018 meters 0.046915873465337814 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.11, Z:-0.00 [[ 9.99996695e-01 2.56565817e-03 1.67974938e-04 1.50352678e+00] [-2.56565592e-03 9.99996709e-01 -1.36187319e-05 -1.13843506e-01] [-1.68009326e-04 1.31877210e-05 9.99999986e-01 -3.83690719e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.537552018 meters 0.04777564026313178 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.12, Z:-0.00 [[ 9.99997766e-01 2.47109698e-04 2.09912014e-03 1.53363094e+00] [-2.46767531e-04 9.99999956e-01 -1.63262675e-04 -1.21681018e-01] [-2.09916039e-03 1.62744316e-04 9.99997784e-01 -2.84716316e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.567552018 meters 0.04969493600692862 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.13, Z:-0.00 [[ 9.99996354e-01 -9.42060865e-04 2.53085021e-03 1.56371651e+00] [ 9.42561288e-04 9.99999536e-01 -1.96543935e-04 -1.28233788e-01] [-2.53066388e-03 1.98928700e-04 9.99996778e-01 -3.03179946e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5975520179999998 meters 0.0498971093334061 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.13, Z:-0.00 [[ 9.99995021e-01 -1.45042351e-03 2.80238302e-03 1.59528936e+00] [ 1.45103749e-03 9.99998924e-01 -2.17071379e-04 -1.32569483e-01] [-2.80206516e-03 2.21136661e-04 9.99996050e-01 -2.64420427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6275520179999998 meters 0.05077965287447607 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.14, Z:-0.00 [[ 9.99992128e-01 -2.49890039e-03 3.08221057e-03 1.62720198e+00] [ 2.49965315e-03 9.99996847e-01 -2.40399555e-04 -1.36957841e-01] [-3.08160011e-03 2.48102120e-04 9.99995221e-01 -2.71738735e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6575520179999998 meters 0.052376349449733565 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.14, Z:-0.00 [[ 9.99988568e-01 -3.67832570e-03 3.05513798e-03 1.65864336e+00] [ 3.67907171e-03 9.99993204e-01 -2.38599864e-04 -1.42771055e-01] [-3.05423957e-03 2.49837208e-04 9.99995305e-01 -2.40601572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6875520179999999 meters 0.053842040983726955 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.15, Z:-0.00 [[ 9.99986745e-01 -4.09472142e-03 3.12139352e-03 1.68927391e+00] [ 4.09550276e-03 9.99991584e-01 -2.43965865e-04 -1.47927133e-01] [-3.12036827e-03 2.56746307e-04 9.99995099e-01 -2.92831553e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.717552018 meters 0.05430941359689818 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.15, Z:-0.00 [[ 9.99986289e-01 -4.26794076e-03 3.03422827e-03 1.72108041e+00] [ 4.26868013e-03 9.99990861e-01 -2.37241797e-04 -1.52827931e-01] [-3.03318800e-03 2.50190694e-04 9.99995369e-01 -3.42665213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.747552018 meters 0.05434406897042056 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.16, Z:-0.01 [[ 9.99983545e-01 -5.25022637e-03 2.31204333e-03 1.75319151e+00] [ 5.25065838e-03 9.99986199e-01 -1.80821938e-04 -1.57340700e-01] [-2.31106207e-03 1.92958712e-04 9.99997311e-01 -5.13107827e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.777552018 meters 0.053057041015306415 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.16, Z:-0.01 [[ 9.99982772e-01 -5.61708308e-03 1.70411527e-03 1.78558617e+00] [ 5.61731827e-03 9.99984214e-01 -1.33260773e-04 -1.58976589e-01] [-1.70333983e-03 1.42831035e-04 9.99998539e-01 -5.46976218e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8075520179999998 meters 0.05872676109494777 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.17, Z:-0.01 [[ 9.99979108e-01 -6.43246844e-03 6.37467753e-04 1.81602424e+00] [ 6.43250121e-03 9.99979310e-01 -4.93660593e-05 -1.69211380e-01] [-6.37137018e-04 5.34655400e-05 9.99999796e-01 -6.55152762e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8375520179999998 meters 0.059998917714600086 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.17, Z:-0.01 [[ 9.99976863e-01 -6.76924362e-03 6.70738986e-04 1.84693276e+00] [ 6.76928027e-03 9.99977087e-01 -5.23866939e-05 -1.74134663e-01] [-6.70368999e-04 5.69259021e-05 9.99999774e-01 -7.13146181e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8675520179999998 meters 0.05415116986442646 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.17, Z:-0.01 [[ 9.99974284e-01 -7.13085901e-03 7.62408264e-04 1.87942962e+00] [ 7.13090643e-03 9.99974573e-01 -5.95007682e-05 -1.70590082e-01] [-7.61964586e-04 6.49359001e-05 9.99999708e-01 -7.75901459e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8975520179999998 meters 0.0507488452809008 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.17, Z:-0.01 [[ 9.99975296e-01 -6.98134478e-03 8.17285973e-04 1.91215241e+00] [ 6.98139929e-03 9.99975628e-01 -6.38708200e-05 -1.69414989e-01] [-8.16820150e-04 6.95750419e-05 9.99999664e-01 -7.64354950e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9275520179999999 meters 0.05418208224710708 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.18, Z:-0.01 [[ 9.99980786e-01 -6.17486209e-03 5.47360087e-04 1.94340525e+00] [ 6.17488635e-03 9.99980934e-01 -4.26388811e-05 -1.76592696e-01] [-5.47086362e-04 4.60179482e-05 9.99999849e-01 -8.65311113e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.957552018 meters 0.05067457042635972 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.17, Z:-0.01 [[ 9.99986140e-01 -5.05647547e-03 1.46681409e-03 1.97555325e+00] [ 5.05665018e-03 9.99987208e-01 -1.15426078e-04 -1.74362445e-01] [-1.46621168e-03 1.22841644e-04 9.99998918e-01 -7.61799259e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.987552018 meters 0.053469469106569384 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.18, Z:-0.01 [[ 9.99987135e-01 -4.71749904e-03 1.86397766e-03 2.00675385e+00] [ 4.71778101e-03 9.99988860e-01 -1.46906786e-04 -1.80208769e-01] [-1.86326386e-03 1.55698734e-04 9.99998252e-01 -7.60461877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.017552018 meters 0.05293676375722894 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.18, Z:-0.01 [[ 9.99987080e-01 -4.55668028e-03 2.25326882e-03 2.03900728e+00] [ 4.55709222e-03 9.99989601e-01 -1.77719136e-04 -1.82409678e-01] [-2.25243558e-03 1.87985194e-04 9.99997446e-01 -7.03163304e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.047552018 meters 0.05881873036201022 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.19, Z:-0.01 [[ 9.99982266e-01 -5.07831642e-03 3.11111604e-03 2.06900620e+00] [ 5.07910516e-03 9.99987071e-01 -2.45673780e-04 -1.93934619e-01] [-3.10982820e-03 2.61471109e-04 9.99995130e-01 -7.36833696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.077552018 meters 0.05560502671146689 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.19, Z:-0.01 [[ 9.99978162e-01 -5.93633975e-03 2.90432958e-03 2.10096572e+00] [ 5.93703225e-03 9.99982349e-01 -2.29875199e-04 -1.92859236e-01] [-2.90291370e-03 2.47113277e-04 9.99995756e-01 -7.61373658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1075520180000002 meters 0.05239361576766021 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.19, Z:-0.01 [[ 9.99972125e-01 -6.93479097e-03 2.76715964e-03 2.13334473e+00] [ 6.93542353e-03 9.99975926e-01 -2.19065115e-04 -1.91992268e-01] [-2.76557386e-03 2.38250433e-04 9.99996147e-01 -7.69801552e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.137552018 meters 0.05417793270217829 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.20, Z:-0.01 [[ 9.99967442e-01 -7.66841831e-03 2.51183977e-03 2.16377589e+00] [ 7.66894154e-03 9.99970573e-01 -1.98737499e-04 -1.97443861e-01] [-2.51024185e-03 2.17994181e-04 9.99996826e-01 -8.49300086e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1675520180000003 meters 0.05202336555433321 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.20, Z:-0.01 [[ 9.99956323e-01 -9.27883528e-03 1.12002344e-03 2.19542309e+00] [ 9.27894053e-03 9.99956946e-01 -8.88092770e-05 -1.97982270e-01] [-1.11915117e-03 9.91980290e-05 9.99999369e-01 -9.83289993e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.197552018 meters 0.05500480205517518 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.20, Z:-0.01 [[ 9.99954139e-01 -9.55217825e-03 6.89469930e-04 2.22614405e+00] [ 9.55221806e-03 9.99954375e-01 -5.44632455e-05 -2.04837721e-01] [-6.88918230e-04 6.10467149e-05 9.99999761e-01 -1.09063010e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.227552018 meters 0.05421073064815162 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.21, Z:-0.01 [[ 9.99949488e-01 -1.00505363e-02 -9.35394691e-05 2.25807989e+00] [ 1.00505371e-02 9.99949492e-01 8.01116181e-06 -2.06163731e-01] [ 9.34542281e-05 -8.95087905e-06 9.99999996e-01 -1.14660727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.257552018 meters 0.054812246958690296 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.21, Z:-0.01 [[ 9.99951384e-01 -9.85908800e-03 -1.67331344e-04 2.28996138e+00] [ 9.85909046e-03 9.99951398e-01 1.39006858e-05 -2.09947942e-01] [ 1.67186163e-04 -1.55497449e-05 9.99999986e-01 -1.19769227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.287552018 meters 0.05563565913615074 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.21, Z:-0.01 [[ 9.99955639e-01 -9.41326536e-03 -3.33763733e-04 2.32207485e+00] [ 9.41327496e-03 9.99955694e-01 2.71975405e-05 -2.13490897e-01] [ 3.33492928e-04 -3.03381437e-05 9.99999944e-01 -1.20028306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.317552018 meters 0.05528645314028964 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.22, Z:-0.01 [[ 9.99960768e-01 -8.85378033e-03 2.69064703e-04 2.35400916e+00] [ 8.85378629e-03 9.99960804e-01 -2.09540502e-05 -2.15867122e-01] [-2.68868634e-04 2.33354695e-05 9.99999964e-01 -1.15154795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.347552018 meters 0.05393556850013722 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.22, Z:-0.01 [[ 9.99962724e-01 -8.57389684e-03 1.01943465e-03 2.38629456e+00] [ 8.57398383e-03 9.99963239e-01 -8.09951069e-05 -2.16195574e-01] [-1.01870274e-03 8.97327039e-05 9.99999477e-01 -1.08501892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3775520180000003 meters 0.056036898345799425 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.22, Z:-0.01 [[ 9.99969355e-01 -7.56929012e-03 1.99863903e-03 2.41616210e+00] [ 7.56962449e-03 9.99971337e-01 -1.59785737e-04 -2.21839567e-01] [-1.99737228e-03 1.74909787e-04 9.99997990e-01 -1.01028521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.407552018 meters 0.05292814119781805 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.22, Z:-0.01 [[ 9.99970902e-01 -7.20840219e-03 2.49674988e-03 2.44828993e+00] [ 7.20892241e-03 9.99973995e-01 -1.99420327e-04 -2.20311835e-01] [-2.49524745e-03 2.17413401e-04 9.99996863e-01 -9.93589960e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.437552018 meters 0.05272217740346263 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.22, Z:-0.01 [[ 9.99973032e-01 -6.89565893e-03 2.52699354e-03 2.48062347e+00] [ 6.89619136e-03 9.99976201e-01 -2.02042290e-04 -2.23248187e-01] [-2.52554019e-03 2.19463472e-04 9.99996787e-01 -1.01774869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.467552018 meters 0.053178323189681555 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.23, Z:-0.01 [[ 9.99975816e-01 -6.52585646e-03 2.40410348e-03 2.51230579e+00] [ 6.52633770e-03 9.99978685e-01 -1.92382127e-04 -2.27214215e-01] [-2.40279678e-03 2.08067466e-04 9.99997092e-01 -1.07076200e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.497552018 meters 0.05446898316003757 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.23, Z:-0.01 [[ 9.99973792e-01 -6.90831285e-03 2.16566309e-03 2.54316198e+00] [ 6.90870472e-03 9.99976120e-01 -1.73515451e-04 -2.31650018e-01] [-2.16441268e-03 1.88472830e-04 9.99997640e-01 -1.16297293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.527552018 meters 0.05314901995284394 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.23, Z:-0.01 [[ 9.99978087e-01 -6.51601089e-03 1.16936979e-03 2.57540693e+00] [ 6.51612459e-03 9.99978765e-01 -9.34510715e-05 -2.33130987e-01] [-1.16873603e-03 1.01068783e-04 9.99999312e-01 -1.27316293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.557552018 meters 0.05315005661938576 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.24, Z:-0.01 [[ 9.99979488e-01 -6.34532216e-03 8.71980082e-04 2.60719759e+00] [ 6.34538526e-03 9.99979865e-01 -6.96123314e-05 -2.36102077e-01] [-8.71520813e-04 7.51439531e-05 9.99999617e-01 -1.32653925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5875520180000002 meters 0.053794890753012276 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.24, Z:-0.01 [[ 9.99980928e-01 -6.14231608e-03 6.44088004e-04 2.63923213e+00] [ 6.14235041e-03 9.99981134e-01 -5.13279536e-05 -2.39637190e-01] [-6.43760580e-04 5.52831889e-05 9.99999791e-01 -1.41251747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.617552018 meters 0.053794890753012276 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.24, Z:-0.01 [[ 9.99981404e-01 -6.06443670e-03 6.44083978e-04 2.67093853e+00] [ 6.06447104e-03 9.99981610e-01 -5.13781788e-05 -2.42266696e-01] [-6.43760553e-04 5.52832520e-05 9.99999791e-01 -1.43497392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.647552018 meters 0.05496585494089884 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.25, Z:-0.01 [[ 9.99984584e-01 -5.51394272e-03 6.54767298e-04 2.70150620e+00] [ 5.51397822e-03 9.99984797e-01 -5.24185814e-05 -2.46545557e-01] [-6.54468310e-04 5.60281459e-05 9.99999784e-01 -1.48605643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.677552018 meters 0.05083957413457072 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.24, Z:-0.01 [[ 9.99988898e-01 -4.68376229e-03 5.16153135e-04 2.73428328e+00] [ 4.68378413e-03 9.99989030e-01 -4.11229982e-05 -2.44224136e-01] [-5.15954863e-04 4.35400915e-05 9.99999866e-01 -1.48372056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.707552018 meters 0.052757266311497304 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.25, Z:-0.02 [[ 9.99990332e-01 -4.33823115e-03 7.18081637e-04 2.76552739e+00] [ 4.33827363e-03 9.99990588e-01 -5.76187247e-05 -2.49452224e-01] [-7.17824915e-04 6.07334023e-05 9.99999741e-01 -1.56567267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.737552018 meters 0.05069068924262469 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.25, Z:-0.02 [[ 9.99991829e-01 -3.90683739e-03 1.03805986e-03 2.79800774e+00] [ 3.90692608e-03 9.99992364e-01 -8.34213904e-05 -2.49444150e-01] [-1.03772602e-03 8.74763320e-05 9.99999458e-01 -1.56262784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.767552018 meters 0.054684225057956164 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.26, Z:-0.02 [[ 9.99994934e-01 -3.01286492e-03 1.02689190e-03 2.82784023e+00] [ 3.01295169e-03 9.99995458e-01 -8.29612982e-05 -2.57789714e-01] [-1.02663728e-03 8.60548536e-05 9.99999469e-01 -1.63353037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.797552018 meters 0.051706776987192886 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.26, Z:-0.02 [[ 9.99996648e-01 -2.28104888e-03 1.22487249e-03 2.85941158e+00] [ 2.28117171e-03 9.99997393e-01 -9.88942440e-05 -2.56241841e-01] [-1.22464371e-03 1.01688057e-04 9.99999245e-01 -1.57005316e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.827552018 meters 0.05269109087358599 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.26, Z:-0.02 [[ 9.99996793e-01 -1.94142984e-03 1.62652856e-03 2.88998902e+00] [ 1.94164607e-03 9.99998106e-01 -1.31372794e-04 -2.59749269e-01] [-1.62627043e-03 1.34530515e-04 9.99998669e-01 -1.56475441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8575520180000002 meters 0.04881964443300651 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.26, Z:-0.02 [[ 9.99996343e-01 -1.74267347e-03 2.06797415e-03 2.92155396e+00] [ 1.74302325e-03 9.99998467e-01 -1.67349821e-04 -2.56700448e-01] [-2.06767934e-03 1.70953736e-04 9.99997848e-01 -1.53695675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.887552018 meters 0.04871331451107799 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.26, Z:-0.02 [[ 9.99997438e-01 -1.11775582e-03 1.96850325e-03 2.95257700e+00] [ 1.11807169e-03 9.99999362e-01 -1.59366816e-04 -2.59586913e-01] [-1.96832386e-03 1.61567336e-04 9.99998050e-01 -1.53666914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.917552018 meters 0.04990199736464586 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.26, Z:-0.02 [[ 9.99997515e-01 -6.93090467e-04 2.11882679e-03 2.98372429e+00] [ 6.93455489e-04 9.99999745e-01 -1.71545578e-04 -2.64378411e-01] [-2.11870735e-03 1.73014464e-04 9.99997741e-01 -1.59742853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.947552018 meters 0.04945838023421384 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.27, Z:-0.02 [[ 9.99998376e-01 -6.64063481e-04 1.67518970e-03 3.01537369e+00] [ 6.64291040e-04 9.99999770e-01 -1.35287662e-04 -2.66509042e-01] [-1.67509947e-03 1.36400256e-04 9.99998588e-01 -1.62970713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.977552018 meters 0.04992309810606625 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.27, Z:-0.02 [[ 9.99997810e-01 -2.54405385e-04 2.07713590e-03 3.04690956e+00] [ 2.54756237e-04 9.99999953e-01 -1.68648651e-04 -2.70190904e-01] [-2.07709290e-03 1.69177445e-04 9.99997829e-01 -1.69023355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.007552018 meters 0.05013564514954973 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.27, Z:-0.02 [[ 9.99998734e-01 3.61297952e-04 1.54984389e-03 3.07789894e+00] [-3.61103369e-04 9.99999927e-01 -1.25828097e-04 -2.73407140e-01] [-1.54988924e-03 1.25268284e-04 9.99998791e-01 -1.76720563e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.037552018 meters 0.05224583179826578 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.28, Z:-0.02 [[ 9.99998657e-01 8.24649944e-04 1.41601443e-03 3.10787581e+00] [-8.24487774e-04 9.99999653e-01 -1.15105661e-04 -2.79007420e-01] [-1.41610887e-03 1.13938019e-04 9.99998991e-01 -1.88846984e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.067552018 meters 0.05135393299745555 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.28, Z:-0.02 [[ 9.99998907e-01 9.78872507e-04 1.10777918e-03 3.13799292e+00] [-9.78773230e-04 9.99999517e-01 -9.01567985e-05 -2.80413330e-01] [-1.10786689e-03 8.90724354e-05 9.99999382e-01 -1.96471405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.097552018 meters 0.051184682302134514 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.28, Z:-0.02 [[ 9.99998747e-01 1.48077675e-03 5.60143715e-04 3.16825351e+00] [-1.48075145e-03 9.99998903e-01 -4.55873924e-05 -2.83448159e-01] [-5.60210605e-04 4.47579017e-05 9.99999842e-01 -2.01510078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1275520180000003 meters 0.05276743186322996 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.29, Z:-0.02 [[ 9.99997971e-01 1.90434725e-03 6.56559735e-04 3.19718528e+00] [-1.90431249e-03 9.99998185e-01 -5.35557763e-05 -2.88140020e-01] [-6.56660532e-04 5.23053728e-05 9.99999783e-01 -2.07457317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.157552018 meters 0.050311879320967125 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.29, Z:-0.02 [[ 9.99997663e-01 1.93926473e-03 9.56056390e-04 3.22834880e+00] [-1.93919124e-03 9.99998117e-01 -7.77906102e-05 -2.86891296e-01] [-9.56205446e-04 7.59364522e-05 9.99999540e-01 -2.06920887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.187552018 meters 0.04814700981482979 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.29, Z:-0.02 [[ 9.99995452e-01 2.65958582e-03 1.42251798e-03 3.25908066e+00] [-2.65942384e-03 9.99996457e-01 -1.15744785e-04 -2.86956511e-01] [-1.42282077e-03 1.11961181e-04 9.99998982e-01 -2.05904313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.217552018 meters 0.04888715789513102 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.29, Z:-0.02 [[ 9.99989231e-01 4.30128978e-03 1.74263345e-03 3.28834998e+00] [-4.30104899e-03 9.99990740e-01 -1.41895205e-04 -2.90163376e-01] [-1.74322765e-03 1.34398525e-04 9.99998472e-01 -2.04216026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.247552018 meters 0.048668850248242815 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.29, Z:-0.02 [[ 9.99983875e-01 5.23178915e-03 2.20852231e-03 3.31764773e+00] [-5.23140465e-03 9.99986300e-01 -1.79842767e-04 -2.91810515e-01] [-2.20943296e-03 1.68286194e-04 9.99997545e-01 -2.03956441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.277552018 meters 0.04835877261237579 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.29, Z:-0.02 [[ 9.99978122e-01 6.07001425e-03 2.62862297e-03 3.34758337e+00] [-6.06947283e-03 9.99981558e-01 -2.13897977e-04 -2.93341926e-01] [-2.62987285e-03 1.97938941e-04 9.99996522e-01 -1.99564669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.307552018 meters 0.04802635453703455 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.29, Z:-0.02 [[ 9.99972861e-01 6.83532386e-03 2.74877843e-03 3.37770040e+00] [-6.83473525e-03 9.99976618e-01 -2.23473975e-04 -2.94656607e-01] [-2.75024168e-03 2.04680737e-04 9.99996197e-01 -2.02106042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3375520180000002 meters 0.04843497796817041 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.30, Z:-0.02 [[ 9.99966690e-01 7.72850134e-03 2.62462759e-03 3.40636325e+00] [-7.72796743e-03 9.99970116e-01 -2.13505186e-04 -2.97256380e-01] [-2.62619923e-03 1.93215038e-04 9.99996533e-01 -2.10518743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.367552018 meters 0.04537327912299251 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.30, Z:-0.02 [[ 9.99966946e-01 7.82586868e-03 2.20530478e-03 3.43495196e+00] [-7.82549188e-03 9.99969364e-01 -1.79437145e-04 -2.95020755e-01] [-2.20664147e-03 1.62173620e-04 9.99997552e-01 -2.14216576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.397552018 meters 0.049131790706561214 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.30, Z:-0.02 [[ 9.99965963e-01 7.99785472e-03 2.02670778e-03 3.46286150e+00] [-7.99753727e-03 9.99968006e-01 -1.64687990e-04 -3.03014382e-01] [-2.02796009e-03 1.48473713e-04 9.99997933e-01 -2.24897034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.427552018 meters 0.05001340075748376 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.31, Z:-0.02 [[ 9.99976851e-01 6.41605796e-03 2.26528542e-03 3.49205389e+00] [-6.41565799e-03 9.99979403e-01 -1.83790289e-04 -3.07174935e-01] [-2.26641797e-03 1.69252738e-04 9.99997417e-01 -2.32091835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.457552018 meters 0.04822085523017118 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.31, Z:-0.02 [[ 9.99979960e-01 5.86126091e-03 2.39254338e-03 3.52222412e+00] [-5.86081339e-03 9.99982806e-01 -1.94014660e-04 -3.07113832e-01] [-2.39363941e-03 1.79988522e-04 9.99997119e-01 -2.31949194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.487552018 meters 0.049839245045573265 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.31, Z:-0.02 [[ 9.99985468e-01 4.83462911e-03 2.38551382e-03 3.55123718e+00] [-4.83418176e-03 9.99988297e-01 -1.93261808e-04 -3.11651627e-01] [-2.38642025e-03 1.81726992e-04 9.99997136e-01 -2.36833982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.517552018 meters 0.04962774484419605 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.31, Z:-0.02 [[ 9.99992342e-01 3.60989274e-03 1.51120804e-03 3.58102896e+00] [-3.60971163e-03 9.99993477e-01 -1.22558123e-04 -3.13055251e-01] [-1.51164060e-03 1.17102159e-04 9.99998851e-01 -2.44187655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.547552018 meters 0.04888956804953591 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.31, Z:-0.02 [[ 9.99994117e-01 3.11050455e-03 1.44611513e-03 3.61071302e+00] [-3.11033824e-03 9.99995156e-01 -1.17236609e-04 -3.14729620e-01] [-1.44647279e-03 1.12738012e-04 9.99998948e-01 -2.46846466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.577552018 meters 0.05003698219774522 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.32, Z:-0.03 [[ 9.99995880e-01 2.25550106e-03 1.77540733e-03 3.64052473e+00] [-2.25524947e-03 9.99997447e-01 -1.43697305e-04 -3.18668405e-01] [-1.77572690e-03 1.39692726e-04 9.99998414e-01 -2.52966305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.607552018 meters 0.049776300722695004 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.32, Z:-0.03 [[ 9.99996272e-01 1.47499470e-03 2.29771519e-03 3.67067264e+00] [-1.47457167e-03 9.99998896e-01 -1.85795136e-04 -3.20676823e-01] [-2.29798670e-03 1.82406298e-04 9.99997343e-01 -2.54603399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.637552018 meters 0.051038637273841066 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.33, Z:-0.02 [[ 9.99994985e-01 -1.92515574e-04 3.16101514e-03 3.70085517e+00] [ 1.93324496e-04 9.99999949e-01 -2.55602279e-04 -3.25346434e-01] [-3.16096578e-03 2.56212099e-04 9.99994971e-01 -2.46530451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.667552018 meters 0.052926889597412256 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.33, Z:-0.02 [[ 9.99991696e-01 -8.21327048e-04 3.99171579e-03 3.73141067e+00] [ 8.22620244e-04 9.99999610e-01 -3.22338807e-04 -3.30931896e-01] [-3.99144949e-03 3.25619796e-04 9.99991981e-01 -2.44229722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.697552018 meters 0.052144894189845054 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.33, Z:-0.02 [[ 9.99988837e-01 -1.35271405e-03 4.52723751e-03 3.76378612e+00] [ 1.35438498e-03 9.99999016e-01 -3.66037680e-04 -3.32747811e-01] [-4.52673791e-03 3.72165216e-04 9.99989685e-01 -2.40090691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.727552018 meters 0.05368813198380478 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.34, Z:-0.02 [[ 9.99988658e-01 -2.27251797e-03 4.18570534e-03 3.79511824e+00] [ 2.27396009e-03 9.99997357e-01 -3.39806545e-04 -3.37373411e-01] [-4.18492206e-03 3.49320817e-04 9.99991182e-01 -2.43458633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.757552018 meters 0.05263906717390359 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.34, Z:-0.02 [[ 9.99982841e-01 -4.35120447e-03 3.92240430e-03 3.82588288e+00] [ 4.35249002e-03 9.99990477e-01 -3.19266935e-04 -3.38809397e-01] [-3.92097775e-03 3.36333682e-04 9.99992256e-01 -2.48176242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.787552018 meters 0.05256210003173153 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.34, Z:-0.03 [[ 9.99979640e-01 -5.37332186e-03 3.44186831e-03 3.85771179e+00] [ 5.37431715e-03 9.99985519e-01 -2.79989567e-04 -3.41814884e-01] [-3.44031400e-03 2.98481559e-04 9.99994038e-01 -2.57103635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.817552018 meters 0.0547793227997578 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.35, Z:-0.03 [[ 9.99975619e-01 -6.34035996e-03 2.92601755e-03 3.88817885e+00] [ 6.34108429e-03 9.99979867e-01 -2.38338040e-04 -3.47452948e-01] [-2.92444749e-03 2.56886353e-04 9.99995691e-01 -2.65194158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.847552018 meters 0.0623059615836816 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.36, Z:-0.03 [[ 9.99966824e-01 -7.75185996e-03 2.50180279e-03 3.91747969e+00] [ 7.75239425e-03 9.99969929e-01 -2.03933960e-04 -3.60510793e-01] [-2.50014669e-03 2.23322156e-04 9.99996850e-01 -2.83378099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.877552018 meters 0.05580542259208875 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.35, Z:-0.03 [[ 9.99964255e-01 -8.17659188e-03 2.15213303e-03 3.95055054e+00] [ 8.17698766e-03 9.99966553e-01 -1.75164951e-04 -3.54664323e-01] [-2.15062879e-03 1.92756655e-04 9.99997669e-01 -2.80737627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.907552018 meters 0.0559395160382423 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.36, Z:-0.03 [[ 9.99965777e-01 -8.06675121e-03 1.83621980e-03 3.98279004e+00] [ 8.06703925e-03 9.99967450e-01 -1.49514797e-04 -3.56986613e-01] [-1.83495393e-03 1.64322538e-04 9.99998303e-01 -2.81458930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.937552018 meters 0.05549349027876303 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.36, Z:-0.03 [[ 9.99969300e-01 -7.61296683e-03 1.85497629e-03 4.01505692e+00] [ 7.61326029e-03 9.99971007e-01 -1.51192358e-04 -3.58836288e-01] [-1.85377148e-03 1.65310134e-04 9.99998268e-01 -2.78554404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.967552018 meters 0.05631432166847849 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.36, Z:-0.03 [[ 9.99979757e-01 -6.03053677e-03 2.02912375e-03 4.04571351e+00] [ 6.03088552e-03 9.99981800e-01 -1.65795244e-04 -3.60964586e-01] [-2.02808698e-03 1.78029301e-04 9.99997928e-01 -2.75808576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.997552018 meters 0.05193012651640181 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.36, Z:-0.03 [[ 9.99985483e-01 -4.94260582e-03 2.14597248e-03 4.07801943e+00] [ 4.94299340e-03 9.99987768e-01 -1.75339783e-04 -3.57047446e-01] [-2.14507960e-03 1.85944765e-04 9.99997682e-01 -2.75004280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.027552018 meters 0.053392284710902065 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.36, Z:-0.03 [[ 9.99990598e-01 -3.81759034e-03 2.05662031e-03 4.10843655e+00] [ 3.81794458e-03 9.99992697e-01 -1.68345073e-04 -3.61029047e-01] [-2.05596261e-03 1.76195553e-04 9.99997871e-01 -2.77283986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.057552018 meters 0.053509972653272606 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.36, Z:-0.03 [[ 9.99992691e-01 -2.97708791e-03 2.39891677e-03 4.14080139e+00] [ 2.97756703e-03 9.99995548e-01 -1.96179437e-04 -3.63589033e-01] [-2.39832204e-03 2.03320939e-04 9.99997103e-01 -2.84492734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.087552018 meters 0.053272924661353076 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.37, Z:-0.03 [[ 9.99995938e-01 -1.62915253e-03 2.33886464e-03 4.17272086e+00] [ 1.62960483e-03 9.99998654e-01 -1.91493347e-04 -3.65400635e-01] [-2.33854952e-03 1.95303994e-04 9.99997247e-01 -2.88097324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.117552018 meters 0.05080867157639856 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.36, Z:-0.03 [[ 9.99996603e-01 -1.07708524e-03 2.37375690e-03 4.20406289e+00] [ 1.07755019e-03 9.99999401e-01 -1.94602513e-04 -3.64306580e-01] [-2.37354587e-03 1.97159694e-04 9.99997164e-01 -2.88068685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.147552018 meters 0.05216658642316971 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.37, Z:-0.03 [[ 9.99996829e-01 -7.95554621e-04 2.38930847e-03 4.23470455e+00] [ 7.96024902e-04 9.99999664e-01 -1.95882920e-04 -3.68201565e-01] [-2.38915183e-03 1.97784248e-04 9.99997126e-01 -2.88421599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.177552018 meters 0.052234877171736305 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.37, Z:-0.03 [[ 9.99996782e-01 -8.28428312e-04 2.39777964e-03 4.26593689e+00] [ 8.28902592e-04 9.99999637e-01 -1.96812905e-04 -3.70329150e-01] [-2.39761572e-03 1.98799797e-04 9.99997106e-01 -2.89584226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.207552018 meters 0.052566870150789057 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.37, Z:-0.03 [[ 9.99997243e-01 -1.00979313e-03 2.11996159e-03 4.29696622e+00] [ 1.01016439e-03 9.99999475e-01 -1.74059999e-04 -3.73105223e-01] [-2.11978471e-03 1.76201029e-04 9.99997738e-01 -2.91915224e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.237552018 meters 0.051833006346593054 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.37, Z:-0.03 [[ 9.99997718e-01 -1.13244076e-03 1.81138958e-03 4.32865943e+00] [ 1.13271127e-03 9.99999347e-01 -1.48323445e-04 -3.74993615e-01] [-1.81122043e-03 1.50374888e-04 9.99998348e-01 -2.95293115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.267552018 meters 0.05379451601907546 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.38, Z:-0.03 [[ 9.99997947e-01 -1.20466153e-03 1.62934503e-03 4.35921285e+00] [ 1.20488124e-03 9.99999265e-01 -1.33869932e-04 -3.80134837e-01] [-1.62918256e-03 1.35832824e-04 9.99998664e-01 -3.03623014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.297552018 meters 0.05339964113363988 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.38, Z:-0.03 [[ 9.99998611e-01 -1.59298494e-03 4.90471312e-04 4.39049558e+00] [ 1.59300483e-03 9.99998730e-01 -4.01693138e-05 -3.82551431e-01] [-4.90406701e-04 4.09505812e-05 9.99999879e-01 -3.15308528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3275520180000004 meters 0.05330660868053578 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.38, Z:-0.03 [[ 9.99998667e-01 -1.63023448e-03 -8.84469248e-05 4.42166184e+00] [ 1.63023515e-03 9.99998671e-01 7.56780436e-06 -3.84883101e-01] [ 8.84344699e-05 -7.71198356e-06 9.99999996e-01 -3.21070378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.357552018 meters 0.053506948416386244 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.39, Z:-0.03 [[ 9.99998576e-01 -1.68061859e-03 -1.54106680e-04 4.45250991e+00] [ 1.68062057e-03 9.99998588e-01 1.27123383e-05 -3.87302833e-01] [ 1.54085098e-04 -1.29713150e-05 9.99999988e-01 -3.24253030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.387552018 meters 0.051624063557013954 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.39, Z:-0.03 [[ 9.99999022e-01 -1.38154150e-03 -2.15410090e-04 4.48287804e+00] [ 1.38154536e-03 9.99999046e-01 1.77692876e-05 -3.86925084e-01] [ 2.15385335e-04 -1.80668691e-05 9.99999977e-01 -3.22450276e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.417552018 meters 0.05144210018790336 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.39, Z:-0.03 [[ 9.99999647e-01 -7.77335376e-04 3.20289750e-04 4.51363458e+00] [ 7.77343878e-04 9.99999698e-01 -2.64208640e-05 -3.88746376e-01] [-3.20269115e-04 2.66698300e-05 9.99999948e-01 -3.23520577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.447552018 meters 0.05178442337822589 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.39, Z:-0.03 [[ 9.99999918e-01 -6.94699376e-05 3.99904076e-04 4.54436060e+00] [ 6.94831353e-05 9.99999997e-01 -3.29882902e-05 -3.91475810e-01] [-3.99901783e-04 3.30160741e-05 9.99999919e-01 -3.26218565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.477552018 meters 0.05178442337822589 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.39, Z:-0.03 [[ 9.99999918e-01 -6.94699376e-05 3.99904076e-04 4.57436069e+00] [ 6.94831353e-05 9.99999997e-01 -3.29882902e-05 -3.93950533e-01] [-3.99901783e-04 3.30160741e-05 9.99999919e-01 -3.28344992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.507552018 meters 0.04856600077394178 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.39, Z:-0.03 [[ 9.99999432e-01 1.01516756e-03 3.23834836e-04 4.60565371e+00] [-1.01515901e-03 9.99999484e-01 -2.65797500e-05 -3.91538368e-01] [-3.23861652e-04 2.62509911e-05 9.99999947e-01 -3.23482642e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.537552018 meters 0.049657373635869834 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.39, Z:-0.03 [[ 9.99994242e-01 3.26898952e-03 9.10329901e-04 4.63516709e+00] [-3.26892238e-03 9.99994654e-01 -7.52327664e-05 -3.93916184e-01] [-9.10570970e-04 7.22565355e-05 9.99999583e-01 -3.18840119e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.567552018 meters 0.04568728874999497 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.39, Z:-0.03 [[ 9.99988929e-01 4.56741120e-03 1.13208391e-03 4.66523052e+00] [-4.56730812e-03 9.99989565e-01 -9.36238798e-05 -3.89713216e-01] [-1.13249972e-03 8.84522672e-05 9.99999355e-01 -3.14242530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.597552018 meters 0.04581254221025891 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.39, Z:-0.03 [[ 9.99980493e-01 6.13554447e-03 1.16975780e-03 4.69376465e+00] [-6.13543541e-03 9.99981173e-01 -9.67982787e-05 -3.91553443e-01] [-1.17032969e-03 8.96194171e-05 9.99999311e-01 -3.15310235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.627552018 meters 0.0470441796735945 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.40, Z:-0.03 [[ 9.99969057e-01 7.76516918e-03 1.25964050e-03 4.72192816e+00] [-7.76504415e-03 9.99969846e-01 -1.04124572e-04 -3.95181882e-01] [-1.26041106e-03 9.43401859e-05 9.99999201e-01 -3.19627973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.657552018 meters 0.04730527631838795 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.40, Z:-0.03 [[ 9.99940412e-01 1.08982953e-02 6.32228208e-04 4.75078031e+00] [-1.08982644e-02 9.99940611e-01 -5.22985076e-05 -3.96008185e-01] [-6.32760625e-04 4.54052010e-05 9.99999799e-01 -3.29988562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.687552018 meters 0.046670715283030476 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.40, Z:-0.03 [[ 9.99932293e-01 1.16249879e-02 5.18898098e-04 4.77990445e+00] [-1.16249670e-02 9.99932427e-01 -4.31980871e-05 -3.96852048e-01] [-5.19365212e-04 3.71629890e-05 9.99999864e-01 -3.32249515e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.717552018 meters 0.046614962939039085 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.40, Z:-0.03 [[ 9.99916196e-01 1.29459574e-02 6.38135087e-05 4.80785083e+00] [-1.29459571e-02 9.99916198e-01 -5.90442086e-06 -3.98221994e-01] [-6.38845994e-05 5.07779910e-06 9.99999998e-01 -3.36484440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.747552018 meters 0.042714960819772246 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.39, Z:-0.03 [[ 9.99878962e-01 1.55531308e-02 -4.02160295e-04 4.83799362e+00] [-1.55531188e-02 9.99879042e-01 3.27376021e-05 -3.93641926e-01] [ 4.02620823e-04 -2.64787927e-05 9.99999919e-01 -3.39008619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.777552018 meters 0.042193022916409494 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.39, Z:-0.03 [[ 9.99865418e-01 1.63893860e-02 -7.30515958e-04 4.86650585e+00] [-1.63893470e-02 9.99865684e-01 5.93586033e-05 -3.94185114e-01] [ 7.31390689e-04 -4.73779351e-05 9.99999731e-01 -3.44083605e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.807552018 meters 0.04163047225667983 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.40, Z:-0.03 [[ 9.99842854e-01 1.77274099e-02 -7.30448424e-05 4.89508822e+00] [-1.77274095e-02 9.99842857e-01 5.43772516e-06 -3.95324191e-01] [ 7.31297607e-05 -4.14197482e-06 9.99999997e-01 -3.40337980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.837552018 meters 0.040162297636755176 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.39, Z:-0.03 [[ 9.99822968e-01 1.88136848e-02 2.79424083e-04 4.92443418e+00] [-1.88136789e-02 9.99823007e-01 -2.37609548e-05 -3.94490795e-01] [-2.79821658e-04 1.84997534e-05 9.99999961e-01 -3.35716246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.867552018 meters 0.03900220997715857 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.39, Z:-0.03 [[ 9.99758677e-01 2.19474288e-02 9.47300346e-04 4.95471160e+00] [-2.19473651e-02 9.99759125e-01 -7.76079481e-05 -3.94215516e-01] [-9.48775459e-04 5.67984730e-05 9.99999548e-01 -3.31737062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.897552018 meters 0.03795249460938256 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.39, Z:-0.03 [[ 9.99733779e-01 2.30660834e-02 5.71745566e-04 4.98401052e+00] [-2.30660602e-02 9.99733942e-01 -4.71398318e-05 -3.94297773e-01] [-5.72680779e-04 3.39393646e-05 9.99999835e-01 -3.34705914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.927552018 meters 0.03844608666569573 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.40, Z:-0.03 [[ 9.99701766e-01 2.44193424e-02 2.75187636e-04 5.01168631e+00] [-2.44193370e-02 9.99701803e-01 -2.31479938e-05 -3.96768913e-01] [-2.75670835e-04 1.64211907e-05 9.99999962e-01 -3.40317715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.957552018 meters 0.03806234201019725 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.40, Z:-0.03 [[ 9.99659888e-01 2.60752494e-02 -4.35608428e-04 5.04045106e+00] [-2.60752366e-02 9.99659983e-01 3.49816541e-05 -3.97611604e-01] [ 4.36372469e-04 -2.36111636e-05 9.99999905e-01 -3.45790109e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.987552018 meters 0.03751047159543703 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.40, Z:-0.04 [[ 9.99650022e-01 2.64531432e-02 -2.52528165e-04 5.06960781e+00] [-2.64531389e-02 9.99650054e-01 2.00288301e-05 -3.98723869e-01] [ 2.52969619e-04 -1.33416579e-05 9.99999968e-01 -3.50074545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.017552018 meters 0.0380621694122856 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.40, Z:-0.04 [[ 9.99637713e-01 2.69144000e-02 -2.41409781e-04 5.09719506e+00] [-2.69143962e-02 9.99637742e-01 1.89699542e-05 -4.02260772e-01] [ 2.41832893e-04 -1.24656831e-05 9.99999971e-01 -3.53765216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.047552018 meters 0.036408214188940725 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.40, Z:-0.04 [[ 9.99641101e-01 2.67853840e-02 -4.60502208e-04 5.12569920e+00] [-2.67853700e-02 9.99641207e-01 3.65944231e-05 -4.02068759e-01] [ 4.61317179e-04 -2.42465674e-05 9.99999893e-01 -3.58601349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.077552018 meters 0.03639834655497995 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.40, Z:-0.04 [[ 9.99621934e-01 2.74300119e-02 -1.89328163e-03 5.15479714e+00] [-2.74297709e-02 9.99623721e-01 1.53147443e-04 -4.04484133e-01] [ 1.89677006e-03 -1.01157262e-04 9.99998196e-01 -3.67896764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.107552018 meters 0.03674159808164979 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.41, Z:-0.04 [[ 9.99611179e-01 2.77751783e-02 -2.45581190e-03 5.18358421e+00] [-2.77747739e-02 9.99614187e-01 1.98625377e-04 -4.06967906e-01] [ 2.46038127e-03 -1.30338527e-04 9.99996965e-01 -3.75908717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.137552018 meters 0.036546289490286175 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.41, Z:-0.04 [[ 9.99605300e-01 2.79437188e-02 -2.89706792e-03 5.21198694e+00] [-2.79431571e-02 9.99609486e-01 2.34188966e-04 -4.08974443e-01] [ 2.90248069e-03 -1.53143307e-04 9.99995776e-01 -3.85368372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.167552018 meters 0.03738097019842905 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.41, Z:-0.04 [[ 9.99605903e-01 2.78331998e-02 -3.65387391e-03 5.23843738e+00] [-2.78323105e-02 9.99612563e-01 2.94011306e-04 -4.12243461e-01] [ 3.66064153e-03 -1.92199685e-04 9.99993281e-01 -3.93589559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.197552018 meters 0.03673002681840362 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.41, Z:-0.04 [[ 9.99598330e-01 2.80232805e-02 -4.22770718e-03 5.26705789e+00] [-2.80220888e-02 9.99607246e-01 3.40873329e-04 -4.12840193e-01] [ 4.23559912e-03 -2.22267225e-04 9.99991005e-01 -4.00682474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.227552018 meters 0.03656615054726188 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.41, Z:-0.04 [[ 9.99604624e-01 2.78541656e-02 -3.83943453e-03 5.29503214e+00] [-2.78531844e-02 9.99611977e-01 3.08802575e-04 -4.14606983e-01] [ 3.84654618e-03 -2.01740004e-04 9.99992582e-01 -4.01213840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.257552018 meters 0.03593718533431442 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.42, Z:-0.04 [[ 9.99607193e-01 2.77380123e-02 -4.00767430e-03 5.32427719e+00] [-2.77369423e-02 9.99615205e-01 3.22322145e-04 -4.15829762e-01] [ 4.01507274e-03 -2.11034904e-04 9.99991917e-01 -3.99026582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2875520179999995 meters 0.037125656203214376 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.42, Z:-0.04 [[ 9.99658877e-01 2.59479687e-02 -2.97186710e-03 5.35227258e+00] [-2.59473756e-02 9.99663282e-01 2.37973571e-04 -4.19185252e-01] [ 2.97704135e-03 -1.60780241e-04 9.99995556e-01 -3.86478612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.317552018 meters 0.04205190497092632 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.43, Z:-0.04 [[ 9.99697663e-01 2.44714709e-02 -2.39372699e-03 5.37901924e+00] [-2.44710825e-02 9.99700520e-01 1.91411946e-04 -4.28366666e-01] [ 2.39769425e-03 -1.32776984e-04 9.99997117e-01 -3.92012370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.347552018 meters 0.03969871519084524 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.43, Z:-0.04 [[ 9.99744590e-01 2.25586193e-02 -1.36483402e-03 5.40871970e+00] [-2.25584911e-02 9.99745519e-01 1.09278998e-04 -4.27507678e-01] [ 1.36695188e-03 -7.84624907e-05 9.99999063e-01 -3.78010078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.377552018 meters 0.04306145764651778 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.44, Z:-0.04 [[ 9.99842968e-01 1.77016111e-02 -8.31712124e-04 5.43719561e+00] [-1.77015617e-02 9.99843313e-01 6.67707235e-05 -4.35770722e-01] [ 8.32763754e-04 -5.20376349e-05 9.99999652e-01 -3.75413595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.407552018 meters 0.04502686630382886 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.44, Z:-0.04 [[ 9.99883860e-01 1.52160677e-02 -8.58539775e-04 5.46660636e+00] [-1.52160143e-02 9.99884227e-01 6.86161615e-05 -4.41771999e-01] [ 8.59484448e-04 -5.55446389e-05 9.99999629e-01 -3.79072003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.437552018 meters 0.047602859347480354 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.45, Z:-0.04 [[ 9.99926413e-01 1.20945654e-02 -9.43108866e-04 5.49499197e+00] [-1.20944997e-02 9.99926856e-01 7.53676972e-05 -4.48224170e-01] [ 9.43951423e-04 -6.39557212e-05 9.99999552e-01 -3.86049948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.467552018 meters 0.04937453690437743 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.45, Z:-0.04 [[ 9.99957055e-01 9.21075510e-03 -1.02437733e-03 5.52495566e+00] [-9.21067591e-03 9.99957577e-01 8.19973370e-05 -4.54069825e-01] [ 1.02508914e-03 -7.25586080e-05 9.99999472e-01 -3.89380869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.497552018 meters 0.05375810585107701 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.46, Z:-0.04 [[ 9.99989452e-01 4.28200832e-03 -1.66115256e-03 5.55349718e+00] [-4.28179348e-03 9.99990824e-01 1.32866429e-04 -4.62858455e-01] [ 1.66170625e-03 -1.25752315e-04 9.99998611e-01 -3.95532680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.527552018 meters 0.05576431585845552 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.47, Z:-0.04 [[ 9.99995169e-01 2.35767749e-03 -2.02588438e-03 5.58241557e+00] [-2.35735440e-03 9.99997208e-01 1.61854697e-04 -4.68292230e-01] [ 2.02626033e-03 -1.57078187e-04 9.99997935e-01 -4.04065281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.557552018 meters 0.05700423237846237 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.47, Z:-0.04 [[ 9.99997137e-01 7.55850109e-04 -2.27056841e-03 5.61211452e+00] [-7.55439947e-04 9.99999698e-01 1.81495167e-04 -4.72372263e-01] [ 2.27070490e-03 -1.79779369e-04 9.99997406e-01 -4.10712475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.587552018 meters 0.05817391780911678 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.48, Z:-0.04 [[ 9.99996477e-01 -2.13065003e-04 -2.64600932e-03 5.64116909e+00] [ 2.13624793e-04 9.99999955e-01 2.11279296e-04 -4.76507411e-01] [ 2.64596418e-03 -2.11843805e-04 9.99996477e-01 -4.22642719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.617552018 meters 0.059655646102566864 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.48, Z:-0.04 [[ 9.99994564e-01 -1.11253854e-04 -3.29538383e-03 5.66930921e+00] [ 1.12121312e-04 9.99999959e-01 2.63050740e-04 -4.80402801e-01] [ 3.29535443e-03 -2.63418793e-04 9.99994536e-01 -4.34718637e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.647552018 meters 0.05947269217086437 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.48, Z:-0.04 [[ 9.99993691e-01 5.69707066e-04 -3.50625184e-03 5.69932548e+00] [-5.68729102e-04 9.99999799e-01 2.79910649e-04 -4.81486584e-01] [ 3.50641060e-03 -2.77914775e-04 9.99993814e-01 -4.37972242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.677552018 meters 0.058922480997367785 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.48, Z:-0.04 [[ 9.99993551e-01 1.55018703e-03 -3.23944648e-03 5.72785758e+00] [-1.54935896e-03 9.99998766e-01 2.58114071e-04 -4.81929032e-01] [ 3.23984261e-03 -2.53093341e-04 9.99994720e-01 -4.37485565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.707552018 meters 0.05599079893846157 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.48, Z:-0.04 [[ 9.99991463e-01 2.77033824e-03 -3.06586320e-03 5.75676276e+00] [-2.76960303e-03 9.99996135e-01 2.44025624e-04 -4.79393765e-01] [ 3.06652739e-03 -2.35532317e-04 9.99995270e-01 -4.32771660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.737552018 meters 0.04527980553388331 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.47, Z:-0.04 [[ 9.99985944e-01 5.04592532e-03 -1.62777945e-03 5.78815474e+00] [-5.04572091e-03 9.99987262e-01 1.29659481e-04 -4.66271233e-01] [ 1.62841296e-03 -1.21444338e-04 9.99998667e-01 -4.14684229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.767552018 meters 0.059756678629283154 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.49, Z:-0.04 [[ 9.99984337e-01 5.37984003e-03 -1.54364205e-03 5.81392221e+00] [-5.37965770e-03 9.99985522e-01 1.22244494e-04 -4.87439510e-01] [ 1.54427735e-03 -1.13938313e-04 9.99998801e-01 -4.40739943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.797552018 meters 0.05695892180819339 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.49, Z:-0.04 [[ 9.99983757e-01 5.56436751e-03 -1.23432148e-03 5.84326960e+00] [-5.56425111e-03 9.99984515e-01 9.77239553e-05 -4.85675096e-01] [ 1.23484614e-03 -9.08542933e-05 9.99999233e-01 -4.39334690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.827552018 meters 0.046379535886413255 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.47, Z:-0.04 [[ 9.99984243e-01 5.41081996e-03 -1.49533089e-03 5.87323908e+00] [-5.41064905e-03 9.99985355e-01 1.18317760e-04 -4.72910186e-01] [ 1.49594919e-03 -1.10225185e-04 9.99998875e-01 -4.26885950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.857552018 meters 0.06186756562858348 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.50, Z:-0.05 [[ 9.99984288e-01 5.20066361e-03 -2.09194060e-03 5.89944146e+00] [-5.20032890e-03 9.99986465e-01 1.65409235e-04 -4.95932448e-01] [ 2.09277252e-03 -1.54527857e-04 9.99997798e-01 -4.59409814e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.887552018 meters 0.04817683517683115 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.48, Z:-0.04 [[ 9.99991446e-01 3.81950487e-03 -1.58699704e-03 5.93019965e+00] [-3.81931022e-03 9.99992699e-01 1.25667792e-04 -4.79613542e-01] [ 1.58746544e-03 -1.19605483e-04 9.99998733e-01 -4.43058742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.917552018 meters 0.06426692451426994 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.50, Z:-0.05 [[ 9.99994234e-01 2.93485566e-03 -1.70840330e-03 5.95661866e+00] [-2.93462850e-03 9.99995685e-01 1.35457886e-04 -5.03479551e-01] [ 1.70879348e-03 -1.30443575e-04 9.99998532e-01 -4.73980897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.947552018 meters 0.053759599064843386 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.49, Z:-0.05 [[ 9.99995782e-01 2.03741727e-03 -2.07011277e-03 5.98699734e+00] [-2.03708229e-03 9.99997912e-01 1.63915657e-04 -4.91530261e-01] [ 2.07044241e-03 -1.59697976e-04 9.99997844e-01 -4.62353813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.977552018 meters 0.05055034305647183 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.49, Z:-0.05 [[ 9.99996342e-01 1.38949867e-03 -2.32040890e-03 6.01604228e+00] [-1.38907703e-03 9.99999018e-01 1.83310545e-04 -4.89206714e-01] [ 2.32066134e-03 -1.80086648e-04 9.99997291e-01 -4.63996241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.007552018 meters 0.04978641368525589 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.49, Z:-0.05 [[ 9.99997328e-01 3.84425831e-04 -2.27965140e-03 6.04542443e+00] [-3.84016310e-04 9.99999910e-01 1.80077029e-04 -4.89037680e-01] [ 2.27972042e-03 -1.79201124e-04 9.99997385e-01 -4.68002610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0375520179999995 meters 0.05103880243622619 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.49, Z:-0.05 [[ 9.99996933e-01 7.28192732e-05 -2.47544373e-03 6.07401047e+00] [-7.23356944e-05 9.99999978e-01 1.95439348e-04 -4.92220209e-01] [ 2.47545790e-03 -1.95259685e-04 9.99996917e-01 -4.73046115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.067552018 meters 0.05332727489717289 Centerline is valid? [True, True] Translation: X:6.10, Y:-0.50, Z:-0.05 [[ 9.99996750e-01 2.35885263e-04 -2.53842598e-03 6.10226818e+00] [-2.35377621e-04 9.99999952e-01 2.00279864e-04 -4.95881054e-01] [ 2.53847310e-03 -1.99681725e-04 9.99996758e-01 -4.85028000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.097552018 meters 0.04832892091456096 Centerline is valid? [True, True] Translation: X:6.13, Y:-0.49, Z:-0.05 [[ 9.99997170e-01 1.35068083e-04 -2.37511510e-03 6.13237838e+00] [-1.34623366e-04 9.99999973e-01 1.87399084e-04 -4.90245516e-01] [ 2.37514035e-03 -1.87078808e-04 9.99997162e-01 -4.81012057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.127552018 meters 0.049560305416993265 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.49, Z:-0.05 [[ 9.99997053e-01 2.76350354e-04 -2.41204883e-03 6.16077430e+00] [-2.75892767e-04 9.99999944e-01 1.90039588e-04 -4.93681201e-01] [ 2.41210121e-03 -1.89373562e-04 9.99997073e-01 -4.89265558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.157552018 meters 0.04919944083043578 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.49, Z:-0.05 [[ 9.99997423e-01 4.24258550e-04 -2.23035519e-03 6.19038613e+00] [-4.23867623e-04 9.99999895e-01 1.75745665e-04 -4.94952846e-01] [ 2.23042952e-03 -1.74799836e-04 9.99997497e-01 -4.92087946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.187552018 meters 0.049844743033443224 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.50, Z:-0.05 [[ 9.99998312e-01 1.16690839e-03 -1.41929889e-03 6.21907357e+00] [-1.16675128e-03 9.99999313e-01 1.11519888e-04 -4.95904634e-01] [ 1.41942805e-03 -1.09863731e-04 9.99998987e-01 -4.90686198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.217552018 meters 0.05055865940636761 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.50, Z:-0.05 [[ 9.99997904e-01 1.79417094e-03 -9.86424132e-04 6.24814332e+00] [-1.79409522e-03 9.99998388e-01 7.76382542e-05 -4.97917775e-01] [ 9.86561838e-04 -7.58683527e-05 9.99999510e-01 -4.88727449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.247552018 meters 0.05070074552647717 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.50, Z:-0.05 [[ 9.99996482e-01 2.61655755e-03 -4.34564697e-04 6.27822504e+00] [-2.61654314e-03 9.99996576e-01 3.37408657e-05 -4.99323932e-01] [ 4.34651494e-04 -3.26036897e-05 9.99999905e-01 -4.87325817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.277552018 meters 0.05103430181325437 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.50, Z:-0.05 [[ 9.99993238e-01 3.67755536e-03 -4.51739368e-06 6.30681498e+00] [-3.67755536e-03 9.99993238e-01 -4.24416518e-08 -5.00860887e-01] [ 4.51720705e-06 5.90543302e-08 1.00000000e+00 -4.89949108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.307552018 meters 0.048921482294591055 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.50, Z:-0.05 [[ 9.99982038e-01 5.90781383e-03 1.01062323e-03 6.33741524e+00] [-5.90773613e-03 9.99982546e-01 -7.98469831e-05 -4.99079538e-01] [-1.01107731e-03 7.38750535e-05 9.99999486e-01 -4.90103448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.337552018 meters 0.04641102207722529 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.50, Z:-0.05 [[ 9.99977135e-01 6.56463273e-03 1.62298975e-03 6.36621017e+00] [-6.56443342e-03 9.99978446e-01 -1.28098932e-04 -4.96451297e-01] [-1.62379569e-03 1.17441995e-04 9.99998675e-01 -4.94482574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.367552018 meters 0.04635204682663891 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.50, Z:-0.05 [[ 9.99973142e-01 7.14944278e-03 1.61241714e-03 6.39547915e+00] [-7.14924719e-03 9.99974436e-01 -1.27035598e-04 -4.97531373e-01] [-1.61328415e-03 1.15504617e-04 9.99998692e-01 -4.98995352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.397552018 meters 0.04635204682663891 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.50, Z:-0.05 [[ 9.99973689e-01 7.07253379e-03 1.61241624e-03 6.42377053e+00] [-7.07233808e-03 9.99974983e-01 -1.27047230e-04 -4.99678196e-01] [-1.61327445e-03 1.15640334e-04 9.99998692e-01 -5.01001131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.427552018 meters 0.04988217597054124 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.51, Z:-0.05 [[ 9.99966727e-01 7.88386543e-03 2.09511032e-03 6.45160832e+00] [-7.88353767e-03 9.99968911e-01 -1.64656834e-04 -5.06408250e-01] [-2.09634332e-03 1.48134475e-04 9.99997792e-01 -5.23482410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.457552018 meters 0.0460085575715834 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.50, Z:-0.05 [[ 9.99967468e-01 7.88644663e-03 1.69295635e-03 6.48058375e+00] [-7.88623247e-03 9.99968894e-01 -1.33136570e-04 -5.03151517e-01] [-1.69395366e-03 1.19781191e-04 9.99998558e-01 -5.27716748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.487552018 meters 0.045863010142806866 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.51, Z:-0.05 [[ 9.99969385e-01 7.64653956e-03 1.66094554e-03 6.50962388e+00] [-7.64633329e-03 9.99970758e-01 -1.30501621e-04 -5.05221941e-01] [-1.66189486e-03 1.17797483e-04 9.99998612e-01 -5.33845780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.517552018 meters 0.045762784260699046 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.51, Z:-0.05 [[ 9.99975159e-01 6.86131460e-03 1.61354831e-03 6.53864125e+00] [-6.86111909e-03 9.99976454e-01 -1.26670527e-04 -5.07045616e-01] [-1.61437944e-03 1.15596634e-04 9.99998690e-01 -5.38404369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.547552018 meters 0.04660040770178591 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.51, Z:-0.05 [[ 9.99984779e-01 5.31030997e-03 1.49729735e-03 6.56835124e+00] [-5.31014033e-03 9.99985894e-01 -1.17251709e-04 -5.11267480e-01] [-1.49789887e-03 1.09299065e-04 9.99998872e-01 -5.46678167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.577552018 meters 0.04534008201927487 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.51, Z:-0.06 [[ 9.99987022e-01 4.72279372e-03 1.91067909e-03 6.59828892e+00] [-4.72251668e-03 9.99988838e-01 -1.49477598e-04 -5.12238420e-01] [-1.91136371e-03 1.40452444e-04 9.99998163e-01 -5.53015498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.607552018 meters 0.04646713985663495 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.52, Z:-0.06 [[ 9.99989038e-01 4.30012463e-03 1.85257181e-03 6.62794105e+00] [-4.29986378e-03 9.99990745e-01 -1.44763662e-04 -5.16831241e-01] [-1.85317716e-03 1.36796269e-04 9.99998274e-01 -5.56573969e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.637552018 meters 0.05153387846416866 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.53, Z:-0.06 [[ 9.99988264e-01 4.25134099e-03 2.32340297e-03 6.65680081e+00] [-4.25093076e-03 9.99990948e-01 -1.81473688e-04 -5.27371125e-01] [-2.32415345e-03 1.71594933e-04 9.99997284e-01 -5.72723064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.667552018 meters 0.051131655075675235 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.53, Z:-0.06 [[ 9.99987284e-01 4.58203624e-03 2.10643553e-03 6.68683404e+00] [-4.58169985e-03 9.99989490e-01 -1.64494965e-04 -5.29487222e-01] [-2.10716711e-03 1.54841818e-04 9.99997768e-01 -5.81051748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.697552018 meters 0.04623706230558465 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.53, Z:-0.06 [[ 9.99983917e-01 5.27515920e-03 2.08274782e-03 6.71649097e+00] [-5.27483169e-03 9.99986075e-01 -1.62708772e-04 -5.25633880e-01] [-2.08357713e-03 1.51720011e-04 9.99997818e-01 -5.87993941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.727552018 meters 0.04646181245144242 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.53, Z:-0.06 [[ 9.99980066e-01 5.90448278e-03 2.23705896e-03 6.74570047e+00] [-5.90410676e-03 9.99982555e-01 -1.74656052e-04 -5.28249307e-01] [-2.23805119e-03 1.61444736e-04 9.99997483e-01 -5.94941877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.757552018 meters 0.05267624134806735 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.54, Z:-0.06 [[ 9.99970258e-01 7.36166833e-03 2.29985482e-03 6.77412527e+00] [-7.36127496e-03 9.99972889e-01 -1.79460849e-04 -5.38780559e-01] [-2.30111360e-03 1.62525648e-04 9.99997339e-01 -6.08004569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7875520179999995 meters 0.04631975226212235 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.53, Z:-0.06 [[ 9.99964799e-01 7.89177601e-03 2.84961998e-03 6.80343774e+00] [-7.89117427e-03 9.99968839e-01 -2.22346770e-04 -5.31602713e-01] [-2.85128589e-03 1.99852095e-04 9.99995915e-01 -6.00622915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.817552018 meters 0.04441162679035388 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.53, Z:-0.06 [[ 9.99957681e-01 8.61641781e-03 3.22398647e-03 6.83265293e+00] [-8.61565233e-03 9.99962853e-01 -2.51245513e-04 -5.30935034e-01] [-3.22603155e-03 2.23458134e-04 9.99994771e-01 -6.00327812e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.847552018 meters 0.04492577693871628 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.53, Z:-0.06 [[ 9.99929566e-01 1.05406270e-02 5.45505566e-03 6.86174592e+00] [-1.05384687e-02 9.99944379e-01 -4.24243233e-04 -5.34255428e-01] [-5.45922403e-03 3.66725418e-04 9.99985031e-01 -5.93479533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.877552018 meters 0.04329420448412494 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.53, Z:-0.06 [[ 9.99915925e-01 1.14996933e-02 5.99172747e-03 6.89095334e+00] [-1.14971079e-02 9.99933798e-01 -4.65762809e-04 -5.34408992e-01] [-5.99668693e-03 3.96836113e-04 9.99981941e-01 -5.89317525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.907552018 meters 0.04322353117850079 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.54, Z:-0.06 [[ 9.99893172e-01 1.31240524e-02 6.43460573e-03 6.92090012e+00] [-1.31211078e-02 9.99913790e-01 -4.99614673e-04 -5.36925285e-01] [-6.44060797e-03 4.15132144e-04 9.99979173e-01 -5.90828755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.937552018 meters 0.04319261943921135 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.54, Z:-0.06 [[ 9.99876028e-01 1.41100299e-02 6.98826203e-03 6.94934047e+00] [-1.41065818e-02 9.99900350e-01 -5.42460345e-04 -5.38670223e-01] [-6.99521978e-03 4.43812605e-04 9.99975435e-01 -5.94458469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.967552018 meters 0.040505699330188355 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.54, Z:-0.06 [[ 9.99832781e-01 1.68019718e-02 7.21829949e-03 6.97889698e+00] [-1.67983669e-02 9.99858741e-01 -5.59753980e-04 -5.37571922e-01] [-7.22668481e-03 4.38404735e-04 9.99973791e-01 -6.07349329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9975520179999995 meters 0.042875147244436314 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.54, Z:-0.06 [[ 9.99810125e-01 1.81197488e-02 7.16860016e-03 7.00694751e+00] [-1.81162291e-02 9.99835733e-01 -5.55618218e-04 -5.43287127e-01] [-7.17749026e-03 4.25644717e-04 9.99974151e-01 -6.13116913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.027552018 meters 0.04273568708829123 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.55, Z:-0.06 [[ 9.99792825e-01 1.91854346e-02 6.79905473e-03 7.03488609e+00] [-1.91822964e-02 9.99815864e-01 -5.26483249e-04 -5.45420140e-01] [-6.80790359e-03 3.95952691e-04 9.99976748e-01 -6.18125172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.057552018 meters 0.04221143984376412 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.55, Z:-0.06 [[ 9.99777394e-01 1.99781477e-02 6.78504170e-03 7.06376378e+00] [-1.99750448e-02 9.99800341e-01 -5.24768572e-04 -5.46344359e-01] [-6.79417091e-03 3.89120243e-04 9.99976844e-01 -6.25419351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.087552018 meters 0.03959069157053392 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.54, Z:-0.06 [[ 9.99744093e-01 2.14395985e-02 7.21753840e-03 7.09317299e+00] [-2.14361295e-02 9.99770064e-01 -5.57654660e-04 -5.44994474e-01] [-7.22783472e-03 4.02795864e-04 9.99973798e-01 -6.31419300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.117552018 meters 0.039492526183002884 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.55, Z:-0.06 [[ 9.99728047e-01 2.20062525e-02 7.71729752e-03 7.12226247e+00] [-2.20023071e-02 9.99757742e-01 -5.95787581e-04 -5.47291569e-01] [-7.72853900e-03 4.25827205e-04 9.99970044e-01 -6.35496843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.147552018 meters 0.0395252992578272 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.55, Z:-0.06 [[ 9.99713162e-01 2.26062025e-02 7.90905632e-03 7.15125113e+00] [-2.26020821e-02 9.99744354e-01 -6.09980492e-04 -5.49600644e-01] [-7.92082374e-03 4.31044386e-04 9.99968537e-01 -6.40363703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.177552018 meters 0.03977738656988503 Centerline is valid? [True, True] Translation: X:7.18, Y:-0.55, Z:-0.06 [[ 9.99693162e-01 2.35702063e-02 7.61753490e-03 7.17916067e+00] [-2.35664163e-02 9.99722101e-01 -5.86934517e-04 -5.52997497e-01] [-7.62925216e-03 4.07236425e-04 9.99970814e-01 -6.49172977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2075520179999994 meters 0.04005983130431883 Centerline is valid? [True, True] Translation: X:7.21, Y:-0.56, Z:-0.07 [[ 9.99683613e-01 2.38834298e-02 7.89017335e-03 7.20778531e+00] [-2.38793791e-02 9.99714663e-01 -6.07200329e-04 -5.55953312e-01] [-7.90242401e-03 4.18595778e-04 9.99968688e-01 -6.53724616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.237552018 meters 0.040158568372187675 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.56, Z:-0.07 [[ 9.99683235e-01 2.39978632e-02 7.58493626e-03 7.23647171e+00] [-2.39941273e-02 9.99711929e-01 -5.83173950e-04 -5.58481297e-01] [-7.59674620e-03 4.00995295e-04 9.99971064e-01 -6.59198078e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.267552018 meters 0.04018624256646182 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.56, Z:-0.07 [[ 9.99674853e-01 2.42561688e-02 7.86296010e-03 7.26486341e+00] [-2.42521666e-02 9.99705691e-01 -6.03957061e-04 -5.60875801e-01] [-7.87529564e-03 4.13066868e-04 9.99968904e-01 -6.62112533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.297552018 meters 0.04062877358922688 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.56, Z:-0.07 [[ 9.99654238e-01 2.50225081e-02 8.07946411e-03 7.29204283e+00] [-2.50183125e-02 9.99686801e-01 -6.19966430e-04 -5.64201820e-01] [-8.09244675e-03 4.17617511e-04 9.99967168e-01 -6.71120245e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.327552018 meters 0.03597845905412158 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.56, Z:-0.07 [[ 9.99638883e-01 2.55654762e-02 8.27704838e-03 7.32096024e+00] [-2.55610976e-02 9.99673060e-01 -6.34381184e-04 -5.59554269e-01] [-8.29056054e-03 4.22581657e-04 9.99965543e-01 -6.77893868e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.357552018 meters 0.03565812825643527 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.56, Z:-0.07 [[ 9.99628160e-01 2.60328995e-02 8.11353138e-03 7.34991604e+00] [-2.60287125e-02 9.99661003e-01 -6.21232510e-04 -5.61265254e-01] [-8.12695340e-03 4.09816735e-04 9.99966892e-01 -6.80935222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.387552018 meters 0.03549270385900908 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.56, Z:-0.07 [[ 9.99611243e-01 2.67812433e-02 7.75424836e-03 7.37868968e+00] [-2.67774459e-02 9.99641244e-01 -5.93149002e-04 -5.63478222e-01] [-7.76735175e-03 3.85279445e-04 9.99969759e-01 -6.84148766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.417552018 meters 0.03517676193781987 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.57, Z:-0.07 [[ 9.99603914e-01 2.70022072e-02 7.93074480e-03 7.40727316e+00] [-2.69982469e-02 9.99635297e-01 -6.06027522e-04 -5.65169774e-01] [-7.94421651e-03 3.91671277e-04 9.99968368e-01 -6.89313604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.447552018 meters 0.03536833966764597 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.57, Z:-0.07 [[ 9.99595329e-01 2.73001149e-02 7.99255817e-03 7.43531495e+00] [-2.72961070e-02 9.99627206e-01 -6.10130278e-04 -5.69341215e-01] [-8.00623522e-03 3.91717653e-04 9.99967873e-01 -7.00286017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.477552018 meters 0.035037380326878656 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.57, Z:-0.07 [[ 9.99600991e-01 2.71270124e-02 7.87298395e-03 7.46428537e+00] [-2.71231229e-02 9.99631920e-01 -6.00407485e-04 -5.71667952e-01] [-7.88637333e-03 3.86628005e-04 9.99968827e-01 -7.07827654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.507552018 meters 0.034628983608120265 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.57, Z:-0.07 [[ 9.99615007e-01 2.65829507e-02 7.94892065e-03 7.49337441e+00] [-2.65789735e-02 9.99646533e-01 -6.05580749e-04 -5.74027876e-01] [-7.96220910e-03 3.94073453e-04 9.99968223e-01 -7.13932785e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5375520179999995 meters 0.03546365418418455 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.58, Z:-0.07 [[ 9.99627804e-01 2.61768645e-02 7.68275918e-03 7.52121223e+00] [-2.61731419e-02 9.99657254e-01 -5.84705821e-04 -5.77833442e-01] [-7.69543170e-03 3.83406250e-04 9.99970316e-01 -7.14862888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.567552018 meters 0.03537590308602179 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.58, Z:-0.07 [[ 9.99649211e-01 2.51858967e-02 8.19307868e-03 7.54961905e+00] [-2.51816372e-02 9.99682698e-01 -6.22651132e-04 -5.81162179e-01] [-8.20616103e-03 4.16117577e-04 9.99966242e-01 -7.10325288e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.597552018 meters 0.03514286981569491 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.58, Z:-0.07 [[ 9.99663904e-01 2.45361904e-02 8.36983357e-03 7.57833686e+00] [-2.45317279e-02 9.99698850e-01 -6.35422146e-04 -5.83867131e-01] [-8.38290383e-03 4.29882103e-04 9.99964770e-01 -7.10803084e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.627552018 meters 0.034738754938268945 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.59, Z:-0.07 [[ 9.99676849e-01 2.39421961e-02 8.54221994e-03 7.60659257e+00] [-2.39375324e-02 9.99713246e-01 -6.47799843e-04 -5.85985475e-01] [-8.55528018e-03 4.43110839e-04 9.99963305e-01 -7.09856373e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.657552018 meters 0.03696126075354495 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.59, Z:-0.07 [[ 9.99696036e-01 2.28903848e-02 9.15785496e-03 7.63355257e+00] [-2.28849897e-02 9.99737864e-01 -6.93492654e-04 -5.91982061e-01] [-9.17132867e-03 4.83704440e-04 9.99957825e-01 -7.09225355e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.687552018 meters 0.037102155849003254 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.59, Z:-0.07 [[ 9.99710100e-01 2.22126511e-02 9.29057598e-03 7.66201328e+00] [-2.22070788e-02 9.99753146e-01 -7.02530570e-04 -5.94517853e-01] [-9.30388763e-03 4.96010353e-04 9.99956595e-01 -7.13766925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.717552018 meters 0.037450920997781766 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.60, Z:-0.07 [[ 9.99719990e-01 2.16357269e-02 9.58311461e-03 7.69054793e+00] [-2.16297789e-02 9.99765787e-01 -7.23897330e-04 -5.97940663e-01] [-9.59653217e-03 5.16413981e-04 9.99953819e-01 -7.12969222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7475520179999995 meters 0.03836040859326631 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.60, Z:-0.07 [[ 9.99749487e-01 2.04880847e-02 9.01114743e-03 7.71903348e+00] [-2.04827850e-02 9.99789974e-01 -6.80034358e-04 -6.01626745e-01] [-9.02318746e-03 4.95290606e-04 9.99959168e-01 -7.19643108e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.777552018 meters 0.03739977991682368 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.60, Z:-0.07 [[ 9.99801233e-01 1.81222849e-02 8.31126260e-03 7.74799073e+00] [-1.81176998e-02 9.99835665e-01 -6.26647048e-04 -6.03548196e-01] [-8.32125304e-03 4.75941531e-04 9.99965265e-01 -7.35059403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.807552018 meters 0.041566744807810176 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.61, Z:-0.07 [[ 9.99825453e-01 1.68287462e-02 8.11528292e-03 7.77556530e+00] [-1.68243357e-02 9.99858274e-01 -6.11448583e-04 -6.12996751e-01] [-8.12442268e-03 4.74807612e-04 9.99966884e-01 -7.43535816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.837552018 meters 0.04289129091871505 Centerline is valid? [True, True] Translation: X:7.80, Y:-0.62, Z:-0.08 [[ 9.99856056e-01 1.50682380e-02 7.79837315e-03 7.80457580e+00] [-1.50641130e-02 9.99886357e-01 -5.87428025e-04 -6.17609546e-01] [-7.80633843e-03 4.69867894e-04 9.99969420e-01 -7.50026602e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.867552018 meters 0.04419419967637009 Centerline is valid? [True, True] Translation: X:7.83, Y:-0.62, Z:-0.08 [[ 9.99885093e-01 1.32412556e-02 7.38036033e-03 7.83384924e+00] [-1.32375143e-02 9.99912226e-01 -5.55555614e-04 -6.22070133e-01] [-7.38706878e-03 4.57794152e-04 9.99972610e-01 -7.55312057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.897552018 meters 0.04174142735037066 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.62, Z:-0.08 [[ 9.99928066e-01 1.00202770e-02 6.59215716e-03 7.86428339e+00] [-1.00172238e-02 9.99949703e-01 -4.95999721e-04 -6.21142664e-01] [-6.59679566e-03 4.29928928e-04 9.99978148e-01 -7.58900469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.927552018 meters 0.0479769642400288 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.63, Z:-0.08 [[ 9.99940600e-01 8.62703615e-03 6.66110218e-03 7.89263944e+00] [-8.62388911e-03 9.99962688e-01 -5.01028893e-04 -6.32610763e-01] [-6.66517603e-03 4.43554525e-04 9.99977689e-01 -7.62939889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9575520179999994 meters 0.04450136126110337 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.63, Z:-0.08 [[ 9.99950363e-01 7.37218304e-03 6.70238442e-03 7.92301955e+00] [-7.36896644e-03 9.99972722e-01 -5.04487978e-04 -6.30590027e-01] [-6.70592076e-03 4.55073291e-04 9.99977412e-01 -7.68785294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.987552018 meters 0.04442788344605587 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.63, Z:-0.08 [[ 9.99968232e-01 4.62014253e-03 6.49536209e-03 7.95373701e+00] [-4.61706372e-03 9.99989222e-01 -4.88915711e-04 -6.33398963e-01] [-6.49755094e-03 4.58910678e-04 9.99978785e-01 -7.76711427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.017552018 meters 0.045699821319795886 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.64, Z:-0.08 [[ 9.99971128e-01 3.72602600e-03 6.62272445e-03 7.98444788e+00] [-3.72280553e-03 9.99992946e-01 -4.98536704e-04 -6.38492712e-01] [-6.62453529e-03 4.73867195e-04 9.99977945e-01 -7.78896849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.047552018 meters 0.04664122096701453 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.64, Z:-0.08 [[ 9.99976463e-01 2.61859714e-03 6.34164342e-03 8.01543082e+00] [-2.61561143e-03 9.99996465e-01 -4.79056849e-04 -6.41960575e-01] [-6.34287546e-03 4.62458298e-04 9.99979777e-01 -7.83761633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.077552018 meters 0.0476852866134331 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.65, Z:-0.08 [[ 9.99980818e-01 2.22262509e-03 5.78129885e-03 8.04792462e+00] [-2.22013767e-03 9.99997440e-01 -4.36636175e-04 -6.45641560e-01] [-5.78225453e-03 4.23792520e-04 9.99983193e-01 -7.89868956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.107552018 meters 0.04956499640169792 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.65, Z:-0.08 [[ 9.99982249e-01 7.68595948e-04 5.90860641e-03 8.07850151e+00] [-7.65961340e-04 9.99999606e-01 -4.48143257e-04 -6.50013187e-01] [-5.90894852e-03 4.43609537e-04 9.99982444e-01 -7.91454061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.137552018 meters 0.0483343664145079 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.65, Z:-0.08 [[ 9.99982005e-01 6.88431043e-04 5.95955541e-03 8.11047013e+00] [-6.85749519e-04 9.99999663e-01 -4.51985417e-04 -6.50816731e-01] [-5.95986456e-03 4.47890521e-04 9.99982140e-01 -7.96860142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.167552018 meters 0.051500406938111996 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.66, Z:-0.08 [[ 9.99983685e-01 1.45369546e-04 5.71044234e-03 8.14126556e+00] [-1.42890144e-04 9.99999895e-01 -4.34592896e-04 -6.57980227e-01] [-5.71050492e-03 4.33769839e-04 9.99983601e-01 -7.95475740e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.197552018 meters 0.05044100314659039 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.66, Z:-0.08 [[ 9.99985192e-01 -1.07173055e-03 5.33546470e-03 8.17323278e+00] [ 1.07391877e-03 9.99999340e-01 -4.07277928e-04 -6.58264591e-01] [-5.33502469e-03 4.13001753e-04 9.99985683e-01 -8.06886719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.227552017999999 meters 0.05193688355506222 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.66, Z:-0.08 [[ 9.99984649e-01 -1.36599179e-03 5.36994503e-03 8.20377755e+00] [ 1.36822154e-03 9.99998979e-01 -4.11577173e-04 -6.62639395e-01] [-5.36937733e-03 4.18918129e-04 9.99985497e-01 -8.08447016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.257552018 meters 0.05203377550793381 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.66, Z:-0.08 [[ 9.99983868e-01 -1.64120887e-03 5.43780570e-03 8.23571054e+00] [ 1.64350094e-03 9.99998562e-01 -4.17064516e-04 -6.64583066e-01] [-5.43711339e-03 4.25994827e-04 9.99985128e-01 -8.12406175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.287552018 meters 0.05203377550793381 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.67, Z:-0.08 [[ 9.99983989e-01 -1.56587118e-03 5.43777420e-03 8.26740460e+00] [ 1.56816436e-03 9.99998683e-01 -4.17474715e-04 -6.67094217e-01] [-5.43711333e-03 4.25995355e-04 9.99985128e-01 -8.14650243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.317552018 meters 0.052753023585828916 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.67, Z:-0.08 [[ 9.99986880e-01 -1.52378877e-03 4.89049639e-03 8.29920405e+00] [ 1.52564464e-03 9.99998766e-01 -3.75776713e-04 -6.69883677e-01] [-4.88991775e-03 3.83232943e-04 9.99987971e-01 -8.17781947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.347552018 meters 0.05069210637223519 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.67, Z:-0.08 [[ 9.99989815e-01 -3.06731897e-04 4.50292314e-03 8.33191970e+00] [ 3.08294322e-04 9.99999893e-01 -3.46290306e-04 -6.67809250e-01] [-4.50281644e-03 3.47675005e-04 9.99989802e-01 -8.29502114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.377552018 meters 0.05009720899787776 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.67, Z:-0.08 [[ 9.99990678e-01 -1.80219335e-05 4.31774615e-03 8.36399636e+00] [ 1.94571387e-05 9.99999945e-01 -3.32355067e-04 -6.69266044e-01] [-4.31773993e-03 3.32435980e-04 9.99990623e-01 -8.31966538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.407552018 meters 0.050455945502797375 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.67, Z:-0.08 [[ 9.99989266e-01 7.83545550e-04 4.56666383e-03 8.39614013e+00] [-7.81946655e-04 9.99999632e-01 -3.51898074e-04 -6.71278514e-01] [-4.56693788e-03 3.48323409e-04 9.99989511e-01 -8.34696446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.437552018 meters 0.050203931304728326 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.67, Z:-0.08 [[ 9.99986474e-01 2.23980446e-03 4.69407791e-03 8.42760423e+00] [-2.23812888e-03 9.99997430e-01 -3.62177952e-04 -6.72134329e-01] [-4.69487705e-03 3.51667102e-04 9.99988917e-01 -8.35590715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.467552018 meters 0.04962995451729557 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.67, Z:-0.08 [[ 9.99970899e-01 5.50066160e-03 5.28614413e-03 8.45768634e+00] [-5.49858040e-03 9.99984799e-01 -4.08160770e-04 -6.70621492e-01] [-5.28830893e-03 3.79082604e-04 9.99985945e-01 -8.33206789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.497552018 meters 0.04878607644074943 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.67, Z:-0.08 [[ 9.99961599e-01 6.96699966e-03 5.31611896e-03 8.48826311e+00] [-6.96491541e-03 9.99975660e-01 -4.10475226e-04 -6.70082803e-01] [-5.31884935e-03 3.73433144e-04 9.99985785e-01 -8.38453619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.527552018 meters 0.04572825760591427 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.67, Z:-0.08 [[ 9.99951039e-01 8.56347383e-03 4.95845401e-03 8.51932681e+00] [-8.56168014e-03 9.99963275e-01 -3.82858725e-04 -6.66514832e-01] [-4.96155051e-03 3.40387283e-04 9.99987634e-01 -8.46175784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.557552017999999 meters 0.04812880126593783 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.67, Z:-0.09 [[ 9.99921362e-01 1.16007475e-02 4.76367527e-03 8.54840207e+00] [-1.15991258e-02 9.99932660e-01 -3.67905317e-04 -6.69172242e-01] [-4.76762246e-03 3.12621917e-04 9.99988586e-01 -8.57835114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.587552018 meters 0.048273297796874656 Centerline is valid? [True, True] Translation: X:8.58, Y:-0.67, Z:-0.09 [[ 9.99906516e-01 1.28974760e-02 4.54027482e-03 8.57720622e+00] [-1.28960168e-02 9.99916781e-01 -3.50533231e-04 -6.70332458e-01] [-4.54441797e-03 2.91949002e-04 9.99989631e-01 -8.63359556e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.617552018 meters 0.044337887133422654 Centerline is valid? [True, True] Translation: X:8.61, Y:-0.67, Z:-0.09 [[ 9.99899308e-01 1.36107196e-02 4.01536072e-03 8.60695647e+00] [-1.36095847e-02 9.99907337e-01 -3.09840532e-04 -6.65594830e-01] [-4.01920580e-03 2.55161942e-04 9.99991890e-01 -8.66900156e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.647552018 meters 0.04709238162922087 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.67, Z:-0.09 [[ 9.99891895e-01 1.41960206e-02 3.83035763e-03 8.63477729e+00] [-1.41949924e-02 9.99899202e-01 -2.95486109e-04 -6.69641345e-01] [-3.83416626e-03 2.41082267e-04 9.99992620e-01 -8.74670040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.677552018 meters 0.04793900762533013 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.67, Z:-0.09 [[ 9.99891823e-01 1.43794072e-02 3.09418586e-03 8.66211635e+00] [-1.43787376e-02 9.99896592e-01 -2.38521629e-04 -6.70364239e-01] [-3.09729570e-03 1.94005340e-04 9.99995185e-01 -8.87030423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.707552018 meters 0.04881952078701632 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.67, Z:-0.09 [[ 9.99897348e-01 1.40631752e-02 2.74237252e-03 8.68985603e+00] [-1.40626486e-02 9.99901094e-01 -2.11223364e-04 -6.73072247e-01] [-2.74507175e-03 1.72636660e-04 9.99996217e-01 -8.95054581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.737552018 meters 0.03982964776711765 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.66, Z:-0.09 [[ 9.99907487e-01 1.34198435e-02 2.21925146e-03 8.71939585e+00] [-1.34194974e-02 9.99909940e-01 -1.70810491e-04 -6.62186144e-01] [-2.22134385e-03 1.41013450e-04 9.99997523e-01 -8.89041518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.767552018 meters 0.040372181278687434 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.66, Z:-0.09 [[ 9.99919095e-01 1.26470387e-02 1.36243042e-03 8.74808290e+00] [-1.26469073e-02 9.99920019e-01 -1.04970252e-04 -6.62879709e-01] [-1.36364901e-03 8.77312277e-05 9.99999066e-01 -9.00482459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.797552018 meters 0.041191783197582335 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.67, Z:-0.09 [[ 9.99918828e-01 1.26899418e-02 1.14168834e-03 8.77625505e+00] [-1.26898495e-02 9.99919477e-01 -8.80747116e-05 -6.65088629e-01] [-1.14271407e-03 7.35797092e-05 9.99999344e-01 -9.05084638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.827552018 meters 0.041373761747577904 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.67, Z:-0.09 [[ 9.99919588e-01 1.26656331e-02 6.31162806e-04 8.80528292e+00] [-1.26656048e-02 9.99919787e-01 -4.88077944e-05 -6.66017566e-01] [-6.31730360e-04 4.08098110e-05 9.99999800e-01 -9.10931146e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.857552018 meters 0.0409723956658123 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.67, Z:-0.09 [[ 9.99912898e-01 1.31977935e-02 -1.23491730e-04 8.83392166e+00] [-1.31977926e-02 9.99912905e-01 8.88348478e-06 -6.66030808e-01] [ 1.23598217e-04 -7.25289277e-06 9.99999992e-01 -9.16256406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.887552018 meters 0.04163478418709324 Centerline is valid? [True, True] Translation: X:8.86, Y:-0.67, Z:-0.09 [[ 9.99902777e-01 1.39265861e-02 -6.98017305e-04 8.86145053e+00] [-1.39265528e-02 9.99903019e-01 5.25681604e-05 -6.65452993e-01] [ 6.98681706e-04 -4.28420747e-05 9.99999755e-01 -9.21522406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.917552018 meters 0.039698656613969645 Centerline is valid? [True, True] Translation: X:8.89, Y:-0.66, Z:-0.09 [[ 9.99894367e-01 1.45049863e-02 -9.27723337e-04 8.89023152e+00] [-1.45049275e-02 9.99894796e-01 7.01478740e-05 -6.63379373e-01] [ 9.28643230e-04 -5.66839043e-05 9.99999567e-01 -9.21593482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.947552018 meters 0.042391539878848625 Centerline is valid? [True, True] Translation: X:8.92, Y:-0.67, Z:-0.09 [[ 9.99887576e-01 1.49767055e-02 -7.30290846e-04 8.91742507e+00] [-1.49766694e-02 9.99887842e-01 5.48993461e-05 -6.67552527e-01] [ 7.31031149e-04 -4.39558495e-05 9.99999732e-01 -9.29780683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.977552017999999 meters 0.039364917949085296 Centerline is valid? [True, True] Translation: X:8.95, Y:-0.66, Z:-0.09 [[ 9.99879870e-01 1.54890540e-02 -5.78491114e-04 8.94634721e+00] [-1.54890314e-02 9.99880037e-01 4.34329298e-05 -6.63757182e-01] [ 5.79094452e-04 -3.44674451e-05 9.99999832e-01 -9.26919113e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.007552018 meters 0.03943160135398533 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.66, Z:-0.09 [[ 9.99859877e-01 1.67369545e-02 3.18041272e-04 8.97385657e+00] [-1.67369474e-02 9.99859927e-01 -2.48619817e-05 -6.63546381e-01] [-3.18412837e-04 1.95354579e-05 9.99999949e-01 -9.22979449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.037552018 meters 0.04034610963044329 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.67, Z:-0.09 [[ 9.99850676e-01 1.72775078e-02 3.36274298e-04 9.00171677e+00] [-1.72775000e-02 9.99850733e-01 -2.61770474e-05 -6.65456611e-01] [-3.36676378e-04 2.03631594e-05 9.99999943e-01 -9.25094838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.067552018 meters 0.03957798146506314 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.66, Z:-0.09 [[ 9.99837701e-01 1.80047519e-02 6.32826961e-04 9.03025520e+00] [-1.80047248e-02 9.99837901e-01 -4.84809796e-05 -6.64811969e-01] [-6.33597268e-04 3.70792359e-05 9.99999799e-01 -9.23794942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.097552018 meters 0.039755812886097426 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.67, Z:-0.09 [[ 9.99814644e-01 1.92498136e-02 3.50767829e-04 9.05778926e+00] [-1.92498052e-02 9.99814705e-01 -2.72077515e-05 -6.65760236e-01] [-3.51226578e-04 2.04504960e-05 9.99999938e-01 -9.31794620e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.127552018 meters 0.037602479751653976 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.66, Z:-0.09 [[ 9.99788826e-01 2.05474619e-02 3.24385985e-04 9.08671768e+00] [-2.05474549e-02 9.99788878e-01 -2.50630123e-05 -6.63572361e-01] [-3.24832481e-04 1.83924133e-05 9.99999947e-01 -9.34627250e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.157552018 meters 0.036568735586851 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.66, Z:-0.09 [[ 9.99741009e-01 2.27391864e-02 -9.18802282e-04 9.11624009e+00] [-2.27391326e-02 9.99741430e-01 6.89893006e-05 -6.62418688e-01] [ 9.20133468e-04 -4.80786661e-05 9.99999576e-01 -9.46028076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.187552018 meters 0.035880262055034653 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.66, Z:-0.10 [[ 9.99683594e-01 2.51029766e-02 -1.59764541e-03 9.14484891e+00] [-2.51028168e-02 9.99684867e-01 1.20008504e-04 -6.63612790e-01] [ 1.60015451e-03 -7.98651328e-05 9.99998717e-01 -9.60209755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.217552018 meters 0.03543783071106535 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.67, Z:-0.10 [[ 9.99631910e-01 2.70695400e-02 -1.81257438e-03 9.17236126e+00] [-2.70693380e-02 9.99633549e-01 1.35923905e-04 -6.65487480e-01] [ 1.81558956e-03 -8.68086844e-05 9.99998348e-01 -9.69978874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.247552018 meters 0.03254587933825406 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.66, Z:-0.10 [[ 9.99547964e-01 3.00350317e-02 -1.32842257e-03 9.20194883e+00] [-3.00349255e-02 9.99548845e-01 9.97814266e-05 -6.63778292e-01] [ 1.33082018e-03 -5.98372489e-05 9.99999113e-01 -9.65253648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.277552018 meters 0.0344664516506146 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.67, Z:-0.10 [[ 9.99527216e-01 3.07125636e-02 -1.44337051e-03 9.22975715e+00] [-3.07124397e-02 9.99528256e-01 1.07894527e-04 -6.69006892e-01] [ 1.44600332e-03 -6.35140863e-05 9.99998953e-01 -9.73034210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.307552017999999 meters 0.03276269852514491 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.67, Z:-0.10 [[ 9.99516002e-01 3.10767395e-02 -1.41350522e-03 9.25826887e+00] [-3.10766211e-02 9.99517000e-01 1.05677645e-04 -6.68254407e-01] [ 1.41610661e-03 -6.16995316e-05 9.99998995e-01 -9.69888977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.337552018 meters 0.03315434840532925 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.67, Z:-0.10 [[ 9.99500295e-01 3.15504359e-02 -1.93152356e-03 9.28592622e+00] [-3.15502159e-02 9.99502158e-01 1.44290694e-04 -6.71593397e-01] [ 1.93511440e-03 -8.32786055e-05 9.99998124e-01 -9.75333559e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.367552018 meters 0.035020810932171485 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.68, Z:-0.10 [[ 9.99488255e-01 3.18835659e-02 -2.58206227e-03 9.31306808e+00] [-3.18831738e-02 9.99491584e-01 1.92884495e-04 -6.76729874e-01] [ 2.58689935e-03 -1.10461447e-04 9.99996648e-01 -9.88525688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.397552017999999 meters 0.031803292986577233 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.67, Z:-0.10 [[ 9.99467227e-01 3.23283522e-02 -4.48764217e-03 9.34092352e+00] [-3.23271731e-02 9.99477284e-01 3.35043425e-04 -6.74345008e-01] [ 4.49612781e-03 -1.89792138e-04 9.99989874e-01 -9.92248523e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.427552018 meters 0.03194783780469222 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.68, Z:-0.10 [[ 9.99463720e-01 3.23377647e-02 -5.15185873e-03 9.36943859e+00] [-3.23362109e-02 9.99476974e-01 3.84635054e-04 -6.77513399e-01] [ 5.16160241e-03 -2.17837192e-04 9.99986655e-01 -9.91666768e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.457552018 meters 0.034464274145073526 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.68, Z:-0.10 [[ 9.99503525e-01 3.10813359e-02 -5.16283858e-03 9.39622987e+00] [-3.10797631e-02 9.99516833e-01 3.84601878e-04 -6.84605182e-01] [ 5.17229801e-03 -2.23951132e-04 9.99986598e-01 -9.98564218e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.487552018 meters 0.03384606814910636 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.69, Z:-0.10 [[ 9.99545818e-01 2.96235909e-02 -5.53172995e-03 9.42527075e+00] [-2.96217635e-02 9.99561094e-01 4.11993613e-04 -6.86741249e-01] [ 5.54150677e-03 -2.47946896e-04 9.99984615e-01 -9.96489853e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.517552018 meters 0.035018312490525415 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.69, Z:-0.10 [[ 9.99585394e-01 2.81629681e-02 -5.99056388e-03 9.45337693e+00] [-2.81608027e-02 9.99603307e-01 4.45519211e-04 -6.91509765e-01] [ 6.00073460e-03 -2.76635408e-04 9.99981957e-01 -1.00096684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.547552018 meters 0.03445416855522499 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.69, Z:-0.10 [[ 9.99625682e-01 2.66151542e-02 -6.33480280e-03 9.48151831e+00] [-2.66127096e-02 9.99645709e-01 4.69898407e-04 -6.93786619e-01] [ 6.34506486e-03 -3.01136248e-04 9.99979825e-01 -9.99257157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.577552018 meters 0.036436805705999505 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.70, Z:-0.10 [[ 9.99706816e-01 2.34698536e-02 -5.95387789e-03 9.51003456e+00] [-2.34676372e-02 9.99724499e-01 4.41849904e-04 -7.00171788e-01] [ 5.96260774e-03 -3.01996914e-04 9.99982178e-01 -9.88506425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.607552018 meters 0.041782470703239205 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.71, Z:-0.10 [[ 9.99755635e-01 2.14881227e-02 -5.18954106e-03 9.53738636e+00] [-2.14864153e-02 9.99769066e-01 3.84554450e-04 -7.11135537e-01] [ 5.19660597e-03 -2.72955843e-04 9.99986460e-01 -1.00011221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.637552018 meters 0.04138028793573033 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.71, Z:-0.10 [[ 9.99789601e-01 1.99855983e-02 -4.61829613e-03 9.56635317e+00] [-1.99842318e-02 9.99800237e-01 3.41854170e-04 -7.13558732e-01] [ 4.62420572e-03 -2.49489144e-04 9.99989277e-01 -9.87144164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.667552018 meters 0.03925800940534104 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.71, Z:-0.10 [[ 9.99820156e-01 1.85137506e-02 -4.11066617e-03 9.59514340e+00] [-1.85126572e-02 9.99828580e-01 3.03889017e-04 -7.13637081e-01] [ 4.11558764e-03 -2.27735010e-04 9.99991505e-01 -9.69874546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.697552018 meters 0.04179325021271908 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.72, Z:-0.10 [[ 9.99879447e-01 1.50834126e-02 -3.68540197e-03 9.62334011e+00] [-1.50825102e-02 9.99886215e-01 2.72525626e-04 -7.21653345e-01] [ 3.68909325e-03 -2.16907659e-04 9.99993172e-01 -9.63540530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.727552017999999 meters 0.040107232721427154 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.72, Z:-0.10 [[ 9.99907817e-01 1.30590376e-02 -3.71745776e-03 9.65310338e+00] [-1.30581060e-02 9.99914702e-01 2.74744780e-04 -7.22053546e-01] [ 3.72072857e-03 -2.26176495e-04 9.99993052e-01 -9.54979949e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.757552018 meters 0.040156218854685115 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.73, Z:-0.10 [[ 9.99931127e-01 1.12238544e-02 -3.43033814e-03 9.68209115e+00] [-1.12230517e-02 9.99936988e-01 2.53160622e-04 -7.25649510e-01] [ 3.43296342e-03 -2.14644324e-04 9.99994084e-01 -9.52370690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.787552018 meters 0.043993388934296024 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.74, Z:-0.10 [[ 9.99970566e-01 7.10866027e-03 -2.88701507e-03 9.71098086e+00] [-7.10807416e-03 9.99974715e-01 2.13224153e-04 -7.36283728e-01] [ 2.88845781e-03 -1.92696760e-04 9.99995810e-01 -9.51084013e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.817552018 meters 0.051025152394236654 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.75, Z:-0.10 [[ 9.99981581e-01 5.15228712e-03 -3.20800626e-03 9.73815451e+00] [-5.15155455e-03 9.99986703e-01 2.36578268e-04 -7.49673589e-01] [ 3.20918252e-03 -2.20047691e-04 9.99994826e-01 -9.66349298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.847552018 meters 0.0449337593047594 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.75, Z:-0.10 [[ 9.99987770e-01 3.42632497e-03 -3.56654458e-03 9.76840531e+00] [-3.42540867e-03 9.99994099e-01 2.62990620e-04 -7.45153149e-01] [ 3.56742463e-03 -2.50770531e-04 9.99993605e-01 -9.57038025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.877552018 meters 0.04593776730372122 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.75, Z:-0.10 [[ 9.99988623e-01 2.12882272e-03 -4.26883539e-03 9.79772666e+00] [-2.12749875e-03 9.99997687e-01 3.14665440e-04 -7.50037277e-01] [ 4.26949539e-03 -3.05579918e-04 9.99990839e-01 -9.64136764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.907552018 meters 0.04742930482074503 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.76, Z:-0.10 [[ 9.99983905e-01 1.07300474e-03 -5.57126478e-03 9.82580852e+00] [-1.07073527e-03 9.99999343e-01 4.10319742e-04 -7.56576689e-01] [ 5.57170139e-03 -4.04347788e-04 9.99984396e-01 -9.76187701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.937552018 meters 0.04561500452734496 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.76, Z:-0.10 [[ 9.99983006e-01 8.56617596e-04 -5.76659495e-03 9.85508448e+00] [-8.54186026e-04 9.99999545e-01 4.24114446e-04 -7.57338723e-01] [ 5.76695563e-03 -4.19181494e-04 9.99983283e-01 -9.73161914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.967552018 meters 0.04881629282671142 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.76, Z:-0.10 [[ 9.99980357e-01 3.45205230e-04 -6.25825239e-03 9.88257428e+00] [-3.42335708e-04 9.99999836e-01 4.59583452e-04 -7.64277782e-01] [ 6.25841001e-03 -4.57432002e-04 9.99980311e-01 -9.79386790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.997552018 meters 0.04765808816888177 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.77, Z:-0.10 [[ 9.99985361e-01 -9.50363601e-05 -5.41013404e-03 9.91114899e+00] [ 9.71852557e-05 9.99999916e-01 3.96936702e-04 -7.66202657e-01] [ 5.41009586e-03 -3.97456677e-04 9.99985286e-01 -9.70601210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.027552018 meters 0.04583905859686843 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.77, Z:-0.10 [[ 9.99985342e-01 -4.82949442e-05 -5.41423101e-03 9.94034361e+00] [ 5.04440734e-05 9.99999920e-01 3.96804930e-04 -7.66637119e-01] [ 5.41421142e-03 -3.97072230e-04 9.99985264e-01 -9.66776012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.057552017999999 meters 0.04531515605960099 Centerline is valid? [True, True] Translation: X:9.97, Y:-0.77, Z:-0.10 [[ 9.99989170e-01 1.71427220e-04 -4.65084634e-03 9.96912630e+00] [-1.69856515e-04 9.99999928e-01 3.38117347e-04 -7.68566844e-01] [ 4.65090397e-03 -3.37323709e-04 9.99989128e-01 -9.60445448e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.087552018 meters 0.04655027537510899 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.77, Z:-0.10 [[ 9.99990360e-01 2.59198155e-03 -3.54422147e-03 9.99788966e+00] [-2.59108075e-03 9.99996610e-01 2.58728824e-04 -7.73785048e-01] [ 3.54488008e-03 -2.49542966e-04 9.99993686e-01 -9.51258941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.117552018 meters 0.04439331857423731 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.77, Z:-0.09 [[ 9.99988691e-01 3.43513974e-03 -3.28912826e-03 1.00268738e+01] [-3.43437028e-03 9.99994074e-01 2.39559665e-04 -7.73110154e-01] [ 3.28993169e-03 -2.28260871e-04 9.99994562e-01 -9.44087810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.147552017999999 meters 0.04589443873341541 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.78, Z:-0.09 [[ 9.99983907e-01 4.63395939e-03 -3.27288940e-03 1.00545025e+01] [-4.63320529e-03 9.99989238e-01 2.37952830e-04 -7.77637006e-01] [ 3.27395684e-03 -2.22785032e-04 9.99994616e-01 -9.48168978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.177552018 meters 0.04363865169701887 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.78, Z:-0.09 [[ 9.99979201e-01 5.68672291e-03 -3.04278082e-03 1.00832936e+01] [-5.68607646e-03 9.99983810e-01 2.21060897e-04 -7.77052649e-01] [ 3.04398867e-03 -2.03754815e-04 9.99995346e-01 -9.44362727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.207552018 meters 0.04363865169701887 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.78, Z:-0.09 [[ 9.99979633e-01 5.61021877e-03 -3.04279772e-03 1.01115899e+01] [-5.60957268e-03 9.99984242e-01 2.20828352e-04 -7.79038368e-01] [ 3.04398867e-03 -2.03755060e-04 9.99995346e-01 -9.46368489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.237552018 meters 0.04375529181053935 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.78, Z:-0.10 [[ 9.99965447e-01 7.62212444e-03 -3.31776499e-03 1.01404740e+01] [-7.62136667e-03 9.99970928e-01 2.40979632e-04 -7.82360418e-01] [ 3.31950531e-03 -2.15685402e-04 9.99994467e-01 -9.57460336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.267552018 meters 0.04061335379294464 Centerline is valid? [True, True] Translation: X:10.17, Y:-0.78, Z:-0.10 [[ 9.99957698e-01 8.43476798e-03 -3.66828250e-03 1.01692229e+01] [-8.43384910e-03 9.99964399e-01 2.65892062e-04 -7.81160097e-01] [ 3.67039464e-03 -2.34943073e-04 9.99993236e-01 -9.55639993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.297552018 meters 0.04264596095836782 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.79, Z:-0.10 [[ 9.99949298e-01 9.00789557e-03 -4.50102269e-03 1.01963293e+01] [-9.00651992e-03 9.99959387e-01 3.25807311e-04 -7.87164949e-01] [ 4.50377473e-03 -2.85252241e-04 9.99989817e-01 -9.72665643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.327552018 meters 0.04021357962155143 Centerline is valid? [True, True] Translation: X:10.23, Y:-0.79, Z:-0.10 [[ 9.99938096e-01 9.82176352e-03 -5.22847667e-03 1.02252045e+01] [-9.81991920e-03 9.99951712e-01 3.78301984e-04 -7.86809484e-01] [ 5.23193979e-03 -3.26935347e-04 9.99986260e-01 -9.75841726e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.357552018 meters 0.03890970244238721 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.79, Z:-0.10 [[ 9.99908571e-01 1.17179761e-02 -6.74825725e-03 1.02544726e+01] [-1.17149474e-02 9.99931258e-01 4.88163790e-04 -7.88734359e-01] [ 6.75351365e-03 -4.09063680e-04 9.99977111e-01 -9.88596860e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.387552018 meters 0.03929766471218964 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.79, Z:-0.10 [[ 9.99892620e-01 1.28081122e-02 -7.12045732e-03 1.02825153e+01] [-1.28047725e-02 9.99917883e-01 5.14424406e-04 -7.91631588e-01] [ 7.12646142e-03 -4.23193332e-04 9.99974517e-01 -9.96756882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.417552018 meters 0.03893407749098353 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.79, Z:-0.10 [[ 9.99872856e-01 1.39959533e-02 -7.64096096e-03 1.03109387e+01] [-1.39921462e-02 9.99901953e-01 5.51482255e-04 -7.93687259e-01] [ 7.64793031e-03 -4.44498694e-04 9.99970655e-01 -1.00054999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.447552018 meters 0.03722385775644063 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.79, Z:-0.10 [[ 9.99823058e-01 1.72006070e-02 -7.61524212e-03 1.03409406e+01] [-1.71969161e-02 9.99851971e-01 5.49883699e-04 -7.94536740e-01] [ 7.62357318e-03 -4.18827722e-04 9.99970852e-01 -9.95131678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.477552017999999 meters 0.037294046430052755 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.80, Z:-0.10 [[ 9.99797661e-01 1.88459716e-02 -7.03330222e-03 1.03684021e+01] [-1.88428726e-02 9.99822329e-01 5.06636452e-04 -7.97580554e-01] [ 7.04160066e-03 -3.74006322e-04 9.99975138e-01 -9.92059615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.507552018 meters 0.036585029369476364 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.80, Z:-0.10 [[ 9.99766463e-01 2.04803779e-02 -6.89730085e-03 1.03968917e+01] [-2.04774391e-02 9.99790192e-01 4.96435069e-04 -7.98748984e-01] [ 6.90602092e-03 -3.55080075e-04 9.99976090e-01 -9.86823828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.537552018 meters 0.03507706897299329 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.80, Z:-0.10 [[ 9.99736204e-01 2.21510985e-02 -6.07059515e-03 1.04260353e+01] [-2.21488560e-02 9.99754589e-01 4.36391384e-04 -7.99063238e-01] [ 6.07877191e-03 -3.01819528e-04 9.99981479e-01 -9.79141710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.567552017999999 meters 0.03430574125865085 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.80, Z:-0.10 [[ 9.99659766e-01 2.55475085e-02 -5.26083898e-03 1.04550112e+01] [-2.55458713e-02 9.99673579e-01 3.78181893e-04 -8.00910214e-01] [ 5.26878334e-03 -2.43660507e-04 9.99986090e-01 -9.76822909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.597552018 meters 0.03317127912972534 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.80, Z:-0.10 [[ 9.99628701e-01 2.67742066e-02 -5.05980428e-03 1.04841638e+01] [-2.67727112e-02 9.99641481e-01 3.63058168e-04 -8.02210458e-01] [ 5.06771084e-03 -2.27458686e-04 9.99987133e-01 -9.76085567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.627552018 meters 0.03359378380252493 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.81, Z:-0.10 [[ 9.99602195e-01 2.77752178e-02 -4.89788766e-03 1.05113776e+01] [-2.77738342e-02 9.99614171e-01 3.50293600e-04 -8.05497000e-01] [ 4.90572740e-03 -2.14121131e-04 9.99987944e-01 -9.80801183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.657552018 meters 0.031668421854861524 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.81, Z:-0.10 [[ 9.99588460e-01 2.82609609e-02 -4.92227004e-03 1.05400955e+01] [-2.82595691e-02 9.99600557e-01 3.52085810e-04 -8.05149867e-01] [ 4.93025416e-03 -2.12839682e-04 9.99987824e-01 -9.76510347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.687552018 meters 0.03385237946212927 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.81, Z:-0.10 [[ 9.99597097e-01 2.78881952e-02 -5.28122520e-03 1.05677236e+01] [-2.78865942e-02 9.99611022e-01 3.76564766e-04 -8.12948769e-01] [ 5.28967263e-03 -2.29137663e-04 9.99985983e-01 -9.90609042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.717552018 meters 0.03271860437626166 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.81, Z:-0.10 [[ 9.99625605e-01 2.68621558e-02 -5.20332744e-03 1.05960192e+01] [-2.68605917e-02 9.99639121e-01 3.70251062e-04 -8.14469223e-01] [ 5.21139540e-03 -2.30347988e-04 9.99986394e-01 -9.86306080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.747552018 meters 0.035512753738049276 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.82, Z:-0.10 [[ 9.99659903e-01 2.55713934e-02 -5.11684771e-03 1.06235115e+01] [-2.55698649e-02 9.99672971e-01 3.63926634e-04 -8.23171659e-01] [ 5.12448047e-03 -2.32965759e-04 9.99986843e-01 -9.96075781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.777552018 meters 0.03547500194451307 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.83, Z:-0.10 [[ 9.99751047e-01 2.18771895e-02 -4.38561127e-03 1.06524892e+01] [-2.18760328e-02 9.99760642e-01 3.11554724e-04 -8.29263742e-01] [ 4.39137748e-03 -2.15537385e-04 9.99990335e-01 -9.80808607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.807552017999999 meters 0.03688613533091618 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.84, Z:-0.10 [[ 9.99802049e-01 1.94005871e-02 -4.41367418e-03 1.06818360e+01] [-1.93993908e-02 9.99811765e-01 3.13697329e-04 -8.35753619e-01] [ 4.41892928e-03 -2.28012642e-04 9.99990210e-01 -9.79622335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.837552018 meters 0.035705670495434896 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.84, Z:-0.10 [[ 9.99848911e-01 1.69295536e-02 -3.94266099e-03 1.07112843e+01] [-1.69285806e-02 9.99856662e-01 2.80024874e-04 -8.38472543e-01] [ 3.94683656e-03 -2.13238911e-04 9.99992188e-01 -9.72939404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.867552018 meters 0.03961758272129817 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.85, Z:-0.10 [[ 9.99920629e-01 1.21857214e-02 -3.20049268e-03 1.07398923e+01] [-1.21850566e-02 9.99925734e-01 2.27137121e-04 -8.51496085e-01] [ 3.20302282e-03 -1.88120908e-04 9.99994853e-01 -9.73423446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.897552017999999 meters 0.039824596620316795 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.86, Z:-0.10 [[ 9.99938450e-01 1.06744286e-02 -3.02539165e-03 1.07684428e+01] [-1.06738293e-02 9.99943010e-01 2.14190451e-04 -8.57021708e-01] [ 3.02750559e-03 -1.81884753e-04 9.99995401e-01 -9.71744928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.927552018 meters 0.04080790694707854 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.86, Z:-0.10 [[ 9.99960963e-01 8.41644369e-03 -2.69002703e-03 1.07976104e+01] [-8.41596140e-03 9.99964567e-01 1.90555907e-04 -8.62797109e-01] [ 2.69153552e-03 -1.67909304e-04 9.99996364e-01 -9.76773933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.957552018 meters 0.043712451191819546 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.87, Z:-0.10 [[ 9.99972491e-01 6.77851923e-03 -3.01148155e-03 1.08254890e+01] [-6.77790822e-03 9.99977007e-01 2.13052828e-04 -8.71496608e-01] [ 3.01285649e-03 -1.92635422e-04 9.99995443e-01 -9.81927756e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.987552018 meters 0.04624432910143433 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.88, Z:-0.10 [[ 9.99984173e-01 4.85776733e-03 -2.83818164e-03 1.08535134e+01] [-4.85721740e-03 9.99988184e-01 2.00620187e-04 -8.82542711e-01] [ 2.83912267e-03 -1.86831346e-04 9.99995952e-01 -9.87592247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.017552018 meters 0.04329211534902121 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.88, Z:-0.10 [[ 9.99987304e-01 4.34915074e-03 -2.54484693e-03 1.08823972e+01] [-4.34870795e-03 9.99990528e-01 1.79501274e-04 -8.83364207e-01] [ 2.54560350e-03 -1.68432199e-04 9.99996746e-01 -9.86523787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.047552018 meters 0.04058965173064335 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.88, Z:-0.10 [[ 9.99988702e-01 4.00661687e-03 -2.55786544e-03 1.09109311e+01] [-4.00616899e-03 9.99991959e-01 1.80197857e-04 -8.83972825e-01] [ 2.55856686e-03 -1.69948580e-04 9.99996712e-01 -9.83944482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.077552018 meters 0.04050613393157247 Centerline is valid? [True, True] Translation: X:10.94, Y:-0.89, Z:-0.10 [[ 9.99988612e-01 3.83920911e-03 -2.83488331e-03 1.09394151e+01] [-3.83865876e-03 9.99992612e-01 1.99548537e-04 -8.88459214e-01] [ 2.83562847e-03 -1.88664114e-04 9.99995962e-01 -9.88591977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.107552018 meters 0.04471011880330618 Centerline is valid? [True, True] Translation: X:10.97, Y:-0.90, Z:-0.10 [[ 9.99983403e-01 4.19709808e-03 -3.94695913e-03 1.09668331e+01] [-4.19603524e-03 9.99991158e-01 2.77522935e-04 -9.00276354e-01] [ 3.94808902e-03 -2.60956750e-04 9.99992172e-01 -1.00803850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.137552018 meters 0.04341721641212276 Centerline is valid? [True, True] Translation: X:11.00, Y:-0.90, Z:-0.10 [[ 9.99978351e-01 4.70089549e-03 -4.60431636e-03 1.09952455e+01] [-4.69945482e-03 9.99988905e-01 3.23665647e-04 -9.01987992e-01] [ 4.60578679e-03 -3.02020863e-04 9.99989348e-01 -1.01080563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.167552018 meters 0.04149361131777255 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.90, Z:-0.10 [[ 9.99970602e-01 5.54764991e-03 -5.29323037e-03 1.10238770e+01] [-5.54575947e-03 9.99984553e-01 3.71753464e-04 -9.03185501e-01] [ 5.29521097e-03 -3.42387553e-04 9.99985922e-01 -1.01491800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.197552018 meters 0.03998078824179194 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.91, Z:-0.10 [[ 9.99956601e-01 7.43903684e-03 -5.60866558e-03 1.10521718e+01] [-7.43694631e-03 9.99972268e-01 3.93497877e-04 -9.06679377e-01] [ 5.61143729e-03 -3.51769455e-04 9.99984194e-01 -1.02104470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.227552017999999 meters 0.040590010877909505 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.91, Z:-0.10 [[ 9.99948774e-01 8.60092977e-03 -5.33605214e-03 1.10799452e+01] [-8.59905761e-03 9.99962958e-01 3.73694469e-04 -9.10801415e-01] [ 5.33906860e-03 -3.27790307e-04 9.99985693e-01 -1.02528802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.257552018 meters 0.04024579965005997 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.91, Z:-0.10 [[ 9.99940121e-01 9.70489111e-03 -5.05671364e-03 1.11084314e+01] [-9.70322531e-03 9.99952860e-01 3.53853525e-04 -9.13639907e-01] [ 5.05990938e-03 -3.04765905e-04 9.99987152e-01 -1.01874016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.287552018 meters 0.03871512467090806 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.91, Z:-0.10 [[ 9.99933064e-01 1.08197686e-02 -4.09872006e-03 1.11374574e+01] [-1.08186853e-02 9.99941435e-01 2.86385891e-04 -9.14053211e-01] [ 4.10157865e-03 -2.42023959e-04 9.99991559e-01 -1.00785259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.317552017999999 meters 0.03942837607415298 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.92, Z:-0.10 [[ 9.99912730e-01 1.29590913e-02 -2.56807689e-03 1.11665653e+01] [-1.29586732e-02 9.99916017e-01 1.79409481e-04 -9.18540304e-01] [ 2.57018620e-03 -1.46114955e-04 9.99996686e-01 -9.95361996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.347552018 meters 0.03983467235450117 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.92, Z:-0.10 [[ 9.99923350e-01 1.23035323e-02 -1.38428683e-03 1.11937665e+01] [-1.23034111e-02 9.99924306e-01 9.60534811e-05 -9.22734055e-01] [ 1.38536384e-03 -7.90146687e-05 9.99999037e-01 -9.93014059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.377552018 meters 0.03991437458853383 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.93, Z:-0.10 [[ 9.99928976e-01 1.18859624e-02 -8.75668883e-04 1.12226508e+01] [-1.18859139e-02 9.99929358e-01 6.05864258e-05 -9.25973998e-01] [ 8.76327152e-04 -5.01739978e-05 9.99999615e-01 -9.87437007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.407552018 meters 0.03964962451880519 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.93, Z:-0.10 [[ 9.99938325e-01 1.10900834e-02 -5.96727673e-04 1.12509196e+01] [-1.10900610e-02 9.99938503e-01 4.08376945e-05 -9.28213919e-01] [ 5.97143869e-04 -3.42174295e-05 9.99999821e-01 -9.84738872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.437552018 meters 0.039555508514894575 Centerline is valid? [True, True] Translation: X:11.28, Y:-0.93, Z:-0.10 [[ 9.99967180e-01 8.06503041e-03 -7.70278236e-04 1.12800957e+01] [-8.06499180e-03 9.99967476e-01 5.32238748e-05 -9.33209152e-01] [ 7.70682435e-04 -4.70098403e-05 9.99999702e-01 -9.83363493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.467552018 meters 0.03931469410489472 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.94, Z:-0.10 [[ 9.99984933e-01 5.43330766e-03 -7.82747065e-04 1.13093983e+01] [-5.43326703e-03 9.99985238e-01 5.40257426e-05 -9.36299845e-01] [ 7.83029049e-04 -4.97720547e-05 9.99999692e-01 -9.86783902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.497552018 meters 0.04429704656705702 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.95, Z:-0.10 [[ 9.99998195e-01 3.11020457e-04 -1.87436910e-03 1.13384926e+01] [-3.10776915e-04 9.99999943e-01 1.30222703e-04 -9.48906016e-01] [ 1.87440950e-03 -1.29639958e-04 9.99998235e-01 -1.00287429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.527552018 meters 0.047068744802186674 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.96, Z:-0.10 [[ 9.99995016e-01 -2.29691597e-03 -2.16600777e-03 1.13675894e+01] [ 2.29724726e-03 9.99997350e-01 1.50470970e-04 -9.56281573e-01] [ 2.16565641e-03 -1.55446075e-04 9.99997643e-01 -1.00996796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.557552017999999 meters 0.04993211520945497 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.96, Z:-0.10 [[ 9.99984718e-01 -4.78348092e-03 -2.77156640e-03 1.13969352e+01] [ 4.78403545e-03 9.99988538e-01 1.93480914e-04 -9.63889765e-01] [ 2.77060912e-03 -2.06737229e-04 9.99996140e-01 -1.02090050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.587552018 meters 0.04716396834878541 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.96, Z:-0.10 [[ 9.99968922e-01 -7.20433934e-03 -3.20206375e-03 1.14275920e+01] [ 7.20508996e-03 9.99974018e-01 2.22945643e-04 -9.64197420e-01] [ 3.20037438e-03 -2.46009871e-04 9.99994849e-01 -1.02062925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.617552018 meters 0.04899608950967142 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.97, Z:-0.10 [[ 9.99949017e-01 -9.44255233e-03 -3.57790189e-03 1.14576597e+01] [ 9.44350361e-03 9.99955378e-01 2.49075189e-04 -9.70006533e-01] [ 3.57539033e-03 -2.82850420e-04 9.99993568e-01 -1.03042704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.647552017999999 meters 0.0548065705174785 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.98, Z:-0.10 [[ 9.99912910e-01 -1.26584426e-02 -3.73321163e-03 1.14865834e+01] [ 1.26594999e-02 9.99919832e-01 2.59729270e-04 -9.81894596e-01] [ 3.72962458e-03 -3.06967243e-04 9.99992998e-01 -1.03426609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.677552018 meters 0.04871755146482876 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.98, Z:-0.10 [[ 9.99905607e-01 -1.33512556e-02 -3.24349255e-03 1.15195663e+01] [ 1.33520603e-02 9.99910832e-01 2.26571988e-04 -9.76980684e-01] [ 3.24017831e-03 -2.69857910e-04 9.99994714e-01 -1.01765455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.707552018 meters 0.05083219725805216 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.98, Z:-0.10 [[ 9.99896877e-01 -1.41039845e-02 -2.70410333e-03 1.15505274e+01] [ 1.41045468e-02 9.99900508e-01 1.89004677e-04 -9.82485874e-01] [ 2.70116858e-03 -2.27125338e-04 9.99996326e-01 -1.01754242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.737552018 meters 0.051009103663929224 Centerline is valid? [True, True] Translation: X:11.58, Y:-0.99, Z:-0.10 [[ 9.99894845e-01 -1.44380520e-02 -1.35680803e-03 1.15823822e+01] [ 1.44381945e-02 9.99895759e-01 9.52853786e-05 -9.86188106e-01] [ 1.35529086e-03 -1.14865217e-04 9.99999075e-01 -1.00490002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.767552018 meters 0.051389452825884564 Centerline is valid? [True, True] Translation: X:11.61, Y:-0.99, Z:-0.10 [[ 9.99892190e-01 -1.46405477e-02 -1.12368597e-03 1.16140446e+01] [ 1.46406458e-02 9.99892817e-01 7.90960139e-05 -9.89430983e-01] [ 1.12240752e-03 -9.55389749e-05 9.99999366e-01 -1.00386518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.797552018 meters 0.054075628743629665 Centerline is valid? [True, True] Translation: X:11.64, Y:-1.00, Z:-0.10 [[ 9.99890476e-01 -1.47772500e-02 -8.18442300e-04 1.16445163e+01] [ 1.47773025e-02 9.99890808e-01 5.81974138e-05 -9.95405120e-01] [ 8.17492935e-04 -7.02854092e-05 9.99999663e-01 -1.00887898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.827552018 meters 0.05328848892285168 Centerline is valid? [True, True] Translation: X:11.68, Y:-1.00, Z:-0.10 [[ 9.99880175e-01 -1.54548514e-02 -8.84429270e-04 1.16765274e+01] [ 1.54549127e-02 9.99880564e-01 6.25466909e-05 -9.97856683e-01] [ 8.83356987e-04 -7.62079735e-05 9.99999607e-01 -1.00853869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.857552018 meters 0.050388142247637685 Centerline is valid? [True, True] Translation: X:11.71, Y:-1.00, Z:-0.10 [[ 9.99876204e-01 -1.57068250e-02 -9.33962954e-04 1.17087733e+01] [ 1.57068935e-02 9.99876637e-01 6.61094994e-05 -9.96752600e-01] [ 9.32809367e-04 -8.07709719e-05 9.99999562e-01 -1.00547580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.887552018 meters 0.05105239863945125 Centerline is valid? [True, True] Translation: X:11.74, Y:-1.00, Z:-0.10 [[ 9.99866927e-01 -1.62904542e-02 -8.66111621e-04 1.17408083e+01] [ 1.62905134e-02 9.99867299e-01 6.14159085e-05 -9.99933317e-01] [ 8.64996194e-04 -7.55171387e-05 9.99999623e-01 -1.00678362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.917552018 meters 0.05256586742762854 Centerline is valid? [True, True] Translation: X:11.77, Y:-1.00, Z:-0.10 [[ 9.99857061e-01 -1.68671164e-02 -1.16550538e-03 1.17716620e+01] [ 1.68672238e-02 9.99857735e-01 8.23775277e-05 -1.00408566e+00] [ 1.16395009e-03 -1.02024593e-04 9.99999317e-01 -1.01543365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.947552018 meters 0.05376794126088095 Centerline is valid? [True, True] Translation: X:11.80, Y:-1.01, Z:-0.10 [[ 9.99848360e-01 -1.73316839e-02 -1.69410228e-03 1.18023518e+01] [ 1.73319113e-02 9.99849784e-01 1.19643612e-04 -1.00863287e+00] [ 1.69177418e-03 -1.48987500e-04 9.99998558e-01 -1.02320690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.977552017999999 meters 0.0512560210413206 Centerline is valid? [True, True] Translation: X:11.83, Y:-1.01, Z:-0.10 [[ 9.99845608e-01 -1.74576219e-02 -1.99810963e-03 1.18348120e+01] [ 1.74579389e-02 9.99847589e-01 1.41350721e-04 -1.00758078e+00] [ 1.99533745e-03 -1.76211773e-04 9.99997994e-01 -1.02677660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.007552018 meters 0.050630566706245286 Centerline is valid? [True, True] Translation: X:11.87, Y:-1.01, Z:-0.10 [[ 9.99848354e-01 -1.72147505e-02 -2.63073965e-03 1.18665512e+01] [ 1.72152994e-02 9.99851788e-01 1.86140772e-04 -1.00948676e+00] [ 2.62714538e-03 -2.31401515e-04 9.99996522e-01 -1.03253428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.037552018 meters 0.05303338225059946 Centerline is valid? [True, True] Translation: X:11.90, Y:-1.01, Z:-0.10 [[ 9.99856154e-01 -1.66932498e-02 -3.00128143e-03 1.18979223e+01] [ 1.66939624e-02 9.99860624e-01 2.12513679e-04 -1.01458570e+00] [ 2.99731557e-03 -2.62586389e-04 9.99995474e-01 -1.04163996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.067552017999999 meters 0.054636488761556454 Centerline is valid? [True, True] Translation: X:11.93, Y:-1.02, Z:-0.10 [[ 9.99875193e-01 -1.55391998e-02 -2.85178423e-03 1.19279535e+01] [ 1.55398374e-02 9.99879229e-01 2.01585511e-04 -1.01818938e+00] [ 2.84830734e-03 -2.45876615e-04 9.99995913e-01 -1.04249699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.097552018 meters 0.054636488761556454 Centerline is valid? [True, True] Translation: X:11.96, Y:-1.02, Z:-0.10 [[ 9.99876383e-01 -1.54624290e-02 -2.85174017e-03 1.19596781e+01] [ 1.54630681e-02 9.99880419e-01 2.02208886e-04 -1.02050747e+00] [ 2.84827252e-03 -2.46280542e-04 9.99995913e-01 -1.04474366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.127552018 meters 0.053883024836528716 Centerline is valid? [True, True] Translation: X:11.99, Y:-1.02, Z:-0.10 [[ 9.99887782e-01 -1.46828473e-02 -2.97273044e-03 1.19908683e+01] [ 1.46835379e-02 9.99892169e-01 2.10608048e-04 -1.02129340e+00] [ 2.96931756e-03 -2.54234614e-04 9.99995559e-01 -1.04821975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.157552018 meters 0.05508054318855699 Centerline is valid? [True, True] Translation: X:12.02, Y:-1.02, Z:-0.11 [[ 9.99899267e-01 -1.39042592e-02 -2.85096451e-03 1.20211118e+01] [ 1.39048911e-02 9.99903302e-01 2.01910131e-04 -1.02485895e+00] [ 2.84788142e-03 -2.41532143e-04 9.99995916e-01 -1.05305564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.187552018 meters 0.05054451703975236 Centerline is valid? [True, True] Translation: X:12.05, Y:-1.02, Z:-0.10 [[ 9.99918510e-01 -1.24778762e-02 -2.69757337e-03 1.20528176e+01] [ 1.24784374e-02 9.99922123e-01 1.91305805e-04 -1.02103782e+00] [ 2.69497620e-03 -2.24951716e-04 9.99996343e-01 -1.04874510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.217552018 meters 0.055596668256444624 Centerline is valid? [True, True] Translation: X:12.08, Y:-1.03, Z:-0.11 [[ 9.99922862e-01 -1.21006673e-02 -2.80066758e-03 1.20837135e+01] [ 1.21012716e-02 9.99926757e-01 1.98906941e-04 -1.02876556e+00] [ 2.79805554e-03 -2.32783236e-04 9.99996058e-01 -1.05899329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.247552018 meters 0.04889557317315362 Centerline is valid? [True, True] Translation: X:12.12, Y:-1.02, Z:-0.10 [[ 9.99932559e-01 -1.12299182e-02 -2.96097316e-03 1.21154156e+01] [ 1.12305897e-02 9.99936913e-01 2.10250871e-04 -1.02174005e+00] [ 2.95842526e-03 -2.43490166e-04 9.99995594e-01 -1.04979870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.277552018 meters 0.04933199499690838 Centerline is valid? [True, True] Translation: X:12.15, Y:-1.02, Z:-0.11 [[ 9.99932001e-01 -1.12237172e-02 -3.16581757e-03 1.21472123e+01] [ 1.12244864e-02 9.99936978e-01 2.25308988e-04 -1.02371746e+00] [ 3.16308924e-03 -2.60828343e-04 9.99994963e-01 -1.05318667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.307552017999999 meters 0.052158824043627795 Centerline is valid? [True, True] Translation: X:12.18, Y:-1.03, Z:-0.11 [[ 9.99938804e-01 -1.06401191e-02 -3.02929205e-03 1.21768524e+01] [ 1.06408197e-02 9.99943362e-01 2.15254372e-04 -1.02863156e+00] [ 3.02683014e-03 -2.47475350e-04 9.99995389e-01 -1.06071475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.337552018 meters 0.05072882898993922 Centerline is valid? [True, True] Translation: X:12.21, Y:-1.03, Z:-0.11 [[ 9.99940496e-01 -1.02874236e-02 -3.62948481e-03 1.22078480e+01] [ 1.02884280e-02 9.99947039e-01 2.58151382e-04 -1.02857143e+00] [ 3.62663688e-03 -2.95477714e-04 9.99993380e-01 -1.06461574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.367552018 meters 0.053196499947596086 Centerline is valid? [True, True] Translation: X:12.24, Y:-1.03, Z:-0.11 [[ 9.99943196e-01 -9.82473719e-03 -4.13281084e-03 1.22391308e+01] [ 9.82603686e-03 9.99951680e-01 2.94288929e-04 -1.03373962e+00] [ 4.12971984e-03 -3.34881364e-04 9.99991417e-01 -1.07507772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.397552017999999 meters 0.05147628074252401 Centerline is valid? [True, True] Translation: X:12.27, Y:-1.03, Z:-0.11 [[ 9.99943633e-01 -9.60990794e-03 -4.51452621e-03 1.22708529e+01] [ 9.61145659e-03 9.99953757e-01 3.21466695e-04 -1.03305947e+00] [ 4.51122818e-03 -3.64839747e-04 9.99989758e-01 -1.07893036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.427552018 meters 0.049259603601254386 Centerline is valid? [True, True] Translation: X:12.30, Y:-1.03, Z:-0.11 [[ 9.99952475e-01 -8.28551874e-03 -5.13784522e-03 1.23020058e+01] [ 8.28750683e-03 9.99965591e-01 3.65780824e-04 -1.03009871e+00] [ 5.13463775e-03 -4.08343367e-04 9.99986734e-01 -1.07604263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.457552018 meters 0.04916157176557006 Centerline is valid? [True, True] Translation: X:12.33, Y:-1.03, Z:-0.11 [[ 9.99960345e-01 -7.12064067e-03 -5.34843058e-03 1.23328670e+01] [ 7.12277775e-03 9.99974560e-01 3.80630341e-04 -1.03061424e+00] [ 5.34558419e-03 -4.18710929e-04 9.99985625e-01 -1.07780213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.487552018 meters 0.048883098348344214 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.03, Z:-0.11 [[ 9.99970494e-01 -5.68329890e-03 -5.16824776e-03 1.23632898e+01] [ 5.68527533e-03 9.99983771e-01 3.67807318e-04 -1.03070213e+00] [ 5.16607352e-03 -3.97179377e-04 9.99986577e-01 -1.07661830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.517552018 meters 0.04808169788245025 Centerline is valid? [True, True] Translation: X:12.39, Y:-1.03, Z:-0.11 [[ 9.99988151e-01 -1.09625583e-03 -4.74305944e-03 1.23929227e+01] [ 1.09786787e-03 9.99999340e-01 3.37284811e-04 -1.02747102e+00] [ 4.74268656e-03 -3.42488067e-04 9.99988695e-01 -1.07326570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.547552018 meters 0.04316305162856517 Centerline is valid? [True, True] Translation: X:12.42, Y:-1.02, Z:-0.11 [[ 9.99986136e-01 1.80609299e-03 -4.94623560e-03 1.24234214e+01] [-1.80437556e-03 9.99998310e-01 3.51661516e-04 -1.02024317e+00] [ 4.94686238e-03 -3.42731774e-04 9.99987705e-01 -1.06317758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.577552018 meters 0.042190221440708955 Centerline is valid? [True, True] Translation: X:12.45, Y:-1.02, Z:-0.11 [[ 9.99974933e-01 5.48352025e-03 -4.47925304e-03 1.24524801e+01] [-5.48214944e-03 9.99984922e-01 3.18256686e-04 -1.01888151e+00] [ 4.48093067e-03 -2.93692773e-04 9.99989917e-01 -1.06501827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.607552018 meters 0.03689346076488041 Centerline is valid? [True, True] Translation: X:12.48, Y:-1.01, Z:-0.11 [[ 9.99905203e-01 1.32513014e-02 -3.74015522e-03 1.24836040e+01] [-1.32503996e-02 9.99912174e-01 2.65787035e-04 -1.00817021e+00] [ 3.74334876e-03 -2.16203288e-04 9.99992970e-01 -1.05311311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.637552018 meters 0.03799006107205313 Centerline is valid? [True, True] Translation: X:12.51, Y:-1.01, Z:-0.11 [[ 9.99846565e-01 1.71525801e-02 -3.55456700e-03 1.25122036e+01] [-1.71517921e-02 9.99852865e-01 2.52052614e-04 -1.00823571e+00] [ 3.55836735e-03 -1.91046746e-04 9.99993651e-01 -1.05642379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.667552018 meters 0.034353551524876576 Centerline is valid? [True, True] Translation: X:12.54, Y:-1.00, Z:-0.10 [[ 9.99771278e-01 2.11268579e-02 -3.32374513e-03 1.25424606e+01] [-2.11261909e-02 9.99776789e-01 2.35668508e-04 -1.00182475e+00] [ 3.32798217e-03 -1.65396532e-04 9.99994449e-01 -1.04663235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.697552018 meters 0.03289934817442242 Centerline is valid? [True, True] Translation: X:12.57, Y:-1.00, Z:-0.10 [[ 9.99694367e-01 2.45401683e-02 -2.99205546e-03 1.25730652e+01] [-2.45396428e-02 9.99698835e-01 2.12202475e-04 -9.99137270e-01] [ 2.99636184e-03 -1.38713647e-04 9.99995501e-01 -1.04839241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.727552017999999 meters 0.031106952849188088 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.99, Z:-0.11 [[ 9.99542316e-01 3.01152371e-02 -2.86909198e-03 1.26026062e+01] [-3.01147775e-02 9.99546427e-01 2.03238193e-04 -9.93995664e-01] [ 2.87391120e-03 -1.16743107e-04 9.99995863e-01 -1.05229555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.757552018 meters 0.030371419733140656 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.99, Z:-0.11 [[ 9.99480335e-01 3.20897516e-02 -3.05094355e-03 1.26321646e+01] [-3.20892421e-02 9.99484984e-01 2.15825985e-04 -9.92644654e-01] [ 3.05629807e-03 -1.17811362e-04 9.99995323e-01 -1.05148159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.787552018 meters 0.030077265992738352 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.99, Z:-0.11 [[ 9.99395082e-01 3.46182921e-02 -3.32331134e-03 1.26609467e+01] [-3.46177027e-02 9.99400600e-01 2.34728695e-04 -9.90823706e-01] [ 3.32944525e-03 -1.19541299e-04 9.99994450e-01 -1.05090660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.817552017999999 meters 0.02878835678080139 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.99, Z:-0.11 [[ 9.99375300e-01 3.52301319e-02 -2.80126169e-03 1.26897749e+01] [-3.52297164e-02 9.99379221e-01 1.97554143e-04 -9.90494280e-01] [ 2.80648259e-03 -9.87430758e-05 9.99996057e-01 -1.05466080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.847552018 meters 0.028192689452109062 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.99, Z:-0.11 [[ 9.99291378e-01 3.75355782e-02 -2.79695910e-03 1.27180609e+01] [-3.75351736e-02 9.99295288e-01 1.97040483e-04 -9.89504376e-01] [ 2.80238407e-03 -9.19165109e-05 9.99996069e-01 -1.05850698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.877552018 meters 0.02794094312622711 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.99, Z:-0.11 [[ 9.99258586e-01 3.83923648e-02 -2.88174105e-03 1.27466300e+01] [-3.83919394e-02 9.99262737e-01 2.02810137e-04 -9.89645789e-01] [ 2.88740281e-03 -9.20241428e-05 9.99995827e-01 -1.05841721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.907552018 meters 0.027090390597432717 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.99, Z:-0.11 [[ 9.99231591e-01 3.91098488e-02 -2.57824143e-03 1.27760457e+01] [-3.91095109e-02 9.99234914e-01 1.81365842e-04 -9.88789164e-01] [ 2.58336204e-03 -8.03927178e-05 9.99996660e-01 -1.05303683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.937552018 meters 0.026716342423446754 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.99, Z:-0.10 [[ 9.99159146e-01 4.09639353e-02 -1.71959302e-03 1.28039467e+01] [-4.09637887e-02 9.99160624e-01 1.20388403e-04 -9.89296059e-01] [ 1.72308122e-03 -4.98461286e-05 9.99998514e-01 -1.04791840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.967552018 meters 0.027230091610886388 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.99, Z:-0.10 [[ 9.99096913e-01 4.24688367e-02 -1.32546395e-03 1.28315441e+01] [-4.24687513e-02 9.99097791e-01 9.25232567e-05 -9.90737628e-01] [ 1.32819746e-03 -3.61489014e-05 9.99999117e-01 -1.04311409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.997552018 meters 0.0262914045039983 Centerline is valid? [True, True] Translation: X:12.86, Y:-0.99, Z:-0.10 [[ 9.99067724e-01 4.31703729e-02 4.35867549e-05 1.28608829e+01] [-4.31703728e-02 9.99067725e-01 -3.46804011e-06 -9.91337395e-01] [-4.36958366e-05 1.58315048e-06 9.99999999e-01 -1.03513023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.027552018 meters 0.026246000741617023 Centerline is valid? [True, True] Translation: X:12.89, Y:-0.99, Z:-0.10 [[ 9.99020913e-01 4.42167583e-02 1.44682848e-03 1.28884934e+01] [-4.42166566e-02 9.99021960e-01 -1.02179750e-04 -9.93247237e-01] [-1.44993148e-03 3.81057891e-05 9.99998948e-01 -1.03118614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.057552017999999 meters 0.02517490428869193 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.99, Z:-0.10 [[ 9.98899153e-01 4.68861755e-02 1.47241440e-03 1.29176929e+01] [-4.68860735e-02 9.98900238e-01 -1.03736745e-04 -9.93673963e-01] [-1.47565891e-03 3.45868168e-05 9.99998911e-01 -1.02788890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.087552018 meters 0.024808896838588102 Centerline is valid? [True, True] Translation: X:12.95, Y:-1.00, Z:-0.10 [[ 9.98851679e-01 4.78880397e-02 1.43517213e-03 1.29460713e+01] [-4.78879439e-02 9.98852709e-01 -1.01014180e-04 -9.95410697e-01] [-1.43836294e-03 3.21707404e-05 9.99998965e-01 -1.03628925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.117552018 meters 0.024973155777837357 Centerline is valid? [True, True] Translation: X:12.97, Y:-1.00, Z:-0.10 [[ 9.98810285e-01 4.87560609e-02 9.27968184e-04 1.29735894e+01] [-4.87560210e-02 9.98810716e-01 -6.55482373e-05 -9.97281698e-01] [-9.30060440e-04 2.02262173e-05 9.99999567e-01 -1.04286681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.147552017999999 meters 0.02456652472854901 Centerline is valid? [True, True] Translation: X:13.00, Y:-1.00, Z:-0.11 [[ 9.98768674e-01 4.96084300e-02 3.72604824e-04 1.30026796e+01] [-4.96084234e-02 9.98768744e-01 -2.70193458e-05 -1.00107468e+00] [-3.73486440e-04 8.50173831e-06 9.99999930e-01 -1.05801026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.177552018 meters 0.02435984628311898 Centerline is valid? [True, True] Translation: X:13.03, Y:-1.00, Z:-0.11 [[ 9.98779620e-01 4.93874361e-02 3.90634368e-04 1.30303468e+01] [-4.93874289e-02 9.98779696e-01 -2.80232994e-05 -1.00387784e+00] [-3.91541675e-04 8.69667317e-06 9.99999923e-01 -1.06597663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.207552018 meters 0.02411422209978612 Centerline is valid? [True, True] Translation: X:13.06, Y:-1.01, Z:-0.11 [[ 9.98803637e-01 4.88985729e-02 4.73997413e-04 1.30593748e+01] [-4.88985625e-02 9.98803749e-01 -3.35326225e-05 -1.00722543e+00] [-4.75070091e-04 1.03147132e-05 9.99999887e-01 -1.06821043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.237552017999999 meters 0.024456553761373966 Centerline is valid? [True, True] Translation: X:13.09, Y:-1.01, Z:-0.11 [[ 9.98878377e-01 4.73490730e-02 2.32238890e-04 1.30878794e+01] [-4.73490704e-02 9.98878404e-01 -1.66907455e-05 -1.01375620e+00] [-2.32768703e-04 5.67572916e-06 9.99999973e-01 -1.06972716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.267552018 meters 0.024916971014476867 Centerline is valid? [True, True] Translation: X:13.11, Y:-1.02, Z:-0.11 [[ 9.98926462e-01 4.63207191e-02 5.60247470e-04 1.31148916e+01] [-4.63207041e-02 9.98926619e-01 -3.96879390e-05 -1.01880303e+00] [-5.61484485e-04 1.36942752e-05 9.99999842e-01 -1.07645597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.297552018 meters 0.02555348004604245 Centerline is valid? [True, True] Translation: X:13.14, Y:-1.02, Z:-0.11 [[ 9.98979619e-01 4.51609454e-02 4.58211170e-04 1.31424303e+01] [-4.51609352e-02 9.98979724e-01 -3.24143422e-05 -1.02396042e+00] [-4.59207531e-04 1.16880222e-05 9.99999894e-01 -1.08008571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.327552018 meters 0.026521923799258447 Centerline is valid? [True, True] Translation: X:13.17, Y:-1.03, Z:-0.11 [[ 9.99045457e-01 4.36822991e-02 1.77574067e-04 1.31703712e+01] [-4.36822975e-02 9.99045473e-01 -1.29629746e-05 -1.02942452e+00] [-1.77970820e-04 5.19375764e-06 9.99999984e-01 -1.07662048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.357552018 meters 0.025811113664356566 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.03, Z:-0.11 [[ 9.99110161e-01 4.21571370e-02 1.28909486e-03 1.31991035e+01] [-4.21570565e-02 9.99110992e-01 -8.96252314e-05 -1.03368986e+00] [-1.29172719e-03 3.52010344e-05 9.99999165e-01 -1.07828574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.387552018 meters 0.02642507035092181 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.04, Z:-0.11 [[ 9.99158786e-01 4.09856238e-02 1.37770266e-03 1.32268263e+01] [-4.09855307e-02 9.99159736e-01 -9.57472389e-05 -1.03876430e+00] [-1.38046928e-03 3.92008205e-05 9.99999046e-01 -1.07968204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.417552018 meters 0.027490456010052195 Centerline is valid? [True, True] Translation: X:13.25, Y:-1.05, Z:-0.11 [[ 9.99253418e-01 3.85996527e-02 1.63481781e-03 1.32549951e+01] [-3.85995190e-02 9.99254754e-01 -1.13229087e-04 -1.04693821e+00] [-1.63797007e-03 5.00413707e-05 9.99998657e-01 -1.08627346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.447552018 meters 0.02833079779080903 Centerline is valid? [True, True] Translation: X:13.28, Y:-1.05, Z:-0.11 [[ 9.99307338e-01 3.71348373e-02 2.41826016e-03 1.32822569e+01] [-3.71345415e-02 9.99310261e-01 -1.67138819e-04 -1.05221726e+00] [-2.42279886e-03 7.72220665e-05 9.99997062e-01 -1.08396881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.477552017999999 meters 0.027160801883895965 Centerline is valid? [True, True] Translation: X:13.31, Y:-1.05, Z:-0.11 [[ 9.99352430e-01 3.58843049e-02 2.65284785e-03 1.33107033e+01] [-3.58839455e-02 9.99355947e-01 -1.82974809e-04 -1.05375725e+00] [-2.65770520e-03 8.76616719e-05 9.99996464e-01 -1.08023667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.507552018 meters 0.02776020657467171 Centerline is valid? [True, True] Translation: X:13.34, Y:-1.06, Z:-0.11 [[ 9.99388400e-01 3.48206864e-02 3.21643083e-03 1.33378295e+01] [-3.48201535e-02 9.99393570e-01 -2.21548970e-04 -1.05849606e+00] [-3.22219478e-03 1.09416856e-04 9.99994803e-01 -1.07836198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.537552018 meters 0.028748454250495218 Centerline is valid? [True, True] Translation: X:13.37, Y:-1.07, Z:-0.11 [[ 9.99460096e-01 3.26637895e-02 3.54864318e-03 1.33654980e+01] [-3.26631288e-02 9.99466388e-01 -2.44011963e-04 -1.06515116e+00] [-3.55471994e-03 1.27970431e-04 9.99993674e-01 -1.08308803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.567552017999999 meters 0.028429544374347155 Centerline is valid? [True, True] Translation: X:13.39, Y:-1.07, Z:-0.11 [[ 9.99491057e-01 3.17481189e-02 3.11194217e-03 1.33944008e+01] [-3.17476072e-02 9.99495895e-01 -2.13695190e-04 -1.06879695e+00] [-3.11715785e-03 1.14789713e-04 9.99995135e-01 -1.08962574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.597552018 meters 0.02865753574464485 Centerline is valid? [True, True] Translation: X:13.42, Y:-1.07, Z:-0.11 [[ 9.99517709e-01 3.09309765e-02 2.76124271e-03 1.34232244e+01] [-3.09305710e-02 9.99521517e-01 -1.89462416e-04 -1.07256072e+00] [-2.76578177e-03 1.03964226e-04 9.99996170e-01 -1.09676898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.627552018 meters 0.029563367763194202 Centerline is valid? [True, True] Translation: X:13.45, Y:-1.08, Z:-0.11 [[ 9.99540904e-01 3.02231795e-02 2.13091603e-03 1.34505747e+01] [-3.02229363e-02 9.99543172e-01 -1.46264566e-04 -1.07783205e+00] [-2.13436315e-03 8.17948776e-05 9.99997719e-01 -1.10576232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.657552018 meters 0.02888315536146022 Centerline is valid? [True, True] Translation: X:13.48, Y:-1.08, Z:-0.11 [[ 9.99586773e-01 2.87208773e-02 1.18083276e-03 1.34794893e+01] [-2.87208015e-02 9.99587469e-01 -8.11369243e-05 -1.08055211e+00] [-1.18267595e-03 4.71889331e-05 9.99999300e-01 -1.11678376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.687552018 meters 0.02985384614512505 Centerline is valid? [True, True] Translation: X:13.51, Y:-1.09, Z:-0.11 [[ 9.99597499e-01 2.83684850e-02 2.61230050e-04 1.35069762e+01] [-2.83684811e-02 9.99597533e-01 -1.84919455e-05 -1.08514611e+00] [-2.61649502e-04 1.10738027e-05 9.99999966e-01 -1.12668614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.717552018 meters 0.02972260801338323 Centerline is valid? [True, True] Translation: X:13.54, Y:-1.09, Z:-0.11 [[ 9.99599097e-01 2.83119753e-02 -2.76549660e-04 1.35358274e+01] [-2.83119713e-02 9.99599136e-01 1.82730480e-05 -1.08747376e+00] [ 2.76956147e-04 -1.04360563e-05 9.99999962e-01 -1.13059598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.747552018 meters 0.030291196918505472 Centerline is valid? [True, True] Translation: X:13.56, Y:-1.09, Z:-0.11 [[ 9.99581768e-01 2.89106709e-02 -6.79195556e-04 1.35636003e+01] [-2.89106468e-02 9.99581999e-01 4.53528988e-05 -1.09138505e+00] [ 6.80222834e-04 -2.56979480e-05 9.99999768e-01 -1.14093714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.777552018 meters 0.02927142332421832 Centerline is valid? [True, True] Translation: X:13.59, Y:-1.09, Z:-0.11 [[ 9.99523099e-01 3.08724114e-02 -6.84907999e-04 1.35920846e+01] [-3.08723872e-02 9.99523333e-01 4.59440197e-05 -1.09218478e+00] [ 6.85999928e-04 -2.47773641e-05 9.99999764e-01 -1.13929688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.807552017999999 meters 0.02858698552757885 Centerline is valid? [True, True] Translation: X:13.62, Y:-1.09, Z:-0.11 [[ 9.99476773e-01 3.23402444e-02 -5.37412123e-04 1.36207000e+01] [-3.23402298e-02 9.99476917e-01 3.58914696e-05 -1.09310770e+00] [ 5.38291751e-04 -1.84926586e-05 9.99999855e-01 -1.13597462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.837552018 meters 0.027735039625349907 Centerline is valid? [True, True] Translation: X:13.65, Y:-1.09, Z:-0.11 [[ 9.99425295e-01 3.38957269e-02 -3.99088087e-04 1.36494306e+01] [-3.38957190e-02 9.99425375e-01 2.64829845e-05 -1.09381867e+00] [ 3.99756420e-04 -1.29403869e-05 9.99999920e-01 -1.13469299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.867552018 meters 0.026101628086488467 Centerline is valid? [True, True] Translation: X:13.68, Y:-1.09, Z:-0.11 [[ 9.99363472e-01 3.56735406e-02 2.23641998e-04 1.36780180e+01] [-3.56735380e-02 9.99363497e-01 -1.56909098e-05 -1.09278019e+00] [-2.24059399e-04 7.70282084e-06 9.99999975e-01 -1.12585629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.897552017999999 meters 0.026320643648365765 Centerline is valid? [True, True] Translation: X:13.71, Y:-1.10, Z:-0.11 [[ 9.99257599e-01 3.85129324e-02 1.00259204e-03 1.37052701e+01] [-3.85128831e-02 9.99258101e-01 -6.84129499e-05 -1.09637270e+00] [-1.00448300e-03 2.97494502e-05 9.99999495e-01 -1.12586459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.927552018 meters 0.02553492900211774 Centerline is valid? [True, True] Translation: X:13.73, Y:-1.10, Z:-0.11 [[ 9.99210679e-01 3.97134381e-02 9.27801309e-04 1.37346437e+01] [-3.97133967e-02 9.99211110e-01 -6.30187781e-05 -1.09722399e+00] [-9.29572068e-04 2.61228947e-05 9.99999568e-01 -1.11796710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.957552018 meters 0.024737838487450443 Centerline is valid? [True, True] Translation: X:13.76, Y:-1.10, Z:-0.11 [[ 9.99181646e-01 4.04141699e-02 1.65332308e-03 1.37639050e+01] [-4.04140400e-02 9.99183013e-01 -1.11886399e-04 -1.09891685e+00] [-1.65649413e-03 4.49773716e-05 9.99998627e-01 -1.11441254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.987552017999999 meters 0.025966599874185134 Centerline is valid? [True, True] Translation: X:13.79, Y:-1.10, Z:-0.11 [[ 9.99152941e-01 4.10856533e-02 2.31735081e-03 1.37911241e+01] [-4.10854003e-02 9.99155626e-01 -1.56702616e-04 -1.10478073e+00] [-2.32183233e-03 6.13605934e-05 9.99997303e-01 -1.11365820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.017552018 meters 0.025966599874185134 Centerline is valid? [True, True] Translation: X:13.82, Y:-1.11, Z:-0.11 [[ 9.99157468e-01 4.09753990e-02 2.31736177e-03 1.38185406e+01] [-4.09751461e-02 9.99160154e-01 -1.56540325e-04 -1.10651251e+00] [-2.32182984e-03 6.14541983e-05 9.99997303e-01 -1.11560079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.047552018 meters 0.025163244145649844 Centerline is valid? [True, True] Translation: X:13.85, Y:-1.11, Z:-0.11 [[ 9.99163921e-01 4.08296342e-02 2.09768868e-03 1.38470901e+01] [-4.08294273e-02 9.99166121e-01 -1.41373861e-04 -1.10764551e+00] [-2.10171170e-03 5.56082335e-05 9.99997790e-01 -1.11664000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.077552018 meters 0.024750000259599097 Centerline is valid? [True, True] Translation: X:13.88, Y:-1.11, Z:-0.11 [[ 9.99155844e-01 4.10362521e-02 1.90410399e-03 1.38756878e+01] [-4.10360822e-02 9.99157657e-01 -1.28238035e-04 -1.11030741e+00] [-1.90776249e-03 4.99928142e-05 9.99998179e-01 -1.11624947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.107552018 meters 0.02561610141122693 Centerline is valid? [True, True] Translation: X:13.90, Y:-1.12, Z:-0.11 [[ 9.99142152e-01 4.14054279e-02 7.42551109e-04 1.39035311e+01] [-4.14054018e-02 9.99142427e-01 -5.04052507e-05 -1.11712563e+00] [-7.44001369e-04 1.96163836e-05 9.99999723e-01 -1.13120697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.137552018 meters 0.024215708221539477 Centerline is valid? [True, True] Translation: X:13.93, Y:-1.12, Z:-0.11 [[ 9.99117593e-01 4.20000478e-02 1.74310750e-04 1.39324939e+01] [-4.20000463e-02 9.99117609e-01 -1.22168847e-05 -1.11767093e+00] [-1.74670049e-04 4.88504486e-06 9.99999985e-01 -1.12975168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.167552018 meters 0.024272792501690846 Centerline is valid? [True, True] Translation: X:13.96, Y:-1.12, Z:-0.11 [[ 9.99123266e-01 4.18634598e-02 3.87434331e-04 1.39595235e+01] [-4.18634526e-02 9.99123341e-01 -2.68290379e-05 -1.12140225e+00] [-3.88217840e-04 1.05861773e-05 9.99999925e-01 -1.13244553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.197552018 meters 0.024214686739637274 Centerline is valid? [True, True] Translation: X:13.99, Y:-1.13, Z:-0.11 [[ 9.99141246e-01 4.14337589e-02 1.18759560e-04 1.39884519e+01] [-4.14337582e-02 9.99141253e-01 -8.46723913e-06 -1.12511357e+00] [-1.19008405e-04 3.53931298e-06 9.99999993e-01 -1.13245969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.227552017999999 meters 0.025385728156151553 Centerline is valid? [True, True] Translation: X:14.02, Y:-1.13, Z:-0.11 [[ 9.99199667e-01 3.99958050e-02 6.01540225e-04 1.40153897e+01] [-3.99957877e-02 9.99199848e-01 -4.07263955e-05 -1.13256419e+00] [-6.02687786e-04 1.66347257e-05 9.99999818e-01 -1.13186293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.257552018 meters 0.025845889721740074 Centerline is valid? [True, True] Translation: X:14.04, Y:-1.14, Z:-0.11 [[ 9.99263797e-01 3.83630303e-02 3.76926631e-04 1.40436414e+01] [-3.83630234e-02 9.99263868e-01 -2.56042158e-05 -1.13641551e+00] [-3.77631418e-04 1.11253208e-05 9.99999929e-01 -1.13108084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.287552018 meters 0.025861039806705188 Centerline is valid? [True, True] Translation: X:14.07, Y:-1.14, Z:-0.11 [[ 9.99333541e-01 3.64909979e-02 9.38561875e-04 1.40721003e+01] [-3.64909549e-02 9.99333981e-01 -6.28822019e-05 -1.14075900e+00] [-9.40231409e-04 2.85912744e-05 9.99999558e-01 -1.12778122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.317552017999999 meters 0.026577643689807508 Centerline is valid? [True, True] Translation: X:14.10, Y:-1.15, Z:-0.11 [[ 9.99477822e-01 3.22700342e-02 1.65154386e-03 1.41012811e+01] [-3.22698966e-02 9.99479185e-01 -1.09904622e-04 -1.14802237e+00] [-1.65423034e-03 5.65520823e-05 9.99998630e-01 -1.12929132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.347552018 meters 0.027917821274705414 Centerline is valid? [True, True] Translation: X:14.13, Y:-1.15, Z:-0.11 [[ 9.99529072e-01 3.06606973e-02 1.24719918e-03 1.41293996e+01] [-3.06606171e-02 9.99529849e-01 -8.33678918e-05 -1.15297035e+00] [-1.24916893e-03 4.50887351e-05 9.99999219e-01 -1.12934224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.377552018 meters 0.029722367906484613 Centerline is valid? [True, True] Translation: X:14.16, Y:-1.16, Z:-0.11 [[ 9.99627424e-01 2.72431102e-02 1.68114720e-03 1.41573074e+01] [-2.72429606e-02 9.99628835e-01 -1.11858173e-04 -1.16135286e+00] [-1.68357058e-03 6.60170707e-05 9.99998581e-01 -1.13242673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.407552017999999 meters 0.03139408411036345 Centerline is valid? [True, True] Translation: X:14.19, Y:-1.17, Z:-0.11 [[ 9.99737729e-01 2.28853340e-02 8.57583111e-04 1.41860404e+01] [-2.28852934e-02 9.99738096e-01 -5.71313078e-05 -1.16651548e+00] [-8.58665975e-04 3.74902828e-05 9.99999631e-01 -1.13219791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.437552018 meters 0.03119463189523604 Centerline is valid? [True, True] Translation: X:14.21, Y:-1.17, Z:-0.11 [[ 9.99796069e-01 2.01531469e-02 1.29292920e-03 1.42147941e+01] [-2.01530526e-02 9.99796903e-01 -8.59307796e-05 -1.17140504e+00] [-1.29439839e-03 5.98567855e-05 9.99999160e-01 -1.13390190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.467552018 meters 0.0314801744021071 Centerline is valid? [True, True] Translation: X:14.24, Y:-1.17, Z:-0.11 [[ 9.99823807e-01 1.87550826e-02 7.75422606e-04 1.42433997e+01] [-1.87550481e-02 9.99824107e-01 -5.17243474e-05 -1.17475676e+00] [-7.76256310e-04 3.71721457e-05 9.99999698e-01 -1.13920993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.497552018 meters 0.0344895308242743 Centerline is valid? [True, True] Translation: X:14.27, Y:-1.18, Z:-0.12 [[ 9.99815895e-01 1.91871878e-02 1.67312160e-04 1.42706101e+01] [-1.91871861e-02 9.99815909e-01 -1.17168675e-05 -1.18220380e+00] [-1.67506173e-04 8.50446085e-06 9.99999986e-01 -1.15017322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.527552018 meters 0.033169966027220034 Centerline is valid? [True, True] Translation: X:14.30, Y:-1.18, Z:-0.11 [[ 9.99799556e-01 2.00210933e-02 -5.46483641e-05 1.42992746e+01] [-2.00210931e-02 9.99799558e-01 3.06133744e-06 -1.18245817e+00] [ 5.46987016e-05 -1.96660383e-06 9.99999999e-01 -1.14847153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.557552017999999 meters 0.03267793522082229 Centerline is valid? [True, True] Translation: X:14.33, Y:-1.18, Z:-0.12 [[ 9.99777439e-01 2.10939309e-02 -3.45379715e-04 1.43278077e+01] [-2.10939245e-02 9.99777498e-01 2.21657925e-05 -1.18277575e+00] [ 3.45770431e-04 -1.48754457e-05 9.99999940e-01 -1.15317604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.587552018 meters 0.03062477021185431 Centerline is valid? [True, True] Translation: X:14.36, Y:-1.18, Z:-0.12 [[ 9.99672563e-01 2.55865186e-02 -3.10724021e-04 1.43576030e+01] [-2.55865136e-02 9.99672611e-01 2.01450023e-05 -1.18112944e+00] [ 3.11137734e-04 -1.21880617e-05 9.99999952e-01 -1.15304841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.617552018 meters 0.028835665334707217 Centerline is valid? [True, True] Translation: X:14.39, Y:-1.18, Z:-0.12 [[ 9.99576357e-01 2.91024315e-02 -3.94903760e-04 1.43879678e+01] [-2.91024236e-02 9.99576434e-01 2.57970601e-05 -1.17881692e+00] [ 3.95487250e-04 -1.42934749e-05 9.99999922e-01 -1.15381715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.647552017999999 meters 0.02739966661552973 Centerline is valid? [True, True] Translation: X:14.42, Y:-1.18, Z:-0.12 [[ 9.99485408e-01 3.20736408e-02 -4.47996830e-04 1.44157450e+01] [-3.20736313e-02 9.99485508e-01 2.85545410e-05 -1.17862141e+00] [ 4.48682187e-04 -1.41709619e-05 9.99999899e-01 -1.15786868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.677552018 meters 0.025223941177649888 Centerline is valid? [True, True] Translation: X:14.44, Y:-1.18, Z:-0.12 [[ 9.99352222e-01 3.59799403e-02 -7.61250548e-04 1.44445434e+01] [-3.59799132e-02 9.99352512e-01 4.92835859e-05 -1.17558950e+00] [ 7.62530868e-04 -2.18619325e-05 9.99999709e-01 -1.15591260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.707552018 meters 0.024508467556947484 Centerline is valid? [True, True] Translation: X:14.47, Y:-1.18, Z:-0.12 [[ 9.99192559e-01 4.01709802e-02 -7.22685178e-04 1.44724837e+01] [-4.01709571e-02 9.99192820e-01 4.65532167e-05 -1.17564153e+00] [ 7.23971929e-04 -1.74846724e-05 9.99999738e-01 -1.16001874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.737552017999999 meters 0.0223680324740873 Centerline is valid? [True, True] Translation: X:14.50, Y:-1.17, Z:-0.11 [[ 9.98838821e-01 4.81698523e-02 8.21202724e-04 1.45033902e+01] [-4.81698243e-02 9.98839159e-01 -5.38138930e-05 -1.16893174e+00] [-8.22841645e-04 1.41942146e-05 9.99999661e-01 -1.14398875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.767552018 meters 0.022001422545552277 Centerline is valid? [True, True] Translation: X:14.53, Y:-1.17, Z:-0.11 [[ 9.98677815e-01 5.13682774e-02 1.98034582e-03 1.45317943e+01] [-5.13681209e-02 9.98679778e-01 -1.29834021e-04 -1.16854025e+00] [-1.98440067e-03 2.79357131e-05 9.99998031e-01 -1.13509752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.797552018 meters 0.02140465541241235 Centerline is valid? [True, True] Translation: X:14.56, Y:-1.17, Z:-0.11 [[ 9.98455114e-01 5.54193011e-02 4.01074785e-03 1.45599828e+01] [-5.54186952e-02 9.98463169e-01 -2.62124986e-04 -1.16772702e+00] [-4.01911079e-03 3.94496201e-05 9.99991923e-01 -1.12254625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.827552018 meters 0.021160530181629642 Centerline is valid? [True, True] Translation: X:14.59, Y:-1.17, Z:-0.11 [[ 9.98377456e-01 5.67583231e-02 4.57697173e-03 1.45886096e+01] [-5.67575508e-02 9.98387946e-01 -2.98548902e-04 -1.16915083e+00] [-4.58653854e-03 3.82867878e-05 9.99989481e-01 -1.12281181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.857552018 meters 0.021093096046391823 Centerline is valid? [True, True] Translation: X:14.62, Y:-1.17, Z:-0.11 [[ 9.98321666e-01 5.77396480e-02 4.47037296e-03 1.46170049e+01] [-5.77389226e-02 9.98331674e-01 -2.91263681e-04 -1.17116287e+00] [-4.47973239e-03 3.26603250e-05 9.99989965e-01 -1.12792869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.887552018 meters 0.020851382074443054 Centerline is valid? [True, True] Translation: X:14.65, Y:-1.17, Z:-0.11 [[ 9.98302025e-01 5.80877021e-02 4.34574755e-03 1.46450800e+01] [-5.80870208e-02 9.98311483e-01 -2.82928842e-04 -1.17374841e+00] [-4.35484437e-03 3.00169075e-05 9.99990517e-01 -1.13416224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.917552018 meters 0.021003674456350173 Centerline is valid? [True, True] Translation: X:14.67, Y:-1.18, Z:-0.12 [[ 9.98308191e-01 5.80010902e-02 4.07783182e-03 1.46731094e+01] [-5.80004913e-02 9.98316519e-01 -2.65075226e-04 -1.17825096e+00] [-4.08634152e-03 2.81105209e-05 9.99991650e-01 -1.15119539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.947552018 meters 0.020854652764665953 Centerline is valid? [True, True] Translation: X:14.70, Y:-1.18, Z:-0.12 [[ 9.98343733e-01 5.74448495e-02 3.14313273e-03 1.47017622e+01] [-5.74444920e-02 9.98348681e-01 -2.03989099e-04 -1.18215517e+00] [-3.14966054e-03 2.30955760e-05 9.99995040e-01 -1.16004636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.977552017999999 meters 0.021416812611045527 Centerline is valid? [True, True] Translation: X:14.73, Y:-1.19, Z:-0.12 [[ 9.98364318e-01 5.71011199e-02 2.85482106e-03 1.47280565e+01] [-5.71008233e-02 9.98368400e-01 -1.85344219e-04 -1.18567815e+00] [-2.86074649e-03 2.20284220e-05 9.99995908e-01 -1.17298011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.007552018 meters 0.02121443708526887 Centerline is valid? [True, True] Translation: X:14.76, Y:-1.19, Z:-0.12 [[ 9.98396113e-01 5.65669732e-02 2.31919313e-03 1.47567190e+01] [-5.65667770e-02 9.98398807e-01 -1.50173705e-04 -1.18930143e+00] [-2.32397452e-03 1.87435629e-05 9.99997299e-01 -1.17852087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.037552018 meters 0.02134132106825477 Centerline is valid? [True, True] Translation: X:14.78, Y:-1.19, Z:-0.12 [[ 9.98442752e-01 5.57822839e-02 6.38592309e-04 1.47848517e+01] [-5.57822686e-02 9.98442956e-01 -4.17047220e-05 -1.19462846e+00] [-6.39924378e-04 6.01764970e-06 9.99999795e-01 -1.19813677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.067552017999999 meters 0.021230620925642475 Centerline is valid? [True, True] Translation: X:14.81, Y:-1.20, Z:-0.12 [[ 9.98483168e-01 5.50576958e-02 1.18659361e-04 1.48130242e+01] [-5.50576952e-02 9.98483175e-01 -8.19105022e-06 -1.19868443e+00] [-1.18930356e-04 1.64551484e-06 9.99999993e-01 -1.20416117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.097552018 meters 0.021901407616591758 Centerline is valid? [True, True] Translation: X:14.84, Y:-1.20, Z:-0.12 [[ 9.98511083e-01 5.45477702e-02 -3.97262081e-04 1.48407023e+01] [-5.45477647e-02 9.98511162e-01 2.48465084e-05 -1.20391263e+00] [ 3.98025944e-04 -3.13975548e-06 9.99999921e-01 -1.22295727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.127552018 meters 0.02219121352351384 Centerline is valid? [True, True] Translation: X:14.87, Y:-1.21, Z:-0.12 [[ 9.98568547e-01 5.34825439e-02 6.88379110e-04 1.48670062e+01] [-5.34825256e-02 9.98568785e-01 -4.50507393e-05 -1.21040976e+00] [-6.89803319e-04 8.16999788e-06 9.99999762e-01 -1.21935489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.157552017999999 meters 0.02246584597635624 Centerline is valid? [True, True] Translation: X:14.90, Y:-1.21, Z:-0.12 [[ 9.98606955e-01 5.27342598e-02 1.80190180e-03 1.48952220e+01] [-5.27341360e-02 9.98608581e-01 -1.16143767e-04 -1.21433300e+00] [-1.80551936e-03 2.09602390e-05 9.99998370e-01 -1.21054658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.187552018 meters 0.02417519210306389 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.22, Z:-0.12 [[ 9.98587423e-01 5.30989453e-02 1.91327519e-03 1.49237687e+01] [-5.30988073e-02 9.98589256e-01 -1.22881561e-04 -1.21905380e+00] [-1.91710093e-03 2.11153507e-05 9.99998162e-01 -1.20399860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.217552018 meters 0.022892469378553135 Centerline is valid? [True, True] Translation: X:14.95, Y:-1.22, Z:-0.12 [[ 9.98670723e-01 5.14306191e-02 3.41749662e-03 1.49524714e+01] [-5.14301713e-02 9.98676569e-01 -2.18851806e-04 -1.22316119e+00] [-3.42422949e-03 4.27984548e-05 9.99994136e-01 -1.20177989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.247552018 meters 0.022746502808637315 Centerline is valid? [True, True] Translation: X:14.98, Y:-1.23, Z:-0.12 [[ 9.98755065e-01 4.97236069e-02 3.98528285e-03 1.49810612e+01] [-4.97229857e-02 9.98763015e-01 -2.54864102e-04 -1.22880695e+00] [-3.99302588e-03 5.63866504e-05 9.99992026e-01 -1.18910653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.277552018 meters 0.02284809508136094 Centerline is valid? [True, True] Translation: X:15.01, Y:-1.23, Z:-0.12 [[ 9.98785463e-01 4.90778195e-02 4.35498275e-03 1.50093319e+01] [-4.90770732e-02 9.98794956e-01 -2.78123301e-04 -1.23332186e+00] [-4.36338449e-03 6.40557031e-05 9.99990478e-01 -1.19013914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.307552017999999 meters 0.023001455324114205 Centerline is valid? [True, True] Translation: X:15.04, Y:-1.24, Z:-0.12 [[ 9.98823945e-01 4.82250154e-02 5.00741399e-03 1.50382920e+01] [-4.82240204e-02 9.98836494e-01 -3.19315425e-04 -1.23763844e+00] [-5.01698682e-03 7.74622580e-05 9.99987412e-01 -1.18694942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.337552018 meters 0.023231096696286063 Centerline is valid? [True, True] Translation: X:15.07, Y:-1.24, Z:-0.12 [[ 9.98847966e-01 4.77171149e-02 5.08121340e-03 1.50664987e+01] [-4.77160859e-02 9.98860886e-01 -3.23616135e-04 -1.24159470e+00] [-5.09086735e-03 8.07877026e-05 9.99987038e-01 -1.18237262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.367552018 meters 0.023645911870960608 Centerline is valid? [True, True] Translation: X:15.10, Y:-1.25, Z:-0.12 [[ 9.98913870e-01 4.61007991e-02 6.76729882e-03 1.50953707e+01] [-4.60989417e-02 9.98936786e-01 -4.30276889e-04 -1.24845340e+00] [-6.77993984e-03 1.17844239e-04 9.99977009e-01 -1.16842782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.397552017999999 meters 0.024153167910853944 Centerline is valid? [True, True] Translation: X:15.12, Y:-1.25, Z:-0.12 [[ 9.98934073e-01 4.56216430e-02 7.02736349e-03 1.51226142e+01] [-4.56196323e-02 9.98958783e-01 -4.46236726e-04 -1.25395429e+00] [-7.04040453e-03 1.25175332e-04 9.99975208e-01 -1.16648567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.427552018 meters 0.024043385626674612 Centerline is valid? [True, True] Translation: X:15.15, Y:-1.26, Z:-0.12 [[ 9.98963735e-01 4.50466901e-02 6.50009823e-03 1.51513321e+01] [-4.50449616e-02 9.98984876e-01 -4.12161643e-04 -1.25707561e+00] [-6.51206634e-03 1.18937860e-04 9.99978789e-01 -1.16861731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.457552018 meters 0.024320856925600574 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.26, Z:-0.12 [[ 9.98999576e-01 4.43033782e-02 6.08747779e-03 1.51796670e+01] [-4.43018510e-02 9.99018117e-01 -3.85560886e-04 -1.26311513e+00] [-6.09858225e-03 1.15488628e-04 9.99981397e-01 -1.17564010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.487552017999999 meters 0.024815496668250243 Centerline is valid? [True, True] Translation: X:15.21, Y:-1.27, Z:-0.12 [[ 9.98993742e-01 4.44229700e-02 6.17282939e-03 1.52071875e+01] [-4.44214050e-02 9.99012806e-01 -3.90481757e-04 -1.26875648e+00] [-6.18408197e-03 1.15883077e-04 9.99980872e-01 -1.17985054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.517552018 meters 0.024663883944238303 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.27, Z:-0.12 [[ 9.98988107e-01 4.44677873e-02 6.73627359e-03 1.52361914e+01] [-4.44659295e-02 9.99010811e-01 -4.25383497e-04 -1.27289072e+00] [-6.74852601e-03 1.25418388e-04 9.99977221e-01 -1.17940498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.547552018 meters 0.024508570367820996 Centerline is valid? [True, True] Translation: X:15.26, Y:-1.28, Z:-0.12 [[ 9.98987969e-01 4.44867740e-02 6.63057695e-03 1.52643777e+01] [-4.44849777e-02 9.99009966e-01 -4.18227699e-04 -1.27553160e+00] [-6.64261806e-03 1.22843372e-04 9.99977930e-01 -1.18253147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.577552018 meters 0.02468333273521492 Centerline is valid? [True, True] Translation: X:15.29, Y:-1.28, Z:-0.12 [[ 9.98970487e-01 4.48600721e-02 6.74835906e-03 1.52917323e+01] [-4.48582254e-02 9.98993273e-01 -4.24841740e-04 -1.28079483e+00] [-6.76062374e-03 1.21684948e-04 9.99977139e-01 -1.18644108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.607552018 meters 0.0246719579225911 Centerline is valid? [True, True] Translation: X:15.32, Y:-1.28, Z:-0.12 [[ 9.98985647e-01 4.46002063e-02 6.20477114e-03 1.53200022e+01] [-4.45986442e-02 9.99004909e-01 -3.89960369e-04 -1.28436624e+00] [-6.21598914e-03 1.12840432e-04 9.99980674e-01 -1.19175575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.637552018 meters 0.025124708802265316 Centerline is valid? [True, True] Translation: X:15.35, Y:-1.29, Z:-0.12 [[ 9.99008090e-01 4.41111783e-02 6.08604719e-03 1.53474550e+01] [-4.41096691e-02 9.99026622e-01 -3.82046595e-04 -1.28929339e+00] [-6.09697569e-03 1.13214111e-04 9.99981407e-01 -1.20017690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.667552018 meters 0.024962821444598184 Centerline is valid? [True, True] Translation: X:15.38, Y:-1.29, Z:-0.12 [[ 9.99085107e-01 4.23917514e-02 5.64706248e-03 1.53756199e+01] [-4.23904276e-02 9.99101059e-01 -3.53961886e-04 -1.29471159e+00] [-5.65699117e-03 1.14256655e-04 9.99983993e-01 -1.20984241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.697552018 meters 0.025531256368340915 Centerline is valid? [True, True] Translation: X:15.40, Y:-1.30, Z:-0.12 [[ 9.99131423e-01 4.13004207e-02 5.53843295e-03 1.54030801e+01] [-4.12991329e-02 9.99146767e-01 -3.46747468e-04 -1.30037256e+00] [-5.54802820e-03 1.17713813e-04 9.99984603e-01 -1.21141387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.727552017999999 meters 0.026388094533350292 Centerline is valid? [True, True] Translation: X:15.43, Y:-1.31, Z:-0.12 [[ 9.99196530e-01 3.96606428e-02 5.77298829e-03 1.54303482e+01] [-3.96592197e-02 9.99213199e-01 -3.60826549e-04 -1.30697573e+00] [-5.78275670e-03 1.31584425e-04 9.99983271e-01 -1.21385058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.757552018 meters 0.02666687940486388 Centerline is valid? [True, True] Translation: X:15.46, Y:-1.31, Z:-0.12 [[ 9.99272684e-01 3.76429066e-02 6.09217634e-03 1.54586797e+01] [-3.76412883e-02 9.99291243e-01 -3.80128177e-04 -1.31091999e+00] [-6.10216760e-03 1.50534338e-04 9.99981370e-01 -1.21729917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.787552018 meters 0.0276865700766888 Centerline is valid? [True, True] Translation: X:15.49, Y:-1.32, Z:-0.12 [[ 9.99437928e-01 3.29157212e-02 6.35473663e-03 1.54875667e+01] [-3.29138682e-02 9.99458113e-01 -3.95976156e-04 -1.31996389e+00] [-6.36432692e-03 1.86594625e-04 9.99979730e-01 -1.21736713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.817552017999999 meters 0.028920074857633007 Centerline is valid? [True, True] Translation: X:15.52, Y:-1.33, Z:-0.12 [[ 9.99515274e-01 3.04489985e-02 6.48648984e-03 1.55156336e+01] [-3.04470185e-02 9.99536300e-01 -4.03793847e-04 -1.32562149e+00] [-6.49577717e-03 2.06103842e-04 9.99978881e-01 -1.21641493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.847552018 meters 0.02983724266816145 Centerline is valid? [True, True] Translation: X:15.54, Y:-1.33, Z:-0.12 [[ 9.99600604e-01 2.74178018e-02 6.84810226e-03 1.55447292e+01] [-2.74155267e-02 9.99624033e-01 -4.25899595e-04 -1.33126510e+00] [-6.85720483e-03 2.37985163e-04 9.99976461e-01 -1.21735956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.877552018 meters 0.034025543316028466 Centerline is valid? [True, True] Translation: X:15.57, Y:-1.34, Z:-0.12 [[ 9.99737725e-01 2.16940532e-02 7.33826804e-03 1.55730204e+01] [-2.16912889e-02 9.99764612e-01 -4.56078614e-04 -1.34383613e+00] [-7.34643490e-03 2.96782503e-04 9.99972971e-01 -1.22460779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.907552017999999 meters 0.034025543316028466 Centerline is valid? [True, True] Translation: X:15.60, Y:-1.35, Z:-0.12 [[ 9.99738532e-01 2.16568278e-02 7.33828559e-03 1.56021479e+01] [-2.16540646e-02 9.99765419e-01 -4.55796107e-04 -1.34560729e+00] [-7.34643526e-03 2.96773220e-04 9.99972971e-01 -1.22666964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.937552018 meters 0.03235126542635193 Centerline is valid? [True, True] Translation: X:15.63, Y:-1.35, Z:-0.12 [[ 9.99799257e-01 1.87312942e-02 7.11222438e-03 1.56323209e+01] [-1.87286266e-02 9.99824506e-01 -4.41498336e-04 -1.34646659e+00] [-7.11924607e-03 3.08207514e-04 9.99974610e-01 -1.23326423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.967552018 meters 0.033402997940947386 Centerline is valid? [True, True] Translation: X:15.66, Y:-1.35, Z:-0.12 [[ 9.99851365e-01 1.58766202e-02 6.72163466e-03 1.56626426e+01] [-1.58741740e-02 9.99873910e-01 -4.17119040e-04 -1.35105358e+00] [-6.72740957e-03 3.10356644e-04 9.99977323e-01 -1.23447099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.997552018 meters 0.035650100342990876 Centerline is valid? [True, True] Translation: X:15.69, Y:-1.36, Z:-0.12 [[ 9.99925077e-01 1.02782200e-02 6.64820754e-03 1.56924779e+01] [-1.02757036e-02 9.99947118e-01 -4.12560436e-04 -1.35864623e+00] [-6.65209636e-03 3.44214515e-04 9.99977815e-01 -1.24089553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.027552017999998 meters 0.03636884911469717 Centerline is valid? [True, True] Translation: X:15.72, Y:-1.36, Z:-0.12 [[ 9.99948335e-01 7.57904290e-03 6.77395218e-03 1.57233918e+01] [-7.57636842e-03 9.99971211e-01 -4.20393713e-04 -1.36226318e+00] [-6.77694334e-03 3.69050036e-04 9.99976968e-01 -1.24089171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.057552018 meters 0.03814649314772176 Centerline is valid? [True, True] Translation: X:15.75, Y:-1.37, Z:-0.12 [[ 9.99962774e-01 4.85983071e-03 7.12971790e-03 1.57532397e+01] [-4.85679794e-03 9.99988108e-01 -4.42622927e-04 -1.36700782e+00] [-7.13178418e-03 4.07978851e-04 9.99974485e-01 -1.23994533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.087552017999997 meters 0.039449131616566775 Centerline is valid? [True, True] Translation: X:15.78, Y:-1.37, Z:-0.12 [[ 9.99970314e-01 2.42228630e-03 7.31455305e-03 1.57846247e+01] [-2.41902917e-03 9.99996971e-01 -4.54108333e-04 -1.37060491e+00] [-7.31563088e-03 4.36400735e-04 9.99973145e-01 -1.23856927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.117552017999998 meters 0.04147117145498559 Centerline is valid? [True, True] Translation: X:15.82, Y:-1.37, Z:-0.12 [[ 9.99974473e-01 -4.26776064e-04 7.13233871e-03 1.58156505e+01] [ 4.29947115e-04 9.99999809e-01 -4.43074439e-04 -1.37458306e+00] [-7.13214826e-03 4.46129658e-04 9.99974466e-01 -1.23587644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.147552018 meters 0.042440337874515364 Centerline is valid? [True, True] Translation: X:15.85, Y:-1.38, Z:-0.12 [[ 9.99976234e-01 -7.53980526e-04 6.85288255e-03 1.58465744e+01] [ 7.56917098e-04 9.99999623e-01 -4.25932833e-04 -1.37695635e+00] [-6.85255882e-03 4.31109774e-04 9.99976428e-01 -1.23967910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.177552017999997 meters 0.0410399305888175 Centerline is valid? [True, True] Translation: X:15.88, Y:-1.37, Z:-0.12 [[ 9.99987196e-01 8.20634227e-04 4.99341795e-03 1.58792545e+01] [-8.19088863e-04 9.99999616e-01 -3.11517414e-04 -1.37412121e+00] [-4.99367167e-03 3.07423372e-04 9.99987484e-01 -1.23727671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.207552017999998 meters 0.038080318914391266 Centerline is valid? [True, True] Translation: X:15.91, Y:-1.37, Z:-0.13 [[ 9.99979636e-01 3.41164260e-03 5.39342105e-03 1.59109812e+01] [-3.40987426e-03 9.99994130e-01 -3.37029984e-04 -1.37112824e+00] [-5.39453922e-03 3.18632233e-04 9.99985399e-01 -1.25406877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.237552018 meters 0.03774311807496922 Centerline is valid? [True, True] Translation: X:15.94, Y:-1.37, Z:-0.13 [[ 9.99969490e-01 6.32729971e-03 4.58089653e-03 1.59429989e+01] [-6.32605411e-03 9.99979949e-01 -2.86352090e-04 -1.37011860e+00] [-4.58261652e-03 2.57364354e-04 9.99989467e-01 -1.25804690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.267552017999996 meters 0.03615409721259672 Centerline is valid? [True, True] Translation: X:15.97, Y:-1.37, Z:-0.13 [[ 9.99935371e-01 1.06651728e-02 3.93798740e-03 1.59739179e+01] [-1.06642846e-02 9.99943105e-01 -2.46468355e-04 -1.36707297e+00] [-3.94039197e-03 2.04456608e-04 9.99992216e-01 -1.25999543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.297552017999998 meters 0.03189670390530933 Centerline is valid? [True, True] Translation: X:16.00, Y:-1.36, Z:-0.13 [[ 9.99785698e-01 2.02605386e-02 4.25080457e-03 1.60048051e+01] [-2.02595894e-02 9.99794718e-01 -2.66236537e-04 -1.35724683e+00] [-4.25532606e-03 1.80059927e-04 9.99990930e-01 -1.25237386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.327552018 meters 0.03143208043829619 Centerline is valid? [True, True] Translation: X:16.03, Y:-1.36, Z:-0.13 [[ 9.99656492e-01 2.57735193e-02 4.75649801e-03 1.60341562e+01] [-2.57723932e-02 9.99667792e-01 -2.97898083e-04 -1.35510805e+00] [-4.76259575e-03 1.75209416e-04 9.99988643e-01 -1.25337651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.357552017999996 meters 0.03037337178048778 Centerline is valid? [True, True] Translation: X:16.06, Y:-1.35, Z:-0.12 [[ 9.99473701e-01 3.19870335e-02 5.39911252e-03 1.60637121e+01] [-3.19856745e-02 9.99488270e-01 -3.37889528e-04 -1.35247161e+00] [-5.40715772e-03 1.65017441e-04 9.99985368e-01 -1.24591955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.387552017999997 meters 0.02520432927668154 Centerline is valid? [True, True] Translation: X:16.10, Y:-1.34, Z:-0.12 [[ 9.98991016e-01 4.43436099e-02 7.11298798e-03 1.60952218e+01] [-4.43415666e-02 9.99016330e-01 -4.44791627e-04 -1.33658518e+00] [-7.12571481e-03 1.28941809e-04 9.99974603e-01 -1.22664236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.417552018 meters 0.024465277155799894 Centerline is valid? [True, True] Translation: X:16.12, Y:-1.33, Z:-0.12 [[ 9.98732510e-01 4.96039507e-02 8.53358491e-03 1.61231514e+01] [-4.96012031e-02 9.98768960e-01 -5.33446344e-04 -1.33332658e+00] [-8.54954077e-03 1.09494128e-04 9.99963446e-01 -1.22121967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.447552017999996 meters 0.02398174957744673 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.33, Z:-0.12 [[ 9.98474015e-01 5.43705077e-02 9.66898644e-03 1.61512938e+01] [-5.43672138e-02 9.98520827e-01 -6.03373893e-04 -1.33079698e+00] [-9.68749008e-03 7.67773002e-05 9.99953072e-01 -1.21502565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.477552017999997 meters 0.02314483982640055 Centerline is valid? [True, True] Translation: X:16.18, Y:-1.32, Z:-0.12 [[ 9.98044972e-01 6.15830282e-02 1.06660606e-02 1.61808416e+01] [-6.15794426e-02 9.98101964e-01 -6.64566642e-04 -1.32485082e+00] [-1.06867420e-02 6.45733122e-06 9.99942895e-01 -1.21512922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.507552018 meters 0.02291322070871116 Centerline is valid? [True, True] Translation: X:16.21, Y:-1.32, Z:-0.12 [[ 9.97890637e-01 6.39459103e-02 1.11891916e-02 1.62099065e+01] [-6.39421228e-02 9.97953366e-01 -6.96274807e-04 -1.32450953e+00] [-1.12108153e-02 -2.06545517e-05 9.99937157e-01 -1.22313868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.537552018 meters 0.022553254320776206 Centerline is valid? [True, True] Translation: X:16.24, Y:-1.33, Z:-0.12 [[ 9.97787200e-01 6.56044544e-02 1.08054715e-02 1.62384718e+01] [-6.56010284e-02 9.97845707e-01 -6.71574674e-04 -1.32555835e+00] [-1.08262517e-02 -3.87614300e-05 9.99941394e-01 -1.23194530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.567552017999997 meters 0.022555123418131023 Centerline is valid? [True, True] Translation: X:16.27, Y:-1.33, Z:-0.12 [[ 9.97727440e-01 6.65200031e-02 1.07258940e-02 1.62660422e+01] [-6.65166902e-02 9.97785090e-01 -6.65706452e-04 -1.32718360e+00] [-1.07464199e-02 -4.92573760e-05 9.99942254e-01 -1.23666073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.597552018 meters 0.022674216213116737 Centerline is valid? [True, True] Translation: X:16.29, Y:-1.33, Z:-0.13 [[ 9.97759628e-01 6.61492815e-02 9.99983351e-03 1.62938528e+01] [-6.61463933e-02 9.97809737e-01 -6.19644123e-04 -1.33208262e+00] [-1.00189203e-02 -4.31970303e-05 9.99949808e-01 -1.25269246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.627552018 meters 0.022599816157241215 Centerline is valid? [True, True] Translation: X:16.32, Y:-1.34, Z:-0.13 [[ 9.97861384e-01 6.47259736e-02 9.12181151e-03 1.63228369e+01] [-6.47235193e-02 9.97903075e-01 -5.64313366e-04 -1.33656832e+00] [-9.13920949e-03 -2.72892272e-05 9.99958236e-01 -1.26221420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.657552017999997 meters 0.02271921083409793 Centerline is valid? [True, True] Translation: X:16.35, Y:-1.34, Z:-0.13 [[ 9.97982098e-01 6.28939679e-02 8.72238131e-03 1.63510542e+01] [-6.28916596e-02 9.98020215e-01 -5.38942877e-04 -1.34206003e+00] [-8.73900913e-03 -1.07096932e-05 9.99961814e-01 -1.27440915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.687552017999998 meters 0.022919426718689188 Centerline is valid? [True, True] Translation: X:16.38, Y:-1.35, Z:-0.13 [[ 9.98244713e-01 5.87694682e-02 7.32410040e-03 1.63783494e+01] [-5.87677333e-02 9.98271581e-01 -4.52048013e-04 -1.35119459e+00] [-7.33800791e-03 2.08337596e-05 9.99973076e-01 -1.29307951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.717552018 meters 0.023092346434476583 Centerline is valid? [True, True] Translation: X:16.41, Y:-1.36, Z:-0.13 [[ 9.98358427e-01 5.69729170e-02 5.87692411e-03 1.64065305e+01] [-5.69717722e-02 9.98375724e-01 -3.62154362e-04 -1.35676641e+00] [-5.88801135e-03 2.67410778e-05 9.99982665e-01 -1.30305164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.747552017999997 meters 0.02339292625345673 Centerline is valid? [True, True] Translation: X:16.43, Y:-1.36, Z:-0.13 [[ 9.98450470e-01 5.53651112e-02 5.60037700e-03 1.64336549e+01] [-5.53640485e-02 9.98466175e-01 -3.44725789e-04 -1.36227139e+00] [-5.61087279e-03 3.41320813e-05 9.99984258e-01 -1.31844089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.777552017999998 meters 0.023494103259205694 Centerline is valid? [True, True] Translation: X:16.46, Y:-1.37, Z:-0.13 [[ 9.98512608e-01 5.43122272e-02 4.77012108e-03 1.64621042e+01] [-5.43114461e-02 9.98524001e-01 -2.93210142e-04 -1.36736094e+00] [-4.77900528e-03 3.37018496e-05 9.99988580e-01 -1.32543668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.807552018 meters 0.023381774609514887 Centerline is valid? [True, True] Translation: X:16.49, Y:-1.38, Z:-0.13 [[ 9.98591812e-01 5.29433111e-02 3.37621519e-03 1.64892776e+01] [-5.29429121e-02 9.98597519e-01 -2.07495875e-04 -1.37565312e+00] [-3.38246563e-03 2.84570176e-05 9.99994279e-01 -1.34420052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.837552017999997 meters 0.023430113982692295 Centerline is valid? [True, True] Translation: X:16.52, Y:-1.38, Z:-0.13 [[ 9.98609476e-01 5.26184598e-02 3.22676239e-03 1.65173640e+01] [-5.26180943e-02 9.98614689e-01 -1.98120708e-04 -1.37919983e+00] [-3.23271713e-03 2.80591282e-05 9.99994774e-01 -1.34931451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.867552017999998 meters 0.023792259869267387 Centerline is valid? [True, True] Translation: X:16.55, Y:-1.38, Z:-0.14 [[ 9.98588376e-01 5.30665548e-02 2.27956637e-03 1.65452922e+01] [-5.30663725e-02 9.98590978e-01 -1.40419712e-04 -1.38409887e+00] [-2.28380600e-03 1.92531743e-05 9.99997392e-01 -1.36212375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.897552018 meters 0.024973428973791886 Centerline is valid? [True, True] Translation: X:16.57, Y:-1.39, Z:-0.14 [[ 9.98524172e-01 5.42889312e-02 1.47985472e-03 1.65731590e+01] [-5.42888561e-02 9.98525269e-01 -9.09022141e-05 -1.38786676e+00] [-1.48260732e-03 1.04284379e-05 9.99998901e-01 -1.36551742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.927552017999997 meters 0.02339672354152262 Centerline is valid? [True, True] Translation: X:16.60, Y:-1.39, Z:-0.13 [[ 9.98509786e-01 5.44660935e-02 3.41340131e-03 1.66018530e+01] [-5.44657013e-02 9.98515620e-01 -2.07822298e-04 -1.39306713e+00] [-3.41965380e-03 2.15993022e-05 9.99994153e-01 -1.34960675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.957552017999998 meters 0.02494592487044973 Centerline is valid? [True, True] Translation: X:16.63, Y:-1.40, Z:-0.13 [[ 9.98471552e-01 5.51535881e-02 3.55541331e-03 1.66304845e+01] [-5.51531681e-02 9.98477882e-01 -2.16141309e-04 -1.39770389e+00] [-3.56192252e-03 1.97186406e-05 9.99993656e-01 -1.33959739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.987552018 meters 0.023745159917384642 Centerline is valid? [True, True] Translation: X:16.66, Y:-1.40, Z:-0.13 [[ 9.98547388e-01 5.36240151e-02 5.25161202e-03 1.66587432e+01] [-5.36230816e-02 9.98561197e-01 -3.18495469e-04 -1.40259340e+00] [-5.26113499e-03 3.64251989e-05 9.99986159e-01 -1.32950024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.017552017999996 meters 0.024641997735358658 Centerline is valid? [True, True] Translation: X:16.69, Y:-1.41, Z:-0.13 [[ 9.98724374e-01 4.99803159e-02 7.18286035e-03 1.66861065e+01] [-4.99784816e-02 9.98750200e-01 -4.34743927e-04 -1.41347066e+00] [-7.19561185e-03 7.52009020e-05 9.99974108e-01 -1.30996433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.047552017999998 meters 0.02533130372502854 Centerline is valid? [True, True] Translation: X:16.71, Y:-1.42, Z:-0.13 [[ 9.98841332e-01 4.75490443e-02 7.42176815e-03 1.67141704e+01] [-4.75470251e-02 9.98868900e-01 -4.48369663e-04 -1.42028740e+00] [-7.43469294e-03 9.49671550e-05 9.99972358e-01 -1.30473641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.077552018 meters 0.025864093976997682 Centerline is valid? [True, True] Translation: X:16.74, Y:-1.43, Z:-0.13 [[ 9.98980635e-01 4.44135867e-02 8.06990546e-03 1.67423067e+01] [-4.44111033e-02 9.99013222e-01 -4.86769654e-04 -1.42672021e+00] [-8.08356144e-03 1.27880053e-04 9.99967319e-01 -1.29927571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.107552017999996 meters 0.02771036286550785 Centerline is valid? [True, True] Translation: X:16.77, Y:-1.44, Z:-0.13 [[ 9.99101564e-01 4.16140861e-02 8.02075130e-03 1.67703473e+01] [-4.16115481e-02 9.99133748e-01 -4.83119794e-04 -1.43525008e+00] [-8.03390789e-03 1.48929864e-04 9.99967717e-01 -1.29842450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.137552017999997 meters 0.02888050665280223 Centerline is valid? [True, True] Translation: X:16.80, Y:-1.44, Z:-0.13 [[ 9.99290847e-01 3.66894956e-02 8.46659316e-03 1.67989895e+01] [-3.66864958e-02 9.99326694e-01 -5.09392159e-04 -1.44458504e+00] [-8.47958190e-03 1.98421288e-04 9.99964028e-01 -1.29812820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.167552018 meters 0.029773445649148363 Centerline is valid? [True, True] Translation: X:16.83, Y:-1.45, Z:-0.13 [[ 9.99351597e-01 3.50207355e-02 8.36260466e-03 1.68276600e+01] [-3.50177549e-02 9.99386564e-01 -5.02618658e-04 -1.45052218e+00] [-8.37507681e-03 2.09453119e-04 9.99964906e-01 -1.30280455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.197552017999996 meters 0.03485515855593201 Centerline is valid? [True, True] Translation: X:16.86, Y:-1.46, Z:-0.13 [[ 9.99335214e-01 3.58613302e-02 6.56463981e-03 1.68557033e+01] [-3.58595134e-02 9.99356763e-01 -3.94300662e-04 -1.46456537e+00] [-6.57455734e-03 1.58633748e-04 9.99978375e-01 -1.31334494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.227552017999997 meters 0.03009387229796632 Centerline is valid? [True, True] Translation: X:16.89, Y:-1.46, Z:-0.13 [[ 9.99392464e-01 3.37098516e-02 8.85152880e-03 1.68856981e+01] [-3.37064699e-02 9.99431634e-01 -5.30986127e-04 -1.46010693e+00] [-8.86439736e-03 2.32309744e-04 9.99960683e-01 -1.30142151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.257552018 meters 0.029767950833642153 Centerline is valid? [True, True] Translation: X:16.91, Y:-1.46, Z:-0.13 [[ 9.99351670e-01 3.46142938e-02 9.90409500e-03 1.69143311e+01] [-3.46101095e-02 9.99400714e-01 -5.93616442e-04 -1.46475157e+00] [-9.91870723e-03 2.50449770e-04 9.99950777e-01 -1.29125634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.287552018 meters 0.029684069318428857 Centerline is valid? [True, True] Translation: X:16.94, Y:-1.47, Z:-0.13 [[ 9.99315248e-01 3.55134738e-02 1.03840697e-02 1.69445200e+01] [-3.55089275e-02 9.99369166e-01 -6.21921535e-04 -1.46718069e+00] [-1.03996057e-02 2.52768495e-04 9.99945891e-01 -1.28899242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.317552017999997 meters 0.028937346967442056 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.47, Z:-0.13 [[ 9.99261904e-01 3.68714714e-02 1.07768874e-02 1.69745143e+01] [-3.68666535e-02 9.99319985e-01 -6.45448129e-04 -1.46938284e+00] [-1.07933576e-02 2.47663952e-04 9.99941719e-01 -1.28378373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.347552018 meters 0.027415254989755188 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.47, Z:-0.13 [[ 9.99109624e-01 4.06755754e-02 1.12007121e-02 1.70038831e+01] [-4.06706109e-02 9.99172383e-01 -6.70746537e-04 -1.47074188e+00] [-1.12187252e-02 2.14609518e-04 9.99937045e-01 -1.28151366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.377552018 meters 0.02612239770453662 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.47, Z:-0.13 [[ 9.99011196e-01 4.30097352e-02 1.12602069e-02 1.70340905e+01] [-4.30048677e-02 9.99074635e-01 -6.74163709e-04 -1.47172521e+00] [-1.12787827e-02 1.89253385e-04 9.99936375e-01 -1.28429637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.407552017999997 meters 0.025548071789099163 Centerline is valid? [True, True] Translation: X:17.06, Y:-1.47, Z:-0.13 [[ 9.98923251e-01 4.51789071e-02 1.05453789e-02 1.70633662e+01] [-4.51747603e-02 9.98978900e-01 -6.31226139e-04 -1.47209617e+00] [-1.05631291e-02 1.54161504e-04 9.99944197e-01 -1.29804339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.437552017999998 meters 0.023667213637146856 Centerline is valid? [True, True] Translation: X:17.09, Y:-1.47, Z:-0.13 [[ 9.98697227e-01 5.02625670e-02 8.80476272e-03 1.70922650e+01] [-5.02598766e-02 9.98736035e-01 -5.26696280e-04 -1.47096413e+00] [-8.82010691e-03 8.34838267e-05 9.99961099e-01 -1.32525165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.467552018 meters 0.02266414309852525 Centerline is valid? [True, True] Translation: X:17.12, Y:-1.47, Z:-0.13 [[ 9.98563138e-01 5.29296495e-02 8.37322237e-03 1.71212558e+01] [-5.29273145e-02 9.98598242e-01 -5.00368977e-04 -1.46997772e+00] [-8.38796949e-03 5.64778428e-05 9.99964819e-01 -1.33596359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.497552017999997 meters 0.022239849121305104 Centerline is valid? [True, True] Translation: X:17.15, Y:-1.47, Z:-0.13 [[ 9.98404651e-01 5.59081093e-02 7.90167581e-03 1.71499953e+01] [-5.59061283e-02 9.98435918e-01 -4.71539253e-04 -1.46971807e+00] [-7.91567981e-03 2.90348813e-05 9.99968670e-01 -1.34344159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.527552017999998 meters 0.021904464462574408 Centerline is valid? [True, True] Translation: X:17.18, Y:-1.47, Z:-0.13 [[ 9.98049915e-01 6.19193523e-02 7.89687616e-03 1.71782789e+01] [-6.19175676e-02 9.98081156e-01 -4.70520425e-04 -1.46778942e+00] [-7.91085761e-03 -1.93524936e-05 9.99968708e-01 -1.34225964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.557552018 meters 0.02184183941892601 Centerline is valid? [True, True] Translation: X:17.21, Y:-1.47, Z:-0.13 [[ 9.97833757e-01 6.51888597e-02 8.84336321e-03 1.72070825e+01] [-6.51867592e-02 9.97872943e-01 -5.25871674e-04 -1.46778663e+00] [-8.85883384e-03 -5.17376792e-05 9.99960758e-01 -1.33509296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.587552017999997 meters 0.022331769745271207 Centerline is valid? [True, True] Translation: X:17.24, Y:-1.47, Z:-0.13 [[ 9.97592589e-01 6.87266380e-02 9.25615250e-03 1.72363505e+01] [-6.87244968e-02 9.97635525e-01 -5.49570342e-04 -1.46801727e+00] [-9.27203668e-03 -8.78771226e-05 9.99957010e-01 -1.33151595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.617552017999998 meters 0.02353684599163554 Centerline is valid? [True, True] Translation: X:17.26, Y:-1.47, Z:-0.13 [[ 9.97367252e-01 7.17955894e-02 1.01959351e-02 1.72647834e+01] [-7.17931624e-02 9.97419358e-01 -6.04323223e-04 -1.46508504e+00] [-1.02130107e-02 -1.29266229e-04 9.99947837e-01 -1.31673916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.647552018 meters 0.026641762944040883 Centerline is valid? [True, True] Translation: X:17.29, Y:-1.46, Z:-0.13 [[ 9.96944610e-01 7.73392988e-02 1.09580090e-02 1.72938486e+01] [-7.73368417e-02 9.97004811e-01 -6.48431333e-04 -1.46378974e+00] [-1.09753369e-02 -2.01007685e-04 9.99939749e-01 -1.30684725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.677552017999997 meters 0.025230432568337364 Centerline is valid? [True, True] Translation: X:17.32, Y:-1.47, Z:-0.13 [[ 9.96784912e-01 7.94118177e-02 1.06584014e-02 1.73221127e+01] [-7.94096190e-02 9.96841871e-01 -6.30003953e-04 -1.47015446e+00] [-1.06747706e-02 -2.18401162e-04 9.99942999e-01 -1.32207200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.707552017999998 meters 0.02614109639881707 Centerline is valid? [True, True] Translation: X:17.35, Y:-1.47, Z:-0.13 [[ 9.96638486e-01 8.11919338e-02 1.09360510e-02 1.73502565e+01] [-8.11897376e-02 9.96698455e-01 -6.45370357e-04 -1.47187720e+00] [-1.09523440e-02 -2.44694175e-04 9.99939991e-01 -1.32460575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.737552018 meters 0.026799466118704676 Centerline is valid? [True, True] Translation: X:17.38, Y:-1.48, Z:-0.13 [[ 9.96468671e-01 8.34381450e-02 9.39482525e-03 1.73785558e+01] [-8.34366321e-02 9.96512931e-01 -5.53552014e-04 -1.48073252e+00] [-9.40825220e-03 -2.32275337e-04 9.99955714e-01 -1.33472744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.767552017999996 meters 0.025083501029143734 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.49, Z:-0.13 [[ 9.96536401e-01 8.24966756e-02 1.04642655e-02 1.74073259e+01] [-8.24947576e-02 9.96591308e-01 -6.15530515e-04 -1.48627329e+00] [-1.04793753e-02 -2.49848484e-04 9.99945059e-01 -1.33803992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.797552017999998 meters 0.024887054992917688 Centerline is valid? [True, True] Translation: X:17.44, Y:-1.49, Z:-0.13 [[ 9.96603010e-01 8.16655852e-02 1.06382317e-02 1.74350748e+01] [-8.16635669e-02 9.96659757e-01 -6.24693948e-04 -1.49243532e+00] [-1.06537134e-02 -2.46184076e-04 9.99943217e-01 -1.33717451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.827552018 meters 0.024887054992917688 Centerline is valid? [True, True] Translation: X:17.46, Y:-1.49, Z:-0.13 [[ 9.96610361e-01 8.15758246e-02 1.06382977e-02 1.74633568e+01] [-8.15738133e-02 9.96667108e-01 -6.23568843e-04 -1.49399604e+00] [-1.06537095e-02 -2.46351337e-04 9.99943217e-01 -1.33917643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.857552017999996 meters 0.02384467490927307 Centerline is valid? [True, True] Translation: X:17.49, Y:-1.50, Z:-0.13 [[ 9.96767609e-01 7.96600691e-02 1.04214794e-02 1.74918952e+01] [-7.96580439e-02 9.96822062e-01 -6.09930305e-04 -1.50140920e+00] [-1.04369477e-02 -2.22195893e-04 9.99945509e-01 -1.34016174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.887552017999997 meters 0.021429849311180842 Centerline is valid? [True, True] Translation: X:17.52, Y:-1.52, Z:-0.13 [[ 9.97095778e-01 7.54997865e-02 9.98954024e-03 1.75202650e+01] [-7.54977258e-02 9.97145803e-01 -5.83769618e-04 -1.51582192e+00] [-1.00051026e-02 -1.72113348e-04 9.99949933e-01 -1.34039023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.917552018 meters 0.020503628674859713 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.52, Z:-0.13 [[ 9.97303798e-01 7.27075406e-02 9.93718661e-03 1.75472696e+01] [-7.27053724e-02 9.97353294e-01 -5.79743476e-04 -1.52360217e+00] [-9.95303751e-03 -1.44306482e-04 9.99950457e-01 -1.34331477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.947552017999996 meters 0.01945452612148744 Centerline is valid? [True, True] Translation: X:17.58, Y:-1.53, Z:-0.13 [[ 9.97467831e-01 7.04261334e-02 9.90381733e-03 1.75756600e+01] [-7.04238778e-02 9.97516990e-01 -5.76743219e-04 -1.53245592e+00] [-9.91984384e-03 -1.22182413e-04 9.99950790e-01 -1.34252983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.977552017999997 meters 0.017767352283455985 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.55, Z:-0.13 [[ 9.97774147e-01 6.59243309e-02 1.00366050e-02 1.76035689e+01] [-6.59217959e-02 9.97824622e-01 -5.83551561e-04 -1.54607297e+00] [-1.00532419e-02 -7.93783672e-05 9.99949462e-01 -1.33428365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.007552018 meters 0.01712146818250422 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.55, Z:-0.13 [[ 9.97913775e-01 6.39044664e-02 9.18243217e-03 1.76316719e+01] [-6.39022657e-02 9.97956019e-01 -5.33149810e-04 -1.55313306e+00] [-9.19773411e-03 -5.47406809e-05 9.99957698e-01 -1.33971576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.037552017999996 meters 0.01682321949897199 Centerline is valid? [True, True] Translation: X:17.66, Y:-1.56, Z:-0.13 [[ 9.98048671e-01 6.18523013e-02 8.55232924e-03 1.76608559e+01] [-6.18503214e-02 9.98085313e-01 -4.96046600e-04 -1.56045366e+00] [-8.56663583e-03 -3.38856622e-05 9.99963305e-01 -1.34627042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.067552017999997 meters 0.01589513983913277 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.57, Z:-0.14 [[ 9.98240162e-01 5.88262175e-02 7.48694091e-03 1.76897843e+01] [-5.88246173e-02 9.98268239e-01 -4.33952318e-04 -1.57223624e+00] [-7.49950308e-03 -7.22780155e-06 9.99971878e-01 -1.35362634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.097552018 meters 0.015562734183129796 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.58, Z:-0.14 [[ 9.98342822e-01 5.71179417e-02 7.01073646e-03 1.77188555e+01] [-5.71164986e-02 9.98367438e-01 -4.06051908e-04 -1.57876960e+00] [-7.02248385e-03 4.95028863e-06 9.99975342e-01 -1.35450067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.127552018 meters 0.015541265338924928 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.59, Z:-0.14 [[ 9.98466644e-01 5.49197782e-02 6.94106156e-03 1.77480305e+01] [-5.49183127e-02 9.98490770e-01 -4.01702446e-04 -1.58565351e+00] [-6.95264731e-03 1.98951040e-05 9.99975830e-01 -1.35250330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.157552017999997 meters 0.01806348491125365 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.59, Z:-0.14 [[ 9.98578169e-01 5.29697666e-02 5.98707866e-03 1.77783296e+01] [-5.29686420e-02 9.98596116e-01 -3.46355711e-04 -1.59258132e+00] [-5.99701988e-03 2.87358247e-05 9.99982017e-01 -1.35928352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.187552017999998 meters 0.01669087240736411 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.61, Z:-0.13 [[ 9.98911997e-01 4.60561320e-02 7.32493472e-03 1.78093941e+01] [-4.60542627e-02 9.98938850e-01 -4.23764062e-04 -1.60564844e+00] [-7.33667880e-03 8.59585373e-05 9.99973083e-01 -1.34005108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.217552018 meters 0.017886764203063708 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.61, Z:-0.13 [[ 9.99067924e-01 4.23454723e-02 8.37518779e-03 1.78405214e+01] [-4.23428944e-02 9.99103020e-01 -4.84958606e-04 -1.61342479e+00] [-8.38821121e-03 1.29876896e-04 9.99964810e-01 -1.33079488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.247552017999997 meters 0.019447453512716643 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.62, Z:-0.13 [[ 9.99199911e-01 3.88239580e-02 9.60404164e-03 1.78718147e+01] [-3.88203946e-02 9.99246049e-01 -5.57238614e-04 -1.62169503e+00] [-9.61843487e-03 1.83960087e-04 9.99953725e-01 -1.31666314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.277552017999998 meters 0.021506484230526163 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.63, Z:-0.13 [[ 9.99327722e-01 3.51740494e-02 1.03388151e-02 1.79025878e+01] [-3.51696915e-02 9.99381173e-01 -6.03071892e-04 -1.62991316e+00] [-1.03536296e-02 2.39053523e-04 9.99946371e-01 -1.30763209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.307552018 meters 0.02501113390691082 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.64, Z:-0.13 [[ 9.99541795e-01 2.78105323e-02 1.19487867e-02 1.79334668e+01] [-2.78041543e-02 9.99613145e-01 -6.99592510e-04 -1.64208382e+00] [-1.19636203e-02 3.67046044e-04 9.99928366e-01 -1.29092067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.337552017999997 meters 0.02942416524069307 Centerline is valid? [True, True] Translation: X:17.97, Y:-1.65, Z:-0.13 [[ 9.99619920e-01 2.52501182e-02 1.10655378e-02 1.79651612e+01] [-2.52444744e-02 9.99681097e-01 -6.49434694e-04 -1.64914523e+00] [-1.10784073e-02 3.69844171e-04 9.99938564e-01 -1.30149568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.367552017999998 meters 0.028215645472728382 Centerline is valid? [True, True] Translation: X:18.00, Y:-1.65, Z:-0.13 [[ 9.99664019e-01 2.20022527e-02 1.37021700e-02 1.79966317e+01] [-2.19932295e-02 9.99757792e-01 -8.08873916e-04 -1.65391043e+00] [-1.37166483e-02 5.07247180e-04 9.99905794e-01 -1.28451238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.397552018 meters 0.02953294479309003 Centerline is valid? [True, True] Translation: X:18.03, Y:-1.66, Z:-0.13 [[ 9.99711623e-01 2.00268752e-02 1.32512486e-02 1.80281590e+01] [-2.00182125e-02 9.99799307e-01 -7.86061100e-04 -1.65851695e+00] [-1.32643315e-02 5.20568107e-04 9.99911889e-01 -1.28665140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.427552017999997 meters 0.03143040936020926 Centerline is valid? [True, True] Translation: X:18.06, Y:-1.66, Z:-0.13 [[ 9.99735485e-01 1.87118922e-02 1.33725481e-02 1.80594800e+01] [-1.87029006e-02 9.99824768e-01 -7.97142312e-04 -1.66393685e+00] [-1.33851209e-02 5.46826017e-04 9.99910266e-01 -1.29331225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.457552017999998 meters 0.03027727542225321 Centerline is valid? [True, True] Translation: X:18.09, Y:-1.66, Z:-0.13 [[ 9.99725163e-01 1.92468367e-02 1.33849890e-02 1.80927987e+01] [-1.92378185e-02 9.99814614e-01 -8.02195588e-04 -1.66416669e+00] [-1.33979474e-02 5.44477126e-04 9.99910095e-01 -1.30262223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.487552018 meters 0.029064579568295924 Centerline is valid? [True, True] Translation: X:18.12, Y:-1.66, Z:-0.13 [[ 9.99707829e-01 2.03697346e-02 1.30126702e-02 1.81247990e+01] [-2.03612491e-02 9.99792381e-01 -7.84263906e-04 -1.66411957e+00] [-1.30259438e-02 5.19080547e-04 9.99915024e-01 -1.30953659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.517552017999996 meters 0.028691789568064455 Centerline is valid? [True, True] Translation: X:18.16, Y:-1.66, Z:-0.13 [[ 9.99680337e-01 2.19277207e-02 1.25856629e-02 1.81567868e+01] [-2.19198564e-02 9.99759440e-01 -7.62479915e-04 -1.66458999e+00] [-1.25993548e-02 4.86360254e-04 9.99920507e-01 -1.31967531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.547552017999998 meters 0.027404274336939784 Centerline is valid? [True, True] Translation: X:18.19, Y:-1.66, Z:-0.13 [[ 9.99595129e-01 2.60031801e-02 1.15504018e-02 1.81878274e+01] [-2.59968019e-02 9.99661780e-01 -7.02029265e-04 -1.66146689e+00] [-1.15647502e-02 4.01471525e-04 9.99933045e-01 -1.34215838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.577552018 meters 0.025462013476306805 Centerline is valid? [True, True] Translation: X:18.22, Y:-1.66, Z:-0.14 [[ 9.99525311e-01 2.89088014e-02 1.06505225e-02 1.82203512e+01] [-2.89035279e-02 9.99581995e-01 -6.48769128e-04 -1.65880179e+00] [-1.06648256e-02 3.40623492e-04 9.99943071e-01 -1.35990076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.607552017999996 meters 0.024520330815905517 Centerline is valid? [True, True] Translation: X:18.25, Y:-1.66, Z:-0.14 [[ 9.99437180e-01 3.18061493e-02 1.06626688e-02 1.82526729e+01] [-3.18009924e-02 9.99494007e-01 -6.52879450e-04 -1.65706149e+00] [-1.06780391e-02 3.13428547e-04 9.99942939e-01 -1.36715740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.637552017999997 meters 0.02225006029262698 Centerline is valid? [True, True] Translation: X:18.28, Y:-1.65, Z:-0.14 [[ 9.99269940e-01 3.67895831e-02 1.03011805e-02 1.82842105e+01] [-3.67850109e-02 9.99323002e-01 -6.33038862e-04 -1.64984454e+00] [-1.03174958e-02 2.53647669e-04 9.99946741e-01 -1.38004323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.667552018 meters 0.021325064969212652 Centerline is valid? [True, True] Translation: X:18.32, Y:-1.65, Z:-0.14 [[ 9.99171660e-01 3.94152035e-02 1.01210374e-02 1.83168337e+01] [-3.94109115e-02 9.99222894e-01 -6.23243735e-04 -1.64817391e+00] [-1.01377375e-02 2.23848170e-04 9.99948587e-01 -1.38616206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.697552017999996 meters 0.02004960134374491 Centerline is valid? [True, True] Translation: X:18.35, Y:-1.65, Z:-0.14 [[ 9.99064755e-01 4.21305185e-02 9.72799807e-03 1.83494304e+01] [-4.21266531e-02 9.99112097e-01 -6.02005073e-04 -1.64638219e+00] [-9.74472334e-03 1.91634051e-04 9.99952501e-01 -1.39073217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.727552017999997 meters 0.019266155760579926 Centerline is valid? [True, True] Translation: X:18.38, Y:-1.65, Z:-0.14 [[ 9.98958578e-01 4.45860956e-02 9.68710563e-03 1.83817404e+01] [-4.45823485e-02 9.99005531e-01 -6.02513507e-04 -1.64502042e+00] [-9.70433583e-03 1.70012117e-04 9.99952897e-01 -1.39679155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.757552018 meters 0.01810101856579214 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.64, Z:-0.14 [[ 9.98742183e-01 4.93272290e-02 8.99308396e-03 1.84129726e+01] [-4.93241681e-02 9.98782664e-01 -5.61972281e-04 -1.64027580e+00] [-9.00985689e-03 1.17689038e-04 9.99959403e-01 -1.40332801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.787552017999996 meters 0.017757170839553416 Centerline is valid? [True, True] Translation: X:18.44, Y:-1.64, Z:-0.14 [[ 9.98621848e-01 5.17793361e-02 8.56182260e-03 1.84440939e+01] [-5.17766351e-02 9.98658546e-01 -5.36970703e-04 -1.63825482e+00] [-8.57814129e-03 9.29283113e-05 9.99963203e-01 -1.41097355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.817552017999997 meters 0.016984007117498742 Centerline is valid? [True, True] Translation: X:18.47, Y:-1.64, Z:-0.14 [[ 9.98495958e-01 5.41802270e-02 8.38599997e-03 1.84741082e+01] [-5.41777201e-02 9.98531170e-01 -5.25980298e-04 -1.63674753e+00] [-8.40218010e-03 7.08548424e-05 9.99964699e-01 -1.40953780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.847552018 meters 0.016378907001041346 Centerline is valid? [True, True] Translation: X:18.50, Y:-1.63, Z:-0.14 [[ 9.98215272e-01 5.89617260e-02 9.47549923e-03 1.85038944e+01] [-5.89587393e-02 9.98260243e-01 -5.94480691e-04 -1.63183919e+00] [-9.49406578e-03 3.47562162e-05 9.99954930e-01 -1.39463440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.877552018 meters 0.01609499019859061 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.63, Z:-0.14 [[ 9.98081813e-01 6.11263998e-02 9.81114148e-03 1.85348488e+01] [-6.11233038e-02 9.98130033e-01 -6.15379483e-04 -1.63106769e+00] [-9.83041090e-03 1.45096885e-05 9.99951680e-01 -1.38731717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.907552017999997 meters 0.01832315250245763 Centerline is valid? [True, True] Translation: X:18.57, Y:-1.63, Z:-0.14 [[ 9.97938976e-01 6.35138143e-02 9.15394938e-03 1.85650374e+01] [-6.35112196e-02 9.97980959e-01 -5.74158741e-04 -1.63076253e+00] [-9.17193420e-03 -8.40310354e-06 9.99957937e-01 -1.39359651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.937552017999998 meters 0.01574191114741276 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.63, Z:-0.14 [[ 9.97766583e-01 6.59478652e-02 1.06171587e-02 1.85947366e+01] [-6.59445142e-02 9.97823069e-01 -6.65771143e-04 -1.62965242e+00] [-1.06379520e-02 -3.58591723e-05 9.99943415e-01 -1.38211435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.967552018 meters 0.016332922926613907 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.63, Z:-0.14 [[ 9.97679331e-01 6.72375327e-02 1.07268717e-02 1.86246168e+01] [-6.72341911e-02 9.97736995e-01 -6.72240530e-04 -1.63021388e+00] [-1.07477965e-02 -5.05320571e-05 9.99942239e-01 -1.38740958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.997552017999997 meters 0.01935462717900765 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.63, Z:-0.14 [[ 9.97525000e-01 6.98212762e-02 8.29839934e-03 1.86537750e+01] [-6.98193673e-02 9.97559515e-01 -5.19870366e-04 -1.63138348e+00] [-8.31444523e-03 -6.08053045e-05 9.99965433e-01 -1.40126861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.027552017999998 meters 0.016399495673171515 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.63, Z:-0.14 [[ 9.97507612e-01 6.97932435e-02 1.03665968e-02 1.86837138e+01] [-6.97902687e-02 9.97561475e-01 -6.48883037e-04 -1.63352609e+00] [-1.03866052e-02 -7.62218070e-05 9.99946055e-01 -1.39292950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.057552018 meters 0.016770448223790316 Centerline is valid? [True, True] Translation: X:18.71, Y:-1.64, Z:-0.14 [[ 9.97478941e-01 7.02244917e-02 1.02118616e-02 1.87123155e+01] [-7.02216330e-02 9.97531210e-01 -6.38663475e-04 -1.63563776e+00] [-1.02315005e-02 -8.00402292e-05 9.99947654e-01 -1.39689991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.087552017999997 meters 0.01611410471238405 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.64, Z:-0.14 [[ 9.97456154e-01 7.05428857e-02 1.02431642e-02 1.87419787e+01] [-7.05400328e-02 9.97508744e-01 -6.39992887e-04 -1.63863035e+00] [-1.02627928e-02 -8.41882918e-05 9.99947333e-01 -1.39496792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.117552017999998 meters 0.015919813213367325 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.64, Z:-0.14 [[ 9.97505568e-01 7.00279223e-02 8.87311296e-03 1.87718543e+01] [-7.00257644e-02 9.97545029e-01 -5.54029642e-04 -1.64339654e+00] [-8.89012728e-03 -6.86988650e-05 9.99960480e-01 -1.40990365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.147552018 meters 0.015645467572042084 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.65, Z:-0.14 [[ 9.97549287e-01 6.95369740e-02 7.74783672e-03 1.88018132e+01] [-6.95353165e-02 9.97579373e-01 -4.83436424e-04 -1.64729876e+00] [-7.76269880e-03 -5.64966178e-05 9.99969868e-01 -1.42253811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.177552017999997 meters 0.015421552219498919 Centerline is valid? [True, True] Translation: X:18.83, Y:-1.65, Z:-0.14 [[ 9.97606277e-01 6.88097404e-02 6.85094386e-03 1.88304609e+01] [-6.88084303e-02 9.97629800e-01 -4.27028079e-04 -1.65134785e+00] [-6.86408945e-03 -4.53968008e-05 9.99976441e-01 -1.43127904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.207552017999998 meters 0.015236288193695673 Centerline is valid? [True, True] Translation: X:18.86, Y:-1.66, Z:-0.14 [[ 9.97709918e-01 6.73926415e-02 5.75769181e-03 1.88595228e+01] [-6.73916939e-02 9.97726531e-01 -3.58656624e-04 -1.65931200e+00] [-5.76877270e-03 -3.01853338e-05 9.99983360e-01 -1.43889468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.237552018 meters 0.014789242673444189 Centerline is valid? [True, True] Translation: X:18.89, Y:-1.66, Z:-0.14 [[ 9.97772935e-01 6.64760895e-02 5.48639069e-03 1.88890518e+01] [-6.64752165e-02 9.97788018e-01 -3.41524653e-04 -1.66438431e+00] [-5.49695812e-03 -2.39449537e-05 9.99984891e-01 -1.44022387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.267552017999996 meters 0.014631191964560298 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.67, Z:-0.14 [[ 9.97832879e-01 6.56182494e-02 4.87761343e-03 1.89183672e+01] [-6.56175501e-02 9.97844800e-01 -3.03444754e-04 -1.66958140e+00] [-4.88701271e-03 -1.72698908e-05 9.99988058e-01 -1.44553092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.297552017999998 meters 0.01441815393932096 Centerline is valid? [True, True] Translation: X:18.95, Y:-1.67, Z:-0.15 [[ 9.97906294e-01 6.45463750e-02 4.09814587e-03 1.89470488e+01] [-6.45458726e-02 9.97914708e-01 -2.54882461e-04 -1.67470695e+00] [-4.10605178e-03 -1.01695892e-05 9.99991570e-01 -1.45219270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.327552018 meters 0.014289741773714554 Centerline is valid? [True, True] Translation: X:18.98, Y:-1.68, Z:-0.15 [[ 9.98074418e-01 6.19488921e-02 3.12919955e-03 1.89757289e+01] [-6.19485870e-02 9.98079323e-01 -1.94432606e-04 -1.68440893e+00] [-3.13523425e-03 2.08719492e-07 9.99995085e-01 -1.46034195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.357552017999996 meters 0.014008158111720946 Centerline is valid? [True, True] Translation: X:19.00, Y:-1.69, Z:-0.15 [[ 9.98142535e-01 6.08556250e-02 2.84121168e-03 1.90046186e+01] [-6.08553693e-02 9.98146579e-01 -1.76439972e-04 -1.69016197e+00] [-2.84668309e-03 3.20925470e-06 9.99995948e-01 -1.45630104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.387552017999997 meters 0.013833052820563822 Centerline is valid? [True, True] Translation: X:19.03, Y:-1.70, Z:-0.14 [[ 9.98189646e-01 6.00562049e-02 3.26861152e-03 1.90342159e+01] [-6.00558628e-02 9.98194997e-01 -2.02793519e-04 -1.69550253e+00] [-3.27489068e-03 6.12710528e-06 9.99994638e-01 -1.44771387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.417552018 meters 0.013830069467747539 Centerline is valid? [True, True] Translation: X:19.06, Y:-1.70, Z:-0.14 [[ 9.98278600e-01 5.85322021e-02 3.71728392e-03 1.90645324e+01] [-5.85317505e-02 9.98285521e-01 -2.30261607e-04 -1.70440331e+00] [-3.72438843e-03 1.22861002e-05 9.99993064e-01 -1.43617802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.447552017999996 meters 0.014087212870456575 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.71, Z:-0.14 [[ 9.98319904e-01 5.78063957e-02 3.97360253e-03 1.90950870e+01] [-5.78058742e-02 9.98327812e-01 -2.46067774e-04 -1.70961243e+00] [-3.98118221e-03 1.59567885e-05 9.99992075e-01 -1.43373907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.477552017999997 meters 0.013997004610314107 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.71, Z:-0.14 [[ 9.98347891e-01 5.72946145e-02 4.33776219e-03 1.91258548e+01] [-5.72939879e-02 9.98357314e-01 -2.68671475e-04 -1.71488384e+00] [-4.34603004e-03 1.96999064e-05 9.99990556e-01 -1.42545741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.507552018 meters 0.018205413402157318 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.72, Z:-0.14 [[ 9.98381074e-01 5.68373853e-02 2.17763957e-03 1.91564392e+01] [-5.68372264e-02 9.98383449e-01 -1.34812907e-04 -1.72023253e+00] [-2.18178172e-03 1.08236617e-05 9.99997620e-01 -1.44208021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.537552017999996 meters 0.014585108681197426 Centerline is valid? [True, True] Translation: X:19.19, Y:-1.73, Z:-0.14 [[ 9.98558650e-01 5.34531864e-02 4.83515352e-03 1.91863044e+01] [-5.34523603e-02 9.98570356e-01 -3.00016130e-04 -1.73052246e+00] [-4.84427779e-03 4.11333338e-05 9.99988266e-01 -1.42525920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.567552017999997 meters 0.015047570474401663 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.74, Z:-0.14 [[ 9.98661891e-01 5.15284248e-02 4.38737493e-03 1.92169649e+01] [-5.15277259e-02 9.98671527e-01 -2.72258300e-04 -1.73683071e+00] [-4.39557546e-03 4.58225359e-05 9.99990338e-01 -1.42665445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.597552018 meters 0.015768030563317277 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.74, Z:-0.14 [[ 9.98764481e-01 4.94663784e-02 4.75270725e-03 1.92479934e+01] [-4.94655352e-02 9.98775788e-01 -2.94877824e-04 -1.74338223e+00] [-4.76147547e-03 5.94182894e-05 9.99988662e-01 -1.42766466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.627552018 meters 0.016791128903817183 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.75, Z:-0.14 [[ 9.98871714e-01 4.72347977e-02 4.91649117e-03 1.92801118e+01] [-4.72338654e-02 9.98883811e-01 -3.05645650e-04 -1.75001173e+00] [-4.92544055e-03 7.30759127e-05 9.99987867e-01 -1.42767267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.657552017999997 meters 0.018776785258706602 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.76, Z:-0.14 [[ 9.99097955e-01 4.21641912e-02 5.04556515e-03 1.93118124e+01] [-4.21631363e-02 9.99110690e-01 -3.15301227e-04 -1.76025113e+00] [-5.05437250e-03 1.02279960e-04 9.99987221e-01 -1.42719524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.687552017999998 meters 0.019651060165073054 Centerline is valid? [True, True] Translation: X:19.34, Y:-1.77, Z:-0.14 [[ 9.99172195e-01 4.03989956e-02 4.77976286e-03 1.93434896e+01] [-4.03980222e-02 9.99183622e-01 -3.00069117e-04 -1.76630717e+00] [-4.78798325e-03 1.06727752e-04 9.99988532e-01 -1.43022941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.717552018 meters 0.019651060165073054 Centerline is valid? [True, True] Translation: X:19.38, Y:-1.77, Z:-0.14 [[ 9.99159143e-01 4.07205390e-02 4.77966522e-03 1.93750971e+01] [-4.07195619e-02 9.99170569e-01 -3.01614576e-04 -1.76848032e+00] [-4.78798272e-03 1.06735088e-04 9.99988532e-01 -1.43246799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.747552017999997 meters 0.02052256085951056 Centerline is valid? [True, True] Translation: X:19.41, Y:-1.77, Z:-0.14 [[ 9.99213790e-01 3.93974444e-02 4.43200085e-03 1.94067063e+01] [-3.93965856e-02 9.99223614e-01 -2.80944206e-04 -1.77412624e+00] [-4.43962839e-03 1.06117624e-04 9.99990139e-01 -1.43428604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.777552017999998 meters 0.02146752278980939 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.78, Z:-0.14 [[ 9.99259350e-01 3.82867200e-02 3.85728576e-03 1.94374779e+01] [-3.82860572e-02 9.99266790e-01 -2.45542430e-04 -1.78124651e+00] [-3.86385857e-03 9.76803053e-05 9.99992530e-01 -1.44689615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.807552018 meters 0.021307604077459203 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.78, Z:-0.15 [[ 9.99231605e-01 3.90502445e-02 3.35817474e-03 1.94690067e+01] [-3.90497443e-02 9.99237245e-01 -2.14420199e-04 -1.78489084e+00] [-3.36398643e-03 8.31195745e-05 9.99994338e-01 -1.45437074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.837552017999997 meters 0.02111005524507138 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.79, Z:-0.15 [[ 9.99175451e-01 4.04741771e-02 3.20306649e-03 1.95000355e+01] [-4.04737261e-02 9.99180582e-01 -2.05524823e-04 -1.78792007e+00] [-3.20876028e-03 7.57153217e-05 9.99994849e-01 -1.45806380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.867552017999998 meters 0.018856083238005212 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.79, Z:-0.15 [[ 9.98993667e-01 4.47759079e-02 2.60217230e-03 1.95319931e+01] [-4.47756241e-02 9.98997055e-01 -1.67244803e-04 -1.78835836e+00] [-2.60705100e-03 5.05626105e-05 9.99996600e-01 -1.46583331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.897552018 meters 0.01760427244706141 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.79, Z:-0.15 [[ 9.98862180e-01 4.76085738e-02 2.78728038e-03 1.95637671e+01] [-4.76082563e-02 9.98866068e-01 -1.80178285e-04 -1.78922526e+00] [-2.79269782e-03 4.72757164e-05 9.99996099e-01 -1.46957186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.927552017999997 meters 0.016130256872121405 Centerline is valid? [True, True] Translation: X:19.60, Y:-1.79, Z:-0.15 [[ 9.98730606e-01 5.03240550e-02 2.15989595e-03 1.95956323e+01] [-5.03238677e-02 9.98732942e-01 -1.41009808e-04 -1.78935879e+00] [-2.16425542e-03 3.21364932e-05 9.99997657e-01 -1.47467476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.957552017999998 meters 0.015073452697831006 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.79, Z:-0.15 [[ 9.98550031e-01 5.37956679e-02 1.96527708e-03 1.96264698e+01] [-5.37955217e-02 9.98551964e-01 -1.27235043e-04 -1.79034204e+00] [-1.96927598e-03 2.13274502e-05 9.99998061e-01 -1.47922976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.987552018 meters 0.013325173326322066 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.79, Z:-0.15 [[ 9.98223838e-01 5.95477146e-02 1.79982170e-03 1.96577048e+01] [-5.95475983e-02 9.98225460e-01 -1.18208178e-04 -1.78889352e+00] [-1.80366687e-03 1.08231611e-05 9.99998373e-01 -1.48056632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.017552017999996 meters 0.017532746784434033 Centerline is valid? [True, True] Translation: X:19.69, Y:-1.79, Z:-0.15 [[ 9.98019035e-01 6.29105626e-02 5.16497700e-04 1.96887948e+01] [-6.29105536e-02 9.98019169e-01 -3.37156048e-05 -1.78906225e+00] [-5.17595673e-04 1.15565919e-06 9.99999866e-01 -1.50683116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.047552017999998 meters 0.012450904233651767 Centerline is valid? [True, True] Translation: X:19.72, Y:-1.79, Z:-0.15 [[ 9.97876864e-01 6.50968472e-02 2.04080884e-03 1.97205985e+01] [-6.50967087e-02 9.97878951e-01 -1.34262436e-04 -1.79016385e+00] [-2.04522024e-03 1.12743979e-06 9.99997909e-01 -1.47074456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.077552018 meters 0.012429082669748086 Centerline is valid? [True, True] Translation: X:19.75, Y:-1.79, Z:-0.15 [[ 9.97706525e-01 6.76192773e-02 3.05349417e-03 1.97517512e+01] [-6.76189783e-02 9.97711197e-01 -2.01182359e-04 -1.79119097e+00] [-3.06010913e-03 -5.75320414e-06 9.99995318e-01 -1.46371780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.107552017999996 meters 0.012931989664405338 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.79, Z:-0.15 [[ 9.97406096e-01 7.18835855e-02 3.71878585e-03 1.97832046e+01] [-7.18831707e-02 9.97413029e-01 -2.45247146e-04 -1.79190677e+00] [-3.72679471e-03 -2.27071201e-05 9.99993055e-01 -1.45150277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.137552017999997 meters 0.013520040289239048 Centerline is valid? [True, True] Translation: X:19.81, Y:-1.79, Z:-0.15 [[ 9.97284601e-01 7.35293804e-02 4.10547707e-03 1.98138082e+01] [-7.35288876e-02 9.97293051e-01 -2.71039905e-04 -1.79310235e+00] [-4.11429315e-03 -3.15672383e-05 9.99991536e-01 -1.45051787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.167552018 meters 0.017324723455252863 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.80, Z:-0.15 [[ 9.97137881e-01 7.55564184e-02 2.69700284e-03 1.98454010e+01] [-7.55562134e-02 9.97141528e-01 -1.77959170e-04 -1.79534886e+00] [-2.70273949e-03 -2.63254926e-05 9.99996347e-01 -1.47664983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.197552017999996 meters 0.015029420858277891 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.80, Z:-0.15 [[ 9.96910424e-01 7.84503645e-02 3.89200525e-03 1.98769402e+01] [-7.84499584e-02 9.96918020e-01 -2.57133638e-04 -1.79760461e+00] [-3.90018239e-03 -4.89884458e-05 9.99992393e-01 -1.45601690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.227552017999997 meters 0.015636903209642113 Centerline is valid? [True, True] Translation: X:19.91, Y:-1.80, Z:-0.15 [[ 9.96795858e-01 7.99328859e-02 2.95833765e-03 1.99083953e+01] [-7.99326576e-02 9.96800247e-01 -1.95508790e-04 -1.79989774e+00] [-2.96449928e-03 -4.15854389e-05 9.99995605e-01 -1.46597505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.257552018 meters 0.016381930059534554 Centerline is valid? [True, True] Translation: X:19.94, Y:-1.80, Z:-0.15 [[ 9.96664947e-01 8.15627825e-02 2.54868644e-03 1.99391159e+01] [-8.15626179e-02 9.96668205e-01 -1.68609556e-04 -1.80240033e+00] [-2.55394700e-03 -3.98303045e-05 9.99996738e-01 -1.47439248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.287552017999996 meters 0.018282147780918585 Centerline is valid? [True, True] Translation: X:19.97, Y:-1.80, Z:-0.15 [[ 9.96546386e-01 8.30041272e-02 2.36959766e-03 1.99690339e+01] [-8.30039889e-02 9.96549203e-01 -1.56805705e-04 -1.80283640e+00] [-2.37443618e-03 -4.04218986e-05 9.99997180e-01 -1.48645140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.317552017999997 meters 0.018567518257958188 Centerline is valid? [True, True] Translation: X:20.00, Y:-1.81, Z:-0.15 [[ 9.96268300e-01 8.62893663e-02 1.90249560e-03 2.00001578e+01] [-8.62892833e-02 9.96270116e-01 -1.25789015e-04 -1.80814050e+00] [-1.90625376e-03 -3.88453733e-05 9.99998182e-01 -1.48413350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.347552018 meters 0.02164664773516534 Centerline is valid? [True, True] Translation: X:20.03, Y:-1.81, Z:-0.15 [[ 9.96125265e-01 8.79121945e-02 2.42949956e-03 2.00302405e+01] [-8.79120634e-02 9.96128226e-01 -1.60937035e-04 -1.80748576e+00] [-2.43424142e-03 -5.32688730e-05 9.99997036e-01 -1.48837860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.377552018 meters 0.0229433134498604 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.81, Z:-0.15 [[ 9.95933995e-01 9.00627911e-02 2.04246393e-03 2.00615355e+01] [-9.00627031e-02 9.95936088e-01 -1.35201719e-04 -1.81411998e+00] [-2.04634018e-03 -4.92978343e-05 9.99997905e-01 -1.50277216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.407552017999997 meters 0.02056796735814884 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.82, Z:-0.15 [[ 9.95819849e-01 9.12655350e-02 3.66484937e-03 2.00922610e+01] [-9.12652583e-02 9.95826588e-01 -2.43018993e-04 -1.81779283e+00] [-3.67173370e-03 -9.24702874e-05 9.99993255e-01 -1.47042777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.437552017999998 meters 0.021659230611856057 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.82, Z:-0.15 [[ 9.95576037e-01 9.39108161e-02 3.01888448e-03 2.01244145e+01] [-9.39106436e-02 9.95580610e-01 -1.99153553e-04 -1.82424122e+00] [-3.02424553e-03 -8.52328795e-05 9.99995423e-01 -1.47614893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.467552018 meters 0.02216609399045674 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.83, Z:-0.15 [[ 9.95483461e-01 9.48832058e-02 3.13950029e-03 2.01559332e+01] [-9.48830206e-02 9.95488407e-01 -2.08218718e-04 -1.82889480e+00] [-3.14509260e-03 -9.06069803e-05 9.99995050e-01 -1.48308612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.497552017999997 meters 0.02280824857174533 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.83, Z:-0.15 [[ 9.95411150e-01 9.56430182e-02 3.00917098e-03 2.01870703e+01] [-9.56428486e-02 9.95415695e-01 -2.00548050e-04 -1.83370362e+00] [-3.01455704e-03 -8.81779193e-05 9.99995452e-01 -1.48671401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.527552017999998 meters 0.022674776053141697 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.84, Z:-0.15 [[ 9.95437877e-01 9.53566267e-02 3.24764567e-03 2.02171495e+01] [-9.53564239e-02 9.95443170e-01 -2.17576512e-04 -1.84384864e+00] [-3.25359406e-03 -9.30999763e-05 9.99994703e-01 -1.48819758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.557552018 meters 0.02208302824262032 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.85, Z:-0.15 [[ 9.95438513e-01 9.53375410e-02 3.59439347e-03 2.02491750e+01] [-9.53372883e-02 9.95444997e-01 -2.41984800e-04 -1.85160031e+00] [-3.60109124e-03 -1.01798737e-04 9.99993511e-01 -1.48264605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.587552017999997 meters 0.022333124099631733 Centerline is valid? [True, True] Translation: X:20.28, Y:-1.86, Z:-0.15 [[ 9.95433414e-01 9.53870168e-02 3.69255326e-03 2.02811084e+01] [-9.53867461e-02 9.95440258e-01 -2.49758339e-04 -1.85799444e+00] [-3.69953987e-03 -1.03602844e-04 9.99993151e-01 -1.47750432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.617552017999998 meters 0.023463543798640858 Centerline is valid? [True, True] Translation: X:20.31, Y:-1.87, Z:-0.15 [[ 9.95335295e-01 9.63909129e-02 4.05494234e-03 2.03130357e+01] [-9.63905880e-02 9.95343548e-01 -2.75927766e-04 -1.86754847e+00] [-4.06265762e-03 -1.16217632e-04 9.99991741e-01 -1.48546339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.647552018 meters 0.024079390828626368 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.87, Z:-0.15 [[ 9.95239761e-01 9.73537465e-02 4.47942735e-03 2.03441179e+01] [-9.73533509e-02 9.95249833e-01 -3.06807412e-04 -1.87143536e+00] [-4.48801817e-03 -1.30740327e-04 9.99989920e-01 -1.47424376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.677552017999997 meters 0.02301053737601745 Centerline is valid? [True, True] Translation: X:20.38, Y:-1.88, Z:-0.15 [[ 9.95101489e-01 9.87666811e-02 4.26249342e-03 2.03762538e+01] [-9.87663347e-02 9.95110610e-01 -2.92200396e-04 -1.87925908e+00] [-4.27051209e-03 -1.30221803e-04 9.99990873e-01 -1.47408462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.707552017999998 meters 0.024690120236517954 Centerline is valid? [True, True] Translation: X:20.41, Y:-1.88, Z:-0.15 [[ 9.94955883e-01 1.00221328e-01 4.29848214e-03 2.04073697e+01] [-1.00220981e-01 9.94965159e-01 -2.96448949e-04 -1.88339772e+00] [-4.30655047e-03 -1.35844473e-04 9.99990718e-01 -1.47767991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.737552018 meters 0.025149200153116717 Centerline is valid? [True, True] Translation: X:20.44, Y:-1.89, Z:-0.15 [[ 9.94700917e-01 1.02694124e-01 4.89926705e-03 2.04390974e+01] [-1.02693700e-01 9.94712968e-01 -3.38569053e-04 -1.89403625e+00] [-4.90813352e-03 -1.66348914e-04 9.99987941e-01 -1.47258627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.767552017999996 meters 0.02604596743154806 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.90, Z:-0.15 [[ 9.94583392e-01 1.03832091e-01 4.77221210e-03 2.04710534e+01] [-1.03831696e-01 9.94594827e-01 -3.31219013e-04 -1.89967262e+00] [-4.78080863e-03 -1.66081945e-04 9.99988558e-01 -1.47709216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.797552017999998 meters 0.0263751080221444 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.91, Z:-0.15 [[ 9.94471131e-01 1.04902660e-01 4.75415034e-03 2.05025881e+01] [-1.04902273e-01 9.94482480e-01 -3.31407540e-04 -1.90628342e+00] [-4.76268476e-03 -1.69145945e-04 9.99988644e-01 -1.48027541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.827552018 meters 0.025490485799752684 Centerline is valid? [True, True] Translation: X:20.54, Y:-1.91, Z:-0.15 [[ 9.94418650e-01 1.05422700e-01 4.19562231e-03 2.05354436e+01] [-1.05422399e-01 9.94427489e-01 -2.93358449e-04 -1.91483912e+00] [-4.20316880e-03 -1.50591457e-04 9.99991155e-01 -1.48723319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.857552017999996 meters 0.020777936141817253 Centerline is valid? [True, True] Translation: X:20.57, Y:-1.93, Z:-0.15 [[ 9.94510558e-01 1.04590531e-01 3.09362912e-03 2.05659858e+01] [-1.04590361e-01 9.94515364e-01 -2.16951605e-04 -1.93368021e+00] [-3.09935277e-03 -1.07803125e-04 9.99995191e-01 -1.49459345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.887552017999997 meters 0.020209003767145437 Centerline is valid? [True, True] Translation: X:20.60, Y:-1.94, Z:-0.15 [[ 9.94624366e-01 1.03506268e-01 2.97038954e-03 2.05979142e+01] [-1.03506105e-01 9.94628796e-01 -2.09282647e-04 -1.94270817e+00] [-2.97609704e-03 -9.92958300e-05 9.99995566e-01 -1.49920870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.917552018 meters 0.019314499530591445 Centerline is valid? [True, True] Translation: X:20.63, Y:-1.95, Z:-0.15 [[ 9.94803826e-01 1.01766123e-01 3.00055728e-03 2.06296023e+01] [-1.01765945e-01 9.94808347e-01 -2.12258573e-04 -1.95236340e+00] [-3.00658016e-03 -9.41989063e-05 9.99995476e-01 -1.49668463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.947552017999996 meters 0.021275668370470364 Centerline is valid? [True, True] Translation: X:20.66, Y:-1.96, Z:-0.15 [[ 9.95059554e-01 9.92700099e-02 1.39599379e-03 2.06605791e+01] [-9.92699699e-02 9.95060533e-01 -9.81036942e-05 -1.96150085e+00] [-1.39883708e-03 -4.09612437e-05 9.99999021e-01 -1.52855090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.977552017999997 meters 0.01610589127982173 Centerline is valid? [True, True] Translation: X:20.69, Y:-1.98, Z:-0.15 [[ 9.95527654e-01 9.44086711e-02 3.41956406e-03 2.06904735e+01] [-9.44083864e-02 9.95533524e-01 -2.44947146e-04 -1.97884816e+00] [-3.42741579e-03 -7.89838669e-05 9.99994123e-01 -1.48164950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.007552018 meters 0.015502872253243162 Centerline is valid? [True, True] Translation: X:20.72, Y:-1.99, Z:-0.15 [[ 9.95737014e-01 9.21738688e-02 3.43185002e-03 2.07211030e+01] [-9.21735710e-02 9.95742925e-01 -2.45171022e-04 -1.98765865e+00] [-3.43983874e-03 -7.22000102e-05 9.99994081e-01 -1.48332783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.037552017999996 meters 0.014642021475728979 Centerline is valid? [True, True] Translation: X:20.75, Y:-2.00, Z:-0.15 [[ 9.95950065e-01 8.98442300e-02 3.38842886e-03 2.07531609e+01] [-8.98439213e-02 9.95955828e-01 -2.43521488e-04 -1.99689911e+00] [-3.39660447e-03 -6.18944936e-05 9.99994230e-01 -1.48102966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.067552017999997 meters 0.014967103305771305 Centerline is valid? [True, True] Translation: X:20.78, Y:-2.00, Z:-0.15 [[ 9.96115697e-01 8.79777401e-02 3.66552817e-03 2.07835150e+01] [-8.79773654e-02 9.96122439e-01 -2.63659974e-04 -2.00366848e+00] [-3.67451107e-03 -5.98476722e-05 9.99993247e-01 -1.48205036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.097552018 meters 0.0132599108112918 Centerline is valid? [True, True] Translation: X:20.81, Y:-2.02, Z:-0.15 [[ 9.96408535e-01 8.45861297e-02 3.90100639e-03 2.08147509e+01] [-8.45856781e-02 9.96416170e-01 -2.80917448e-04 -2.01926160e+00] [-3.91078756e-03 -5.00607278e-05 9.99992352e-01 -1.47032839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.127552017999996 meters 0.013058069334514292 Centerline is valid? [True, True] Translation: X:20.85, Y:-2.03, Z:-0.15 [[ 9.96507320e-01 8.34034559e-02 4.12621480e-03 2.08463562e+01] [-8.34029352e-02 9.96515861e-01 -2.98398073e-04 -2.02702285e+00] [-4.13672593e-03 -4.67825621e-05 9.99991443e-01 -1.46434471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.157552017999997 meters 0.01288268633534193 Centerline is valid? [True, True] Translation: X:20.88, Y:-2.03, Z:-0.15 [[ 9.96616213e-01 8.20938672e-02 4.08902268e-03 2.08770778e+01] [-8.20933389e-02 9.96624601e-01 -2.97168049e-04 -2.03386505e+00] [-4.09961627e-03 -3.95190286e-05 9.99991596e-01 -1.46322861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.187552017999998 meters 0.012371902132567909 Centerline is valid? [True, True] Translation: X:20.91, Y:-2.04, Z:-0.15 [[ 9.96736537e-01 8.06443798e-02 3.57218057e-03 2.09092496e+01] [-8.06439651e-02 9.96742937e-01 -2.60217578e-04 -2.04152109e+00] [-3.58153084e-03 -2.87064378e-05 9.99993586e-01 -1.46234257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.217552018 meters 0.012162655965771395 Centerline is valid? [True, True] Translation: X:20.94, Y:-2.05, Z:-0.15 [[ 9.96927191e-01 7.82804883e-02 2.88800010e-03 2.09402859e+01] [-7.82802089e-02 9.96931374e-01 -2.09799614e-04 -2.05214954e+00] [-2.89556113e-03 -1.69183120e-05 9.99995808e-01 -1.46281265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.247552017999997 meters 0.011876269267372588 Centerline is valid? [True, True] Translation: X:20.97, Y:-2.06, Z:-0.15 [[ 9.97046624e-01 7.67335114e-02 3.16199714e-03 2.09725301e+01] [-7.67331633e-02 9.97051638e-01 -2.31429881e-04 -2.05887129e+00] [-3.17043286e-03 -1.18836619e-05 9.99994974e-01 -1.46054276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.277552017999998 meters 0.01681061392451562 Centerline is valid? [True, True] Translation: X:21.00, Y:-2.07, Z:-0.15 [[ 9.97230971e-01 7.43587593e-02 1.07964431e-03 2.10048043e+01] [-7.43587191e-02 9.97231555e-01 -7.73727929e-05 -2.06539153e+00] [-1.08240872e-03 -3.12242290e-06 9.99999414e-01 -1.49778688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.307552018 meters 0.012000088111003464 Centerline is valid? [True, True] Translation: X:21.04, Y:-2.08, Z:-0.15 [[ 9.97550629e-01 6.98762937e-02 3.16962130e-03 2.10373252e+01] [-6.98759079e-02 9.97555664e-01 -2.32441418e-04 -2.07660625e+00] [-3.17811583e-03 1.03919168e-05 9.99994950e-01 -1.45858206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.337552017999997 meters 0.012338323392224347 Centerline is valid? [True, True] Translation: X:21.07, Y:-2.08, Z:-0.15 [[ 9.97748574e-01 6.69757106e-02 3.46940605e-03 2.10684383e+01] [-6.69752254e-02 9.97754606e-01 -2.55989988e-04 -2.08390734e+00] [-3.47876098e-03 2.30493929e-05 9.99993949e-01 -1.45637867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.367552017999998 meters 0.012902942851983422 Centerline is valid? [True, True] Translation: X:21.10, Y:-2.09, Z:-0.15 [[ 9.97953136e-01 6.38504285e-02 3.55815630e-03 2.11004414e+01] [-6.38498950e-02 9.97959479e-01 -2.63445763e-04 -2.09094441e+00] [-3.56771693e-03 3.57186189e-05 9.99993635e-01 -1.45227185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.397552018 meters 0.013498331775594084 Centerline is valid? [True, True] Translation: X:21.13, Y:-2.10, Z:-0.15 [[ 9.98147048e-01 6.07496879e-02 3.45625057e-03 2.11324355e+01] [-6.07491628e-02 9.98153031e-01 -2.56801430e-04 -2.09730148e+00] [-3.46546759e-03 4.63612612e-05 9.99993994e-01 -1.45060883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.427552017999997 meters 0.015460966386188513 Centerline is valid? [True, True] Translation: X:21.16, Y:-2.11, Z:-0.15 [[ 9.98485594e-01 5.49151079e-02 3.29394505e-03 2.11632810e+01] [-5.49145962e-02 9.98491025e-01 -2.45650198e-04 -2.10685660e+00] [-3.30246448e-03 6.43925215e-05 9.99994545e-01 -1.45306383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.457552017999998 meters 0.01630349810951628 Centerline is valid? [True, True] Translation: X:21.20, Y:-2.11, Z:-0.15 [[ 9.98615303e-01 5.25267049e-02 2.90220829e-03 2.11954100e+01] [-5.25262962e-02 9.98619518e-01 -2.16897792e-04 -2.11196944e+00] [-2.90959476e-03 6.41552022e-05 9.99995765e-01 -1.45500081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.487552018 meters 0.01775228709337096 Centerline is valid? [True, True] Translation: X:21.23, Y:-2.12, Z:-0.15 [[ 9.98711942e-01 5.06591696e-02 2.84716336e-03 2.12264312e+01] [-5.06587663e-02 9.98715998e-01 -2.13613012e-04 -2.11767210e+00] [-2.85432906e-03 6.91040828e-05 9.99995924e-01 -1.45821547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.517552017999996 meters 0.01810461910519439 Centerline is valid? [True, True] Translation: X:21.26, Y:-2.12, Z:-0.15 [[ 9.98799304e-01 4.89192856e-02 2.61808779e-03 2.12586243e+01] [-4.89189375e-02 9.98802733e-01 -1.96860202e-04 -2.12091747e+00] [-2.62458350e-03 6.85497600e-05 9.99996553e-01 -1.45971036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.547552017999998 meters 0.018557977895987766 Centerline is valid? [True, True] Translation: X:21.29, Y:-2.12, Z:-0.14 [[ 9.98883086e-01 4.71311413e-02 3.35198702e-03 2.12905020e+01] [-4.71305559e-02 9.98888706e-01 -2.53459476e-04 -2.12407835e+00] [-3.36020781e-03 9.51953722e-05 9.99994350e-01 -1.44621302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.577552018 meters 0.01862614208016953 Centerline is valid? [True, True] Translation: X:21.32, Y:-2.13, Z:-0.14 [[ 9.98877993e-01 4.71992757e-02 3.87076296e-03 2.13238110e+01] [-4.71984908e-02 9.98885487e-01 -2.93900666e-04 -2.12638304e+00] [-3.88032084e-03 1.10876737e-04 9.99992465e-01 -1.44124404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.607552017999996 meters 0.017620574642326067 Centerline is valid? [True, True] Translation: X:21.36, Y:-2.13, Z:-0.14 [[ 9.98848024e-01 4.77927516e-02 4.29848124e-03 2.13561495e+01] [-4.77917821e-02 9.98857266e-01 -3.28033091e-04 -2.12626564e+00] [-4.30924683e-03 1.22223126e-04 9.99990708e-01 -1.43449719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.637552017999997 meters 0.017620574642326067 Centerline is valid? [True, True] Translation: X:21.39, Y:-2.13, Z:-0.14 [[ 9.98832893e-01 4.81079673e-02 4.29839864e-03 2.13885026e+01] [-4.81069961e-02 9.98842134e-01 -3.29110842e-04 -2.12885131e+00] [-4.30925453e-03 1.21943688e-04 9.99990708e-01 -1.43679455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.667552018 meters 0.01846135781390358 Centerline is valid? [True, True] Translation: X:21.42, Y:-2.13, Z:-0.14 [[ 9.98742085e-01 4.99247727e-02 4.66530489e-03 2.14199486e+01] [-4.99236399e-02 9.98752973e-01 -3.59022929e-04 -2.12935919e+00] [-4.67741127e-03 1.25662307e-04 9.99989053e-01 -1.44799268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.697552017999996 meters 0.017257361971968536 Centerline is valid? [True, True] Translation: X:21.45, Y:-2.13, Z:-0.15 [[ 9.98694347e-01 5.09064536e-02 4.25841777e-03 2.14525364e+01] [-5.09055150e-02 9.98703420e-01 -3.28589059e-04 -2.12848375e+00] [-4.26962369e-03 1.11383087e-04 9.99990879e-01 -1.45500351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.727552017999997 meters 0.01663553567859649 Centerline is valid? [True, True] Translation: X:21.48, Y:-2.13, Z:-0.15 [[ 9.98642935e-01 5.19434714e-02 3.76355581e-03 2.14848058e+01] [-5.19427427e-02 9.98650022e-01 -2.91198319e-04 -2.12839148e+00] [-3.77360095e-03 9.53137331e-05 9.99992875e-01 -1.45916941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.757552018 meters 0.016694707396935834 Centerline is valid? [True, True] Translation: X:21.52, Y:-2.13, Z:-0.15 [[ 9.98591827e-01 5.29389704e-02 3.43912408e-03 2.15155362e+01] [-5.29383647e-02 9.98597746e-01 -2.66962725e-04 -2.12891331e+00] [-3.44843429e-03 8.45251909e-05 9.99994051e-01 -1.46438130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.787552017999996 meters 0.016474190304061772 Centerline is valid? [True, True] Translation: X:21.55, Y:-2.13, Z:-0.15 [[ 9.98485440e-01 5.48931855e-02 3.68293295e-03 2.15468898e+01] [-5.48924991e-02 9.98492229e-01 -2.87293191e-04 -2.12669109e+00] [-3.69315036e-03 8.46926747e-05 9.99993177e-01 -1.47068335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.817552017999997 meters 0.015913641625757216 Centerline is valid? [True, True] Translation: X:21.58, Y:-2.13, Z:-0.15 [[ 9.98419174e-01 5.60864010e-02 3.66982753e-03 2.15788400e+01] [-5.60857268e-02 9.98425916e-01 -2.86446372e-04 -2.12609771e+00] [-3.68011666e-03 8.01686061e-05 9.99993225e-01 -1.46735219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.847552018 meters 0.015994333280146968 Centerline is valid? [True, True] Translation: X:21.61, Y:-2.13, Z:-0.15 [[ 9.98333817e-01 5.75474760e-02 4.22820357e-03 2.16097593e+01] [-5.75465866e-02 9.98342767e-01 -3.31812844e-04 -2.12628547e+00] [-4.24029144e-03 8.79412998e-05 9.99991006e-01 -1.46933378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.877552017999996 meters 0.01499838496812621 Centerline is valid? [True, True] Translation: X:21.64, Y:-2.12, Z:-0.15 [[ 9.98250369e-01 5.89685574e-02 4.34854555e-03 2.16422428e+01] [-5.89676285e-02 9.98259837e-01 -3.41637522e-04 -2.12404397e+00] [-4.36112424e-03 8.46163640e-05 9.99990487e-01 -1.46722759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.907552017999997 meters 0.014833045617724066 Centerline is valid? [True, True] Translation: X:21.67, Y:-2.12, Z:-0.15 [[ 9.98029083e-01 6.25950389e-02 4.45085258e-03 2.16735538e+01] [-6.25940957e-02 9.98039005e-01 -3.51014956e-04 -2.12183115e+00] [-4.46409627e-03 7.17260420e-05 9.99990033e-01 -1.47431871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.937552017999998 meters 0.01715192727217238 Centerline is valid? [True, True] Translation: X:21.71, Y:-2.12, Z:-0.15 [[ 9.97942311e-01 6.40254081e-02 3.44828663e-03 2.17059020e+01] [-6.40248492e-02 9.97948267e-01 -2.72337650e-04 -2.11991491e+00] [-3.45864820e-03 5.10012329e-05 9.99994018e-01 -1.50359434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.967552018 meters 0.013777904609869501 Centerline is valid? [True, True] Translation: X:21.74, Y:-2.12, Z:-0.15 [[ 9.97738881e-01 6.70430882e-02 4.72756881e-03 2.17376053e+01] [-6.70420617e-02 9.97750079e-01 -3.75435797e-04 -2.12119987e+00] [-4.74210253e-03 5.76409320e-05 9.99988755e-01 -1.47410041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.997552017999997 meters 0.012403137209088278 Centerline is valid? [True, True] Translation: X:21.77, Y:-2.11, Z:-0.15 [[ 9.97370690e-01 7.23502400e-02 4.14128145e-03 2.17702532e+01] [-7.23494943e-02 9.97379287e-01 -3.29784494e-04 -2.11481297e+00] [-4.15428832e-03 2.92977700e-05 9.99991370e-01 -1.48378612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.027552017999998 meters 0.012029843134285359 Centerline is valid? [True, True] Translation: X:21.80, Y:-2.11, Z:-0.15 [[ 9.97141578e-01 7.54474117e-02 4.04484944e-03 2.18026989e+01] [-7.54467216e-02 9.97149782e-01 -3.23152309e-04 -2.11306470e+00] [-4.05770174e-03 1.70579738e-05 9.99991767e-01 -1.49131215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.057552018 meters 0.011810083993472264 Centerline is valid? [True, True] Translation: X:21.84, Y:-2.11, Z:-0.15 [[ 9.96897718e-01 7.86228548e-02 3.65867433e-03 2.18356913e+01] [-7.86223089e-02 9.96904432e-01 -2.93011311e-04 -2.11224241e+00] [-3.67038604e-03 4.44888386e-06 9.99993264e-01 -1.49691957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.087552017999997 meters 0.011851609759856625 Centerline is valid? [True, True] Translation: X:21.87, Y:-2.11, Z:-0.15 [[ 9.96510396e-01 8.33734742e-02 3.98680170e-03 2.18677585e+01] [-8.33728579e-02 9.96518371e-01 -3.20832758e-04 -2.10922110e+00] [-3.99967008e-03 -1.26778733e-05 9.99992001e-01 -1.49876009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.117552017999998 meters 0.011991079172933369 Centerline is valid? [True, True] Translation: X:21.90, Y:-2.11, Z:-0.15 [[ 9.96341744e-01 8.53495276e-02 4.31122266e-03 2.19000733e+01] [-8.53488190e-02 9.96351072e-01 -3.48410150e-04 -2.10964317e+00] [-4.32522795e-03 -2.08221854e-05 9.99990646e-01 -1.50263894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.147552018 meters 0.01210072962487737 Centerline is valid? [True, True] Translation: X:21.93, Y:-2.11, Z:-0.15 [[ 9.96209149e-01 8.68699126e-02 4.57717814e-03 2.19322896e+01] [-8.68691211e-02 9.96219663e-01 -3.71824900e-04 -2.11160159e+00] [-4.59217526e-03 -2.72000749e-05 9.99989456e-01 -1.49541455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.177552017999997 meters 0.012256227731778016 Centerline is valid? [True, True] Translation: X:21.96, Y:-2.11, Z:-0.15 [[ 9.96094874e-01 8.81490058e-02 4.97541027e-03 2.19646979e+01] [-8.81480858e-02 9.96107299e-01 -4.04322591e-04 -2.11334965e+00] [-4.99168312e-03 -3.58292306e-05 9.99987541e-01 -1.49492236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.207552017999998 meters 0.012453270256585864 Centerline is valid? [True, True] Translation: X:22.00, Y:-2.11, Z:-0.15 [[ 9.95968171e-01 8.95430853e-02 5.42561872e-03 2.19971846e+01] [-8.95420019e-02 9.95982949e-01 -4.42757549e-04 -2.11380030e+00] [-5.44346961e-03 -4.48483350e-05 9.99985183e-01 -1.49168612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.237552018 meters 0.012410229323444301 Centerline is valid? [True, True] Translation: X:22.03, Y:-2.12, Z:-0.15 [[ 9.95928489e-01 8.99383208e-02 6.12732379e-03 2.20299451e+01] [-8.99369337e-02 9.95947336e-01 -5.02102742e-04 -2.11625232e+00] [-6.14765009e-03 -5.10142883e-05 9.99981102e-01 -1.49216981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.267552017999996 meters 0.012287775313389314 Centerline is valid? [True, True] Translation: X:22.06, Y:-2.12, Z:-0.15 [[ 9.95929412e-01 8.99090127e-02 6.40120043e-03 2.20630550e+01] [-8.99074845e-02 9.95949982e-01 -5.26680515e-04 -2.11907743e+00] [-6.42262878e-03 -5.09792130e-05 9.99979373e-01 -1.49404916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.297552017999998 meters 0.012241048192716514 Centerline is valid? [True, True] Translation: X:22.09, Y:-2.12, Z:-0.15 [[ 9.95972417e-01 8.94042046e-02 6.76995873e-03 2.20945417e+01] [-8.94024680e-02 9.95995425e-01 -5.59307683e-04 -2.12197582e+00] [-6.79285237e-03 -4.81959932e-05 9.99976927e-01 -1.49573698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.327552018 meters 0.011894604790051643 Centerline is valid? [True, True] Translation: X:22.13, Y:-2.13, Z:-0.15 [[ 9.96159011e-01 8.72681026e-02 7.17653324e-03 2.21262874e+01] [-8.72660796e-02 9.96184861e-01 -5.95147179e-04 -2.12705749e+00] [-7.20109113e-03 -3.34066956e-05 9.99974071e-01 -1.49982518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.357552017999996 meters 0.011819738579016406 Centerline is valid? [True, True] Translation: X:22.16, Y:-2.13, Z:-0.15 [[ 9.96279550e-01 8.58831885e-02 7.15092488e-03 2.21594000e+01] [-8.58811300e-02 9.96305213e-01 -5.95008774e-04 -2.13156081e+00] [-7.17560499e-03 -2.13344360e-05 9.99974255e-01 -1.50287007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.387552017999997 meters 0.01184575422064011 Centerline is valid? [True, True] Translation: X:22.19, Y:-2.14, Z:-0.15 [[ 9.96403707e-01 8.44552906e-02 6.85245184e-03 2.21908172e+01] [-8.44533522e-02 9.96427270e-01 -5.72260955e-04 -2.13585970e+00] [-6.87630034e-03 -8.50959167e-06 9.99976358e-01 -1.50981450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.417552018 meters 0.011919309878052755 Centerline is valid? [True, True] Translation: X:22.22, Y:-2.14, Z:-0.15 [[ 9.96750537e-01 8.02969255e-02 6.38525548e-03 2.22236632e+01] [-8.02951461e-02 9.96770988e-01 -5.34969632e-04 -2.14260302e+00] [-6.40759383e-03 2.05262468e-05 9.99979471e-01 -1.51727002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.447552017999996 meters 0.012263737668930503 Centerline is valid? [True, True] Translation: X:22.26, Y:-2.15, Z:-0.15 [[ 9.96923319e-01 7.81670979e-02 5.81381338e-03 2.22566784e+01] [-7.81655768e-02 9.96940271e-01 -4.88756010e-04 -2.14770272e+00] [-5.83422932e-03 3.28121877e-05 9.99982980e-01 -1.52800479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.477552017999997 meters 0.01296558749340195 Centerline is valid? [True, True] Translation: X:22.29, Y:-2.15, Z:-0.15 [[ 9.97121273e-01 7.56292063e-02 5.42123282e-03 2.22876379e+01] [-7.56278361e-02 9.97136009e-01 -4.57603649e-04 -2.15342856e+00] [-5.44031466e-03 4.62902259e-05 9.99985200e-01 -1.53412627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.507552018 meters 0.013438189044380202 Centerline is valid? [True, True] Translation: X:22.32, Y:-2.16, Z:-0.15 [[ 9.97309336e-01 7.31260844e-02 5.16374421e-03 2.23196847e+01] [-7.31248049e-02 9.97322702e-01 -4.36391293e-04 -2.15799115e+00] [-5.18183092e-03 5.76193223e-05 9.99986573e-01 -1.53700131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.537552017999996 meters 0.014284220942561042 Centerline is valid? [True, True] Translation: X:22.35, Y:-2.16, Z:-0.15 [[ 9.97677949e-01 6.79129258e-02 5.15214745e-03 2.23510749e+01] [-6.79115755e-02 9.97691248e-01 -4.36780944e-04 -2.16391896e+00] [-5.16991550e-03 8.58762654e-05 9.99986632e-01 -1.53683008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.567552017999997 meters 0.01750988400844954 Centerline is valid? [True, True] Translation: X:22.38, Y:-2.17, Z:-0.15 [[ 9.97824551e-01 6.57208512e-02 5.18995625e-03 2.23819898e+01] [-6.57194449e-02 9.97838043e-01 -4.41231819e-04 -2.17351974e+00] [-5.20773392e-03 9.91908975e-05 9.99986435e-01 -1.54036252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.597552018 meters 0.01594315066680911 Centerline is valid? [True, True] Translation: X:22.41, Y:-2.17, Z:-0.15 [[ 9.97973478e-01 6.34167420e-02 5.22057282e-03 2.24141984e+01] [-6.34152787e-02 9.97987126e-01 -4.45503791e-04 -2.17399644e+00] [-5.23831686e-03 1.13536887e-04 9.99986273e-01 -1.53629079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.627552017999996 meters 0.021050927117264542 Centerline is valid? [True, True] Translation: X:22.44, Y:-2.18, Z:-0.15 [[ 9.98097138e-01 6.14173046e-02 5.47885653e-03 2.24441701e+01] [-6.14156527e-02 9.98112167e-01 -4.69406738e-04 -2.18479792e+00] [-5.49734306e-03 1.32025972e-04 9.99984881e-01 -1.54204678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.657552017999997 meters 0.02366195186750763 Centerline is valid? [True, True] Translation: X:22.47, Y:-2.19, Z:-0.15 [[ 9.98307619e-01 5.78715231e-02 5.72573047e-03 2.24743725e+01] [-5.78696478e-02 9.98324026e-01 -4.92794881e-04 -2.19008638e+00] [-5.74465309e-03 1.60614879e-04 9.99983486e-01 -1.54615185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.687552017999998 meters 0.02490153395290654 Centerline is valid? [True, True] Translation: X:22.51, Y:-2.19, Z:-0.15 [[ 9.98372438e-01 5.67396478e-02 5.75218421e-03 2.25062285e+01] [-5.67377369e-02 9.98388994e-01 -4.94994699e-04 -2.19398023e+00] [-5.77100324e-03 1.67823150e-04 9.99983334e-01 -1.54624412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.717552018 meters 0.023897414192975593 Centerline is valid? [True, True] Translation: X:22.54, Y:-2.19, Z:-0.15 [[ 9.98489833e-01 5.44881083e-02 7.00703037e-03 2.25380528e+01] [-5.44851991e-02 9.98514395e-01 -6.05551890e-04 -2.19301018e+00] [-7.02961607e-03 2.22857961e-04 9.99975267e-01 -1.53400457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.747552017999997 meters 0.024582490869015566 Centerline is valid? [True, True] Translation: X:22.57, Y:-2.20, Z:-0.15 [[ 9.98508252e-01 5.40530175e-02 7.71639529e-03 2.25687868e+01] [-5.40494647e-02 9.98538036e-01 -6.68375686e-04 -2.19547692e+00] [-7.74124192e-03 2.50311604e-04 9.99970005e-01 -1.52699911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.777552017999998 meters 0.02511712570677449 Centerline is valid? [True, True] Translation: X:22.60, Y:-2.20, Z:-0.15 [[ 9.98524982e-01 5.36178545e-02 8.54315082e-03 2.26010388e+01] [-5.36134595e-02 9.98561488e-01 -7.42805756e-04 -2.19781686e+00] [-8.57068905e-03 2.83682234e-04 9.99963231e-01 -1.51822719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.807552018 meters 0.025562011681502007 Centerline is valid? [True, True] Translation: X:22.63, Y:-2.20, Z:-0.15 [[ 9.98530485e-01 5.34671271e-02 8.83952699e-03 2.26333944e+01] [-5.34623900e-02 9.98569566e-01 -7.71501556e-04 -2.19936141e+00] [-8.86813260e-03 2.97785583e-04 9.99960633e-01 -1.51376011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.837552017999997 meters 0.025860224443456526 Centerline is valid? [True, True] Translation: X:22.67, Y:-2.20, Z:-0.15 [[ 9.98521302e-01 5.36057669e-02 9.03503606e-03 2.26659257e+01] [-5.36007960e-02 9.98562130e-01 -7.91609124e-04 -2.20032682e+00] [-9.06447967e-03 3.06153448e-04 9.99958870e-01 -1.51389089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.867552017999998 meters 0.026880985426057116 Centerline is valid? [True, True] Translation: X:22.70, Y:-2.20, Z:-0.15 [[ 9.98499188e-01 5.38897081e-02 9.76064548e-03 2.26982833e+01] [-5.38838838e-02 9.98546839e-01 -8.58894915e-04 -2.19872590e+00] [-9.79274729e-03 3.31664389e-04 9.99951995e-01 -1.50844379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.897552018 meters 0.02525092032674967 Centerline is valid? [True, True] Translation: X:22.73, Y:-2.20, Z:-0.15 [[ 9.98456812e-01 5.46100296e-02 1.00865628e-02 2.27317250e+01] [-5.46038100e-02 9.98507701e-01 -8.91184644e-04 -2.19681530e+00] [-1.01201783e-02 3.39044620e-04 9.99948732e-01 -1.50995618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.927552017999997 meters 0.02552628679659368 Centerline is valid? [True, True] Translation: X:22.76, Y:-2.20, Z:-0.15 [[ 9.98411782e-01 5.54073630e-02 1.01950207e-02 2.27632766e+01] [-5.54010137e-02 9.98463775e-01 -9.04358211e-04 -2.19734533e+00] [-1.02294670e-02 3.38107409e-04 9.99947620e-01 -1.51054980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.957552017999998 meters 0.025301444139226397 Centerline is valid? [True, True] Translation: X:22.80, Y:-2.19, Z:-0.15 [[ 9.98314603e-01 5.72440596e-02 9.54314597e-03 2.27953501e+01] [-5.72385538e-02 9.98360169e-01 -8.49297725e-04 -2.19329948e+00] [-9.57611407e-03 3.01630447e-04 9.99954102e-01 -1.51992310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.987552018 meters 0.02441365411132423 Centerline is valid? [True, True] Translation: X:22.83, Y:-2.19, Z:-0.15 [[ 9.98236214e-01 5.86326537e-02 9.30979508e-03 2.28274591e+01] [-5.86274470e-02 9.98279586e-01 -8.31435703e-04 -2.19123973e+00] [-9.34252765e-03 2.84159711e-04 9.99956317e-01 -1.52507744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.017552017999996 meters 0.02288059330045588 Centerline is valid? [True, True] Translation: X:22.86, Y:-2.19, Z:-0.15 [[ 9.98133969e-01 6.03583241e-02 9.24402218e-03 2.28600520e+01] [-6.03532375e-02 9.98176738e-01 -8.28496832e-04 -2.18837756e+00] [-9.27717458e-03 2.69044166e-04 9.99956930e-01 -1.52969403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.047552017999998 meters 0.022649010773306135 Centerline is valid? [True, True] Translation: X:22.89, Y:-2.19, Z:-0.15 [[ 9.98034350e-01 6.20110281e-02 9.05919131e-03 2.28918756e+01] [-6.20061845e-02 9.98075433e-01 -8.14824607e-04 -2.18698892e+00] [-9.09228440e-03 2.51497058e-04 9.99958633e-01 -1.53173906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.077552018 meters 0.021546343432892027 Centerline is valid? [True, True] Translation: X:22.92, Y:-2.18, Z:-0.16 [[ 9.97859033e-01 6.49445504e-02 7.71721799e-03 2.29238880e+01] [-6.49411068e-02 9.97888855e-01 -6.96247803e-04 -2.17982945e+00] [-7.74614332e-03 1.93592483e-04 9.99969979e-01 -1.55025743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.107552017999996 meters 0.020861429233239397 Centerline is valid? [True, True] Translation: X:22.96, Y:-2.18, Z:-0.16 [[ 9.97773177e-01 6.63431012e-02 6.87612252e-03 2.29563194e+01] [-6.63403881e-02 9.97796856e-01 -6.22148099e-04 -2.17843683e+00] [-6.90224867e-03 1.64598048e-04 9.99976166e-01 -1.56131869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.137552017999997 meters 0.01994834791925568 Centerline is valid? [True, True] Translation: X:22.99, Y:-2.18, Z:-0.16 [[ 9.97692261e-01 6.75978952e-02 6.37785083e-03 2.29885100e+01] [-6.75955750e-02 9.97712636e-01 -5.78900903e-04 -2.17671435e+00] [-6.40239484e-03 1.46450457e-04 9.99979494e-01 -1.57172628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.167552018 meters 0.019194272600010914 Centerline is valid? [True, True] Translation: X:23.02, Y:-2.18, Z:-0.16 [[ 9.97605849e-01 6.88777177e-02 6.19916989e-03 2.30210543e+01] [-6.88755384e-02 9.97625101e-01 -5.64611554e-04 -2.17552985e+00] [-6.22333664e-03 1.36288625e-04 9.99980626e-01 -1.57565282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.197552017999996 meters 0.01921654796704649 Centerline is valid? [True, True] Translation: X:23.05, Y:-2.17, Z:-0.16 [[ 9.97505423e-01 7.03532227e-02 5.77547594e-03 2.30524403e+01] [-7.03513456e-02 9.97522135e-01 -5.27778477e-04 -2.17161214e+00] [-5.79829601e-03 1.20149388e-04 9.99983183e-01 -1.57931623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.227552017999997 meters 0.018364364815912873 Centerline is valid? [True, True] Translation: X:23.08, Y:-2.17, Z:-0.16 [[ 9.97416598e-01 7.15863746e-02 5.95990923e-03 2.30848296e+01] [-7.15843869e-02 9.97434397e-01 -5.46440085e-04 -2.16976560e+00] [-5.98373614e-03 1.18391963e-04 9.99982090e-01 -1.58380976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.257552018 meters 0.018089817496840483 Centerline is valid? [True, True] Translation: X:23.12, Y:-2.17, Z:-0.16 [[ 9.97338002e-01 7.26599559e-02 6.11889875e-03 2.31162678e+01] [-7.26578675e-02 9.97356765e-01 -5.63196208e-04 -2.16882440e+00] [-6.14364687e-03 1.17110846e-04 9.99981121e-01 -1.58183333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.287552017999996 meters 0.017278817825535517 Centerline is valid? [True, True] Translation: X:23.15, Y:-2.17, Z:-0.16 [[ 9.97228547e-01 7.41524403e-02 6.05312920e-03 2.31490717e+01] [-7.41504183e-02 9.97246912e-01 -5.58095453e-04 -2.16686412e+00] [-6.07784854e-03 1.07706656e-04 9.99981524e-01 -1.58206207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.317552017999997 meters 0.01558154865205846 Centerline is valid? [True, True] Translation: X:23.18, Y:-2.16, Z:-0.16 [[ 9.96892592e-01 7.85105223e-02 6.42321109e-03 2.31809603e+01] [-7.85083213e-02 9.96913281e-01 -5.94471636e-04 -2.16016011e+00] [-6.45005672e-03 8.83488501e-05 9.99979194e-01 -1.58063884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.347552018 meters 0.014854520640194989 Centerline is valid? [True, True] Translation: X:23.21, Y:-2.16, Z:-0.16 [[ 9.96676644e-01 8.11836464e-02 6.69943428e-03 2.32127863e+01] [-8.11812983e-02 9.96699157e-01 -6.22140638e-04 -2.15864927e+00] [-6.72782815e-03 7.62042710e-05 9.99977365e-01 -1.57937450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.377552017999996 meters 0.013897215681501313 Centerline is valid? [True, True] Translation: X:23.24, Y:-2.16, Z:-0.16 [[ 9.96418656e-01 8.43166436e-02 6.36906730e-03 2.32445053e+01] [-8.43145739e-02 9.96439010e-01 -5.93252122e-04 -2.15684814e+00] [-6.39640815e-03 5.41222867e-05 9.99979541e-01 -1.57864246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.407552017999997 meters 0.012460640779410176 Centerline is valid? [True, True] Translation: X:23.28, Y:-2.15, Z:-0.16 [[ 9.95912759e-01 8.99703228e-02 7.94458909e-03 2.32777986e+01] [-8.99672595e-02 9.95944446e-01 -7.42843240e-04 -2.14929881e+00] [-7.97920323e-03 2.50541532e-05 9.99968165e-01 -1.56395961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.437552017999998 meters 0.012290737465176794 Centerline is valid? [True, True] Translation: X:23.31, Y:-2.15, Z:-0.16 [[ 9.95638965e-01 9.29162137e-02 8.34432360e-03 2.33110592e+01] [-9.29129141e-02 9.95673931e-01 -7.83062230e-04 -2.14767708e+00] [-8.38098466e-03 4.35184704e-06 9.99964879e-01 -1.56024613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.467552018 meters 0.012339413836394142 Centerline is valid? [True, True] Translation: X:23.34, Y:-2.15, Z:-0.16 [[ 9.95406906e-01 9.53376627e-02 8.70751300e-03 2.33442147e+01] [-9.53341334e-02 9.95444991e-01 -8.20444583e-04 -2.14658501e+00] [-8.74606947e-03 -1.34470017e-05 9.99961752e-01 -1.55721100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.497552017999997 meters 0.016369116369954365 Centerline is valid? [True, True] Translation: X:23.38, Y:-2.15, Z:-0.16 [[ 9.95219155e-01 9.74011757e-02 7.20034820e-03 2.33772088e+01] [-9.73988005e-02 9.95245201e-01 -6.80630502e-04 -2.14634758e+00] [-7.23240620e-03 -2.39287654e-05 9.99973846e-01 -1.59840404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.527552017999998 meters 0.016369116369954365 Centerline is valid? [True, True] Translation: X:23.41, Y:-2.15, Z:-0.16 [[ 9.95183076e-01 9.77691335e-02 7.20009550e-03 2.34095316e+01] [-9.77667487e-02 9.95209122e-01 -6.83293380e-04 -2.14963685e+00] [-7.23240572e-03 -2.39279199e-05 9.99973846e-01 -1.60070111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.557552018 meters 0.012886995196413797 Centerline is valid? [True, True] Translation: X:23.44, Y:-2.15, Z:-0.16 [[ 9.94879597e-01 1.00781249e-01 7.59789811e-03 2.34415857e+01] [-1.00778659e-01 9.94908608e-01 -7.24009538e-04 -2.14863525e+00] [-7.63218082e-03 -4.54036623e-05 9.99970873e-01 -1.57596527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.587552017999997 meters 0.012846684457498701 Centerline is valid? [True, True] Translation: X:23.47, Y:-2.15, Z:-0.16 [[ 9.94824284e-01 1.01359358e-01 7.13614846e-03 2.34748284e+01] [-1.01357071e-01 9.94849877e-01 -6.82334889e-04 -2.15144724e+00] [-7.16855744e-03 -4.44957870e-05 9.99974305e-01 -1.58893979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.617552017999998 meters 0.012693299544571162 Centerline is valid? [True, True] Translation: X:23.51, Y:-2.15, Z:-0.16 [[ 9.94829796e-01 1.01372612e-01 6.10489687e-03 2.35073430e+01] [-1.01370927e-01 9.94848527e-01 -5.85584899e-04 -2.15469287e+00] [-6.13280993e-03 -3.63017470e-05 9.99981193e-01 -1.60357509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.647552018 meters 0.012408534549597174 Centerline is valid? [True, True] Translation: X:23.54, Y:-2.16, Z:-0.16 [[ 9.95047005e-01 9.92313334e-02 5.88219892e-03 2.35401870e+01] [-9.92297196e-02 9.95064391e-01 -5.66280798e-04 -2.15991025e+00] [-5.90935948e-03 -2.02129375e-05 9.99982539e-01 -1.61670909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.677552017999997 meters 0.01214523965389398 Centerline is valid? [True, True] Translation: X:23.57, Y:-2.17, Z:-0.16 [[ 9.95192018e-01 9.77738216e-02 5.75570188e-03 2.35729047e+01] [-9.77722405e-02 9.95208661e-01 -5.56117904e-04 -2.16512441e+00] [-5.78249814e-03 -9.30376989e-06 9.99983281e-01 -1.62073890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.707552017999998 meters 0.012126415842837553 Centerline is valid? [True, True] Translation: X:23.60, Y:-2.17, Z:-0.16 [[ 9.95364808e-01 9.60088729e-02 5.58521081e-03 2.36040434e+01] [-9.60073452e-02 9.95380478e-01 -5.41619803e-04 -2.17074542e+00] [-5.61141012e-03 2.88802869e-06 9.99984256e-01 -1.62521304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.737552018 meters 0.012391639858249807 Centerline is valid? [True, True] Translation: X:23.64, Y:-2.18, Z:-0.16 [[ 9.95552426e-01 9.40268471e-02 5.85833095e-03 2.36359408e+01] [-9.40251198e-02 9.95569662e-01 -5.70193477e-04 -2.17703531e+00] [-5.88599005e-03 1.68272301e-05 9.99982677e-01 -1.62803809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.767552017999996 meters 0.012846455641015064 Centerline is valid? [True, True] Translation: X:23.67, Y:-2.18, Z:-0.16 [[ 9.95740064e-01 9.20150134e-02 5.91295495e-03 2.36681760e+01] [-9.20132066e-02 9.95757619e-01 -5.77467686e-04 -2.18382531e+00] [-5.94100564e-03 3.09377646e-05 9.99982352e-01 -1.62433268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.797552017999998 meters 0.01466945384111418 Centerline is valid? [True, True] Translation: X:23.70, Y:-2.19, Z:-0.16 [[ 9.96176784e-01 8.71584800e-02 5.93414205e-03 2.36981367e+01] [-8.71565612e-02 9.96194457e-01 -5.81691181e-04 -2.19437474e+00] [-5.96225873e-03 6.22678357e-05 9.99982224e-01 -1.63041813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.827552018 meters 0.01605949237496663 Centerline is valid? [True, True] Translation: X:23.73, Y:-2.20, Z:-0.16 [[ 9.96376709e-01 8.48864901e-02 5.26655794e-03 2.37295942e+01] [-8.48849405e-02 9.96390626e-01 -5.17473244e-04 -2.20131171e+00] [-5.29147545e-03 6.85468310e-05 9.99985998e-01 -1.64055160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.857552017999996 meters 0.01743958299590913 Centerline is valid? [True, True] Translation: X:23.76, Y:-2.21, Z:-0.16 [[ 9.96587534e-01 8.23889659e-02 5.03447764e-03 2.37606706e+01] [-8.23875107e-02 9.96600247e-01 -4.96125157e-04 -2.20822528e+00] [-5.05823690e-03 7.96540662e-05 9.99987204e-01 -1.64832622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.887552017999997 meters 0.021290937453668037 Centerline is valid? [True, True] Translation: X:23.79, Y:-2.21, Z:-0.17 [[ 9.96811964e-01 7.97390660e-02 2.75512710e-03 2.37925982e+01] [-7.97386208e-02 9.96815770e-01 -2.71233648e-04 -2.21382565e+00] [-2.76798206e-03 5.06789106e-05 9.99996168e-01 -1.69264566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.917552018 meters 0.02025883960761762 Centerline is valid? [True, True] Translation: X:23.82, Y:-2.22, Z:-0.17 [[ 9.97152495e-01 7.53246938e-02 3.61826381e-03 2.38241332e+01] [-7.53238902e-02 9.97159056e-01 -3.58035539e-04 -2.22309198e+00] [-3.63495344e-03 8.44743256e-05 9.99993390e-01 -1.66342424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.947552017999996 meters 0.023940781619195942 Centerline is valid? [True, True] Translation: X:23.85, Y:-2.23, Z:-0.17 [[ 9.97311255e-01 7.32033995e-02 3.39443157e-03 2.38548827e+01] [-7.32026750e-02 9.97317028e-01 -3.37347399e-04 -2.23233866e+00] [-3.41001939e-03 8.79588866e-05 9.99994182e-01 -1.66851456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.977552017999997 meters 0.022753803404883272 Centerline is valid? [True, True] Translation: X:23.89, Y:-2.23, Z:-0.17 [[ 9.97442122e-01 7.13877061e-02 3.60663411e-03 2.38872883e+01] [-7.13868757e-02 9.97448638e-01 -3.58619893e-04 -2.23453265e+00] [-3.62303333e-03 1.00236246e-04 9.99993432e-01 -1.65939275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.007552018 meters 0.02426388603565579 Centerline is valid? [True, True] Translation: X:23.92, Y:-2.24, Z:-0.17 [[ 9.97691106e-01 6.78085772e-02 3.80194531e-03 2.39186935e+01] [-6.78076230e-02 9.97698342e-01 -3.79455350e-04 -2.24016275e+00] [-3.81892486e-03 1.20778353e-04 9.99992701e-01 -1.65389501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.037552017999996 meters 0.02515079041507346 Centerline is valid? [True, True] Translation: X:23.95, Y:-2.24, Z:-0.17 [[ 9.97786303e-01 6.63605295e-02 4.33287088e-03 2.39501708e+01] [-6.63592698e-02 9.97795700e-01 -4.34018011e-04 -2.24476533e+00] [-4.35212160e-03 1.45531079e-04 9.99990519e-01 -1.65224762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.067552017999997 meters 0.026218907975239483 Centerline is valid? [True, True] Translation: X:23.98, Y:-2.25, Z:-0.17 [[ 9.97885376e-01 6.48443607e-02 4.47055415e-03 2.39821455e+01] [-6.48429974e-02 9.97895377e-01 -4.49368365e-04 -2.24934280e+00] [-4.49028432e-03 1.58533989e-04 9.99989906e-01 -1.65176244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.097552018 meters 0.02862822847431146 Centerline is valid? [True, True] Translation: X:24.01, Y:-2.25, Z:-0.16 [[ 9.98051253e-01 6.21501333e-02 5.57285936e-03 2.40125850e+01] [-6.21479591e-02 9.98066789e-01 -5.62640700e-04 -2.25493971e+00] [-5.59705404e-03 2.15202420e-04 9.99984313e-01 -1.64354307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.127552017999996 meters 0.02884889911225438 Centerline is valid? [True, True] Translation: X:24.04, Y:-2.26, Z:-0.16 [[ 9.98115329e-01 6.11036295e-02 5.66882942e-03 2.40442326e+01] [-6.11013530e-02 9.98131402e-01 -5.74070771e-04 -2.25754393e+00] [-5.69331446e-03 2.26615689e-04 9.99983767e-01 -1.64603861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.157552017999997 meters 0.030588365557919397 Centerline is valid? [True, True] Translation: X:24.07, Y:-2.26, Z:-0.17 [[ 9.98190487e-01 5.98792588e-02 5.49779930e-03 2.40746751e+01] [-5.98770889e-02 9.98205601e-01 -5.58590256e-04 -2.26153285e+00] [-5.52138202e-03 2.28387263e-04 9.99984731e-01 -1.65099925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.187552017999998 meters 0.030085471265025428 Centerline is valid? [True, True] Translation: X:24.11, Y:-2.26, Z:-0.17 [[ 9.98260740e-01 5.87463479e-02 4.93576656e-03 2.41070115e+01] [-5.87445805e-02 9.98272920e-01 -5.02409678e-04 -2.26263779e+00] [-4.95675683e-03 2.11586320e-04 9.99987693e-01 -1.65812286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.217552018 meters 0.03304888709529074 Centerline is valid? [True, True] Translation: X:24.14, Y:-2.27, Z:-0.17 [[ 9.98320109e-01 5.77086186e-02 5.16475330e-03 2.41380534e+01] [-5.77066599e-02 9.98333443e-01 -5.27591703e-04 -2.26820241e+00] [-5.18659253e-03 2.28664745e-04 9.99986523e-01 -1.66401101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.247552017999997 meters 0.03607371459705282 Centerline is valid? [True, True] Translation: X:24.17, Y:-2.27, Z:-0.17 [[ 9.98486486e-01 5.47804776e-02 4.88234531e-03 2.41688137e+01] [-5.47786854e-02 9.98498395e-01 -5.00146852e-04 -2.27167202e+00] [-4.90241224e-03 2.31941414e-04 9.99987956e-01 -1.66976540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.277552017999998 meters 0.03756652553992324 Centerline is valid? [True, True] Translation: X:24.20, Y:-2.27, Z:-0.17 [[ 9.98564845e-01 5.33160649e-02 5.06426090e-03 2.42010919e+01] [-5.33141102e-02 9.98577656e-01 -5.20294689e-04 -2.27480942e+00] [-5.08479784e-03 2.49551422e-04 9.99987041e-01 -1.67236620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.307552018 meters 0.03869585195872408 Centerline is valid? [True, True] Translation: X:24.23, Y:-2.28, Z:-0.17 [[ 9.98631854e-01 5.20601122e-02 4.91573601e-03 2.42335102e+01] [-5.20582481e-02 9.98643922e-01 -5.06490214e-04 -2.27681465e+00] [-4.93543783e-03 2.49892657e-04 9.99987789e-01 -1.67524740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.337552017999997 meters 0.038353098438593705 Centerline is valid? [True, True] Translation: X:24.27, Y:-2.27, Z:-0.17 [[ 9.98725151e-01 5.02637706e-02 4.65040671e-03 2.42657396e+01] [-5.02620767e-02 9.98735947e-01 -4.80496990e-04 -2.27293483e+00] [-4.66867994e-03 2.46145330e-04 9.99989071e-01 -1.67490138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.367552017999998 meters 0.03888634608403971 Centerline is valid? [True, True] Translation: X:24.30, Y:-2.27, Z:-0.17 [[ 9.98761153e-01 4.95042141e-02 5.04897803e-03 2.42978050e+01] [-4.95021995e-02 9.98773878e-01 -5.23294137e-04 -2.27345137e+00] [-5.06869263e-03 2.72710338e-04 9.99987117e-01 -1.67561177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.397552018 meters 0.03976272013989187 Centerline is valid? [True, True] Translation: X:24.33, Y:-2.27, Z:-0.17 [[ 9.98808512e-01 4.85237171e-02 5.19667794e-03 2.43303945e+01] [-4.85215607e-02 9.98821989e-01 -5.40304784e-04 -2.27433496e+00] [-5.21677379e-03 2.87510093e-04 9.99986351e-01 -1.67943695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.427552017999997 meters 0.03953863725804061 Centerline is valid? [True, True] Translation: X:24.36, Y:-2.27, Z:-0.17 [[ 9.98919355e-01 4.63073189e-02 3.96909683e-03 2.43633887e+01] [-4.63060379e-02 9.98927214e-01 -4.14075763e-04 -2.26920127e+00] [-3.98401358e-03 2.29835146e-04 9.99992037e-01 -1.69652268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.457552017999998 meters 0.042509638659719115 Centerline is valid? [True, True] Translation: X:24.39, Y:-2.27, Z:-0.17 [[ 9.98955175e-01 4.55960114e-02 3.09224122e-03 2.43944250e+01] [-4.55952326e-02 9.98959945e-01 -3.21939139e-04 -2.27171134e+00] [-3.10370426e-03 1.80611311e-04 9.99995167e-01 -1.71243436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.487552018 meters 0.041056937913048056 Centerline is valid? [True, True] Translation: X:24.43, Y:-2.27, Z:-0.17 [[ 9.98971282e-01 4.52946019e-02 2.18538709e-03 2.44272152e+01] [-4.52942123e-02 9.98973665e-01 -2.27451127e-04 -2.26893278e+00] [-2.19344646e-03 1.28231757e-04 9.99997586e-01 -1.71825836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.517552017999996 meters 0.041790714371644756 Centerline is valid? [True, True] Translation: X:24.46, Y:-2.27, Z:-0.17 [[ 9.98975040e-01 4.52367712e-02 1.58252949e-03 2.44597710e+01] [-4.52365670e-02 9.98976289e-01 -1.64609579e-04 -2.26858003e+00] [-1.58835585e-03 9.28526590e-05 9.99998734e-01 -1.72872557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.547552017999998 meters 0.04347075610645622 Centerline is valid? [True, True] Translation: X:24.49, Y:-2.26, Z:-0.17 [[ 9.98935946e-01 4.61035796e-02 1.19788196e-03 2.44913187e+01] [-4.61034632e-02 9.98936662e-01 -1.24590265e-04 -2.26409647e+00] [-1.20235226e-03 6.92311874e-05 9.99999275e-01 -1.73282507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.577552018 meters 0.041970661151802556 Centerline is valid? [True, True] Translation: X:24.52, Y:-2.26, Z:-0.17 [[ 9.98893600e-01 4.69882546e-02 1.91816902e-03 2.45237742e+01] [-4.69879546e-02 9.98895436e-01 -2.01178698e-04 -2.26051359e+00] [-1.92550332e-03 1.10825275e-04 9.99998140e-01 -1.72927255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.607552017999996 meters 0.040468620920642226 Centerline is valid? [True, True] Translation: X:24.56, Y:-2.26, Z:-0.17 [[ 9.98824942e-01 4.83814325e-02 2.82357853e-03 2.45569373e+01] [-4.83807802e-02 9.98828920e-01 -2.98892789e-04 -2.25724252e+00] [-2.83473275e-03 1.61934640e-04 9.99995969e-01 -1.72278516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.637552017999997 meters 0.04214607277329556 Centerline is valid? [True, True] Translation: X:24.59, Y:-2.25, Z:-0.17 [[ 9.98658762e-01 5.15958414e-02 4.30647817e-03 2.45879974e+01] [-5.15943490e-02 9.98668020e-01 -4.57013091e-04 -2.25254766e+00] [-4.32432200e-03 2.34210190e-04 9.99990623e-01 -1.71612566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.667552018 meters 0.03777654225956111 Centerline is valid? [True, True] Translation: X:24.62, Y:-2.25, Z:-0.17 [[ 9.98541078e-01 5.38124022e-02 4.46551752e-03 2.46211559e+01] [-5.38108225e-02 9.98551036e-01 -4.73257570e-04 -2.24522524e+00] [-4.48451427e-03 2.32273954e-04 9.99989918e-01 -1.71613272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.697552017999996 meters 0.03717311526145345 Centerline is valid? [True, True] Translation: X:24.65, Y:-2.24, Z:-0.17 [[ 9.98409249e-01 5.61610063e-02 4.99128320e-03 2.46523985e+01] [-5.61590526e-02 9.98421694e-01 -5.30845143e-04 -2.24260669e+00] [-5.01321823e-03 2.49694965e-04 9.99987403e-01 -1.72016677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.727552017999997 meters 0.03409014916315123 Centerline is valid? [True, True] Translation: X:24.68, Y:-2.24, Z:-0.17 [[ 9.98253305e-01 5.88732695e-02 4.92726199e-03 2.46845000e+01] [-5.88713891e-02 9.98265437e-01 -5.25930092e-04 -2.23698215e+00] [-4.94967857e-03 2.34936695e-04 9.99987723e-01 -1.72374823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.757552018 meters 0.030932306191186986 Centerline is valid? [True, True] Translation: X:24.72, Y:-2.23, Z:-0.17 [[ 9.97906552e-01 6.44508192e-02 5.34838531e-03 2.47166114e+01] [-6.44486819e-02 9.97920859e-01 -5.71188731e-04 -2.22646394e+00] [-5.37407885e-03 2.25296593e-04 9.99985534e-01 -1.73015830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.787552017999996 meters 0.029549450115362162 Centerline is valid? [True, True] Translation: X:24.75, Y:-2.22, Z:-0.17 [[ 9.97702055e-01 6.75196632e-02 5.63061067e-03 2.47488642e+01] [-6.75173428e-02 9.97717919e-01 -6.01401513e-04 -2.22331405e+00] [-5.65836759e-03 2.19855655e-04 9.99983967e-01 -1.73308293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.817552017999997 meters 0.028066665191146357 Centerline is valid? [True, True] Translation: X:24.78, Y:-2.22, Z:-0.17 [[ 9.97486550e-01 7.05977306e-02 6.04501670e-03 2.47812963e+01] [-7.05951098e-02 9.97504844e-01 -6.46104714e-04 -2.22057822e+00] [-6.07554696e-03 2.17732145e-04 9.99981520e-01 -1.73310793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.847552018 meters 0.025073773264299385 Centerline is valid? [True, True] Translation: X:24.81, Y:-2.21, Z:-0.17 [[ 9.97050642e-01 7.64642040e-02 6.57593971e-03 2.48134405e+01] [-7.64612266e-02 9.97072307e-01 -7.03350711e-04 -2.21061647e+00] [-6.61046853e-03 1.98471862e-04 9.99978131e-01 -1.73270247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.877552017999996 meters 0.02279975799645032 Centerline is valid? [True, True] Translation: X:24.84, Y:-2.21, Z:-0.17 [[ 9.96792830e-01 7.97314719e-02 6.85170841e-03 2.48445462e+01] [-7.97283156e-02 9.96816361e-01 -7.33008345e-04 -2.20639657e+00] [-6.88833888e-03 1.84382293e-04 9.99976258e-01 -1.73437291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.907552017999997 meters 0.02231343179379445 Centerline is valid? [True, True] Translation: X:24.87, Y:-2.20, Z:-0.17 [[ 9.96541446e-01 8.28217056e-02 6.76095487e-03 2.48744916e+01] [-8.28187035e-02 9.96564368e-01 -7.23288251e-04 -2.20430274e+00] [-6.79763068e-03 1.60853203e-04 9.99976883e-01 -1.74313204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.937552017999998 meters 0.020304289109436418 Centerline is valid? [True, True] Translation: X:24.90, Y:-2.20, Z:-0.18 [[ 9.96257274e-01 8.61877862e-02 6.56579650e-03 2.49048490e+01] [-8.61850259e-02 9.96278900e-01 -7.02718983e-04 -2.20067648e+00] [-6.60193032e-03 1.34215557e-04 9.99978198e-01 -1.75018881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.967552018 meters 0.01787254127278738 Centerline is valid? [True, True] Translation: X:24.94, Y:-2.19, Z:-0.18 [[ 9.95785057e-01 9.15530128e-02 5.49232355e-03 2.49351628e+01] [-9.15511639e-02 9.95800200e-01 -5.87636139e-04 -2.19359140e+00] [-5.52305675e-03 8.23306724e-05 9.99984744e-01 -1.77703472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.997552017999997 meters 0.017102445498665877 Centerline is valid? [True, True] Translation: X:24.96, Y:-2.19, Z:-0.18 [[ 9.95566727e-01 9.39103860e-02 5.26599648e-03 2.49642177e+01] [-9.39087201e-02 9.95580652e-01 -5.63280355e-04 -2.19177151e+00] [-5.29562209e-03 6.62601898e-05 9.99985976e-01 -1.78920023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.027552017999998 meters 0.01620345443206408 Centerline is valid? [True, True] Translation: X:24.99, Y:-2.19, Z:-0.18 [[ 9.95353846e-01 9.61614528e-02 4.86792886e-03 2.49919702e+01] [-9.61600579e-02 9.95365748e-01 -5.20346832e-04 -2.19072308e+00] [-4.89540696e-03 4.98288995e-05 9.99988016e-01 -1.79686334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.057552018 meters 0.016232236503807722 Centerline is valid? [True, True] Translation: X:25.02, Y:-2.19, Z:-0.18 [[ 9.95156340e-01 9.82060714e-02 4.40755012e-03 2.50201963e+01] [-9.82049497e-02 9.95166100e-01 -4.70704509e-04 -2.19084914e+00] [-4.43247050e-03 3.55813387e-05 9.99990176e-01 -1.80841368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.087552017999997 meters 0.015642412593569945 Centerline is valid? [True, True] Translation: X:25.05, Y:-2.19, Z:-0.18 [[ 9.94816848e-01 1.01579549e-01 4.58620768e-03 2.50491750e+01] [-1.01578374e-01 9.94827420e-01 -4.89175211e-04 -2.18834169e+00] [-4.61217535e-03 2.07802240e-05 9.99989364e-01 -1.80952058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.117552017999998 meters 0.01547470861262674 Centerline is valid? [True, True] Translation: X:25.08, Y:-2.19, Z:-0.18 [[ 9.94665959e-01 1.03014187e-01 5.26368537e-03 2.50782933e+01] [-1.03012662e-01 9.94679887e-01 -5.60868060e-04 -2.18956141e+00] [-5.29345933e-03 1.56501277e-05 9.99985989e-01 -1.80629351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.147552018 meters 0.015057397860919988 Centerline is valid? [True, True] Translation: X:25.11, Y:-2.19, Z:-0.18 [[ 9.94399439e-01 1.05519595e-01 5.94738535e-03 2.51064119e+01] [-1.05517696e-01 9.94417224e-01 -6.33125388e-04 -2.19002834e+00] [-5.98098957e-03 2.02513240e-06 9.99982114e-01 -1.79310106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.177552017999997 meters 0.015114468001801043 Centerline is valid? [True, True] Translation: X:25.14, Y:-2.19, Z:-0.18 [[ 9.94274228e-01 1.06623766e-01 7.08045967e-03 2.51355436e+01] [-1.06621109e-01 9.94299438e-01 -7.52809405e-04 -2.19220493e+00] [-7.12036444e-03 -6.42747246e-06 9.99974650e-01 -1.78775250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.207552017999998 meters 0.0149228507882936 Centerline is valid? [True, True] Translation: X:25.16, Y:-2.20, Z:-0.18 [[ 9.94159772e-01 1.07667258e-01 7.35593333e-03 2.51642333e+01] [-1.07664423e-01 9.94186985e-01 -7.81427592e-04 -2.19509195e+00] [-7.39730734e-03 -1.51084422e-05 9.99972639e-01 -1.78013913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.237552018 meters 0.015156734790974713 Centerline is valid? [True, True] Translation: X:25.19, Y:-2.20, Z:-0.18 [[ 9.94110460e-01 1.08057932e-01 8.23878395e-03 2.51919077e+01] [-1.08054396e-01 9.94144599e-01 -8.74394537e-04 -2.19851532e+00] [-8.28502782e-03 -2.09920669e-05 9.99965678e-01 -1.77430429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.267552017999996 meters 0.015078815119164377 Centerline is valid? [True, True] Translation: X:25.22, Y:-2.20, Z:-0.18 [[ 9.94093123e-01 1.08172614e-01 8.80617901e-03 2.52205593e+01] [-1.08168588e-01 9.94132126e-01 -9.33642698e-04 -2.20253830e+00] [-8.85550004e-03 -2.44241637e-05 9.99960789e-01 -1.76558827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.297552017999998 meters 0.014865396575269042 Centerline is valid? [True, True] Translation: X:25.25, Y:-2.21, Z:-0.18 [[ 9.94165057e-01 1.07372271e-01 1.03457417e-02 2.52480505e+01] [-1.07366682e-01 9.94218887e-01 -1.09580229e-03 -2.20875271e+00] [-1.04035906e-02 -2.13796070e-05 9.99945881e-01 -1.75147987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.327552018 meters 0.014589214659997483 Centerline is valid? [True, True] Translation: X:25.28, Y:-2.21, Z:-0.17 [[ 9.94253103e-01 1.06539322e-01 1.04947562e-02 2.52765902e+01] [-1.06533535e-01 9.94308490e-01 -1.11052706e-03 -2.21413208e+00] [-1.05533400e-02 -1.38985007e-05 9.99944312e-01 -1.74818018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.357552017999996 meters 0.014661099029436478 Centerline is valid? [True, True] Translation: X:25.30, Y:-2.22, Z:-0.17 [[ 9.94362242e-01 1.05424985e-01 1.13711587e-02 2.53036396e+01] [-1.05418131e-01 9.94427259e-01 -1.20216094e-03 -2.21973420e+00] [-1.14345280e-02 -3.34285586e-06 9.99934624e-01 -1.74566740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.387552017999997 meters 0.01430658174492675 Centerline is valid? [True, True] Translation: X:25.33, Y:-2.23, Z:-0.18 [[ 9.94653313e-01 1.02699273e-01 1.08465260e-02 2.53318407e+01] [-1.02692885e-01 9.94712450e-01 -1.14575559e-03 -2.22959445e+00] [-1.09068427e-02 2.57685574e-05 9.99940518e-01 -1.75303864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.417552018 meters 0.014409267065684834 Centerline is valid? [True, True] Translation: X:25.36, Y:-2.24, Z:-0.18 [[ 9.94768343e-01 1.01685048e-01 9.80281374e-03 2.53605009e+01] [-1.01679786e-01 9.94816641e-01 -1.03499695e-03 -2.23637403e+00] [-9.85724596e-03 3.28342035e-05 9.99951416e-01 -1.76834271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.447552017999996 meters 0.014409267065684834 Centerline is valid? [True, True] Translation: X:25.39, Y:-2.24, Z:-0.18 [[ 9.94772466e-01 1.01644700e-01 9.80285565e-03 2.53895077e+01] [-1.01639440e-01 9.94820765e-01 -1.03459995e-03 -2.23938407e+00] [-9.85724595e-03 3.28347831e-05 9.99951416e-01 -1.77040287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.477552017999997 meters 0.014426135179671335 Centerline is valid? [True, True] Translation: X:25.42, Y:-2.25, Z:-0.18 [[ 9.94898779e-01 1.00452675e-01 9.25636315e-03 2.54187319e+01] [-1.00447937e-01 9.94941837e-01 -9.76559327e-04 -2.24668876e+00] [-9.30764095e-03 4.17950985e-05 9.99956682e-01 -1.77807120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.507552018 meters 0.015078408780394544 Centerline is valid? [True, True] Translation: X:25.45, Y:-2.26, Z:-0.18 [[ 9.95151868e-01 9.79922308e-02 8.38346801e-03 2.54468072e+01] [-9.79882596e-02 9.95187178e-01 -8.84124129e-04 -2.25795758e+00] [-8.42975716e-03 5.83563387e-05 9.99964467e-01 -1.79555996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.537552017999996 meters 0.015520878012556829 Centerline is valid? [True, True] Translation: X:25.48, Y:-2.26, Z:-0.18 [[ 9.95250807e-01 9.70398816e-02 7.68722116e-03 2.54750153e+01] [-9.70365177e-02 9.95280492e-01 -8.10264938e-04 -2.26439590e+00] [-7.72956927e-03 6.04756615e-05 9.99970125e-01 -1.80571706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.567552017999997 meters 0.01904194014218337 Centerline is valid? [True, True] Translation: X:25.50, Y:-2.27, Z:-0.18 [[ 9.95321655e-01 9.64429847e-02 5.79264013e-03 2.55041741e+01] [-9.64410660e-02 9.95338509e-01 -6.10300300e-04 -2.27078464e+00] [-5.82449698e-03 4.87967148e-05 9.99983036e-01 -1.83329772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.597552018 meters 0.015954139641421415 Centerline is valid? [True, True] Translation: X:25.53, Y:-2.28, Z:-0.18 [[ 9.95443519e-01 9.50917534e-02 7.05406965e-03 2.55337896e+01] [-9.50888765e-02 9.95468510e-01 -7.42860229e-04 -2.27752944e+00] [-7.09274409e-03 6.87118422e-05 9.99974844e-01 -1.81772123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.627552017999996 meters 0.016320887435470482 Centerline is valid? [True, True] Translation: X:25.56, Y:-2.28, Z:-0.18 [[ 9.95532439e-01 9.41906749e-02 6.57878600e-03 2.55633484e+01] [-9.41881546e-02 9.95554173e-01 -6.92566488e-04 -2.28461942e+00] [-6.61477116e-03 6.98286917e-05 9.99978120e-01 -1.82772002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.657552017999997 meters 0.01730939851261211 Centerline is valid? [True, True] Translation: X:25.59, Y:-2.30, Z:-0.18 [[ 9.95728363e-01 9.21310456e-02 6.07435927e-03 2.55922351e+01] [-9.21288601e-02 9.95746888e-01 -6.39227342e-04 -2.29573907e+00] [-6.10741702e-03 7.68729997e-05 9.99981347e-01 -1.83236196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.687552017999998 meters 0.018152561869556508 Centerline is valid? [True, True] Translation: X:25.62, Y:-2.30, Z:-0.18 [[ 9.95847046e-01 9.08157548e-02 6.41564546e-03 2.56207087e+01] [-9.08132904e-02 9.95867707e-01 -6.75008472e-04 -2.30314349e+00] [-6.45043554e-03 8.95793180e-05 9.99979192e-01 -1.83173090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.717552017999996 meters 0.016549462444639552 Centerline is valid? [True, True] Translation: X:25.65, Y:-2.31, Z:-0.18 [[ 9.95981637e-01 8.93339131e-02 6.32698555e-03 2.56507336e+01] [-8.93314873e-02 9.96001728e-01 -6.65546478e-04 -2.30612306e+00] [-6.36114442e-03 9.76730412e-05 9.99979763e-01 -1.82777311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.747552017999997 meters 0.021053523684460004 Centerline is valid? [True, True] Translation: X:25.68, Y:-2.32, Z:-0.18 [[ 9.96299401e-01 8.57701070e-02 5.56707191e-03 2.56811038e+01] [-8.57681736e-02 9.96314949e-01 -5.85543023e-04 -2.31728101e+00] [-5.59677905e-03 1.05898573e-04 9.99984332e-01 -1.84470072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.777552017999998 meters 0.019244309386713458 Centerline is valid? [True, True] Translation: X:25.71, Y:-2.32, Z:-0.18 [[ 9.96495676e-01 8.33233338e-02 7.32046873e-03 2.57122653e+01] [-8.33199215e-02 9.96522552e-01 -7.70401780e-04 -2.32455333e+00] [-7.35920463e-03 1.57761162e-04 9.99972908e-01 -1.81839595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.807552018 meters 0.02376735902660375 Centerline is valid? [True, True] Translation: X:25.74, Y:-2.33, Z:-0.18 [[ 9.96663760e-01 8.14137404e-02 5.75775281e-03 2.57429329e+01] [-8.14115983e-02 9.96680382e-01 -6.05824442e-04 -2.33360155e+00] [-5.78796170e-03 1.35055408e-04 9.99983240e-01 -1.84620904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.837552017999997 meters 0.0239153820566872 Centerline is valid? [True, True] Translation: X:25.77, Y:-2.35, Z:-0.18 [[ 9.97066315e-01 7.61331783e-02 7.90592454e-03 2.57737920e+01] [-7.61289492e-02 9.97097631e-01 -8.34934812e-04 -2.34509004e+00] [-7.94654487e-03 2.30615648e-04 9.99968399e-01 -1.81482160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.867552017999998 meters 0.025805518410171025 Centerline is valid? [True, True] Translation: X:25.80, Y:-2.35, Z:-0.18 [[ 9.97270029e-01 7.33762558e-02 8.27134356e-03 2.58048157e+01] [-7.33715111e-02 9.97304294e-01 -8.76028847e-04 -2.35251455e+00] [-8.31332616e-03 2.66756337e-04 9.99965408e-01 -1.80907697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.897552018 meters 0.028501876104367968 Centerline is valid? [True, True] Translation: X:25.84, Y:-2.36, Z:-0.18 [[ 9.97407372e-01 7.16071629e-02 7.13784383e-03 2.58368569e+01] [-7.16035714e-02 9.97432882e-01 -7.57771823e-04 -2.35883944e+00] [-7.17378203e-03 2.44712092e-04 9.99974238e-01 -1.83566967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.927552017999997 meters 0.02812569503967546 Centerline is valid? [True, True] Translation: X:25.87, Y:-2.37, Z:-0.18 [[ 9.97533106e-01 6.96709710e-02 8.58239592e-03 2.58684537e+01] [-6.96656798e-02 9.97569976e-01 -9.14302026e-04 -2.36528506e+00] [-8.62524080e-03 3.14148094e-04 9.99962753e-01 -1.81271954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.957552017999998 meters 0.031253932807920215 Centerline is valid? [True, True] Translation: X:25.90, Y:-2.37, Z:-0.18 [[ 9.97708193e-01 6.71093098e-02 8.64303561e-03 2.58982685e+01] [-6.71038275e-02 9.97745571e-01 -9.23066302e-04 -2.37397941e+00] [-8.68549684e-03 3.40970041e-04 9.99962222e-01 -1.81280468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.987552018 meters 0.03195344002812394 Centerline is valid? [True, True] Translation: X:25.93, Y:-2.38, Z:-0.18 [[ 9.97714150e-01 6.70128625e-02 8.70349334e-03 2.59294684e+01] [-6.70072928e-02 9.97752052e-01 -9.30307243e-04 -2.37890856e+00] [-8.74627089e-03 3.44983174e-04 9.99961691e-01 -1.81579766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.017552017999996 meters 0.03069920563529863 Centerline is valid? [True, True] Translation: X:25.96, Y:-2.38, Z:-0.18 [[ 9.97699988e-01 6.71274928e-02 9.41455080e-03 2.59628938e+01] [-6.71209528e-02 9.97744336e-01 -1.00927067e-03 -2.38092882e+00] [-9.46106454e-03 3.75035711e-04 9.99955173e-01 -1.81773540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.047552017999998 meters 0.029887926554654845 Centerline is valid? [True, True] Translation: X:25.99, Y:-2.38, Z:-0.18 [[ 9.97652028e-01 6.78093208e-02 9.60874711e-03 2.59947150e+01] [-6.78025076e-02 9.97698227e-01 -1.03343022e-03 -2.38295865e+00] [-9.65670616e-03 3.79506601e-04 9.99953301e-01 -1.81739014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.077552018 meters 0.02939029923072738 Centerline is valid? [True, True] Translation: X:26.03, Y:-2.39, Z:-0.18 [[ 9.97602471e-01 6.85526023e-02 9.47892916e-03 2.60272539e+01] [-6.85459774e-02 9.97647435e-01 -1.02241326e-03 -2.38525345e+00] [-9.52671844e-03 3.70219530e-04 9.99954551e-01 -1.82515393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.107552017999996 meters 0.02923715278180866 Centerline is valid? [True, True] Translation: X:26.06, Y:-2.39, Z:-0.18 [[ 9.97534525e-01 6.95675148e-02 9.23218053e-03 2.60591320e+01] [-6.95612473e-02 9.97577183e-01 -9.98643827e-04 -2.38827762e+00] [-9.27928582e-03 3.53979702e-04 9.99956884e-01 -1.83088759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.137552017999997 meters 0.029099967268932006 Centerline is valid? [True, True] Translation: X:26.09, Y:-2.39, Z:-0.18 [[ 9.97444821e-01 7.08980295e-02 8.79193851e-03 2.60913897e+01] [-7.08923739e-02 9.97483515e-01 -9.53655135e-04 -2.39122114e+00] [-8.83742600e-03 3.27936984e-04 9.99960895e-01 -1.84386450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.167552018 meters 0.02646961256643273 Centerline is valid? [True, True] Translation: X:26.12, Y:-2.39, Z:-0.19 [[ 9.97181771e-01 7.46382642e-02 7.59240800e-03 2.61232843e+01] [-7.46341403e-02 9.97210642e-01 -8.25441160e-04 -2.38952656e+00] [-7.63283955e-03 2.56462034e-04 9.99970837e-01 -1.86331699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.197552017999996 meters 0.024154777558163188 Centerline is valid? [True, True] Translation: X:26.16, Y:-2.39, Z:-0.19 [[ 9.96987347e-01 7.72347693e-02 7.14291202e-03 2.61559557e+01] [-7.72311834e-02 9.97012909e-01 -7.76907256e-04 -2.38802996e+00] [-7.18157975e-03 2.22911156e-04 9.99974187e-01 -1.87869202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.227552017999997 meters 0.023685082238101538 Centerline is valid? [True, True] Translation: X:26.19, Y:-2.39, Z:-0.19 [[ 9.96752501e-01 8.02692112e-02 6.42687313e-03 2.61872406e+01] [-8.02663592e-02 9.96773204e-01 -7.00885291e-04 -2.38927656e+00] [-6.46239443e-03 1.82747459e-04 9.99979102e-01 -1.88665298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.257552018 meters 0.02386475840389037 Centerline is valid? [True, True] Translation: X:26.22, Y:-2.39, Z:-0.19 [[ 9.96306319e-01 8.56733408e-02 5.81356447e-03 2.62195433e+01] [-8.56710885e-02 9.96323271e-01 -6.35802059e-04 -2.38519309e+00] [-5.84666086e-03 1.35399213e-04 9.99982899e-01 -1.91475074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.287552017999996 meters 0.01919124799119863 Centerline is valid? [True, True] Translation: X:26.25, Y:-2.39, Z:-0.19 [[ 9.96156376e-01 8.72660807e-02 7.55689170e-03 2.62513128e+01] [-8.72623160e-02 9.96185025e-01 -8.27110600e-04 -2.38522633e+00] [-7.60024105e-03 1.64499626e-04 9.99971104e-01 -1.87840771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.317552017999997 meters 0.018519983186156826 Centerline is valid? [True, True] Translation: X:26.28, Y:-2.39, Z:-0.19 [[ 9.96006826e-01 8.88655230e-02 8.56281704e-03 2.62837300e+01] [-8.88607408e-02 9.96043618e-01 -9.38084751e-04 -2.38700160e+00] [-8.61230266e-03 1.73440549e-04 9.99962898e-01 -1.87005974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.347552018 meters 0.018369126852038484 Centerline is valid? [True, True] Translation: X:26.32, Y:-2.39, Z:-0.19 [[ 9.95911992e-01 8.98028472e-02 9.73406880e-03 2.63160917e+01] [-8.97966778e-02 9.95959543e-01 -1.06989357e-03 -2.38946648e+00] [-9.79081820e-03 1.91432796e-04 9.99952050e-01 -1.86179785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.377552017999996 meters 0.018786873327602323 Centerline is valid? [True, True] Translation: X:26.35, Y:-2.39, Z:-0.19 [[ 9.95859891e-01 9.02599328e-02 1.07805895e-02 2.63470961e+01] [-9.02523525e-02 9.95918220e-01 -1.18857747e-03 -2.39091398e+00] [-1.08438664e-02 2.10683064e-04 9.99941181e-01 -1.85448323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.407552017999997 meters 0.01871178392289653 Centerline is valid? [True, True] Translation: X:26.38, Y:-2.39, Z:-0.19 [[ 9.95838216e-01 9.04752487e-02 1.09761702e-02 2.63789082e+01] [-9.04673662e-02 9.95898681e-01 -1.21356380e-03 -2.39376150e+00] [-1.10409509e-02 2.15528005e-04 9.99939024e-01 -1.85769470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.437552017999998 meters 0.018878769939712048 Centerline is valid? [True, True] Translation: X:26.41, Y:-2.40, Z:-0.19 [[ 9.95851586e-01 9.02968379e-02 1.12294138e-02 2.64110334e+01] [-9.02885345e-02 9.95914871e-01 -1.24524624e-03 -2.39697188e+00] [-1.12959820e-02 2.26193122e-04 9.99936173e-01 -1.86310334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.467552017999996 meters 0.019600061689510444 Centerline is valid? [True, True] Translation: X:26.44, Y:-2.40, Z:-0.19 [[ 9.95904326e-01 8.97734019e-02 1.07382472e-02 2.64422146e+01] [-8.97657431e-02 9.95962191e-01 -1.19406455e-03 -2.40130569e+00] [-1.08020835e-02 2.25247312e-04 9.99941630e-01 -1.87295457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.497552017999997 meters 0.020664335428861366 Centerline is valid? [True, True] Translation: X:26.47, Y:-2.41, Z:-0.19 [[ 9.96076612e-01 8.79384550e-02 9.91011303e-03 2.64735916e+01] [-8.79318135e-02 9.96125883e-01 -1.10475748e-03 -2.40599064e+00] [-9.96887076e-03 2.29008877e-04 9.99950283e-01 -1.89065122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.527552017999998 meters 0.021592590022221293 Centerline is valid? [True, True] Translation: X:26.51, Y:-2.41, Z:-0.19 [[ 9.96185700e-01 8.67437906e-02 9.46390556e-03 2.65053377e+01] [-8.67376538e-02 9.96230626e-01 -1.05774254e-03 -2.41048264e+00] [-9.51998516e-03 2.32831031e-04 9.99954657e-01 -1.89888115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.557552018 meters 0.02251573220654546 Centerline is valid? [True, True] Translation: X:26.54, Y:-2.42, Z:-0.19 [[ 9.96273749e-01 8.57444969e-02 9.30047468e-03 2.65374571e+01] [-8.57384999e-02 9.96317130e-01 -1.04234488e-03 -2.41504658e+00] [-9.35559757e-03 2.41052096e-04 9.99956206e-01 -1.90362239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.587552017999997 meters 0.023612940659779286 Centerline is valid? [True, True] Translation: X:26.57, Y:-2.42, Z:-0.19 [[ 9.96469038e-01 8.33831470e-02 9.83397740e-03 2.65695456e+01] [-8.33762959e-02 9.96517522e-01 -1.10532305e-03 -2.41939254e+00] [-9.89189610e-03 2.81499591e-04 9.99951034e-01 -1.89983213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.617552017999998 meters 0.024561707863810674 Centerline is valid? [True, True] Translation: X:26.60, Y:-2.42, Z:-0.19 [[ 9.96548511e-01 8.24009291e-02 1.00574506e-02 2.66016585e+01] [-8.23936807e-02 9.96599215e-01 -1.13363666e-03 -2.42416334e+00] [-1.01166600e-02 3.01053552e-04 9.99948780e-01 -1.89390071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.647552018 meters 0.02376769832867713 Centerline is valid? [True, True] Translation: X:26.63, Y:-2.43, Z:-0.19 [[ 9.96622934e-01 8.14719377e-02 1.02493835e-02 2.66336034e+01] [-8.14643271e-02 9.96675585e-01 -1.15854791e-03 -2.42580843e+00] [-1.03096995e-02 3.19676286e-04 9.99946803e-01 -1.89498636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.677552017999997 meters 0.026860044144250434 Centerline is valid? [True, True] Translation: X:26.66, Y:-2.43, Z:-0.19 [[ 9.96724206e-01 8.02361350e-02 1.01498468e-02 2.66644515e+01] [-8.02285787e-02 9.96775829e-01 -1.15011309e-03 -2.43268962e+00] [-1.02094025e-02 3.32037773e-04 9.99947828e-01 -1.89597933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.707552017999998 meters 0.028411524584807446 Centerline is valid? [True, True] Translation: X:26.70, Y:-2.44, Z:-0.19 [[ 9.96968554e-01 7.71779974e-02 9.86200680e-03 2.66961053e+01] [-7.71706999e-02 9.97017267e-01 -1.11893707e-03 -2.43652288e+00] [-9.91894839e-03 3.54487110e-04 9.99950743e-01 -1.90758552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.737552018 meters 0.029588985562733035 Centerline is valid? [True, True] Translation: X:26.73, Y:-2.44, Z:-0.19 [[ 9.97097778e-01 7.55710050e-02 9.22198100e-03 2.67281115e+01] [-7.55645437e-02 9.97140362e-01 -1.04757543e-03 -2.44077493e+00] [-9.27477580e-03 3.47680351e-04 9.99956928e-01 -1.91652880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.767552017999996 meters 0.029831238263871327 Centerline is valid? [True, True] Translation: X:26.76, Y:-2.44, Z:-0.19 [[ 9.97238138e-01 7.36951150e-02 9.22642046e-03 2.67597618e+01] [-7.36885440e-02 9.97280750e-01 -1.05059285e-03 -2.44305869e+00] [-9.27875508e-03 3.67809763e-04 9.99956884e-01 -1.92737422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.797552017999998 meters 0.031433471805499574 Centerline is valid? [True, True] Translation: X:26.79, Y:-2.45, Z:-0.19 [[ 9.97377060e-01 7.18189533e-02 9.00206606e-03 2.67904886e+01] [-7.18126062e-02 9.97417613e-01 -1.02675163e-03 -2.44775183e+00] [-9.05255948e-03 3.77596698e-04 9.99958953e-01 -1.93231726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.827552018 meters 0.033148774531290746 Centerline is valid? [True, True] Translation: X:26.82, Y:-2.45, Z:-0.19 [[ 9.97718206e-01 6.68775343e-02 9.26157399e-03 2.68212822e+01] [-6.68705828e-02 9.97761096e-01 -1.05856940e-03 -2.45094329e+00] [-9.31163272e-03 4.36827113e-04 9.99956550e-01 -1.94098758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.857552017999996 meters 0.03562803016624893 Centerline is valid? [True, True] Translation: X:26.85, Y:-2.46, Z:-0.19 [[ 9.97886487e-01 6.43869201e-02 8.76829359e-03 2.68518817e+01] [-6.43805857e-02 9.97924914e-01 -1.00306844e-03 -2.45630100e+00] [-8.81468311e-03 4.36440568e-04 9.99961055e-01 -1.94833377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.887552017999997 meters 0.03996217322397933 Centerline is valid? [True, True] Translation: X:26.88, Y:-2.46, Z:-0.20 [[ 9.98241968e-01 5.86807240e-02 8.33943439e-03 2.68814617e+01] [-5.86747788e-02 9.98276693e-01 -9.56001517e-04 -2.46115697e+00] [-8.38116184e-03 4.65006368e-04 9.99964769e-01 -1.95142135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.917552018 meters 0.03985331589016864 Centerline is valid? [True, True] Translation: X:26.91, Y:-2.46, Z:-0.20 [[ 9.98405116e-01 5.57451095e-02 8.92786178e-03 2.69126527e+01] [-5.57381753e-02 9.98444895e-01 -1.02383263e-03 -2.46182596e+00] [-8.97105167e-03 5.24577008e-04 9.99959622e-01 -1.95316476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.947552017999996 meters 0.04371100269551175 Centerline is valid? [True, True] Translation: X:26.94, Y:-2.47, Z:-0.20 [[ 9.98549002e-01 5.30621141e-02 9.18160516e-03 2.69420338e+01] [-5.30546627e-02 9.98591054e-01 -1.05339932e-03 -2.46749225e+00] [-9.22456437e-03 5.64743877e-04 9.99957293e-01 -1.95067246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.977552017999997 meters 0.045281860574190265 Centerline is valid? [True, True] Translation: X:26.97, Y:-2.47, Z:-0.19 [[ 9.98675361e-01 5.05277911e-02 9.71939057e-03 2.69726689e+01] [-5.05193201e-02 9.98722461e-01 -1.11526772e-03 -2.47028939e+00] [-9.76332569e-03 6.22773386e-04 9.99952144e-01 -1.94922413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.007552018 meters 0.04533282521975698 Centerline is valid? [True, True] Translation: X:27.00, Y:-2.47, Z:-0.20 [[ 9.98766249e-01 4.85895115e-02 1.02488336e-02 2.70046567e+01] [-4.85799764e-02 9.98818602e-01 -1.17741189e-03 -2.47097410e+00] [-1.02939355e-02 6.78071167e-04 9.99946786e-01 -1.95030708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.037552017999996 meters 0.048227730970283315 Centerline is valid? [True, True] Translation: X:27.04, Y:-2.47, Z:-0.20 [[ 9.98958730e-01 4.43865143e-02 1.05495091e-02 2.70356028e+01] [-4.43761559e-02 9.99014155e-01 -1.21406443e-03 -2.47064950e+00] [-1.05929970e-02 7.44653605e-04 9.99943615e-01 -1.96120116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.067552017999997 meters 0.050570161522758575 Centerline is valid? [True, True] Translation: X:27.07, Y:-2.47, Z:-0.20 [[ 9.99028203e-01 4.29237239e-02 1.00101667e-02 2.70663440e+01] [-4.29143194e-02 9.99078092e-01 -1.15250922e-03 -2.47298931e+00] [-1.00504082e-02 7.21809727e-04 9.99949233e-01 -1.97631581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.097552018 meters 0.05192249978273958 Centerline is valid? [True, True] Translation: X:27.10, Y:-2.47, Z:-0.20 [[ 9.99103589e-01 4.10955884e-02 1.01573146e-02 2.70985633e+01] [-4.10857975e-02 9.99154936e-01 -1.17080737e-03 -2.47415557e+00] [-1.01968460e-02 7.52436479e-04 9.99947728e-01 -1.98946311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.127552017999996 meters 0.05531538596730785 Centerline is valid? [True, True] Translation: X:27.13, Y:-2.47, Z:-0.20 [[ 9.99227945e-01 3.80576202e-02 9.75357161e-03 2.71286977e+01] [-3.80484404e-02 9.99275263e-01 -1.12507420e-03 -2.47217841e+00] [-9.78932048e-03 7.53097393e-04 9.99951800e-01 -2.00381058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.157552017999997 meters 0.057050896369781445 Centerline is valid? [True, True] Translation: X:27.16, Y:-2.47, Z:-0.20 [[ 9.99266329e-01 3.69845685e-02 9.94714338e-03 2.71612577e+01] [-3.69749595e-02 9.99315533e-01 -1.14824361e-03 -2.47253302e+00] [-9.98280218e-03 7.79605954e-04 9.99949867e-01 -2.01001869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.187552017999998 meters 0.05585485456023259 Centerline is valid? [True, True] Translation: X:27.19, Y:-2.47, Z:-0.20 [[ 9.99291381e-01 3.62680917e-02 1.00678465e-02 2.71942182e+01] [-3.62581967e-02 9.99341778e-01 -1.16368255e-03 -2.46894461e+00] [-1.01034241e-02 7.97815988e-04 9.99948641e-01 -2.01857960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.217552017999996 meters 0.06083814124586869 Centerline is valid? [True, True] Translation: X:27.23, Y:-2.47, Z:-0.20 [[ 9.99296333e-01 3.58631597e-02 1.09851505e-02 2.72259299e+01] [-3.58513179e-02 9.99356324e-01 -1.27307833e-03 -2.46659849e+00] [-1.10237362e-02 8.78350384e-04 9.99938851e-01 -2.01895740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.247552017999997 meters 0.055959326383291284 Centerline is valid? [True, True] Translation: X:27.26, Y:-2.46, Z:-0.20 [[ 9.99273643e-01 3.62371123e-02 1.17922981e-02 2.72604707e+01] [-3.62234481e-02 9.99342776e-01 -1.37033900e-03 -2.45733431e+00] [-1.18342050e-02 9.42185951e-04 9.99929529e-01 -2.02331472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.277552017999998 meters 0.04887027962661531 Centerline is valid? [True, True] Translation: X:27.29, Y:-2.44, Z:-0.20 [[ 9.99257656e-01 3.65547121e-02 1.21610393e-02 2.72948172e+01] [-3.65401510e-02 9.99331180e-01 -1.41747608e-03 -2.44435631e+00] [-1.22047212e-02 9.72057610e-04 9.99925047e-01 -2.03497171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.307552018 meters 0.04621142727945996 Centerline is valid? [True, True] Translation: X:27.33, Y:-2.44, Z:-0.20 [[ 9.99244536e-01 3.68587700e-02 1.23202695e-02 2.73278126e+01] [-3.68437988e-02 9.99319999e-01 -1.44001446e-03 -2.43695745e+00] [-1.23649689e-02 9.85001044e-04 9.99923066e-01 -2.03973633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.337552017999997 meters 0.04621142727945996 Centerline is valid? [True, True] Translation: X:27.36, Y:-2.44, Z:-0.20 [[ 9.99234102e-01 3.71406718e-02 1.23198616e-02 2.73593876e+01] [-3.71256792e-02 9.99309562e-01 -1.44349802e-03 -2.44074188e+00] [-1.23649680e-02 9.85009215e-04 9.99923066e-01 -2.04198146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.367552017999998 meters 0.047415136352912335 Centerline is valid? [True, True] Translation: X:27.39, Y:-2.43, Z:-0.21 [[ 9.99211071e-01 3.75505917e-02 1.29301117e-02 2.73932985e+01] [-3.75340619e-02 9.99294195e-01 -1.51878727e-03 -2.43117315e+00] [-1.29780169e-02 1.03226944e-03 9.99915249e-01 -2.05595284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.397552018 meters 0.0501285363105256 Centerline is valid? [True, True] Translation: X:27.43, Y:-2.43, Z:-0.21 [[ 9.99216618e-01 3.74910673e-02 1.26715928e-02 2.74250565e+01] [-3.74751435e-02 9.99296446e-01 -1.49185745e-03 -2.43154894e+00] [-1.27186089e-02 1.01581900e-03 9.99918599e-01 -2.06233023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.427552017999997 meters 0.05395971254443119 Centerline is valid? [True, True] Translation: X:27.46, Y:-2.43, Z:-0.21 [[ 9.99248056e-01 3.67834622e-02 1.22596285e-02 2.74565342e+01] [-3.67684657e-02 9.99322764e-01 -1.44647755e-03 -2.43292284e+00] [-1.23045323e-02 9.94622151e-04 9.99923802e-01 -2.07339727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.457552017999998 meters 0.05053509964972546 Centerline is valid? [True, True] Translation: X:27.49, Y:-2.43, Z:-0.21 [[ 9.99290449e-01 3.58708880e-02 1.14838316e-02 2.74888563e+01] [-3.58576482e-02 9.99355987e-01 -1.35680664e-03 -2.42520403e+00] [-1.15251057e-02 9.44060721e-04 9.99933138e-01 -2.09018619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.487552018 meters 0.05399358582036537 Centerline is valid? [True, True] Translation: X:27.52, Y:-2.42, Z:-0.21 [[ 9.99378909e-01 3.39609774e-02 9.40474278e-03 2.75195328e+01] [-3.39520095e-02 9.99422846e-01 -1.11161990e-03 -2.41983524e+00] [-9.43706650e-03 7.91619566e-04 9.99955157e-01 -2.11565958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.517552017999996 meters 0.05465151085429166 Centerline is valid? [True, True] Translation: X:27.55, Y:-2.42, Z:-0.21 [[ 9.99416559e-01 3.29760416e-02 8.89505184e-03 2.75504587e+01] [-3.29679750e-02 9.99455855e-01 -1.05200283e-03 -2.41769031e+00] [-8.92490253e-03 7.58137205e-04 9.99959885e-01 -2.12378381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.547552017999998 meters 0.0524482077008775 Centerline is valid? [True, True] Translation: X:27.58, Y:-2.41, Z:-0.21 [[ 9.99444555e-01 3.21682887e-02 8.70537468e-03 2.75822393e+01] [-3.21605321e-02 9.99482186e-01 -1.02957004e-03 -2.41186144e+00] [-8.73398643e-03 7.49028684e-04 9.99961577e-01 -2.12533134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.577552018 meters 0.0552803464292818 Centerline is valid? [True, True] Translation: X:27.61, Y:-2.41, Z:-0.21 [[ 9.99488692e-01 3.09193111e-02 8.14556737e-03 2.76122481e+01] [-3.09124785e-02 9.99521631e-01 -9.63418099e-04 -2.40618665e+00] [-8.17145900e-03 7.11125820e-04 9.99966360e-01 -2.12119885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.607552017999996 meters 0.05407195681479846 Centerline is valid? [True, True] Translation: X:27.64, Y:-2.40, Z:-0.21 [[ 9.99496394e-01 3.06003890e-02 8.40081130e-03 2.76431280e+01] [-3.05931077e-02 9.99531427e-01 -9.93906873e-04 -2.40115796e+00] [-8.42728885e-03 7.36399412e-04 9.99964219e-01 -2.11992868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.637552017999997 meters 0.050380775425372365 Centerline is valid? [True, True] Translation: X:27.67, Y:-2.39, Z:-0.21 [[ 9.99486168e-01 3.08282819e-02 8.77595846e-03 2.76741289e+01] [-3.08203477e-02 9.99524401e-01 -1.03792401e-03 -2.39293369e+00] [-8.80378204e-03 7.66912603e-04 9.99960952e-01 -2.11405769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.667552018 meters 0.05138529649781393 Centerline is valid? [True, True] Translation: X:27.70, Y:-2.38, Z:-0.21 [[ 9.99451279e-01 3.18158722e-02 9.21359796e-03 2.77042194e+01] [-3.18071719e-02 9.99493430e-01 -1.08932525e-03 -2.38447445e+00] [-9.24358846e-03 7.95669024e-04 9.99956961e-01 -2.10586666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.697552017999996 meters 0.049940568010262004 Centerline is valid? [True, True] Translation: X:27.73, Y:-2.38, Z:-0.21 [[ 9.99434931e-01 3.22774366e-02 9.38010307e-03 2.77343146e+01] [-3.22684417e-02 9.99478623e-01 -1.10874169e-03 -2.38012824e+00] [-9.41099984e-03 8.05433862e-04 9.99955391e-01 -2.10088660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.727552017999997 meters 0.05152657900542856 Centerline is valid? [True, True] Translation: X:27.76, Y:-2.38, Z:-0.21 [[ 9.99412509e-01 3.28602121e-02 9.73872432e-03 2.77629436e+01] [-3.28505482e-02 9.99459613e-01 -1.15066727e-03 -2.37906260e+00] [-9.77127280e-03 8.30068833e-04 9.99951915e-01 -2.10257567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.757552018 meters 0.05092138900530025 Centerline is valid? [True, True] Translation: X:27.79, Y:-2.38, Z:-0.21 [[ 9.99385269e-01 3.36090669e-02 9.97569193e-03 2.77929703e+01] [-3.35989696e-02 9.99434701e-01 -1.17810902e-03 -2.37575961e+00] [-1.00096478e-02 8.42211825e-04 9.99949548e-01 -2.10020114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.787552017999996 meters 0.050372404336367214 Centerline is valid? [True, True] Translation: X:27.82, Y:-2.37, Z:-0.21 [[ 9.99339351e-01 3.49727064e-02 9.88790654e-03 2.78235403e+01] [-3.49628562e-02 9.99387931e-01 -1.16734632e-03 -2.36722975e+00] [-9.92267972e-03 8.20865659e-04 9.99950432e-01 -2.09904321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.817552017999997 meters 0.05243026405287053 Centerline is valid? [True, True] Translation: X:27.85, Y:-2.37, Z:-0.21 [[ 9.99344337e-01 3.49845567e-02 9.32616946e-03 2.78511044e+01] [-3.49757991e-02 9.99387554e-01 -1.10053565e-03 -2.36712672e+00] [-9.35895943e-03 7.73623843e-04 9.99955905e-01 -2.10245649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.847552018 meters 0.05041013983836622 Centerline is valid? [True, True] Translation: X:27.88, Y:-2.36, Z:-0.21 [[ 9.99358026e-01 3.47501675e-02 8.71557058e-03 2.78811706e+01] [-3.47425171e-02 9.99395768e-01 -1.02769759e-03 -2.36214281e+00] [-8.74601701e-03 7.24236972e-04 9.99961491e-01 -2.10619963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.877552017999996 meters 0.0769469499101632 Centerline is valid? [True, True] Translation: X:27.91, Y:-2.39, Z:-0.21 [[ 9.99308388e-01 3.65664718e-02 6.75572367e-03 2.79062014e+01] [-3.65619193e-02 9.99331072e-01 -7.96183594e-04 -2.39482695e+00] [-6.78031821e-03 5.48630720e-04 9.99976863e-01 -2.11394855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.907552017999997 meters 0.047856846314514895 Centerline is valid? [True, True] Translation: X:27.94, Y:-2.35, Z:-0.21 [[ 9.99399788e-01 3.41930965e-02 5.55840583e-03 2.79418997e+01] [-3.41899800e-02 9.99415137e-01 -6.54763340e-04 -2.34865023e+00] [-5.57754331e-03 4.64328559e-04 9.99984338e-01 -2.11750694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.937552017999998 meters 0.04729761909913357 Centerline is valid? [True, True] Translation: X:27.97, Y:-2.35, Z:-0.21 [[ 9.99411222e-01 3.40239444e-02 4.42494872e-03 2.79708096e+01] [-3.40219673e-02 9.99420949e-01 -5.21344034e-04 -2.34556685e+00] [-4.44012463e-03 3.70491617e-04 9.99990074e-01 -2.12487000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.967552017999996 meters 0.05234306914855231 Centerline is valid? [True, True] Translation: X:28.00, Y:-2.35, Z:-0.21 [[ 9.99413903e-01 3.39792801e-02 4.15443990e-03 2.79985030e+01] [-3.39775380e-02 9.99422477e-01 -4.89223226e-04 -2.35035031e+00] [-4.16866407e-03 3.47778855e-04 9.99991251e-01 -2.12994978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.997552017999997 meters 0.054105238917116306 Centerline is valid? [True, True] Translation: X:28.03, Y:-2.35, Z:-0.21 [[ 9.99405749e-01 3.43241229e-02 3.16275534e-03 2.80264563e+01] [-3.43231154e-02 9.99410719e-01 -3.72290943e-04 -2.35098687e+00] [-3.17367015e-03 2.63514092e-04 9.99994929e-01 -2.13655040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.027552017999998 meters 0.05192783905589163 Centerline is valid? [True, True] Translation: X:28.06, Y:-2.34, Z:-0.21 [[ 9.99414320e-01 3.41494841e-02 2.19774340e-03 2.80562570e+01] [-3.41489975e-02 9.99416719e-01 -2.58580665e-04 -2.34076455e+00] [-2.20529189e-03 1.83378485e-04 9.99997552e-01 -2.14057971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.057552018 meters 0.048486426664326926 Centerline is valid? [True, True] Translation: X:28.09, Y:-2.33, Z:-0.21 [[ 9.99410454e-01 3.42603268e-02 2.23035021e-03 2.80858290e+01] [-3.42598263e-02 9.99412925e-01 -2.62246847e-04 -2.33412244e+00] [-2.23802549e-03 1.85680830e-04 9.99997478e-01 -2.13674277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.087552017999997 meters 0.05431410103477049 Centerline is valid? [True, True] Translation: X:28.11, Y:-2.34, Z:-0.21 [[ 9.99396572e-01 3.46920662e-02 1.71803306e-03 2.81129705e+01] [-3.46917696e-02 9.99398039e-01 -2.02101630e-04 -2.33920217e+00] [-1.72401020e-03 1.42378069e-04 9.99998504e-01 -2.14277197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.117552017999998 meters 0.05097834305688199 Centerline is valid? [True, True] Translation: X:28.14, Y:-2.33, Z:-0.21 [[ 9.99383162e-01 3.50921479e-02 1.35499886e-03 2.81433031e+01] [-3.50919641e-02 9.99384075e-01 -1.59176063e-04 -2.33226886e+00] [-1.35975011e-03 1.11528306e-04 9.99999069e-01 -2.13936853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.147552018 meters 0.05115893406842476 Centerline is valid? [True, True] Translation: X:28.17, Y:-2.33, Z:-0.21 [[ 9.99357365e-01 3.58368424e-02 7.60284501e-04 2.81726138e+01] [-3.58367845e-02 9.99357652e-01 -8.95684438e-05 -2.33047822e+00] [-7.63005984e-04 6.22647321e-05 9.99999707e-01 -2.13856933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.177552017999997 meters 0.050637893533273005 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.32, Z:-0.21 [[ 9.99338179e-01 3.63641979e-02 9.21973361e-04 2.82020845e+01] [-3.63641132e-02 9.99338601e-01 -1.08429740e-04 -2.32321628e+00] [-9.25306529e-04 7.48312355e-05 9.99999569e-01 -2.13637229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.207552017999998 meters 0.04971646621696768 Centerline is valid? [True, True] Translation: X:28.23, Y:-2.32, Z:-0.21 [[ 9.99357027e-01 3.58393595e-02 1.03593223e-03 2.82309165e+01] [-3.58392524e-02 9.99357560e-01 -1.21808323e-04 -2.32039198e+00] [-1.03963224e-03 8.46029665e-05 9.99999456e-01 -2.13344199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.237552018 meters 0.0485306493309334 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.32, Z:-0.21 [[ 9.99383564e-01 3.50898707e-02 1.09230391e-03 2.82605147e+01] [-3.50897514e-02 9.99384157e-01 -1.28181256e-04 -2.31789772e+00] [-1.09612909e-03 8.97735678e-05 9.99999395e-01 -2.13007105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.267552017999996 meters 0.048988004697326885 Centerline is valid? [True, True] Translation: X:28.29, Y:-2.32, Z:-0.21 [[ 9.99420829e-01 3.40089177e-02 1.18362496e-03 2.82889956e+01] [-3.40087769e-02 9.99421525e-01 -1.38871942e-04 -2.31708211e+00] [-1.18766315e-03 9.85378739e-05 9.99999290e-01 -2.12580279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.297552017999998 meters 0.05160259053943909 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.31, Z:-0.21 [[ 9.99448996e-01 3.31895651e-02 3.95770017e-04 2.83174826e+01] [-3.31895491e-02 9.99449074e-01 -4.68564261e-05 -2.31439299e+00] [-3.97107121e-04 3.36951796e-05 9.99999921e-01 -2.12448233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.327552018 meters 0.053299821454950276 Centerline is valid? [True, True] Translation: X:28.34, Y:-2.32, Z:-0.21 [[ 9.99453644e-01 3.30513705e-02 1.40962127e-04 2.83443005e+01] [-3.30513683e-02 9.99453654e-01 -1.73769033e-05 -2.31505267e+00] [-1.41459443e-04 1.27084182e-05 9.99999990e-01 -2.13085563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.357552017999996 meters 0.05049859380385995 Centerline is valid? [True, True] Translation: X:28.37, Y:-2.31, Z:-0.21 [[ 9.99429406e-01 3.37764846e-02 1.06306596e-04 2.83734844e+01] [-3.37764834e-02 9.99429412e-01 -1.29313355e-05 -2.31001863e+00] [-1.06682714e-04 9.33329395e-06 9.99999994e-01 -2.12688097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.387552017999997 meters 0.05011355101448064 Centerline is valid? [True, True] Translation: X:28.40, Y:-2.31, Z:-0.21 [[ 9.99384855e-01 3.50668060e-02 -4.81209936e-04 2.84028484e+01] [-3.50667833e-02 9.99384970e-01 5.54325616e-05 -2.30843226e+00] [ 4.82857820e-04 -3.85239780e-05 9.99999883e-01 -2.13119614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.417552018 meters 0.04834661961042955 Centerline is valid? [True, True] Translation: X:28.43, Y:-2.30, Z:-0.21 [[ 9.99219068e-01 3.94872489e-02 -1.41854014e-03 2.84342918e+01] [-3.94870542e-02 9.99220069e-01 1.65016783e-04 -2.29974767e+00] [ 1.42394984e-03 -1.08873944e-04 9.99998980e-01 -2.14023967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.447552017999996 meters 0.044007882290020006 Centerline is valid? [True, True] Translation: X:28.47, Y:-2.29, Z:-0.21 [[ 9.99099161e-01 4.23804929e-02 -2.18182209e-03 2.84657507e+01] [-4.23800395e-02 9.99101530e-01 2.53646801e-04 -2.29194403e+00] [ 2.19061147e-03 -1.60952599e-04 9.99997588e-01 -2.14164452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.477552017999997 meters 0.043282021698435875 Centerline is valid? [True, True] Translation: X:28.50, Y:-2.29, Z:-0.21 [[ 9.98952765e-01 4.56965300e-02 -2.28062726e-03 2.84956134e+01] [-4.56960437e-02 9.98955355e-01 2.64911003e-04 -2.28896382e+00] [ 2.29035033e-03 -1.60417935e-04 9.99997364e-01 -2.14614759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.507552018 meters 0.04128820502354483 Centerline is valid? [True, True] Translation: X:28.53, Y:-2.28, Z:-0.21 [[ 9.98600822e-01 5.28188272e-02 -2.56306985e-03 2.85258769e+01] [-5.28182366e-02 9.98604098e-01 2.97603267e-04 -2.27942839e+00] [ 2.57521111e-03 -1.61810037e-04 9.99996671e-01 -2.14605230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.537552017999996 meters 0.039900502811445665 Centerline is valid? [True, True] Translation: X:28.56, Y:-2.28, Z:-0.21 [[ 9.98423773e-01 5.60823892e-02 -2.17589105e-03 2.85568242e+01] [-5.60819716e-02 9.98426136e-01 2.52522861e-04 -2.27614111e+00] [ 2.18662857e-03 -1.30096568e-04 9.99997601e-01 -2.14180289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.567552017999997 meters 0.03835520198094409 Centerline is valid? [True, True] Translation: X:28.59, Y:-2.27, Z:-0.21 [[ 9.98238647e-01 5.93151351e-02 -1.14850601e-03 2.85872048e+01] [-5.93150208e-02 9.98239305e-01 1.33289362e-04 -2.27339223e+00] [ 1.15438992e-03 -6.49309339e-05 9.99999332e-01 -2.13484413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.597552018 meters 0.03742599354072884 Centerline is valid? [True, True] Translation: X:28.62, Y:-2.27, Z:-0.21 [[ 9.98104734e-01 6.15343026e-02 -6.85571923e-04 2.86171428e+01] [-6.15342625e-02 9.98104969e-01 7.93479656e-05 -2.27121646e+00] [ 6.89155364e-04 -3.70114174e-05 9.99999762e-01 -2.13218378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.627552017999996 meters 0.037125321538050024 Centerline is valid? [True, True] Translation: X:28.65, Y:-2.27, Z:-0.21 [[ 9.97992430e-01 6.33328044e-02 -2.55265520e-04 2.86453234e+01] [-6.33327991e-02 9.97992463e-01 2.86643291e-05 -2.26985849e+00] [ 2.56568457e-04 -1.24401035e-05 9.99999967e-01 -2.12652747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.657552017999997 meters 0.035594109032453386 Centerline is valid? [True, True] Translation: X:28.68, Y:-2.26, Z:-0.21 [[ 9.97866572e-01 6.52855289e-02 -3.22918476e-04 2.86753092e+01] [-6.52855204e-02 9.97866624e-01 3.68917562e-05 -2.26305995e+00] [ 3.24638067e-04 -1.57311496e-05 9.99999947e-01 -2.12250132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.687552017999998 meters 0.035098174725067884 Centerline is valid? [True, True] Translation: X:28.70, Y:-2.26, Z:-0.21 [[ 9.97884132e-01 6.50137735e-02 -6.84689879e-04 2.87031412e+01] [-6.50137360e-02 9.97884366e-01 7.69751757e-05 -2.26261256e+00] [ 6.88245772e-04 -3.22980594e-05 9.99999763e-01 -2.12625182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.717552017999996 meters 0.03662196552721995 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.27, Z:-0.21 [[ 9.97895203e-01 6.48380578e-02 -1.09071174e-03 2.87305224e+01] [-6.48379594e-02 9.97895798e-01 1.25318756e-04 -2.26554834e+00] [ 1.09654208e-03 -5.43354625e-05 9.99999397e-01 -2.13960907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.747552017999997 meters 0.03494255220779594 Centerline is valid? [True, True] Translation: X:28.76, Y:-2.26, Z:-0.22 [[ 9.97878840e-01 6.50259842e-02 -3.07265260e-03 2.87588251e+01] [-6.50252085e-02 9.97883560e-01 3.51796639e-04 -2.26468533e+00] [ 3.08902544e-03 -1.51250546e-04 9.99995218e-01 -2.16353196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.777552017999998 meters 0.037714391649116503 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.27, Z:-0.22 [[ 9.97760315e-01 6.67019152e-02 -5.02069184e-03 2.87861137e+01] [-6.66998531e-02 9.97772918e-01 5.77244641e-04 -2.26893588e+00] [ 5.04801367e-03 -2.41072387e-04 9.99987230e-01 -2.19662174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.807552017999996 meters 0.03379630743621776 Centerline is valid? [True, True] Translation: X:28.82, Y:-2.26, Z:-0.22 [[ 9.97690259e-01 6.76984209e-02 -5.57417939e-03 2.88152830e+01] [-6.76959095e-02 9.97705797e-01 6.38219687e-04 -2.26423871e+00] [ 5.60459756e-03 -2.59396421e-04 9.99984260e-01 -2.19034030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.837552017999997 meters 0.03472838142829975 Centerline is valid? [True, True] Translation: X:28.84, Y:-2.27, Z:-0.22 [[ 9.97618402e-01 6.87286333e-02 -5.82227193e-03 2.88428104e+01] [-6.87259064e-02 9.97635356e-01 6.67381214e-04 -2.26674075e+00] [ 5.85437254e-03 -2.65650865e-04 9.99982828e-01 -2.19342126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.867552017999998 meters 0.032319019726151296 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.26, Z:-0.22 [[ 9.97545645e-01 6.97492646e-02 -6.14210874e-03 2.88718131e+01] [-6.97462670e-02 9.97564518e-01 7.01140993e-04 -2.26377703e+00] [ 6.17605381e-03 -2.71030988e-04 9.99980891e-01 -2.18282159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.897552018 meters 0.03136850431247366 Centerline is valid? [True, True] Translation: X:28.90, Y:-2.26, Z:-0.22 [[ 9.97354249e-01 7.24161125e-02 -6.35685215e-03 2.89010739e+01] [-7.24129497e-02 9.97374472e-01 7.26602437e-04 -2.26203461e+00] [ 6.39277977e-03 -2.64361613e-04 9.99979531e-01 -2.17547617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.927552017999997 meters 0.031130506888354365 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.26, Z:-0.22 [[ 9.97246634e-01 7.39056867e-02 -6.09100386e-03 2.89291555e+01] [-7.39028189e-02 9.97265206e-01 6.94879056e-04 -2.26377783e+00] [ 6.12570173e-03 -2.42823445e-04 9.99981208e-01 -2.17516904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.957552017999998 meters 0.03099390504976021 Centerline is valid? [True, True] Translation: X:28.96, Y:-2.27, Z:-0.22 [[ 9.97189304e-01 7.47206425e-02 -5.50621024e-03 2.89582162e+01] [-7.47183249e-02 9.97204483e-01 6.25710369e-04 -2.26544504e+00] [ 5.53757102e-03 -2.12536881e-04 9.99984645e-01 -2.17281340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.987552018 meters 0.030220769200151636 Centerline is valid? [True, True] Translation: X:28.99, Y:-2.27, Z:-0.22 [[ 9.97020413e-01 7.70055503e-02 -4.52120003e-03 2.89872607e+01] [-7.70040082e-02 9.97030651e-01 5.14443402e-04 -2.26573411e+00] [ 4.54739000e-03 -1.64760048e-04 9.99989647e-01 -2.16069390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.017552017999996 meters 0.02936707240555836 Centerline is valid? [True, True] Translation: X:29.02, Y:-2.27, Z:-0.22 [[ 9.96983189e-01 7.75270008e-02 -3.75308811e-03 2.90159377e+01] [-7.75259511e-02 9.96990244e-01 4.24587717e-04 -2.26692084e+00] [ 3.77470925e-03 -1.32345091e-04 9.99992867e-01 -2.15042376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.047552017999998 meters 0.028163019112397377 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.27, Z:-0.21 [[ 9.96982057e-01 7.75624769e-02 -3.29246460e-03 2.90444357e+01] [-7.75616732e-02 9.96987487e-01 3.71260128e-04 -2.26729705e+00] [ 3.31134187e-03 -1.14770622e-04 9.99994511e-01 -2.13725607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.077552018 meters 0.028986563684377024 Centerline is valid? [True, True] Translation: X:29.07, Y:-2.27, Z:-0.21 [[ 9.97006390e-01 7.72828009e-02 -2.37198087e-03 2.90708158e+01] [-7.72823828e-02 9.97009208e-01 2.67578554e-04 -2.27132523e+00] [ 2.38556599e-03 -8.34651948e-05 9.99997151e-01 -2.13270551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.107552017999996 meters 0.030759872371325776 Centerline is valid? [True, True] Translation: X:29.10, Y:-2.28, Z:-0.21 [[ 9.97102343e-01 7.60533704e-02 -1.67416928e-03 2.90975860e+01] [-7.60531609e-02 9.97103746e-01 1.88538325e-04 -2.27739373e+00] [ 1.68365944e-03 -6.06661397e-05 9.99998581e-01 -2.11711374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.137552017999997 meters 0.029502276361440562 Centerline is valid? [True, True] Translation: X:29.13, Y:-2.28, Z:-0.21 [[ 9.97200690e-01 7.47633915e-02 -1.10436443e-03 2.91263410e+01] [-7.47633014e-02 9.97201300e-01 1.22683438e-04 -2.27878831e+00] [ 1.11044587e-03 -3.97740786e-05 9.99999383e-01 -2.10664395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.167552018 meters 0.029631158384793854 Centerline is valid? [True, True] Translation: X:29.15, Y:-2.28, Z:-0.21 [[ 9.97286004e-01 7.36060146e-02 -1.66770497e-03 2.91544230e+01] [-7.36058041e-02 9.97287396e-01 1.87304202e-04 -2.28254808e+00] [ 1.67696786e-03 -6.40430935e-05 9.99998592e-01 -2.10752250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.197552017999996 meters 0.03082696750231349 Centerline is valid? [True, True] Translation: X:29.18, Y:-2.29, Z:-0.21 [[ 9.97380235e-01 7.23202099e-02 -1.56627497e-03 2.91812712e+01] [-7.23200236e-02 9.97381463e-01 1.75300171e-04 -2.28870926e+00] [ 1.57485136e-03 -6.15678834e-05 9.99998758e-01 -2.11804473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.227552017999997 meters 0.03114682490884309 Centerline is valid? [True, True] Translation: X:29.21, Y:-2.30, Z:-0.21 [[ 9.97574010e-01 6.95351707e-02 -3.30969950e-03 2.92100697e+01] [-6.95343185e-02 9.97579491e-01 3.72003198e-04 -2.29522351e+00] [ 3.32755564e-03 -1.40963023e-04 9.99994454e-01 -2.13632836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.257552018 meters 0.03114682490884309 Centerline is valid? [True, True] Translation: X:29.24, Y:-2.30, Z:-0.21 [[ 9.97595569e-01 6.92251778e-02 -3.31001429e-03 2.92372907e+01] [-6.92243331e-02 9.97601050e-01 3.69201144e-04 -2.29816234e+00] [ 3.32763174e-03 -1.39179893e-04 9.99994454e-01 -2.13826413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.287552017999996 meters 0.03172292824724363 Centerline is valid? [True, True] Translation: X:29.27, Y:-2.30, Z:-0.22 [[ 9.97720931e-01 6.73411796e-02 -4.25544260e-03 2.92653839e+01] [-6.73397676e-02 9.97729989e-01 4.74389175e-04 -2.30323997e+00] [ 4.27772863e-03 -1.86747493e-04 9.99990833e-01 -2.15018882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.317552017999997 meters 0.03243896211541114 Centerline is valid? [True, True] Translation: X:29.29, Y:-2.31, Z:-0.22 [[ 9.97822164e-01 6.57905967e-02 -4.74614738e-03 2.92933597e+01] [-6.57888180e-02 9.97833428e-01 5.30094921e-04 -2.30841348e+00] [ 4.77073978e-03 -2.16697035e-04 9.99988596e-01 -2.15683710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.347552018 meters 0.033614617334333574 Centerline is valid? [True, True] Translation: X:29.32, Y:-2.31, Z:-0.22 [[ 9.97903201e-01 6.44981313e-02 -5.40298063e-03 2.93208724e+01] [-6.44958096e-02 9.97917796e-01 6.03030865e-04 -2.31378651e+00] [ 5.43062488e-03 -2.53296821e-04 9.99985222e-01 -2.16028519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.377552017999996 meters 0.03323957671458545 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.32, Z:-0.21 [[ 9.98048608e-01 6.22079418e-02 -5.39891289e-03 2.93492825e+01] [-6.22056051e-02 9.98063176e-01 5.99812937e-04 -2.31581631e+00] [ 5.42576927e-03 -2.62799824e-04 9.99985246e-01 -2.14346508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.407552017999997 meters 0.03428538727429718 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.32, Z:-0.21 [[ 9.98115802e-01 6.11374789e-02 -5.20143051e-03 2.93764250e+01] [-6.11352920e-02 9.98129321e-01 5.78546500e-04 -2.32007542e+00] [ 5.22707118e-03 -2.59465431e-04 9.99986305e-01 -2.14054650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.437552017999998 meters 0.035334498832897264 Centerline is valid? [True, True] Translation: X:29.40, Y:-2.32, Z:-0.21 [[ 9.98165096e-01 6.03691642e-02 -4.69099407e-03 2.94036178e+01] [-6.03673795e-02 9.98176091e-01 5.21257184e-04 -2.32431347e+00] [ 4.71390598e-03 -2.37117708e-04 9.99988861e-01 -2.14017919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.467552017999996 meters 0.03597958667212997 Centerline is valid? [True, True] Translation: X:29.43, Y:-2.33, Z:-0.21 [[ 9.98197762e-01 5.98594952e-02 -4.25081990e-03 2.94309860e+01] [-5.98580271e-02 9.98206789e-01 4.71883916e-04 -2.32823501e+00] [ 4.27144402e-03 -2.16587775e-04 9.99990854e-01 -2.13981108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.497552017999997 meters 0.03612382152448854 Centerline is valid? [True, True] Translation: X:29.46, Y:-2.33, Z:-0.21 [[ 9.98237475e-01 5.92255209e-02 -3.77914600e-03 2.94598194e+01] [-5.92243647e-02 9.98244610e-01 4.17227680e-04 -2.33134927e+00] [ 3.79722265e-03 -1.92674785e-04 9.99992772e-01 -2.13822888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.527552017999998 meters 0.0354027673883879 Centerline is valid? [True, True] Translation: X:29.49, Y:-2.33, Z:-0.21 [[ 9.98268855e-01 5.87519249e-02 -2.73932018e-03 2.94876313e+01] [-5.87513203e-02 9.98272604e-01 3.00748577e-04 -2.33091844e+00] [ 2.75225784e-03 -1.39289260e-04 9.99996203e-01 -2.12503889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.557552017999996 meters 0.036775358028231835 Centerline is valid? [True, True] Translation: X:29.51, Y:-2.33, Z:-0.21 [[ 9.98278940e-01 5.85961503e-02 -2.37666745e-03 2.95140553e+01] [-5.85956932e-02 9.98281762e-01 2.61564243e-04 -2.33454563e+00] [ 2.38791042e-03 -1.21851599e-04 9.99997142e-01 -2.12609202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.587552017999997 meters 0.03470246750774136 Centerline is valid? [True, True] Translation: X:29.54, Y:-2.33, Z:-0.21 [[ 9.98303313e-01 5.81698634e-02 -2.60056265e-03 2.95422811e+01] [-5.81693199e-02 9.98306691e-01 2.84207157e-04 -2.33303800e+00] [ 2.61269139e-03 -1.32451986e-04 9.99996578e-01 -2.11675984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.617552017999998 meters 0.03418685008526307 Centerline is valid? [True, True] Translation: X:29.57, Y:-2.33, Z:-0.21 [[ 9.98292569e-01 5.83351429e-02 -2.99307107e-03 2.95713658e+01] [-5.83344244e-02 9.98297044e-01 3.26868606e-04 -2.33266508e+00] [ 3.00704193e-03 -1.51711422e-04 9.99995467e-01 -2.12165263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.647552018 meters 0.035082687833246785 Centerline is valid? [True, True] Translation: X:29.60, Y:-2.34, Z:-0.21 [[ 9.98254128e-01 5.89747909e-02 -3.26647574e-03 2.95987819e+01] [-5.89739349e-02 9.98259459e-01 3.57846161e-04 -2.33636886e+00] [ 3.28189420e-03 -1.64584481e-04 9.99994601e-01 -2.13455338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.677552017999997 meters 0.03422435255660367 Centerline is valid? [True, True] Translation: X:29.63, Y:-2.34, Z:-0.21 [[ 9.98212763e-01 5.96654123e-02 -3.36417904e-03 2.96278818e+01] [-5.96645155e-02 9.98218419e-01 3.66412014e-04 -2.33688203e+00] [ 3.38004761e-03 -1.65035037e-04 9.99994274e-01 -2.13816520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.707552017999998 meters 0.03430165917630193 Centerline is valid? [True, True] Translation: X:29.66, Y:-2.34, Z:-0.21 [[ 9.98136425e-01 6.09359644e-02 -3.23813311e-03 2.96553368e+01] [-6.09351389e-02 9.98141665e-01 3.53079887e-04 -2.33836898e+00] [ 3.25363084e-03 -1.55105805e-04 9.99994695e-01 -2.14751431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.737552018 meters 0.033233438704855275 Centerline is valid? [True, True] Translation: X:29.68, Y:-2.34, Z:-0.21 [[ 9.97936780e-01 6.41295999e-02 -3.09485882e-03 2.96840807e+01] [-6.41288600e-02 9.97941569e-01 3.37828127e-04 -2.33671002e+00] [ 3.11015305e-03 -1.38661345e-04 9.99995154e-01 -2.14911138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.767552017999996 meters 0.03262769147087362 Centerline is valid? [True, True] Translation: X:29.71, Y:-2.34, Z:-0.21 [[ 9.97888534e-01 6.48951696e-02 -2.66289912e-03 2.97131634e+01] [-6.48946306e-02 9.97892080e-01 2.88422789e-04 -2.33821409e+00] [ 2.67600319e-03 -1.15005939e-04 9.99996413e-01 -2.14873399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.797552017999998 meters 0.03290923948363216 Centerline is valid? [True, True] Translation: X:29.74, Y:-2.34, Z:-0.21 [[ 9.97854146e-01 6.54458704e-02 -1.98519821e-03 2.97409600e+01] [-6.54455708e-02 9.97856117e-01 2.15570649e-04 -2.34101775e+00] [ 1.99505039e-03 -8.51856355e-05 9.99998006e-01 -2.14377725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.827552018 meters 0.031412744278438855 Centerline is valid? [True, True] Translation: X:29.77, Y:-2.34, Z:-0.21 [[ 9.97806049e-01 6.61782249e-02 -1.87906744e-03 2.97700763e+01] [-6.61779612e-02 9.97807815e-01 2.02259095e-04 -2.34089063e+00] [ 1.88833333e-03 -7.74624965e-05 9.99998214e-01 -2.13613876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.857552017999996 meters 0.03086182340510539 Centerline is valid? [True, True] Translation: X:29.80, Y:-2.34, Z:-0.21 [[ 9.97670487e-01 6.81925256e-02 -1.83842651e-03 2.97992931e+01] [-6.81922743e-02 9.97672178e-01 1.99066820e-04 -2.33995604e+00] [ 1.84772185e-03 -7.32366063e-05 9.99998290e-01 -2.13695235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.887552017999997 meters 0.029726728316119607 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.34, Z:-0.21 [[ 9.97582836e-01 6.94586159e-02 -1.99631599e-03 2.98284953e+01] [-6.94583260e-02 9.97584831e-01 2.14285312e-04 -2.33986266e+00] [ 2.00637851e-03 -7.51065821e-05 9.99997984e-01 -2.13605655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.917552018 meters 0.02931431194370966 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.34, Z:-0.21 [[ 9.97453508e-01 7.13004803e-02 -1.65529257e-03 2.98560974e+01] [-7.13002822e-02 9.97454880e-01 1.78433575e-04 -2.34099500e+00] [ 1.66380205e-03 -5.99563683e-05 9.99998614e-01 -2.13554358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.947552017999996 meters 0.02883604938896923 Centerline is valid? [True, True] Translation: X:29.89, Y:-2.34, Z:-0.21 [[ 9.97337114e-01 7.29218521e-02 -1.04101330e-03 2.98853139e+01] [-7.29217763e-02 9.97337657e-01 1.10626367e-04 -2.34126435e+00] [ 1.04630885e-03 -3.44192425e-05 9.99999452e-01 -2.13255265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.977552017999997 meters 0.027757253895174073 Centerline is valid? [True, True] Translation: X:29.91, Y:-2.34, Z:-0.21 [[ 9.97162196e-01 7.52813195e-02 -5.27452849e-04 2.99143152e+01] [-7.52813002e-02 9.97162335e-01 5.63589210e-05 -2.34176781e+00] [ 5.30198888e-04 -1.64916491e-05 9.99999859e-01 -2.12780106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.007552018 meters 0.025781322606942356 Centerline is valid? [True, True] Translation: X:29.95, Y:-2.34, Z:-0.21 [[ 9.96745095e-01 8.06130735e-02 8.65129596e-04 2.99451463e+01] [-8.06130227e-02 9.96745470e-01 -9.34496261e-05 -2.33857827e+00] [-8.69847267e-04 2.34047446e-05 9.99999621e-01 -2.11357069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.037552017999996 meters 0.024698266959530243 Centerline is valid? [True, True] Translation: X:29.97, Y:-2.34, Z:-0.21 [[ 9.96515653e-01 8.33877508e-02 1.74225543e-03 2.99743186e+01] [-8.33875471e-02 9.96517176e-01 -1.89351194e-04 -2.33838366e+00] [-1.75197703e-03 4.34090218e-05 9.99998464e-01 -2.10338738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.067552017999997 meters 0.02418797005577194 Centerline is valid? [True, True] Translation: X:30.00, Y:-2.34, Z:-0.21 [[ 9.96286069e-01 8.60694430e-02 2.47378026e-03 3.00032358e+01] [-8.60690443e-02 9.96289139e-01 -2.67391728e-04 -2.33846658e+00] [-2.48761466e-03 5.34827512e-05 9.99996904e-01 -2.09346284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.097552018 meters 0.022945718130296507 Centerline is valid? [True, True] Translation: X:30.03, Y:-2.34, Z:-0.21 [[ 9.95785731e-01 9.16149982e-02 4.17961583e-03 3.00325633e+01] [-9.16139215e-02 9.95794501e-01 -4.48754967e-04 -2.33631484e+00] [-4.20315115e-03 6.39527960e-05 9.99991165e-01 -2.07825389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.127552017999996 meters 0.02258652148971179 Centerline is valid? [True, True] Translation: X:30.06, Y:-2.34, Z:-0.21 [[ 9.95544054e-01 9.41597733e-02 5.09636475e-03 3.00600245e+01] [-9.41582082e-02 9.95557097e-01 -5.46698023e-04 -2.33784190e+00] [-5.12519905e-03 6.43973935e-05 9.99986864e-01 -2.08048834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.157552017999997 meters 0.022201933096295992 Centerline is valid? [True, True] Translation: X:30.09, Y:-2.34, Z:-0.21 [[ 9.95330924e-01 9.63712890e-02 5.37837579e-03 3.00880940e+01] [-9.63695813e-02 9.95345453e-01 -5.76383417e-04 -2.33960080e+00] [-5.40888870e-03 5.53804164e-05 9.99985370e-01 -2.08287066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.187552017999998 meters 0.021934278327483646 Centerline is valid? [True, True] Translation: X:30.12, Y:-2.34, Z:-0.21 [[ 9.95146738e-01 9.81996342e-02 6.30893556e-03 3.01164130e+01] [-9.81973248e-02 9.95166734e-01 -6.75520571e-04 -2.34117890e+00] [-6.34477867e-03 5.27214981e-05 9.99979870e-01 -2.08497764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.217552017999996 meters 0.021876129927241514 Centerline is valid? [True, True] Translation: X:30.14, Y:-2.34, Z:-0.21 [[ 9.94864274e-01 1.00898278e-01 8.03828299e-03 3.01438747e+01] [-1.00894637e-01 9.94896746e-01 -8.58169684e-04 -2.34331125e+00] [-8.08384943e-03 4.27427137e-05 9.99967324e-01 -2.07718795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.247552017999997 meters 0.02176567529292762 Centerline is valid? [True, True] Translation: X:30.17, Y:-2.35, Z:-0.21 [[ 9.94816997e-01 1.01274305e-01 9.09158685e-03 3.01712932e+01] [-1.01269677e-01 9.94858539e-01 -9.69213228e-04 -2.34591299e+00] [-9.14299921e-03 4.34877309e-05 9.99958201e-01 -2.07057250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.277552017999998 meters 0.021900972343188004 Centerline is valid? [True, True] Translation: X:30.20, Y:-2.35, Z:-0.21 [[ 9.94785161e-01 1.01482902e-01 1.01834680e-02 3.01980183e+01] [-1.01477136e-01 9.94837282e-01 -1.08272411e-03 -2.34953943e+00] [-1.02407716e-02 4.36887216e-05 9.99947561e-01 -2.06216206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.307552017999996 meters 0.02201278241380178 Centerline is valid? [True, True] Translation: X:30.23, Y:-2.35, Z:-0.21 [[ 9.94855251e-01 1.00653743e-01 1.14827823e-02 3.02252529e+01] [-1.00646376e-01 9.94921515e-01 -1.21916596e-03 -2.35372346e+00] [-1.15471808e-02 5.71932313e-05 9.99933327e-01 -2.05342306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.337552017999997 meters 0.022067169754105057 Centerline is valid? [True, True] Translation: X:30.25, Y:-2.36, Z:-0.20 [[ 9.94998761e-01 9.90594521e-02 1.28331602e-02 3.02531864e+01] [-9.90501516e-02 9.95081513e-01 -1.35986512e-03 -2.35842203e+00] [-1.29047480e-02 8.19376447e-05 9.99916727e-01 -2.04623088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.367552017999998 meters 0.02283273480759107 Centerline is valid? [True, True] Translation: X:30.28, Y:-2.37, Z:-0.20 [[ 9.95448195e-01 9.41677307e-02 1.46741147e-02 3.02809576e+01] [-9.41551010e-02 9.95556333e-01 -1.55071333e-03 -2.36750949e+00] [-1.47549349e-02 1.62012035e-04 9.99891127e-01 -2.03352522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.397552018 meters 0.023175304417756976 Centerline is valid? [True, True] Translation: X:30.31, Y:-2.37, Z:-0.20 [[ 9.95686067e-01 9.14919545e-02 1.54427515e-02 3.03094745e+01] [-9.14777116e-02 9.95805794e-01 -1.62765993e-03 -2.37369651e+00] [-1.55268992e-02 2.07970745e-04 9.99879429e-01 -2.03413051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.427552017999997 meters 0.02411002145200877 Centerline is valid? [True, True] Translation: X:30.34, Y:-2.38, Z:-0.20 [[ 9.96029784e-01 8.74970624e-02 1.63991890e-02 3.03365822e+01] [-8.74805072e-02 9.96164737e-01 -1.72554279e-03 -2.38291396e+00] [-1.64872737e-02 2.84082642e-04 9.99864035e-01 -2.03354966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.457552017999998 meters 0.024382558656269523 Centerline is valid? [True, True] Translation: X:30.37, Y:-2.39, Z:-0.20 [[ 9.96157877e-01 8.60288059e-02 1.63868469e-02 3.03651676e+01] [-8.60121296e-02 9.96292603e-01 -1.72105030e-03 -2.38792332e+00] [-1.64741543e-02 3.04970209e-04 9.99864245e-01 -2.03998774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.487552018 meters 0.02472583770262997 Centerline is valid? [True, True] Translation: X:30.39, Y:-2.39, Z:-0.20 [[ 9.96229157e-01 8.51284425e-02 1.67515503e-02 3.03921574e+01] [-8.51109365e-02 9.96369933e-01 -1.75649507e-03 -2.39270273e+00] [-1.68402688e-02 3.24131472e-04 9.99858140e-01 -2.04289033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.517552017999996 meters 0.02465417339814764 Centerline is valid? [True, True] Translation: X:30.42, Y:-2.40, Z:-0.20 [[ 9.96306428e-01 8.41532801e-02 1.70800033e-02 3.04204135e+01] [-8.41349961e-02 9.96452762e-01 -1.78752818e-03 -2.39658621e+00] [-1.71698428e-02 3.43899807e-04 9.99852528e-01 -2.04760747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.547552017999998 meters 0.024727469831224935 Centerline is valid? [True, True] Translation: X:30.45, Y:-2.40, Z:-0.20 [[ 9.96371504e-01 8.30658854e-02 1.85441074e-02 3.04483077e+01] [-8.30442033e-02 9.96543981e-01 -1.93755847e-03 -2.40137618e+00] [-1.86409636e-02 3.90547419e-04 9.99826166e-01 -2.04790005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.577552018 meters 0.02481173093067841 Centerline is valid? [True, True] Translation: X:30.48, Y:-2.41, Z:-0.20 [[ 9.96454876e-01 8.18402015e-02 1.94900340e-02 3.04766253e+01] [-8.18160983e-02 9.96645371e-01 -2.03221157e-03 -2.40532613e+00] [-1.95909687e-02 4.30408596e-04 9.99807986e-01 -2.04680511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.607552017999996 meters 0.024875066181116463 Centerline is valid? [True, True] Translation: X:30.50, Y:-2.41, Z:-0.20 [[ 9.96515245e-01 8.08983120e-02 2.03182219e-02 3.05047616e+01] [-8.08720380e-02 9.96722253e-01 -2.11283556e-03 -2.40955623e+00] [-2.04225487e-02 4.62296836e-04 9.99791331e-01 -2.04694677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.637552017999997 meters 0.025252993974997615 Centerline is valid? [True, True] Translation: X:30.53, Y:-2.41, Z:-0.20 [[ 9.96570829e-01 8.00862946e-02 2.08030889e-02 3.05316658e+01] [-8.00586506e-02 9.96787815e-01 -2.15962447e-03 -2.41427170e+00] [-2.09092219e-02 4.86751526e-04 9.99781260e-01 -2.04491456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.667552018 meters 0.026084391729468002 Centerline is valid? [True, True] Translation: X:30.56, Y:-2.42, Z:-0.20 [[ 9.96707105e-01 7.80611096e-02 2.19410800e-02 3.05601681e+01] [-7.80299768e-02 9.96948422e-01 -2.27280466e-03 -2.42068576e+00] [-2.20515427e-02 5.53258593e-04 9.99756682e-01 -2.04982231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.697552017999996 meters 0.025935268530648713 Centerline is valid? [True, True] Translation: X:30.59, Y:-2.42, Z:-0.21 [[ 9.96777929e-01 7.71909417e-02 2.18017918e-02 3.05889090e+01] [-7.71601269e-02 9.97016169e-01 -2.25235610e-03 -2.42429521e+00] [-2.19106004e-02 5.62869822e-04 9.99759776e-01 -2.06052384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.727552017999997 meters 0.026347673344512695 Centerline is valid? [True, True] Translation: X:30.62, Y:-2.43, Z:-0.21 [[ 9.96817053e-01 7.67239966e-02 2.16608288e-02 3.06167419e+01] [-7.66935426e-02 9.97052209e-01 -2.23441262e-03 -2.42871167e+00] [-2.17684102e-02 5.66054906e-04 9.99762880e-01 -2.06471898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.757552018 meters 0.026404868686339737 Centerline is valid? [True, True] Translation: X:30.64, Y:-2.43, Z:-0.21 [[ 9.96956529e-01 7.49988954e-02 2.12801757e-02 3.06448656e+01] [-7.49692098e-02 9.97183443e-01 -2.19047038e-03 -2.43245758e+00] [-2.13845218e-02 5.88445784e-04 9.99771152e-01 -2.08614063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.787552017999996 meters 0.027331767965837795 Centerline is valid? [True, True] Translation: X:30.67, Y:-2.44, Z:-0.21 [[ 9.97000370e-01 7.44947940e-02 2.09949535e-02 3.06726777e+01] [-7.44658575e-02 9.97221229e-01 -2.15778012e-03 -2.43826650e+00] [-2.10973567e-02 5.87900364e-04 9.99777253e-01 -2.08670297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.817552017999997 meters 0.026743224441374003 Centerline is valid? [True, True] Translation: X:30.70, Y:-2.44, Z:-0.21 [[ 9.97079883e-01 7.35101162e-02 2.06874275e-02 3.07014816e+01] [-7.34819029e-02 9.97294294e-01 -2.12168999e-03 -2.44119670e+00] [-2.07874191e-02 5.95342862e-04 9.99783741e-01 -2.10657250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.847552018 meters 0.027810119570806965 Centerline is valid? [True, True] Translation: X:30.73, Y:-2.45, Z:-0.21 [[ 9.97151215e-01 7.26447747e-02 2.03024993e-02 3.07289805e+01] [-7.26174882e-02 9.97357698e-01 -2.07899194e-03 -2.44727040e+00] [-2.03998819e-02 5.98752831e-04 9.99791721e-01 -2.10656976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.877552017999996 meters 0.02772734075249635 Centerline is valid? [True, True] Translation: X:30.76, Y:-2.45, Z:-0.21 [[ 9.97329758e-01 7.03210351e-02 1.97054923e-02 3.07572965e+01] [-7.02949589e-02 9.97524217e-01 -2.01371199e-03 -2.45224040e+00] [-1.97983121e-02 6.23138124e-04 9.99803800e-01 -2.13659704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.907552017999997 meters 0.028207365746893923 Centerline is valid? [True, True] Translation: X:30.79, Y:-2.46, Z:-0.21 [[ 9.97431767e-01 6.90247897e-02 1.91167273e-02 3.07852774e+01] [-6.90001099e-02 9.97614750e-01 -1.94838683e-03 -2.45743166e+00] [-1.92056161e-02 6.24326628e-04 9.99815360e-01 -2.14712929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.937552017999998 meters 0.029013827094917625 Centerline is valid? [True, True] Translation: X:30.81, Y:-2.46, Z:-0.22 [[ 9.97536526e-01 6.74998906e-02 1.90956403e-02 3.08133797e+01] [-6.74750853e-02 9.97719071e-01 -1.94106884e-03 -2.46288179e+00] [-1.91831064e-02 6.47807106e-04 9.99815777e-01 -2.15735383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.967552017999996 meters 0.02856131743711984 Centerline is valid? [True, True] Translation: X:30.84, Y:-2.47, Z:-0.22 [[ 9.97639654e-01 6.60354345e-02 1.88266411e-02 3.08421797e+01] [-6.60111594e-02 9.97817059e-01 -1.90861998e-03 -2.46687742e+00] [-1.89115802e-02 6.61346577e-04 9.99820941e-01 -2.17065794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.997552017999997 meters 0.029897823816631548 Centerline is valid? [True, True] Translation: X:30.87, Y:-2.47, Z:-0.22 [[ 9.97799052e-01 6.38888698e-02 1.77556569e-02 3.08691015e+01] [-6.38669898e-02 9.97956802e-01 -1.79718823e-03 -2.47367320e+00] [-1.78341989e-02 6.59232353e-04 9.99840741e-01 -2.18447110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.027552017999998 meters 0.029452805701614265 Centerline is valid? [True, True] Translation: X:30.90, Y:-2.48, Z:-0.22 [[ 9.97855578e-01 6.29598348e-02 1.78970418e-02 3.08973601e+01] [-6.29375217e-02 9.98015832e-01 -1.80782985e-03 -2.47732283e+00] [-1.79753517e-02 6.77557649e-04 9.99838201e-01 -2.19484316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.057552017999996 meters 0.030598522084266912 Centerline is valid? [True, True] Translation: X:30.92, Y:-2.48, Z:-0.22 [[ 9.97921126e-01 6.19989964e-02 1.75940482e-02 3.09248061e+01] [-6.19773349e-02 9.98075980e-01 -1.77430288e-03 -2.48344066e+00] [-1.76702019e-02 6.80182109e-04 9.99843638e-01 -2.19788597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.087552017999997 meters 0.029913718657023507 Centerline is valid? [True, True] Translation: X:30.95, Y:-2.49, Z:-0.22 [[ 9.98019454e-01 6.05297838e-02 1.71264345e-02 3.09533134e+01] [-6.05090678e-02 9.98166156e-01 -1.72568358e-03 -2.48922872e+00] [-1.71994825e-02 6.85961198e-04 9.99851843e-01 -2.21352920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.117552017999998 meters 0.03222033936871511 Centerline is valid? [True, True] Translation: X:30.98, Y:-2.50, Z:-0.22 [[ 9.98067221e-01 5.97428759e-02 1.71058961e-02 3.09806419e+01] [-5.97221206e-02 9.98213556e-01 -1.72207233e-03 -2.49811779e+00] [-1.71782189e-02 6.97143556e-04 9.99852200e-01 -2.21726421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.147552018 meters 0.03222033936871511 Centerline is valid? [True, True] Translation: X:31.01, Y:-2.50, Z:-0.22 [[ 9.98073902e-01 5.96310948e-02 1.71060782e-02 3.10079880e+01] [-5.96103541e-02 9.98220239e-01 -1.72026243e-03 -2.50075639e+00] [-1.71782146e-02 6.97249658e-04 9.99852200e-01 -2.21920763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.177552017999997 meters 0.030824711502074283 Centerline is valid? [True, True] Translation: X:31.04, Y:-2.50, Z:-0.22 [[ 9.98097039e-01 5.92093611e-02 1.72206842e-02 3.10364690e+01] [-5.91883066e-02 9.98245336e-01 -1.73018972e-03 -2.50402071e+00] [-1.72929111e-02 7.07634098e-04 9.99850216e-01 -2.23522868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.207552017999998 meters 0.03159906609143143 Centerline is valid? [True, True] Translation: X:31.06, Y:-2.51, Z:-0.22 [[ 9.98149996e-01 5.85129806e-02 1.65171787e-02 3.10634554e+01] [-5.84935401e-02 9.98286410e-01 -1.65805963e-03 -2.51293933e+00] [-1.65858930e-02 6.88843958e-04 9.99862207e-01 -2.24579143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.237552018 meters 0.03148001850877845 Centerline is valid? [True, True] Translation: X:31.09, Y:-2.52, Z:-0.23 [[ 9.98138916e-01 5.87911490e-02 1.61958571e-02 3.10923237e+01] [-5.87725166e-02 9.98270080e-01 -1.62442810e-03 -2.51764285e+00] [-1.62633416e-02 6.69533620e-04 9.99867519e-01 -2.25410252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.267552017999996 meters 0.03131196125481131 Centerline is valid? [True, True] Translation: X:31.12, Y:-2.52, Z:-0.23 [[ 9.98109000e-01 5.94828960e-02 1.54986759e-02 3.11210009e+01] [-5.94659348e-02 9.98229127e-01 -1.55333318e-03 -2.52332573e+00] [-1.55636264e-02 6.28752580e-04 9.99878682e-01 -2.26301222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.297552017999998 meters 0.029190709313725118 Centerline is valid? [True, True] Translation: X:31.15, Y:-2.53, Z:-0.23 [[ 9.98056487e-01 6.04607154e-02 1.50914300e-02 3.11500674e+01] [-6.04447633e-02 9.98170399e-01 -1.51134744e-03 -2.52562617e+00] [-1.51551959e-02 5.96212198e-04 9.99884976e-01 -2.28458697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.327552018 meters 0.02947094729782533 Centerline is valid? [True, True] Translation: X:31.18, Y:-2.54, Z:-0.23 [[ 9.97935468e-01 6.25281393e-02 1.46640053e-02 3.11771154e+01] [-6.25133201e-02 9.98043051e-01 -1.46723863e-03 -2.53590255e+00] [-1.47270523e-02 5.47513813e-04 9.99891401e-01 -2.29932806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.357552017999996 meters 0.028989193897949114 Centerline is valid? [True, True] Translation: X:31.21, Y:-2.54, Z:-0.23 [[ 9.97848810e-01 6.39460810e-02 1.44447363e-02 3.12059040e+01] [-6.39318683e-02 9.97953221e-01 -1.44404085e-03 -2.54118615e+00] [-1.45075118e-02 5.17455470e-04 9.99894627e-01 -2.30824948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.387552017999997 meters 0.028098478261222404 Centerline is valid? [True, True] Translation: X:31.23, Y:-2.55, Z:-0.23 [[ 9.97743790e-01 6.56563496e-02 1.40204327e-02 3.12343211e+01] [-6.56431433e-02 9.97842180e-01 -1.40055346e-03 -2.54552071e+00] [-1.40821344e-02 4.77048241e-04 9.99900728e-01 -2.31744950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.417552018 meters 0.02714014487005634 Centerline is valid? [True, True] Translation: X:31.26, Y:-2.55, Z:-0.23 [[ 9.97587202e-01 6.80647955e-02 1.36732944e-02 3.12625356e+01] [-6.80524756e-02 9.97680810e-01 -1.36482153e-03 -2.55000004e+00] [-1.37344797e-02 4.31026956e-04 9.99905585e-01 -2.33014306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.447552017999996 meters 0.025020463479562792 Centerline is valid? [True, True] Translation: X:31.29, Y:-2.56, Z:-0.24 [[ 9.97262525e-01 7.28891764e-02 1.24347865e-02 3.12916009e+01] [-7.28793709e-02 9.97339991e-01 -1.24048030e-03 -2.55730665e+00] [-1.24921274e-02 3.30845106e-04 9.99921916e-01 -2.35460286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.477552017999997 meters 0.02443950152507993 Centerline is valid? [True, True] Translation: X:31.32, Y:-2.56, Z:-0.24 [[ 9.97111066e-01 7.50625854e-02 1.16245189e-02 3.13194785e+01] [-7.50541818e-02 9.97178785e-01 -1.15810623e-03 -2.56301725e+00] [-1.16786541e-02 2.82291780e-04 9.99931762e-01 -2.36941933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.507552018 meters 0.0237296982322533 Centerline is valid? [True, True] Translation: X:31.35, Y:-2.57, Z:-0.24 [[ 9.96901753e-01 7.78733412e-02 1.10741466e-02 3.13469335e+01] [-7.78659130e-02 9.96963233e-01 -1.10101009e-03 -2.56919227e+00] [-1.11262564e-02 2.35300350e-04 9.99938074e-01 -2.38611217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.537552017999996 meters 0.022962420058550925 Centerline is valid? [True, True] Translation: X:31.37, Y:-2.58, Z:-0.24 [[ 9.96681578e-01 8.07298928e-02 1.04171557e-02 3.13739811e+01] [-8.07234877e-02 9.96735997e-01 -1.03455724e-03 -2.57507206e+00] [-1.04666737e-02 1.90215004e-04 9.99945205e-01 -2.40103125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.567552017999997 meters 0.022318011774161362 Centerline is valid? [True, True] Translation: X:31.40, Y:-2.58, Z:-0.24 [[ 9.96506143e-01 8.29614021e-02 9.63910589e-03 3.14020538e+01] [-8.29560383e-02 9.96552749e-01 -9.55641780e-04 -2.58048950e+00] [-9.68515885e-03 1.52680867e-04 9.99953086e-01 -2.41518149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.597552018 meters 0.021362439265525644 Centerline is valid? [True, True] Translation: X:31.43, Y:-2.59, Z:-0.24 [[ 9.96204449e-01 8.65974645e-02 8.80765960e-03 3.14296468e+01] [-8.65931482e-02 9.96243378e-01 -8.70950462e-04 -2.59044730e+00] [-8.84999466e-03 1.04961752e-04 9.99960833e-01 -2.43034441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.627552017999996 meters 0.020932083983069866 Centerline is valid? [True, True] Translation: X:31.46, Y:-2.60, Z:-0.24 [[ 9.96125083e-01 8.75554084e-02 8.29877127e-03 3.14573560e+01] [-8.75516279e-02 9.96159647e-01 -8.18453428e-04 -2.59779603e+00] [-8.33856108e-03 8.87110549e-05 9.99965230e-01 -2.43668775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.657552017999997 meters 0.022157644563390033 Centerline is valid? [True, True] Translation: X:31.48, Y:-2.61, Z:-0.25 [[ 9.96076152e-01 8.82100037e-02 7.16205529e-03 3.14848463e+01] [-8.82072172e-02 9.96101898e-01 -7.04638557e-04 -2.60646290e+00] [-7.19629304e-03 7.01286960e-05 9.99974104e-01 -2.45148509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.687552017999998 meters 0.02089252442240514 Centerline is valid? [True, True] Translation: X:31.51, Y:-2.62, Z:-0.25 [[ 9.96254916e-01 8.62467504e-02 6.13518376e-03 3.15108080e+01] [-8.62446797e-02 9.96273804e-01 -6.01775051e-04 -2.62463838e+00] [-6.16422400e-03 7.03943953e-05 9.99980999e-01 -2.48409944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.717552017999996 meters 0.021552464896172453 Centerline is valid? [True, True] Translation: X:31.54, Y:-2.64, Z:-0.25 [[ 9.96434454e-01 8.41816800e-02 5.64125326e-03 3.15379506e+01] [-8.41798990e-02 9.96450420e-01 -5.52823442e-04 -2.63623603e+00] [-5.66776679e-03 7.59721943e-05 9.99983935e-01 -2.49871603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.747552017999997 meters 0.02168930371512329 Centerline is valid? [True, True] Translation: X:31.57, Y:-2.65, Z:-0.25 [[ 9.96654413e-01 8.15596887e-02 5.29136311e-03 3.15653043e+01] [-8.15580858e-02 9.96668455e-01 -5.18369970e-04 -2.64745871e+00] [-5.31601279e-03 8.50822715e-05 9.99985866e-01 -2.51005966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.777552017999998 meters 0.022354406830585486 Centerline is valid? [True, True] Translation: X:31.59, Y:-2.66, Z:-0.25 [[ 9.96860478e-01 7.90408830e-02 4.66106130e-03 3.15917028e+01] [-7.90396184e-02 9.96871372e-01 -4.55171096e-04 -2.65945316e+00] [-4.68245570e-03 8.53335702e-05 9.99989034e-01 -2.52528523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.807552017999996 meters 0.02419406221349212 Centerline is valid? [True, True] Translation: X:31.62, Y:-2.68, Z:-0.25 [[ 9.97296078e-01 7.33735997e-02 4.10467783e-03 3.16186213e+01] [-7.33725728e-02 9.97304520e-01 -4.00411662e-04 -2.68116566e+00] [-4.12299340e-03 9.81582076e-05 9.99991496e-01 -2.53941153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.837552017999997 meters 0.02526003599202842 Centerline is valid? [True, True] Translation: X:31.65, Y:-2.69, Z:-0.25 [[ 9.97506360e-01 7.04593656e-02 4.06695851e-03 3.16455265e+01] [-7.04583337e-02 9.97514644e-01 -3.96613713e-04 -2.69398143e+00] [-4.08479582e-03 1.09073582e-04 9.99991651e-01 -2.54641801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.867552017999998 meters 0.025432125480030158 Centerline is valid? [True, True] Translation: X:31.67, Y:-2.70, Z:-0.26 [[ 9.97694000e-01 6.77411193e-02 4.22180206e-03 3.16732113e+01] [-6.77399850e-02 9.97702924e-01 -4.11249517e-04 -2.70398734e+00] [-4.23996276e-03 1.24316368e-04 9.99991004e-01 -2.55316949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.897552018 meters 0.02784601036506414 Centerline is valid? [True, True] Translation: X:31.70, Y:-2.72, Z:-0.26 [[ 9.97874631e-01 6.50355004e-02 4.07495755e-03 3.16997358e+01] [-6.50344221e-02 9.97882942e-01 -3.96699592e-04 -2.71950979e+00] [-4.09213019e-03 1.30843949e-04 9.99991619e-01 -2.56199053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.927552017999997 meters 0.027912659190351328 Centerline is valid? [True, True] Translation: X:31.73, Y:-2.74, Z:-0.26 [[ 9.98176284e-01 6.01780673e-02 4.76517947e-03 3.17281515e+01] [-6.01765409e-02 9.98187642e-01 -4.63180959e-04 -2.73518669e+00] [-4.78441660e-03 1.75584230e-04 9.99988539e-01 -2.56612348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.957552017999998 meters 0.029663706278705605 Centerline is valid? [True, True] Translation: X:31.75, Y:-2.75, Z:-0.26 [[ 9.98297172e-01 5.81256317e-02 4.91598600e-03 3.17548684e+01] [-5.81239822e-02 9.98309258e-01 -4.77857826e-04 -2.74741335e+00] [-4.93545012e-03 1.91307433e-04 9.99987802e-01 -2.57274622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.987552018 meters 0.030046919899757513 Centerline is valid? [True, True] Translation: X:31.78, Y:-2.76, Z:-0.26 [[ 9.98395464e-01 5.64187587e-02 4.83955555e-03 3.17826209e+01] [-5.64171441e-02 9.98407174e-01 -4.69592858e-04 -2.75775286e+00] [-4.85834083e-03 1.95805476e-04 9.99988179e-01 -2.57773634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.017552017999996 meters 0.03180671726802125 Centerline is valid? [True, True] Translation: X:31.81, Y:-2.78, Z:-0.26 [[ 9.98577212e-01 5.32111011e-02 3.48294845e-03 3.18106198e+01] [-5.32102463e-02 9.98583274e-01 -3.37699208e-04 -2.77636080e+00] [-3.49598341e-03 1.51890189e-04 9.99993877e-01 -2.60259600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.047552018 meters 0.03197505413910976 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.79, Z:-0.26 [[ 9.98682854e-01 5.12672072e-02 2.05700749e-03 3.18383112e+01] [-5.12669044e-02 9.98684968e-01 -1.99675756e-04 -2.78612905e+00] [-2.06453928e-03 9.39563473e-05 9.99997864e-01 -2.62017514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.077552018 meters 0.03305054366374589 Centerline is valid? [True, True] Translation: X:31.87, Y:-2.80, Z:-0.26 [[ 9.98782076e-01 4.93326932e-02 8.06154301e-04 3.18667354e+01] [-4.93326460e-02 9.98782401e-01 -7.82833845e-05 -2.79703600e+00] [-8.09034658e-04 3.84183166e-05 9.99999672e-01 -2.63723502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.107552018 meters 0.03388385179088936 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.81, Z:-0.27 [[ 9.98876553e-01 4.73867995e-02 -3.49644092e-04 3.18953926e+01] [-4.73867907e-02 9.98876614e-01 3.35363970e-05 -2.80804141e+00] [ 3.50840490e-04 -1.69302092e-05 9.99999938e-01 -2.65104969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.137552017999994 meters 0.0345832076858941 Centerline is valid? [True, True] Translation: X:31.92, Y:-2.82, Z:-0.27 [[ 9.99034568e-01 4.39006360e-02 -1.63278790e-03 3.19237165e+01] [-4.39004366e-02 9.99035899e-01 1.57744064e-04 -2.82429306e+00] [ 1.63813879e-03 -8.59116709e-05 9.99998655e-01 -2.66537104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.167552017999995 meters 0.037922249564230716 Centerline is valid? [True, True] Translation: X:31.95, Y:-2.84, Z:-0.27 [[ 9.99106919e-01 4.22293280e-02 -1.43106538e-03 3.19505037e+01] [-4.22291743e-02 9.99107941e-01 1.37523412e-04 -2.83758464e+00] [ 1.43559631e-03 -7.69678825e-05 9.99998967e-01 -2.67287850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.197552017999996 meters 0.03772938840556443 Centerline is valid? [True, True] Translation: X:31.98, Y:-2.85, Z:-0.27 [[ 9.99199293e-01 3.99262568e-02 -2.58207992e-03 3.19792638e+01] [-3.99257462e-02 9.99202618e-01 2.49037749e-04 -2.85019412e+00] [ 2.58996416e-03 -1.45746875e-04 9.99996635e-01 -2.67502547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.227552018 meters 0.03738189309761818 Centerline is valid? [True, True] Translation: X:32.01, Y:-2.86, Z:-0.27 [[ 9.99236928e-01 3.89532070e-02 -2.86522142e-03 3.20071745e+01] [-3.89525756e-02 9.99241022e-01 2.75857273e-04 -2.85715473e+00] [ 2.87379231e-03 -1.64039020e-04 9.99995857e-01 -2.67632418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.257552018 meters 0.0400071010691769 Centerline is valid? [True, True] Translation: X:32.03, Y:-2.87, Z:-0.27 [[ 9.99272999e-01 3.79747263e-02 -3.37537154e-03 3.20343967e+01] [-3.79738458e-02 9.99278681e-01 3.24601442e-04 -2.86818628e+00] [ 3.38526347e-03 -1.96189618e-04 9.99994251e-01 -2.68941534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.287552018 meters 0.039035557831150175 Centerline is valid? [True, True] Translation: X:32.06, Y:-2.88, Z:-0.27 [[ 9.99316920e-01 3.66981062e-02 -4.35223184e-03 3.20627593e+01] [-3.66966301e-02 9.99326364e-01 4.18541679e-04 -2.87707949e+00] [ 4.36465970e-03 -2.58543540e-04 9.99990441e-01 -2.69495604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.317552018 meters 0.040803141845649725 Centerline is valid? [True, True] Translation: X:32.09, Y:-2.88, Z:-0.27 [[ 9.99296108e-01 3.70005612e-02 -6.18442506e-03 3.20899044e+01] [-3.69975897e-02 9.99315178e-01 5.94229281e-04 -2.88411036e+00] [ 6.20217665e-03 -3.65002187e-04 9.99980700e-01 -2.70101205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.347552017999995 meters 0.04098636243744134 Centerline is valid? [True, True] Translation: X:32.12, Y:-2.89, Z:-0.27 [[ 9.99314297e-01 3.64476870e-02 -6.51929517e-03 3.21179210e+01] [-3.64443754e-02 9.99335487e-01 6.26082434e-04 -2.88974585e+00] [ 6.53778227e-03 -3.88061487e-04 9.99978553e-01 -2.71087172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.377552017999996 meters 0.03720860047319463 Centerline is valid? [True, True] Translation: X:32.15, Y:-2.89, Z:-0.27 [[ 9.99312033e-01 3.64142389e-02 -7.03300796e-03 3.21465182e+01] [-3.64103880e-02 9.99336694e-01 6.74859717e-04 -2.88948015e+00] [ 7.05291743e-03 -4.18320888e-04 9.99975040e-01 -2.70654852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.407552018 meters 0.03933712489728877 Centerline is valid? [True, True] Translation: X:32.17, Y:-2.90, Z:-0.27 [[ 9.99301726e-01 3.65349600e-02 -7.82665569e-03 3.21733560e+01] [-3.65302034e-02 9.99332268e-01 7.49889974e-04 -2.89868856e+00] [ 7.84882678e-03 -4.63457022e-04 9.99969090e-01 -2.71790565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.437552018 meters 0.03805801583817253 Centerline is valid? [True, True] Translation: X:32.20, Y:-2.90, Z:-0.27 [[ 9.99307850e-01 3.64069310e-02 -7.63907261e-03 3.22014661e+01] [-3.64024032e-02 9.99336946e-01 7.30967630e-04 -2.90066477e+00] [ 7.66061978e-03 -4.52381090e-04 9.99970555e-01 -2.70941135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.467552018 meters 0.041346848897106526 Centerline is valid? [True, True] Translation: X:32.23, Y:-2.91, Z:-0.27 [[ 9.99298109e-01 3.67291889e-02 -7.36590835e-03 3.22285792e+01] [-3.67249938e-02 9.99325162e-01 7.04031210e-04 -2.90889752e+00] [ 7.38679605e-03 -4.33024118e-04 9.99972623e-01 -2.71574339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.497552018 meters 0.039039304677951484 Centerline is valid? [True, True] Translation: X:32.26, Y:-2.91, Z:-0.27 [[ 9.99324970e-01 3.61437775e-02 -6.57510180e-03 3.22576009e+01] [-3.61404247e-02 9.99346524e-01 6.28071813e-04 -2.90828499e+00] [ 6.59350602e-03 -3.90020874e-04 9.99978187e-01 -2.69044413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.527552017999994 meters 0.03811045288350286 Centerline is valid? [True, True] Translation: X:32.29, Y:-2.91, Z:-0.27 [[ 9.99356195e-01 3.53808609e-02 -5.94903909e-03 3.22866902e+01] [-3.53781059e-02 9.99373838e-01 5.67729131e-04 -2.90979641e+00] [ 5.96540077e-03 -3.56897889e-04 9.99982143e-01 -2.67934177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.557552017999996 meters 0.03959615533529128 Centerline is valid? [True, True] Translation: X:32.31, Y:-2.91, Z:-0.27 [[ 9.99410369e-01 3.39392583e-02 -5.20018611e-03 3.23137348e+01] [-3.39371389e-02 9.99423847e-01 4.95295674e-04 -2.91442267e+00] [ 5.21399997e-03 -3.18524194e-04 9.99986356e-01 -2.66976212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.587552018 meters 0.04324931991712143 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.92, Z:-0.26 [[ 9.99549694e-01 2.98249919e-02 -3.29848495e-03 3.23426142e+01] [-2.98241158e-02 9.99555113e-01 3.14497091e-04 -2.92255512e+00] [ 3.30639737e-03 -2.15981074e-04 9.99994511e-01 -2.64716986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.617552018 meters 0.044825078849163036 Centerline is valid? [True, True] Translation: X:32.37, Y:-2.93, Z:-0.26 [[ 9.99623130e-01 2.72894455e-02 -2.98062370e-03 3.23717689e+01] [-2.72887204e-02 9.99627553e-01 2.83684951e-04 -2.92712698e+00] [ 2.98725518e-03 -2.02240632e-04 9.99995518e-01 -2.64508078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.647552018 meters 0.046222079148504944 Centerline is valid? [True, True] Translation: X:32.40, Y:-2.93, Z:-0.26 [[ 9.99672873e-01 2.53381864e-02 -3.48175870e-03 3.24010791e+01] [-2.53371848e-02 9.99678907e-01 3.31491025e-04 -2.93168567e+00] [ 3.48904011e-03 -2.43164622e-04 9.99993884e-01 -2.64816901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.677552018 meters 0.04785847580955777 Centerline is valid? [True, True] Translation: X:32.43, Y:-2.94, Z:-0.27 [[ 9.99716043e-01 2.35838371e-02 -3.41102521e-03 3.24305899e+01] [-2.35828661e-02 9.99721833e-01 3.24621763e-04 -2.93646514e+00] [ 3.41773220e-03 -2.44087834e-04 9.99994130e-01 -2.65148579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.707552017999994 meters 0.0499511144364642 Centerline is valid? [True, True] Translation: X:32.46, Y:-2.94, Z:-0.27 [[ 9.99765778e-01 2.12174925e-02 -4.26688243e-03 3.24598966e+01] [-2.12159511e-02 9.99774834e-01 4.06194897e-04 -2.93961468e+00] [ 4.27454011e-03 -3.15573789e-04 9.99990814e-01 -2.65200789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.737552017999995 meters 0.04466885640427115 Centerline is valid? [True, True] Translation: X:32.49, Y:-2.93, Z:-0.26 [[ 9.99782528e-01 2.04186069e-02 -4.23989479e-03 3.24898776e+01] [-2.04170811e-02 9.99791469e-01 4.02841694e-04 -2.93286812e+00] [ 4.24723610e-03 -3.16187811e-04 9.99990930e-01 -2.63420774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.767552017999996 meters 0.04999397179396344 Centerline is valid? [True, True] Translation: X:32.52, Y:-2.94, Z:-0.26 [[ 9.99793544e-01 1.98772992e-02 -4.21444471e-03 3.25175443e+01] [-1.98757892e-02 9.99802377e-01 3.99857619e-04 -2.94020164e+00] [ 4.22155993e-03 -3.16009651e-04 9.99991039e-01 -2.64035800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.797552018 meters 0.05096152586202278 Centerline is valid? [True, True] Translation: X:32.55, Y:-2.94, Z:-0.26 [[ 9.99799866e-01 1.94106294e-02 -4.84307797e-03 3.25460569e+01] [-1.94086304e-02 9.99811529e-01 4.59405126e-04 -2.94143620e+00] [ 4.85108254e-03 -3.65315673e-04 9.99988167e-01 -2.64362413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.827552018 meters 0.04810200305539168 Centerline is valid? [True, True] Translation: X:32.58, Y:-2.94, Z:-0.27 [[ 9.99795150e-01 1.88291964e-02 -7.42426555e-03 3.25758047e+01] [-1.88244852e-02 9.99822556e-01 7.03934066e-04 -2.93538253e+00] [ 7.43620267e-03 -5.64031887e-04 9.99972192e-01 -2.65335045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.857552018 meters 0.04914270799103684 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.94, Z:-0.27 [[ 9.99793937e-01 1.87484115e-02 -7.78329315e-03 3.26049072e+01] [-1.87432358e-02 9.99824058e-01 7.37398749e-04 -2.93729278e+00] [ 7.79574880e-03 -5.91362700e-04 9.99969438e-01 -2.66159136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.887552017999994 meters 0.04599815539944172 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.93, Z:-0.26 [[ 9.99798561e-01 1.85859626e-02 -7.57627616e-03 3.26344221e+01] [-1.85810588e-02 9.99827100e-01 7.17141405e-04 -2.93439241e+00] [ 7.58829499e-03 -5.76221711e-04 9.99971042e-01 -2.64733108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.917552017999995 meters 0.04649873607152933 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.94, Z:-0.26 [[ 9.99798413e-01 1.88840147e-02 -6.82116750e-03 3.26636432e+01] [-1.88800507e-02 9.99821548e-01 6.45065201e-04 -2.93567340e+00] [ 6.83213167e-03 -5.16151175e-04 9.99976528e-01 -2.63806008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.947552017999996 meters 0.044548982177812994 Centerline is valid? [True, True] Translation: X:32.69, Y:-2.93, Z:-0.26 [[ 9.99779498e-01 2.04458971e-02 -4.78755249e-03 3.26942472e+01] [-2.04439626e-02 9.99790898e-01 4.52664755e-04 -2.92945765e+00] [ 4.79580653e-03 -3.54688397e-04 9.99988437e-01 -2.60430723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.977552018 meters 0.04624328254448837 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.93, Z:-0.26 [[ 9.99750791e-01 2.18307060e-02 -4.66657651e-03 3.27219148e+01] [-2.18288867e-02 9.99761624e-01 4.40449018e-04 -2.93153193e+00] [ 4.67507943e-03 -3.38473085e-04 9.99989014e-01 -2.59816765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.007552018 meters 0.04418514052907032 Centerline is valid? [True, True] Translation: X:32.75, Y:-2.93, Z:-0.26 [[ 9.99711668e-01 2.34417867e-02 -5.20221291e-03 3.27515440e+01] [-2.34395476e-02 9.99725136e-01 4.90976379e-04 -2.92901346e+00] [ 5.21229237e-03 -3.68897298e-04 9.99986348e-01 -2.59579765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.037552018 meters 0.04523337248825068 Centerline is valid? [True, True] Translation: X:32.78, Y:-2.93, Z:-0.26 [[ 9.99671492e-01 2.49004344e-02 -6.07253640e-03 3.27797874e+01] [-2.48974135e-02 9.99689847e-01 5.72568093e-04 -2.93089417e+00] [ 6.08491019e-03 -4.21189550e-04 9.99981398e-01 -2.59988011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.067552018 meters 0.04259835765998884 Centerline is valid? [True, True] Translation: X:32.81, Y:-2.93, Z:-0.26 [[ 9.99586841e-01 2.79975032e-02 -6.50289404e-03 3.28104915e+01] [-2.79941021e-02 9.99607900e-01 6.13475837e-04 -2.92574188e+00] [ 6.51752005e-03 -4.31179695e-04 9.99978668e-01 -2.59187570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.097552017999995 meters 0.04259835765998884 Centerline is valid? [True, True] Translation: X:32.84, Y:-2.93, Z:-0.26 [[ 9.99590129e-01 2.78798259e-02 -6.50303125e-03 3.28379197e+01] [-2.78764317e-02 9.99611189e-01 6.12020688e-04 -2.92821799e+00] [ 6.51756583e-03 -4.30488533e-04 9.99978668e-01 -2.59382129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.127552017999996 meters 0.04082190074680616 Centerline is valid? [True, True] Translation: X:32.87, Y:-2.93, Z:-0.26 [[ 9.99568609e-01 2.87011134e-02 -6.23227090e-03 3.28670307e+01] [-2.86980135e-02 9.99587955e-01 5.86269543e-04 -2.92614355e+00] [ 6.24652952e-03 -4.07162838e-04 9.99980407e-01 -2.58726592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.157552018 meters 0.04110646633716691 Centerline is valid? [True, True] Translation: X:32.90, Y:-2.93, Z:-0.26 [[ 9.99561001e-01 2.88994666e-02 -6.52892692e-03 3.28960044e+01] [-2.88960720e-02 9.99582233e-01 6.13684203e-04 -2.92780101e+00] [ 6.54393449e-03 -4.24754453e-04 9.99978498e-01 -2.58900313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.187552018 meters 0.04259274110656545 Centerline is valid? [True, True] Translation: X:32.93, Y:-2.93, Z:-0.26 [[ 9.99600574e-01 2.74239570e-02 -6.82786626e-03 3.29250905e+01] [-2.74202118e-02 9.99623789e-01 6.41546525e-04 -2.92988996e+00] [ 6.84289129e-03 -4.54068735e-04 9.99976484e-01 -2.58357624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.217552018 meters 0.04217646845943603 Centerline is valid? [True, True] Translation: X:32.95, Y:-2.93, Z:-0.26 [[ 9.99634265e-01 2.61583160e-02 -6.86132398e-03 3.29535507e+01] [-2.61545110e-02 9.99657705e-01 6.43715524e-04 -2.93087123e+00] [ 6.87581390e-03 -4.64025521e-04 9.99976254e-01 -2.57750064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.247552018 meters 0.0443815657530065 Centerline is valid? [True, True] Translation: X:32.98, Y:-2.94, Z:-0.26 [[ 9.99675563e-01 2.46617768e-02 -6.36911123e-03 3.29809648e+01] [-2.46584745e-02 9.99695756e-01 5.96501211e-04 -2.93541494e+00] [ 6.38188424e-03 -4.39255117e-04 9.99979539e-01 -2.57430047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.277552017999994 meters 0.04396375306855503 Centerline is valid? [True, True] Translation: X:33.01, Y:-2.94, Z:-0.26 [[ 9.99713425e-01 2.32040336e-02 -5.88571525e-03 3.30105067e+01] [-2.32011866e-02 9.99730664e-01 5.51531287e-04 -2.93705066e+00] [ 5.89692777e-03 -4.14817653e-04 9.99982527e-01 -2.56390883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.307552017999996 meters 0.04407223437890471 Centerline is valid? [True, True] Translation: X:33.04, Y:-2.94, Z:-0.25 [[ 9.99777598e-01 2.06863550e-02 -4.10237179e-03 3.30402070e+01] [-2.06849519e-02 9.99785970e-01 3.84163782e-04 -2.93878922e+00] [ 4.10944071e-03 -2.99220980e-04 9.99991511e-01 -2.53975751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.337552018 meters 0.04435263994582782 Centerline is valid? [True, True] Translation: X:33.07, Y:-2.94, Z:-0.25 [[ 9.99788837e-01 2.02306097e-02 -3.60612646e-03 3.30690456e+01] [-2.02295248e-02 9.99795305e-01 3.37081409e-04 -2.94100014e+00] [ 3.61220767e-03 -2.64060005e-04 9.99993441e-01 -2.52931798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.367552018 meters 0.04465384224192653 Centerline is valid? [True, True] Translation: X:33.10, Y:-2.94, Z:-0.25 [[ 9.99792470e-01 1.99677891e-02 -4.03794177e-03 3.30979434e+01] [-1.99664277e-02 9.99800580e-01 3.77187847e-04 -2.94268066e+00] [ 4.04466813e-03 -2.96486297e-04 9.99991776e-01 -2.52368051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.397552018 meters 0.0450510093274665 Centerline is valid? [True, True] Translation: X:33.13, Y:-2.94, Z:-0.25 [[ 9.99794721e-01 1.97664345e-02 -4.45006363e-03 3.31266061e+01] [-1.97647804e-02 9.99804571e-01 4.15385682e-04 -2.94372911e+00] [ 4.45740466e-03 -3.27345881e-04 9.99990012e-01 -2.52355463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.427552018 meters 0.04527418316276559 Centerline is valid? [True, True] Translation: X:33.16, Y:-2.94, Z:-0.25 [[ 9.99776460e-01 2.06209439e-02 -4.66976290e-03 3.31553944e+01] [-2.06191333e-02 9.99787308e-01 4.35551284e-04 -2.94309385e+00] [ 4.67775116e-03 -3.39167457e-04 9.99989002e-01 -2.51510940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.457552017999994 meters 0.04697665178476132 Centerline is valid? [True, True] Translation: X:33.18, Y:-2.95, Z:-0.25 [[ 9.99761363e-01 2.14188220e-02 -4.29556167e-03 3.31834047e+01] [-2.14172989e-02 9.99770543e-01 4.00268355e-04 -2.94695936e+00] [ 4.30314930e-03 -3.08173508e-04 9.99990694e-01 -2.51712926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.487552017999995 meters 0.04540418148594869 Centerline is valid? [True, True] Translation: X:33.21, Y:-2.95, Z:-0.25 [[ 9.99743249e-01 2.23669764e-02 -3.62687281e-03 3.32124398e+01] [-2.23658981e-02 9.99749795e-01 3.37586880e-04 -2.94628538e+00] [ 3.63351615e-03 -2.56381936e-04 9.99993366e-01 -2.51101216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.517552017999996 meters 0.04315818784312207 Centerline is valid? [True, True] Translation: X:33.24, Y:-2.95, Z:-0.25 [[ 9.99730613e-01 2.30012104e-02 -3.10568692e-03 3.32416074e+01] [-2.30004239e-02 9.99735414e-01 2.88734152e-04 -2.94521946e+00] [ 3.11150643e-03 -2.17224255e-04 9.99995136e-01 -2.50133966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.547552018 meters 0.04324430794348737 Centerline is valid? [True, True] Translation: X:33.27, Y:-2.95, Z:-0.25 [[ 9.99709562e-01 2.39911925e-02 -2.28340295e-03 3.32706302e+01] [-2.39907707e-02 9.99712158e-01 2.11954540e-04 -2.94626281e+00] [ 2.28783073e-03 -1.57112384e-04 9.99997371e-01 -2.49359006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.577552018 meters 0.04249818835786858 Centerline is valid? [True, True] Translation: X:33.30, Y:-2.95, Z:-0.25 [[ 9.99699273e-01 2.43769826e-02 -2.66965075e-03 3.32989824e+01] [-2.43764077e-02 9.99702821e-01 2.47687406e-04 -2.94806920e+00] [ 2.67489526e-03 -1.82536425e-04 9.99996406e-01 -2.49198680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.607552018 meters 0.04267280758926486 Centerline is valid? [True, True] Translation: X:33.33, Y:-2.95, Z:-0.25 [[ 9.99692835e-01 2.45765159e-02 -3.19837042e-03 3.33280455e+01] [-2.45756922e-02 9.99697928e-01 2.96600208e-04 -2.95069699e+00] [ 3.20469368e-03 -2.17906936e-04 9.99994841e-01 -2.49178729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.637552017999994 meters 0.04361426391268121 Centerline is valid? [True, True] Translation: X:33.36, Y:-2.95, Z:-0.25 [[ 9.99705202e-01 2.40888933e-02 -3.03895557e-03 3.33552182e+01] [-2.40881479e-02 9.99709799e-01 2.81631079e-04 -2.95372281e+00] [ 3.04485784e-03 -2.08345243e-04 9.99995343e-01 -2.48717807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.667552017999995 meters 0.04304760879268336 Centerline is valid? [True, True] Translation: X:33.38, Y:-2.96, Z:-0.25 [[ 9.99739527e-01 2.25442112e-02 -3.55480936e-03 3.33847766e+01] [-2.25431810e-02 9.99745816e-01 3.29599325e-04 -2.95504302e+00] [ 3.56133634e-03 -2.49376762e-04 9.99993627e-01 -2.48202969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.697552017999996 meters 0.04250398376066938 Centerline is valid? [True, True] Translation: X:33.41, Y:-2.96, Z:-0.25 [[ 9.99744674e-01 2.23172455e-02 -3.53932334e-03 3.34135141e+01] [-2.23162250e-02 9.99750908e-01 3.27583099e-04 -2.95745473e+00] [ 3.54575247e-03 -2.48515123e-04 9.99993683e-01 -2.48088941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.727552018 meters 0.04408429075259239 Centerline is valid? [True, True] Translation: X:33.44, Y:-2.96, Z:-0.25 [[ 9.99753125e-01 2.19977019e-02 -3.12888853e-03 3.34411701e+01] [-2.19969044e-02 9.99757997e-01 2.89076399e-04 -2.96280028e+00] [ 3.13449034e-03 -2.20179172e-04 9.99995063e-01 -2.48374416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.757552018 meters 0.0427619343288705 Centerline is valid? [True, True] Translation: X:33.47, Y:-2.96, Z:-0.25 [[ 9.99742963e-01 2.24946443e-02 -2.82835175e-03 3.34699701e+01] [-2.24939951e-02 9.99746944e-01 2.61152177e-04 -2.96329579e+00] [ 2.83351055e-03 -1.97464120e-04 9.99995966e-01 -2.47434049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.787552018 meters 0.04365997745504576 Centerline is valid? [True, True] Translation: X:33.50, Y:-2.97, Z:-0.25 [[ 9.99719801e-01 2.34223446e-02 -3.42254186e-03 3.34978563e+01] [-2.34214005e-02 9.99725632e-01 3.15657302e-04 -2.96661138e+00] [ 3.42899625e-03 -2.35408132e-04 9.99994093e-01 -2.48071969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.817552018 meters 0.042389159760521 Centerline is valid? [True, True] Translation: X:33.53, Y:-2.97, Z:-0.25 [[ 9.99705394e-01 2.40204519e-02 -3.48483816e-03 3.35267294e+01] [-2.40194772e-02 9.99711439e-01 3.21273327e-04 -2.96685703e+00] [ 3.49154970e-03 -2.37474687e-04 9.99993876e-01 -2.48137892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.847552017999995 meters 0.042557440192495175 Centerline is valid? [True, True] Translation: X:33.55, Y:-2.97, Z:-0.25 [[ 9.99680377e-01 2.50196923e-02 -3.62743794e-03 3.35546475e+01] [-2.50186445e-02 9.99686929e-01 3.33944971e-04 -2.96998818e+00] [ 3.63465749e-03 -2.43084654e-04 9.99993365e-01 -2.48360760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.877552017999996 meters 0.04224278765116693 Centerline is valid? [True, True] Translation: X:33.58, Y:-2.97, Z:-0.25 [[ 9.99621025e-01 2.73969298e-02 -2.68599903e-03 3.35839098e+01] [-2.73963635e-02 9.99624619e-01 2.47411912e-04 -2.97244802e+00] [ 2.69176908e-03 -1.73731543e-04 9.99996362e-01 -2.47744222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.907552018 meters 0.04217502514677138 Centerline is valid? [True, True] Translation: X:33.61, Y:-2.98, Z:-0.25 [[ 9.99596462e-01 2.82778946e-02 -2.69704698e-03 3.36129877e+01] [-2.82773294e-02 9.99600086e-01 2.47491975e-04 -2.97502392e+00] [ 2.70296695e-03 -1.71126816e-04 9.99996332e-01 -2.47554233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.937552018 meters 0.04205760469789149 Centerline is valid? [True, True] Translation: X:33.64, Y:-2.98, Z:-0.25 [[ 9.99567442e-01 2.93362330e-02 -2.07700960e-03 3.36415779e+01] [-2.93359001e-02 9.99569592e-01 1.90562794e-04 -2.97789116e+00] [ 2.08170603e-03 -1.29549419e-04 9.99997825e-01 -2.47289247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.967552018 meters 0.042762615562414084 Centerline is valid? [True, True] Translation: X:33.67, Y:-2.98, Z:-0.25 [[ 9.99537282e-01 3.03704298e-02 -1.69060462e-03 3.36695371e+01] [-3.03702114e-02 9.99538707e-01 1.54720980e-04 -2.98127554e+00] [ 1.69452370e-03 -1.03305368e-04 9.99998559e-01 -2.47466495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.997552018 meters 0.0390481895163028 Centerline is valid? [True, True] Translation: X:33.70, Y:-2.98, Z:-0.25 [[ 9.99454756e-01 3.30158039e-02 -3.82903840e-04 3.37001413e+01] [-3.30157930e-02 9.99454829e-01 3.48235758e-05 -2.97736418e+00] [ 3.83844821e-04 -2.21627145e-05 9.99999926e-01 -2.45172668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.027552017999994 meters 0.037206841500409545 Centerline is valid? [True, True] Translation: X:33.73, Y:-2.98, Z:-0.24 [[ 9.99413005e-01 3.42560836e-02 4.07729672e-04 3.37288541e+01] [-3.42560709e-02 9.99413088e-01 -3.79906836e-05 -2.97643150e+00] [-4.08791782e-04 2.40011667e-05 9.99999916e-01 -2.44356528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.057552017999996 meters 0.03678633153163532 Centerline is valid? [True, True] Translation: X:33.76, Y:-2.98, Z:-0.24 [[ 9.99356131e-01 3.58750317e-02 5.53292651e-04 3.37579402e+01] [-3.58750088e-02 9.99356283e-01 -5.13041352e-05 -2.97821915e+00] [-5.54777025e-04 3.14217234e-05 9.99999846e-01 -2.44137544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.087552018 meters 0.036147671151777507 Centerline is valid? [True, True] Translation: X:33.79, Y:-2.98, Z:-0.24 [[ 9.99312666e-01 3.70595251e-02 8.87532081e-04 3.37864242e+01] [-3.70594670e-02 9.99313059e-01 -8.18862594e-05 -2.97995522e+00] [-8.89957064e-04 4.89385103e-05 9.99999603e-01 -2.44581883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.117552018 meters 0.037552422977687516 Centerline is valid? [True, True] Translation: X:33.81, Y:-2.98, Z:-0.25 [[ 9.99213748e-01 3.96424981e-02 -5.98257073e-04 3.38145639e+01] [-3.96424727e-02 9.99213927e-01 5.42142147e-05 -2.98372846e+00] [ 5.99935986e-04 -3.04551990e-05 9.99999820e-01 -2.45091343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.147552018 meters 0.03678127081956556 Centerline is valid? [True, True] Translation: X:33.84, Y:-2.98, Z:-0.25 [[ 9.99216890e-01 3.95625654e-02 -6.39927412e-04 3.38426000e+01] [-3.95625365e-02 9.99217095e-01 5.76668304e-05 -2.98470481e+00] [ 6.41707858e-04 -3.23045193e-05 9.99999794e-01 -2.45326398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.177552018 meters 0.03772224348115598 Centerline is valid? [True, True] Translation: X:33.87, Y:-2.99, Z:-0.25 [[ 9.99229037e-01 3.92584425e-02 -3.27067017e-04 3.38699395e+01] [-3.92584351e-02 9.99229090e-01 2.91748270e-05 -2.98939789e+00] [ 3.27960236e-04 -1.63121950e-05 9.99999946e-01 -2.46231609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.207552017999994 meters 0.03692535083545961 Centerline is valid? [True, True] Translation: X:33.90, Y:-2.99, Z:-0.25 [[ 9.99242897e-01 3.89011751e-02 5.75725421e-04 3.38987591e+01] [-3.89011509e-02 9.99243062e-01 -5.30847797e-05 -2.99027845e+00] [-5.77354693e-04 3.06482076e-05 9.99999833e-01 -2.45704835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.237552017999995 meters 0.03732466064958109 Centerline is valid? [True, True] Translation: X:33.93, Y:-2.99, Z:-0.24 [[ 9.99273159e-01 3.80984779e-02 1.28817179e-03 3.39272696e+01] [-3.80983573e-02 9.99273987e-01 -1.17993630e-04 -2.99451005e+00] [-1.29173193e-03 6.88306381e-05 9.99999163e-01 -2.44983299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.267552017999996 meters 0.03794359017262181 Centerline is valid? [True, True] Translation: X:33.96, Y:-3.00, Z:-0.25 [[ 9.99308165e-01 3.71506933e-02 1.73686643e-03 3.39560478e+01] [-3.71504733e-02 9.99309670e-01 -1.58767593e-04 -2.99803420e+00] [-1.74156574e-03 9.41323421e-05 9.99998479e-01 -2.45098903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.297552018 meters 0.03683828571978927 Centerline is valid? [True, True] Translation: X:33.98, Y:-3.00, Z:-0.25 [[ 9.99341270e-01 3.62588045e-02 1.52478557e-03 3.39844490e+01] [-3.62586340e-02 9.99342430e-01 -1.39337558e-04 -3.00010688e+00] [-1.52883513e-03 8.39591307e-05 9.99998828e-01 -2.45449804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.327552018 meters 0.03976806070147834 Centerline is valid? [True, True] Translation: X:34.01, Y:-3.01, Z:-0.25 [[ 9.99396122e-01 3.47410685e-02 6.70492091e-04 3.40121049e+01] [-3.47410350e-02 9.99396346e-01 -6.14529388e-05 -3.00739912e+00] [-6.72222286e-04 3.81222395e-05 9.99999773e-01 -2.47038110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.357552018 meters 0.04310661048990088 Centerline is valid? [True, True] Translation: X:34.04, Y:-3.02, Z:-0.25 [[ 9.99508334e-01 3.13199783e-02 -1.46600965e-03 3.40408280e+01] [-3.13198165e-02 9.99509405e-01 1.33206108e-04 -3.01560920e+00] [ 1.46946244e-03 -8.72254622e-05 9.99998917e-01 -2.49039865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.387552017999994 meters 0.04227598894635321 Centerline is valid? [True, True] Translation: X:34.07, Y:-3.02, Z:-0.25 [[ 9.99601458e-01 2.81881355e-02 -1.53457281e-03 3.40708689e+01] [-2.81879546e-02 9.99602631e-01 1.39375415e-04 -3.01790606e+00] [ 1.53789175e-03 -9.60633989e-05 9.99998813e-01 -2.49690702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.417552017999995 meters 0.04780315686274987 Centerline is valid? [True, True] Translation: X:34.10, Y:-3.03, Z:-0.25 [[ 9.99684273e-01 2.50602849e-02 -1.82681540e-03 3.40994995e+01] [-2.50600234e-02 9.99685935e-01 1.65909967e-04 -3.02909632e+00] [ 1.83039941e-03 -1.20077548e-04 9.99998318e-01 -2.50829624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.447552017999996 meters 0.044909984547317594 Centerline is valid? [True, True] Translation: X:34.13, Y:-3.03, Z:-0.25 [[ 9.99794976e-01 2.02363682e-02 -7.03781291e-04 3.41296819e+01] [-2.02363282e-02 9.99795223e-01 6.39308755e-05 -3.02925524e+00] [ 7.04930901e-04 -4.96758190e-05 9.99999750e-01 -2.48698935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.477552018 meters 0.047032401298078126 Centerline is valid? [True, True] Translation: X:34.16, Y:-3.04, Z:-0.25 [[ 9.99816053e-01 1.91698329e-02 6.13959787e-04 3.41570898e+01] [-1.91698018e-02 9.99816241e-01 -5.64154958e-05 -3.03504973e+00] [-6.14928442e-04 4.46356310e-05 9.99999810e-01 -2.47358916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.507552018 meters 0.04555094976362046 Centerline is valid? [True, True] Translation: X:34.19, Y:-3.04, Z:-0.25 [[ 9.99828659e-01 1.84069512e-02 1.95853014e-03 3.41855520e+01] [-1.84066371e-02 9.99830568e-01 -1.78327080e-04 -3.03547102e+00] [-1.96148075e-03 1.42246572e-04 9.99998066e-01 -2.46020417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.537552018 meters 0.04602717965264256 Centerline is valid? [True, True] Translation: X:34.21, Y:-3.04, Z:-0.25 [[ 9.99825310e-01 1.85483285e-02 2.30402790e-03 3.42140394e+01] [-1.85478951e-02 9.99827951e-01 -2.09334215e-04 -3.03818913e+00] [-2.30751430e-03 1.66562779e-04 9.99997324e-01 -2.45313065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.567552018 meters 0.04310726777168898 Centerline is valid? [True, True] Translation: X:34.24, Y:-3.04, Z:-0.25 [[ 9.99770734e-01 2.12303731e-02 2.78396844e-03 3.42448250e+01] [-2.12297520e-02 9.99774592e-01 -2.52448262e-04 -3.03525214e+00] [-2.78870048e-03 1.93287425e-04 9.99996093e-01 -2.45182112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.597552017999995 meters 0.04322918158991807 Centerline is valid? [True, True] Translation: X:34.27, Y:-3.04, Z:-0.25 [[ 9.99689974e-01 2.48316936e-02 1.82862090e-03 3.42749474e+01] [-2.48314318e-02 9.99691639e-01 -1.65726089e-04 -3.03591516e+00] [-1.83217229e-03 1.20267434e-04 9.99998314e-01 -2.45087708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.627552017999996 meters 0.04189062848479498 Centerline is valid? [True, True] Translation: X:34.30, Y:-3.04, Z:-0.25 [[ 9.99648208e-01 2.64515263e-02 1.94335827e-03 3.43030735e+01] [-2.64512331e-02 9.99650089e-01 -1.76416686e-04 -3.03698499e+00] [-1.94734476e-03 1.24950402e-04 9.99998096e-01 -2.46376320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.657552018 meters 0.03952008899179993 Centerline is valid? [True, True] Translation: X:34.33, Y:-3.03, Z:-0.25 [[ 9.99579058e-01 2.89260903e-02 2.23357977e-03 3.43333277e+01] [-2.89257106e-02 9.99581544e-01 -2.02156179e-04 -3.03497314e+00] [-2.23849270e-03 1.37463201e-04 9.99997485e-01 -2.46482730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.687552018 meters 0.03719336041436451 Centerline is valid? [True, True] Translation: X:34.36, Y:-3.03, Z:-0.25 [[ 9.99432756e-01 3.35864937e-02 2.47257332e-03 3.43637397e+01] [-3.35860428e-02 9.99435805e-01 -2.23652316e-04 -3.03215298e+00] [-2.47869000e-03 1.40481497e-04 9.99996918e-01 -2.46263159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.717552018 meters 0.03662457663445938 Centerline is valid? [True, True] Translation: X:34.39, Y:-3.03, Z:-0.25 [[ 9.99379819e-01 3.51365838e-02 2.32326257e-03 3.43927611e+01] [-3.51361891e-02 9.99382511e-01 -2.10492957e-04 -3.03287591e+00] [-2.32922399e-03 1.28731820e-04 9.99997279e-01 -2.46351625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.747552018 meters 0.036892237405576296 Centerline is valid? [True, True] Translation: X:34.42, Y:-3.03, Z:-0.25 [[ 9.99326367e-01 3.66716060e-02 1.41638518e-03 3.44221478e+01] [-3.66714608e-02 9.99327368e-01 -1.28325831e-04 -3.03336324e+00] [-1.42013839e-03 7.62984724e-05 9.99998989e-01 -2.46154368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.777552017999994 meters 0.03659951972662287 Centerline is valid? [True, True] Translation: X:34.45, Y:-3.04, Z:-0.25 [[ 9.99362678e-01 3.56385841e-02 2.03192469e-03 3.44495922e+01] [-3.56382835e-02 9.99364738e-01 -1.83982680e-04 -3.03562807e+00] [-2.03719076e-03 1.11451116e-04 9.99997919e-01 -2.46812234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.807552017999996 meters 0.03682863485750944 Centerline is valid? [True, True] Translation: X:34.48, Y:-3.04, Z:-0.25 [[ 9.99389239e-01 3.48833818e-02 2.07354676e-03 3.44783689e+01] [-3.48830677e-02 9.99391383e-01 -1.87424855e-04 -3.03841682e+00] [-2.07882278e-03 1.14978711e-04 9.99997833e-01 -2.46986588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.837552018 meters 0.03785278484611561 Centerline is valid? [True, True] Translation: X:34.51, Y:-3.04, Z:-0.25 [[ 9.99478898e-01 3.22256419e-02 1.85496819e-03 3.45073808e+01] [-3.22253864e-02 9.99480613e-01 -1.67476463e-04 -3.04255267e+00] [-1.85940178e-03 1.07612124e-04 9.99998266e-01 -2.47948616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.867552018 meters 0.03882400166650434 Centerline is valid? [True, True] Translation: X:34.54, Y:-3.05, Z:-0.25 [[ 9.99543221e-01 3.01816947e-02 1.55398549e-03 3.45370348e+01] [-3.01815132e-02 9.99544425e-01 -1.40167281e-04 -3.04674453e+00] [-1.55750802e-03 9.32016216e-05 9.99998783e-01 -2.48342319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.897552018 meters 0.04005331398739636 Centerline is valid? [True, True] Translation: X:34.57, Y:-3.05, Z:-0.25 [[ 9.99608085e-01 2.79685689e-02 1.19783655e-03 3.45658310e+01] [-2.79684592e-02 9.99608800e-01 -1.08176378e-04 -3.05108280e+00] [-1.20039350e-03 7.46323397e-05 9.99999277e-01 -2.48614733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.927552018 meters 0.042754434274185696 Centerline is valid? [True, True] Translation: X:34.60, Y:-3.06, Z:-0.25 [[ 9.99731231e-01 2.31219814e-02 1.68492381e-03 3.45962686e+01] [-2.31217586e-02 9.99732645e-01 -1.51586157e-04 -3.05675631e+00] [-1.68797831e-03 1.12587014e-04 9.99998569e-01 -2.48745474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.957552017999994 meters 0.042754434274185696 Centerline is valid? [True, True] Translation: X:34.62, Y:-3.06, Z:-0.25 [[ 9.99733057e-01 2.30429229e-02 1.68488778e-03 3.46245392e+01] [-2.30426994e-02 9.99734470e-01 -1.51986845e-04 -3.05922557e+00] [-1.68794261e-03 1.13121911e-04 9.99998569e-01 -2.48945941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.987552017999995 meters 0.04327008811185462 Centerline is valid? [True, True] Translation: X:34.65, Y:-3.06, Z:-0.25 [[ 9.99778674e-01 2.09400662e-02 2.02899735e-03 3.46540293e+01] [-2.09397386e-02 9.99780723e-01 -1.82553188e-04 -3.06186698e+00] [-2.03237511e-03 1.40026110e-04 9.99997925e-01 -2.48299684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.017552017999996 meters 0.044436226537048186 Centerline is valid? [True, True] Translation: X:34.68, Y:-3.06, Z:-0.25 [[ 9.99809653e-01 1.93575458e-02 2.43773089e-03 3.46829787e+01] [-1.93570685e-02 9.99812610e-01 -2.19256041e-04 -3.06484247e+00] [-2.44151834e-03 1.72026982e-04 9.99997005e-01 -2.47560854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.047552018 meters 0.04551102074984836 Centerline is valid? [True, True] Translation: X:34.71, Y:-3.07, Z:-0.25 [[ 9.99829207e-01 1.80620984e-02 3.91370800e-03 3.47121854e+01] [-1.80608603e-02 9.99836828e-01 -3.51475769e-04 -3.06807429e+00] [-3.91941778e-03 2.80730806e-04 9.99992280e-01 -2.46925965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.077552018 meters 0.048290700116072574 Centerline is valid? [True, True] Translation: X:34.74, Y:-3.07, Z:-0.25 [[ 9.99835106e-01 1.75591210e-02 4.63021381e-03 3.47402226e+01] [-1.75573837e-02 9.99845771e-01 -4.15605422e-04 -3.07297525e+00] [-4.63679737e-03 3.34242451e-04 9.99989194e-01 -2.46500466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.107552018 meters 0.047447909700862795 Centerline is valid? [True, True] Translation: X:34.77, Y:-3.07, Z:-0.25 [[ 9.99820084e-01 1.81692940e-02 5.44766472e-03 3.47703193e+01] [-1.81668998e-02 9.99834849e-01 -4.88650505e-04 -3.07197728e+00] [-5.45564347e-03 3.89595410e-04 9.99985042e-01 -2.45492209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.137552017999994 meters 0.04527602945489287 Centerline is valid? [True, True] Translation: X:34.80, Y:-3.07, Z:-0.25 [[ 9.99807242e-01 1.88381374e-02 5.53194674e-03 3.47999696e+01] [-1.88356800e-02 9.99822470e-01 -4.95992694e-04 -3.06975604e+00] [-5.54030823e-03 3.91699110e-04 9.99984576e-01 -2.45099999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.167552017999995 meters 0.044696262033683314 Centerline is valid? [True, True] Translation: X:34.83, Y:-3.07, Z:-0.24 [[ 9.99780960e-01 2.01284937e-02 5.73380672e-03 3.48298993e+01] [-2.01258761e-02 9.99797322e-01 -5.13854849e-04 -3.06917718e+00] [-5.74298772e-03 3.98344410e-04 9.99983430e-01 -2.44885811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.197552017999996 meters 0.04312871097656527 Centerline is valid? [True, True] Translation: X:34.86, Y:-3.07, Z:-0.24 [[ 9.99725293e-01 2.23305236e-02 7.11943725e-03 3.48599464e+01] [-2.23265461e-02 9.99750528e-01 -6.37684040e-04 -3.06597770e+00] [-7.13190097e-03 4.78556420e-04 9.99974453e-01 -2.44330594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.227552018 meters 0.045486428942846394 Centerline is valid? [True, True] Translation: X:34.89, Y:-3.07, Z:-0.24 [[ 9.99695635e-01 2.35139086e-02 7.46552838e-03 3.48880663e+01] [-2.35095702e-02 9.99723388e-01 -6.68365002e-04 -3.07049097e+00] [-7.47917920e-03 4.92650212e-04 9.99971909e-01 -2.44676921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.257552018 meters 0.042529132059227134 Centerline is valid? [True, True] Translation: X:34.92, Y:-3.07, Z:-0.24 [[ 9.99668264e-01 2.46671331e-02 7.40913329e-03 3.49178039e+01] [-2.46628947e-02 9.99695605e-01 -6.62889332e-04 -3.06813486e+00] [-7.42322956e-03 4.79938753e-04 9.99972332e-01 -2.44890217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.287552018 meters 0.04314339154920206 Centerline is valid? [True, True] Translation: X:34.95, Y:-3.07, Z:-0.25 [[ 9.99650603e-01 2.55431530e-02 6.79847592e-03 3.49465795e+01] [-2.55396063e-02 9.99673626e-01 -6.08013721e-04 -3.07002657e+00] [-6.81178766e-03 4.34170885e-04 9.99976705e-01 -2.46992696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31755201799999 meters 0.04330874586070423 Centerline is valid? [True, True] Translation: X:34.98, Y:-3.07, Z:-0.25 [[ 9.99653649e-01 2.56948150e-02 5.68851526e-03 3.49760137e+01] [-2.56923360e-02 9.99669768e-01 -5.08453014e-04 -3.07232323e+00] [-5.69970134e-03 3.62125665e-04 9.99983691e-01 -2.48678077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.347552017999995 meters 0.044383745522533984 Centerline is valid? [True, True] Translation: X:35.00, Y:-3.08, Z:-0.25 [[ 9.99674588e-01 2.50546215e-02 4.79414136e-03 3.50045786e+01] [-2.50528539e-02 9.99686036e-01 -4.28411575e-04 -3.07544548e+00] [-4.80336986e-03 3.08165241e-04 9.99988416e-01 -2.50415369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.377552017999996 meters 0.04201498848844876 Centerline is valid? [True, True] Translation: X:35.03, Y:-3.07, Z:-0.25 [[ 9.99673988e-01 2.54081777e-02 2.51852163e-03 3.50333653e+01] [-2.54076906e-02 9.99677147e-01 -2.25209855e-04 -3.07244501e+00] [-2.52343069e-03 1.61146616e-04 9.99996803e-01 -2.51144668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.407552018 meters 0.047228421858392385 Centerline is valid? [True, True] Translation: X:35.06, Y:-3.08, Z:-0.25 [[ 9.99739657e-01 2.27898408e-02 1.11402140e-03 3.50614357e+01] [-2.27897442e-02 9.99740275e-01 -9.94047088e-05 -3.08202568e+00] [-1.11599748e-03 7.39905667e-05 9.99999375e-01 -2.53683283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.437552018 meters 0.0440159136251251 Centerline is valid? [True, True] Translation: X:35.09, Y:-3.08, Z:-0.25 [[ 9.99752056e-01 2.22627036e-02 4.45348162e-04 3.50903039e+01] [-2.22626879e-02 9.99752155e-01 -4.02351763e-05 -3.07895481e+00] [-4.46133528e-04 3.03105531e-05 9.99999900e-01 -2.54222343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.467552018 meters 0.04271090014593784 Centerline is valid? [True, True] Translation: X:35.12, Y:-3.08, Z:-0.25 [[ 9.99769620e-01 2.14640640e-02 -3.68178351e-05 3.51194823e+01] [-2.14640639e-02 9.99769620e-01 2.71722725e-06 -3.07868528e+00] [ 3.68676758e-05 -1.92634089e-06 9.99999999e-01 -2.54244722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.497552018 meters 0.04222098964479295 Centerline is valid? [True, True] Translation: X:35.15, Y:-3.08, Z:-0.25 [[ 9.99770943e-01 2.14023488e-02 -2.66871522e-05 3.51479490e+01] [-2.14023487e-02 9.99770944e-01 1.81058075e-06 -3.07985391e+00] [ 2.67197900e-05 -1.23899828e-06 1.00000000e+00 -2.53634924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.527552017999994 meters 0.041350963678260216 Centerline is valid? [True, True] Translation: X:35.18, Y:-3.08, Z:-0.25 [[ 9.99747344e-01 2.24329637e-02 1.41789576e-03 3.51775262e+01] [-2.24328068e-02 9.99748345e-01 -1.26464682e-04 -3.07891037e+00] [-1.42037591e-03 9.46253485e-05 9.99998987e-01 -2.52076058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.557552017999996 meters 0.039934127781069924 Centerline is valid? [True, True] Translation: X:35.21, Y:-3.08, Z:-0.25 [[ 9.99714732e-01 2.37273817e-02 2.73244686e-03 3.52066823e+01] [-2.37268051e-02 9.99718450e-01 -2.43242751e-04 -3.07838160e+00] [-2.73744905e-03 1.78341128e-04 9.99996237e-01 -2.51585693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.587552018 meters 0.04052168009637996 Centerline is valid? [True, True] Translation: X:35.23, Y:-3.08, Z:-0.25 [[ 9.99674385e-01 2.52994235e-02 3.32607270e-03 3.52346535e+01] [-2.52985791e-02 9.99679896e-01 -2.95729025e-04 -3.07982229e+00] [-3.33248978e-03 2.11487818e-04 9.99994425e-01 -2.51107784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.617552018 meters 0.038576793019430344 Centerline is valid? [True, True] Translation: X:35.27, Y:-3.08, Z:-0.25 [[ 9.99602808e-01 2.78814686e-02 4.10491790e-03 3.52653489e+01] [-2.78802070e-02 9.99611205e-01 -3.64247497e-04 -3.07571768e+00] [-4.11347769e-03 2.49656860e-04 9.99991508e-01 -2.50271591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.647552018 meters 0.04085645987090885 Centerline is valid? [True, True] Translation: X:35.29, Y:-3.08, Z:-0.25 [[ 9.99583107e-01 2.85480112e-02 4.31536517e-03 3.52932388e+01] [-2.85466226e-02 9.99592389e-01 -3.83043678e-04 -3.07964617e+00] [-4.32454132e-03 2.59694890e-04 9.99990615e-01 -2.50489872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.677552018 meters 0.03915998019838295 Centerline is valid? [True, True] Translation: X:35.32, Y:-3.08, Z:-0.25 [[ 9.99550391e-01 2.97057830e-02 4.07224286e-03 3.53219357e+01] [-2.97045578e-02 9.99558657e-01 -3.61039313e-04 -3.07787122e+00] [-4.08117056e-03 2.39912813e-04 9.99991643e-01 -2.50386902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.707552017999994 meters 0.03893686376500344 Centerline is valid? [True, True] Translation: X:35.35, Y:-3.08, Z:-0.25 [[ 9.99576165e-01 2.85620389e-02 5.63026299e-03 3.53503181e+01] [-2.85596823e-02 9.99591965e-01 -4.98535115e-04 -3.07934195e+00] [-5.64220482e-03 3.37525296e-04 9.99984026e-01 -2.49886954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.737552017999995 meters 0.0399744469994023 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.08, Z:-0.25 [[ 9.99598862e-01 2.77407874e-02 5.70643017e-03 3.53778877e+01] [-2.77383564e-02 9.99615090e-01 -5.04719192e-04 -3.08293870e+00] [-5.71823502e-03 3.46229736e-04 9.99983591e-01 -2.50030058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.767552017999996 meters 0.04164886906466122 Centerline is valid? [True, True] Translation: X:35.41, Y:-3.09, Z:-0.25 [[ 9.99600982e-01 2.77335508e-02 5.35982424e-03 3.54057706e+01] [-2.77314092e-02 9.99615298e-01 -4.73488974e-04 -3.08624044e+00] [-5.37089383e-03 3.24664564e-04 9.99985524e-01 -2.49721587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.797552018 meters 0.04085135487876834 Centerline is valid? [True, True] Translation: X:35.43, Y:-3.09, Z:-0.25 [[ 9.99648115e-01 2.58503386e-02 5.95036588e-03 3.54347944e+01] [-2.58476700e-02 9.99665755e-01 -5.24962908e-04 -3.08729730e+00] [-5.96194747e-03 3.70975087e-04 9.99982159e-01 -2.49536557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.827552018 meters 0.0407607058539505 Centerline is valid? [True, True] Translation: X:35.46, Y:-3.09, Z:-0.25 [[ 9.99690534e-01 2.43643142e-02 5.02165401e-03 3.54646318e+01] [-2.43623962e-02 9.99703095e-01 -4.42760081e-04 -3.08735202e+00] [-5.03095060e-03 3.20283537e-04 9.99987293e-01 -2.50148103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.857552018 meters 0.040533077765786796 Centerline is valid? [True, True] Translation: X:35.49, Y:-3.09, Z:-0.25 [[ 9.99705162e-01 2.38994597e-02 4.29016536e-03 3.54934198e+01] [-2.38980557e-02 9.99714329e-01 -3.78245684e-04 -3.08868409e+00] [-4.29797965e-03 2.75607552e-04 9.99990726e-01 -2.51108493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.887552017999994 meters 0.04047386827640599 Centerline is valid? [True, True] Translation: X:35.52, Y:-3.09, Z:-0.25 [[ 9.99703407e-01 2.40262814e-02 3.97952511e-03 3.55223689e+01] [-2.40250754e-02 9.99711295e-01 -3.50582234e-04 -3.09066179e+00] [-3.98679939e-03 2.54869863e-04 9.99992020e-01 -2.52213815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.917552017999995 meters 0.040544153199942604 Centerline is valid? [True, True] Translation: X:35.55, Y:-3.09, Z:-0.25 [[ 9.99687135e-01 2.48067668e-02 3.20265748e-03 3.55497498e+01] [-2.48059899e-02 9.99692244e-01 -2.82070583e-04 -3.09314520e+00] [-3.20866910e-03 2.02537244e-04 9.99994832e-01 -2.53764635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.947552017999996 meters 0.040428947931202316 Centerline is valid? [True, True] Translation: X:35.58, Y:-3.09, Z:-0.26 [[ 9.99579411e-01 2.89755015e-02 1.19241406e-03 3.55787484e+01] [-2.89753968e-02 9.99580120e-01 -1.04987088e-04 -3.09336702e+00] [-1.19495545e-03 7.03922610e-05 9.99999284e-01 -2.56811430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.977552018 meters 0.03807443222388592 Centerline is valid? [True, True] Translation: X:35.61, Y:-3.09, Z:-0.26 [[ 9.99508135e-01 3.13395156e-02 1.15021694e-03 3.56090616e+01] [-3.13394199e-02 9.99508795e-01 -1.01126821e-04 -3.09207607e+00] [-1.15282121e-03 6.50299491e-05 9.99999333e-01 -2.57089884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.007552018 meters 0.03620946200096342 Centerline is valid? [True, True] Translation: X:35.64, Y:-3.09, Z:-0.26 [[ 9.99458411e-01 3.28833191e-02 1.25347252e-03 3.56382121e+01] [-3.28832063e-02 9.99459195e-01 -1.10510894e-04 -3.09095245e+00] [-1.25642860e-03 6.92328468e-05 9.99999208e-01 -2.57436499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.037552018 meters 0.03331223254448699 Centerline is valid? [True, True] Translation: X:35.67, Y:-3.09, Z:-0.26 [[ 9.99227344e-01 3.92879402e-02 1.08314404e-03 3.56689172e+01] [-3.92878603e-02 9.99227929e-01 -9.50331622e-05 -3.08542576e+00] [-1.08604143e-03 5.24053225e-05 9.99999409e-01 -2.56996468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06755201799999 meters 0.03191353370500611 Centerline is valid? [True, True] Translation: X:35.70, Y:-3.08, Z:-0.26 [[ 9.99099723e-01 4.24102430e-02 1.05544411e-03 3.56985213e+01] [-4.24101686e-02 9.99100280e-01 -9.28170711e-05 -3.08469359e+00] [-1.05843090e-03 4.79719476e-05 9.99999439e-01 -2.56696299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.097552017999995 meters 0.03177913036521985 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.09, Z:-0.26 [[ 9.98967107e-01 4.54271699e-02 1.04490299e-03 3.57272267e+01] [-4.54270985e-02 9.98967652e-01 -9.19667472e-05 -3.08612981e+00] [-1.04800207e-03 4.44048446e-05 9.99999450e-01 -2.57239097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.127552017999996 meters 0.029240600462289816 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.08, Z:-0.26 [[ 9.98832415e-01 4.82905302e-02 1.35331874e-03 3.57562841e+01] [-4.82904132e-02 9.98833330e-01 -1.19027061e-04 -3.08444981e+00] [-1.35748774e-03 5.35357656e-05 9.99999077e-01 -2.56682689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.157552018 meters 0.027584919489304555 Centerline is valid? [True, True] Translation: X:35.79, Y:-3.08, Z:-0.26 [[ 9.98477959e-01 5.50840912e-02 2.73995073e-03 3.57864901e+01] [-5.50836400e-02 9.98481715e-01 -2.39941202e-04 -3.08232041e+00] [-2.74900764e-03 8.86495422e-05 9.99996218e-01 -2.55191206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.187552018 meters 0.027130449282168723 Centerline is valid? [True, True] Translation: X:35.81, Y:-3.09, Z:-0.25 [[ 9.98309644e-01 5.79298481e-02 4.68901329e-03 3.58146422e+01] [-5.79285581e-02 9.98320647e-01 -4.10571070e-04 -3.08578492e+00] [-4.70492310e-03 1.38249280e-04 9.99988922e-01 -2.54275518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.217552018 meters 0.0253673383559069 Centerline is valid? [True, True] Translation: X:35.84, Y:-3.09, Z:-0.25 [[ 9.98082206e-01 6.16516617e-02 5.56622672e-03 3.58437481e+01] [-6.16499048e-02 9.98097717e-01 -4.86827301e-04 -3.08578914e+00] [-5.58565190e-03 1.42736319e-04 9.99984390e-01 -2.53626102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.247552018 meters 0.025830651168471965 Centerline is valid? [True, True] Translation: X:35.87, Y:-3.09, Z:-0.25 [[ 9.97788017e-01 6.62568677e-02 5.39449154e-03 3.58731131e+01] [-6.62552872e-02 9.97802593e-01 -4.71371258e-04 -3.08646655e+00] [-5.41386923e-03 1.12915007e-04 9.99985339e-01 -2.53861115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.277552017999994 meters 0.022562984747768515 Centerline is valid? [True, True] Translation: X:35.90, Y:-3.09, Z:-0.25 [[ 9.97226710e-01 7.41420947e-02 6.46835645e-03 3.59023556e+01] [-7.41399911e-02 9.97247684e-01 -5.64722978e-04 -3.08615061e+00] [-6.49242323e-03 8.35929477e-05 9.99978921e-01 -2.53912408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.307552017999996 meters 0.023676262995072198 Centerline is valid? [True, True] Translation: X:35.93, Y:-3.09, Z:-0.25 [[ 9.96826870e-01 7.93960462e-02 5.69734462e-03 3.59308502e+01] [-7.93945008e-02 9.96843150e-01 -4.97268554e-04 -3.08755659e+00] [-5.71884012e-03 4.33528241e-05 9.99983646e-01 -2.54952953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.337552018 meters 0.021804045382310462 Centerline is valid? [True, True] Translation: X:35.96, Y:-3.09, Z:-0.26 [[ 9.96573631e-01 8.24719277e-02 6.27522884e-03 3.59601127e+01] [-8.24701164e-02 9.96593388e-01 -5.47297748e-04 -3.08877395e+00] [-6.29898827e-03 2.79036510e-05 9.99980161e-01 -2.55313374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.367552018 meters 0.021654518945442718 Centerline is valid? [True, True] Translation: X:35.99, Y:-3.09, Z:-0.26 [[ 9.96259130e-01 8.61355784e-02 6.95758326e-03 3.59876071e+01] [-8.61334549e-02 9.96283425e-01 -6.04840851e-04 -3.09097802e+00] [-6.98382319e-03 3.29753619e-06 9.99975613e-01 -2.56011815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.397552018 meters 0.02160008124894321 Centerline is valid? [True, True] Translation: X:36.02, Y:-3.09, Z:-0.26 [[ 9.95942998e-01 8.97013018e-02 7.15693053e-03 3.60157009e+01] [-8.96991633e-02 9.95968712e-01 -6.19894469e-04 -3.09402864e+00] [-7.18368422e-03 -2.45911240e-05 9.99974197e-01 -2.55819039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.427552018 meters 0.022154495077133702 Centerline is valid? [True, True] Translation: X:36.04, Y:-3.10, Z:-0.26 [[ 9.95502462e-01 9.43666805e-02 8.35329429e-03 3.60440048e+01] [-9.43639410e-02 9.95537505e-01 -7.22356859e-04 -3.10051999e+00] [-8.38418418e-03 -6.91417374e-05 9.99964850e-01 -2.56286565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.457552017999994 meters 0.022205520633797236 Centerline is valid? [True, True] Translation: X:36.07, Y:-3.11, Z:-0.26 [[ 9.95322848e-01 9.62471392e-02 8.30153998e-03 3.60721738e+01] [-9.62445160e-02 9.95357464e-01 -7.15835691e-04 -3.10614503e+00] [-8.33189691e-03 -8.64900779e-05 9.99965285e-01 -2.56595526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.487552017999995 meters 0.022474867299841557 Centerline is valid? [True, True] Translation: X:36.10, Y:-3.11, Z:-0.26 [[ 9.95184429e-01 9.76444136e-02 8.57437233e-03 3.60994140e+01] [-9.76416733e-02 9.95221361e-01 -7.38637863e-04 -3.11186154e+00] [-8.60552236e-03 -1.02135162e-04 9.99962967e-01 -2.56975821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.517552017999996 meters 0.022619193617126866 Centerline is valid? [True, True] Translation: X:36.13, Y:-3.13, Z:-0.26 [[ 9.95046171e-01 9.90038723e-02 9.01947019e-03 3.61270154e+01] [-9.90009039e-02 9.95087041e-01 -7.76097390e-04 -3.12500151e+00] [-9.05199454e-03 -1.20682965e-04 9.99959023e-01 -2.57681529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.547552018 meters 0.023242924104666513 Centerline is valid? [True, True] Translation: X:36.15, Y:-3.13, Z:-0.26 [[ 9.95056799e-01 9.88753049e-02 9.25420705e-03 3.61531653e+01] [-9.88721826e-02 9.95099824e-01 -7.95407100e-04 -3.13247160e+00] [-9.28750592e-03 -1.23508406e-04 9.99956863e-01 -2.57938772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.577552018 meters 0.0235379167825068 Centerline is valid? [True, True] Translation: X:36.18, Y:-3.14, Z:-0.26 [[ 9.95098986e-01 9.84159489e-02 9.60771678e-03 3.61815239e+01] [-9.84125739e-02 9.95145359e-01 -8.24571105e-04 -3.14215919e+00] [-9.64222571e-03 -1.24990267e-04 9.99953505e-01 -2.58466556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.607552018 meters 0.023565146697933935 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.15, Z:-0.26 [[ 9.95223672e-01 9.70614937e-02 1.04359870e-02 3.62093591e+01] [-9.70574557e-02 9.95278379e-01 -8.93892547e-04 -3.14910862e+00] [-1.04734748e-02 -1.23267327e-04 9.99945144e-01 -2.58421245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.637552017999994 meters 0.02361337750890907 Centerline is valid? [True, True] Translation: X:36.24, Y:-3.17, Z:-0.26 [[ 9.95460870e-01 9.47084202e-02 9.37929743e-03 3.62353972e+01] [-9.47050769e-02 9.95505051e-01 -8.00961831e-04 -3.16640612e+00] [-9.41299580e-03 -9.09409234e-05 9.99955693e-01 -2.60392646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.667552017999995 meters 0.02325689017634042 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.18, Z:-0.26 [[ 9.95626202e-01 9.30095778e-02 8.81384673e-03 3.62622283e+01] [-9.30065672e-02 9.95665211e-01 -7.51730459e-04 -3.17687222e+00] [-8.84555870e-03 -7.13030859e-05 9.99960875e-01 -2.61873050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.697552017999996 meters 0.023128613665051097 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.19, Z:-0.26 [[ 9.95814874e-01 9.10283357e-02 8.15956516e-03 3.62900134e+01] [-9.10256956e-02 9.95848301e-01 -6.95113948e-04 -3.18848034e+00] [-8.18896418e-03 -5.05252870e-05 9.99966469e-01 -2.63377194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.727552018 meters 0.022995527998488963 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.20, Z:-0.26 [[ 9.96037281e-01 8.86145537e-02 7.56276796e-03 3.63171455e+01] [-8.86122210e-02 9.96065992e-01 -6.43638515e-04 -3.19940802e+00] [-7.59005171e-03 -2.90657092e-05 9.99971195e-01 -2.64603969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.757552018 meters 0.022757797556635442 Centerline is valid? [True, True] Translation: X:36.34, Y:-3.22, Z:-0.26 [[ 9.96368384e-01 8.48475734e-02 7.13671178e-03 3.63434606e+01] [-8.48454047e-02 9.96393943e-01 -6.06641024e-04 -3.22004995e+00] [-7.16244841e-03 -1.07926252e-06 9.99974349e-01 -2.64949212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.787552018 meters 0.022773963618039742 Centerline is valid? [True, True] Translation: X:36.37, Y:-3.23, Z:-0.26 [[ 9.96523664e-01 8.29355507e-02 7.89181040e-03 3.63706587e+01] [-8.29328461e-02 9.96554913e-01 -6.69914337e-04 -3.23150324e+00] [-7.92018214e-03 1.30951929e-05 9.99968635e-01 -2.64144178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81755201799999 meters 0.02543553746757069 Centerline is valid? [True, True] Translation: X:36.40, Y:-3.24, Z:-0.26 [[ 9.96538627e-01 8.27487483e-02 7.96303015e-03 3.63976743e+01] [-8.27459968e-02 9.96570441e-01 -6.74945544e-04 -3.24273621e+00] [-7.99157137e-03 1.37004389e-05 9.99968067e-01 -2.62771957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.847552017999995 meters 0.021994776362138035 Centerline is valid? [True, True] Translation: X:36.43, Y:-3.26, Z:-0.26 [[ 9.96794009e-01 7.93027408e-02 1.06197679e-02 3.64254047e+01] [-7.92976677e-02 9.96850577e-01 -8.98585244e-04 -3.26080998e+00] [-1.06575821e-02 5.35815578e-05 9.99943205e-01 -2.59521473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.877552017999996 meters 0.021994776362138035 Centerline is valid? [True, True] Translation: X:36.45, Y:-3.26, Z:-0.26 [[ 9.96800844e-01 7.92167637e-02 1.06198455e-02 3.64536303e+01] [-7.92116956e-02 9.96857413e-01 -8.97667679e-04 -3.26310057e+00] [-1.06575821e-02 5.35799303e-05 9.99943205e-01 -2.59721592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.907552018 meters 0.021861135110661994 Centerline is valid? [True, True] Translation: X:36.48, Y:-3.27, Z:-0.26 [[ 9.96874433e-01 7.81597141e-02 1.15075201e-02 3.64813704e+01] [-7.81537049e-02 9.96940848e-01 -9.71652960e-04 -3.27232140e+00] [-1.15482609e-02 6.92606654e-05 9.99933314e-01 -2.58664784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.937552018 meters 0.02117859462734595 Centerline is valid? [True, True] Translation: X:36.51, Y:-3.28, Z:-0.26 [[ 9.96968731e-01 7.69115929e-02 1.17455210e-02 3.65093682e+01] [-7.69052584e-02 9.97037913e-01 -9.90700125e-04 -3.28070959e+00] [-1.17869260e-02 8.44047218e-05 9.99930528e-01 -2.58278602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.967552018 meters 0.021230936643406244 Centerline is valid? [True, True] Translation: X:36.54, Y:-3.29, Z:-0.26 [[ 9.97089236e-01 7.52872756e-02 1.20366611e-02 3.65366304e+01] [-7.52805195e-02 9.97161880e-01 -1.01403514e-03 -3.29125856e+00] [-1.20788435e-02 1.04957425e-04 9.99927043e-01 -2.57697187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.997552018 meters 0.021210933908125614 Centerline is valid? [True, True] Translation: X:36.56, Y:-3.31, Z:-0.26 [[ 9.97392612e-01 7.12509984e-02 1.14574199e-02 3.65644684e+01] [-7.12446215e-02 9.97458407e-01 -9.64288284e-04 -3.30986640e+00] [-1.14970063e-02 1.45494464e-04 9.99933897e-01 -2.58733929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.027552017999994 meters 0.021926427723002375 Centerline is valid? [True, True] Translation: X:36.59, Y:-3.32, Z:-0.26 [[ 9.97617460e-01 6.82150632e-02 1.03009360e-02 3.65919832e+01] [-6.82097515e-02 9.97670626e-01 -8.66505825e-04 -3.32167207e+00] [-1.03360500e-02 1.61817056e-04 9.99946569e-01 -2.58942100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.057552017999996 meters 0.021998923402198306 Centerline is valid? [True, True] Translation: X:36.62, Y:-3.33, Z:-0.26 [[ 9.97837502e-01 6.49628600e-02 1.00072919e-02 3.66207187e+01] [-6.49576882e-02 9.97887664e-01 -8.41312177e-04 -3.33106606e+00] [-1.00408072e-02 1.89442296e-04 9.99949572e-01 -2.59587337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.087552018 meters 0.02430437364841953 Centerline is valid? [True, True] Translation: X:36.65, Y:-3.35, Z:-0.26 [[ 9.98318947e-01 5.73903807e-02 8.10087611e-03 3.66494432e+01] [-5.73867447e-02 9.98351791e-01 -6.80764277e-04 -3.34840387e+00] [-8.12659350e-03 2.14736967e-04 9.99966956e-01 -2.60536342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.117552018 meters 0.02601417571075272 Centerline is valid? [True, True] Translation: X:36.68, Y:-3.36, Z:-0.26 [[ 9.98529250e-01 5.36649247e-02 7.70794954e-03 3.66795000e+01] [-5.36615231e-02 9.98558973e-01 -6.47592153e-04 -3.35864610e+00] [-7.73159515e-03 2.33019395e-04 9.99970084e-01 -2.60704340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.147552018 meters 0.027904931517792008 Centerline is valid? [True, True] Translation: X:36.71, Y:-3.37, Z:-0.26 [[ 9.98722170e-01 4.97853212e-02 8.68618175e-03 3.67098703e+01] [-4.97808542e-02 9.98759898e-01 -7.29852881e-04 -3.36874213e+00] [-8.71174596e-03 2.96514706e-04 9.99962008e-01 -2.59671275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.177552018 meters 0.029100476312145594 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.38, Z:-0.26 [[ 9.98902456e-01 4.59201647e-02 9.23153502e-03 3.67405719e+01] [-4.59149502e-02 9.98945051e-01 -7.76109035e-04 -3.37716497e+00] [-9.25743527e-03 3.51391751e-04 9.99957087e-01 -2.58519709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.207552017999994 meters 0.03221646206244302 Centerline is valid? [True, True] Translation: X:36.77, Y:-3.39, Z:-0.26 [[ 9.99174246e-01 3.89615324e-02 1.15249725e-02 3.67702735e+01] [-3.89529377e-02 9.99240576e-01 -9.69365140e-04 -3.39110865e+00] [-1.15539882e-02 5.19633145e-04 9.99933115e-01 -2.55612554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.237552017999995 meters 0.033351348523872705 Centerline is valid? [True, True] Translation: X:36.80, Y:-3.40, Z:-0.26 [[ 9.99282957e-01 3.61290958e-02 1.13251747e-02 3.68018353e+01] [-3.61206098e-02 9.99346983e-01 -9.53024443e-04 -3.39765435e+00] [-1.13522110e-02 5.43268869e-04 9.99935414e-01 -2.55446747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.267552017999996 meters 0.03567357428453161 Centerline is valid? [True, True] Translation: X:36.83, Y:-3.40, Z:-0.26 [[ 9.99381012e-01 3.33818488e-02 1.11016033e-02 3.68319378e+01] [-3.33735162e-02 9.99442512e-01 -9.35034708e-04 -3.40486963e+00] [-1.11266275e-02 5.63956395e-04 9.99937938e-01 -2.56073162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.297552018 meters 0.039643611546485956 Centerline is valid? [True, True] Translation: X:36.86, Y:-3.41, Z:-0.26 [[ 9.99524521e-01 2.93461156e-02 9.46241972e-03 3.68616401e+01] [-2.93398786e-02 9.99569175e-01 -7.97303661e-04 -3.41407916e+00] [-9.48174084e-03 5.19298313e-04 9.99954912e-01 -2.57544996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.327552018 meters 0.040500735722000684 Centerline is valid? [True, True] Translation: X:36.89, Y:-3.42, Z:-0.26 [[ 9.99569716e-01 2.79818419e-02 8.79770410e-03 3.68932681e+01] [-2.79763921e-02 9.99608309e-01 -7.41940988e-04 -3.41748933e+00] [-8.81501900e-03 4.95493723e-04 9.99961024e-01 -2.59096669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.357552018 meters 0.039949967115630806 Centerline is valid? [True, True] Translation: X:36.93, Y:-3.42, Z:-0.26 [[ 9.99594657e-01 2.70175732e-02 8.97625594e-03 3.69251106e+01] [-2.70118373e-02 9.99634825e-01 -7.59648835e-04 -3.41929270e+00] [-8.99350190e-03 5.16875751e-04 9.99959424e-01 -2.58878968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.387552017999994 meters 0.04112647659039217 Centerline is valid? [True, True] Translation: X:36.96, Y:-3.42, Z:-0.26 [[ 9.99613046e-01 2.61376735e-02 9.51738025e-03 3.69566076e+01] [-2.61311565e-02 9.99658196e-01 -8.08480610e-04 -3.42254857e+00] [-9.53525898e-03 5.59467612e-04 9.99954382e-01 -2.58965842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.417552017999995 meters 0.04114755454913573 Centerline is valid? [True, True] Translation: X:36.99, Y:-3.42, Z:-0.26 [[ 9.99630777e-01 2.53143918e-02 9.87374394e-03 3.69888370e+01] [-2.53073081e-02 9.99679364e-01 -8.41728472e-04 -3.42309728e+00] [-9.89188591e-03 5.91539806e-04 9.99950899e-01 -2.58018065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.447552017999996 meters 0.04219803376964933 Centerline is valid? [True, True] Translation: X:37.02, Y:-3.42, Z:-0.26 [[ 9.99621989e-01 2.60651805e-02 8.74560816e-03 3.70213262e+01] [-2.60596300e-02 9.99660110e-01 -7.48030912e-04 -3.42385791e+00] [-8.76213318e-03 5.19840835e-04 9.99961477e-01 -2.59251328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.477552018 meters 0.041997286964379155 Centerline is valid? [True, True] Translation: X:37.05, Y:-3.43, Z:-0.26 [[ 9.99596665e-01 2.59383154e-02 1.15633598e-02 3.70528661e+01] [-2.59285545e-02 9.99663305e-01 -9.93270500e-04 -3.42653315e+00] [-1.15852302e-02 6.93048675e-04 9.99932649e-01 -2.57293729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.507552018 meters 0.04089704234952641 Centerline is valid? [True, True] Translation: X:37.09, Y:-3.43, Z:-0.26 [[ 9.99570097e-01 2.64449876e-02 1.26603065e-02 3.70859915e+01] [-2.64332735e-02 9.99649984e-01 -1.09173748e-03 -3.42602783e+00] [-1.26847462e-02 7.56614796e-04 9.99919259e-01 -2.56969634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.537552018 meters 0.04330632924620665 Centerline is valid? [True, True] Translation: X:37.12, Y:-3.43, Z:-0.26 [[ 9.99561334e-01 2.68384534e-02 1.25234652e-02 3.71185976e+01] [-2.68269676e-02 9.99639504e-01 -1.08425976e-03 -3.42622161e+00] [-1.25480504e-02 7.47817535e-04 9.99920990e-01 -2.57637491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56755201799999 meters 0.04076235441006702 Centerline is valid? [True, True] Translation: X:37.15, Y:-3.42, Z:-0.26 [[ 9.99576027e-01 2.67287869e-02 1.15472458e-02 3.71512136e+01] [-2.67189734e-02 9.99642481e-01 -1.00331905e-03 -3.42246878e+00] [-1.15699350e-02 6.94363119e-04 9.99932825e-01 -2.59630646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.597552017999995 meters 0.044435901986687024 Centerline is valid? [True, True] Translation: X:37.18, Y:-3.43, Z:-0.26 [[ 9.99593748e-01 2.64061668e-02 1.07263090e-02 3.71818521e+01] [-2.63976470e-02 9.99651084e-01 -9.35111098e-04 -3.42700987e+00] [-1.07472591e-02 6.51581888e-04 9.99942034e-01 -2.61067817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.627552017999996 meters 0.040997936439105855 Centerline is valid? [True, True] Translation: X:37.21, Y:-3.42, Z:-0.26 [[ 9.99628113e-01 2.55309116e-02 9.58168542e-03 3.72146620e+01] [-2.55240479e-02 9.99673857e-01 -8.37951705e-04 -3.41882081e+00] [-9.59995409e-03 5.93076684e-04 9.99953744e-01 -2.64070442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.657552018 meters 0.04469715312935577 Centerline is valid? [True, True] Translation: X:37.25, Y:-3.42, Z:-0.27 [[ 9.99643275e-01 2.51802404e-02 8.90385831e-03 3.72451924e+01] [-2.51742769e-02 9.99682772e-01 -7.81224652e-04 -3.42210557e+00] [-8.92070518e-03 5.56797774e-04 9.99960055e-01 -2.65376238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.687552018 meters 0.04596737803577082 Centerline is valid? [True, True] Translation: X:37.28, Y:-3.42, Z:-0.27 [[ 9.99640228e-01 2.53111386e-02 8.87469400e-03 3.72776706e+01] [-2.53052001e-02 9.99679467e-01 -7.80813759e-04 -3.42247309e+00] [-8.89161265e-03 5.55956937e-04 9.99960314e-01 -2.65733076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.717552018 meters 0.046867367323626695 Centerline is valid? [True, True] Translation: X:37.31, Y:-3.42, Z:-0.27 [[ 9.99638192e-01 2.52559053e-02 9.25330578e-03 3.73093097e+01] [-2.52494288e-02 9.99680849e-01 -8.16082122e-04 -3.42202886e+00] [-9.27096347e-03 5.82146172e-04 9.99956854e-01 -2.65543322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.747552018 meters 0.04752041092049189 Centerline is valid? [True, True] Translation: X:37.34, Y:-3.42, Z:-0.26 [[ 9.99631008e-01 2.50264699e-02 1.05604384e-02 3.73425127e+01] [-2.50179965e-02 9.99686565e-01 -9.33733863e-04 -3.41558540e+00] [-1.05804964e-02 6.69188312e-04 9.99943801e-01 -2.64611646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.777552017999994 meters 0.046438200338609736 Centerline is valid? [True, True] Translation: X:37.37, Y:-3.41, Z:-0.26 [[ 9.99624736e-01 2.48302343e-02 1.15691865e-02 3.73746858e+01] [-2.48200091e-02 9.99691409e-01 -1.02659805e-03 -3.41265135e+00] [-1.15911070e-02 7.39065488e-04 9.99932548e-01 -2.64291932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.807552017999996 meters 0.047301966497089815 Centerline is valid? [True, True] Translation: X:37.41, Y:-3.41, Z:-0.26 [[ 9.99611690e-01 2.48306680e-02 1.26454264e-02 3.74070943e+01] [-2.48184007e-02 9.99691342e-01 -1.12612500e-03 -3.41294455e+00] [-1.26694857e-02 8.11848455e-04 9.99919409e-01 -2.64172147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.837552018 meters 0.048212006826087235 Centerline is valid? [True, True] Translation: X:37.44, Y:-3.41, Z:-0.26 [[ 9.99611278e-01 2.47090534e-02 1.29133609e-02 3.74396395e+01] [-2.46961998e-02 9.99694336e-01 -1.15390725e-03 -3.41389059e+00] [-1.29379257e-02 8.34547756e-04 9.99915953e-01 -2.64725927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.867552018 meters 0.050602797708343625 Centerline is valid? [True, True] Translation: X:37.47, Y:-3.41, Z:-0.27 [[ 9.99634401e-01 2.38749755e-02 1.26905250e-02 3.74708199e+01] [-2.38624488e-02 9.99714604e-01 -1.13761743e-03 -3.41270088e+00] [-1.27140638e-02 8.34374515e-04 9.99918825e-01 -2.66403057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.897552018 meters 0.04265140429935008 Centerline is valid? [True, True] Translation: X:37.50, Y:-3.40, Z:-0.27 [[ 9.99645390e-01 2.34686090e-02 1.25824525e-02 3.75041526e+01] [-2.34562176e-02 9.99724225e-01 -1.13151255e-03 -3.40010404e+00] [-1.26055376e-02 8.35974556e-04 9.99920198e-01 -2.68094404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.927552018 meters 0.041548499123099054 Centerline is valid? [True, True] Translation: X:37.54, Y:-3.40, Z:-0.27 [[ 9.99639581e-01 2.37344688e-02 1.25452671e-02 3.75380984e+01] [-2.37221225e-02 9.99717950e-01 -1.13205001e-03 -3.39658512e+00] [-1.25685973e-02 8.34041630e-04 9.99920664e-01 -2.68823186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.957552017999994 meters 0.041555769098095816 Centerline is valid? [True, True] Translation: X:37.57, Y:-3.39, Z:-0.27 [[ 9.99596355e-01 2.45406416e-02 1.43137778e-02 3.75711417e+01] [-2.45245844e-02 9.99698387e-01 -1.29627373e-03 -3.39239051e+00] [-1.43412719e-02 9.44711041e-04 9.99896712e-01 -2.67678482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.987552017999995 meters 0.04002640825608505 Centerline is valid? [True, True] Translation: X:37.60, Y:-3.39, Z:-0.27 [[ 9.99565642e-01 2.51889852e-02 1.52984576e-02 3.76037761e+01] [-2.51706494e-02 9.99682203e-01 -1.38993974e-03 -3.38925248e+00] [-1.53286069e-02 1.00426390e-03 9.99882006e-01 -2.68177926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.017552017999996 meters 0.03983782919770149 Centerline is valid? [True, True] Translation: X:37.64, Y:-3.39, Z:-0.27 [[ 9.99536617e-01 2.63061961e-02 1.53145188e-02 3.76361689e+01] [-2.62878848e-02 9.99653439e-01 -1.39579715e-03 -3.38887217e+00] [-1.53459295e-02 9.92564056e-04 9.99881752e-01 -2.68714627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.047552018 meters 0.03977356675268412 Centerline is valid? [True, True] Translation: X:37.67, Y:-3.39, Z:-0.27 [[ 9.99523170e-01 2.70542824e-02 1.48828454e-02 3.76684623e+01] [-2.70370087e-02 9.99633507e-01 -1.36066878e-03 -3.38744794e+00] [-1.49142029e-02 9.57632351e-04 9.99888319e-01 -2.69947170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.077552018 meters 0.04174234526797706 Centerline is valid? [True, True] Translation: X:37.70, Y:-3.38, Z:-0.27 [[ 9.99496290e-01 2.84087571e-02 1.41459652e-02 3.76997454e+01] [-2.83932430e-02 9.99595990e-01 -1.29638547e-03 -3.38482597e+00] [-1.41770788e-02 8.94082638e-04 9.99899100e-01 -2.71069443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.107552018 meters 0.04083495774450589 Centerline is valid? [True, True] Translation: X:37.73, Y:-3.38, Z:-0.27 [[ 9.99460676e-01 2.95339388e-02 1.43563207e-02 3.77325875e+01] [-2.95180289e-02 9.99563378e-01 -1.31889772e-03 -3.38213405e+00] [-1.43890047e-02 8.94416116e-04 9.99896073e-01 -2.71604245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.137552017999994 meters 0.039603975034172935 Centerline is valid? [True, True] Translation: X:37.76, Y:-3.38, Z:-0.27 [[ 9.99415122e-01 3.10419507e-02 1.43461338e-02 3.77646654e+01] [-3.10261832e-02 9.99517700e-01 -1.32039058e-03 -3.38001483e+00] [-1.43802021e-02 8.74512541e-04 9.99896217e-01 -2.71155628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.167552017999995 meters 0.0383175894453645 Centerline is valid? [True, True] Translation: X:37.80, Y:-3.38, Z:-0.27 [[ 9.99339258e-01 3.31538845e-02 1.48951998e-02 3.77962338e+01] [-3.31371091e-02 9.99449874e-01 -1.37169491e-03 -3.37687082e+00] [-1.49324826e-02 8.77204710e-04 9.99888119e-01 -2.71964666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.197552017999996 meters 0.03785065986767765 Centerline is valid? [True, True] Translation: X:37.83, Y:-3.37, Z:-0.27 [[ 9.99155393e-01 3.86776221e-02 1.38759635e-02 3.78268855e+01] [-3.86635930e-02 9.99251467e-01 -1.27797965e-03 -3.37074456e+00] [-1.39150061e-02 7.40405655e-04 9.99902907e-01 -2.72471985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.227552018 meters 0.035132663508276325 Centerline is valid? [True, True] Translation: X:37.86, Y:-3.37, Z:-0.27 [[ 9.99036389e-01 4.18147549e-02 1.33349236e-02 3.78577093e+01] [-4.18020788e-02 9.99125156e-01 -1.22802712e-03 -3.36567549e+00] [-1.33746073e-02 6.69416250e-04 9.99910332e-01 -2.73679912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.257552018 meters 0.03396084536001783 Centerline is valid? [True, True] Translation: X:37.89, Y:-3.36, Z:-0.28 [[ 9.98856663e-01 4.64047627e-02 1.14876135e-02 3.78885136e+01] [-4.63956594e-02 9.98922581e-01 -1.05781736e-03 -3.35861074e+00] [-1.15243243e-02 5.23632510e-04 9.99933456e-01 -2.75094957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.287552018 meters 0.033282788804607034 Centerline is valid? [True, True] Translation: X:37.92, Y:-3.36, Z:-0.28 [[ 9.98802136e-01 4.78080514e-02 1.04251774e-02 3.79174537e+01] [-4.78006346e-02 9.98856435e-01 -9.59586531e-04 -3.35626171e+00] [-1.04591315e-02 4.60106982e-04 9.99945196e-01 -2.75950874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31755201799999 meters 0.03229518940909592 Centerline is valid? [True, True] Translation: X:37.95, Y:-3.35, Z:-0.28 [[ 9.98746861e-01 4.91643469e-02 9.35807957e-03 3.79467481e+01] [-4.91584367e-02 9.98790622e-01 -8.60674479e-04 -3.35358951e+00] [-9.38907662e-03 3.99567372e-04 9.99955842e-01 -2.76756588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.347552017999995 meters 0.03181410785560212 Centerline is valid? [True, True] Translation: X:37.98, Y:-3.35, Z:-0.28 [[ 9.98682246e-01 5.05652920e-02 8.77052948e-03 3.79756381e+01] [-5.05601605e-02 9.98720692e-01 -8.05967388e-04 -3.35385117e+00] [-8.80006325e-03 3.61465944e-04 9.99961213e-01 -2.77388382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.377552017999996 meters 0.030656928999904607 Centerline is valid? [True, True] Translation: X:38.00, Y:-3.35, Z:-0.28 [[ 9.98533733e-01 5.34190680e-02 8.76284054e-03 3.80047586e+01] [-5.34140613e-02 9.98572126e-01 -8.04562142e-04 -3.35243216e+00] [-8.79330726e-03 3.35323537e-04 9.99961282e-01 -2.78213949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.407552018 meters 0.03232929651578668 Centerline is valid? [True, True] Translation: X:38.03, Y:-3.35, Z:-0.28 [[ 9.98398971e-01 5.59936747e-02 8.01266620e-03 3.80329097e+01] [-5.59895761e-02 9.98431083e-01 -7.35094168e-04 -3.35443060e+00] [-8.04125562e-03 2.85291477e-04 9.99967628e-01 -2.78066169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.437552018 meters 0.029738523728792886 Centerline is valid? [True, True] Translation: X:38.06, Y:-3.35, Z:-0.28 [[ 9.98379730e-01 5.61518748e-02 9.21314898e-03 3.80623595e+01] [-5.61464702e-02 9.98422186e-01 -8.44415084e-04 -3.35325766e+00] [-9.24602783e-03 3.25761109e-04 9.99957202e-01 -2.78487096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.467552018 meters 0.028823160879381186 Centerline is valid? [True, True] Translation: X:38.09, Y:-3.35, Z:-0.28 [[ 9.98318527e-01 5.72006043e-02 9.39194520e-03 3.80916043e+01] [-5.71950415e-02 9.98362653e-01 -8.60041402e-04 -3.35295596e+00] [-9.42576222e-03 3.21422571e-04 9.99955525e-01 -2.77752757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.497552018 meters 0.028371545068639478 Centerline is valid? [True, True] Translation: X:38.12, Y:-3.35, Z:-0.28 [[ 9.98178530e-01 5.94172415e-02 1.04505536e-02 3.81200363e+01] [-5.94104847e-02 9.98233179e-01 -9.56080322e-04 -3.35285338e+00] [-1.04888970e-02 3.33466395e-04 9.99944934e-01 -2.76351718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.527552017999994 meters 0.027893141703755158 Centerline is valid? [True, True] Translation: X:38.15, Y:-3.35, Z:-0.28 [[ 9.98077986e-01 6.09911122e-02 1.09734958e-02 3.81492525e+01] [-6.09837663e-02 9.98138254e-01 -1.00310037e-03 -3.35446899e+00] [-1.10142462e-02 3.31967288e-04 9.99939286e-01 -2.76233414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.557552017999996 meters 0.027008258113753014 Centerline is valid? [True, True] Translation: X:38.18, Y:-3.36, Z:-0.28 [[ 9.97964566e-01 6.28591128e-02 1.07451255e-02 3.81778324e+01] [-6.28521853e-02 9.98022364e-01 -9.81515309e-04 -3.35557917e+00] [-1.07855727e-02 3.04162881e-04 9.99941788e-01 -2.76692700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.587552018 meters 0.02723759470566311 Centerline is valid? [True, True] Translation: X:38.21, Y:-3.36, Z:-0.28 [[ 9.97871202e-01 6.42782646e-02 1.10167941e-02 3.82055437e+01] [-6.42710800e-02 9.97931970e-01 -1.00532000e-03 -3.35834129e+00] [-1.10586312e-02 2.95118627e-04 9.99938808e-01 -2.77035861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.617552018 meters 0.025956848674959617 Centerline is valid? [True, True] Translation: X:38.23, Y:-3.36, Z:-0.28 [[ 9.97731922e-01 6.66327662e-02 9.54395842e-03 3.82349842e+01] [-6.66274917e-02 9.97777541e-01 -8.69905404e-04 -3.35665218e+00] [-9.58071157e-03 2.32042380e-04 9.99954077e-01 -2.78241553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.647552018 meters 0.02610271929429571 Centerline is valid? [True, True] Translation: X:38.26, Y:-3.36, Z:-0.28 [[ 9.97671626e-01 6.75445443e-02 9.43722894e-03 3.82628609e+01] [-6.75394394e-02 9.97716235e-01 -8.58949885e-04 -3.35953758e+00] [-9.47369391e-03 2.19564777e-04 9.99955099e-01 -2.78120435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.677552018 meters 0.0265792435463833 Centerline is valid? [True, True] Translation: X:38.29, Y:-3.36, Z:-0.28 [[ 9.97595964e-01 6.86853742e-02 9.19846345e-03 3.82912394e+01] [-6.86805808e-02 9.97638350e-01 -8.36356287e-04 -3.36190752e+00] [-9.23418535e-03 2.02589844e-04 9.99957343e-01 -2.77794611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.707552017999994 meters 0.0255237708131976 Centerline is valid? [True, True] Translation: X:38.32, Y:-3.36, Z:-0.28 [[ 9.97620581e-01 6.82406512e-02 9.81782153e-03 3.83202667e+01] [-6.82351771e-02 9.97668866e-01 -8.91844052e-04 -3.36492334e+00] [-9.85579489e-03 2.19801191e-04 9.99951406e-01 -2.78332112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.737552017999995 meters 0.025721598064713996 Centerline is valid? [True, True] Translation: X:38.35, Y:-3.37, Z:-0.28 [[ 9.97551918e-01 6.91952827e-02 1.01085762e-02 3.83473136e+01] [-6.91895377e-02 9.97603111e-01 -9.17361611e-04 -3.37270247e+00] [-1.01478241e-02 2.15708124e-04 9.99948486e-01 -2.79096989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.767552017999996 meters 0.025721598064713996 Centerline is valid? [True, True] Translation: X:38.37, Y:-3.38, Z:-0.28 [[ 9.97559926e-01 6.90797296e-02 1.01086718e-02 3.83746893e+01] [-6.90739893e-02 9.97611119e-01 -9.16306265e-04 -3.37507603e+00] [-1.01478216e-02 2.15824120e-04 9.99948486e-01 -2.79291227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.797552018 meters 0.02555556998834746 Centerline is valid? [True, True] Translation: X:38.40, Y:-3.38, Z:-0.28 [[ 9.97557301e-01 6.91225797e-02 1.00747566e-02 3.84021842e+01] [-6.91168920e-02 9.97608151e-01 -9.12048578e-04 -3.37841925e+00] [-1.01137025e-02 2.13484853e-04 9.99948832e-01 -2.80081550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.827552018 meters 0.025204376023421265 Centerline is valid? [True, True] Translation: X:38.43, Y:-3.38, Z:-0.28 [[ 9.97543452e-01 6.93648321e-02 9.77653600e-03 3.84311623e+01] [-6.93594981e-02 9.97591338e-01 -8.84012556e-04 -3.38249396e+00] [-9.81430702e-03 2.03745307e-04 9.99951818e-01 -2.80542359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.857552018 meters 0.025697937955365444 Centerline is valid? [True, True] Translation: X:38.46, Y:-3.39, Z:-0.28 [[ 9.97591837e-01 6.86974673e-02 9.54905303e-03 3.84583626e+01] [-6.86923557e-02 9.97637517e-01 -8.62642016e-04 -3.38705251e+00] [-9.58575488e-03 2.04617686e-04 9.99954035e-01 -2.81167911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.887552017999994 meters 0.02544564047493239 Centerline is valid? [True, True] Translation: X:38.49, Y:-3.39, Z:-0.28 [[ 9.97676504e-01 6.75491748e-02 8.87148458e-03 3.84867887e+01] [-6.75447246e-02 9.97715926e-01 -8.00634122e-04 -3.39458876e+00] [-8.90530363e-03 1.99551869e-04 9.99960327e-01 -2.82288373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.917552017999995 meters 0.026278881127352702 Centerline is valid? [True, True] Translation: X:38.51, Y:-3.40, Z:-0.28 [[ 9.97772892e-01 6.61209342e-02 8.79082252e-03 3.85138154e+01] [-6.61165156e-02 9.97811594e-01 -7.92620911e-04 -3.40221565e+00] [-8.82399347e-03 2.09637104e-04 9.99961046e-01 -2.82958095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.947552017999996 meters 0.026638817344509187 Centerline is valid? [True, True] Translation: X:38.54, Y:-3.41, Z:-0.28 [[ 9.97879487e-01 6.45550095e-02 8.31752135e-03 3.85423779e+01] [-6.45510059e-02 9.97914128e-01 -7.49183082e-04 -3.40933269e+00] [-8.34853558e-03 2.10690060e-04 9.99965128e-01 -2.83319356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.977552018 meters 0.0269377930341237 Centerline is valid? [True, True] Translation: X:38.57, Y:-3.42, Z:-0.28 [[ 9.97981255e-01 6.30246290e-02 7.83014775e-03 3.85706469e+01] [-6.30210384e-02 9.98011950e-01 -7.04696726e-04 -3.41661587e+00] [-7.85899428e-03 2.09810081e-04 9.99969096e-01 -2.84262931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.007552018 meters 0.027721000983505772 Centerline is valid? [True, True] Translation: X:38.60, Y:-3.43, Z:-0.28 [[ 9.98083345e-01 6.12427568e-02 8.88595516e-03 3.85973655e+01] [-6.12380693e-02 9.98122869e-01 -7.98896814e-04 -3.42877506e+00] [-8.91820169e-03 2.53206867e-04 9.99960200e-01 -2.82714299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.037552018 meters 0.029983284165105394 Centerline is valid? [True, True] Translation: X:38.63, Y:-3.44, Z:-0.28 [[ 9.98054086e-01 6.15012314e-02 1.02781653e-02 3.86250152e+01] [-6.14949842e-02 9.98106966e-01 -9.23048260e-04 -3.43886541e+00] [-1.03154770e-02 2.89196474e-04 9.99946752e-01 -2.80643268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06755201799999 meters 0.030324964049277984 Centerline is valid? [True, True] Translation: X:38.65, Y:-3.44, Z:-0.28 [[ 9.97968664e-01 6.25465167e-02 1.21028716e-02 3.86527361e+01] [-6.25379443e-02 9.98041996e-01 -1.08582740e-03 -3.44362405e+00] [-1.21470888e-02 3.26733012e-04 9.99926168e-01 -2.77913342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.097552017999995 meters 0.02830282887092077 Centerline is valid? [True, True] Translation: X:38.68, Y:-3.45, Z:-0.28 [[ 9.97714991e-01 6.59608364e-02 1.46275365e-02 3.86812402e+01] [-6.59487043e-02 9.97822154e-01 -1.31074196e-03 -3.44778635e+00] [-1.46821376e-02 3.43079827e-04 9.99892153e-01 -2.75012696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.127552017999996 meters 0.026954715420982954 Centerline is valid? [True, True] Translation: X:38.71, Y:-3.45, Z:-0.27 [[ 9.97565686e-01 6.81808329e-02 1.46313477e-02 3.87101085e+01] [-6.81689519e-02 9.97672932e-01 -1.30980249e-03 -3.45233202e+00] [-1.46866030e-02 3.09210382e-04 9.99892098e-01 -2.74793735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.157552018 meters 0.026110196987669743 Centerline is valid? [True, True] Translation: X:38.74, Y:-3.46, Z:-0.28 [[ 9.97392920e-01 7.06870816e-02 1.45155262e-02 3.87390864e+01] [-7.06756693e-02 9.97498503e-01 -1.29833289e-03 -3.45704089e+00] [-1.45709911e-02 2.69053504e-04 9.99893801e-01 -2.76061097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.187552018 meters 0.024809391506060863 Centerline is valid? [True, True] Translation: X:38.77, Y:-3.46, Z:-0.28 [[ 9.97208571e-01 7.35360130e-02 1.29429504e-02 3.87672068e+01] [-7.35271914e-02 9.97292542e-01 -1.15675245e-03 -3.46158294e+00] [-1.29929709e-02 2.01864661e-04 9.99915567e-01 -2.78112456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.217552018 meters 0.022872663876549 Centerline is valid? [True, True] Translation: X:38.80, Y:-3.47, Z:-0.28 [[ 9.96730373e-01 8.01975309e-02 9.84474084e-03 3.87961541e+01] [-8.01927584e-02 9.96778987e-01 -8.79209432e-04 -3.46550261e+00] [-9.88354122e-03 8.68578220e-05 9.99951153e-01 -2.81825266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.247552018 meters 0.021416924096882336 Centerline is valid? [True, True] Translation: X:38.82, Y:-3.47, Z:-0.28 [[ 9.96470550e-01 8.34912342e-02 8.69812030e-03 3.88247682e+01] [-8.34876390e-02 9.96508511e-01 -7.76252262e-04 -3.46742252e+00] [-8.73256116e-03 4.73269908e-05 9.99961869e-01 -2.82903909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.277552017999994 meters 0.020899236311000095 Centerline is valid? [True, True] Translation: X:38.85, Y:-3.47, Z:-0.28 [[ 9.96124709e-01 8.75889787e-02 7.98346582e-03 3.88522660e+01] [-8.75860871e-02 9.96156700e-01 -7.11783739e-04 -3.46945005e+00] [-8.01512738e-03 9.78483713e-06 9.99967878e-01 -2.83776959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.307552017999996 meters 0.020528468819175093 Centerline is valid? [True, True] Translation: X:38.88, Y:-3.47, Z:-0.29 [[ 9.95384457e-01 9.57233210e-02 6.84311382e-03 3.88809851e+01] [-9.57213931e-02 9.95407978e-01 -6.09453386e-04 -3.47315360e+00] [-6.87002899e-03 -4.83919603e-05 9.99976400e-01 -2.85296800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.337552018 meters 0.02128275232659364 Centerline is valid? [True, True] Translation: X:38.91, Y:-3.48, Z:-0.29 [[ 9.94973024e-01 9.99263269e-02 6.58861957e-03 3.89095496e+01] [-9.99246354e-02 9.94994836e-01 -5.86235463e-04 -3.47737347e+00] [-6.61422281e-03 -7.50769369e-05 9.99978123e-01 -2.85246934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.367552018 meters 0.02173602934505941 Centerline is valid? [True, True] Translation: X:38.94, Y:-3.48, Z:-0.28 [[ 9.94624467e-01 1.03323048e-01 6.82040736e-03 3.89370726e+01] [-1.03321319e-01 9.94647846e-01 -6.06237596e-04 -3.48141043e+00] [-6.84654180e-03 -1.01714741e-04 9.99976557e-01 -2.84487943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.397552018 meters 0.022570790131345265 Centerline is valid? [True, True] Translation: X:38.97, Y:-3.49, Z:-0.28 [[ 9.94265209e-01 1.06646288e-01 7.95381549e-03 3.89657741e+01] [-1.06644054e-01 9.94297012e-01 -7.05601721e-04 -3.48590549e+00] [-7.98370477e-03 -1.46671888e-04 9.99968119e-01 -2.83218522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.427552018 meters 0.023442410611316824 Centerline is valid? [True, True] Translation: X:38.99, Y:-3.49, Z:-0.28 [[ 9.93925783e-01 1.09674132e-01 9.11719408e-03 3.89944370e+01] [-1.09671333e-01 9.93967578e-01 -8.07904731e-04 -3.49081514e+00] [-9.15080156e-03 -1.96897488e-04 9.99958111e-01 -2.81607618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.457552017999994 meters 0.025287849114587813 Centerline is valid? [True, True] Translation: X:39.02, Y:-3.50, Z:-0.28 [[ 9.93452014e-01 1.13824629e-01 9.85136504e-03 3.90210509e+01] [-1.13821576e-01 9.93500825e-01 -8.71815863e-04 -3.49978336e+00] [-9.88657341e-03 -2.55190673e-04 9.99951094e-01 -2.79479326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.487552017999995 meters 0.024315738503859038 Centerline is valid? [True, True] Translation: X:39.05, Y:-3.51, Z:-0.28 [[ 9.93357580e-01 1.14669652e-01 9.57024327e-03 3.90489871e+01] [-1.14666824e-01 9.93403646e-01 -8.45573329e-04 -3.50992906e+00] [-9.60407616e-03 -2.57432721e-04 9.99953847e-01 -2.79884734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.517552017999996 meters 0.024505871002787966 Centerline is valid? [True, True] Translation: X:39.08, Y:-3.52, Z:-0.28 [[ 9.93394543e-01 1.14413863e-01 8.76070528e-03 3.90758003e+01] [-1.14411491e-01 9.93433145e-01 -7.73088116e-04 -3.51776491e+00] [-8.79162699e-03 -2.34343837e-04 9.99961325e-01 -2.80571457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.547552018 meters 0.02413385153364918 Centerline is valid? [True, True] Translation: X:39.10, Y:-3.53, Z:-0.28 [[ 9.93683829e-01 1.11958613e-01 7.59712514e-03 3.91026058e+01] [-1.11956767e-01 9.93712853e-01 -6.69077937e-04 -3.53340313e+00] [-7.62426994e-03 -1.85697646e-04 9.99970918e-01 -2.80800851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.577552018 meters 0.02182464059545876 Centerline is valid? [True, True] Translation: X:39.13, Y:-3.55, Z:-0.28 [[ 9.93832912e-01 1.10594255e-01 8.06557394e-03 3.91301893e+01] [-1.10592138e-01 9.93865623e-01 -7.09387653e-04 -3.54614181e+00] [-8.09455087e-03 -1.86976266e-04 9.99967221e-01 -2.79388809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.607552018 meters 0.02085722331992267 Centerline is valid? [True, True] Translation: X:39.16, Y:-3.56, Z:-0.28 [[ 9.94025479e-01 1.08791890e-01 8.81316126e-03 3.91581898e+01] [-1.08789299e-01 9.94064530e-01 -7.74274401e-04 -3.55696827e+00] [-8.84508578e-03 -1.89129152e-04 9.99960864e-01 -2.77921001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.637552017999994 meters 0.019339789404498955 Centerline is valid? [True, True] Translation: X:39.18, Y:-3.58, Z:-0.28 [[ 9.94365092e-01 1.05595170e-01 9.36610855e-03 3.91839966e+01] [-1.05592111e-01 9.94409187e-01 -8.21909812e-04 -3.57705451e+00] [-9.40053409e-03 -1.71708745e-04 9.99955799e-01 -2.75279341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.667552017999995 meters 0.017858350505333215 Centerline is valid? [True, True] Translation: X:39.21, Y:-3.59, Z:-0.27 [[ 9.94523100e-01 1.04088025e-01 9.45969645e-03 3.92118069e+01] [-1.04084846e-01 9.94568076e-01 -8.29095257e-04 -3.58888845e+00] [-9.49461098e-03 -1.60056666e-04 9.99954912e-01 -2.74250859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.697552017999996 meters 0.0172599845127057 Centerline is valid? [True, True] Translation: X:39.24, Y:-3.60, Z:-0.27 [[ 9.94664906e-01 1.02698277e-01 9.73598684e-03 3.92406443e+01] [-1.02694851e-01 9.94712542e-01 -8.52514462e-04 -3.59914211e+00] [-9.77205998e-03 -1.51869503e-04 9.99952241e-01 -2.73902456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.727552018 meters 0.0167502309060133 Centerline is valid? [True, True] Translation: X:39.27, Y:-3.61, Z:-0.27 [[ 9.94796059e-01 1.01391742e-01 1.00257221e-02 3.92684855e+01] [-1.01388048e-01 9.94846568e-01 -8.77338575e-04 -3.60853283e+00] [-1.00630101e-02 -1.43715436e-04 9.99949356e-01 -2.73528560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.757552018 meters 0.016253114647713434 Centerline is valid? [True, True] Translation: X:39.30, Y:-3.62, Z:-0.27 [[ 9.94876690e-01 1.00608008e-01 9.91966845e-03 3.92974541e+01] [-1.00604358e-01 9.94926133e-01 -8.67441299e-04 -3.61827060e+00] [-9.95660891e-03 -1.34964751e-04 9.99950423e-01 -2.73823359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.787552018 meters 0.016124238772108 Centerline is valid? [True, True] Translation: X:39.33, Y:-3.63, Z:-0.28 [[ 9.94949765e-01 9.99456204e-02 9.26493381e-03 3.93258576e+01] [-9.99424117e-02 9.94992894e-01 -8.09832665e-04 -3.63431100e+00] [-9.29948253e-03 -1.20217010e-04 9.99956752e-01 -2.75596684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81755201799999 meters 0.015479192433717402 Centerline is valid? [True, True] Translation: X:39.36, Y:-3.64, Z:-0.28 [[ 9.94932687e-01 1.00232841e-01 7.89471061e-03 3.93561057e+01] [-1.00230522e-01 9.94964003e-01 -6.89926734e-04 -3.64412983e+00] [-7.92410618e-03 -1.04860305e-04 9.99968598e-01 -2.76947619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.847552017999995 meters 0.015585395608547046 Centerline is valid? [True, True] Translation: X:39.39, Y:-3.66, Z:-0.28 [[ 9.94931842e-01 1.00364503e-01 6.13162021e-03 3.93857697e+01] [-1.00363106e-01 9.94950732e-01 -5.35827154e-04 -3.65803844e+00] [-6.15443804e-03 -8.22769542e-05 9.99981058e-01 -2.78997598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.877552017999996 meters 0.01531827220592604 Centerline is valid? [True, True] Translation: X:39.42, Y:-3.67, Z:-0.28 [[ 9.94928562e-01 1.00431245e-01 5.54271234e-03 3.94160043e+01] [-1.00430104e-01 9.94943998e-01 -4.84444175e-04 -3.66720724e+00] [-5.56334171e-03 -7.46678327e-05 9.99984522e-01 -2.79848032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.907552018 meters 0.015334158920057734 Centerline is valid? [True, True] Translation: X:39.45, Y:-3.68, Z:-0.28 [[ 9.94978337e-01 9.99607281e-02 5.09524319e-03 3.94454433e+01] [-9.99597567e-02 9.94991381e-01 -4.45591209e-04 -3.67529740e+00] [-5.11426468e-03 -6.59656693e-05 9.99986920e-01 -2.80662267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.937552018 meters 0.014982511819688606 Centerline is valid? [True, True] Translation: X:39.48, Y:-3.68, Z:-0.28 [[ 9.95030838e-01 9.94402105e-02 5.02752935e-03 3.94759466e+01] [-9.94392578e-02 9.95043537e-01 -4.39737520e-04 -3.68449272e+00] [-5.04633818e-03 -6.23813940e-05 9.99987265e-01 -2.81107267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.967552018 meters 0.014252633087964347 Centerline is valid? [True, True] Translation: X:39.51, Y:-3.70, Z:-0.28 [[ 9.95173633e-01 9.79729507e-02 5.54442567e-03 3.95059350e+01] [-9.79717697e-02 9.95189076e-01 -4.84863006e-04 -3.70111624e+00] [-5.56525532e-03 -6.06743153e-05 9.99984512e-01 -2.79958534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.997552018 meters 0.013912606702265209 Centerline is valid? [True, True] Translation: X:39.54, Y:-3.71, Z:-0.28 [[ 9.95208285e-01 9.75670245e-02 6.41451917e-03 3.95379321e+01] [-9.75654212e-02 9.95228954e-01 -5.63131395e-04 -3.71045790e+00] [-6.43885826e-03 -6.54022355e-05 9.99979268e-01 -2.79630563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.027552017999994 meters 0.017940695135558123 Centerline is valid? [True, True] Translation: X:39.57, Y:-3.72, Z:-0.28 [[ 9.95189304e-01 9.77848022e-02 6.03178463e-03 3.95699125e+01] [-9.77833763e-02 9.95207581e-01 -5.31549849e-04 -3.71830661e+00] [-6.05485528e-03 -6.08155425e-05 9.99981667e-01 -2.81365204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.057552017999996 meters 0.014188899153682133 Centerline is valid? [True, True] Translation: X:39.60, Y:-3.73, Z:-0.28 [[ 9.95113769e-01 9.83688152e-02 8.49485032e-03 3.96024765e+01] [-9.83659739e-02 9.95150023e-01 -7.52653376e-04 -3.72562091e+00] [-8.52768812e-03 -8.66284867e-05 9.99963635e-01 -2.77535857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.087552018 meters 0.014843727521333113 Centerline is valid? [True, True] Translation: X:39.63, Y:-3.74, Z:-0.28 [[ 9.94916946e-01 1.00319188e-01 8.73677269e-03 3.96326930e+01] [-1.00316231e-01 9.94955300e-01 -7.77144321e-04 -3.73582593e+00] [-8.77066079e-03 -1.03246050e-04 9.99961532e-01 -2.77327707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.117552018 meters 0.015400832745570709 Centerline is valid? [True, True] Translation: X:39.66, Y:-3.74, Z:-0.28 [[ 9.94776006e-01 1.01756280e-01 8.14597031e-03 3.96648339e+01] [-1.01753739e-01 9.94809353e-01 -7.26850389e-04 -3.74260669e+00] [-8.17764904e-03 -1.05829612e-04 9.99966557e-01 -2.78226710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.147552018 meters 0.016036439918170033 Centerline is valid? [True, True] Translation: X:39.70, Y:-3.75, Z:-0.28 [[ 9.94615509e-01 1.03360823e-01 7.51862899e-03 3.96969848e+01] [-1.03358686e-01 9.94643921e-01 -6.73265514e-04 -3.74893005e+00] [-7.54794789e-03 -1.07475292e-04 9.99971508e-01 -2.78933370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.177552018 meters 0.01755892527647768 Centerline is valid? [True, True] Translation: X:39.73, Y:-3.76, Z:-0.28 [[ 9.94274894e-01 1.06599638e-01 7.34520017e-03 3.97284362e+01] [-1.06597671e-01 9.94302017e-01 -6.59895134e-04 -3.75674633e+00] [-7.37369192e-03 -1.26864065e-04 9.99972806e-01 -2.80161806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.207552017999994 meters 0.018386278505076088 Centerline is valid? [True, True] Translation: X:39.76, Y:-3.76, Z:-0.28 [[ 9.94113715e-01 1.08070051e-01 7.66718825e-03 3.97599516e+01] [-1.08067933e-01 9.94143271e-01 -6.91190059e-04 -3.76217553e+00] [-7.69698056e-03 -1.41455673e-04 9.99970368e-01 -2.80071855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.237552017999995 meters 0.019302043358802642 Centerline is valid? [True, True] Translation: X:39.79, Y:-3.77, Z:-0.28 [[ 9.93955488e-01 1.09498129e-01 7.91503121e-03 3.97902804e+01] [-1.09495900e-01 9.93986990e-01 -7.15708347e-04 -3.76729790e+00] [-7.94580677e-03 -1.55281228e-04 9.99968420e-01 -2.79754889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.267552017999996 meters 0.020087850945311753 Centerline is valid? [True, True] Translation: X:39.82, Y:-3.77, Z:-0.28 [[ 9.93818818e-01 1.10681783e-01 8.58492332e-03 3.98217742e+01] [-1.10679198e-01 9.93855881e-01 -7.77049421e-04 -3.77253199e+00] [-8.61818174e-03 -1.77926091e-04 9.99962847e-01 -2.78871119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.297552018 meters 0.021821188331706497 Centerline is valid? [True, True] Translation: X:39.85, Y:-3.78, Z:-0.28 [[ 9.93532284e-01 1.13199372e-01 8.91641448e-03 3.98526178e+01] [-1.13196664e-01 9.93572272e-01 -8.09439713e-04 -3.77960635e+00] [-8.95073027e-03 -2.05103887e-04 9.99959920e-01 -2.78766577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.327552018 meters 0.02276116464194536 Centerline is valid? [True, True] Translation: X:39.88, Y:-3.79, Z:-0.28 [[ 9.93406370e-01 1.14300381e-01 8.89982998e-03 3.98831089e+01] [-1.14297714e-01 9.93446213e-01 -8.09482216e-04 -3.78520243e+00] [-8.93402652e-03 -2.13085429e-04 9.99960068e-01 -2.78898670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.357552018 meters 0.02343033436623021 Centerline is valid? [True, True] Translation: X:39.91, Y:-3.79, Z:-0.28 [[ 9.93337721e-01 1.14858078e-01 9.36979062e-03 3.99149184e+01] [-1.14855121e-01 9.93381885e-01 -8.54840297e-04 -3.79096138e+00] [-9.40596559e-03 -2.27023326e-04 9.99955737e-01 -2.79382951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.387552017999994 meters 0.02308526662303608 Centerline is valid? [True, True] Translation: X:39.95, Y:-3.80, Z:-0.28 [[ 9.93331078e-01 1.14916674e-01 9.35561875e-03 3.99478813e+01] [-1.14913702e-01 9.93375109e-01 -8.56359398e-04 -3.79798091e+00] [-9.39204877e-03 -2.24440382e-04 9.99955869e-01 -2.80203216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.417552017999995 meters 0.018520816025112533 Centerline is valid? [True, True] Translation: X:39.98, Y:-3.81, Z:-0.28 [[ 9.93577099e-01 1.12719100e-01 9.94753733e-03 3.99787075e+01] [-1.12715598e-01 9.93626871e-01 -9.13801578e-04 -3.81442995e+00] [-9.98714328e-03 -2.13310301e-04 9.99950104e-01 -2.80751136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.447552017999996 meters 0.019379334000383983 Centerline is valid? [True, True] Translation: X:40.01, Y:-3.82, Z:-0.28 [[ 9.93809435e-01 1.10682646e-01 9.59989814e-03 4.00105095e+01] [-1.10679266e-01 9.93855783e-01 -8.84282770e-04 -3.82431358e+00] [-9.63878905e-03 -1.83701120e-04 9.99953529e-01 -2.83858893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.477552018 meters 0.0171270685986695 Centerline is valid? [True, True] Translation: X:40.04, Y:-3.83, Z:-0.28 [[ 9.93902947e-01 1.09721470e-01 1.08688277e-02 4.00415729e+01] [-1.09717057e-01 9.93962354e-01 -1.00333819e-03 -3.83209063e+00] [-1.09132933e-02 -1.95275000e-04 9.99940429e-01 -2.80656684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.507552018 meters 0.013882266259021028 Centerline is valid? [True, True] Translation: X:40.07, Y:-3.85, Z:-0.28 [[ 9.94356220e-01 1.05624416e-01 9.95942451e-03 4.00721750e+01] [-1.05620474e-01 9.94406086e-01 -9.22391350e-04 -3.85031769e+00] [-1.00011394e-02 -1.34733560e-04 9.99949978e-01 -2.82021413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.537552018 meters 0.014185815438519668 Centerline is valid? [True, True] Translation: X:40.10, Y:-3.86, Z:-0.28 [[ 9.94567341e-01 1.03698699e-01 9.07658468e-03 4.01037074e+01] [-1.03695323e-01 9.94608752e-01 -8.42991404e-04 -3.85596351e+00] [-9.11506767e-03 -1.02787662e-04 9.99958452e-01 -2.82564054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56755201799999 meters 0.01308912701274895 Centerline is valid? [True, True] Translation: X:40.14, Y:-3.87, Z:-0.28 [[ 9.94727568e-01 1.02192525e-01 8.58794238e-03 4.01353335e+01] [-1.02189433e-01 9.94764636e-01 -7.99228909e-04 -3.86606362e+00] [-8.62465660e-03 -8.25819332e-05 9.99962804e-01 -2.83282727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.597552017999995 meters 0.012516062947141401 Centerline is valid? [True, True] Translation: X:40.17, Y:-3.88, Z:-0.28 [[ 9.95176889e-01 9.77272466e-02 8.50552517e-03 4.01651633e+01] [-9.77240286e-02 9.95213235e-01 -7.94123166e-04 -3.87876995e+00] [-8.54241869e-03 -4.09011629e-05 9.99963512e-01 -2.82908190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.627552017999996 meters 0.012398754964534029 Centerline is valid? [True, True] Translation: X:40.20, Y:-3.89, Z:-0.28 [[ 9.95397461e-01 9.52991012e-02 1.00982815e-02 4.01977933e+01] [-9.52944087e-02 9.95448683e-01 -9.45930609e-04 -3.88750293e+00] [-1.01424674e-02 -2.07328390e-05 9.99948564e-01 -2.81815921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.657552018 meters 0.012459875169618299 Centerline is valid? [True, True] Translation: X:40.23, Y:-3.90, Z:-0.28 [[ 9.95607739e-01 9.29079662e-02 1.15473301e-02 4.02296238e+01] [-9.29016241e-02 9.95674701e-01 -1.08558272e-03 -3.89597167e+00] [-1.15982437e-02 8.04883681e-06 9.99932738e-01 -2.80343272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.687552018 meters 0.012459875169618299 Centerline is valid? [True, True] Translation: X:40.26, Y:-3.90, Z:-0.28 [[ 9.95578547e-01 9.32202939e-02 1.15470006e-02 4.02619373e+01] [-9.32139323e-02 9.95645508e-01 -1.08907842e-03 -3.89912641e+00] [-1.15982435e-02 7.92177987e-06 9.99932738e-01 -2.80572958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.717552018 meters 0.012603519365935777 Centerline is valid? [True, True] Translation: X:40.29, Y:-3.91, Z:-0.28 [[ 9.95742858e-01 9.12944136e-02 1.27079293e-02 4.02946881e+01] [-9.12864970e-02 9.95823945e-01 -1.20284458e-03 -3.90676314e+00] [-1.27646733e-02 3.76615448e-05 9.99918528e-01 -2.79920852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.747552018 meters 0.012835443115416586 Centerline is valid? [True, True] Translation: X:40.33, Y:-3.92, Z:-0.28 [[ 9.96027488e-01 8.80989307e-02 1.29545765e-02 4.03256340e+01] [-8.80903831e-02 9.96111726e-01 -1.23005861e-03 -3.91580276e+00] [-1.30125724e-02 8.39985802e-05 9.99915329e-01 -2.80292449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.777552017999994 meters 0.013419294685892515 Centerline is valid? [True, True] Translation: X:40.36, Y:-3.92, Z:-0.28 [[ 9.96078086e-01 8.76359418e-02 1.21814520e-02 4.03569800e+01] [-8.76283049e-02 9.96152566e-01 -1.16028982e-03 -3.92288092e+00] [-1.22362677e-02 8.82992721e-05 9.99925130e-01 -2.80639918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.807552017999996 meters 0.013042912576703125 Centerline is valid? [True, True] Translation: X:40.39, Y:-3.93, Z:-0.28 [[ 9.96110164e-01 8.74707810e-02 1.06491553e-02 4.03894637e+01] [-8.74648971e-02 9.96167082e-01 -1.01790313e-03 -3.92646132e+00] [-1.06973747e-02 8.25163808e-05 9.99942778e-01 -2.83583104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.837552018 meters 0.013133094235535537 Centerline is valid? [True, True] Translation: X:40.42, Y:-3.93, Z:-0.29 [[ 9.96215188e-01 8.64799551e-02 8.74738063e-03 4.04218894e+01] [-8.64759236e-02 9.96253588e-01 -8.38762673e-04 -3.93324954e+00] [-8.78714549e-03 7.91502945e-05 9.99961389e-01 -2.85328282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.867552018 meters 0.013710920420702889 Centerline is valid? [True, True] Translation: X:40.45, Y:-3.94, Z:-0.29 [[ 9.96282967e-01 8.56942551e-02 8.76039651e-03 4.04536693e+01] [-8.56901569e-02 9.96321478e-01 -8.42792203e-04 -3.93957486e+00] [-8.80039365e-03 8.89797657e-05 9.99961272e-01 -2.85318160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.897552018 meters 0.018130456925865665 Centerline is valid? [True, True] Translation: X:40.49, Y:-3.94, Z:-0.29 [[ 9.96468523e-01 8.35661554e-02 8.19631284e-03 4.04853462e+01] [-8.35624772e-02 9.96502226e-01 -7.90790274e-04 -3.94478548e+00] [-8.23372730e-03 1.03093411e-04 9.99966097e-01 -2.88499300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.927552018 meters 0.014193603755324405 Centerline is valid? [True, True] Translation: X:40.52, Y:-3.95, Z:-0.28 [[ 9.96517882e-01 8.28401604e-02 9.46671156e-03 4.05175268e+01] [-8.28351945e-02 9.96562839e-01 -9.16135751e-04 -3.94872254e+00] [-9.51006578e-03 1.28768765e-04 9.99954770e-01 -2.84547900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.957552017999994 meters 0.019018733342332672 Centerline is valid? [True, True] Translation: X:40.55, Y:-3.96, Z:-0.29 [[ 9.96874551e-01 7.85763830e-02 8.17817056e-03 4.05473913e+01] [-7.85725169e-02 9.96908085e-01 -7.93461160e-04 -3.96097597e+00] [-8.21523166e-03 1.48401793e-04 9.99966243e-01 -2.85063250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.987552017999995 meters 0.015960265603178255 Centerline is valid? [True, True] Translation: X:40.58, Y:-3.96, Z:-0.29 [[ 9.97034982e-01 7.64717317e-02 8.56262968e-03 4.05797411e+01] [-7.64673921e-02 9.97071734e-01 -8.33527404e-04 -3.95885735e+00] [-8.60129731e-03 1.76294019e-04 9.99962993e-01 -2.85463404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.017552017999996 meters 0.020270252200827996 Centerline is valid? [True, True] Translation: X:40.61, Y:-3.97, Z:-0.28 [[ 9.97211551e-01 7.41247326e-02 8.63985864e-03 4.06099455e+01] [-7.41202023e-02 9.97248958e-01 -8.43807744e-04 -3.96929287e+00] [-8.67863704e-03 2.01066758e-04 9.99962320e-01 -2.84746744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.047552018 meters 0.024246505826051392 Centerline is valid? [True, True] Translation: X:40.64, Y:-3.98, Z:-0.28 [[ 9.97606713e-01 6.84671808e-02 9.64839815e-03 4.06391765e+01] [-6.84612429e-02 9.97653329e-01 -9.44759327e-04 -3.97758465e+00] [-9.69044154e-03 2.81956918e-04 9.99953007e-01 -2.82893344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.077552018 meters 0.026003613578231204 Centerline is valid? [True, True] Translation: X:40.67, Y:-3.98, Z:-0.28 [[ 9.97778658e-01 6.58088164e-02 1.03416495e-02 4.06710510e+01] [-6.58018414e-02 9.97832195e-01 -1.01364254e-03 -3.98276871e+00] [-1.03859374e-02 3.30891315e-04 9.99946010e-01 -2.82092306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.107552018 meters 0.02834387954434516 Centerline is valid? [True, True] Translation: X:40.70, Y:-3.99, Z:-0.28 [[ 9.97931866e-01 6.33198020e-02 1.10721986e-02 4.07016110e+01] [-6.33116155e-02 9.97993213e-01 -1.08867716e-03 -3.98820850e+00] [-1.11189139e-02 3.85426850e-04 9.99938109e-01 -2.81349865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.137552017999994 meters 0.029578916795693147 Centerline is valid? [True, True] Translation: X:40.73, Y:-3.99, Z:-0.28 [[ 9.98099567e-01 6.06229142e-02 1.10506665e-02 4.07338954e+01] [-6.06145682e-02 9.98160653e-01 -1.08892166e-03 -3.99184242e+00] [-1.10963541e-02 4.17020856e-04 9.99938347e-01 -2.81841472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.167552017999995 meters 0.034741384452692474 Centerline is valid? [True, True] Translation: X:40.76, Y:-4.00, Z:-0.28 [[ 9.98326614e-01 5.66500593e-02 1.16078803e-02 4.07636180e+01] [-5.66405734e-02 9.98393978e-01 -1.14458624e-03 -3.99968046e+00] [-1.16540786e-02 4.85193908e-04 9.99931971e-01 -2.81328707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.197552017999996 meters 0.03190320506605282 Centerline is valid? [True, True] Translation: X:40.80, Y:-4.00, Z:-0.28 [[ 9.98386440e-01 5.54953393e-02 1.20326354e-02 4.07956830e+01] [-5.54850505e-02 9.98458812e-01 -1.18747629e-03 -3.99708030e+00] [-1.20799902e-02 5.17928841e-04 9.99926900e-01 -2.82169657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.227552018 meters 0.03369928859663078 Centerline is valid? [True, True] Translation: X:40.83, Y:-4.00, Z:-0.28 [[ 9.98417984e-01 5.48567027e-02 1.23397924e-02 4.08264422e+01] [-5.48457988e-02 9.98494090e-01 -1.22056921e-03 -3.99945887e+00] [-1.23881662e-02 5.41852474e-04 9.99923117e-01 -2.81724537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.257552018 meters 0.0327027881547367 Centerline is valid? [True, True] Translation: X:40.86, Y:-4.00, Z:-0.28 [[ 9.98421217e-01 5.46891685e-02 1.28128308e-02 4.08592392e+01] [-5.46773472e-02 9.98503266e-01 -1.27136565e-03 -3.99779429e+00] [-1.28631833e-02 5.68786847e-04 9.99917104e-01 -2.82278248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.287552018 meters 0.03376807385944823 Centerline is valid? [True, True] Translation: X:40.89, Y:-4.00, Z:-0.28 [[ 9.98398964e-01 5.51023809e-02 1.27764235e-02 4.08915796e+01] [-5.50906062e-02 9.98480549e-01 -1.27198362e-03 -3.99625046e+00] [-1.28270997e-02 5.66086212e-04 9.99917569e-01 -2.82400055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31755201799999 meters 0.032498837043070467 Centerline is valid? [True, True] Translation: X:40.92, Y:-4.00, Z:-0.28 [[ 9.98357803e-01 5.59600547e-02 1.22543873e-02 4.09243653e+01] [-5.59492381e-02 9.98432864e-01 -1.22399493e-03 -3.99564047e+00] [-1.23036778e-02 5.36361258e-04 9.99924163e-01 -2.83479044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.347552017999995 meters 0.03187976429734211 Centerline is valid? [True, True] Translation: X:40.96, Y:-4.00, Z:-0.28 [[ 9.98323993e-01 5.66728850e-02 1.17212930e-02 4.09569238e+01] [-5.66629949e-02 9.98392671e-01 -1.17441527e-03 -3.99508948e+00] [-1.17690106e-02 5.08283371e-04 9.99930614e-01 -2.84550349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.377552017999996 meters 0.0323362373324501 Centerline is valid? [True, True] Translation: X:40.99, Y:-3.99, Z:-0.29 [[ 9.98277530e-01 5.75790362e-02 1.12528579e-02 4.09889114e+01] [-5.75699449e-02 9.98340835e-01 -1.13043613e-03 -3.99041470e+00] [-1.12992770e-02 4.80662578e-04 9.99936046e-01 -2.85191219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.407552018 meters 0.029509916230748265 Centerline is valid? [True, True] Translation: X:41.02, Y:-3.99, Z:-0.29 [[ 9.98233129e-01 5.82872692e-02 1.15418846e-02 4.10215416e+01] [-5.82777192e-02 9.98299733e-01 -1.16230911e-03 -3.98501815e+00] [-1.15900082e-02 4.87620747e-04 9.99932715e-01 -2.85864378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.437552018 meters 0.03148024376782255 Centerline is valid? [True, True] Translation: X:41.05, Y:-3.99, Z:-0.29 [[ 9.98202496e-01 5.87965529e-02 1.16078744e-02 4.10537914e+01] [-5.87868810e-02 9.98269867e-01 -1.17296358e-03 -3.98644442e+00] [-1.16567574e-02 4.88464439e-04 9.99931938e-01 -2.85721104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.467552018 meters 0.03168246430726054 Centerline is valid? [True, True] Translation: X:41.09, Y:-3.98, Z:-0.29 [[ 9.98190843e-01 5.89385713e-02 1.18863893e-02 4.10877303e+01] [-5.89283878e-02 9.98261485e-01 -1.20546375e-03 -3.98270363e+00] [-1.19367729e-02 5.02837123e-04 9.99928628e-01 -2.86123525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.497552018 meters 0.031185154645562617 Centerline is valid? [True, True] Translation: X:41.12, Y:-3.98, Z:-0.29 [[ 9.98226517e-01 5.84155035e-02 1.14651936e-02 4.11197236e+01] [-5.84059492e-02 9.98292234e-01 -1.16668767e-03 -3.98191242e+00] [-1.15137663e-02 4.94983062e-04 9.99933592e-01 -2.87012656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.527552017999994 meters 0.03221688210301842 Centerline is valid? [True, True] Translation: X:41.15, Y:-3.98, Z:-0.29 [[ 9.98286760e-01 5.76398230e-02 1.00595655e-02 4.11515427e+01] [-5.76323983e-02 9.98337344e-01 -1.02665072e-03 -3.98270041e+00] [-1.01020159e-02 4.45134937e-04 9.99948874e-01 -2.88379325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.557552017999996 meters 0.033334964271505035 Centerline is valid? [True, True] Translation: X:41.18, Y:-3.98, Z:-0.29 [[ 9.98439943e-01 5.52138018e-02 8.31367289e-03 4.11844419e+01] [-5.52086300e-02 9.98474478e-01 -8.50478281e-04 -3.98023970e+00] [-8.34794834e-03 3.90164996e-04 9.99965079e-01 -2.91127266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.587552018 meters 0.03373860025765802 Centerline is valid? [True, True] Translation: X:41.22, Y:-3.98, Z:-0.29 [[ 9.98476868e-01 5.45761136e-02 8.08653919e-03 4.12163455e+01] [-5.45711916e-02 9.98509539e-01 -8.28233304e-04 -3.98081249e+00] [-8.11968827e-03 3.85679716e-04 9.99966960e-01 -2.91660862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.617552018 meters 0.03435919989114644 Centerline is valid? [True, True] Translation: X:41.25, Y:-3.98, Z:-0.29 [[ 9.98517028e-01 5.37645380e-02 8.55093297e-03 4.12484832e+01] [-5.37589795e-02 9.98553554e-01 -8.78733195e-04 -3.98133695e+00] [-8.58580919e-03 4.17740628e-04 9.99963054e-01 -2.91556586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.647552018 meters 0.03703890114513117 Centerline is valid? [True, True] Translation: X:41.28, Y:-3.98, Z:-0.29 [[ 9.98638454e-01 5.13414449e-02 9.23545371e-03 4.12794377e+01] [-5.13348335e-02 9.98681045e-01 -9.51669491e-04 -3.98061751e+00] [-9.27213265e-03 4.76273272e-04 9.99956899e-01 -2.90752307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.677552018 meters 0.03682792508508716 Centerline is valid? [True, True] Translation: X:41.31, Y:-3.98, Z:-0.29 [[ 9.98673687e-01 5.05464777e-02 9.79389134e-03 4.13112145e+01] [-5.05389927e-02 9.98721577e-01 -1.01039603e-03 -3.98031208e+00] [-9.83244257e-03 5.14082525e-04 9.99951528e-01 -2.90398032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.707552017999994 meters 0.03696050941202875 Centerline is valid? [True, True] Translation: X:41.34, Y:-3.98, Z:-0.29 [[ 9.98678751e-01 5.04145376e-02 9.95619642e-03 4.13439311e+01] [-5.04067650e-02 9.98728240e-01 -1.03024137e-03 -3.98091546e+00] [-9.99547367e-03 5.27020514e-04 9.99949905e-01 -2.89910548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.737552017999995 meters 0.03733883300267582 Centerline is valid? [True, True] Translation: X:41.38, Y:-3.98, Z:-0.29 [[ 9.98618610e-01 5.13056176e-02 1.13404027e-02 4.13760561e+01] [-5.12955455e-02 9.98682823e-01 -1.17744282e-03 -3.97825250e+00] [-1.13858748e-02 5.94104168e-04 9.99935002e-01 -2.88141247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.767552017999996 meters 0.036985515183286535 Centerline is valid? [True, True] Translation: X:41.41, Y:-3.98, Z:-0.29 [[ 9.98514616e-01 5.29901366e-02 1.26730676e-02 4.14080930e+01] [-5.29776386e-02 9.98594826e-01 -1.32010253e-03 -3.97734301e+00] [-1.27252122e-02 6.46752475e-04 9.99918822e-01 -2.87247800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.797552018 meters 0.03589141959664356 Centerline is valid? [True, True] Translation: X:41.44, Y:-3.98, Z:-0.29 [[ 9.98396574e-01 5.51677579e-02 1.26806745e-02 4.14409045e+01] [-5.51553690e-02 9.98476905e-01 -1.32490545e-03 -3.97533627e+00] [-1.27344527e-02 6.23373779e-04 9.99918719e-01 -2.87617286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.827552018 meters 0.03541309746370366 Centerline is valid? [True, True] Translation: X:41.47, Y:-3.97, Z:-0.29 [[ 9.98293087e-01 5.70892318e-02 1.23179301e-02 4.14734480e+01] [-5.70776404e-02 9.98368908e-01 -1.29081416e-03 -3.97421201e+00] [-1.23715300e-02 5.85532470e-04 9.99923298e-01 -2.88929330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.857552018 meters 0.03291060061504322 Centerline is valid? [True, True] Translation: X:41.51, Y:-3.97, Z:-0.29 [[ 9.98182966e-01 5.93079411e-02 1.06458560e-02 4.15066610e+01] [-5.92993763e-02 9.98239617e-01 -1.11865681e-03 -3.96874958e+00] [-1.06934604e-02 4.85331550e-04 9.99942706e-01 -2.92182688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.887552017999994 meters 0.03334711414560837 Centerline is valid? [True, True] Translation: X:41.54, Y:-3.97, Z:-0.29 [[ 9.98136574e-01 6.01097015e-02 1.04977805e-02 4.15381533e+01] [-6.01013833e-02 9.98191665e-01 -1.10634788e-03 -3.97044811e+00] [-1.05452992e-02 4.73355159e-04 9.99944285e-01 -2.92676374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.917552017999995 meters 0.03351245855509108 Centerline is valid? [True, True] Translation: X:41.57, Y:-3.97, Z:-0.29 [[ 9.98093602e-01 6.08845401e-02 1.01111129e-02 4.15701936e+01] [-6.08768330e-02 9.98144714e-01 -1.06856120e-03 -3.97133253e+00] [-1.01574128e-02 4.50991564e-04 9.99948310e-01 -2.93479435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.947552017999996 meters 0.03536164668130335 Centerline is valid? [True, True] Translation: X:41.60, Y:-3.97, Z:-0.29 [[ 9.98009657e-01 6.23973115e-02 9.12684926e-03 4.16010846e+01] [-6.23910713e-02 9.98051311e-01 -9.67132032e-04 -3.97154256e+00] [-9.16941030e-03 3.95773206e-04 9.99957882e-01 -2.94539095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.977552018 meters 0.030494541785857875 Centerline is valid? [True, True] Translation: X:41.63, Y:-3.97, Z:-0.29 [[ 9.97950569e-01 6.33150564e-02 9.26633295e-03 4.16336441e+01] [-6.33086375e-02 9.97993510e-01 -9.84694110e-04 -3.96608584e+00] [-9.31008611e-03 3.96037134e-04 9.99956582e-01 -2.94827894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.007552018 meters 0.03125794336296359 Centerline is valid? [True, True] Translation: X:41.66, Y:-3.97, Z:-0.29 [[ 9.97898759e-01 6.40647003e-02 9.68403418e-03 4.16643965e+01] [-6.40576940e-02 9.97945663e-01 -1.03226014e-03 -3.96812781e+00] [-9.73027135e-03 4.09754216e-04 9.99952576e-01 -2.93967550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.037552018 meters 0.03193202651393005 Centerline is valid? [True, True] Translation: X:41.70, Y:-3.97, Z:-0.29 [[ 9.97827131e-01 6.50481526e-02 1.04763619e-02 4.16957950e+01] [-6.50399724e-02 9.97882031e-01 -1.11999872e-03 -3.97021175e+00] [-1.05270272e-02 4.36182822e-04 9.99944494e-01 -2.93490733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06755201799999 meters 0.02833926218303198 Centerline is valid? [True, True] Translation: X:41.73, Y:-3.96, Z:-0.29 [[ 9.97690442e-01 6.68343168e-02 1.21225598e-02 4.17283356e+01] [-6.68234457e-02 9.97763969e-01 -1.30006319e-03 -3.96440304e+00] [-1.21823422e-02 4.86989398e-04 9.99925674e-01 -2.92228940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.097552017999995 meters 0.030522078172562767 Centerline is valid? [True, True] Translation: X:41.76, Y:-3.97, Z:-0.29 [[ 9.97594365e-01 6.81561842e-02 1.26577016e-02 4.17589297e+01] [-6.81443857e-02 9.97674541e-01 -1.36158962e-03 -3.96854798e+00] [-1.27210673e-02 4.95762831e-04 9.99918961e-01 -2.90970020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.127552017999996 meters 0.02858087623448503 Centerline is valid? [True, True] Translation: X:41.79, Y:-3.97, Z:-0.29 [[ 9.97512746e-01 6.92523889e-02 1.31311573e-02 4.17918984e+01] [-6.92397476e-02 9.97599045e-01 -1.41542577e-03 -3.96698852e+00] [-1.31976516e-02 5.02707234e-04 9.99912781e-01 -2.91233331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.157552018 meters 0.028819951496760175 Centerline is valid? [True, True] Translation: X:41.82, Y:-3.97, Z:-0.29 [[ 9.97435914e-01 7.04329109e-02 1.26807706e-02 4.18231827e+01] [-7.04211863e-02 9.97516407e-01 -1.36931279e-03 -3.96866524e+00] [-1.27457214e-02 4.72806843e-04 9.99918658e-01 -2.92194709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.187552018 meters 0.027885188988628417 Centerline is valid? [True, True] Translation: X:41.86, Y:-3.97, Z:-0.29 [[ 9.97364315e-01 7.16817325e-02 1.12317422e-02 4.18557824e+01] [-7.16725779e-02 9.97427473e-01 -1.21599353e-03 -3.96798495e+00] [-1.12900128e-02 4.07780631e-04 9.99936183e-01 -2.94691857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.217552018 meters 0.02712458486920377 Centerline is valid? [True, True] Translation: X:41.89, Y:-3.97, Z:-0.30 [[ 9.97284202e-01 7.28498764e-02 1.08220159e-02 4.18884723e+01] [-7.28414184e-02 9.97342844e-01 -1.17419597e-03 -3.96960071e+00] [-1.08788001e-02 3.82716110e-04 9.99940751e-01 -2.95466182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24755201799999 meters 0.02568332200783179 Centerline is valid? [True, True] Translation: X:41.92, Y:-3.97, Z:-0.30 [[ 9.97039517e-01 7.61565297e-02 1.06011612e-02 4.19197962e+01] [-7.61485901e-02 9.97095816e-01 -1.15117066e-03 -3.96729574e+00] [-1.06580427e-02 3.40499161e-04 9.99943143e-01 -2.96244690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.277552017999994 meters 0.023685115982434925 Centerline is valid? [True, True] Translation: X:41.95, Y:-3.97, Z:-0.30 [[ 9.96842551e-01 7.87174322e-02 1.04160847e-02 4.19525658e+01] [-7.87098923e-02 9.96896921e-01 -1.13247181e-03 -3.96560376e+00] [-1.04729081e-02 3.09047183e-04 9.99945110e-01 -2.96936340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.307552017999996 meters 0.023397295048014573 Centerline is valid? [True, True] Translation: X:41.98, Y:-3.97, Z:-0.30 [[ 9.96628514e-01 8.12978326e-02 1.10574432e-02 4.19843772e+01] [-8.12894534e-02 9.96689807e-01 -1.20587890e-03 -3.96623479e+00] [-1.11188762e-02 3.02959781e-04 9.99938137e-01 -2.96568830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.337552018 meters 0.02142717208099499 Centerline is valid? [True, True] Translation: X:42.02, Y:-3.96, Z:-0.30 [[ 9.96397151e-01 8.40131038e-02 1.15981011e-02 4.20166928e+01] [-8.40040244e-02 9.96464608e-01 -1.26864279e-03 -3.96448850e+00] [-1.16636798e-02 2.89784896e-04 9.99931935e-01 -2.96465435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.367552018 meters 0.01977086293421119 Centerline is valid? [True, True] Translation: X:42.05, Y:-3.96, Z:-0.30 [[ 9.96222293e-01 8.60225549e-02 1.18853998e-02 4.20496200e+01] [-8.60131289e-02 9.96293152e-01 -1.30293087e-03 -3.96368656e+00] [-1.19534239e-02 2.75708353e-04 9.99928517e-01 -2.96437565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.397552018 meters 0.01893837323751619 Centerline is valid? [True, True] Translation: X:42.08, Y:-3.97, Z:-0.30 [[ 9.95976478e-01 8.87644904e-02 1.23174632e-02 4.20805462e+01] [-8.87545458e-02 9.96052609e-01 -1.35274398e-03 -3.96545931e+00] [-1.23889170e-02 2.54070332e-04 9.99923222e-01 -2.96651245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.427552018 meters 0.018626171062263 Centerline is valid? [True, True] Translation: X:42.11, Y:-3.97, Z:-0.30 [[ 9.95874803e-01 8.98684873e-02 1.25312416e-02 4.21129064e+01] [-8.98582325e-02 9.95953610e-01 -1.38013633e-03 -3.96899931e+00] [-1.26045661e-02 2.48407775e-04 9.99920528e-01 -2.97110499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.457552017999994 meters 0.018195792502273916 Centerline is valid? [True, True] Translation: X:42.15, Y:-3.97, Z:-0.30 [[ 9.95814383e-01 9.05233815e-02 1.26187495e-02 4.21458448e+01] [-9.05129804e-02 9.95894300e-01 -1.39411145e-03 -3.97171799e+00] [-1.26931404e-02 2.46115606e-04 9.99919409e-01 -2.97789096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.487552017999995 meters 0.01828395163596355 Centerline is valid? [True, True] Translation: X:42.18, Y:-3.97, Z:-0.30 [[ 9.95730286e-01 9.15055145e-02 1.21630288e-02 4.21770685e+01] [-9.14958751e-02 9.95804543e-01 -1.34779332e-03 -3.97351405e+00] [-1.22353298e-02 2.29171669e-04 9.99925119e-01 -2.98883776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.517552017999996 meters 0.017295449113410126 Centerline is valid? [True, True] Translation: X:42.21, Y:-3.97, Z:-0.30 [[ 9.95616010e-01 9.28451313e-02 1.13376701e-02 4.22093971e+01] [-9.28368045e-02 9.95680542e-01 -1.25967644e-03 -3.97492699e+00] [-1.14056523e-02 2.01600977e-04 9.99934933e-01 -2.99995912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.547552018 meters 0.016945026327485433 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.98, Z:-0.30 [[ 9.95453019e-01 9.46074300e-02 1.10779621e-02 4.22409320e+01] [-9.45995511e-02 9.95514642e-01 -1.23426140e-03 -3.97698089e+00] [-1.11450437e-02 1.80679004e-04 9.99937876e-01 -3.00873644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.577552018 meters 0.016945026327485433 Centerline is valid? [True, True] Translation: X:42.27, Y:-3.98, Z:-0.30 [[ 9.95418987e-01 9.49648728e-02 1.10775682e-02 4.22732185e+01] [-9.49569768e-02 9.95480608e-01 -1.23778774e-03 -3.98081202e+00] [-1.11450507e-02 1.80225026e-04 9.99937876e-01 -3.01103366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.607552018 meters 0.015410133226548679 Centerline is valid? [True, True] Translation: X:42.31, Y:-3.98, Z:-0.30 [[ 9.95033221e-01 9.89144911e-02 1.11719594e-02 4.23054871e+01] [-9.89066648e-02 9.95095927e-01 -1.25223268e-03 -3.98199349e+00] [-1.12410352e-02 1.41031871e-04 9.99936808e-01 -3.01193389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.637552017999994 meters 0.01478614566641374 Centerline is valid? [True, True] Translation: X:42.34, Y:-3.99, Z:-0.30 [[ 9.94837473e-01 1.00888566e-01 1.09499015e-02 4.23369408e+01] [-1.00881130e-01 9.94897725e-01 -1.23078568e-03 -3.98544795e+00] [-1.10182043e-02 1.19793282e-04 9.99939291e-01 -3.01283148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.667552017999995 meters 0.014152108601771747 Centerline is valid? [True, True] Translation: X:42.37, Y:-3.99, Z:-0.30 [[ 9.94651949e-01 1.02739245e-01 1.05900166e-02 4.23686787e+01] [-1.02732359e-01 9.94708318e-01 -1.19363608e-03 -3.98806780e+00] [-1.06566109e-02 9.93150567e-05 9.99943212e-01 -3.01996858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.697552017999996 meters 0.013749860392124242 Centerline is valid? [True, True] Translation: X:42.40, Y:-3.99, Z:-0.30 [[ 9.94476246e-01 1.04446481e-01 1.03889086e-02 4.23995002e+01] [-1.04439914e-01 9.94530505e-01 -1.17417502e-03 -3.99076352e+00] [-1.04547250e-02 8.26724450e-05 9.99945344e-01 -3.02371240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.727552018 meters 0.013397036415764051 Centerline is valid? [True, True] Translation: X:42.43, Y:-3.99, Z:-0.30 [[ 9.94298416e-01 1.06136818e-01 1.02779101e-02 4.24303380e+01] [-1.06130453e-01 9.94351533e-01 -1.16426893e-03 -3.99344468e+00] [-1.03434275e-02 6.68315011e-05 9.99946503e-01 -3.02359580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.757552018 meters 0.01281676660769587 Centerline is valid? [True, True] Translation: X:42.46, Y:-4.00, Z:-0.30 [[ 9.93939057e-01 1.09270469e-01 1.20463893e-02 4.24627428e+01] [-1.09261918e-01 9.94012054e-01 -1.36766701e-03 -3.99643077e+00] [-1.21237018e-02 4.31660575e-05 9.99926504e-01 -3.00709053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.787552018 meters 0.012624081923400409 Centerline is valid? [True, True] Translation: X:42.50, Y:-4.00, Z:-0.30 [[ 9.93783002e-01 1.10605417e-01 1.27195422e-02 4.24950071e+01] [-1.10595936e-01 9.93864397e-01 -1.44854560e-03 -4.00053320e+00] [-1.28017172e-02 3.28103082e-05 9.99918054e-01 -3.00540744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81755201799999 meters 0.016215913796692568 Centerline is valid? [True, True] Translation: X:42.53, Y:-4.00, Z:-0.30 [[ 9.93727192e-01 1.11310189e-01 1.07847149e-02 4.25272471e+01] [-1.11303376e-01 9.93785712e-01 -1.23175589e-03 -4.00490772e+00] [-1.08548025e-02 2.36541469e-05 9.99941085e-01 -3.04170670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.847552017999995 meters 0.01275168642211766 Centerline is valid? [True, True] Translation: X:42.56, Y:-4.01, Z:-0.30 [[ 9.93881578e-01 1.09845501e-01 1.15487561e-02 4.25583702e+01] [-1.09837546e-01 9.93948673e-01 -1.32278110e-03 -4.01270169e+00] [-1.16241724e-02 4.62007296e-05 9.99932436e-01 -3.02475468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.877552017999996 meters 0.012953903805504017 Centerline is valid? [True, True] Translation: X:42.59, Y:-4.02, Z:-0.30 [[ 9.94016251e-01 1.08678641e-01 1.09838646e-02 4.25903581e+01] [-1.08671342e-01 9.94076933e-01 -1.26097587e-03 -4.02049819e+00] [-1.10558476e-02 5.97991978e-05 9.99938880e-01 -3.03162686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.907552018 meters 0.01372959719602266 Centerline is valid? [True, True] Translation: X:42.62, Y:-4.03, Z:-0.30 [[ 9.94246497e-01 1.06615279e-01 1.03482347e-02 4.26220272e+01] [-1.06608653e-01 9.94300345e-01 -1.19140511e-03 -4.02965358e+00] [-1.04162753e-02 8.13389940e-05 9.99945746e-01 -3.03794052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.937552018 meters 0.015471686521468679 Centerline is valid? [True, True] Translation: X:42.65, Y:-4.04, Z:-0.30 [[ 9.94725395e-01 1.01984245e-01 1.09819102e-02 4.26527162e+01] [-1.01976460e-01 9.94786004e-01 -1.26802259e-03 -4.04281009e+00] [-1.10539689e-02 1.41437952e-04 9.99938893e-01 -3.02447451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.967552018 meters 0.017072189591577386 Centerline is valid? [True, True] Translation: X:42.68, Y:-4.05, Z:-0.30 [[ 9.94912682e-01 1.00151744e-01 1.08803808e-02 4.26835402e+01] [-1.00143957e-01 9.94972161e-01 -1.25956429e-03 -4.05083158e+00] [-1.09518235e-02 1.63552109e-04 9.99940014e-01 -3.02068424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99755201799999 meters 0.01742093331685851 Centerline is valid? [True, True] Translation: X:42.71, Y:-4.06, Z:-0.30 [[ 9.95038113e-01 9.89122593e-02 1.07479988e-02 4.27148011e+01] [-9.89045598e-02 9.95096143e-01 -1.24684946e-03 -4.05635010e+00] [-1.08186208e-02 1.77636647e-04 9.99941461e-01 -3.02518999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.027552017999994 meters 0.018115915789844457 Centerline is valid? [True, True] Translation: X:42.75, Y:-4.06, Z:-0.30 [[ 9.95129630e-01 9.79823518e-02 1.07924929e-02 4.27460209e+01] [-9.79745094e-02 9.95188134e-01 -1.25425175e-03 -4.06226164e+00] [-1.08634554e-02 1.90753883e-04 9.99940973e-01 -3.02697295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.057552017999996 meters 0.01835645515933198 Centerline is valid? [True, True] Translation: X:42.78, Y:-4.07, Z:-0.30 [[ 9.95360257e-01 9.56661230e-02 1.02932839e-02 4.27770533e+01] [-9.56588359e-02 9.95413456e-01 -1.19909953e-03 -4.06907758e+00] [-1.03607865e-02 2.08892461e-04 9.99946304e-01 -3.03742913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.087552018 meters 0.019056984822374272 Centerline is valid? [True, True] Translation: X:42.81, Y:-4.08, Z:-0.30 [[ 9.95479270e-01 9.44577426e-02 9.93767151e-03 4.28088101e+01] [-9.44508602e-02 9.95528848e-01 -1.16066083e-03 -4.07616216e+00] [-1.00028721e-02 2.16792172e-04 9.99949947e-01 -3.04079223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.117552018 meters 0.01935808093521315 Centerline is valid? [True, True] Translation: X:42.84, Y:-4.08, Z:-0.30 [[ 9.95570775e-01 9.35275135e-02 9.56225005e-03 4.28402792e+01] [-9.35210692e-02 9.95616671e-01 -1.11984865e-03 -4.08298862e+00] [-9.62507222e-03 2.20616736e-04 9.99953654e-01 -3.04659541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.147552018 meters 0.02123786881870722 Centerline is valid? [True, True] Translation: X:42.87, Y:-4.09, Z:-0.30 [[ 9.95727127e-01 9.19110882e-02 8.93539571e-03 4.28705286e+01] [-9.19053714e-02 9.95767193e-01 -1.04918469e-03 -4.09298098e+00] [-8.99400560e-03 2.23490792e-04 9.99959528e-01 -3.04962654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.177552018 meters 0.02043756274008194 Centerline is valid? [True, True] Translation: X:42.90, Y:-4.10, Z:-0.30 [[ 9.95669827e-01 9.24701927e-02 9.53199583e-03 4.29032703e+01] [-9.24636817e-02 9.95715425e-01 -1.12245317e-03 -4.09676699e+00] [-9.59494874e-03 2.36229328e-04 9.99953940e-01 -3.04617966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.207552017999994 meters 0.02058965108732381 Centerline is valid? [True, True] Translation: X:42.93, Y:-4.10, Z:-0.30 [[ 9.95532416e-01 9.38835309e-02 1.00544557e-02 4.29342938e+01] [-9.38763215e-02 9.95583159e-01 -1.18764569e-03 -4.10148437e+00] [-1.01215471e-02 2.38464473e-04 9.99948747e-01 -3.04027304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.237552017999995 meters 0.019237067594251332 Centerline is valid? [True, True] Translation: X:42.97, Y:-4.10, Z:-0.30 [[ 9.95334269e-01 9.59563786e-02 1.01027586e-02 4.29669247e+01] [-9.59491814e-02 9.95385516e-01 -1.19581836e-03 -4.10407278e+00] [-1.01708859e-02 2.20887580e-04 9.99948251e-01 -3.03761648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.267552017999996 meters 0.016305029491482284 Centerline is valid? [True, True] Translation: X:43.00, Y:-4.11, Z:-0.30 [[ 9.94749694e-01 1.01849199e-01 9.98934729e-03 4.29990159e+01] [-1.01842441e-01 9.94799837e-01 -1.18414762e-03 -4.10560207e+00] [-1.00580055e-02 1.60590965e-04 9.99949404e-01 -3.04233179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.297552018 meters 0.016602446658439983 Centerline is valid? [True, True] Translation: X:43.03, Y:-4.11, Z:-0.30 [[ 9.94400548e-01 1.05262184e-01 9.35002375e-03 4.30297681e+01] [-1.05256388e-01 9.94444497e-01 -1.11117178e-03 -4.11071627e+00] [-9.41504403e-03 1.20800099e-04 9.99955670e-01 -3.04332743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.327552018 meters 0.013950224064050073 Centerline is valid? [True, True] Translation: X:43.06, Y:-4.11, Z:-0.30 [[ 9.94078689e-01 1.08249223e-01 9.46916178e-03 4.30621979e+01] [-1.08243387e-01 9.94123783e-01 -1.12823256e-03 -4.10977644e+00] [-9.53564923e-03 9.65778099e-05 9.99954530e-01 -3.04905044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.357552018 meters 0.012610504794247676 Centerline is valid? [True, True] Translation: X:43.09, Y:-4.11, Z:-0.31 [[ 9.93536929e-01 1.13123988e-01 9.34524114e-03 4.30943111e+01] [-1.13118490e-01 9.93580878e-01 -1.11643912e-03 -4.11143698e+00] [-9.41154894e-03 5.21039234e-05 9.99955709e-01 -3.05032382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.387552017999994 meters 0.012181324918108248 Centerline is valid? [True, True] Translation: X:43.13, Y:-4.12, Z:-0.31 [[ 9.93254681e-01 1.15556528e-01 9.58269767e-03 4.31272263e+01] [-1.15550829e-01 9.93300905e-01 -1.14808159e-03 -4.11593409e+00] [-9.65117059e-03 3.30487508e-05 9.99953426e-01 -3.05086715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.417552017999995 meters 0.011974190956130783 Centerline is valid? [True, True] Translation: X:43.16, Y:-4.12, Z:-0.31 [[ 9.93037351e-01 1.17441104e-01 9.18729841e-03 4.31592249e+01] [-1.17435917e-01 9.93079849e-01 -1.10395169e-03 -4.12107736e+00] [-9.25337023e-03 1.73464451e-05 9.99957187e-01 -3.05138536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.447552017999996 meters 0.011956922700983069 Centerline is valid? [True, True] Translation: X:43.19, Y:-4.13, Z:-0.31 [[ 9.92819199e-01 1.19280305e-01 9.06896716e-03 4.31917164e+01] [-1.19275298e-01 9.92860619e-01 -1.09285997e-03 -4.12588111e+00] [-9.13457702e-03 3.30859958e-06 9.99958279e-01 -3.05537458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.477552018 meters 0.012270813584999686 Centerline is valid? [True, True] Translation: X:43.22, Y:-4.13, Z:-0.31 [[ 9.92287306e-01 1.23711468e-01 7.83417631e-03 4.32237380e+01] [-1.23707851e-01 9.92318231e-01 -9.46547224e-04 -4.12899223e+00] [-7.89109472e-03 -2.99023169e-05 9.99968864e-01 -3.06548331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.507552018 meters 0.012620480732222049 Centerline is valid? [True, True] Translation: X:43.26, Y:-4.13, Z:-0.31 [[ 9.91872946e-01 1.27044187e-01 6.91614097e-03 4.32562184e+01] [-1.27041434e-01 9.91897057e-01 -8.37683492e-04 -4.13295408e+00] [-6.96652269e-03 -4.77608747e-05 9.99975732e-01 -3.07917642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.537552018 meters 0.013701737435788786 Centerline is valid? [True, True] Translation: X:43.29, Y:-4.14, Z:-0.31 [[ 9.91444133e-01 1.30393889e-01 5.99711331e-03 4.32876261e+01] [-1.30391868e-01 9.91462269e-01 -7.28386870e-04 -4.13546580e+00] [-6.04088876e-03 -5.98199175e-05 9.99981752e-01 -3.09660919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56755201799999 meters 0.01635432187778605 Centerline is valid? [True, True] Translation: X:43.32, Y:-4.14, Z:-0.31 [[ 9.90525147e-01 1.37227787e-01 5.33557091e-03 4.33192954e+01] [-1.37226279e-01 9.90539513e-01 -6.49424330e-04 -4.13942245e+00] [-5.37421287e-03 -8.89094118e-05 9.99985555e-01 -3.10480296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.597552017999995 meters 0.017288944358370806 Centerline is valid? [True, True] Translation: X:43.35, Y:-4.14, Z:-0.31 [[ 9.90032405e-01 1.40716993e-01 5.87914639e-03 4.33507685e+01] [-1.40715211e-01 9.90049854e-01 -7.17644246e-04 -4.14468224e+00] [-5.92163277e-03 -1.16794267e-04 9.99982460e-01 -3.09856577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.627552017999996 meters 0.018805426884330626 Centerline is valid? [True, True] Translation: X:43.38, Y:-4.15, Z:-0.31 [[ 9.89534199e-01 1.44141899e-01 6.72177451e-03 4.33822532e+01] [-1.44139632e-01 9.89557017e-01 -8.23007241e-04 -4.14943395e+00] [-6.77020896e-03 -1.54480294e-04 9.99977070e-01 -3.09192489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.657552018 meters 0.021171234709939046 Centerline is valid? [True, True] Translation: X:43.41, Y:-4.16, Z:-0.31 [[ 9.88785254e-01 1.49166802e-01 7.27919833e-03 4.34132739e+01] [-1.49164261e-01 9.88812027e-01 -8.93787173e-04 -4.15669283e+00] [-7.33108223e-03 -2.02032662e-04 9.99973107e-01 -3.08747685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.687552018 meters 0.022476420818254822 Centerline is valid? [True, True] Translation: X:43.44, Y:-4.16, Z:-0.31 [[ 9.88517871e-01 1.50924412e-01 7.36477990e-03 4.34434898e+01] [-1.50921844e-01 9.88545282e-01 -9.06505618e-04 -4.16233474e+00] [-7.41723225e-03 -2.15409157e-04 9.99972469e-01 -3.08889997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.717552018 meters 0.023227271208759705 Centerline is valid? [True, True] Translation: X:43.47, Y:-4.17, Z:-0.31 [[ 9.88361899e-01 1.51937884e-01 7.45891864e-03 4.34741455e+01] [-1.51935264e-01 9.88390019e-01 -9.20001356e-04 -4.16898426e+00] [-7.51210379e-03 -2.23978484e-04 9.99971759e-01 -3.09594500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74755201799999 meters 0.02387852209947721 Centerline is valid? [True, True] Translation: X:43.51, Y:-4.18, Z:-0.31 [[ 9.88293935e-01 1.52378105e-01 7.48403935e-03 4.35055332e+01] [-1.52375464e-01 9.88322246e-01 -9.25242539e-04 -4.17638441e+00] [-7.53762929e-03 -2.25972377e-04 9.99971566e-01 -3.10290869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.777552017999994 meters 0.02299597439118729 Centerline is valid? [True, True] Translation: X:43.54, Y:-4.19, Z:-0.31 [[ 9.88379314e-01 1.51853437e-01 6.84579558e-03 4.35361273e+01] [-1.51851205e-01 9.88403001e-01 -8.47702456e-04 -4.19164741e+00] [-6.89513143e-03 -2.01690735e-04 9.99976208e-01 -3.11703239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.807552017999996 meters 0.022748636523345734 Centerline is valid? [True, True] Translation: X:43.57, Y:-4.20, Z:-0.31 [[ 9.88410480e-01 1.51659952e-01 6.63196042e-03 4.35672404e+01] [-1.51657839e-01 9.88432710e-01 -8.23218166e-04 -4.20182027e+00] [-6.68009584e-03 -1.92111324e-04 9.99977669e-01 -3.12055718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.837552018 meters 0.022218406008294753 Centerline is valid? [True, True] Translation: X:43.60, Y:-4.21, Z:-0.31 [[ 9.88491494e-01 1.51136399e-01 6.50814911e-03 4.35982313e+01] [-1.51134340e-01 9.88512901e-01 -8.09824085e-04 -4.21211621e+00] [-6.55578326e-03 -1.83100604e-04 9.99978494e-01 -3.12540368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.867552018 meters 0.02175488399337302 Centerline is valid? [True, True] Translation: X:43.63, Y:-4.22, Z:-0.31 [[ 9.88526750e-01 1.50897561e-01 6.69250479e-03 4.36296141e+01] [-1.50895365e-01 9.88549388e-01 -8.34893845e-04 -4.22198824e+00] [-6.74185496e-03 -1.84553050e-04 9.99977256e-01 -3.12137939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.897552018 meters 0.018564185741928214 Centerline is valid? [True, True] Translation: X:43.66, Y:-4.24, Z:-0.31 [[ 9.88585263e-01 1.50436803e-01 8.24292100e-03 4.36588847e+01] [-1.50433429e-01 9.88619603e-01 -1.03134684e-03 -4.24053663e+00] [-8.30426581e-03 -2.20436579e-04 9.99965495e-01 -3.11262438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.927552018 meters 0.017391513132360592 Centerline is valid? [True, True] Translation: X:43.69, Y:-4.25, Z:-0.31 [[ 9.88551264e-01 1.50648248e-01 8.45596755e-03 4.36904075e+01] [-1.50644684e-01 9.88587404e-01 -1.06053010e-03 -4.25205008e+00] [-8.51923000e-03 -2.25458185e-04 9.99963685e-01 -3.10838804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.957552017999994 meters 0.017334006357709326 Centerline is valid? [True, True] Translation: X:43.72, Y:-4.26, Z:-0.31 [[ 9.88549099e-01 1.50663824e-01 8.43158534e-03 4.37228846e+01] [-1.50660258e-01 9.88585031e-01 -1.06020923e-03 -4.26159069e+00] [-8.49507422e-03 -2.22235945e-04 9.99963892e-01 -3.10612268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.987552017999995 meters 0.016959715963019886 Centerline is valid? [True, True] Translation: X:43.75, Y:-4.27, Z:-0.31 [[ 9.88613534e-01 1.50295875e-01 7.37767910e-03 4.37539441e+01] [-1.50293119e-01 9.88641044e-01 -9.29786971e-04 -4.27476396e+00] [-7.43361952e-03 -1.89614417e-04 9.99972352e-01 -3.11954063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.017552017999996 meters 0.01725119322998859 Centerline is valid? [True, True] Translation: X:43.78, Y:-4.28, Z:-0.31 [[ 9.88558015e-01 1.50692048e-01 6.70508904e-03 4.37846842e+01] [-1.50689769e-01 9.88580739e-01 -8.46742386e-04 -4.28261996e+00] [-6.75611922e-03 -1.73334344e-04 9.99977162e-01 -3.13032317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.047552018 meters 0.016979762377394795 Centerline is valid? [True, True] Translation: X:43.82, Y:-4.29, Z:-0.31 [[ 9.88550770e-01 1.50791137e-01 5.42294173e-03 4.38164037e+01] [-1.50789641e-01 9.88565634e-01 -6.86034601e-04 -4.29139836e+00] [-5.46438177e-03 -1.39543403e-04 9.99985060e-01 -3.14333749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.077552018 meters 0.017071285346478733 Centerline is valid? [True, True] Translation: X:43.85, Y:-4.30, Z:-0.32 [[ 9.88591942e-01 1.50572975e-01 3.70818693e-03 4.38480398e+01] [-1.50572270e-01 9.88598893e-01 -4.69993988e-04 -4.29942970e+00] [-3.73667788e-03 -9.37178556e-05 9.99993014e-01 -3.15815043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.107552018 meters 0.015860654658330243 Centerline is valid? [True, True] Translation: X:43.88, Y:-4.31, Z:-0.32 [[ 9.89065680e-01 1.47471042e-01 1.17134185e-03 4.38792749e+01] [-1.47470970e-01 9.89066373e-01 -1.48324169e-04 -4.31248957e+00] [-1.18040836e-03 -2.60365731e-05 9.99999303e-01 -3.17935970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.137552017999994 meters 0.015403352965171858 Centerline is valid? [True, True] Translation: X:43.91, Y:-4.32, Z:-0.32 [[ 9.89404104e-01 1.45183268e-01 1.15653710e-03 4.39096824e+01] [-1.45183197e-01 9.89404780e-01 -1.45637017e-04 -4.32108737e+00] [-1.16542739e-03 -2.38158899e-05 9.99999321e-01 -3.18286985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.167552017999995 meters 0.014359945757639627 Centerline is valid? [True, True] Translation: X:43.94, Y:-4.33, Z:-0.32 [[ 9.89748869e-01 1.42809456e-01 1.62312772e-03 4.39410690e+01] [-1.42809312e-01 9.89750200e-01 -2.05434168e-04 -4.33143483e+00] [-1.63582893e-03 -2.84695168e-05 9.99998662e-01 -3.17197634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.197552017999996 meters 0.01329979939914604 Centerline is valid? [True, True] Translation: X:43.97, Y:-4.34, Z:-0.32 [[ 9.90173370e-01 1.39818716e-01 2.72486265e-03 4.39721536e+01] [-1.39818291e-01 9.90177118e-01 -3.46925201e-04 -4.34164479e+00] [-2.74660328e-03 -3.74695428e-05 9.99996227e-01 -3.15751068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.227552018 meters 0.012150444832792297 Centerline is valid? [True, True] Translation: X:44.00, Y:-4.36, Z:-0.31 [[ 9.91078512e-01 1.33186494e-01 4.97407799e-03 4.40014500e+01] [-1.33184977e-01 9.91090993e-01 -6.36572838e-04 -4.35667160e+00] [-5.01454680e-03 -3.15788019e-05 9.99987427e-01 -3.12341869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.257552018 meters 0.011887795639612501 Centerline is valid? [True, True] Translation: X:44.03, Y:-4.37, Z:-0.31 [[ 9.91472382e-01 1.30174356e-01 6.09525618e-03 4.40329391e+01] [-1.30172013e-01 9.91491118e-01 -7.81182373e-04 -4.36649598e+00] [-6.14508228e-03 -1.89110179e-05 9.99981119e-01 -3.11252040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.287552018 meters 0.011857977985640486 Centerline is valid? [True, True] Translation: X:44.06, Y:-4.38, Z:-0.31 [[ 9.91816882e-01 1.27491882e-01 6.71513304e-03 4.40644215e+01] [-1.27488963e-01 9.91839614e-01 -8.62686835e-04 -4.37598038e+00] [-6.77032053e-03 -4.77980172e-07 9.99977081e-01 -3.10778781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31755201799999 meters 0.012250195980638652 Centerline is valid? [True, True] Translation: X:44.10, Y:-4.39, Z:-0.31 [[ 9.92531888e-01 1.21807249e-01 6.59127447e-03 4.40954361e+01] [-1.21804299e-01 9.92553773e-01 -8.48691604e-04 -4.38748160e+00] [-6.64557113e-03 3.95079124e-05 9.99977917e-01 -3.11729260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.347552017999995 meters 0.012695790335594313 Centerline is valid? [True, True] Translation: X:44.13, Y:-4.39, Z:-0.31 [[ 9.92860190e-01 1.19137368e-01 5.91015435e-03 4.41271734e+01] [-1.19134940e-01 9.92877779e-01 -7.62453613e-04 -4.39485478e+00] [-5.95889765e-03 5.29039579e-05 9.99982244e-01 -3.13032327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.377552017999996 meters 0.013219186267454773 Centerline is valid? [True, True] Translation: X:44.16, Y:-4.40, Z:-0.31 [[ 9.93143682e-01 1.16777890e-01 5.34336529e-03 4.41580352e+01] [-1.16775864e-01 9.93158054e-01 -6.90673706e-04 -4.40230290e+00] [-5.38746170e-03 6.19621265e-05 9.99985486e-01 -3.14083934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.407552018 meters 0.013920056276914502 Centerline is valid? [True, True] Translation: X:44.19, Y:-4.41, Z:-0.31 [[ 9.93413821e-01 1.14475255e-01 4.93915404e-03 4.41896335e+01] [-1.14473490e-01 9.93426097e-01 -6.39520267e-04 -4.40999214e+00] [-4.97989377e-03 6.99060703e-05 9.99987598e-01 -3.14328144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.437552018 meters 0.01594650920250794 Centerline is valid? [True, True] Translation: X:44.22, Y:-4.42, Z:-0.31 [[ 9.93783597e-01 1.11137862e-01 6.52214496e-03 4.42196676e+01] [-1.11134697e-01 9.93804992e-01 -8.46899289e-04 -4.42155915e+00] [-6.57586280e-03 1.16798018e-04 9.99978372e-01 -3.11720158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.467552018 meters 0.015372875870447625 Centerline is valid? [True, True] Translation: X:44.25, Y:-4.43, Z:-0.31 [[ 9.93831652e-01 1.10610377e-01 7.99947871e-03 4.42518602e+01] [-1.10605578e-01 9.93863835e-01 -1.04116726e-03 -4.42580592e+00] [-8.06555649e-03 1.49958016e-04 9.99967462e-01 -3.09823836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49755201799999 meters 0.015372875870447625 Centerline is valid? [True, True] Translation: X:44.28, Y:-4.43, Z:-0.31 [[ 9.93798048e-01 1.10911912e-01 7.99919702e-03 4.42840286e+01] [-1.10907106e-01 9.93830230e-01 -1.04332725e-03 -4.43011818e+00] [-8.06556123e-03 1.49688792e-04 9.99967462e-01 -3.10053517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.527552017999994 meters 0.015592624639913419 Centerline is valid? [True, True] Translation: X:44.32, Y:-4.43, Z:-0.31 [[ 9.93768416e-01 1.11052064e-01 9.57989439e-03 4.43163398e+01] [-1.11045144e-01 9.93814573e-01 -1.25287419e-03 -4.43477162e+00] [-9.65977292e-03 1.81266049e-04 9.99953327e-01 -3.08863340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.557552017999996 meters 0.014939264457651723 Centerline is valid? [True, True] Translation: X:44.35, Y:-4.44, Z:-0.31 [[ 9.93671413e-01 1.11901626e-01 9.75447089e-03 4.43497400e+01] [-1.11894462e-01 9.93719273e-01 -1.27876604e-03 -4.43695453e+00] [-9.83630172e-03 1.79201981e-04 9.99951606e-01 -3.08620703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.587552018 meters 0.014354013070658441 Centerline is valid? [True, True] Translation: X:44.38, Y:-4.44, Z:-0.31 [[ 9.93330802e-01 1.14996660e-01 8.34781439e-03 4.43806578e+01] [-1.14991504e-01 9.93365870e-01 -1.09660740e-03 -4.43767776e+00] [-8.41854009e-03 1.29366177e-04 9.99964555e-01 -3.10958181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.617552018 meters 0.013959224988313278 Centerline is valid? [True, True] Translation: X:44.41, Y:-4.44, Z:-0.31 [[ 9.93037698e-01 1.17521651e-01 8.04932111e-03 4.44114044e+01] [-1.17516924e-01 9.93070315e-01 -1.05938170e-03 -4.44004285e+00] [-8.11804214e-03 1.06074509e-04 9.99967043e-01 -3.11743173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.647552018 meters 0.013317384090841312 Centerline is valid? [True, True] Translation: X:44.44, Y:-4.44, Z:-0.31 [[ 9.92691629e-01 1.20446248e-01 7.48542766e-03 4.44438153e+01] [-1.20442230e-01 9.92719847e-01 -9.86931348e-04 -4.44196680e+00] [-7.54980478e-03 7.81568873e-05 9.99971497e-01 -3.12618759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.677552018 meters 0.012654608889382635 Centerline is valid? [True, True] Translation: X:44.48, Y:-4.44, Z:-0.31 [[ 9.92253676e-01 1.24069270e-01 6.28168515e-03 4.44764155e+01] [-1.24066504e-01 9.92273558e-01 -8.29604492e-04 -4.44151479e+00] [-6.33607850e-03 4.38313886e-05 9.99979926e-01 -3.14432062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.707552017999994 meters 0.012520849570000825 Centerline is valid? [True, True] Translation: X:44.51, Y:-4.44, Z:-0.32 [[ 9.92128399e-01 1.25098750e-01 5.61623889e-03 4.45096486e+01] [-1.25096549e-01 9.92144295e-01 -7.42973176e-04 -4.44452692e+00] [-5.66506439e-03 3.45526855e-05 9.99983953e-01 -3.15602917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.737552017999995 meters 0.012503425454084432 Centerline is valid? [True, True] Translation: X:44.54, Y:-4.45, Z:-0.32 [[ 9.92122271e-01 1.25194780e-01 4.43479880e-03 4.45426842e+01] [-1.25193404e-01 9.92132182e-01 -5.87555358e-04 -4.44766843e+00] [-4.47346547e-03 2.77191992e-05 9.99989994e-01 -3.16748283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.767552017999996 meters 0.0130450977037202 Centerline is valid? [True, True] Translation: X:44.57, Y:-4.45, Z:-0.32 [[ 9.92450597e-01 1.22615638e-01 2.68653918e-03 4.45728152e+01] [-1.22615122e-01 9.92454233e-01 -3.56693247e-04 -4.45331514e+00] [-2.71000335e-03 2.45900982e-05 9.99996328e-01 -3.17974157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.797552018 meters 0.013633508464929911 Centerline is valid? [True, True] Translation: X:44.60, Y:-4.46, Z:-0.32 [[ 9.92704765e-01 1.20546230e-01 2.42005980e-03 4.46046152e+01] [-1.20545806e-01 9.92707714e-01 -3.20938259e-04 -4.45955530e+00] [-2.44109993e-03 2.68688811e-05 9.99997020e-01 -3.17696476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.827552018 meters 0.014114343506586231 Centerline is valid? [True, True] Translation: X:44.64, Y:-4.47, Z:-0.32 [[ 9.92970080e-01 1.18321308e-01 3.23870409e-03 4.46363330e+01] [-1.18320532e-01 9.92975360e-01 -4.31031325e-04 -4.46554307e+00] [-3.26695355e-03 4.47960195e-05 9.99994662e-01 -3.17175987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.857552018 meters 0.015009658137675257 Centerline is valid? [True, True] Translation: X:44.67, Y:-4.47, Z:-0.32 [[ 9.93239808e-01 1.16011956e-01 3.98870855e-03 4.46668078e+01] [-1.16010752e-01 9.93247815e-01 -5.32771204e-04 -4.47170675e+00] [-4.02358388e-03 6.64364902e-05 9.99991903e-01 -3.16339251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.887552017999994 meters 0.016310677504115287 Centerline is valid? [True, True] Translation: X:44.70, Y:-4.48, Z:-0.31 [[ 9.93802654e-01 1.11038305e-01 5.17492770e-03 4.46982172e+01] [-1.11036204e-01 9.93816121e-01 -6.92407814e-04 -4.47734900e+00] [-5.21981036e-03 1.13512394e-04 9.99986370e-01 -3.14649112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.917552017999995 meters 0.016995751186664975 Centerline is valid? [True, True] Translation: X:44.73, Y:-4.48, Z:-0.31 [[ 9.93976024e-01 1.09470238e-01 5.28493547e-03 4.47300048e+01] [-1.09468024e-01 9.93990066e-01 -7.07218153e-04 -4.48227634e+00] [-5.33059270e-03 1.24426443e-04 9.99985785e-01 -3.14961207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.947552017999996 meters 0.017718742397963574 Centerline is valid? [True, True] Translation: X:44.76, Y:-4.49, Z:-0.32 [[ 9.94092353e-01 1.08409660e-01 5.26680949e-03 4.47602804e+01] [-1.08407438e-01 9.94106296e-01 -7.06339661e-04 -4.48732079e+00] [-5.31234252e-03 1.31205532e-04 9.99985881e-01 -3.15064448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.977552018 meters 0.018370594815480312 Centerline is valid? [True, True] Translation: X:44.79, Y:-4.49, Z:-0.32 [[ 9.94159479e-01 1.07791405e-01 5.28619079e-03 4.47920902e+01] [-1.07789153e-01 9.94173523e-01 -7.09991930e-04 -4.49241553e+00] [-5.33192195e-03 1.36051181e-04 9.99985776e-01 -3.15721237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.007552018 meters 0.021626935406758346 Centerline is valid? [True, True] Translation: X:44.82, Y:-4.50, Z:-0.32 [[ 9.94121738e-01 1.08151306e-01 5.02649841e-03 4.48234585e+01] [-1.08149266e-01 9.94134437e-01 -6.76681990e-04 -4.50000547e+00] [-5.07019921e-03 1.29092162e-04 9.99987138e-01 -3.16368335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.037552018 meters 0.018660894775956626 Centerline is valid? [True, True] Translation: X:44.86, Y:-4.50, Z:-0.32 [[ 9.94051152e-01 1.08804512e-01 4.88719306e-03 4.48557214e+01] [-1.08802591e-01 9.94063159e-01 -6.57980142e-04 -4.49841882e+00] [-4.92976978e-03 1.22326652e-04 9.99987841e-01 -3.16900201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06755201799999 meters 0.017340317420685463 Centerline is valid? [True, True] Translation: X:44.89, Y:-4.50, Z:-0.32 [[ 9.93878632e-01 1.10402094e-01 4.07955002e-03 4.48876695e+01] [-1.10400764e-01 9.93887000e-01 -5.50420628e-04 -4.49963832e+00] [-4.11537932e-03 9.66658617e-05 9.99991527e-01 -3.17776744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.097552017999995 meters 0.016184622613981577 Centerline is valid? [True, True] Translation: X:44.92, Y:-4.50, Z:-0.32 [[ 9.93462493e-01 1.14103381e-01 3.56279213e-03 4.49205588e+01] [-1.14102386e-01 9.93468879e-01 -4.82023238e-04 -4.50023998e+00] [-3.59452358e-03 7.23489252e-05 9.99993537e-01 -3.17764106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.127552017999996 meters 0.015549527468046331 Centerline is valid? [True, True] Translation: X:44.95, Y:-4.50, Z:-0.32 [[ 9.93116021e-01 1.17071346e-01 3.85607946e-03 4.49521645e+01] [-1.17070203e-01 9.93123505e-01 -5.21593399e-04 -4.50206662e+00] [-3.89062679e-03 6.65707534e-05 9.99992429e-01 -3.17246568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.157552018 meters 0.014700928459203287 Centerline is valid? [True, True] Translation: X:44.98, Y:-4.50, Z:-0.32 [[ 9.92690145e-01 1.20607072e-01 4.49560980e-03 4.49840287e+01] [-1.20605548e-01 9.92700322e-01 -6.09631514e-04 -4.50239878e+00] [-4.53631917e-03 6.29797129e-05 9.99989709e-01 -3.16888734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.187552018 meters 0.013273904108656167 Centerline is valid? [True, True] Translation: X:45.02, Y:-4.50, Z:-0.32 [[ 9.92230511e-01 1.24313879e-01 4.96712064e-03 4.50166994e+01] [-1.24312057e-01 9.92242942e-01 -6.75032653e-04 -4.50033798e+00] [-5.01250633e-03 5.23150088e-05 9.99987436e-01 -3.16919690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.217552018 meters 0.012389567527274445 Centerline is valid? [True, True] Translation: X:45.05, Y:-4.50, Z:-0.32 [[ 9.91181709e-01 1.32451137e-01 3.93897090e-03 4.50483849e+01] [-1.32450053e-01 9.91189536e-01 -5.36082996e-04 -4.49637808e+00] [-3.97527154e-03 9.63875622e-06 9.99992099e-01 -3.18836286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24755201799999 meters 0.01231247584081505 Centerline is valid? [True, True] Translation: X:45.08, Y:-4.50, Z:-0.32 [[ 9.90559717e-01 1.37033153e-01 3.65543895e-03 4.50814284e+01] [-1.37032248e-01 9.90566462e-01 -4.98103222e-04 -4.49750303e+00] [-3.68921188e-03 -7.51202938e-06 9.99993195e-01 -3.19981879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.277552017999994 meters 0.012580279567586913 Centerline is valid? [True, True] Translation: X:45.11, Y:-4.50, Z:-0.32 [[ 9.89932017e-01 1.41511723e-01 3.00555301e-03 4.51128073e+01] [-1.41511128e-01 9.89936580e-01 -4.10805144e-04 -4.49861219e+00] [-3.03344062e-03 -1.86500326e-05 9.99995399e-01 -3.20737683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.307552017999996 meters 0.014459665977720837 Centerline is valid? [True, True] Translation: X:45.15, Y:-4.49, Z:-0.32 [[ 9.88780544e-01 1.49325947e-01 3.84674707e-03 4.51450469e+01] [-1.49325029e-01 9.88788025e-01 -5.26355797e-04 -4.49438169e+00] [-3.88221601e-03 -5.39652477e-05 9.99992463e-01 -3.21320105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.337552018 meters 0.014807844516681925 Centerline is valid? [True, True] Translation: X:45.18, Y:-4.50, Z:-0.32 [[ 9.88256189e-01 1.52729971e-01 4.82302111e-03 4.51771950e+01] [-1.52728561e-01 9.88267954e-01 -6.61616024e-04 -4.49673151e+00] [-4.86748580e-03 -8.27669426e-05 9.99988150e-01 -3.20926622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.367552018 meters 0.015648328910575632 Centerline is valid? [True, True] Translation: X:45.21, Y:-4.50, Z:-0.32 [[ 9.87776381e-01 1.55786092e-01 5.34001259e-03 4.52097086e+01] [-1.55784398e-01 9.87790809e-01 -7.34237022e-04 -4.49851944e+00] [-5.38919928e-03 -1.06628658e-04 9.99985472e-01 -3.21059696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.397552018 meters 0.01785400394310701 Centerline is valid? [True, True] Translation: X:45.24, Y:-4.50, Z:-0.32 [[ 9.86898693e-01 1.61305329e-01 3.40022334e-03 4.52411609e+01] [-1.61304674e-01 9.86904546e-01 -4.67842178e-04 -4.49905835e+00] [-3.43116131e-03 -8.67590826e-05 9.99994110e-01 -3.22874694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.427552018 meters 0.018221062607757067 Centerline is valid? [True, True] Translation: X:45.27, Y:-4.50, Z:-0.32 [[ 9.86525484e-01 1.63593556e-01 2.14894875e-03 4.52731860e+01] [-1.63593300e-01 9.86527823e-01 -2.95456150e-04 -4.50304392e+00] [-2.16833246e-03 -6.00785970e-05 9.99997647e-01 -3.24260463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.457552017999994 meters 0.018704710900277897 Centerline is valid? [True, True] Translation: X:45.31, Y:-4.51, Z:-0.32 [[ 9.86206304e-01 1.65513818e-01 1.51755973e-03 4.53054987e+01] [-1.65513693e-01 9.86207470e-01 -2.08485067e-04 -4.50700892e+00] [-1.53113590e-03 -4.55676272e-05 9.99998827e-01 -3.24847137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.487552017999995 meters 0.0191524928909804 Centerline is valid? [True, True] Translation: X:45.34, Y:-4.51, Z:-0.32 [[ 9.85981492e-01 1.66844338e-01 1.86118220e-03 4.53370399e+01] [-1.66844150e-01 9.85983247e-01 -2.56664283e-04 -4.51098713e+00] [-1.87791745e-03 -5.74611306e-05 9.99998235e-01 -3.24982326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.517552017999996 meters 0.019374021328282316 Centerline is valid? [True, True] Translation: X:45.37, Y:-4.52, Z:-0.32 [[ 9.85856767e-01 1.67564570e-01 2.92411557e-03 4.53690262e+01] [-1.67564105e-01 9.85861099e-01 -4.05037213e-04 -4.51792860e+00] [-2.95064167e-03 -9.06681301e-05 9.99995643e-01 -3.23332204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.547552018 meters 0.019055688683004984 Centerline is valid? [True, True] Translation: X:45.40, Y:-4.53, Z:-0.32 [[ 9.85906538e-01 1.67249604e-01 3.98355757e-03 4.54006899e+01] [-1.67248729e-01 9.85914578e-01 -5.54001732e-04 -4.52547962e+00] [-4.02010405e-03 -1.20051011e-04 9.99991912e-01 -3.22368926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.577552018 meters 0.018511222271280565 Centerline is valid? [True, True] Translation: X:45.43, Y:-4.53, Z:-0.32 [[ 9.86048184e-01 1.66383610e-01 5.04705940e-03 4.54321117e+01] [-1.66382186e-01 9.86061090e-01 -7.03848347e-04 -4.53338234e+00] [-5.09381772e-03 -1.45712389e-04 9.99987016e-01 -3.21281776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.607552018 meters 0.018406292084463743 Centerline is valid? [True, True] Translation: X:45.46, Y:-4.54, Z:-0.32 [[ 9.86185123e-01 1.65536789e-01 6.03949960e-03 4.54630144e+01] [-1.65534719e-01 9.86203602e-01 -8.44463810e-04 -4.54003006e+00] [-6.09596609e-03 -1.66949225e-04 9.99981405e-01 -3.20513386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.637552017999994 meters 0.017975400038463513 Centerline is valid? [True, True] Translation: X:45.49, Y:-4.55, Z:-0.32 [[ 9.86421205e-01 1.64129450e-01 5.89327538e-03 4.54940631e+01] [-1.64127450e-01 9.86438797e-01 -8.24809544e-04 -4.54864032e+00] [-5.94873101e-03 -1.53638635e-04 9.99982294e-01 -3.21942756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.667552017999995 meters 0.017388416168762882 Centerline is valid? [True, True] Translation: X:45.53, Y:-4.56, Z:-0.32 [[ 9.86486261e-01 1.63759063e-01 5.27514046e-03 4.55254010e+01] [-1.63757448e-01 9.86500355e-01 -7.39554821e-04 -4.55633973e+00] [-5.32503674e-03 -1.34282870e-04 9.99985813e-01 -3.23108223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.697552017999996 meters 0.017551398288350763 Centerline is valid? [True, True] Translation: X:45.56, Y:-4.56, Z:-0.32 [[ 9.86481839e-01 1.63808063e-01 4.52763771e-03 4.55567109e+01] [-1.63806869e-01 9.86492223e-01 -6.35707775e-04 -4.56353439e+00] [-4.57061345e-03 -1.14543983e-04 9.99989548e-01 -3.24278689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.727552018 meters 0.01775025680016042 Centerline is valid? [True, True] Translation: X:45.59, Y:-4.57, Z:-0.33 [[ 9.86712731e-01 1.62455066e-01 2.51742157e-03 4.55868668e+01] [-1.62454692e-01 9.86715941e-01 -3.53916173e-04 -4.57368830e+00] [-2.54147547e-03 -5.97533522e-05 9.99996769e-01 -3.25686292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.757552018 meters 0.01603938522157748 Centerline is valid? [True, True] Translation: X:45.62, Y:-4.58, Z:-0.33 [[ 9.86832131e-01 1.61728321e-01 2.50921078e-03 4.56181021e+01] [-1.61727947e-01 9.86835319e-01 -3.52586825e-04 -4.58387209e+00] [-2.53320110e-03 -5.78654987e-05 9.99996790e-01 -3.25448365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.787552018 meters 0.015801744600342452 Centerline is valid? [True, True] Translation: X:45.65, Y:-4.59, Z:-0.33 [[ 9.86985863e-01 1.60782959e-01 2.78333267e-03 4.56494499e+01] [-1.60782493e-01 9.86989785e-01 -3.92124240e-04 -4.59191878e+00] [-2.81016781e-03 -6.04900834e-05 9.99996050e-01 -3.25501228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81755201799999 meters 0.01664906133319902 Centerline is valid? [True, True] Translation: X:45.68, Y:-4.60, Z:-0.33 [[ 9.87135561e-01 1.59852444e-01 3.25287520e-03 4.56799575e+01] [-1.59851796e-01 9.87140918e-01 -4.59989435e-04 -4.59824847e+00] [-3.28457664e-03 -6.59060138e-05 9.99994604e-01 -3.25135322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.847552017999995 meters 0.015059105951933334 Centerline is valid? [True, True] Translation: X:45.71, Y:-4.61, Z:-0.32 [[ 9.87265700e-01 1.59026458e-01 4.12598113e-03 4.57102730e+01] [-1.59025406e-01 9.87274318e-01 -5.84065929e-04 -4.61295747e+00] [-4.16635714e-03 -7.95075645e-05 9.99991318e-01 -3.23116727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.877552017999996 meters 0.015352247815632077 Centerline is valid? [True, True] Translation: X:45.74, Y:-4.62, Z:-0.32 [[ 9.87224898e-01 1.59262473e-01 4.73969942e-03 4.57413683e+01] [-1.59261078e-01 9.87236272e-01 -6.72767815e-04 -4.61968588e+00] [-4.78634985e-03 -9.06764998e-05 9.99988541e-01 -3.23208098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.907552018 meters 0.015287665620752603 Centerline is valid? [True, True] Translation: X:45.77, Y:-4.63, Z:-0.32 [[ 9.87079312e-01 1.60152843e-01 5.04960327e-03 4.57729011e+01] [-1.60151267e-01 9.87092223e-01 -7.17626186e-04 -4.62913744e+00] [-5.09935399e-03 -1.00346398e-04 9.99986993e-01 -3.23353658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.937552018 meters 0.015406859756517078 Centerline is valid? [True, True] Translation: X:45.81, Y:-4.64, Z:-0.32 [[ 9.86927575e-01 1.61068774e-01 5.55085864e-03 4.58054856e+01] [-1.61066873e-01 9.86943178e-01 -7.90890143e-04 -4.63676510e+00] [-5.60576977e-03 -1.13508150e-04 9.99984281e-01 -3.23828255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.967552018 meters 0.01609185047348524 Centerline is valid? [True, True] Translation: X:45.84, Y:-4.64, Z:-0.32 [[ 9.86765068e-01 1.62074055e-01 5.16726915e-03 4.58361078e+01] [-1.62072412e-01 9.86778592e-01 -7.37881847e-04 -4.64293986e+00] [-5.21854207e-03 -1.09355745e-04 9.99986377e-01 -3.24507372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99755201799999 meters 0.015794783539262967 Centerline is valid? [True, True] Translation: X:45.87, Y:-4.65, Z:-0.32 [[ 9.86551326e-01 1.63376396e-01 4.96339619e-03 4.58673761e+01] [-1.63374890e-01 9.86563805e-01 -7.09951195e-04 -4.65097311e+00] [-5.01269630e-03 -1.10491015e-04 9.99987430e-01 -3.24666944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.027552017999994 meters 0.016460580341968557 Centerline is valid? [True, True] Translation: X:45.90, Y:-4.66, Z:-0.33 [[ 9.86216395e-01 1.65404502e-01 4.30960942e-03 4.58983640e+01] [-1.65403382e-01 9.86225806e-01 -6.17403660e-04 -4.66090471e+00] [-4.35236936e-03 -1.03930362e-04 9.99990523e-01 -3.25647591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.057552017999996 meters 0.017216246185582318 Centerline is valid? [True, True] Translation: X:45.93, Y:-4.67, Z:-0.33 [[ 9.86110797e-01 1.66033043e-01 4.30393683e-03 4.59293228e+01] [-1.66031927e-01 9.86120184e-01 -6.17765205e-04 -4.66822589e+00] [-4.34676842e-03 -1.05405987e-04 9.99990547e-01 -3.25950501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.087552018 meters 0.01747155133603384 Centerline is valid? [True, True] Translation: X:45.96, Y:-4.68, Z:-0.33 [[ 9.86056576e-01 1.66342368e-01 4.75880577e-03 4.59602911e+01] [-1.66340999e-01 9.86068052e-01 -6.84738292e-04 -4.67631335e+00] [-4.80640732e-03 -1.16393813e-04 9.99988442e-01 -3.25660571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.117552018 meters 0.016622005197904556 Centerline is valid? [True, True] Translation: X:45.99, Y:-4.69, Z:-0.33 [[ 9.86175707e-01 1.65616720e-01 5.34566395e-03 4.59913131e+01] [-1.65614972e-01 9.86190188e-01 -7.71247540e-04 -4.68967879e+00] [-5.39957282e-03 -1.24736395e-04 9.99985414e-01 -3.25429755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.147552018 meters 0.016442082623121194 Centerline is valid? [True, True] Translation: X:46.02, Y:-4.70, Z:-0.33 [[ 9.86089509e-01 1.66108540e-01 5.95256287e-03 4.60236374e+01] [-1.66106375e-01 9.86107465e-01 -8.59652449e-04 -4.69829378e+00] [-6.01266229e-03 -1.41064379e-04 9.99981914e-01 -3.25014634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.177552018 meters 0.017496561290026996 Centerline is valid? [True, True] Translation: X:46.05, Y:-4.70, Z:-0.32 [[ 9.85957030e-01 1.66883525e-01 6.21488675e-03 4.60542871e+01] [-1.66881167e-01 9.85976605e-01 -8.99777690e-04 -4.70421575e+00] [-6.27789101e-03 -1.50005415e-04 9.99980283e-01 -3.24991416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.207552017999994 meters 0.018597425210360466 Centerline is valid? [True, True] Translation: X:46.08, Y:-4.71, Z:-0.33 [[ 9.85760407e-01 1.68046025e-01 6.07900410e-03 4.60848137e+01] [-1.68043785e-01 9.85779139e-01 -8.81027032e-04 -4.71012439e+00] [-6.14060851e-03 -1.53057294e-04 9.99981135e-01 -3.25545681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.237552017999995 meters 0.018037479321192578 Centerline is valid? [True, True] Translation: X:46.12, Y:-4.72, Z:-0.33 [[ 9.85290180e-01 1.70813127e-01 5.11235283e-03 4.61151516e+01] [-1.70811578e-01 9.85303433e-01 -7.41307441e-04 -4.72152764e+00] [-5.16384383e-03 -1.42846110e-04 9.99986657e-01 -3.27525621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.267552017999996 meters 0.020704942341421565 Centerline is valid? [True, True] Translation: X:46.15, Y:-4.73, Z:-0.33 [[ 9.85115737e-01 1.71841178e-01 4.19460064e-03 4.61458552e+01] [-1.71840141e-01 9.85124660e-01 -6.09004102e-04 -4.72700194e+00] [-4.23685651e-03 -1.20861241e-04 9.99991017e-01 -3.30143300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.297552018 meters 0.018280978810188513 Centerline is valid? [True, True] Translation: X:46.18, Y:-4.74, Z:-0.33 [[ 9.84919626e-01 1.72952767e-01 4.54660175e-03 4.61765926e+01] [-1.72951555e-01 9.84930110e-01 -6.61375841e-04 -4.73843296e+00] [-4.59247175e-03 -1.34939797e-04 9.99989445e-01 -3.28420467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.327552018 meters 0.019172503718867643 Centerline is valid? [True, True] Translation: X:46.21, Y:-4.75, Z:-0.33 [[ 9.84469219e-01 1.75507545e-01 4.17846127e-03 4.62077979e+01] [-1.75506540e-01 9.84478077e-01 -6.08853801e-04 -4.74810928e+00] [-4.22046195e-03 -1.33949453e-04 9.99991085e-01 -3.29514908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.357552018 meters 0.020103091402810847 Centerline is valid? [True, True] Translation: X:46.24, Y:-4.75, Z:-0.33 [[ 9.84265712e-01 1.76657198e-01 3.63913661e-03 4.62382586e+01] [-1.76656441e-01 9.84272432e-01 -5.31121418e-04 -4.75392122e+00] [-3.67572826e-03 -1.20112320e-04 9.99993237e-01 -3.30649413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.387552017999994 meters 0.020103091402810847 Centerline is valid? [True, True] Translation: X:46.27, Y:-4.76, Z:-0.33 [[ 9.84210134e-01 1.76966576e-01 3.63902845e-03 4.62703488e+01] [-1.76965818e-01 9.84216854e-01 -5.31861067e-04 -4.75874117e+00] [-3.67571477e-03 -1.20520596e-04 9.99993237e-01 -3.30879123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.417552017999995 meters 0.02029311455292651 Centerline is valid? [True, True] Translation: X:46.30, Y:-4.77, Z:-0.33 [[ 9.84074426e-01 1.77733834e-01 2.86515193e-03 4.63017929e+01] [-1.77733365e-01 9.84078592e-01 -4.19365961e-04 -4.76669988e+00] [-2.89407019e-03 -9.65457763e-05 9.99995808e-01 -3.31877853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.447552017999996 meters 0.020655486447467564 Centerline is valid? [True, True] Translation: X:46.33, Y:-4.78, Z:-0.33 [[ 9.83765142e-01 1.79458956e-01 7.92441432e-04 4.63318351e+01] [-1.79458921e-01 9.83765461e-01 -1.14906218e-04 -4.77943118e+00] [-8.00197461e-04 -2.91699521e-05 9.99999679e-01 -3.33065306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.477552018 meters 0.020525353532165527 Centerline is valid? [True, True] Translation: X:46.36, Y:-4.79, Z:-0.33 [[ 9.83669782e-01 1.79982606e-01 1.43723216e-04 4.63634538e+01] [-1.79982605e-01 9.83669793e-01 -1.89514752e-05 -4.78819219e+00] [-1.44787122e-04 -7.22568531e-06 9.99999989e-01 -3.33196225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.507552018 meters 0.020642831454954044 Centerline is valid? [True, True] Translation: X:46.40, Y:-4.80, Z:-0.33 [[ 9.83701633e-01 1.79807781e-01 5.08305462e-04 4.63950585e+01] [-1.79807767e-01 9.83701765e-01 -7.32256963e-05 -4.79608783e+00] [-5.13187530e-04 -1.93650330e-05 9.99999868e-01 -3.33813767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.537552018 meters 0.020541662822632964 Centerline is valid? [True, True] Translation: X:46.43, Y:-4.80, Z:-0.33 [[ 9.83742300e-01 1.79582854e-01 1.04248138e-03 4.64265715e+01] [-1.79582793e-01 9.83742851e-01 -1.52538250e-04 -4.80476104e+00] [-1.05292686e-03 -3.71533878e-05 9.99999445e-01 -3.33946484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56755201799999 meters 0.020307082827537 Centerline is valid? [True, True] Translation: X:46.46, Y:-4.82, Z:-0.33 [[ 9.83999749e-01 1.78169343e-01 4.24403236e-04 4.64564189e+01] [-1.78169333e-01 9.83999840e-01 -6.12042449e-05 -4.81820327e+00] [-4.28517437e-04 -1.53906800e-05 9.99999908e-01 -3.34485779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.597552017999995 meters 0.020389895777291757 Centerline is valid? [True, True] Translation: X:46.49, Y:-4.83, Z:-0.34 [[ 9.84126756e-01 1.77466863e-01 -2.00132234e-04 4.64866374e+01] [-1.77466860e-01 9.84126777e-01 3.15374180e-05 -4.82650333e+00] [ 2.02552337e-04 4.48002230e-06 9.99999979e-01 -3.35004875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.627552017999996 meters 0.02038482943822314 Centerline is valid? [True, True] Translation: X:46.52, Y:-4.83, Z:-0.34 [[ 9.84221909e-01 1.76938469e-01 -1.08294823e-04 4.65172985e+01] [-1.76938468e-01 9.84221915e-01 1.80151670e-05 -4.83495953e+00] [ 1.09773714e-04 1.43059805e-06 9.99999994e-01 -3.35247306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.657552018 meters 0.018988554949838983 Centerline is valid? [True, True] Translation: X:46.55, Y:-4.85, Z:-0.33 [[ 9.84495245e-01 1.75406787e-01 1.25330417e-03 4.65478392e+01] [-1.75406694e-01 9.84496042e-01 -1.85149382e-04 -4.84883907e+00] [-1.26634946e-03 -3.75592549e-05 9.99999197e-01 -3.34122514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.687552018 meters 0.01838113317685278 Centerline is valid? [True, True] Translation: X:46.58, Y:-4.86, Z:-0.33 [[ 9.84669243e-01 1.74420226e-01 2.01656365e-03 4.65790611e+01] [-1.74419978e-01 9.84671306e-01 -2.99617837e-04 -4.85818985e+00] [-2.03791178e-03 -5.67045192e-05 9.99997922e-01 -3.33349799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.717552018 meters 0.018600190211184413 Centerline is valid? [True, True] Translation: X:46.61, Y:-4.87, Z:-0.33 [[ 9.84900256e-01 1.73102039e-01 2.67776943e-03 4.66091783e+01] [-1.73101593e-01 9.84903893e-01 -3.99314725e-04 -4.86579942e+00] [-2.70646773e-03 -7.02409783e-05 9.99996335e-01 -3.33163825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74755201799999 meters 0.017052138355573423 Centerline is valid? [True, True] Translation: X:46.64, Y:-4.88, Z:-0.33 [[ 9.85158865e-01 1.71615632e-01 3.17580448e-03 4.66405950e+01] [-1.71614991e-01 9.85163981e-01 -4.75107724e-04 -4.87660630e+00] [-3.21022409e-03 -7.69590714e-05 9.99994844e-01 -3.32045101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.777552017999994 meters 0.01658334782026817 Centerline is valid? [True, True] Translation: X:46.67, Y:-4.89, Z:-0.33 [[ 9.85485656e-01 1.69741169e-01 2.44059751e-03 4.66701788e+01] [-1.69740786e-01 9.85488677e-01 -3.64768453e-04 -4.88804309e+00] [-2.46709743e-03 -5.47948613e-05 9.99996955e-01 -3.32394850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.807552017999996 meters 0.014868599118505618 Centerline is valid? [True, True] Translation: X:46.70, Y:-4.90, Z:-0.33 [[ 9.85608562e-01 1.69032222e-01 1.96744164e-03 4.67007267e+01] [-1.69031972e-01 9.85610524e-01 -2.94019683e-04 -4.89886778e+00] [-1.98882999e-03 -4.27722239e-05 9.99998021e-01 -3.32999020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.837552018 meters 0.016592880570825072 Centerline is valid? [True, True] Translation: X:46.73, Y:-4.90, Z:-0.33 [[ 9.85780257e-01 1.68035014e-01 1.23276341e-03 4.67313061e+01] [-1.68034915e-01 9.85781027e-01 -1.83961270e-04 -4.90345407e+00] [-1.24614672e-03 -2.58019067e-05 9.99999223e-01 -3.34617012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.867552018 meters 0.013902201095124373 Centerline is valid? [True, True] Translation: X:46.76, Y:-4.92, Z:-0.33 [[ 9.86189307e-01 1.65617719e-01 1.19271840e-03 4.67617411e+01] [-1.65617624e-01 9.86190028e-01 -1.78131921e-04 -4.91921932e+00] [-1.20574879e-03 -2.18633924e-05 9.99999273e-01 -3.33903545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.897552018 meters 0.013986671900945682 Centerline is valid? [True, True] Translation: X:46.79, Y:-4.93, Z:-0.34 [[ 9.86424101e-01 1.64215777e-01 8.20067081e-04 4.67923636e+01] [-1.64215732e-01 9.86424441e-01 -1.22229070e-04 -4.92642797e+00] [-8.29006154e-04 -1.40982159e-05 9.99999656e-01 -3.35296634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.927552018 meters 0.013462845127671833 Centerline is valid? [True, True] Translation: X:46.82, Y:-4.93, Z:-0.34 [[ 9.86727037e-01 1.62387223e-01 3.80712589e-04 4.68235845e+01] [-1.62387214e-01 9.86727110e-01 -5.57914971e-05 -4.93465508e+00] [-3.84719259e-04 -6.77187806e-06 9.99999926e-01 -3.36582364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.957552017999994 meters 0.01231738135695597 Centerline is valid? [True, True] Translation: X:46.85, Y:-4.95, Z:-0.34 [[ 9.87513443e-01 1.57534736e-01 -8.89232295e-05 4.68536951e+01] [-1.57534735e-01 9.87513447e-01 1.54652028e-05 -4.94720753e+00] [ 9.02491915e-05 -1.26359824e-06 9.99999996e-01 -3.38120444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.987552017999995 meters 0.012275686641528748 Centerline is valid? [True, True] Translation: X:46.88, Y:-4.96, Z:-0.34 [[ 9.87960597e-01 1.54705405e-01 3.11045936e-04 4.68840681e+01] [-1.54705399e-01 9.87960646e-01 -4.61682249e-05 -4.95568014e+00] [-3.14443618e-04 -2.50809843e-06 9.99999951e-01 -3.39504579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.017552017999996 meters 0.01190990101109709 Centerline is valid? [True, True] Translation: X:46.91, Y:-4.97, Z:-0.34 [[ 9.88453088e-01 1.51523737e-01 1.02467743e-03 4.69147606e+01] [-1.51523659e-01 9.88453619e-01 -1.54079508e-04 -4.96700713e+00] [-1.03619282e-03 -2.96250830e-06 9.99999463e-01 -3.37092914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.047552018 meters 0.012019315072565546 Centerline is valid? [True, True] Translation: X:46.95, Y:-4.98, Z:-0.34 [[ 9.88937106e-01 1.48324403e-01 1.80891891e-03 4.69458602e+01] [-1.48324150e-01 9.88938760e-01 -2.73917406e-04 -4.97734044e+00] [-1.82953866e-03 2.58072746e-06 9.99998326e-01 -3.35642532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.077552018 meters 0.012836286241407672 Centerline is valid? [True, True] Translation: X:46.98, Y:-4.99, Z:-0.33 [[ 9.89751334e-01 1.42754282e-01 3.67575588e-03 4.69764669e+01] [-1.42753187e-01 9.89758159e-01 -5.59926156e-04 -4.98985223e+00] [-3.71804123e-03 2.94617930e-05 9.99993088e-01 -3.34011592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.107552018 meters 0.013288762080469266 Centerline is valid? [True, True] Translation: X:47.01, Y:-5.00, Z:-0.34 [[ 9.90006703e-01 1.40975138e-01 3.56901407e-03 4.70068291e+01] [-1.40974090e-01 9.90013136e-01 -5.44673547e-04 -4.99652564e+00] [-3.61015624e-03 3.60919515e-05 9.99993483e-01 -3.35039370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.137552017999994 meters 0.013658171634002392 Centerline is valid? [True, True] Translation: X:47.04, Y:-5.00, Z:-0.34 [[ 9.90170946e-01 1.39835137e-01 2.76258196e-03 4.70386918e+01] [-1.39834504e-01 9.90174799e-01 -4.21830957e-04 -5.00293625e+00] [-2.79442582e-03 3.13804785e-05 9.99996095e-01 -3.36367116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.167552017999995 meters 0.013752853774278229 Centerline is valid? [True, True] Translation: X:47.07, Y:-5.01, Z:-0.34 [[ 9.90245907e-01 1.39311041e-01 2.34051209e-03 4.70712344e+01] [-1.39310585e-01 9.90248672e-01 -3.57521819e-04 -5.00907516e+00] [-2.36749572e-03 2.79764085e-05 9.99997197e-01 -3.37073093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.197552017999996 meters 0.013972138574739251 Centerline is valid? [True, True] Translation: X:47.10, Y:-5.02, Z:-0.34 [[ 9.90234850e-01 1.39392481e-01 2.16305364e-03 4.71021313e+01] [-1.39392090e-01 9.90237212e-01 -3.31038736e-04 -5.01684571e+00] [-2.18808051e-03 2.62935252e-05 9.99997606e-01 -3.36826661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.227552018 meters 0.013763455728208114 Centerline is valid? [True, True] Translation: X:47.13, Y:-5.02, Z:-0.34 [[ 9.90124782e-01 1.40173794e-01 2.05492654e-03 4.71349500e+01] [-1.40173443e-01 9.90126915e-01 -3.14877327e-04 -5.02156013e+00] [-2.07877562e-03 2.37217176e-05 9.99997839e-01 -3.36912936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.257552018 meters 0.013654983651084794 Centerline is valid? [True, True] Translation: X:47.17, Y:-5.03, Z:-0.34 [[ 9.89960802e-01 1.41328416e-01 1.97219710e-03 4.71656531e+01] [-1.41328092e-01 9.89962766e-01 -3.03050434e-04 -5.02604480e+00] [-1.99523134e-03 2.12811968e-05 9.99998009e-01 -3.37550541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.287552018 meters 0.013205339242365634 Centerline is valid? [True, True] Translation: X:47.20, Y:-5.03, Z:-0.34 [[ 9.89637503e-01 1.43578975e-01 1.64027475e-03 4.71981185e+01] [-1.43578752e-01 9.89638862e-01 -2.52997651e-04 -5.02938974e+00] [-1.65960478e-03 1.48673616e-05 9.99998623e-01 -3.38703346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31755201799999 meters 0.013097439391418442 Centerline is valid? [True, True] Translation: X:47.23, Y:-5.03, Z:-0.34 [[ 9.89472958e-01 1.44703618e-01 2.03182613e-03 4.72285292e+01] [-1.44703279e-01 9.89475044e-01 -3.13479624e-04 -5.03391440e+00] [-2.05580289e-03 1.61677070e-05 9.99997887e-01 -3.38869170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.347552017999995 meters 0.013071950741940138 Centerline is valid? [True, True] Translation: X:47.26, Y:-5.04, Z:-0.34 [[ 9.89356504e-01 1.45485883e-01 2.75077917e-03 4.72602235e+01] [-1.45485264e-01 9.89360327e-01 -4.24646273e-04 -5.03829637e+00] [-2.78329182e-03 1.99287186e-05 9.99996126e-01 -3.38928114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.377552017999996 meters 0.012905089645587136 Centerline is valid? [True, True] Translation: X:47.29, Y:-5.04, Z:-0.34 [[ 9.89243486e-01 1.46227002e-01 3.87164294e-03 4.72927087e+01] [-1.46225775e-01 9.89251062e-01 -5.99557653e-04 -5.04237515e+00] [-3.91769841e-03 2.69745117e-05 9.99992325e-01 -3.38437522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.407552018 meters 0.013140833054017911 Centerline is valid? [True, True] Translation: X:47.33, Y:-5.05, Z:-0.34 [[ 9.89367721e-01 1.45338846e-01 5.30403267e-03 4.73255496e+01] [-1.45336517e-01 9.89381937e-01 -8.23868467e-04 -5.04651073e+00] [-5.36745421e-03 4.42392319e-05 9.99985594e-01 -3.38475149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.437552018 meters 0.013426340588579957 Centerline is valid? [True, True] Translation: X:47.36, Y:-5.05, Z:-0.34 [[ 9.89518598e-01 1.44311766e-01 5.20170718e-03 4.73575364e+01] [-1.44309504e-01 9.89532269e-01 -8.09567301e-04 -5.05252946e+00] [-5.26408720e-03 5.04261186e-05 9.99986143e-01 -3.38517871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.467552018 meters 0.013734888499862473 Centerline is valid? [True, True] Translation: X:47.39, Y:-5.06, Z:-0.34 [[ 9.89710797e-01 1.42989028e-01 5.16480929e-03 4.73886545e+01] [-1.42986771e-01 9.89724272e-01 -8.05492353e-04 -5.05872939e+00] [-5.22691368e-03 5.87050741e-05 9.99986338e-01 -3.38187424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49755201799999 meters 0.014185594560119214 Centerline is valid? [True, True] Translation: X:47.42, Y:-5.06, Z:-0.34 [[ 9.89899004e-01 1.41675840e-01 5.28374876e-03 4.74203666e+01] [-1.41673451e-01 9.89913103e-01 -8.25530183e-04 -5.06484887e+00] [-5.34740981e-03 6.86245827e-05 9.99985700e-01 -3.37506978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.527552017999994 meters 0.015153537965041597 Centerline is valid? [True, True] Translation: X:47.45, Y:-5.07, Z:-0.34 [[ 9.90392652e-01 1.38089737e-01 7.32249355e-03 4.74519362e+01] [-1.38085031e-01 9.90419714e-01 -1.14678317e-03 -5.07029560e+00] [-7.41070095e-03 1.24638873e-04 9.99972533e-01 -3.35679062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.557552017999996 meters 0.015242018314553553 Centerline is valid? [True, True] Translation: X:47.48, Y:-5.07, Z:-0.34 [[ 9.90604203e-01 1.36528398e-01 7.95674983e-03 4.74838924e+01] [-1.36522773e-01 9.90636146e-01 -1.24844341e-03 -5.07375250e+00] [-8.05269196e-03 1.50435742e-04 9.99967565e-01 -3.35662855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.587552018 meters 0.015734503502897224 Centerline is valid? [True, True] Translation: X:47.52, Y:-5.08, Z:-0.34 [[ 9.90757567e-01 1.35412957e-01 7.92309204e-03 4.75160932e+01] [-1.35407326e-01 9.90789233e-01 -1.24536110e-03 -5.07739723e+00] [-8.01875232e-03 1.61006223e-04 9.99967836e-01 -3.36553005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.617552018 meters 0.01800496994604736 Centerline is valid? [True, True] Translation: X:47.55, Y:-5.08, Z:-0.34 [[ 9.90988476e-01 1.33797922e-01 6.32108527e-03 4.75471424e+01] [-1.33794297e-01 9.91008626e-01 -9.94935072e-04 -5.08157778e+00] [-6.39737028e-03 1.40244033e-04 9.99979527e-01 -3.39632522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.647552018 meters 0.01681780517930857 Centerline is valid? [True, True] Translation: X:47.58, Y:-5.08, Z:-0.34 [[ 9.91106093e-01 1.32962188e-01 5.45609672e-03 4.75792579e+01] [-1.32959467e-01 9.91121103e-01 -8.59909912e-04 -5.08228230e+00] [-5.52198811e-03 1.26822239e-04 9.99984746e-01 -3.40651275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.677552018 meters 0.017308730363197043 Centerline is valid? [True, True] Translation: X:47.61, Y:-5.09, Z:-0.34 [[ 9.91215981e-01 1.32156412e-01 5.05580259e-03 4.76106366e+01] [-1.32154059e-01 9.91228867e-01 -7.98109947e-04 -5.08594664e+00] [-5.11693282e-03 1.22954500e-04 9.99986901e-01 -3.41379067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.707552017999994 meters 0.017785120642494063 Centerline is valid? [True, True] Translation: X:47.64, Y:-5.09, Z:-0.34 [[ 9.91379002e-01 1.30911411e-01 5.46588114e-03 4.76423403e+01] [-1.30908634e-01 9.91394060e-01 -8.64345826e-04 -5.08905741e+00] [-5.53199483e-03 1.41363267e-04 9.99984688e-01 -3.41845282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.737552017999995 meters 0.019298112600487426 Centerline is valid? [True, True] Translation: X:47.67, Y:-5.09, Z:-0.34 [[ 9.91760096e-01 1.27975958e-01 5.83663338e-03 4.76738333e+01] [-1.27972730e-01 9.91777256e-01 -9.24722714e-04 -5.09051350e+00] [-5.90698251e-03 1.70173181e-04 9.99982539e-01 -3.42072757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.767552017999996 meters 0.0203389602804749 Centerline is valid? [True, True] Translation: X:47.71, Y:-5.09, Z:-0.34 [[ 9.91963224e-01 1.26396813e-01 5.72786877e-03 4.77050023e+01] [-1.26393670e-01 9.91979745e-01 -9.08903026e-04 -5.09397181e+00] [-5.79681225e-03 1.77632020e-04 9.99983183e-01 -3.42743570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.797552018 meters 0.020193666441395003 Centerline is valid? [True, True] Translation: X:47.74, Y:-5.10, Z:-0.34 [[ 9.92180332e-01 1.24693225e-01 5.45790103e-03 4.77372869e+01] [-1.24690338e-01 9.92195327e-01 -8.67298253e-04 -5.09574124e+00] [-5.52345012e-03 1.79968743e-04 9.99984729e-01 -3.43537426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.827552018 meters 0.021456005828918785 Centerline is valid? [True, True] Translation: X:47.77, Y:-5.10, Z:-0.34 [[ 9.92386809e-01 1.23053063e-01 5.13462475e-03 4.77683693e+01] [-1.23050479e-01 9.92400076e-01 -8.17462718e-04 -5.09927922e+00] [-5.19619329e-03 1.79421184e-04 9.99986484e-01 -3.44674460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.857552018 meters 0.023244845958958173 Centerline is valid? [True, True] Translation: X:47.80, Y:-5.10, Z:-0.34 [[ 9.92772136e-01 1.19895014e-01 5.35450420e-03 4.77999709e+01] [-1.19892153e-01 9.92786555e-01 -8.53291813e-04 -5.10070418e+00] [-5.41818521e-03 2.05161300e-04 9.99985300e-01 -3.44841648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.887552017999994 meters 0.023123515246635997 Centerline is valid? [True, True] Translation: X:47.83, Y:-5.10, Z:-0.34 [[ 9.92946084e-01 1.18381388e-01 6.62735867e-03 4.78318098e+01] [-1.18376964e-01 9.92968165e-01 -1.05711979e-03 -5.10233486e+00] [-6.70589949e-03 2.65136358e-04 9.99977480e-01 -3.43643211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.917552017999995 meters 0.026705309042570076 Centerline is valid? [True, True] Translation: X:47.86, Y:-5.10, Z:-0.34 [[ 9.93328288e-01 1.15072537e-01 7.56460000e-03 4.78620650e+01] [-1.15066663e-01 9.93357037e-01 -1.20863519e-03 -5.10440214e+00] [-7.65342936e-03 3.30138243e-04 9.99970658e-01 -3.43501348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.947552017999996 meters 0.025853652781312735 Centerline is valid? [True, True] Translation: X:47.89, Y:-5.10, Z:-0.34 [[ 9.93487758e-01 1.13675807e-01 7.73851625e-03 4.78948556e+01] [-1.13669615e-01 9.93517835e-01 -1.23676384e-03 -5.10432566e+00] [-7.82894404e-03 3.49075570e-04 9.99969292e-01 -3.43903328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.977552018 meters 0.026436894035799473 Centerline is valid? [True, True] Translation: X:47.93, Y:-5.11, Z:-0.34 [[ 9.93608003e-01 1.12598597e-01 8.04313498e-03 4.79272060e+01] [-1.12591855e-01 9.93640486e-01 -1.28767262e-03 -5.10655859e+00] [-8.13697469e-03 3.73850331e-04 9.99966824e-01 -3.43769438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.007552018 meters 0.02366989041030954 Centerline is valid? [True, True] Translation: X:47.96, Y:-5.10, Z:-0.34 [[ 9.93668004e-01 1.12027528e-01 8.58662870e-03 4.79599661e+01] [-1.12019801e-01 9.93705020e-01 -1.37713005e-03 -5.10451551e+00] [-8.68685252e-03 4.06537631e-04 9.99962186e-01 -3.43262858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.037552018 meters 0.024667130994232695 Centerline is valid? [True, True] Translation: X:47.99, Y:-5.10, Z:-0.34 [[ 9.93712155e-01 1.11593523e-01 9.11259823e-03 4.79920370e+01] [-1.11584778e-01 9.93753840e-01 -1.46413279e-03 -5.10334495e+00] [-9.21906721e-03 4.38099297e-04 9.99957408e-01 -3.42655575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06755201799999 meters 0.029239693999492482 Centerline is valid? [True, True] Translation: X:48.02, Y:-5.11, Z:-0.34 [[ 9.93722253e-01 1.11519970e-01 8.90952352e-03 4.80228729e+01] [-1.11511586e-01 9.93762100e-01 -1.43377486e-03 -5.10969565e+00] [-9.01384133e-03 4.31258879e-04 9.99959282e-01 -3.43109719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.097552017999995 meters 0.02810356022498726 Centerline is valid? [True, True] Translation: X:48.06, Y:-5.11, Z:-0.34 [[ 9.93745108e-01 1.11342541e-01 8.57319098e-03 4.80559850e+01] [-1.11334754e-01 9.93782000e-01 -1.38179127e-03 -5.10797715e+00] [-8.67373503e-03 4.18654209e-04 9.99962295e-01 -3.44306074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.127552017999996 meters 0.02556539474400503 Centerline is valid? [True, True] Translation: X:48.09, Y:-5.10, Z:-0.35 [[ 9.93883226e-01 1.10159637e-01 7.80951156e-03 4.80904326e+01] [-1.10153123e-01 9.93913829e-01 -1.26061588e-03 -5.09842217e+00] [-7.90085052e-03 3.92662891e-04 9.99968711e-01 -3.46081661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.157552018 meters 0.026155818639190358 Centerline is valid? [True, True] Translation: X:48.12, Y:-5.10, Z:-0.35 [[ 9.93963967e-01 1.09453323e-01 7.45663622e-03 4.81229140e+01] [-1.09447350e-01 9.93991863e-01 -1.20564313e-03 -5.09956554e+00] [-7.54379738e-03 3.82256752e-04 9.99971472e-01 -3.46228682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.187552018 meters 0.027729389490466553 Centerline is valid? [True, True] Translation: X:48.15, Y:-5.10, Z:-0.35 [[ 9.94087272e-01 1.08323429e-01 7.51863140e-03 4.81540815e+01] [-1.08317308e-01 9.94115626e-01 -1.21775610e-03 -5.10180391e+00] [-7.60630048e-03 3.96157923e-04 9.99970993e-01 -3.46320733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.217552018 meters 0.0290026960871649 Centerline is valid? [True, True] Translation: X:48.19, Y:-5.10, Z:-0.35 [[ 9.94480449e-01 1.04613398e-01 8.04199353e-03 4.81864647e+01] [-1.04606259e-01 9.94512860e-01 -1.30446788e-03 -5.09752540e+00] [-8.13433081e-03 4.56024950e-04 9.99966812e-01 -3.46126522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24755201799999 meters 0.027579472719654587 Centerline is valid? [True, True] Translation: X:48.22, Y:-5.09, Z:-0.35 [[ 9.94652146e-01 1.02923207e-01 8.59773658e-03 4.82197958e+01] [-1.02914980e-01 9.94689178e-01 -1.39503680e-03 -5.09465801e+00] [-8.69565720e-03 5.02740455e-04 9.99962066e-01 -3.46250119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.277552017999994 meters 0.030298331610446746 Centerline is valid? [True, True] Translation: X:48.25, Y:-5.10, Z:-0.35 [[ 9.94805719e-01 1.01376874e-01 9.18212172e-03 4.82512483e+01] [-1.01367414e-01 9.94847940e-01 -1.49103293e-03 -5.09665192e+00] [-9.28597114e-03 5.52520147e-04 9.99956732e-01 -3.46434634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.307552017999996 meters 0.030298331610446746 Centerline is valid? [True, True] Translation: X:48.28, Y:-5.10, Z:-0.35 [[ 9.94774738e-01 1.01680467e-01 9.18172548e-03 4.82832956e+01] [-1.01670998e-01 9.94816957e-01 -1.49346946e-03 -5.10197027e+00] [-9.28599287e-03 5.52150499e-04 9.99956732e-01 -3.46664634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.337552018 meters 0.029557341294143037 Centerline is valid? [True, True] Translation: X:48.32, Y:-5.09, Z:-0.35 [[ 9.95094101e-01 9.84556192e-02 9.70679531e-03 4.83161716e+01] [-9.84448598e-02 9.95141251e-01 -1.58123951e-03 -5.09207801e+00] [-9.81531434e-03 6.17898001e-04 9.99951638e-01 -3.47711695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.367552018 meters 0.03076394607976375 Centerline is valid? [True, True] Translation: X:48.35, Y:-5.09, Z:-0.35 [[ 9.95191236e-01 9.74500993e-02 9.89354315e-03 4.83485064e+01] [-9.74388631e-02 9.95240206e-01 -1.61260321e-03 -5.09274890e+00] [-1.00036003e-02 6.40832983e-04 9.99949757e-01 -3.48089537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.397552018 meters 0.032366907035569804 Centerline is valid? [True, True] Translation: X:48.38, Y:-5.09, Z:-0.35 [[ 9.95279026e-01 9.65654315e-02 9.73542741e-03 4.83797861e+01] [-9.65544838e-02 9.95326432e-01 -1.58942331e-03 -5.09409207e+00] [-9.84341157e-03 6.41920510e-04 9.99951346e-01 -3.48262622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.427552018 meters 0.047572278175116875 Centerline is valid? [True, True] Translation: X:48.41, Y:-5.11, Z:-0.35 [[ 9.95302184e-01 9.63887973e-02 9.09741091e-03 4.84096203e+01] [-9.63792085e-02 9.95343576e-01 -1.48762668e-03 -5.10600638e+00] [-9.19844006e-03 6.03836817e-04 9.99957511e-01 -3.48124945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.457552017999994 meters 0.04662735630410054 Centerline is valid? [True, True] Translation: X:48.44, Y:-5.10, Z:-0.35 [[ 9.95266475e-01 9.67478745e-02 9.19202283e-03 4.84432919e+01] [-9.67380770e-02 9.95308735e-01 -1.50561959e-03 -5.10243572e+00] [-9.29456611e-03 6.09274092e-04 9.99956619e-01 -3.48612703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.487552017999995 meters 0.047761471481426274 Centerline is valid? [True, True] Translation: X:48.48, Y:-5.10, Z:-0.35 [[ 9.95142070e-01 9.80223282e-02 9.15885642e-03 4.84751635e+01] [-9.80126414e-02 9.95184037e-01 -1.50165731e-03 -5.10055937e+00] [-9.26194366e-03 5.96678657e-04 9.99956929e-01 -3.48876076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.517552017999996 meters 0.04630689063400089 Centerline is valid? [True, True] Translation: X:48.51, Y:-5.10, Z:-0.35 [[ 9.94984858e-01 9.95558373e-02 9.68334747e-03 4.85088785e+01] [-9.95450513e-02 9.95031785e-01 -1.59073832e-03 -5.09549239e+00] [-9.79360580e-03 6.18831216e-04 9.99951850e-01 -3.48977860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.547552018 meters 0.046905135548336675 Centerline is valid? [True, True] Translation: X:48.54, Y:-5.08, Z:-0.35 [[ 9.94648456e-01 1.02787483e-01 1.04490335e-02 4.85421579e+01] [-1.02775074e-01 9.94703136e-01 -1.71909914e-03 -5.08383889e+00] [-1.05703883e-02 6.35999105e-04 9.99943930e-01 -3.48978226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.577552018 meters 0.04331289392620118 Centerline is valid? [True, True] Translation: X:48.58, Y:-5.08, Z:-0.35 [[ 9.94485202e-01 1.04354026e-01 1.04604409e-02 4.85757417e+01] [-1.04341661e-01 9.94540020e-01 -1.72241966e-03 -5.07638555e+00] [-1.05830685e-02 6.21461085e-04 9.99943805e-01 -3.49696657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.607552018 meters 0.041075048907206056 Centerline is valid? [True, True] Translation: X:48.61, Y:-5.07, Z:-0.35 [[ 9.94353048e-01 1.05626651e-01 1.02482788e-02 4.86096682e+01] [-1.05614821e-01 9.94405678e-01 -1.69027767e-03 -5.07132275e+00] [-1.03694850e-02 5.98362623e-04 9.99946056e-01 -3.50357132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.637552017999994 meters 0.03935894699183834 Centerline is valid? [True, True] Translation: X:48.64, Y:-5.06, Z:-0.35 [[ 9.94144269e-01 1.07729463e-01 8.45782059e-03 4.86442125e+01] [-1.07721469e-01 9.94180132e-01 -1.39649465e-03 -5.06023792e+00] [-8.55904081e-03 4.77228300e-04 9.99963257e-01 -3.52828344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.667552017999995 meters 0.04087670044157992 Centerline is valid? [True, True] Translation: X:48.68, Y:-5.06, Z:-0.35 [[ 9.94035754e-01 1.08801237e-01 7.43037124e-03 4.86754659e+01] [-1.08795080e-01 9.94063439e-01 -1.22900969e-03 -5.05986603e+00] [-7.51997816e-03 4.13291734e-04 9.99971639e-01 -3.54473129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.697552017999996 meters 0.041019154225056545 Centerline is valid? [True, True] Translation: X:48.71, Y:-5.06, Z:-0.36 [[ 9.93935120e-01 1.09723681e-01 7.32743210e-03 4.87088189e+01] [-1.09717703e-01 9.93962047e-01 -1.21418370e-03 -5.05746667e+00] [-7.41641411e-03 4.02870802e-04 9.99972417e-01 -3.55270723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.727552018 meters 0.040463340024950896 Centerline is valid? [True, True] Translation: X:48.74, Y:-5.05, Z:-0.36 [[ 9.93830737e-01 1.10656268e-01 7.46032260e-03 4.87415976e+01] [-1.10650079e-01 9.93858655e-01 -1.23860562e-03 -5.05386274e+00] [-7.55156566e-03 4.05479047e-04 9.99971404e-01 -3.55146266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.757552018 meters 0.04046751660546857 Centerline is valid? [True, True] Translation: X:48.78, Y:-5.04, Z:-0.35 [[ 9.93666575e-01 1.12078127e-01 8.07659180e-03 4.87753874e+01] [-1.12070897e-01 9.93699305e-01 -1.34366136e-03 -5.04297214e+00] [-8.17629871e-03 4.30000490e-04 9.99966481e-01 -3.54753269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.787552018 meters 0.038607296411710124 Centerline is valid? [True, True] Translation: X:48.81, Y:-5.04, Z:-0.35 [[ 9.93593078e-01 1.12686946e-01 8.62832402e-03 4.88085843e+01] [-1.12678692e-01 9.93630436e-01 -1.43831737e-03 -5.03867844e+00] [-8.73544495e-03 4.56873916e-04 9.99961741e-01 -3.54389396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81755201799999 meters 0.03930790291669517 Centerline is valid? [True, True] Translation: X:48.84, Y:-5.04, Z:-0.35 [[ 9.93480718e-01 1.13632998e-01 9.14359879e-03 4.88397326e+01] [-1.13623741e-01 9.93522679e-01 -1.52721038e-03 -5.03886236e+00] [-9.25791426e-03 4.78324163e-04 9.99957030e-01 -3.54220118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.847552017999995 meters 0.03664371698994097 Centerline is valid? [True, True] Translation: X:48.87, Y:-5.03, Z:-0.36 [[ 9.93371638e-01 1.14687217e-01 7.72206055e-03 4.88739083e+01] [-1.14680632e-01 9.93401572e-01 -1.29175346e-03 -5.03000036e+00] [-7.81925470e-03 3.97620464e-04 9.99969350e-01 -3.56083530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.877552017999996 meters 0.03580581083105276 Centerline is valid? [True, True] Translation: X:48.91, Y:-5.03, Z:-0.36 [[ 9.93234847e-01 1.15904066e-01 7.12645913e-03 4.89068133e+01] [-1.15898473e-01 9.93260347e-01 -1.19425862e-03 -5.02804485e+00] [-7.21684870e-03 3.60233552e-04 9.99973893e-01 -3.56922457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.907552018 meters 0.03574695556122338 Centerline is valid? [True, True] Translation: X:48.94, Y:-5.03, Z:-0.36 [[ 9.93003813e-01 1.17895132e-01 6.64561586e-03 4.89385845e+01] [-1.17890300e-01 9.93025998e-01 -1.11568604e-03 -5.02632199e+00] [-6.73080327e-03 3.24426845e-04 9.99977295e-01 -3.57349650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.937552018 meters 0.032390466319150144 Centerline is valid? [True, True] Translation: X:48.97, Y:-5.02, Z:-0.36 [[ 9.92697453e-01 1.20474742e-01 6.13217455e-03 4.89715243e+01] [-1.20470664e-01 9.92716352e-01 -1.03135544e-03 -5.02035997e+00] [-6.21176223e-03 2.85076774e-04 9.99980666e-01 -3.58170817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.967552018 meters 0.029452068107499795 Centerline is valid? [True, True] Translation: X:49.00, Y:-5.01, Z:-0.36 [[ 9.91863247e-01 1.27246519e-01 3.95249664e-03 4.90036676e+01] [-1.27244878e-01 9.91871110e-01 -6.64974702e-04 -5.00908414e+00] [-4.00498295e-03 1.56629013e-04 9.99991968e-01 -3.60121152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99755201799999 meters 0.02682553299438596 Centerline is valid? [True, True] Translation: X:49.04, Y:-5.00, Z:-0.36 [[ 9.91366766e-01 1.31069125e-01 3.58042123e-03 4.90360021e+01] [-1.31067804e-01 9.91373223e-01 -6.02217968e-04 -5.00487393e+00] [-3.62846592e-03 1.27740930e-04 9.99993409e-01 -3.61207617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.027552017999994 meters 0.02462711330397304 Centerline is valid? [True, True] Translation: X:49.07, Y:-5.00, Z:-0.36 [[ 9.90757842e-01 1.35596056e-01 3.55083566e-03 4.90679595e+01] [-1.35594785e-01 9.90764199e-01 -5.97407196e-04 -5.00140516e+00] [-3.59904691e-03 1.10411064e-04 9.99993517e-01 -3.61643120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.057552017999996 meters 0.022135901624252958 Centerline is valid? [True, True] Translation: X:49.10, Y:-5.00, Z:-0.36 [[ 9.90116059e-01 1.40208827e-01 3.41666439e-03 4.91010040e+01] [-1.40207677e-01 9.90121950e-01 -5.74899993e-04 -4.99775300e+00] [-3.46352046e-03 9.01751373e-05 9.99993998e-01 -3.61087183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.087552018 meters 0.017812051024271996 Centerline is valid? [True, True] Translation: X:49.13, Y:-4.99, Z:-0.36 [[ 9.89023360e-01 1.47683358e-01 4.73478982e-03 4.91331220e+01] [-1.47681232e-01 9.89034690e-01 -7.97453468e-04 -4.98556618e+00] [-4.80064199e-03 8.94605134e-05 9.99988473e-01 -3.59612472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.117552018 meters 0.015907189362174674 Centerline is valid? [True, True] Translation: X:49.16, Y:-4.98, Z:-0.36 [[ 9.88623695e-01 1.50312874e-01 5.40642922e-03 4.91641524e+01] [-1.50310143e-01 9.88638474e-01 -9.10321952e-04 -4.98281560e+00] [-5.48183704e-03 8.73247005e-05 9.99984971e-01 -3.58988031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.147552018 meters 0.015710767901584183 Centerline is valid? [True, True] Translation: X:49.19, Y:-4.98, Z:-0.36 [[ 9.88451104e-01 1.51434944e-01 5.64556095e-03 4.91930146e+01] [-1.51431987e-01 9.88467223e-01 -9.50160978e-04 -4.98253397e+00] [-5.72433953e-03 8.42691554e-05 9.99983612e-01 -3.58865607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.177552018 meters 0.01643306994077206 Centerline is valid? [True, True] Translation: X:49.22, Y:-4.98, Z:-0.36 [[ 9.88540635e-01 1.50862321e-01 5.28897202e-03 4.92222899e+01] [-1.50859719e-01 9.88554780e-01 -8.89771645e-04 -4.98187211e+00] [-5.36267159e-03 8.16825950e-05 9.99985617e-01 -3.59523709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.207552017999994 meters 0.016695774441389827 Centerline is valid? [True, True] Translation: X:49.25, Y:-4.99, Z:-0.36 [[ 9.88853860e-01 1.48801571e-01 5.11234585e-03 4.92519948e+01] [-1.48799114e-01 9.88867071e-01 -8.59766697e-04 -4.98554715e+00] [-5.18336510e-03 8.94710857e-05 9.99986562e-01 -3.59869660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.237552017999995 meters 0.018176020813558243 Centerline is valid? [True, True] Translation: X:49.28, Y:-4.99, Z:-0.36 [[ 9.89258403e-01 1.46087253e-01 5.13096991e-03 4.92800522e+01] [-1.46084742e-01 9.89271704e-01 -8.62691866e-04 -4.99138265e+00] [-5.20195163e-03 1.03868762e-04 9.99986464e-01 -3.60137040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.267552017999996 meters 0.020016525834096428 Centerline is valid? [True, True] Translation: X:49.31, Y:-5.00, Z:-0.36 [[ 9.89789987e-01 1.42454924e-01 4.73027642e-03 4.93088590e+01] [-1.42452751e-01 9.89801284e-01 -7.94967243e-04 -4.99700031e+00] [-4.79528067e-03 1.13009730e-04 9.99988496e-01 -3.60628360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.297552018 meters 0.024370785244242462 Centerline is valid? [True, True] Translation: X:49.34, Y:-5.00, Z:-0.36 [[ 9.90655141e-01 1.36319419e-01 4.40529651e-03 4.93377197e+01] [-1.36317474e-01 9.90664927e-01 -7.40104003e-04 -5.00241268e+00] [-4.46506329e-03 1.32668942e-04 9.99990023e-01 -3.62179570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.327552018 meters 0.02494100530266279 Centerline is valid? [True, True] Translation: X:49.37, Y:-5.01, Z:-0.36 [[ 9.90956798e-01 1.34126211e-01 3.84509145e-03 4.93675267e+01] [-1.34124713e-01 9.90964250e-01 -6.45989609e-04 -5.00532651e+00] [-3.89699231e-03 1.24426006e-04 9.99992399e-01 -3.63269821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.357552018 meters 0.025762970456567964 Centerline is valid? [True, True] Translation: X:49.40, Y:-5.01, Z:-0.36 [[ 9.91128119e-01 1.32866078e-01 3.41427636e-03 4.93972331e+01] [-1.32864890e-01 9.91133993e-01 -5.73488183e-04 -5.00970628e+00] [-3.46020248e-03 1.14762811e-04 9.99994007e-01 -3.63972071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.387552017999994 meters 0.02588297370873713 Centerline is valid? [True, True] Translation: X:49.43, Y:-5.01, Z:-0.36 [[ 9.91175308e-01 1.32511630e-01 3.48943815e-03 4.94261605e+01] [-1.32510387e-01 9.91181444e-01 -5.86024871e-04 -5.01359934e+00] [-3.53632145e-03 1.18466584e-04 9.99993740e-01 -3.63741110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.417552017999995 meters 0.024602542207199804 Centerline is valid? [True, True] Translation: X:49.46, Y:-5.02, Z:-0.36 [[ 9.91131896e-01 1.32839189e-01 3.36375678e-03 4.94563409e+01] [-1.32838037e-01 9.91137597e-01 -5.64627515e-04 -5.01530677e+00] [-3.40895048e-03 1.12785490e-04 9.99994183e-01 -3.63960029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.447552017999996 meters 0.024652068138667944 Centerline is valid? [True, True] Translation: X:49.48, Y:-5.02, Z:-0.36 [[ 9.91092646e-01 1.33145898e-01 2.74544759e-03 4.94845427e+01] [-1.33145132e-01 9.91096444e-01 -4.60763323e-04 -5.01755191e+00] [-2.78235209e-03 9.11161587e-05 9.99996125e-01 -3.64688424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.477552018 meters 0.024112040017998933 Centerline is valid? [True, True] Translation: X:49.51, Y:-5.02, Z:-0.37 [[ 9.90896514e-01 1.34605907e-01 2.31248309e-03 4.95142284e+01] [-1.34605367e-01 9.90899210e-01 -3.88264467e-04 -5.01587016e+00] [-2.34370036e-03 7.34572732e-05 9.99997251e-01 -3.65603223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.507552018 meters 0.0245139137867556 Centerline is valid? [True, True] Translation: X:49.54, Y:-5.02, Z:-0.37 [[ 9.90789870e-01 1.35366985e-01 3.34848098e-03 4.95417041e+01] [-1.35365859e-01 9.90795523e-01 -5.61683261e-04 -5.01842402e+00] [-3.39369333e-03 1.03240081e-04 9.99994236e-01 -3.65019330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.537552018 meters 0.024669349567788674 Centerline is valid? [True, True] Translation: X:49.57, Y:-5.02, Z:-0.36 [[ 9.90690975e-01 1.36073418e-01 3.92658028e-03 4.95699116e+01] [-1.36071877e-01 9.90698749e-01 -6.58055109e-04 -5.02097971e+00] [-3.97960197e-03 1.17632108e-04 9.99992074e-01 -3.64173478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56755201799999 meters 0.02298429997787434 Centerline is valid? [True, True] Translation: X:49.60, Y:-5.02, Z:-0.36 [[ 9.90713406e-01 1.35890589e-01 4.54919771e-03 4.95987412e+01] [-1.35888522e-01 9.90723841e-01 -7.61714344e-04 -5.02052011e+00] [-4.61050844e-03 1.36456857e-04 9.99989362e-01 -3.63409339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.597552017999995 meters 0.023744296374865786 Centerline is valid? [True, True] Translation: X:49.63, Y:-5.03, Z:-0.36 [[ 9.90801722e-01 1.35239436e-01 4.71623672e-03 4.96260376e+01] [-1.35237209e-01 9.90812936e-01 -7.89263896e-04 -5.02587086e+00] [-4.77964795e-03 1.44193334e-04 9.99988567e-01 -3.63703430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.627552017999996 meters 0.025724657823138018 Centerline is valid? [True, True] Translation: X:49.65, Y:-5.03, Z:-0.36 [[ 9.91130413e-01 1.32820273e-01 4.39083104e-03 4.96543625e+01] [-1.32818322e-01 9.91140128e-01 -7.34234875e-04 -5.03159367e+00] [-4.44945012e-03 1.44539704e-04 9.99990091e-01 -3.64151476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.657552018 meters 0.026077608047495728 Centerline is valid? [True, True] Translation: X:49.68, Y:-5.04, Z:-0.36 [[ 9.91305229e-01 1.31504791e-01 4.52032394e-03 4.96829413e+01] [-1.31502711e-01 9.91315523e-01 -7.55619278e-04 -5.03553628e+00] [-4.58043484e-03 1.54614489e-04 9.99989498e-01 -3.64356381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.687552018 meters 0.026758265050157524 Centerline is valid? [True, True] Translation: X:49.71, Y:-5.04, Z:-0.36 [[ 9.91428958e-01 1.30574102e-01 4.36175013e-03 4.97117610e+01] [-1.30572158e-01 9.91438541e-01 -7.28673007e-04 -5.04015359e+00] [-4.41955301e-03 1.52904391e-04 9.99990222e-01 -3.64481476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.717552018 meters 0.026889308107679054 Centerline is valid? [True, True] Translation: X:49.74, Y:-5.04, Z:-0.36 [[ 9.91468466e-01 1.30266940e-01 4.56126181e-03 4.97405503e+01] [-1.30264812e-01 9.91478945e-01 -7.61724130e-04 -5.04469769e+00] [-4.62162252e-03 1.61053542e-04 9.99989307e-01 -3.64095498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74755201799999 meters 0.026847217748807592 Centerline is valid? [True, True] Translation: X:49.77, Y:-5.05, Z:-0.36 [[ 9.91507700e-01 1.29943664e-01 5.20823226e-03 4.97688392e+01] [-1.29940889e-01 9.91521361e-01 -8.69207127e-04 -5.04759699e+00] [-5.27702150e-03 1.85063231e-04 9.99986059e-01 -3.63782228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.777552017999994 meters 0.027491427574609806 Centerline is valid? [True, True] Translation: X:49.80, Y:-5.05, Z:-0.36 [[ 9.91495932e-01 1.30043936e-01 4.93883342e-03 4.97970947e+01] [-1.30041444e-01 9.91508217e-01 -8.23775582e-04 -5.05289135e+00] [-5.00402094e-03 1.74517109e-04 9.99987465e-01 -3.64302629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.807552017999996 meters 0.028130646359562996 Centerline is valid? [True, True] Translation: X:49.83, Y:-5.06, Z:-0.37 [[ 9.91441572e-01 1.30453608e-01 5.04641826e-03 4.98258740e+01] [-1.30451013e-01 9.91454399e-01 -8.41358710e-04 -5.05730311e+00] [-5.11305186e-03 1.75847627e-04 9.99986913e-01 -3.65031048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.837552018 meters 0.025469681411838287 Centerline is valid? [True, True] Translation: X:49.86, Y:-5.05, Z:-0.36 [[ 9.91114990e-01 1.32811794e-01 7.21826491e-03 4.98556242e+01] [-1.32806553e-01 9.91141248e-01 -1.20277099e-03 -5.05459170e+00] [-7.31406227e-03 2.33451482e-04 9.99973225e-01 -3.63131879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.867552018 meters 0.024714876543922334 Centerline is valid? [True, True] Translation: X:49.88, Y:-5.06, Z:-0.36 [[ 9.90889432e-01 1.34431557e-01 8.14187563e-03 4.98832836e+01] [-1.34424950e-01 9.90922850e-01 -1.35581991e-03 -5.05613743e+00] [-8.25023558e-03 2.48996393e-04 9.99965935e-01 -3.62219642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.897552018 meters 0.02358958996981926 Centerline is valid? [True, True] Translation: X:49.91, Y:-5.06, Z:-0.36 [[ 9.90604073e-01 1.36503538e-01 8.38777094e-03 4.99125261e+01] [-1.36496608e-01 9.90639555e-01 -1.39582684e-03 -5.05779747e+00] [-8.49979297e-03 2.37809464e-04 9.99963848e-01 -3.62356312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.927552018 meters 0.022367763712589556 Centerline is valid? [True, True] Translation: X:49.94, Y:-5.06, Z:-0.36 [[ 9.90362168e-01 1.38249296e-01 8.36112005e-03 4.99417861e+01] [-1.38242478e-01 9.90397437e-01 -1.39063871e-03 -5.05952091e+00] [-8.47308669e-03 2.21374006e-04 9.99964078e-01 -3.62832273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.957552017999994 meters 0.020818759195712657 Centerline is valid? [True, True] Translation: X:49.97, Y:-5.06, Z:-0.36 [[ 9.89944170e-01 1.41279139e-01 7.12359438e-03 4.99712152e+01] [-1.41274273e-01 9.89969786e-01 -1.18425346e-03 -5.05981865e+00] [-7.21945351e-03 1.65964192e-04 9.99973926e-01 -3.64328596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.987552017999995 meters 0.020329413948648217 Centerline is valid? [True, True] Translation: X:50.00, Y:-5.06, Z:-0.37 [[ 9.89803995e-01 1.42283581e-01 6.59043204e-03 4.99988820e+01] [-1.42279442e-01 9.89825925e-01 -1.09507276e-03 -5.06278651e+00] [-6.67919137e-03 1.46224395e-04 9.99977683e-01 -3.65293856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.017552017999996 meters 0.018965086544614297 Centerline is valid? [True, True] Translation: X:50.03, Y:-5.06, Z:-0.37 [[ 9.89709062e-01 1.42974098e-01 5.86347088e-03 5.00279108e+01] [-1.42970838e-01 9.89726423e-01 -9.73651407e-04 -5.06488121e+00] [-5.94243899e-03 1.25326275e-04 9.99982336e-01 -3.66370562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.047552018 meters 0.019081459263228174 Centerline is valid? [True, True] Translation: X:50.05, Y:-5.07, Z:-0.37 [[ 9.89620640e-01 1.43620373e-01 4.91702389e-03 5.00549806e+01] [-1.43618090e-01 9.89632850e-01 -8.16177892e-04 -5.06941084e+00] [-4.98326814e-03 1.01532910e-04 9.99987578e-01 -3.67925437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.077552018 meters 0.019256892854559518 Centerline is valid? [True, True] Translation: X:50.08, Y:-5.07, Z:-0.37 [[ 9.89499982e-01 1.44466280e-01 4.39085224e-03 5.00823759e+01] [-1.44464469e-01 9.89509720e-01 -7.28405462e-04 -5.07451965e+00] [-4.45002100e-03 8.64350526e-05 9.99990095e-01 -3.68711802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.107552018 meters 0.018877581340556754 Centerline is valid? [True, True] Translation: X:50.11, Y:-5.08, Z:-0.37 [[ 9.89474150e-01 1.44636117e-01 4.61529873e-03 5.01106813e+01] [-1.44634122e-01 9.89484909e-01 -7.65012206e-04 -5.07811230e+00] [-4.67741684e-03 8.94301225e-05 9.99989057e-01 -3.68352269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.137552017999994 meters 0.01893045310893483 Centerline is valid? [True, True] Translation: X:50.14, Y:-5.08, Z:-0.37 [[ 9.89503587e-01 1.44416163e-01 5.15981595e-03 5.01392672e+01] [-1.44413668e-01 9.89517035e-01 -8.54728564e-04 -5.08313409e+00] [-5.22916239e-03 1.00609030e-04 9.99986323e-01 -3.67651970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.167552017999995 meters 0.01892443001554828 Centerline is valid? [True, True] Translation: X:50.17, Y:-5.09, Z:-0.37 [[ 9.89534666e-01 1.44205047e-01 5.10387048e-03 5.01661553e+01] [-1.44202606e-01 9.89547823e-01 -8.45036724e-04 -5.08932765e+00] [-5.17238248e-03 1.00201707e-04 9.99986618e-01 -3.67813616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.197552017999996 meters 0.01892443001554828 Centerline is valid? [True, True] Translation: X:50.19, Y:-5.09, Z:-0.37 [[ 9.89547499e-01 1.44116952e-01 5.10397228e-03 5.01941232e+01] [-1.44114513e-01 9.89560657e-01 -8.44421348e-04 -5.09385561e+00] [-5.17238559e-03 1.00038553e-04 9.99986618e-01 -3.68013771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.227552018 meters 0.019186293440896708 Centerline is valid? [True, True] Translation: X:50.22, Y:-5.10, Z:-0.37 [[ 9.89596184e-01 1.43796795e-01 4.67697533e-03 5.02211508e+01] [-1.43794744e-01 9.89607232e-01 -7.73474770e-04 -5.10045529e+00] [-4.73959180e-03 9.29032089e-05 9.99988764e-01 -3.68448056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.257552018 meters 0.019020170459529882 Centerline is valid? [True, True] Translation: X:50.25, Y:-5.11, Z:-0.37 [[ 9.89663195e-01 1.43334268e-01 4.69558983e-03 5.02493812e+01] [-1.43332200e-01 9.89674330e-01 -7.75901422e-04 -5.10570666e+00] [-4.75831797e-03 9.48518612e-05 9.99988675e-01 -3.68839321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.287552018 meters 0.01917957133622187 Centerline is valid? [True, True] Translation: X:50.28, Y:-5.11, Z:-0.37 [[ 9.89658244e-01 1.43384561e-01 4.17461672e-03 5.02764298e+01] [-1.43382927e-01 9.89667045e-01 -6.89588755e-04 -5.11129287e+00] [-4.23035698e-03 8.38884327e-05 9.99991048e-01 -3.69504620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31755201799999 meters 0.019382713792614175 Centerline is valid? [True, True] Translation: X:50.30, Y:-5.12, Z:-0.37 [[ 9.89718599e-01 1.42983357e-01 3.58516289e-03 5.03044075e+01] [-1.42982151e-01 9.89725090e-01 -5.91803374e-04 -5.11751249e+00] [-3.63294369e-03 7.31045046e-05 9.99993398e-01 -3.70396032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.347552017999995 meters 0.018758282341528775 Centerline is valid? [True, True] Translation: X:50.33, Y:-5.12, Z:-0.37 [[ 9.89752667e-01 1.42738678e-01 3.91509947e-03 5.03327521e+01] [-1.42737239e-01 9.89760407e-01 -6.45854426e-04 -5.12271822e+00] [-3.96719885e-03 8.04056511e-05 9.99992127e-01 -3.69386249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.377552017999996 meters 0.01865584931571757 Centerline is valid? [True, True] Translation: X:50.36, Y:-5.13, Z:-0.37 [[ 9.89768324e-01 1.42616475e-01 4.38242816e-03 5.03614760e+01] [-1.42614674e-01 9.89778022e-01 -7.22462998e-04 -5.12743143e+00] [-4.44066620e-03 9.00724280e-05 9.99990136e-01 -3.68848686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.407552018 meters 0.019467204240201506 Centerline is valid? [True, True] Translation: X:50.39, Y:-5.13, Z:-0.37 [[ 9.89804227e-01 1.42343600e-01 5.08837530e-03 5.03887940e+01] [-1.42341171e-01 9.89817301e-01 -8.38294555e-04 -5.13280679e+00] [-5.15588776e-03 1.05462198e-04 9.99986703e-01 -3.67622619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.437552018 meters 0.01940590235329453 Centerline is valid? [True, True] Translation: X:50.42, Y:-5.14, Z:-0.37 [[ 9.89836364e-01 1.42103223e-01 5.53585369e-03 5.04170546e+01] [-1.42100348e-01 9.89851838e-01 -9.11260241e-04 -5.13769867e+00] [-5.60916797e-03 1.15351785e-04 9.99984262e-01 -3.67776480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.467552018 meters 0.019562913463103446 Centerline is valid? [True, True] Translation: X:50.44, Y:-5.14, Z:-0.37 [[ 9.89887257e-01 1.41746432e-01 5.58284403e-03 5.04441018e+01] [-1.41743505e-01 9.89902993e-01 -9.18521565e-04 -5.14448195e+00] [-5.65667117e-03 1.17900910e-04 9.99983994e-01 -3.67639117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49755201799999 meters 0.019389360389847815 Centerline is valid? [True, True] Translation: X:50.47, Y:-5.15, Z:-0.37 [[ 9.90167725e-01 1.39765019e-01 5.79789587e-03 5.04718729e+01] [-1.39761833e-01 9.90184691e-01 -9.53124895e-04 -5.15211229e+00] [-5.87420125e-03 1.33428957e-04 9.99982738e-01 -3.66653268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.527552017999994 meters 0.02117489403312029 Centerline is valid? [True, True] Translation: X:50.50, Y:-5.16, Z:-0.37 [[ 9.90423898e-01 1.37932960e-01 5.91620605e-03 5.04986186e+01] [-1.37929613e-01 9.90441557e-01 -9.72023511e-04 -5.15891597e+00] [-5.99373041e-03 1.46695305e-04 9.99982027e-01 -3.66649543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.557552017999996 meters 0.022279370388536664 Centerline is valid? [True, True] Translation: X:50.53, Y:-5.16, Z:-0.37 [[ 9.90636647e-01 1.36396476e-01 5.91896097e-03 5.05254073e+01] [-1.36393103e-01 9.90654318e-01 -9.71747839e-04 -5.16465705e+00] [-5.99618723e-03 1.55343570e-04 9.99982011e-01 -3.66578808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.587552018 meters 0.022353188839505097 Centerline is valid? [True, True] Translation: X:50.55, Y:-5.17, Z:-0.37 [[ 9.90869132e-01 1.34702423e-01 5.79836737e-03 5.05540653e+01] [-1.34699160e-01 9.90886084e-01 -9.51485434e-04 -5.16952178e+00] [-5.87368893e-03 1.61762332e-04 9.99982737e-01 -3.66830907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.617552018 meters 0.023521211348081165 Centerline is valid? [True, True] Translation: X:50.58, Y:-5.18, Z:-0.37 [[ 9.91054507e-01 1.33359993e-01 5.10644284e-03 5.05821758e+01] [-1.33357446e-01 9.91067652e-01 -8.37545804e-04 -5.17617415e+00] [-5.17252541e-03 1.49071368e-04 9.99986611e-01 -3.68026087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.647552018 meters 0.025781480783171544 Centerline is valid? [True, True] Translation: X:50.61, Y:-5.19, Z:-0.37 [[ 9.91572094e-01 1.29518222e-01 3.13251879e-03 5.06095922e+01] [-1.29517245e-01 9.91577037e-01 -5.13658505e-04 -5.18651267e+00] [-3.17266183e-03 1.03614237e-04 9.99994962e-01 -3.70401239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67755201799999 meters 0.026874366720060078 Centerline is valid? [True, True] Translation: X:50.64, Y:-5.19, Z:-0.37 [[ 9.91823452e-01 1.27595989e-01 2.34598928e-03 5.06383736e+01] [-1.27595436e-01 9.91826223e-01 -3.84539712e-04 -5.19372293e+00] [-2.37587941e-03 8.20579793e-05 9.99997174e-01 -3.71377113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.707552017999994 meters 0.029475300975128325 Centerline is valid? [True, True] Translation: X:50.67, Y:-5.20, Z:-0.37 [[ 9.92274963e-01 1.24046701e-01 1.67724655e-03 5.06659776e+01] [-1.24046413e-01 9.92276379e-01 -2.75055183e-04 -5.20197585e+00] [-1.69841182e-03 6.48739531e-05 9.99998556e-01 -3.71807181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.737552017999995 meters 0.030534696923470977 Centerline is valid? [True, True] Translation: X:50.69, Y:-5.21, Z:-0.37 [[ 9.92425414e-01 1.22822388e-01 2.54125362e-03 5.06945398e+01] [-1.22821724e-01 9.92428663e-01 -4.16328825e-04 -5.20798324e+00] [-2.57314743e-03 1.01054155e-04 9.99996684e-01 -3.71642437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.767552017999996 meters 0.030945131375425875 Centerline is valid? [True, True] Translation: X:50.72, Y:-5.21, Z:-0.37 [[ 9.92519154e-01 1.22054248e-01 2.91374917e-03 5.07237091e+01] [-1.22053373e-01 9.92523424e-01 -4.76998730e-04 -5.21357171e+00] [-2.95018402e-03 1.17797463e-04 9.99995641e-01 -3.70593585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.797552018 meters 0.03257042154280691 Centerline is valid? [True, True] Translation: X:50.75, Y:-5.22, Z:-0.37 [[ 9.92680142e-01 1.20728902e-01 3.26611732e-03 5.07515550e+01] [-1.20727795e-01 9.92685506e-01 -5.34579196e-04 -5.21863439e+00] [-3.30676648e-03 1.36355010e-04 9.99994523e-01 -3.69739201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.827552018 meters 0.033682891194776514 Centerline is valid? [True, True] Translation: X:50.78, Y:-5.22, Z:-0.37 [[ 9.92813154e-01 1.19617205e-01 3.71014980e-03 5.07800766e+01] [-1.19615771e-01 9.92820074e-01 -6.06901755e-04 -5.22361928e+00] [-3.75610709e-03 1.58747618e-04 9.99992933e-01 -3.69532160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.857552018 meters 0.03494431052757982 Centerline is valid? [True, True] Translation: X:50.81, Y:-5.23, Z:-0.37 [[ 9.92964704e-01 1.18344552e-01 3.95774251e-03 5.08087098e+01] [-1.18342911e-01 9.92972576e-01 -6.47217563e-04 -5.22889673e+00] [-4.00652445e-03 1.74293428e-04 9.99991959e-01 -3.69236052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.887552017999994 meters 0.033738464093545556 Centerline is valid? [True, True] Translation: X:50.84, Y:-5.23, Z:-0.37 [[ 9.93347770e-01 1.15069328e-01 4.38831473e-03 5.08398238e+01] [-1.15067280e-01 9.93357442e-01 -7.17134535e-04 -5.22853961e+00] [-4.44168528e-03 2.07412551e-04 9.99990114e-01 -3.68508311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.917552017999995 meters 0.038205192604471826 Centerline is valid? [True, True] Translation: X:50.87, Y:-5.24, Z:-0.37 [[ 9.93558194e-01 1.13238508e-01 4.37665397e-03 5.08682927e+01] [-1.13236453e-01 9.93567810e-01 -7.15287536e-04 -5.23691549e+00] [-4.42950059e-03 2.15083021e-04 9.99990167e-01 -3.69041018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.947552017999996 meters 0.04015321651092263 Centerline is valid? [True, True] Translation: X:50.90, Y:-5.24, Z:-0.37 [[ 9.93731444e-01 1.11676832e-01 5.10904620e-03 5.08964014e+01] [-1.11674011e-01 9.93744544e-01 -8.34918318e-04 -5.24226582e+00] [-5.17032782e-03 2.59136902e-04 9.99986600e-01 -3.68758737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.977552018 meters 0.03567996569555028 Centerline is valid? [True, True] Translation: X:50.93, Y:-5.24, Z:-0.37 [[ 9.93918886e-01 1.09838060e-01 7.80055751e-03 5.09270705e+01] [-1.09831435e-01 9.93949412e-01 -1.27405214e-03 -5.23714798e+00] [-7.89329896e-03 4.09558062e-04 9.99968764e-01 -3.66361217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.007552018 meters 0.03857653327124433 Centerline is valid? [True, True] Translation: X:50.96, Y:-5.24, Z:-0.37 [[ 9.93911503e-01 1.09924272e-01 7.52181281e-03 5.09572472e+01] [-1.09918116e-01 9.93939887e-01 -1.22817315e-03 -5.23945828e+00] [-7.61123582e-03 3.93911927e-04 9.99970957e-01 -3.66818832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.037552018 meters 0.036920155965209894 Centerline is valid? [True, True] Translation: X:50.99, Y:-5.24, Z:-0.36 [[ 9.94000686e-01 1.08916390e-01 9.99278137e-03 5.09874430e+01] [-1.08905483e-01 9.94050771e-01 -1.63079476e-03 -5.24094111e+00] [-1.01109523e-02 5.32742425e-04 9.99948741e-01 -3.64309619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06755201799999 meters 0.03694461445324988 Centerline is valid? [True, True] Translation: X:51.02, Y:-5.24, Z:-0.37 [[ 9.93870403e-01 1.10106795e-01 9.90530652e-03 5.10174409e+01] [-1.10096142e-01 9.93919628e-01 -1.61613827e-03 -5.23907491e+00] [-1.00230264e-02 5.15695968e-04 9.99949635e-01 -3.66183289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.097552017999995 meters 0.03584315872509589 Centerline is valid? [True, True] Translation: X:51.05, Y:-5.24, Z:-0.37 [[ 9.93803578e-01 1.10791301e-01 8.92946389e-03 5.10472664e+01] [-1.10782673e-01 9.93843588e-01 -1.45669064e-03 -5.23915890e+00] [-9.03587908e-03 4.58434489e-04 9.99959071e-01 -3.68353939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.127552017999996 meters 0.04486915165286368 Centerline is valid? [True, True] Translation: X:51.08, Y:-5.25, Z:-0.37 [[ 9.93776986e-01 1.11052494e-01 8.63973912e-03 5.10752815e+01] [-1.11044429e-01 9.93814444e-01 -1.40908255e-03 -5.25269057e+00] [-8.74277966e-03 4.40918911e-04 9.99961684e-01 -3.69327427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.157552018 meters 0.04563569470342703 Centerline is valid? [True, True] Translation: X:51.10, Y:-5.25, Z:-0.37 [[ 9.93811312e-01 1.10782350e-01 8.14538821e-03 5.11046881e+01] [-1.10775175e-01 9.93844604e-01 -1.32826371e-03 -5.25499901e+00] [-8.24239830e-03 4.17736701e-04 9.99965944e-01 -3.70803865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.187552018 meters 0.03701303118257535 Centerline is valid? [True, True] Translation: X:51.14, Y:-5.24, Z:-0.37 [[ 9.93878993e-01 1.10197591e-01 7.81270387e-03 5.11366392e+01] [-1.10190974e-01 9.93909617e-01 -1.27371514e-03 -5.24249316e+00] [-7.90548185e-03 4.05029276e-04 9.99968669e-01 -3.72411608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.217552018 meters 0.03752156926953882 Centerline is valid? [True, True] Translation: X:51.17, Y:-5.24, Z:-0.37 [[ 9.93983948e-01 1.09247416e-01 7.80466502e-03 5.11661452e+01] [-1.09240786e-01 9.94014503e-01 -1.27205293e-03 -5.24416657e+00] [-7.89691872e-03 4.11812456e-04 9.99968734e-01 -3.73251573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24755201799999 meters 0.03818237780162524 Centerline is valid? [True, True] Translation: X:51.20, Y:-5.25, Z:-0.37 [[ 9.94085323e-01 1.08360484e-01 7.23712346e-03 5.11950866e+01] [-1.08354763e-01 9.94111591e-01 -1.17923543e-03 -5.24592124e+00] [-7.32229084e-03 3.88083841e-04 9.99973116e-01 -3.74331299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.277552017999994 meters 0.0397203000041349 Centerline is valid? [True, True] Translation: X:51.22, Y:-5.25, Z:-0.38 [[ 9.94249568e-01 1.06887214e-01 6.55134795e-03 5.12237020e+01] [-1.06882497e-01 9.94271087e-01 -1.06695210e-03 -5.24916657e+00] [-6.62785938e-03 3.60592241e-04 9.99977970e-01 -3.76191774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.307552017999996 meters 0.04087889205351012 Centerline is valid? [True, True] Translation: X:51.25, Y:-5.25, Z:-0.38 [[ 9.94549466e-01 1.04120333e-01 5.50605893e-03 5.12534096e+01] [-1.04116960e-01 9.94564656e-01 -8.96423946e-04 -5.24941612e+00] [-5.56946757e-03 3.18263839e-04 9.99984440e-01 -3.78421329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.337552018 meters 0.04199184213647061 Centerline is valid? [True, True] Translation: X:51.28, Y:-5.25, Z:-0.38 [[ 9.94666564e-01 1.03006275e-01 5.30420860e-03 5.12825450e+01] [-1.03003131e-01 9.94680657e-01 -8.63258636e-04 -5.25230464e+00] [-5.36491476e-03 3.12304408e-04 9.99985560e-01 -3.79357648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.367552018 meters 0.0453014082181658 Centerline is valid? [True, True] Translation: X:51.31, Y:-5.26, Z:-0.38 [[ 9.94703130e-01 1.02650017e-01 5.35322159e-03 5.13093437e+01] [-1.02646812e-01 9.94717484e-01 -8.70822741e-04 -5.25771746e+00] [-5.41433308e-03 3.16718979e-04 9.99985292e-01 -3.79749971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.397552018 meters 0.041576323105040114 Centerline is valid? [True, True] Translation: X:51.34, Y:-5.25, Z:-0.38 [[ 9.94574212e-01 1.03858348e-01 5.96487906e-03 5.13399036e+01] [-1.03854396e-01 9.94592039e-01 -9.69378233e-04 -5.25048985e+00] [-6.03329925e-03 3.44639680e-04 9.99981740e-01 -3.79548342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42755201799999 meters 0.04278124075319049 Centerline is valid? [True, True] Translation: X:51.37, Y:-5.25, Z:-0.38 [[ 9.94384761e-01 1.05651049e-01 6.06655229e-03 5.13681817e+01] [-1.05646998e-01 9.94403208e-01 -9.85343757e-04 -5.25249668e+00] [-6.13670167e-03 3.38897778e-04 9.99981113e-01 -3.79926335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.457552017999994 meters 0.040591243639106864 Centerline is valid? [True, True] Translation: X:51.40, Y:-5.25, Z:-0.38 [[ 9.94162236e-01 1.07721164e-01 6.13189571e-03 5.13975944e+01] [-1.07717068e-01 9.94181091e-01 -9.95408798e-04 -5.24962221e+00] [-6.20344137e-03 3.29088009e-04 9.99980704e-01 -3.80401043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.487552017999995 meters 0.04037078992719313 Centerline is valid? [True, True] Translation: X:51.43, Y:-5.25, Z:-0.38 [[ 9.93960646e-01 1.09531753e-01 6.71036725e-03 5.14266806e+01] [-1.09526893e-01 9.93983237e-01 -1.08866202e-03 -5.24976371e+00] [-6.78923562e-03 3.47121532e-04 9.99976893e-01 -3.80904018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.517552017999996 meters 0.03813232632387898 Centerline is valid? [True, True] Translation: X:51.46, Y:-5.25, Z:-0.38 [[ 9.93549453e-01 1.13172780e-01 7.16979441e-03 5.14577167e+01] [-1.13167330e-01 9.93575263e-01 -1.16254307e-03 -5.24663800e+00] [-7.25529860e-03 3.43657539e-04 9.99973621e-01 -3.81341773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.547552018 meters 0.037409534792614635 Centerline is valid? [True, True] Translation: X:51.49, Y:-5.25, Z:-0.38 [[ 9.93459779e-01 1.13919419e-01 7.74807068e-03 5.14865467e+01] [-1.13913080e-01 9.93489926e-01 -1.25607175e-03 -5.24835960e+00] [-7.84072113e-03 3.65250174e-04 9.99969194e-01 -3.81458007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.577552018 meters 0.0372357874475621 Centerline is valid? [True, True] Translation: X:51.52, Y:-5.25, Z:-0.38 [[ 9.93407824e-01 1.14307972e-01 8.63618356e-03 5.15159161e+01] [-1.14300118e-01 9.93445280e-01 -1.39920654e-03 -5.24953053e+00] [-8.73951626e-03 4.02865919e-04 9.99961729e-01 -3.80842550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.607552018 meters 0.03914118412734792 Centerline is valid? [True, True] Translation: X:51.54, Y:-5.25, Z:-0.38 [[ 9.93332163e-01 1.14926844e-01 9.11227844e-03 5.15434023e+01] [-1.14918135e-01 9.93373870e-01 -1.47545022e-03 -5.25104871e+00] [-9.22146814e-03 4.18446114e-04 9.99957394e-01 -3.79866058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.637552017999994 meters 0.0381768037216419 Centerline is valid? [True, True] Translation: X:51.57, Y:-5.25, Z:-0.38 [[ 9.93322534e-01 1.14853346e-01 1.09111547e-02 5.15732220e+01] [-1.14840868e-01 9.93382332e-01 -1.76545901e-03 -5.24775068e+00] [-1.10417171e-02 5.00623744e-04 9.99938913e-01 -3.79466023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.667552017999995 meters 0.038004805127574766 Centerline is valid? [True, True] Translation: X:51.60, Y:-5.25, Z:-0.38 [[ 9.93285887e-01 1.15155173e-01 1.10649531e-02 5.16021619e+01] [-1.15142370e-01 9.93347388e-01 -1.78936559e-03 -5.24994436e+00] [-1.11973970e-02 5.03306663e-04 9.99937181e-01 -3.80717775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.697552017999996 meters 0.031113766220724485 Centerline is valid? [True, True] Translation: X:51.63, Y:-5.24, Z:-0.38 [[ 9.93317222e-01 1.15002393e-01 9.76453783e-03 5.16318603e+01] [-1.14992424e-01 9.93365115e-01 -1.57814572e-03 -5.24024278e+00] [-9.88124177e-03 4.44751450e-04 9.99951080e-01 -3.83455713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.727552018 meters 0.03752257504462251 Centerline is valid? [True, True] Translation: X:51.66, Y:-5.25, Z:-0.38 [[ 9.93294800e-01 1.15256378e-01 9.02259360e-03 5.16587397e+01] [-1.15247887e-01 9.93335694e-01 -1.45716518e-03 -5.25078435e+00] [-9.13041186e-03 4.07559753e-04 9.99958234e-01 -3.83884936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.757552018 meters 0.03329213920362586 Centerline is valid? [True, True] Translation: X:51.69, Y:-5.24, Z:-0.38 [[ 9.93160376e-01 1.16448054e-01 8.50404012e-03 5.16890612e+01] [-1.16440561e-01 9.93196713e-01 -1.37268904e-03 -5.24314561e+00] [-8.60603166e-03 3.73085165e-04 9.99962898e-01 -3.84571282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.787552018 meters 0.03157926692745041 Centerline is valid? [True, True] Translation: X:51.72, Y:-5.24, Z:-0.38 [[ 9.93106154e-01 1.16862964e-01 9.12215059e-03 5.17179395e+01] [-1.16854367e-01 9.93147970e-01 -1.47161594e-03 -5.24396556e+00] [-9.23162275e-03 3.95507718e-04 9.99957309e-01 -3.84651270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81755201799999 meters 0.030864456562505808 Centerline is valid? [True, True] Translation: X:51.75, Y:-5.25, Z:-0.39 [[ 9.92972181e-01 1.17994739e-01 9.13721292e-03 5.17468902e+01] [-1.17986169e-01 9.93014146e-01 -1.47330168e-03 -5.24569597e+00] [-9.24722353e-03 3.84882837e-04 9.99957169e-01 -3.85061988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.847552017999995 meters 0.034288205360495226 Centerline is valid? [True, True] Translation: X:51.78, Y:-5.25, Z:-0.39 [[ 9.92735081e-01 1.20008862e-01 8.65634683e-03 5.17755508e+01] [-1.20001253e-01 9.92772760e-01 -1.39496359e-03 -5.25119196e+00] [-8.76119333e-03 3.46056827e-04 9.99961560e-01 -3.85061734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.877552017999996 meters 0.03467999630675417 Centerline is valid? [True, True] Translation: X:51.80, Y:-5.25, Z:-0.39 [[ 9.92596850e-01 1.21148774e-01 8.62953040e-03 5.18034332e+01] [-1.21141267e-01 9.92634305e-01 -1.38929602e-03 -5.25300487e+00] [-8.73427942e-03 3.33618606e-04 9.99961800e-01 -3.85288399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.907552018 meters 0.029393607051329356 Centerline is valid? [True, True] Translation: X:51.83, Y:-5.25, Z:-0.39 [[ 9.92367289e-01 1.22969784e-01 9.25178211e-03 5.18342072e+01] [-1.22961247e-01 9.92410357e-01 -1.48813560e-03 -5.24573002e+00] [-9.36456010e-03 3.39166429e-04 9.99956094e-01 -3.85618318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.937552018 meters 0.02931523312697538 Centerline is valid? [True, True] Translation: X:51.86, Y:-5.25, Z:-0.38 [[ 9.91897371e-01 1.26550850e-01 1.11573963e-02 5.18622731e+01] [-1.26538671e-01 9.91960053e-01 -1.79366898e-03 -5.24511580e+00] [-1.12946818e-02 3.67293437e-04 9.99936146e-01 -3.84041479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.967552018 meters 0.02817501689577396 Centerline is valid? [True, True] Translation: X:51.89, Y:-5.25, Z:-0.38 [[ 9.91675414e-01 1.28207552e-01 1.19455733e-02 5.18915431e+01] [-1.28193726e-01 9.91747289e-01 -1.91923166e-03 -5.24632527e+00] [-1.20930499e-02 3.71907310e-04 9.99926807e-01 -3.84145973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99755201799999 meters 0.02985240187220955 Centerline is valid? [True, True] Translation: X:51.92, Y:-5.25, Z:-0.38 [[ 9.91502387e-01 1.29539339e-01 1.19404928e-02 5.19195887e+01] [-1.29525632e-01 9.91574220e-01 -1.91752262e-03 -5.25388106e+00] [-1.20882795e-02 3.54628378e-04 9.99926871e-01 -3.83098679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.027552017999994 meters 0.02953976736304251 Centerline is valid? [True, True] Translation: X:51.95, Y:-5.26, Z:-0.38 [[ 9.91415176e-01 1.30271994e-01 1.11872954e-02 5.19485417e+01] [-1.30260017e-01 9.91478241e-01 -1.79575058e-03 -5.25523301e+00] [-1.13258960e-02 3.23077088e-04 9.99935808e-01 -3.84465300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.057552017999996 meters 0.02732562004185598 Centerline is valid? [True, True] Translation: X:51.98, Y:-5.25, Z:-0.39 [[ 9.91480361e-01 1.29807390e-01 1.08044450e-02 5.19777298e+01] [-1.29796202e-01 9.91539178e-01 -1.73334557e-03 -5.25408368e+00] [-1.09380316e-02 3.16202165e-04 9.99940128e-01 -3.85909860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.087552018 meters 0.027879984568609958 Centerline is valid? [True, True] Translation: X:52.00, Y:-5.26, Z:-0.39 [[ 9.91545661e-01 1.29331002e-01 1.05211422e-02 5.20047967e+01] [-1.29320376e-01 9.91601429e-01 -1.68692489e-03 -5.25873303e+00] [-1.06509513e-02 3.12064989e-04 9.99943228e-01 -3.86015845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.117552018 meters 0.027879984568609958 Centerline is valid? [True, True] Translation: X:52.03, Y:-5.26, Z:-0.39 [[ 9.91560833e-01 1.29214611e-01 1.05213187e-02 5.20319557e+01] [-1.29203991e-01 9.91616603e-01 -1.68582328e-03 -5.26297703e+00] [-1.06509473e-02 3.12199975e-04 9.99943228e-01 -3.86210125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.147552018 meters 0.02778506552631034 Centerline is valid? [True, True] Translation: X:52.06, Y:-5.27, Z:-0.39 [[ 9.91675830e-01 1.28252509e-01 1.14167828e-02 5.20606920e+01] [-1.28239955e-01 9.91741485e-01 -1.82803502e-03 -5.26847410e+00] [-1.15569472e-02 3.48730440e-04 9.99933155e-01 -3.85806063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17755201799999 meters 0.028161370816300463 Centerline is valid? [True, True] Translation: X:52.09, Y:-5.28, Z:-0.39 [[ 9.91827045e-01 1.27067585e-01 1.15300579e-02 5.20885333e+01] [-1.27054711e-01 9.91893994e-01 -1.84524087e-03 -5.27550226e+00] [-1.16710655e-02 3.65211621e-04 9.99931824e-01 -3.85800921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.207552017999994 meters 0.029154075637728077 Centerline is valid? [True, True] Translation: X:52.12, Y:-5.28, Z:-0.39 [[ 9.91922784e-01 1.26347901e-01 1.11981070e-02 5.21154689e+01] [-1.26335723e-01 9.91985926e-01 -1.79115383e-03 -5.28203928e+00] [-1.13346730e-02 3.61965357e-04 9.99935695e-01 -3.85642162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.237552017999995 meters 0.028160368654206753 Centerline is valid? [True, True] Translation: X:52.14, Y:-5.29, Z:-0.39 [[ 9.92005922e-01 1.25675555e-01 1.13975957e-02 5.21441301e+01] [-1.25662907e-01 9.92071325e-01 -1.82200015e-03 -5.28515535e+00] [-1.15362087e-02 3.75179931e-04 9.99933385e-01 -3.85710327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.267552017999996 meters 0.029037373769104795 Centerline is valid? [True, True] Translation: X:52.17, Y:-5.29, Z:-0.38 [[ 9.92157370e-01 1.24415904e-01 1.20181331e-02 5.21715236e+01] [-1.24401765e-01 9.92230072e-01 -1.91985694e-03 -5.29057561e+00] [-1.21636138e-02 4.09723241e-04 9.99925937e-01 -3.84942361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.297552018 meters 0.029695591292931874 Centerline is valid? [True, True] Translation: X:52.20, Y:-5.30, Z:-0.39 [[ 9.92209664e-01 1.24086935e-01 1.10641060e-02 5.21985371e+01] [-1.24074945e-01 9.92271278e-01 -1.76618169e-03 -5.29687862e+00] [-1.11977547e-02 3.79644197e-04 9.99937231e-01 -3.85256432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.327552018 meters 0.02960174684602501 Centerline is valid? [True, True] Translation: X:52.23, Y:-5.30, Z:-0.39 [[ 9.92310714e-01 1.23382610e-01 9.80704826e-03 5.22273443e+01] [-1.23373163e-01 9.92359116e-01 -1.56479761e-03 -5.30152519e+00] [-9.92518255e-03 3.42838878e-04 9.99950685e-01 -3.86996104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.357552018 meters 0.031207644824139246 Centerline is valid? [True, True] Translation: X:52.25, Y:-5.31, Z:-0.39 [[ 9.92662384e-01 1.20693845e-01 7.37471356e-03 5.22542640e+01] [-1.20688433e-01 9.92689739e-01 -1.17624000e-03 -5.31138538e+00] [-7.46276741e-03 2.77566586e-04 9.99972115e-01 -3.90498781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.387552017999994 meters 0.03151518870270322 Centerline is valid? [True, True] Translation: X:52.28, Y:-5.32, Z:-0.39 [[ 9.92829470e-01 1.19378963e-01 6.18920592e-03 5.22826754e+01] [-1.19375128e-01 9.92848732e-01 -9.86648905e-04 -5.31807193e+00] [-6.26273038e-03 2.40736861e-04 9.99980360e-01 -3.91758644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.417552017999995 meters 0.03183502605925638 Centerline is valid? [True, True] Translation: X:52.31, Y:-5.32, Z:-0.39 [[ 9.93013115e-01 1.17888258e-01 5.22600808e-03 5.23105283e+01] [-1.17885506e-01 9.93026845e-01 -8.32776627e-04 -5.32401714e+00] [-5.28774090e-03 2.10887508e-04 9.99985998e-01 -3.91950827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.447552017999996 meters 0.03492842892129693 Centerline is valid? [True, True] Translation: X:52.34, Y:-5.33, Z:-0.39 [[ 9.93238125e-01 1.15999892e-01 4.69602034e-03 5.23378616e+01] [-1.15997649e-01 9.93249206e-01 -7.48053615e-04 -5.33142106e+00] [-4.75109262e-03 1.98268051e-04 9.99988694e-01 -3.90839896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.477552018 meters 0.03456183123685057 Centerline is valid? [True, True] Translation: X:52.37, Y:-5.34, Z:-0.39 [[ 9.93477487e-01 1.13895609e-01 5.50201575e-03 5.23662284e+01] [-1.13892502e-01 9.93492693e-01 -8.75767776e-04 -5.33697937e+00] [-5.56595855e-03 2.43417229e-04 9.99984480e-01 -3.90236710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.507552018 meters 0.03538319663981061 Centerline is valid? [True, True] Translation: X:52.39, Y:-5.34, Z:-0.39 [[ 9.93619649e-01 1.12637498e-01 5.72606085e-03 5.23942391e+01] [-1.12634115e-01 9.93636114e-01 -9.10973198e-04 -5.34271552e+00] [-5.79223059e-03 2.60211076e-04 9.99983191e-01 -3.89623448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.537552018 meters 0.03457540663444589 Centerline is valid? [True, True] Translation: X:52.42, Y:-5.35, Z:-0.39 [[ 9.94051849e-01 1.08747564e-01 5.90666323e-03 5.24238705e+01] [-1.08743899e-01 9.94069355e-01 -9.39177898e-04 -5.34729740e+00] [-5.97376622e-03 2.91277937e-04 9.99982114e-01 -3.89661107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56755201799999 meters 0.03514997416222609 Centerline is valid? [True, True] Translation: X:52.45, Y:-5.35, Z:-0.39 [[ 9.94282532e-01 1.06632925e-01 5.62729574e-03 5.24531733e+01] [-1.06629564e-01 9.94298414e-01 -8.94678978e-04 -5.35359309e+00] [-5.69061346e-03 2.89527587e-04 9.99983766e-01 -3.89901611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.597552017999995 meters 0.0369945572460457 Centerline is valid? [True, True] Translation: X:52.48, Y:-5.36, Z:-0.39 [[ 9.94566197e-01 1.03973792e-01 5.24692190e-03 5.24801995e+01] [-1.03970835e-01 9.94579997e-01 -8.34079197e-04 -5.36181174e+00] [-5.30520594e-03 2.84020126e-04 9.99985887e-01 -3.90073408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.627552017999996 meters 0.04032206829199521 Centerline is valid? [True, True] Translation: X:52.51, Y:-5.37, Z:-0.39 [[ 9.95111309e-01 9.86157193e-02 5.33136282e-03 5.25100316e+01] [-9.86125921e-02 9.95125540e-01 -8.46938149e-04 -5.37049733e+00] [-5.38889672e-03 3.17058223e-04 9.99985430e-01 -3.90591729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.657552018 meters 0.04243744836281055 Centerline is valid? [True, True] Translation: X:52.54, Y:-5.38, Z:-0.39 [[ 9.95385109e-01 9.58705947e-02 4.16089223e-03 5.25381175e+01] [-9.58686653e-02 9.95393772e-01 -6.61150146e-04 -5.37778801e+00] [-4.20511107e-03 2.59199827e-04 9.99991125e-01 -3.90997427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.687552018 meters 0.041957880640470464 Centerline is valid? [True, True] Translation: X:52.57, Y:-5.38, Z:-0.39 [[ 9.95665936e-01 9.29047441e-02 4.24878489e-03 5.25680362e+01] [-9.29027070e-02 9.95674963e-01 -6.74755489e-04 -5.38136072e+00] [-4.29309672e-03 2.77107438e-04 9.99990746e-01 -3.90736241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.717552018 meters 0.04315244507948394 Centerline is valid? [True, True] Translation: X:52.60, Y:-5.39, Z:-0.39 [[ 9.95902071e-01 9.03307438e-02 4.40702466e-03 5.25970971e+01] [-9.03285273e-02 9.95911777e-01 -6.99828683e-04 -5.38656204e+00] [-4.45222381e-03 2.98880787e-04 9.99990044e-01 -3.90447491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74755201799999 meters 0.0448968400642701 Centerline is valid? [True, True] Translation: X:52.63, Y:-5.39, Z:-0.39 [[ 9.96243268e-01 8.64486824e-02 5.09671386e-03 5.26269033e+01] [-8.64456687e-02 9.96256238e-01 -8.09061692e-04 -5.39040857e+00] [-5.14757529e-03 3.65433426e-04 9.99986684e-01 -3.88999181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.777552017999994 meters 0.04670828923606197 Centerline is valid? [True, True] Translation: X:52.66, Y:-5.40, Z:-0.39 [[ 9.96396808e-01 8.46733187e-02 4.88170240e-03 5.26552415e+01] [-8.46705328e-02 9.96408701e-01 -7.74925422e-04 -5.39600072e+00] [-4.92978626e-03 3.58796873e-04 9.99987784e-01 -3.89276930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.807552017999996 meters 0.04611912875232178 Centerline is valid? [True, True] Translation: X:52.68, Y:-5.40, Z:-0.39 [[ 9.96498200e-01 8.34850400e-02 4.64592256e-03 5.26842186e+01] [-8.34825049e-02 9.96508970e-01 -7.37286333e-04 -5.39859465e+00] [-4.69125588e-03 3.46851252e-04 9.99988936e-01 -3.90532515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.837552018 meters 0.045979564282662026 Centerline is valid? [True, True] Translation: X:52.71, Y:-5.40, Z:-0.39 [[ 9.96624774e-01 8.20260590e-02 3.28419694e-03 5.27133898e+01] [-8.20247849e-02 9.96630154e-01 -5.21013675e-04 -5.40020958e+00] [-3.31586640e-03 2.49869589e-04 9.99994471e-01 -3.92583495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.867552018 meters 0.04812903028948468 Centerline is valid? [True, True] Translation: X:52.74, Y:-5.40, Z:-0.39 [[ 9.96653801e-01 8.16944499e-02 2.68655145e-03 5.27410245e+01] [-8.16935958e-02 9.96657401e-01 -4.26285933e-04 -5.40487686e+00] [-2.71239658e-03 2.05385448e-04 9.99996300e-01 -3.93071503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.897552018 meters 0.04858778069299063 Centerline is valid? [True, True] Translation: X:52.77, Y:-5.41, Z:-0.39 [[ 9.96669790e-01 8.14989890e-02 2.69140351e-03 5.27698121e+01] [-8.14981322e-02 9.96673403e-01 -4.26686513e-04 -5.40667061e+00] [-2.71722481e-03 2.05921199e-04 9.99996287e-01 -3.93147543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92755201799999 meters 0.046310006978938695 Centerline is valid? [True, True] Translation: X:52.80, Y:-5.40, Z:-0.39 [[ 9.96577660e-01 8.26139806e-02 2.81044445e-03 5.28001105e+01] [-8.26130517e-02 9.96581600e-01 -4.45231143e-04 -5.40303960e+00] [-2.83761955e-03 2.11528017e-04 9.99995952e-01 -3.93067641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.957552017999994 meters 0.04819349409375319 Centerline is valid? [True, True] Translation: X:52.83, Y:-5.41, Z:-0.39 [[ 9.96524047e-01 8.32723476e-02 2.35365322e-03 5.28271974e+01] [-8.32716976e-02 9.96526811e-01 -3.72976801e-04 -5.40714007e+00] [-2.37653719e-03 1.75687652e-04 9.99997161e-01 -3.93265232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.987552017999995 meters 0.045421384769852434 Centerline is valid? [True, True] Translation: X:52.86, Y:-5.40, Z:-0.39 [[ 9.96461653e-01 8.40181817e-02 2.26238962e-03 5.28568910e+01] [-8.40175838e-02 9.96464208e-01 -3.58219946e-04 -5.40469140e+00] [-2.28448727e-03 1.66871930e-04 9.99997377e-01 -3.93016543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.017552017999996 meters 0.04701326496494849 Centerline is valid? [True, True] Translation: X:52.89, Y:-5.40, Z:-0.39 [[ 9.96502797e-01 8.35417697e-02 1.71678965e-03 5.28850150e+01] [-8.35414242e-02 9.96504268e-01 -2.72155886e-04 -5.40492330e+00] [-1.73352460e-03 1.27781050e-04 9.99998489e-01 -3.93254696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.047552018 meters 0.04604597862826909 Centerline is valid? [True, True] Translation: X:52.91, Y:-5.41, Z:-0.39 [[ 9.96549170e-01 8.29974037e-02 1.08783343e-03 5.29135153e+01] [-8.29972647e-02 9.96549760e-01 -1.72413481e-04 -5.40570709e+00] [-1.09839001e-03 8.15313123e-05 9.99999393e-01 -3.94020514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.077552018 meters 0.046530121323095086 Centerline is valid? [True, True] Translation: X:52.94, Y:-5.41, Z:-0.39 [[ 9.96651442e-01 8.17670690e-02 2.20804373e-04 5.29418757e+01] [-8.17670631e-02 9.96651467e-01 -3.55375044e-05 -5.40852174e+00] [-2.22970800e-04 1.73639798e-05 9.99999975e-01 -3.94725503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.107552018 meters 0.04888120555073183 Centerline is valid? [True, True] Translation: X:52.97, Y:-5.41, Z:-0.40 [[ 9.96747136e-01 8.05923249e-02 1.52150561e-04 5.29693393e+01] [-8.05923221e-02 9.96747148e-01 -2.46883127e-05 -5.41366178e+00] [-1.53645326e-04 1.23458380e-05 9.99999988e-01 -3.95404326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.137552017999994 meters 0.04719165069321601 Centerline is valid? [True, True] Translation: X:53.00, Y:-5.41, Z:-0.39 [[ 9.96909344e-01 7.85563874e-02 8.09029524e-04 5.29994279e+01] [-7.85563093e-02 9.96909670e-01 -1.27911746e-04 -5.41044499e+00] [-8.16577640e-04 6.39620415e-05 9.99999665e-01 -3.94197206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.167552017999995 meters 0.04950687288181238 Centerline is valid? [True, True] Translation: X:53.03, Y:-5.41, Z:-0.39 [[ 9.96965112e-01 7.78414148e-02 1.13102771e-03 5.30266114e+01] [-7.78412614e-02 9.96965750e-01 -1.79073297e-04 -5.41423692e+00] [-1.14153521e-03 9.04892064e-05 9.99999344e-01 -3.93821280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.197552017999996 meters 0.0494543839689398 Centerline is valid? [True, True] Translation: X:53.06, Y:-5.42, Z:-0.39 [[ 9.96944676e-01 7.81030356e-02 1.10896112e-03 5.30554739e+01] [-7.81028888e-02 9.96945288e-01 -1.75053697e-04 -5.41553412e+00] [-1.11924579e-03 8.79057837e-05 9.99999370e-01 -3.93312424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.227552018 meters 0.04676910771996914 Centerline is valid? [True, True] Translation: X:53.09, Y:-5.41, Z:-0.39 [[ 9.96759945e-01 8.04337988e-02 1.25807481e-04 5.30871371e+01] [-8.04337969e-02 9.96759953e-01 -2.01480352e-05 -5.40946611e+00] [-1.27020442e-04 9.96358110e-06 9.99999992e-01 -3.93859491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.257552018 meters 0.048519434851990347 Centerline is valid? [True, True] Translation: X:53.12, Y:-5.41, Z:-0.39 [[ 9.96583482e-01 8.25887437e-02 -6.79893726e-04 5.31161556e+01] [-8.25886900e-02 9.96583713e-01 1.06639475e-04 -5.41182594e+00] [ 6.86378234e-04 -5.01236068e-05 9.99999763e-01 -3.94481464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.287552018 meters 0.046961573650602856 Centerline is valid? [True, True] Translation: X:53.15, Y:-5.41, Z:-0.40 [[ 9.96332082e-01 8.55682294e-02 -6.78998848e-04 5.31466315e+01] [-8.55681766e-02 9.96332312e-01 1.06463976e-04 -5.41009536e+00] [ 6.85618426e-04 -4.79727812e-05 9.99999764e-01 -3.95047053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31755201799999 meters 0.04159133730935371 Centerline is valid? [True, True] Translation: X:53.18, Y:-5.40, Z:-0.39 [[ 9.96032590e-01 8.89839699e-02 -9.65621496e-04 5.31782065e+01] [-8.89838645e-02 9.96033056e-01 1.51649467e-04 -5.40295627e+00] [ 9.75285301e-04 -6.51230788e-05 9.99999522e-01 -3.94440636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.347552017999995 meters 0.03904909062603306 Centerline is valid? [True, True] Translation: X:53.21, Y:-5.40, Z:-0.39 [[ 9.95346877e-01 9.63565232e-02 1.18328531e-04 5.32085522e+01] [-9.63565216e-02 9.95346884e-01 -1.89829691e-05 -5.39608649e+00] [-1.19607068e-04 7.49291334e-06 9.99999993e-01 -3.92289059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.377552017999996 meters 0.03640431228486495 Centerline is valid? [True, True] Translation: X:53.24, Y:-5.39, Z:-0.39 [[ 9.94955433e-01 1.00311641e-01 1.12264080e-03 5.32399098e+01] [-1.00311505e-01 9.94956065e-01 -1.76532815e-04 -5.39166842e+00] [-1.13468657e-03 6.30284955e-05 9.99999354e-01 -3.91218336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.407552018 meters 0.032605663792777184 Centerline is valid? [True, True] Translation: X:53.27, Y:-5.38, Z:-0.39 [[ 9.94103345e-01 1.08425816e-01 1.54323121e-03 5.32721237e+01] [-1.08425569e-01 9.94104540e-01 -2.42717434e-04 -5.38175575e+00] [-1.56044999e-03 7.39604908e-05 9.99998780e-01 -3.89731898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.437552018 meters 0.032206370954485676 Centerline is valid? [True, True] Translation: X:53.30, Y:-5.38, Z:-0.39 [[ 9.93711057e-01 1.11967398e-01 1.27904650e-03 5.33014827e+01] [-1.11967232e-01 9.93711879e-01 -2.01137739e-04 -5.38246601e+00] [-1.29352457e-03 5.66614986e-05 9.99999162e-01 -3.90202167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.467552018 meters 0.030445892305883196 Centerline is valid? [True, True] Translation: X:53.33, Y:-5.38, Z:-0.39 [[ 9.93311289e-01 1.15459631e-01 1.32568750e-03 5.33317230e+01] [-1.15459456e-01 9.93312172e-01 -2.08405530e-04 -5.38203518e+00] [-1.34088395e-03 5.39484086e-05 9.99999100e-01 -3.90888115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49755201799999 meters 0.030421078272109964 Centerline is valid? [True, True] Translation: X:53.36, Y:-5.38, Z:-0.39 [[ 9.93011818e-01 1.18012764e-01 7.18902054e-04 5.33591969e+01] [-1.18012713e-01 9.93012078e-01 -1.13482933e-04 -5.38437881e+00] [-7.27270857e-04 2.78503124e-05 9.99999735e-01 -3.92580731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.527552017999994 meters 0.028041453454951955 Centerline is valid? [True, True] Translation: X:53.39, Y:-5.38, Z:-0.39 [[ 9.92443742e-01 1.22700410e-01 -1.65672599e-04 5.33896468e+01] [-1.22700408e-01 9.92443756e-01 2.57131124e-05 -5.38111973e+00] [ 1.67575746e-04 -5.19072201e-06 9.99999986e-01 -3.93968767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.557552017999996 meters 0.02609923754682684 Centerline is valid? [True, True] Translation: X:53.42, Y:-5.38, Z:-0.39 [[ 9.92202261e-01 1.24637164e-01 -5.00164504e-04 5.34185875e+01] [-1.24637142e-01 9.92202387e-01 7.63267919e-05 -5.37979136e+00] [ 5.05777570e-04 -1.33925414e-05 9.99999872e-01 -3.92780386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.587552018 meters 0.025978994905685452 Centerline is valid? [True, True] Translation: X:53.45, Y:-5.38, Z:-0.39 [[ 9.91894790e-01 1.27061340e-01 3.74869394e-04 5.34470397e+01] [-1.27061326e-01 9.91894861e-01 -6.04959806e-05 -5.38089380e+00] [-3.79517726e-04 1.23742456e-05 9.99999928e-01 -3.92404015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.617552018 meters 0.024809674588444536 Centerline is valid? [True, True] Translation: X:53.48, Y:-5.38, Z:-0.39 [[ 9.91559716e-01 1.29650454e-01 2.98539322e-04 5.34759506e+01] [-1.29650445e-01 9.91559761e-01 -4.85176408e-05 -5.38142904e+00] [-3.02309913e-04 9.40238213e-06 9.99999954e-01 -3.91590837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.647552018 meters 0.02361368806684812 Centerline is valid? [True, True] Translation: X:53.50, Y:-5.38, Z:-0.39 [[ 9.90822372e-01 1.35170089e-01 2.73580265e-04 5.35039816e+01] [-1.35170082e-01 9.90822409e-01 -4.33396110e-05 -5.38069200e+00] [-2.76927676e-04 5.96198922e-06 9.99999962e-01 -3.92638352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67755201799999 meters 0.023013242026698078 Centerline is valid? [True, True] Translation: X:53.53, Y:-5.38, Z:-0.39 [[ 9.90545960e-01 1.37181242e-01 8.35093882e-05 5.35330324e+01] [-1.37181242e-01 9.90545964e-01 -1.49519131e-05 -5.38268360e+00] [-8.47710094e-05 3.35463559e-06 9.99999996e-01 -3.93054539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.707552017999994 meters 0.02267575234723195 Centerline is valid? [True, True] Translation: X:53.56, Y:-5.39, Z:-0.39 [[ 9.90268307e-01 1.39171126e-01 -2.78721018e-04 5.35603368e+01] [-1.39171120e-01 9.90268346e-01 4.26639523e-05 -5.38576584e+00] [ 2.81946192e-04 -3.45884362e-06 9.99999960e-01 -3.93360060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.737552017999995 meters 0.022068640231289183 Centerline is valid? [True, True] Translation: X:53.59, Y:-5.39, Z:-0.39 [[ 9.89608924e-01 1.43784852e-01 3.04825610e-04 5.35895749e+01] [-1.43784844e-01 9.89608971e-01 -4.92895809e-05 -5.38636922e+00] [-3.08745253e-04 4.94810637e-06 9.99999952e-01 -3.92256843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.767552017999996 meters 0.021929222141307658 Centerline is valid? [True, True] Translation: X:53.62, Y:-5.39, Z:-0.39 [[ 9.89284470e-01 1.45995430e-01 1.25393135e-03 5.36185137e+01] [-1.45995299e-01 9.89285264e-01 -1.96315526e-04 -5.38918383e+00] [-1.26915697e-03 1.11438191e-05 9.99999195e-01 -3.91350984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.797552018 meters 0.021785561015062613 Centerline is valid? [True, True] Translation: X:53.65, Y:-5.39, Z:-0.39 [[ 9.88898696e-01 1.48572145e-01 2.38480830e-03 5.36459188e+01] [-1.48571685e-01 9.88901571e-01 -3.70061162e-04 -5.39288905e+00] [-2.41332146e-03 1.16380126e-05 9.99997088e-01 -3.90509819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.827552018 meters 0.021725292289553215 Centerline is valid? [True, True] Translation: X:53.67, Y:-5.40, Z:-0.39 [[ 9.88273621e-01 1.52633078e-01 4.28883565e-03 5.36730869e+01] [-1.52631631e-01 9.88282927e-01 -6.64654843e-04 -5.39801682e+00] [-4.34003137e-03 2.24886654e-06 9.99990582e-01 -3.90501454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.857552018 meters 0.021680302148284456 Centerline is valid? [True, True] Translation: X:53.70, Y:-5.40, Z:-0.39 [[ 9.88124541e-01 1.53612176e-01 3.63178811e-03 5.37002888e+01] [-1.53611144e-01 9.88131216e-01 -5.63040417e-04 -5.40373484e+00] [-3.67517307e-03 -1.52907477e-06 9.99993247e-01 -3.91851439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.887552017999994 meters 0.021861119034346288 Centerline is valid? [True, True] Translation: X:53.73, Y:-5.41, Z:-0.39 [[ 9.87994924e-01 1.54456603e-01 3.03118766e-03 5.37276689e+01] [-1.54455893e-01 9.87999574e-01 -4.68446788e-04 -5.41008831e+00] [-3.06716682e-03 -5.36174748e-06 9.99995296e-01 -3.92992502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.917552017999995 meters 0.021791118705629983 Centerline is valid? [True, True] Translation: X:53.75, Y:-5.42, Z:-0.39 [[ 9.88160113e-01 1.53401119e-01 2.77266621e-03 5.37544996e+01] [-1.53400519e-01 9.88164003e-01 -4.29201551e-04 -5.41948921e+00] [-2.80568894e-03 -1.20858301e-06 9.99996064e-01 -3.93529292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.947552017999996 meters 0.021976261110071983 Centerline is valid? [True, True] Translation: X:53.78, Y:-5.43, Z:-0.39 [[ 9.88368820e-01 1.52045689e-01 3.03046107e-03 5.37816929e+01] [-1.52044969e-01 9.88373466e-01 -4.67924429e-04 -5.42755809e+00] [-3.06637320e-03 1.71555614e-06 9.99995299e-01 -3.93959883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.977552018 meters 0.022012078372639167 Centerline is valid? [True, True] Translation: X:53.81, Y:-5.44, Z:-0.39 [[ 9.88608629e-01 1.50485312e-01 2.67402314e-03 5.38071919e+01] [-1.50484750e-01 9.88612245e-01 -4.11528046e-04 -5.43664101e+00] [-2.70550094e-03 4.44047486e-06 9.99996340e-01 -3.94690586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.007552018 meters 0.022012078372639167 Centerline is valid? [True, True] Translation: X:53.83, Y:-5.44, Z:-0.39 [[ 9.88654358e-01 1.50184590e-01 2.67396546e-03 5.38342994e+01] [-1.50184026e-01 9.88657974e-01 -4.11905003e-04 -5.44067815e+00] [-2.70549906e-03 5.64477844e-06 9.99996340e-01 -3.94884419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.037552018 meters 0.022364066846710474 Centerline is valid? [True, True] Translation: X:53.86, Y:-5.46, Z:-0.40 [[ 9.89359015e-01 1.45478948e-01 2.14820865e-03 5.38607872e+01] [-1.45478573e-01 9.89361347e-01 -3.30550133e-04 -5.45692789e+00] [-2.17344269e-03 1.45144238e-05 9.99997638e-01 -3.96434338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06755201799999 meters 0.02272866009898589 Centerline is valid? [True, True] Translation: X:53.89, Y:-5.47, Z:-0.40 [[ 9.89732400e-01 1.42922765e-01 1.69079462e-03 5.38873985e+01] [-1.42922531e-01 9.89733845e-01 -2.59131858e-04 -5.46738158e+00] [-1.71047250e-03 1.48185496e-05 9.99998537e-01 -3.97010682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.097552017999995 meters 0.02303112901826524 Centerline is valid? [True, True] Translation: X:53.91, Y:-5.48, Z:-0.40 [[ 9.90161345e-01 1.39909103e-01 2.43995581e-03 5.39148663e+01] [-1.39908606e-01 9.90164351e-01 -3.74223255e-04 -5.47691107e+00] [-2.46831450e-03 2.91705853e-05 9.99996953e-01 -3.96611199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.127552017999996 meters 0.023661086263788156 Centerline is valid? [True, True] Translation: X:53.94, Y:-5.49, Z:-0.40 [[ 9.90579692e-01 1.36892425e-01 3.51258540e-03 5.39420056e+01] [-1.36891382e-01 9.90585918e-01 -5.36862223e-04 -5.48700110e+00] [-3.55301000e-03 5.09621472e-05 9.99993687e-01 -3.96044067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.157552018 meters 0.024663478817823582 Centerline is valid? [True, True] Translation: X:53.97, Y:-5.50, Z:-0.39 [[ 9.91178887e-01 1.32425805e-01 5.27441082e-03 5.39670319e+01] [-1.32423404e-01 9.91192916e-01 -8.03460502e-04 -5.50351419e+00] [-5.33435755e-03 9.79176540e-05 9.99985767e-01 -3.94556183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.187552018 meters 0.025401195989604504 Centerline is valid? [True, True] Translation: X:53.99, Y:-5.51, Z:-0.39 [[ 9.91431456e-01 1.30503746e-01 5.69560055e-03 5.39937145e+01] [-1.30500921e-01 9.91447809e-01 -8.66472164e-04 -5.51337586e+00] [-5.75996855e-03 1.15766642e-04 9.99983405e-01 -3.94638898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.217552018 meters 0.02562479487037116 Centerline is valid? [True, True] Translation: X:54.02, Y:-5.52, Z:-0.40 [[ 9.91646697e-01 1.28853432e-01 5.79833925e-03 5.40198760e+01] [-1.28850481e-01 9.91663641e-01 -8.81193732e-04 -5.52267022e+00] [-5.86354705e-03 1.26714054e-04 9.99982801e-01 -3.95303361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24755201799999 meters 0.02609763309045454 Centerline is valid? [True, True] Translation: X:54.05, Y:-5.53, Z:-0.40 [[ 9.92182607e-01 1.24691244e-01 5.07614421e-03 5.40472097e+01] [-1.24688929e-01 9.92195584e-01 -7.71269463e-04 -5.53458155e+00] [-5.13269841e-03 1.32301160e-04 9.99986819e-01 -3.97059855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.277552017999994 meters 0.02809681578271173 Centerline is valid? [True, True] Translation: X:54.07, Y:-5.55, Z:-0.40 [[ 9.92483733e-01 1.22296456e-01 4.42908535e-03 5.40734017e+01] [-1.22294676e-01 9.92493608e-01 -6.71481569e-04 -5.54650635e+00] [-4.47795872e-03 1.24780977e-04 9.99989966e-01 -3.98495597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.307552017999996 meters 0.027193412523849034 Centerline is valid? [True, True] Translation: X:54.10, Y:-5.55, Z:-0.40 [[ 9.92782165e-01 1.19864101e-01 4.02132014e-03 5.41013684e+01] [-1.19862613e-01 9.92790301e-01 -6.09869555e-04 -5.55350290e+00] [-4.06542910e-03 1.23461677e-04 9.99991728e-01 -3.99012822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.337552018 meters 0.029462934887543746 Centerline is valid? [True, True] Translation: X:54.13, Y:-5.57, Z:-0.40 [[ 9.93464808e-01 1.14041973e-01 4.70137310e-03 5.41291945e+01] [-1.14039885e-01 9.93475918e-01 -7.10720891e-04 -5.56991146e+00] [-4.75175297e-03 1.69932146e-04 9.99988696e-01 -3.99126211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.367552018 meters 0.029947765189484547 Centerline is valid? [True, True] Translation: X:54.16, Y:-5.58, Z:-0.40 [[ 9.93769228e-01 1.11326539e-01 5.39658945e-03 5.41580064e+01] [-1.11323748e-01 9.93783859e-01 -8.15721316e-04 -5.57849289e+00] [-5.45385492e-03 2.09870177e-04 9.99985106e-01 -3.98145872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.397552018 meters 0.031655868971779445 Centerline is valid? [True, True] Translation: X:54.18, Y:-5.59, Z:-0.40 [[ 9.94019358e-01 1.09038186e-01 6.01584309e-03 5.41844400e+01] [-1.09034678e-01 9.94037531e-01 -9.09103302e-04 -5.58814411e+00] [-6.07910079e-03 2.47730769e-04 9.99981491e-01 -3.97119644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42755201799999 meters 0.032344007015075234 Centerline is valid? [True, True] Translation: X:54.21, Y:-5.59, Z:-0.40 [[ 9.94241926e-01 1.06958231e-01 6.55206576e-03 5.42128599e+01] [-1.06954029e-01 9.94263474e-01 -9.89397016e-04 -5.59476831e+00] [-6.62030382e-03 2.82930161e-04 9.99978046e-01 -3.96462730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.457552017999994 meters 0.03257644930504375 Centerline is valid? [True, True] Translation: X:54.24, Y:-5.60, Z:-0.40 [[ 9.94484840e-01 1.04642117e-01 7.06619857e-03 5.42415226e+01] [-1.04637176e-01 9.94509891e-01 -1.06642157e-03 -5.60421904e+00] [-7.13899698e-03 3.21153022e-04 9.99974465e-01 -3.96639760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.487552017999995 meters 0.03367478652974646 Centerline is valid? [True, True] Translation: X:54.27, Y:-5.61, Z:-0.40 [[ 9.94534459e-01 1.04183307e-01 6.85923646e-03 5.42682201e+01] [-1.04178642e-01 9.94558062e-01 -1.03492917e-03 -5.61300101e+00] [-6.92973126e-03 3.14686786e-04 9.99975940e-01 -3.97966218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.517552017999996 meters 0.03543574631952048 Centerline is valid? [True, True] Translation: X:54.29, Y:-5.62, Z:-0.40 [[ 9.94543679e-01 1.04153616e-01 5.90717134e-03 5.42937647e+01] [-1.04150160e-01 9.94561185e-01 -8.90609477e-04 -5.62222947e+00] [-5.96780353e-03 2.70517188e-04 9.99982156e-01 -3.99404415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.547552018 meters 0.033790434860339835 Centerline is valid? [True, True] Translation: X:54.32, Y:-5.63, Z:-0.40 [[ 9.94557632e-01 1.04032185e-01 5.69394484e-03 5.43212524e+01] [-1.04028979e-01 9.94573897e-01 -8.57228302e-04 -5.62530063e+00] [-5.75222824e-03 2.60227685e-04 9.99983422e-01 -4.00431808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.577552018 meters 0.03309419836919866 Centerline is valid? [True, True] Translation: X:54.35, Y:-5.63, Z:-0.40 [[ 9.94328048e-01 1.06254848e-01 4.65184130e-03 5.43502489e+01] [-1.06252734e-01 9.94338909e-01 -6.99966466e-04 -5.63025840e+00] [-4.69988164e-03 2.01725432e-04 9.99988935e-01 -4.01438078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.607552018 meters 0.03198596934184737 Centerline is valid? [True, True] Translation: X:54.38, Y:-5.63, Z:-0.40 [[ 9.94078781e-01 1.08576558e-01 4.30205608e-03 5.43793512e+01] [-1.08574775e-01 9.94088075e-01 -6.46644663e-04 -5.63322077e+00] [-4.34683309e-03 1.75720970e-04 9.99990537e-01 -4.01937158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.637552017999994 meters 0.03065129992393095 Centerline is valid? [True, True] Translation: X:54.41, Y:-5.64, Z:-0.40 [[ 9.93708246e-01 1.11906537e-01 4.56601050e-03 5.44087251e+01] [-1.11904565e-01 9.93718722e-01 -6.85974281e-04 -5.63588946e+00] [-4.61409513e-03 1.70700882e-04 9.99989340e-01 -4.01611995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.667552017999995 meters 0.028620609171386136 Centerline is valid? [True, True] Translation: X:54.44, Y:-5.64, Z:-0.40 [[ 9.92867339e-01 1.19081314e-01 5.83849676e-03 5.44386293e+01] [-1.19078215e-01 9.92884490e-01 -8.76837372e-04 -5.63557261e+00] [-5.90136782e-03 1.75345416e-04 9.99982571e-01 -4.00174242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.697552017999996 meters 0.02720346247633785 Centerline is valid? [True, True] Translation: X:54.47, Y:-5.64, Z:-0.40 [[ 9.92479353e-01 1.22280708e-01 5.67112539e-03 5.44677178e+01] [-1.22277837e-01 9.92495544e-01 -8.51542882e-04 -5.63630535e+00] [-5.73269394e-03 1.51685783e-04 9.99983556e-01 -3.99752395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.727552018 meters 0.02876908085314626 Centerline is valid? [True, True] Translation: X:54.49, Y:-5.64, Z:-0.40 [[ 9.92148972e-01 1.24938819e-01 5.54157395e-03 5.44949263e+01] [-1.24936121e-01 9.92164439e-01 -8.31678688e-04 -5.64371480e+00] [-5.60206157e-03 1.32806400e-04 9.99984300e-01 -4.00554989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.757552018 meters 0.02666483256402902 Centerline is valid? [True, True] Translation: X:54.52, Y:-5.64, Z:-0.40 [[ 9.91846467e-01 1.27322988e-01 5.42609761e-03 5.45242069e+01] [-1.27320440e-01 9.91861302e-01 -8.13902169e-04 -5.64473035e+00] [-5.48556470e-03 1.16412857e-04 9.99984947e-01 -4.00854554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.787552018 meters 0.02562258115498458 Centerline is valid? [True, True] Translation: X:54.55, Y:-5.65, Z:-0.40 [[ 9.91383818e-01 1.30797420e-01 7.08241450e-03 5.45529547e+01] [-1.30793173e-01 9.91409108e-01 -1.06151686e-03 -5.64688576e+00] [-7.16041390e-03 1.26039168e-04 9.99974356e-01 -3.99852578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81755201799999 meters 0.025950315979167363 Centerline is valid? [True, True] Translation: X:54.58, Y:-5.65, Z:-0.40 [[ 9.91208412e-01 1.32079952e-01 7.79548836e-03 5.45804547e+01] [-1.32074853e-01 9.91239058e-01 -1.16759829e-03 -5.65271255e+00] [-7.88140886e-03 1.27745264e-04 9.99968933e-01 -3.98918408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.847552017999995 meters 0.024983539838535983 Centerline is valid? [True, True] Translation: X:54.61, Y:-5.65, Z:-0.40 [[ 9.90946357e-01 1.33979858e-01 8.64379300e-03 5.46091411e+01] [-1.33973670e-01 9.90984047e-01 -1.29363218e-03 -5.65399075e+00] [-8.73918163e-03 1.23879431e-04 9.99961805e-01 -3.99244972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.877552017999996 meters 0.024793779810420333 Centerline is valid? [True, True] Translation: X:54.64, Y:-5.66, Z:-0.40 [[ 9.90859531e-01 1.34628480e-01 8.51834877e-03 5.46380656e+01] [-1.34622501e-01 9.90896139e-01 -1.27411671e-03 -5.65764561e+00] [-8.61233131e-03 1.15709274e-04 9.99962906e-01 -4.00057166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.907552018 meters 0.024382471994118745 Centerline is valid? [True, True] Translation: X:54.67, Y:-5.66, Z:-0.40 [[ 9.90712118e-01 1.35741561e-01 7.98303162e-03 5.46658230e+01] [-1.35736351e-01 9.90744275e-01 -1.19335492e-03 -5.66186326e+00] [-8.07113074e-03 9.86835947e-05 9.99967423e-01 -4.00130379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.937552018 meters 0.025413950243232526 Centerline is valid? [True, True] Translation: X:54.70, Y:-5.66, Z:-0.40 [[ 9.90329737e-01 1.38573246e-01 6.66846003e-03 5.46950810e+01] [-1.38569678e-01 9.90352186e-01 -9.96292733e-04 -5.66428642e+00] [-6.74218348e-03 6.26119577e-05 9.99977269e-01 -3.99994175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.967552018 meters 0.023381117681589694 Centerline is valid? [True, True] Translation: X:54.72, Y:-5.67, Z:-0.40 [[ 9.90313918e-01 1.38644982e-01 7.47743525e-03 5.47229547e+01] [-1.38640517e-01 9.90342145e-01 -1.11474742e-03 -5.66689670e+00] [-7.55977340e-03 6.72743973e-05 9.99971422e-01 -3.99734686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99755201799999 meters 0.02330300197210115 Centerline is valid? [True, True] Translation: X:54.75, Y:-5.67, Z:-0.40 [[ 9.90212424e-01 1.39374068e-01 7.36374493e-03 5.47509323e+01] [-1.39369777e-01 9.90239802e-01 -1.09521740e-03 -5.67030351e+00] [-7.44451823e-03 5.82143870e-05 9.99972287e-01 -4.00102727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.027552017999994 meters 0.02321852035077013 Centerline is valid? [True, True] Translation: X:54.78, Y:-5.68, Z:-0.40 [[ 9.90103172e-01 1.40137258e-01 7.56687222e-03 5.47785180e+01] [-1.40132770e-01 9.90132085e-01 -1.12279810e-03 -5.67512792e+00] [-7.64954882e-03 5.13191941e-05 9.99970740e-01 -4.00211236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.057552017999996 meters 0.022861055585437644 Centerline is valid? [True, True] Translation: X:54.81, Y:-5.68, Z:-0.40 [[ 9.90043093e-01 1.40452552e-01 9.36778818e-03 5.48059503e+01] [-1.40445704e-01 9.90087409e-01 -1.38818250e-03 -5.68297849e+00] [-9.46990290e-03 5.86948892e-05 9.99955158e-01 -3.98694696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.087552018 meters 0.022592830474651857 Centerline is valid? [True, True] Translation: X:54.83, Y:-5.69, Z:-0.40 [[ 9.90087512e-01 1.40055487e-01 1.05441660e-02 5.48326094e+01] [-1.40046824e-01 9.90143654e-01 -1.55916681e-03 -5.68960634e+00] [-1.06586089e-02 6.70346354e-05 9.99943193e-01 -3.97698795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.117552018 meters 0.02235901624211536 Centerline is valid? [True, True] Translation: X:54.86, Y:-5.70, Z:-0.40 [[ 9.90273859e-01 1.38777098e-01 9.92979300e-03 5.48606383e+01] [-1.38769361e-01 9.90323640e-01 -1.46729907e-03 -5.69691920e+00] [-1.00373363e-02 7.50768828e-05 9.99949622e-01 -3.98828654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.147552018 meters 0.02268195110537222 Centerline is valid? [True, True] Translation: X:54.89, Y:-5.70, Z:-0.40 [[ 9.90495251e-01 1.37290037e-01 8.40258427e-03 5.48888006e+01] [-1.37284450e-01 9.90530888e-01 -1.24097282e-03 -5.70414145e+00] [-8.49339246e-03 7.56335317e-05 9.99963928e-01 -4.01094057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17755201799999 meters 0.022820574381705355 Centerline is valid? [True, True] Translation: X:54.92, Y:-5.71, Z:-0.40 [[ 9.90672701e-01 1.36067410e-01 7.29790277e-03 5.49166192e+01] [-1.36063166e-01 9.90699578e-01 -1.07725341e-03 -5.71258803e+00] [-7.37660828e-03 7.42297911e-05 9.99972790e-01 -4.03111370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.207552017999994 meters 0.022540627850560005 Centerline is valid? [True, True] Translation: X:54.94, Y:-5.72, Z:-0.40 [[ 9.90837511e-01 1.34900556e-01 6.54724488e-03 5.49439339e+01] [-1.34897118e-01 9.90859140e-01 -9.65926925e-04 -5.72173931e+00] [-6.61770151e-03 7.38721617e-05 9.99978100e-01 -4.03864773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.237552017999995 meters 0.024925024884746058 Centerline is valid? [True, True] Translation: X:54.97, Y:-5.73, Z:-0.40 [[ 9.90914032e-01 1.34414909e-01 4.69189862e-03 5.49712829e+01] [-1.34413139e-01 9.90925138e-01 -6.91961660e-04 -5.73405195e+00] [-4.74233025e-03 5.50216981e-05 9.99988754e-01 -4.04236160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.267552017999996 meters 0.021603704141771287 Centerline is valid? [True, True] Translation: X:55.00, Y:-5.74, Z:-0.40 [[ 9.90922342e-01 1.34327520e-01 5.38788563e-03 5.49992275e+01] [-1.34325188e-01 9.90936988e-01 -7.94111802e-04 -5.73956710e+00] [-5.44572623e-03 6.31743779e-05 9.99985170e-01 -4.03576725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.297552018 meters 0.02119004630188391 Centerline is valid? [True, True] Translation: X:55.03, Y:-5.74, Z:-0.40 [[ 9.90700391e-01 1.35938886e-01 5.77536369e-03 5.50270778e+01] [-1.35936239e-01 9.90717223e-01 -8.50337285e-04 -5.74411104e+00] [-5.83734618e-03 5.73482630e-05 9.99982961e-01 -4.03130013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.327552018 meters 0.021021018009930368 Centerline is valid? [True, True] Translation: X:55.06, Y:-5.75, Z:-0.40 [[ 9.90388490e-01 1.38181530e-01 6.04186945e-03 5.50553455e+01] [-1.38178678e-01 9.90406918e-01 -8.88837136e-04 -5.74727243e+00] [-6.10673018e-03 4.54365333e-05 9.99981353e-01 -4.02551464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.357552018 meters 0.02001984984618765 Centerline is valid? [True, True] Translation: X:55.08, Y:-5.75, Z:-0.40 [[ 9.89634750e-01 1.43456009e-01 6.59057202e-03 5.50826313e+01] [-1.43452738e-01 9.89656695e-01 -9.68921062e-04 -5.75129276e+00] [-6.66140127e-03 1.34423537e-05 9.99977813e-01 -4.00933426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.387552017999994 meters 0.01945153155806788 Centerline is valid? [True, True] Translation: X:55.11, Y:-5.76, Z:-0.40 [[ 9.89244038e-01 1.46110181e-01 6.93172534e-03 5.51090049e+01] [-1.46106633e-01 9.89268323e-01 -1.01827121e-03 -5.75761890e+00] [-7.00611610e-03 -5.45232587e-06 9.99975457e-01 -4.00526091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.417552017999995 meters 0.01894206040277269 Centerline is valid? [True, True] Translation: X:55.14, Y:-5.77, Z:-0.40 [[ 9.88610376e-01 1.50263985e-01 8.38206523e-03 5.51371155e+01] [-1.50258958e-01 9.88645909e-01 -1.22990570e-03 -5.76731444e+00] [-8.47170503e-03 -4.35828575e-05 9.99964114e-01 -3.98599066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.447552017999996 meters 0.019067461583611098 Centerline is valid? [True, True] Translation: X:55.17, Y:-5.77, Z:-0.40 [[ 9.88377465e-01 1.51734128e-01 9.31349379e-03 5.51657943e+01] [-1.51727995e-01 9.88421343e-01 -1.36565839e-03 -5.77208095e+00] [-9.41287302e-03 -6.33317644e-05 9.99955696e-01 -3.97946814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.477552018 meters 0.01920913667059677 Centerline is valid? [True, True] Translation: X:55.19, Y:-5.78, Z:-0.40 [[ 9.88245931e-01 1.52613454e-01 8.89457270e-03 5.51943844e+01] [-1.52607904e-01 9.88285955e-01 -1.30344236e-03 -5.77695445e+00] [-8.98930412e-03 -6.92604821e-05 9.99959593e-01 -3.98065170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.507552018 meters 0.018564934820003643 Centerline is valid? [True, True] Translation: X:55.22, Y:-5.79, Z:-0.40 [[ 9.88586476e-01 1.50446060e-01 7.92231718e-03 5.52216547e+01] [-1.50441592e-01 9.88618218e-01 -1.16030770e-03 -5.78853587e+00] [-8.00671081e-03 -4.47815126e-05 9.99967945e-01 -3.99386146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.537552018 meters 0.018176408646501194 Centerline is valid? [True, True] Translation: X:55.25, Y:-5.80, Z:-0.40 [[ 9.88980323e-01 1.47858465e-01 7.46955787e-03 5.52489669e+01] [-1.47854424e-01 9.89008531e-01 -1.09335275e-03 -5.79945458e+00] [-7.54911791e-03 -2.31028243e-05 9.99971505e-01 -4.00105588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56755201799999 meters 0.017481614928959447 Centerline is valid? [True, True] Translation: X:55.28, Y:-5.81, Z:-0.40 [[ 9.89499003e-01 1.44368837e-01 7.02576132e-03 5.52763064e+01] [-1.44365179e-01 9.89523946e-01 -1.02779312e-03 -5.81155013e+00] [-7.10054036e-03 2.72498476e-06 9.99974791e-01 -3.99869385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.597552017999995 meters 0.018160900523794897 Centerline is valid? [True, True] Translation: X:55.30, Y:-5.83, Z:-0.40 [[ 9.90742190e-01 1.35592928e-01 6.66861532e-03 5.53011513e+01] [-1.35589437e-01 9.90764631e-01 -9.74967743e-04 -5.83238652e+00] [-6.73922693e-03 6.17478781e-05 9.99977289e-01 -3.99252986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.627552017999996 meters 0.019076169422419274 Centerline is valid? [True, True] Translation: X:55.33, Y:-5.84, Z:-0.40 [[ 9.91336928e-01 1.31158050e-01 6.97575870e-03 5.53284783e+01] [-1.31154126e-01 9.91361466e-01 -1.01903639e-03 -5.84374127e+00] [-7.04915320e-03 9.53088701e-05 9.99975150e-01 -3.98420344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.657552018 meters 0.020311162820841593 Centerline is valid? [True, True] Translation: X:55.36, Y:-5.85, Z:-0.40 [[ 9.91879110e-01 1.26965256e-01 7.46018991e-03 5.53563857e+01] [-1.26960654e-01 9.91907156e-01 -1.08906353e-03 -5.85424778e+00] [-7.53808899e-03 1.33068776e-04 9.99971579e-01 -3.97693767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.687552018 meters 0.023413687294848703 Centerline is valid? [True, True] Translation: X:55.38, Y:-5.87, Z:-0.40 [[ 9.92764719e-01 1.19813737e-01 7.92978692e-03 5.53828323e+01] [-1.19808316e-01 9.92796368e-01 -1.15686091e-03 -5.86936595e+00] [-8.01127148e-03 1.98436275e-04 9.99967890e-01 -3.96040640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.717552018 meters 0.02457129034926608 Centerline is valid? [True, True] Translation: X:55.41, Y:-5.88, Z:-0.40 [[ 9.93148533e-01 1.16542570e-01 8.59193795e-03 5.54108144e+01] [-1.16536090e-01 9.93185668e-01 -1.25276707e-03 -5.87862429e+00] [-8.67939033e-03 2.42912925e-04 9.99962304e-01 -3.95456559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74755201799999 meters 0.025971319252191295 Centerline is valid? [True, True] Translation: X:55.44, Y:-5.89, Z:-0.39 [[ 9.93522574e-01 1.13271413e-01 9.08199589e-03 5.54389800e+01] [-1.13264043e-01 9.93564042e-01 -1.32345140e-03 -5.88896419e+00] [-9.17345375e-03 2.86215264e-04 9.99957882e-01 -3.94656120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.777552017999994 meters 0.027762949589310297 Centerline is valid? [True, True] Translation: X:55.47, Y:-5.90, Z:-0.39 [[ 9.93874435e-01 1.10086906e-01 9.72008498e-03 5.54675244e+01] [-1.10078317e-01 9.93921908e-01 -1.41597035e-03 -5.89979152e+00] [-9.81688520e-03 3.37326145e-04 9.99951756e-01 -3.94607243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.807552017999996 meters 0.030420840324282515 Centerline is valid? [True, True] Translation: X:55.50, Y:-5.91, Z:-0.40 [[ 9.94455045e-01 1.04787798e-01 8.87018269e-03 5.54958366e+01] [-1.04780437e-01 9.94494541e-01 -1.29183100e-03 -5.91294202e+00] [-8.95671638e-03 3.55246240e-04 9.99959825e-01 -3.95495176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.837552018 meters 0.030870616043292293 Centerline is valid? [True, True] Translation: X:55.53, Y:-5.92, Z:-0.40 [[ 9.94687384e-01 1.02666625e-01 7.52144056e-03 5.55251623e+01] [-1.02661273e-01 9.94715770e-01 -1.09524613e-03 -5.91829274e+00] [-7.59414077e-03 3.17266844e-04 9.99971114e-01 -3.97416903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.867552018 meters 0.031847550643722036 Centerline is valid? [True, True] Translation: X:55.55, Y:-5.92, Z:-0.40 [[ 9.94823647e-01 1.01429333e-01 6.16460748e-03 5.55528506e+01] [-1.01425716e-01 9.94842711e-01 -8.97462761e-04 -5.92432929e+00] [-6.22384386e-03 2.67567450e-04 9.99980596e-01 -3.99101340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.897552018 meters 0.03357895847590656 Centerline is valid? [True, True] Translation: X:55.58, Y:-5.93, Z:-0.40 [[ 9.94915487e-01 1.00590519e-01 4.97213449e-03 5.55807735e+01] [-1.00588156e-01 9.94927886e-01 -7.23583582e-04 -5.93163210e+00] [-5.01970091e-03 2.19766672e-04 9.99987377e-01 -4.00653177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92755201799999 meters 0.03357895847590656 Centerline is valid? [True, True] Translation: X:55.61, Y:-5.94, Z:-0.40 [[ 9.94924149e-01 1.00504806e-01 4.97216276e-03 5.56088463e+01] [-1.00502444e-01 9.94936548e-01 -7.23389291e-04 -5.93561927e+00] [-5.01969055e-03 2.20002966e-04 9.99987377e-01 -4.00853476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.957552017999994 meters 0.03248829635783486 Centerline is valid? [True, True] Translation: X:55.64, Y:-5.94, Z:-0.40 [[ 9.94966558e-01 1.00099599e-01 4.64960942e-03 5.56372652e+01] [-1.00097530e-01 9.94977400e-01 -6.76098372e-04 -5.94044116e+00] [-4.69393347e-03 2.07280850e-04 9.99988962e-01 -4.00744557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.987552017999995 meters 0.034716898477098836 Centerline is valid? [True, True] Translation: X:55.67, Y:-5.95, Z:-0.40 [[ 9.94959426e-01 1.00104718e-01 5.89806019e-03 5.56653856e+01] [-1.00101393e-01 9.94976872e-01 -8.56906730e-04 -5.94763813e+00] [-5.95421389e-03 2.62183386e-04 9.99982239e-01 -3.99290807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.017552017999996 meters 0.03260431635996214 Centerline is valid? [True, True] Translation: X:55.70, Y:-5.95, Z:-0.40 [[ 9.94922616e-01 1.00381621e-01 7.24691933e-03 5.56952931e+01] [-1.00376614e-01 9.94948957e-01 -1.05228736e-03 -5.94893922e+00] [-7.31594514e-03 3.19523268e-04 9.99973187e-01 -3.98217806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.047552018 meters 0.03377729865901369 Centerline is valid? [True, True] Translation: X:55.72, Y:-5.95, Z:-0.40 [[ 9.94910635e-01 1.00456362e-01 7.83250180e-03 5.57241385e+01] [-1.00450518e-01 9.94941406e-01 -1.13695713e-03 -5.95321358e+00] [-7.90709493e-03 3.44391877e-04 9.99968679e-01 -3.97889088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.077552018 meters 0.032758570681249995 Centerline is valid? [True, True] Translation: X:55.75, Y:-5.95, Z:-0.40 [[ 9.94960739e-01 1.00032281e-01 6.83164413e-03 5.57534342e+01] [-1.00027826e-01 9.94984146e-01 -9.91545272e-04 -5.95471609e+00] [-6.89656414e-03 3.03194105e-04 9.99976172e-01 -3.99137020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.107552018 meters 0.034642172750474966 Centerline is valid? [True, True] Translation: X:55.78, Y:-5.96, Z:-0.40 [[ 9.95042057e-01 9.92460463e-02 6.44409833e-03 5.57819384e+01] [-9.92420683e-02 9.95062881e-01 -9.34962702e-04 -5.96011808e+00] [-6.50507440e-03 2.90801564e-04 9.99978799e-01 -4.00717371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.137552017999994 meters 0.03414299374982144 Centerline is valid? [True, True] Translation: X:55.81, Y:-5.96, Z:-0.40 [[ 9.95407118e-01 9.55323459e-02 6.18381217e-03 5.58119375e+01] [-9.55286083e-02 9.95426280e-01 -8.97666370e-04 -5.96409206e+00] [-6.24128532e-03 3.02812524e-04 9.99980477e-01 -4.02325255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.167552017999995 meters 0.03978352095470085 Centerline is valid? [True, True] Translation: X:55.84, Y:-5.98, Z:-0.40 [[ 9.95621303e-01 9.32525710e-02 6.49447664e-03 5.58399322e+01] [-9.32484010e-02 9.95642429e-01 -9.42605809e-04 -5.97673216e+00] [-6.55407691e-03 3.32878862e-04 9.99978466e-01 -4.02317591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.197552017999996 meters 0.03734401585671246 Centerline is valid? [True, True] Translation: X:55.87, Y:-5.98, Z:-0.40 [[ 9.95880983e-01 9.04377054e-02 6.48758070e-03 5.58707821e+01] [-9.04334858e-02 9.95902053e-01 -9.41445594e-04 -5.97737742e+00] [-6.54613712e-03 3.50873226e-04 9.99978512e-01 -4.01917484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.227552018 meters 0.044507322902475874 Centerline is valid? [True, True] Translation: X:55.90, Y:-5.99, Z:-0.40 [[ 9.96109798e-01 8.78282674e-02 7.17397058e-03 5.58987886e+01] [-8.78230402e-02 9.96135548e-01 -1.04104695e-03 -5.98890397e+00] [-7.23768047e-03 4.06957158e-04 9.99973725e-01 -4.01753474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.257552018 meters 0.043650997776477664 Centerline is valid? [True, True] Translation: X:55.93, Y:-5.99, Z:-0.40 [[ 9.96591463e-01 8.21845660e-02 7.15217691e-03 5.59299787e+01] [-8.21792268e-02 9.96617027e-01 -1.03772754e-03 -5.98628181e+00] [-7.21326648e-03 4.46430035e-04 9.99973884e-01 -4.01774849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.287552018 meters 0.0450036825646341 Centerline is valid? [True, True] Translation: X:55.96, Y:-5.99, Z:-0.40 [[ 9.96798371e-01 7.96571443e-02 6.90985207e-03 5.59606241e+01] [-7.96521000e-02 9.96822220e-01 -1.00259384e-03 -5.99103387e+00] [-6.96775784e-03 4.48999680e-04 9.99975624e-01 -4.01567466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31755201799999 meters 0.04732014389601227 Centerline is valid? [True, True] Translation: X:55.99, Y:-6.00, Z:-0.40 [[ 9.96992164e-01 7.71726695e-02 7.14165748e-03 5.59907761e+01] [-7.71672165e-02 9.97017626e-01 -1.03639135e-03 -5.99692156e+00] [-7.20033947e-03 4.82172230e-04 9.99973961e-01 -4.02427153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.347552017999995 meters 0.04706177067293816 Centerline is valid? [True, True] Translation: X:56.02, Y:-6.00, Z:-0.40 [[ 9.97127604e-01 7.54064814e-02 7.09962964e-03 5.60215657e+01] [-7.54010467e-02 9.97152757e-01 -1.03044704e-03 -6.00047645e+00] [-7.15711765e-03 4.92167684e-04 9.99974266e-01 -4.02594064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.377552017999996 meters 0.05058020957410781 Centerline is valid? [True, True] Translation: X:56.05, Y:-6.01, Z:-0.40 [[ 9.97302541e-01 7.30225673e-02 7.43951752e-03 5.60508784e+01] [-7.30165322e-02 9.97330146e-01 -1.07998959e-03 -6.00574569e+00] [-7.49851870e-03 5.33868593e-04 9.99971743e-01 -4.02960196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.407552018 meters 0.049508816723823186 Centerline is valid? [True, True] Translation: X:56.08, Y:-6.01, Z:-0.40 [[ 9.97352053e-01 7.23122836e-02 7.73402791e-03 5.60826738e+01] [-7.23057337e-02 9.97381882e-01 -1.12354509e-03 -6.00591231e+00] [-7.79502542e-03 5.61355443e-04 9.99969461e-01 -4.02442225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.437552018 meters 0.052404194294752265 Centerline is valid? [True, True] Translation: X:56.11, Y:-6.01, Z:-0.40 [[ 9.97348711e-01 7.22899486e-02 8.34933599e-03 5.61130095e+01] [-7.22823112e-02 9.97383475e-01 -1.21329433e-03 -6.01032149e+00] [-8.41519873e-03 6.06568231e-04 9.99964408e-01 -4.02143606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.467552018 meters 0.04936157775610079 Centerline is valid? [True, True] Translation: X:56.14, Y:-6.00, Z:-0.40 [[ 9.97201568e-01 7.41992402e-02 9.13808712e-03 5.61443070e+01] [-7.41901698e-02 9.97243228e-01 -1.32807974e-03 -6.00480441e+00] [-9.21143801e-03 6.46406966e-04 9.99957365e-01 -4.02670654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49755201799999 meters 0.052913276472867504 Centerline is valid? [True, True] Translation: X:56.17, Y:-6.01, Z:-0.40 [[ 9.97100467e-01 7.54970476e-02 9.53174735e-03 5.61736486e+01] [-7.54872378e-02 9.97145806e-01 -1.38529217e-03 -6.01042152e+00] [-9.60912736e-03 6.61750192e-04 9.99953612e-01 -4.03026787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.527552017999994 meters 0.04984543756896469 Centerline is valid? [True, True] Translation: X:56.21, Y:-6.01, Z:-0.40 [[ 9.96937297e-01 7.75777568e-02 9.88518869e-03 5.62052783e+01] [-7.75673072e-02 9.96986082e-01 -1.43672056e-03 -6.00753274e+00] [-9.96685311e-03 6.65552847e-04 9.99950108e-01 -4.03234894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.557552017999996 meters 0.04679313939462365 Centerline is valid? [True, True] Translation: X:56.24, Y:-6.00, Z:-0.40 [[ 9.96826705e-01 7.89234234e-02 1.03737152e-02 5.62357281e+01] [-7.89119878e-02 9.96880447e-01 -1.50773120e-03 -6.00355164e+00] [-1.04603491e-02 6.84336240e-04 9.99945055e-01 -4.04129319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.587552018 meters 0.0472317224181851 Centerline is valid? [True, True] Translation: X:56.27, Y:-6.00, Z:-0.41 [[ 9.96568648e-01 8.21268238e-02 1.03011521e-02 5.62657421e+01] [-8.21157227e-02 9.96621677e-01 -1.49674023e-03 -5.99990860e+00] [-1.03892741e-02 6.45717835e-04 9.99945822e-01 -4.05705391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.617552018 meters 0.04292302757439633 Centerline is valid? [True, True] Translation: X:56.30, Y:-5.99, Z:-0.41 [[ 9.96446561e-01 8.36100190e-02 1.01792331e-02 5.62969923e+01] [-8.35992600e-02 9.96498358e-01 -1.47865657e-03 -5.99398945e+00] [-1.02672195e-02 6.22425905e-04 9.99947097e-01 -4.07006067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.647552018 meters 0.04281905611183815 Centerline is valid? [True, True] Translation: X:56.33, Y:-5.99, Z:-0.41 [[ 9.96208058e-01 8.65820857e-02 8.54680406e-03 5.63274357e+01] [-8.65746115e-02 9.96244596e-01 -1.24132644e-03 -5.98806025e+00] [-8.62218400e-03 4.96683163e-04 9.99962705e-01 -4.09123150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67755201799999 meters 0.04194572978269853 Centerline is valid? [True, True] Translation: X:56.36, Y:-5.99, Z:-0.41 [[ 9.96145135e-01 8.72791391e-02 8.78761542e-03 5.63572343e+01] [-8.72712687e-02 9.96183767e-01 -1.27586342e-03 -5.98664689e+00] [-8.86543610e-03 5.04038797e-04 9.99960574e-01 -4.09783657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.707552017999994 meters 0.04147148129598949 Centerline is valid? [True, True] Translation: X:56.39, Y:-5.99, Z:-0.41 [[ 9.96108485e-01 8.76438634e-02 9.29730820e-03 5.63861042e+01] [-8.76350759e-02 9.96151732e-01 -1.34916816e-03 -5.98673637e+00] [-9.37977597e-03 5.29147543e-04 9.99955869e-01 -4.09608970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.737552017999995 meters 0.04211391524844463 Centerline is valid? [True, True] Translation: X:56.42, Y:-5.99, Z:-0.41 [[ 9.96067238e-01 8.80686397e-02 9.69392570e-03 5.64150313e+01] [-8.80591152e-02 9.96114258e-01 -1.40583819e-03 -5.98793451e+00] [-9.78006787e-03 5.46670843e-04 9.99952025e-01 -4.09893419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.767552017999996 meters 0.04172431006597592 Centerline is valid? [True, True] Translation: X:56.44, Y:-5.98, Z:-0.41 [[ 9.95957861e-01 8.92745134e-02 9.89953136e-03 5.64448662e+01] [-8.92646488e-02 9.96006910e-01 -1.43476625e-03 -5.98153146e+00] [-9.98808969e-03 5.45288540e-04 9.99949969e-01 -4.10153774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.797552018 meters 0.04396261970294337 Centerline is valid? [True, True] Translation: X:56.47, Y:-5.98, Z:-0.41 [[ 9.96005328e-01 8.86824489e-02 1.04311885e-02 5.64727384e+01] [-8.86714748e-02 9.96059781e-01 -1.51077683e-03 -5.98488487e+00] [-1.05240667e-02 5.79792900e-04 9.99944452e-01 -4.09971958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.827552018 meters 0.039725266518804835 Centerline is valid? [True, True] Translation: X:56.50, Y:-5.97, Z:-0.41 [[ 9.95985817e-01 8.91526179e-02 8.00397567e-03 5.65040449e+01] [-8.91461776e-02 9.96017880e-01 -1.15855370e-03 -5.97154236e+00] [-8.07539097e-03 4.40379215e-04 9.99967297e-01 -4.12925319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.857552018 meters 0.04211231788869111 Centerline is valid? [True, True] Translation: X:56.53, Y:-5.98, Z:-0.41 [[ 9.96022623e-01 8.87579462e-02 7.80784077e-03 5.65315603e+01] [-8.87518109e-02 9.96053131e-01 -1.12949099e-03 -5.97590648e+00] [-7.87727555e-03 4.32038571e-04 9.99968880e-01 -4.13842357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.887552017999994 meters 0.03621771253952913 Centerline is valid? [True, True] Translation: X:56.56, Y:-5.97, Z:-0.42 [[ 9.96149291e-01 8.72826077e-02 8.26660240e-03 5.65618406e+01] [-8.72756864e-02 9.96183480e-01 -1.19502495e-03 -5.96981018e+00] [-8.33935765e-03 4.68949856e-04 9.99965117e-01 -4.15032656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.917552017999995 meters 0.03784923204146455 Centerline is valid? [True, True] Translation: X:56.59, Y:-5.97, Z:-0.42 [[ 9.96149083e-01 8.73261631e-02 7.81959803e-03 5.65899577e+01] [-8.73199764e-02 9.96179675e-01 -1.12977549e-03 -5.97169200e+00] [-7.88838359e-03 4.42617699e-04 9.99968788e-01 -4.15282724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.947552017999996 meters 0.03787822341566751 Centerline is valid? [True, True] Translation: X:56.62, Y:-5.97, Z:-0.41 [[ 9.96075312e-01 8.82263464e-02 7.07708765e-03 5.66199561e+01] [-8.82213061e-02 9.96100375e-01 -1.02184287e-03 -5.96599736e+00] [-7.13964313e-03 3.93482541e-04 9.99974435e-01 -4.14526323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.977552018 meters 0.03763972332575089 Centerline is valid? [True, True] Translation: X:56.65, Y:-5.97, Z:-0.41 [[ 9.96101679e-01 8.78502573e-02 7.98607295e-03 5.66478628e+01] [-8.78438331e-02 9.96133592e-01 -1.15234214e-03 -5.96705435e+00] [-8.05642909e-03 4.46322677e-04 9.99967447e-01 -4.14925031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.007552018 meters 0.039628193653770086 Centerline is valid? [True, True] Translation: X:56.68, Y:-5.97, Z:-0.41 [[ 9.96024474e-01 8.87545861e-02 7.60725733e-03 5.66752135e+01] [-8.87487889e-02 9.96053437e-01 -1.09694434e-03 -5.96932661e+00] [-7.67459365e-03 4.17448535e-04 9.99970463e-01 -4.14372854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.037552018 meters 0.037865960689668805 Centerline is valid? [True, True] Translation: X:56.70, Y:-5.97, Z:-0.41 [[ 9.96117856e-01 8.75669528e-02 9.01364668e-03 5.67043052e+01] [-8.75587745e-02 9.96158509e-01 -1.29874653e-03 -5.97001330e+00] [-9.09274811e-03 5.04480757e-04 9.99958533e-01 -4.14987603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06755201799999 meters 0.03847463045040702 Centerline is valid? [True, True] Translation: X:56.73, Y:-5.97, Z:-0.42 [[ 9.96067605e-01 8.81733928e-02 8.64748209e-03 5.67327970e+01] [-8.81658944e-02 9.96105027e-01 -1.24527970e-03 -5.96878078e+00] [-8.72360092e-03 4.77969778e-04 9.99961834e-01 -4.15256427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.097552017999995 meters 0.03665589303324405 Centerline is valid? [True, True] Translation: X:56.76, Y:-5.97, Z:-0.42 [[ 9.96007755e-01 8.88848827e-02 8.24800534e-03 5.67623313e+01] [-8.88780919e-02 9.96041804e-01 -1.18698376e-03 -5.96701132e+00] [-8.32086304e-03 4.49178052e-04 9.99965280e-01 -4.15894950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.127552017999996 meters 0.03624060705364545 Centerline is valid? [True, True] Translation: X:56.79, Y:-5.97, Z:-0.42 [[ 9.95953934e-01 8.95574645e-02 7.43110468e-03 5.67910777e+01] [-8.95519749e-02 9.95981577e-01 -1.06887421e-03 -5.96715653e+00] [-7.49696902e-03 3.99079379e-04 9.99971818e-01 -4.16436307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.157552018 meters 0.03908049848920898 Centerline is valid? [True, True] Translation: X:56.82, Y:-5.97, Z:-0.42 [[ 9.95770850e-01 9.15058450e-02 8.19116663e-03 5.68184375e+01] [-9.14992470e-02 9.95804449e-01 -1.17744763e-03 -5.97146461e+00] [-8.26454352e-03 4.22982446e-04 9.99965759e-01 -4.15799552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.187552018 meters 0.0397780915738392 Centerline is valid? [True, True] Translation: X:56.85, Y:-5.97, Z:-0.42 [[ 9.95548556e-01 9.39640221e-02 7.33720418e-03 5.68484784e+01] [-9.39587995e-02 9.95575529e-01 -1.05404529e-03 -5.97246335e+00] [-7.40378327e-03 3.59958374e-04 9.99972527e-01 -4.15640317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.217552018 meters 0.034304240666975766 Centerline is valid? [True, True] Translation: X:56.88, Y:-5.97, Z:-0.42 [[ 9.95520267e-01 9.42423860e-02 7.60064005e-03 5.68783913e+01] [-9.42367923e-02 9.95549213e-01 -1.09156326e-03 -5.96703409e+00] [-7.66968275e-03 3.70413415e-04 9.99970519e-01 -4.15462345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24755201799999 meters 0.03400801229309824 Centerline is valid? [True, True] Translation: X:56.91, Y:-5.97, Z:-0.42 [[ 9.95400772e-01 9.55061677e-02 7.47492318e-03 5.69064426e+01] [-9.55007976e-02 9.95428775e-01 -1.07289874e-03 -5.96734467e+00] [-7.54322207e-03 3.54103109e-04 9.99971487e-01 -4.15794520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.277552017999994 meters 0.0334475794193899 Centerline is valid? [True, True] Translation: X:56.94, Y:-5.97, Z:-0.42 [[ 9.95178510e-01 9.78113692e-02 7.25739777e-03 5.69353392e+01] [-9.78063734e-02 9.95204918e-01 -1.04096944e-03 -5.96733356e+00] [-7.32441660e-03 3.26130662e-04 9.99973123e-01 -4.16575301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.307552017999996 meters 0.03237185094370753 Centerline is valid? [True, True] Translation: X:56.96, Y:-5.97, Z:-0.42 [[ 9.95074001e-01 9.88386996e-02 7.65795471e-03 5.69643494e+01] [-9.88331725e-02 9.95103411e-01 -1.09777937e-03 -5.96928356e+00] [-7.72895994e-03 3.35511749e-04 9.99970075e-01 -4.16550273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.337552018 meters 0.03211565201133698 Centerline is valid? [True, True] Translation: X:56.99, Y:-5.97, Z:-0.42 [[ 9.94947581e-01 1.00046485e-01 8.36736401e-03 5.69935445e+01] [-1.00039935e-01 9.94982701e-01 -1.19877031e-03 -5.97182015e+00] [-8.44531519e-03 3.55643072e-04 9.99964274e-01 -4.16502601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.367552018 meters 0.03184703191494085 Centerline is valid? [True, True] Translation: X:57.02, Y:-5.97, Z:-0.42 [[ 9.94756278e-01 1.01936559e-01 8.29974744e-03 5.70222734e+01] [-1.01930185e-01 9.94790845e-01 -1.18855800e-03 -5.97086876e+00] [-8.37767028e-03 3.36330742e-04 9.99964850e-01 -4.16041527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.397552018 meters 0.03152750833634122 Centerline is valid? [True, True] Translation: X:57.05, Y:-5.97, Z:-0.42 [[ 9.94671331e-01 1.02812461e-01 7.65120774e-03 5.70513546e+01] [-1.02807074e-01 9.94700712e-01 -1.09511521e-03 -5.97266084e+00] [-7.72325328e-03 3.02681429e-04 9.99970129e-01 -4.17068249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42755201799999 meters 0.03080740484674919 Centerline is valid? [True, True] Translation: X:57.08, Y:-5.98, Z:-0.42 [[ 9.94624187e-01 1.03303106e-01 7.15500284e-03 5.70803528e+01] [-1.03298412e-01 9.94649883e-01 -1.02356243e-03 -5.97525496e+00] [-7.22245992e-03 2.78959521e-04 9.99973879e-01 -4.18227294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.457552017999994 meters 0.03362934160557562 Centerline is valid? [True, True] Translation: X:57.11, Y:-5.98, Z:-0.42 [[ 9.94552446e-01 1.04099694e-01 5.35595840e-03 5.71073352e+01] [-1.04097077e-01 9.94566846e-01 -7.65942171e-04 -5.98163051e+00] [-5.40659301e-03 2.04230046e-04 9.99985363e-01 -4.19345309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.487552017999995 meters 0.03108570037451125 Centerline is valid? [True, True] Translation: X:57.14, Y:-5.98, Z:-0.42 [[ 9.94797829e-01 1.01692250e-01 5.99710694e-03 5.71372358e+01] [-1.01688929e-01 9.94815876e-01 -8.56892248e-04 -5.98385267e+00] [-6.05315649e-03 2.42595168e-04 9.99981650e-01 -4.19685150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.517552017999996 meters 0.03376084143089061 Centerline is valid? [True, True] Translation: X:57.16, Y:-5.99, Z:-0.42 [[ 9.95007164e-01 9.96634373e-02 5.28616671e-03 5.71638956e+01] [-9.96608289e-02 9.95021180e-01 -7.55232339e-04 -5.99185777e+00] [-5.33511689e-03 2.24637831e-04 9.99985743e-01 -4.20317578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.547552018 meters 0.033814417354559305 Centerline is valid? [True, True] Translation: X:57.19, Y:-6.00, Z:-0.42 [[ 9.95276142e-01 9.69494260e-02 5.11964956e-03 5.71926941e+01] [-9.69469464e-02 9.95289282e-01 -7.30882367e-04 -5.99582559e+00] [-5.16639096e-03 2.31095390e-04 9.99986627e-01 -4.20856309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.577552018 meters 0.03593802815858459 Centerline is valid? [True, True] Translation: X:57.22, Y:-6.00, Z:-0.42 [[ 9.95693053e-01 9.25602256e-02 5.28667252e-03 5.72217639e+01] [-9.25575219e-02 9.95707053e-01 -7.54337252e-04 -6.00455948e+00] [-5.33379874e-03 2.61767054e-04 9.99985741e-01 -4.19824833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60755201799999 meters 0.036323426808878755 Centerline is valid? [True, True] Translation: X:57.25, Y:-6.01, Z:-0.42 [[ 9.96116546e-01 8.78334762e-02 6.09151778e-03 5.72511223e+01] [-8.78297995e-02 9.96135117e-01 -8.69008899e-04 -6.01073604e+00] [-6.14430284e-03 3.30617359e-04 9.99981069e-01 -4.19861152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.637552017999994 meters 0.03787522099097269 Centerline is valid? [True, True] Translation: X:57.28, Y:-6.02, Z:-0.42 [[ 9.96452273e-01 8.39422781e-02 6.04655362e-03 5.72802985e+01] [-8.39385848e-02 9.96470557e-01 -8.62472636e-04 -6.01652618e+00] [-6.09761057e-03 3.51873665e-04 9.99981347e-01 -4.19905985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.667552017999995 meters 0.04328509287874098 Centerline is valid? [True, True] Translation: X:57.31, Y:-6.03, Z:-0.42 [[ 9.97086321e-01 7.61787375e-02 3.95831376e-03 5.73076082e+01] [-7.61770936e-02 9.97094144e-01 -5.64632545e-04 -6.02943632e+00] [-3.98982446e-03 2.61454550e-04 9.99992006e-01 -4.21948260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.697552017999996 meters 0.047209725847210025 Centerline is valid? [True, True] Translation: X:57.34, Y:-6.04, Z:-0.42 [[ 9.97369434e-01 7.24195646e-02 3.10129296e-03 5.73359233e+01] [-7.24185376e-02 9.97374233e-01 -4.42323469e-04 -6.03952301e+00] [-3.12518256e-03 2.16568808e-04 9.99995093e-01 -4.23143427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.727552018 meters 0.04446661565328509 Centerline is valid? [True, True] Translation: X:57.37, Y:-6.04, Z:-0.42 [[ 9.97615404e-01 6.89532735e-02 2.99183092e-03 5.73666446e+01] [-6.89523030e-02 9.97619867e-01 -4.26447296e-04 -6.03999089e+00] [-3.01411490e-03 2.19136759e-04 9.99995434e-01 -4.23106442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.757552018 meters 0.04677986369742402 Centerline is valid? [True, True] Translation: X:57.40, Y:-6.05, Z:-0.42 [[ 9.97829391e-01 6.57797023e-02 3.08817191e-03 5.73958717e+01] [-6.57786529e-02 9.97834142e-01 -4.40258643e-04 -6.04653102e+00] [-3.11044345e-03 2.36167225e-04 9.99995135e-01 -4.23100406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.787552018 meters 0.047431169937066996 Centerline is valid? [True, True] Translation: X:57.43, Y:-6.05, Z:-0.42 [[ 9.98176592e-01 6.02241744e-02 4.06689938e-03 5.74260844e+01] [-6.02223094e-02 9.98184821e-01 -5.79598597e-04 -6.05127379e+00] [-4.09442308e-03 3.33623680e-04 9.99991562e-01 -4.20895693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81755201799999 meters 0.047431169937066996 Centerline is valid? [True, True] Translation: X:57.45, Y:-6.06, Z:-0.42 [[ 9.98183937e-01 6.01023243e-02 4.06684732e-03 5.74533893e+01] [-6.01004569e-02 9.98192165e-01 -5.79964068e-04 -6.05505577e+00] [-4.09435232e-03 3.34491434e-04 9.99991562e-01 -4.21090410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.847552017999995 meters 0.05226564551090222 Centerline is valid? [True, True] Translation: X:57.48, Y:-6.07, Z:-0.42 [[ 9.98314034e-01 5.78437732e-02 4.81538912e-03 5.74803778e+01] [-5.78411330e-02 9.98325565e-01 -6.85859958e-04 -6.06553334e+00] [-4.84699879e-03 4.06176059e-04 9.99988171e-01 -4.20597239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.877552017999996 meters 0.051571821005844974 Centerline is valid? [True, True] Translation: X:57.51, Y:-6.07, Z:-0.42 [[ 9.98429114e-01 5.58316701e-02 4.70416719e-03 5.75094080e+01] [-5.58291303e-02 9.98440113e-01 -6.69596085e-04 -6.06735374e+00] [-4.73421389e-03 4.05914663e-04 9.99988711e-01 -4.20192844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.907552018 meters 0.051674048237056576 Centerline is valid? [True, True] Translation: X:57.54, Y:-6.07, Z:-0.42 [[ 9.98502258e-01 5.45253694e-02 4.49710344e-03 5.75384765e+01] [-5.45230363e-02 9.98512308e-01 -6.39866576e-04 -6.07045663e+00] [-4.52530210e-03 3.93712487e-04 9.99989683e-01 -4.19843950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.937552018 meters 0.05645451343953505 Centerline is valid? [True, True] Translation: X:57.57, Y:-6.08, Z:-0.42 [[ 9.98574053e-01 5.32572280e-02 3.67803779e-03 5.75658551e+01] [-5.32556591e-02 9.98580773e-01 -5.23244709e-04 -6.07800154e+00] [-3.70068438e-03 3.26622264e-04 9.99993099e-01 -4.20847338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.967552018 meters 0.05218260572171459 Centerline is valid? [True, True] Translation: X:57.60, Y:-6.07, Z:-0.42 [[ 9.98565704e-01 5.34052922e-02 3.79590584e-03 5.75952259e+01] [-5.34036234e-02 9.98572863e-01 -5.39686899e-04 -6.07467315e+00] [-3.81931070e-03 3.36197702e-04 9.99992650e-01 -4.20744717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99755201799999 meters 0.05554896301636435 Centerline is valid? [True, True] Translation: X:57.62, Y:-6.08, Z:-0.42 [[ 9.98562854e-01 5.34329291e-02 4.14109368e-03 5.76229145e+01] [-5.34309449e-02 9.98571373e-01 -5.88371443e-04 -6.08115365e+00] [-4.16661601e-03 3.66263319e-04 9.99991253e-01 -4.20449424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.027552017999994 meters 0.05302663917045982 Centerline is valid? [True, True] Translation: X:57.65, Y:-6.08, Z:-0.42 [[ 9.98524549e-01 5.41635660e-02 3.87720952e-03 5.76529480e+01] [-5.41618327e-02 9.98532019e-01 -5.50752718e-04 -6.07819591e+00] [-3.90134858e-03 3.39943336e-04 9.99992332e-01 -4.20247925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.057552017999996 meters 0.05062146054668851 Centerline is valid? [True, True] Translation: X:57.68, Y:-6.08, Z:-0.42 [[ 9.98512264e-01 5.44176292e-02 3.46139636e-03 5.76817912e+01] [-5.44162510e-02 9.98518217e-01 -4.91168166e-04 -6.07777468e+00] [-3.48299553e-03 3.02081224e-04 9.99993889e-01 -4.20412009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.087552018 meters 0.05035696957864355 Centerline is valid? [True, True] Translation: X:57.71, Y:-6.08, Z:-0.42 [[ 9.98495607e-01 5.47358110e-02 3.24241982e-03 5.77104970e+01] [-5.47346041e-02 9.98500832e-01 -4.59864835e-04 -6.07994328e+00] [-3.26272996e-03 2.81700453e-04 9.99994638e-01 -4.21403965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.117552018 meters 0.05380153533085872 Centerline is valid? [True, True] Translation: X:57.74, Y:-6.09, Z:-0.42 [[ 9.98484146e-01 5.49522039e-02 3.10907144e-03 5.77375119e+01] [-5.49510957e-02 9.98488950e-01 -4.40796726e-04 -6.08632498e+00] [-3.12859623e-03 2.69281660e-04 9.99995070e-01 -4.21943968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.147552018 meters 0.05204984699809779 Centerline is valid? [True, True] Translation: X:57.77, Y:-6.08, Z:-0.42 [[ 9.98496900e-01 5.47361598e-02 2.80965653e-03 5.77675578e+01] [-5.47352548e-02 9.98500823e-01 -3.98040611e-04 -6.08277162e+00] [-2.82723157e-03 2.43655050e-04 9.99995974e-01 -4.21403795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17755201799999 meters 0.05077190546586838 Centerline is valid? [True, True] Translation: X:57.80, Y:-6.08, Z:-0.42 [[ 9.98515543e-01 5.43763509e-02 3.15013582e-03 5.77962191e+01] [-5.43752125e-02 9.98520474e-01 -4.45956552e-04 -6.08273958e+00] [-3.16972460e-03 2.74005244e-04 9.99994939e-01 -4.20448584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.207552017999994 meters 0.05055588369636725 Centerline is valid? [True, True] Translation: X:57.83, Y:-6.08, Z:-0.42 [[ 9.98527802e-01 5.41526066e-02 3.11824728e-03 5.78251578e+01] [-5.41514909e-02 9.98532634e-01 -4.41194048e-04 -6.08429095e+00] [-3.13756348e-03 2.71686784e-04 9.99995041e-01 -4.20066842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.237552017999995 meters 0.051292875879399416 Centerline is valid? [True, True] Translation: X:57.85, Y:-6.09, Z:-0.42 [[ 9.98562067e-01 5.35858520e-02 1.53483110e-03 5.78540905e+01] [-5.35855808e-02 9.98563237e-01 -2.17323782e-04 -6.08601991e+00] [-1.54427139e-03 1.34766469e-04 9.99998799e-01 -4.21698953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.267552017999996 meters 0.054332334334506016 Centerline is valid? [True, True] Translation: X:57.88, Y:-6.09, Z:-0.42 [[ 9.98562275e-01 5.35965687e-02 8.89757509e-04 5.78809177e+01] [-5.35964773e-02 9.98562668e-01 -1.26272346e-04 -6.09282560e+00] [-8.95246396e-04 7.84029326e-05 9.99999596e-01 -4.23115639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.297552018 meters 0.05127158766663555 Centerline is valid? [True, True] Translation: X:57.91, Y:-6.09, Z:-0.42 [[ 9.98580406e-01 5.32649564e-02 1.27964126e-04 5.79105836e+01] [-5.32649544e-02 9.98580415e-01 -1.86188724e-05 -6.09033365e+00] [-1.28774203e-04 1.17764378e-05 9.99999992e-01 -4.23598517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.327552018 meters 0.05062439593055347 Centerline is valid? [True, True] Translation: X:57.94, Y:-6.09, Z:-0.42 [[ 9.98569387e-01 5.34712612e-02 5.94716038e-05 5.79394444e+01] [-5.34712608e-02 9.98569389e-01 -8.95742873e-06 -6.09127229e+00] [-5.98654881e-05 5.76459248e-06 9.99999998e-01 -4.23591645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35755201799999 meters 0.05036623042457902 Centerline is valid? [True, True] Translation: X:57.97, Y:-6.09, Z:-0.42 [[ 9.98528448e-01 5.42300067e-02 2.13774647e-04 5.79688872e+01] [-5.42300014e-02 9.98528470e-01 -3.06886996e-05 -6.09016104e+00] [-2.15124319e-04 1.90505401e-05 9.99999977e-01 -4.23008660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.387552017999994 meters 0.05310304249048096 Centerline is valid? [True, True] Translation: X:58.00, Y:-6.10, Z:-0.42 [[ 9.98516068e-01 5.44578018e-02 -9.82953274e-05 5.79963941e+01] [-5.44578007e-02 9.98516073e-01 1.31278889e-05 -6.09640108e+00] [ 9.88643803e-05 -7.75546065e-06 9.99999995e-01 -4.24439659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.417552017999995 meters 0.05563265609201505 Centerline is valid? [True, True] Translation: X:58.02, Y:-6.10, Z:-0.43 [[ 9.98499816e-01 5.47485621e-02 -8.43715892e-04 5.80236466e+01] [-5.47484818e-02 9.98500170e-01 1.18001698e-04 -6.10267609e+00] [ 8.48910885e-04 -7.16325100e-05 9.99999637e-01 -4.26487931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.447552017999996 meters 0.051959941273506734 Centerline is valid? [True, True] Translation: X:58.05, Y:-6.10, Z:-0.43 [[ 9.98528693e-01 5.41516013e-02 -2.83800454e-03 5.80533158e+01] [-5.41506859e-02 9.98532696e-01 3.98445303e-04 -6.09729808e+00] [ 2.85541677e-03 -2.44179175e-04 9.99995893e-01 -4.26965604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.477552018 meters 0.05301165424625416 Centerline is valid? [True, True] Translation: X:58.08, Y:-6.10, Z:-0.43 [[ 9.98562807e-01 5.35127490e-02 -2.95046346e-03 5.80824031e+01] [-5.35117575e-02 9.98567134e-01 4.14026217e-04 -6.09938459e+00] [ 2.96839152e-03 -2.55546697e-04 9.99995562e-01 -4.26548305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.507552018 meters 0.05438262264379583 Centerline is valid? [True, True] Translation: X:58.11, Y:-6.10, Z:-0.43 [[ 9.98566679e-01 5.34008303e-02 -3.59719341e-03 5.81115078e+01] [-5.33993564e-02 9.98573109e-01 5.04615718e-04 -6.10178021e+00] [ 3.61900750e-03 -3.11804629e-04 9.99993403e-01 -4.25758179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.537552018 meters 0.05552488964617669 Centerline is valid? [True, True] Translation: X:58.14, Y:-6.11, Z:-0.42 [[ 9.98671191e-01 5.14958717e-02 -2.00694904e-03 5.81400876e+01] [-5.14954100e-02 9.98673192e-01 2.81086167e-04 -6.10508186e+00] [ 2.01876098e-03 -1.77363994e-04 9.99997947e-01 -4.24848004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56755201799999 meters 0.056462468269994584 Centerline is valid? [True, True] Translation: X:58.17, Y:-6.11, Z:-0.42 [[ 9.98684064e-01 5.12737284e-02 -1.06971677e-03 5.81683767e+01] [-5.12735974e-02 9.98684633e-01 1.49506055e-04 -6.10982489e+00] [ 1.07597544e-03 -9.44610880e-05 9.99999417e-01 -4.24195644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.597552017999995 meters 0.056996238609065324 Centerline is valid? [True, True] Translation: X:58.20, Y:-6.11, Z:-0.42 [[ 9.98702398e-01 5.09254293e-02 -3.46470309e-04 5.81971340e+01] [-5.09254157e-02 9.98702458e-01 4.80298167e-05 -6.11373651e+00] [ 3.48466688e-04 -3.03233486e-05 9.99999939e-01 -4.23936470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.627552017999996 meters 0.05817860349451984 Centerline is valid? [True, True] Translation: X:58.22, Y:-6.12, Z:-0.42 [[ 9.98694150e-01 5.10837040e-02 -6.71190567e-04 5.82246390e+01] [-5.10836528e-02 9.98694374e-01 9.30980191e-05 -6.11652848e+00] [ 6.75070034e-04 -5.86895811e-05 9.99999770e-01 -4.24109377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.657552018 meters 0.05831893863033907 Centerline is valid? [True, True] Translation: X:58.25, Y:-6.12, Z:-0.42 [[ 9.98698854e-01 5.09852918e-02 -1.04881877e-03 5.82537303e+01] [-5.09851661e-02 9.98699400e-01 1.46286225e-04 -6.11821919e+00] [ 1.05491312e-03 -9.26216862e-05 9.99999439e-01 -4.23592166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.687552018 meters 0.05620751063285756 Centerline is valid? [True, True] Translation: X:58.28, Y:-6.12, Z:-0.42 [[ 9.98683093e-01 5.12888268e-02 -1.23943819e-03 5.82829817e+01] [-5.12886515e-02 9.98683856e-01 1.72865327e-04 -6.11657870e+00] [ 1.24667297e-03 -1.09068566e-04 9.99999217e-01 -4.23178883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.717552018 meters 0.05749223544959903 Centerline is valid? [True, True] Translation: X:58.31, Y:-6.12, Z:-0.42 [[ 9.98653066e-01 5.18296495e-02 -2.39605789e-03 5.83104716e+01] [-5.18289954e-02 9.98655918e-01 3.34325741e-04 -6.11797380e+00] [ 2.41016537e-03 -2.09690153e-04 9.99997074e-01 -4.24674593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74755201799999 meters 0.048620511090480246 Centerline is valid? [True, True] Translation: X:58.34, Y:-6.11, Z:-0.43 [[ 9.98629989e-01 5.22076861e-02 -3.53600240e-03 5.83406085e+01] [-5.22062634e-02 9.98636201e-01 4.93508450e-04 -6.10969539e+00] [ 3.55694494e-03 -3.08230865e-04 9.99993627e-01 -4.25150078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.777552017999994 meters 0.05006369807390309 Centerline is valid? [True, True] Translation: X:58.37, Y:-6.12, Z:-0.43 [[ 9.98643691e-01 5.19455862e-02 -3.52631922e-03 5.83680340e+01] [-5.19441715e-02 9.98649869e-01 4.91654966e-04 -6.11505127e+00] [ 3.54709754e-03 -3.07816399e-04 9.99993662e-01 -4.26681757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.807552017999996 meters 0.05065054678610135 Centerline is valid? [True, True] Translation: X:58.40, Y:-6.12, Z:-0.43 [[ 9.98648298e-01 5.18278072e-02 -3.93127385e-03 5.83967406e+01] [-5.18260484e-02 9.98655977e-01 5.48026971e-04 -6.11821927e+00] [ 3.95439316e-03 -3.43543814e-04 9.99992122e-01 -4.26889821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.837552018 meters 0.05149630871663763 Centerline is valid? [True, True] Translation: X:58.43, Y:-6.12, Z:-0.42 [[ 9.98633548e-01 5.21033598e-02 -4.03452121e-03 5.84265338e+01] [-5.21015108e-02 9.98641636e-01 5.62114788e-04 -6.11619934e+00] [ 4.05832893e-03 -3.51142034e-04 9.99991703e-01 -4.24629567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.867552018 meters 0.06521062299901856 Centerline is valid? [True, True] Translation: X:58.45, Y:-6.13, Z:-0.43 [[ 9.98614521e-01 5.24871644e-02 -3.75976836e-03 5.84516055e+01] [-5.24855652e-02 9.98621546e-01 5.22822444e-04 -6.13461451e+00] [ 3.78202716e-03 -3.24764517e-04 9.99992795e-01 -4.26588039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.897552018 meters 0.051942439179848754 Centerline is valid? [True, True] Translation: X:58.48, Y:-6.12, Z:-0.42 [[ 9.98540714e-01 5.39181651e-02 -3.04539301e-03 5.84844618e+01] [-5.39171218e-02 9.98545324e-01 4.23715334e-04 -6.11791957e+00] [ 3.06380891e-03 -2.58898187e-04 9.99995273e-01 -4.24359565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92755201799999 meters 0.053024851003489484 Centerline is valid? [True, True] Translation: X:58.51, Y:-6.12, Z:-0.42 [[ 9.98505251e-01 5.46075644e-02 -2.29730108e-03 5.85121648e+01] [-5.46069739e-02 9.98507875e-01 3.19021681e-04 -6.12162250e+00] [ 2.31129422e-03 -1.93096163e-04 9.99997310e-01 -4.24968528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.957552017999994 meters 0.05136867821114044 Centerline is valid? [True, True] Translation: X:58.54, Y:-6.12, Z:-0.42 [[ 9.98473958e-01 5.51726011e-02 -2.39555683e-03 5.85410055e+01] [-5.51719607e-02 9.98476812e-01 3.32640617e-04 -6.12124833e+00] [ 2.41026059e-03 -1.99965427e-04 9.99997075e-01 -4.24979083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.987552017999995 meters 0.050254383577184335 Centerline is valid? [True, True] Translation: X:58.57, Y:-6.12, Z:-0.42 [[ 9.98415143e-01 5.62179183e-02 -2.59751487e-03 5.85702062e+01] [-5.62171693e-02 9.98418499e-01 3.60520747e-04 -6.11826962e+00] [ 2.61367462e-03 -2.13924440e-04 9.99996561e-01 -4.24993692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.017552017999996 meters 0.05015522115113154 Centerline is valid? [True, True] Translation: X:58.60, Y:-6.12, Z:-0.42 [[ 9.98408574e-01 5.63277227e-02 -2.73988663e-03 5.85992713e+01] [-5.63268902e-02 9.98412308e-01 3.80093699e-04 -6.11921394e+00] [ 2.75694634e-03 -2.25159515e-04 9.99996174e-01 -4.24814599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.047552018 meters 0.051101368356354857 Centerline is valid? [True, True] Translation: X:58.63, Y:-6.12, Z:-0.42 [[ 9.98426624e-01 5.60033206e-02 -2.81158914e-03 5.86284725e+01] [-5.60024433e-02 9.98430556e-01 3.89837797e-04 -6.12157764e+00] [ 2.82900872e-03 -2.31768574e-04 9.99995971e-01 -4.24364287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.077552018 meters 0.04935968375327918 Centerline is valid? [True, True] Translation: X:58.66, Y:-6.12, Z:-0.42 [[ 9.98474066e-01 5.51535059e-02 -2.76220116e-03 5.86580724e+01] [-5.51526566e-02 9.98477861e-01 3.82744952e-04 -6.12076946e+00] [ 2.77910643e-03 -2.29818176e-04 9.99996112e-01 -4.24174492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10755201799999 meters 0.06190138517445057 Centerline is valid? [True, True] Translation: X:58.68, Y:-6.14, Z:-0.43 [[ 9.98636055e-01 5.20898921e-02 -3.56000523e-03 5.86846161e+01] [-5.20884603e-02 9.98642353e-01 4.93779195e-04 -6.13857323e+00] [ 3.58089290e-03 -3.07670516e-04 9.99993541e-01 -4.27575947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.137552017999994 meters 0.053359988433776546 Centerline is valid? [True, True] Translation: X:58.72, Y:-6.13, Z:-0.43 [[ 9.98762485e-01 4.95187502e-02 -4.62512190e-03 5.87163559e+01] [-4.95163063e-02 9.98773109e-01 6.41488383e-04 -6.13020798e+00] [ 4.65121308e-03 -4.11675579e-04 9.99989098e-01 -4.27150382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.167552017999995 meters 0.05787570184807701 Centerline is valid? [True, True] Translation: X:58.74, Y:-6.14, Z:-0.43 [[ 9.98872651e-01 4.71881404e-02 -5.16785883e-03 5.87444814e+01] [-4.71850600e-02 9.98885908e-01 7.16438242e-04 -6.13805591e+00] [ 5.19590875e-03 -4.71784837e-04 9.99986390e-01 -4.27876508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.197552017999996 meters 0.06290414041176082 Centerline is valid? [True, True] Translation: X:58.77, Y:-6.14, Z:-0.43 [[ 9.99018844e-01 4.40592054e-02 -4.48723161e-03 5.87733774e+01] [-4.40568506e-02 9.99028832e-01 6.22328231e-04 -6.14394410e+00] [ 4.51029304e-03 -4.24024338e-04 9.99989739e-01 -4.27179676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.227552018 meters 0.054375374143466236 Centerline is valid? [True, True] Translation: X:58.80, Y:-6.13, Z:-0.43 [[ 9.99079114e-01 4.27197340e-02 -3.99350933e-03 5.88045433e+01] [-4.27178601e-02 9.99087022e-01 5.53399193e-04 -6.13462713e+00] [ 4.01350441e-03 -3.82295403e-04 9.99991873e-01 -4.25396962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.257552018 meters 0.06407836442787007 Centerline is valid? [True, True] Translation: X:58.83, Y:-6.15, Z:-0.43 [[ 9.99084336e-01 4.26307223e-02 -3.62104388e-03 5.88300229e+01] [-4.26291841e-02 9.99090838e-01 5.00965959e-04 -6.14997916e+00] [ 3.63910830e-03 -3.46145097e-04 9.99993319e-01 -4.26530394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.287552018 meters 0.05467135293348909 Centerline is valid? [True, True] Translation: X:58.86, Y:-6.14, Z:-0.43 [[ 9.99051997e-01 4.34078587e-02 -3.29607399e-03 5.88611307e+01] [-4.34065883e-02 9.99057386e-01 4.56025094e-04 -6.13846074e+00] [ 3.31276214e-03 -3.12521454e-04 9.99994464e-01 -4.25388659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31755201799999 meters 0.053649493031222836 Centerline is valid? [True, True] Translation: X:58.89, Y:-6.14, Z:-0.43 [[ 9.98988301e-01 4.48411264e-02 -3.41278550e-03 5.88913223e+01] [-4.48397720e-02 9.98994080e-01 4.72403086e-04 -6.13879934e+00] [ 3.43053560e-03 -3.18896633e-04 9.99994065e-01 -4.25748205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.347552017999995 meters 0.05676992392143654 Centerline is valid? [True, True] Translation: X:58.92, Y:-6.14, Z:-0.43 [[ 9.98909736e-01 4.65069128e-02 -4.05536732e-03 5.89197087e+01] [-4.65050159e-02 9.98917899e-01 5.60849510e-04 -6.14406262e+00] [ 4.07706239e-03 -3.71643115e-04 9.99991620e-01 -4.26290951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.377552017999996 meters 0.054238035791936805 Centerline is valid? [True, True] Translation: X:58.95, Y:-6.14, Z:-0.43 [[ 9.98679417e-01 5.11705325e-02 -4.58239946e-03 5.89510901e+01] [-5.11681594e-02 9.98689851e-01 6.33710427e-04 -6.13906452e+00] [ 4.60882313e-03 -3.98400614e-04 9.99989300e-01 -4.26230111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.407552018 meters 0.0518520546213444 Centerline is valid? [True, True] Translation: X:58.98, Y:-6.14, Z:-0.43 [[ 9.98545049e-01 5.37313558e-02 -4.55256162e-03 5.89811173e+01] [-5.37290405e-02 9.98555354e-01 6.29430393e-04 -6.13758376e+00] [ 4.57980492e-03 -3.83909835e-04 9.99989439e-01 -4.26406425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.437552018 meters 0.04979033926680774 Centerline is valid? [True, True] Translation: X:59.01, Y:-6.14, Z:-0.43 [[ 9.98421548e-01 5.59996028e-02 -4.29624309e-03 5.90116241e+01] [-5.59975616e-02 9.98430729e-01 5.94028480e-04 -6.13735854e+00] [ 4.32276648e-03 -3.52511696e-04 9.99990595e-01 -4.26290928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.467552018 meters 0.051184686543001276 Centerline is valid? [True, True] Translation: X:59.04, Y:-6.14, Z:-0.43 [[ 9.98316224e-01 5.78727047e-02 -3.93275210e-03 5.90403412e+01] [-5.78710099e-02 9.98323921e-01 5.43465575e-04 -6.14155106e+00] [ 3.95761232e-03 -3.14958164e-04 9.99992119e-01 -4.27205932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49755201799999 meters 0.04679317552964771 Centerline is valid? [True, True] Translation: X:59.07, Y:-6.14, Z:-0.43 [[ 9.98091305e-01 6.15920088e-02 -4.49129427e-03 5.90718340e+01] [-6.15898350e-02 9.98101351e-01 6.20845970e-04 -6.13517759e+00] [ 4.52100603e-03 -3.43042892e-04 9.99989721e-01 -4.26644457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.527552017999994 meters 0.04745716718156219 Centerline is valid? [True, True] Translation: X:59.10, Y:-6.14, Z:-0.43 [[ 9.97989013e-01 6.32017557e-02 -4.84429159e-03 5.90999298e+01] [-6.31992498e-02 9.98000705e-01 6.68787375e-04 -6.13693611e+00] [ 4.87687496e-03 -3.61286859e-04 9.99988043e-01 -4.26692208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.557552017999996 meters 0.045797061452666606 Centerline is valid? [True, True] Translation: X:59.13, Y:-6.14, Z:-0.43 [[ 9.97879731e-01 6.48894875e-02 -5.03953906e-03 5.91289268e+01] [-6.48867987e-02 9.97892389e-01 6.95378938e-04 -6.13538731e+00] [ 5.07404046e-03 -3.66904991e-04 9.99987060e-01 -4.27004366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.587552018 meters 0.045478570133708394 Centerline is valid? [True, True] Translation: X:59.16, Y:-6.13, Z:-0.43 [[ 9.97656284e-01 6.82334470e-02 -5.11237805e-03 5.91579457e+01] [-6.82307244e-02 9.97669319e-01 7.05273931e-04 -6.13388908e+00] [ 5.14858600e-03 -3.54799711e-04 9.99986683e-01 -4.27742405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.617552018 meters 0.044052113059441754 Centerline is valid? [True, True] Translation: X:59.19, Y:-6.13, Z:-0.43 [[ 9.97556873e-01 6.97262080e-02 -4.30596532e-03 5.91875677e+01] [-6.97243014e-02 9.97566124e-01 5.91511766e-04 -6.13404730e+00] [ 4.33672900e-03 -2.89836204e-04 9.99990554e-01 -4.27832787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.647552018 meters 0.04371975651579896 Centerline is valid? [True, True] Translation: X:59.22, Y:-6.14, Z:-0.43 [[ 9.97454532e-01 7.11789494e-02 -4.24425122e-03 5.92169098e+01] [-7.11771148e-02 9.97463523e-01 5.81945315e-04 -6.13539005e+00] [ 4.27490803e-03 -2.78370436e-04 9.99990824e-01 -4.28162832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67755201799999 meters 0.044036709032004503 Centerline is valid? [True, True] Translation: X:59.25, Y:-6.13, Z:-0.43 [[ 9.97286081e-01 7.34019030e-02 -5.71247921e-03 5.92465543e+01] [-7.33986049e-02 9.97302376e-01 7.85145653e-04 -6.13438929e+00] [ 5.75470027e-03 -3.63726827e-04 9.99983375e-01 -4.29673004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.707552017999994 meters 0.042432732844162505 Centerline is valid? [True, True] Translation: X:59.28, Y:-6.13, Z:-0.43 [[ 9.97252101e-01 7.38025067e-02 -6.43721375e-03 5.92762273e+01] [-7.37983489e-02 9.97272795e-01 8.81377201e-04 -6.13225350e+00] [ 6.48470600e-03 -4.03899518e-04 9.99978893e-01 -4.29598648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.737552017999995 meters 0.042432732844162505 Centerline is valid? [True, True] Translation: X:59.30, Y:-6.14, Z:-0.43 [[ 9.97274765e-01 7.34955811e-02 -6.43752223e-03 5.93034271e+01] [-7.34914314e-02 9.97295461e-01 8.79124415e-04 -6.13585200e+00] [ 6.48472346e-03 -4.03625871e-04 9.99978893e-01 -4.29793089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.767552017999996 meters 0.04186912662982587 Centerline is valid? [True, True] Translation: X:59.33, Y:-6.13, Z:-0.43 [[ 9.97394587e-01 7.18238478e-02 -6.73588956e-03 5.93324714e+01] [-7.18192765e-02 9.97417239e-01 9.18402075e-04 -6.13418289e+00] [ 6.78445554e-03 -4.32242543e-04 9.99976892e-01 -4.29111879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.797552018 meters 0.043135096480465596 Centerline is valid? [True, True] Translation: X:59.36, Y:-6.14, Z:-0.43 [[ 9.97450666e-01 7.11336653e-02 -5.67188680e-03 5.93600205e+01] [-7.11304143e-02 9.97466724e-01 7.73106045e-04 -6.13892684e+00] [ 5.71251221e-03 -3.67691482e-04 9.99983616e-01 -4.29279238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.827552018 meters 0.04050354301998662 Centerline is valid? [True, True] Translation: X:59.39, Y:-6.14, Z:-0.43 [[ 9.97544888e-01 6.99078650e-02 -4.13362028e-03 5.93893474e+01] [-6.99061379e-02 9.97553416e-01 5.61028451e-04 -6.13823974e+00] [ 4.16272733e-03 -2.70685634e-04 9.99991299e-01 -4.27771775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85755201799999 meters 0.044727570482264487 Centerline is valid? [True, True] Translation: X:59.42, Y:-6.15, Z:-0.43 [[ 9.97696220e-01 6.77301661e-02 -3.85701351e-03 5.94172197e+01] [-6.77286415e-02 9.97703641e-01 5.24680747e-04 -6.14604571e+00] [ 3.88369314e-03 -2.62241713e-04 9.99992424e-01 -4.27863391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.887552017999994 meters 0.04701362108073843 Centerline is valid? [True, True] Translation: X:59.45, Y:-6.15, Z:-0.43 [[ 9.97792600e-01 6.62738503e-02 -4.20768007e-03 5.94451678e+01] [-6.62720238e-02 9.97801429e-01 5.72195606e-04 -6.15090799e+00] [ 4.23635079e-03 -2.92081067e-04 9.99990984e-01 -4.28508028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.917552017999995 meters 0.04811396329969743 Centerline is valid? [True, True] Translation: X:59.47, Y:-6.15, Z:-0.43 [[ 9.97876799e-01 6.49776734e-02 -4.44920279e-03 5.94739393e+01] [-6.49756301e-02 9.97886669e-01 6.02423753e-04 -6.15422337e+00] [ 4.47894424e-03 -3.12054931e-04 9.99989921e-01 -4.29033564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.947552017999996 meters 0.04949580605917932 Centerline is valid? [True, True] Translation: X:59.50, Y:-6.16, Z:-0.43 [[ 9.97925211e-01 6.42117406e-02 -4.70382449e-03 5.95009308e+01] [-6.42094452e-02 9.97936241e-01 6.37545648e-04 -6.15866026e+00] [ 4.73505485e-03 -3.34192914e-04 9.99988734e-01 -4.30164622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.977552018 meters 0.048698463748350594 Centerline is valid? [True, True] Translation: X:59.53, Y:-6.16, Z:-0.43 [[ 9.98001227e-01 6.29416605e-02 -5.64790376e-03 5.95298680e+01] [-6.29383447e-02 9.98017125e-01 7.63078918e-04 -6.15996723e+00] [ 5.68473412e-03 -4.06083983e-04 9.99983759e-01 -4.31117557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.007552018 meters 0.05143421404432479 Centerline is valid? [True, True] Translation: X:59.56, Y:-6.17, Z:-0.43 [[ 9.97977399e-01 6.33292191e-02 -5.52457260e-03 5.95567480e+01] [-6.33260489e-02 9.97992612e-01 7.47059666e-04 -6.16582694e+00] [ 5.56079335e-03 -3.95699307e-04 9.99984460e-01 -4.32102987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.037552018 meters 0.053057753892021456 Centerline is valid? [True, True] Translation: X:59.58, Y:-6.17, Z:-0.43 [[ 9.97984603e-01 6.32032238e-02 -5.66424889e-03 5.95844025e+01] [-6.31998921e-02 9.98000595e-01 7.65458548e-04 -6.17039437e+00] [ 5.70130321e-03 -4.05935927e-04 9.99983665e-01 -4.31958023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06755201799999 meters 0.043953143595663685 Centerline is valid? [True, True] Translation: X:59.62, Y:-6.16, Z:-0.43 [[ 9.97943666e-01 6.38831007e-02 -5.23336968e-03 5.96153103e+01] [-6.38802795e-02 9.97957320e-01 7.04643658e-04 -6.15997135e+00] [ 5.26769440e-03 -3.68885558e-04 9.99986058e-01 -4.29501239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.097552017999995 meters 0.04276029144739035 Centerline is valid? [True, True] Translation: X:59.64, Y:-6.16, Z:-0.43 [[ 9.97846361e-01 6.54391796e-02 -4.51149384e-03 5.96444447e+01] [-6.54370959e-02 9.97856511e-01 6.08093975e-04 -6.15850673e+00] [ 4.54161668e-03 -3.11565305e-04 9.99989638e-01 -4.28468162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.127552017999996 meters 0.04463505248779716 Centerline is valid? [True, True] Translation: X:59.67, Y:-6.16, Z:-0.43 [[ 9.97839301e-01 6.55437224e-02 -4.55530109e-03 5.96719805e+01] [-6.55416018e-02 9.97849649e-01 6.13419494e-04 -6.16315784e+00] [ 4.58571139e-03 -3.13532349e-04 9.99989436e-01 -4.28744394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.157552018 meters 0.042322957107569455 Centerline is valid? [True, True] Translation: X:59.70, Y:-6.16, Z:-0.43 [[ 9.97862707e-01 6.52104943e-02 -4.19645602e-03 5.97003075e+01] [-6.52087042e-02 9.97871489e-01 5.62125496e-04 -6.16226463e+00] [ 4.22418030e-03 -2.87278610e-04 9.99991037e-01 -4.28257641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.187552018 meters 0.044309853613635444 Centerline is valid? [True, True] Translation: X:59.73, Y:-6.17, Z:-0.43 [[ 9.97907364e-01 6.45552915e-02 -3.67524994e-03 5.97277976e+01] [-6.45539107e-02 9.97914099e-01 4.93223270e-04 -6.16792516e+00] [ 3.69942390e-03 -2.54939377e-04 9.99993125e-01 -4.29798468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.217552018 meters 0.044538641662453034 Centerline is valid? [True, True] Translation: X:59.76, Y:-6.17, Z:-0.43 [[ 9.97954137e-01 6.38492704e-02 -3.28806834e-03 5.97561194e+01] [-6.38481687e-02 9.97959528e-01 4.39054259e-04 -6.17184848e+00] [ 3.30939242e-03 -2.28218872e-04 9.99994498e-01 -4.30547994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24755201799999 meters 0.04315502049561517 Centerline is valid? [True, True] Translation: X:59.79, Y:-6.17, Z:-0.43 [[ 9.98041129e-01 6.24319815e-02 -4.01899879e-03 5.97860421e+01] [-6.24303164e-02 9.98049180e-01 5.38567119e-04 -6.17172004e+00] [ 4.04478226e-03 -2.86604769e-04 9.99991779e-01 -4.30729566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.277552017999994 meters 0.04553611905971814 Centerline is valid? [True, True] Translation: X:59.81, Y:-6.18, Z:-0.43 [[ 9.98097278e-01 6.15051894e-02 -4.35155366e-03 5.98136621e+01] [-6.15032346e-02 9.98106715e-01 5.81737819e-04 -6.17757428e+00] [ 4.37909482e-03 -3.12996308e-04 9.99990363e-01 -4.31056224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.307552017999996 meters 0.04508919228788337 Centerline is valid? [True, True] Translation: X:59.84, Y:-6.18, Z:-0.43 [[ 9.98169164e-01 6.02847075e-02 -4.90645652e-03 5.98427048e+01] [-6.02822183e-02 9.98181159e-01 6.53780349e-04 -6.17962759e+00] [ 4.93694541e-03 -3.56811301e-04 9.99987750e-01 -4.30915457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.337552018 meters 0.047275235301031386 Centerline is valid? [True, True] Translation: X:59.87, Y:-6.19, Z:-0.43 [[ 9.98231930e-01 5.92170917e-02 -5.13326142e-03 5.98696550e+01] [-5.92143518e-02 9.98245056e-01 6.84247225e-04 -6.18541669e+00] [ 5.16477197e-03 -3.79074680e-04 9.99986591e-01 -4.31473451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.367552018 meters 0.05067442098589662 Centerline is valid? [True, True] Translation: X:59.90, Y:-6.19, Z:-0.43 [[ 9.98315092e-01 5.77853350e-02 -5.27560605e-03 5.98977674e+01] [-5.77824192e-02 9.98328952e-01 7.03575566e-04 -6.19249007e+00] [ 5.30744661e-03 -3.97552825e-04 9.99985836e-01 -4.32399392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.397552018 meters 0.048722324167982195 Centerline is valid? [True, True] Translation: X:59.93, Y:-6.19, Z:-0.43 [[ 9.98413741e-01 5.61024890e-02 -4.74465916e-03 5.99274159e+01] [-5.61001121e-02 9.98424948e-01 6.32673363e-04 -6.19378717e+00] [ 4.77268063e-03 -3.65493868e-04 9.99988544e-01 -4.32216703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42755201799999 meters 0.04919967990168164 Centerline is valid? [True, True] Translation: X:59.96, Y:-6.20, Z:-0.43 [[ 9.98489095e-01 5.46980752e-02 -5.25809753e-03 5.99572268e+01] [-5.46951377e-02 9.98502855e-01 7.00960608e-04 -6.19704864e+00] [ 5.28856659e-03 -4.12309155e-04 9.99985930e-01 -4.33121796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.457552017999994 meters 0.04992644922643383 Centerline is valid? [True, True] Translation: X:59.99, Y:-6.20, Z:-0.43 [[ 9.98548754e-01 5.35642927e-02 -5.59039679e-03 5.99859409e+01] [-5.35609722e-02 9.98564305e-01 7.42106675e-04 -6.20025956e+00] [ 5.62212111e-03 -4.41602608e-04 9.99984098e-01 -4.33162415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.487552017999995 meters 0.0476943368539389 Centerline is valid? [True, True] Translation: X:60.01, Y:-6.20, Z:-0.43 [[ 9.98572753e-01 5.30970498e-02 -5.75847234e-03 6.00148776e+01] [-5.30935282e-02 9.98589253e-01 7.62807137e-04 -6.19942606e+00] [ 5.79085140e-03 -4.55980809e-04 9.99983129e-01 -4.32556180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.517552017999996 meters 0.050553633856362856 Centerline is valid? [True, True] Translation: X:60.04, Y:-6.21, Z:-0.43 [[ 9.98592980e-01 5.27056062e-02 -5.84627191e-03 6.00421177e+01] [-5.27019693e-02 9.98609985e-01 7.74525777e-04 -6.20567088e+00] [ 5.87896735e-03 -4.65325962e-04 9.99982610e-01 -4.33058680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.547552018 meters 0.048714798230437915 Centerline is valid? [True, True] Translation: X:60.07, Y:-6.21, Z:-0.43 [[ 9.98634214e-01 5.20883044e-02 -4.06389218e-03 6.00696643e+01] [-5.20865534e-02 9.98642431e-01 5.35592056e-04 -6.20646016e+00] [ 4.08627325e-03 -3.23186415e-04 9.99991599e-01 -4.32409590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.577552018 meters 0.051140991587590334 Centerline is valid? [True, True] Translation: X:60.10, Y:-6.21, Z:-0.43 [[ 9.98634750e-01 5.21273687e-02 -3.37245395e-03 6.00968092e+01] [-5.21261602e-02 9.98640408e-01 4.45291519e-04 -6.21409543e+00] [ 3.39108066e-03 -2.68890510e-04 9.99994214e-01 -4.33123879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60755201799999 meters 0.048001616422162004 Centerline is valid? [True, True] Translation: X:60.13, Y:-6.21, Z:-0.43 [[ 9.98674518e-01 5.13664000e-02 -3.27119487e-03 6.01256664e+01] [-5.13652663e-02 9.98679841e-01 4.29711579e-04 -6.21380715e+00] [ 3.28894911e-03 -2.61116209e-04 9.99994557e-01 -4.32481948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.637552017999994 meters 0.052233024883580226 Centerline is valid? [True, True] Translation: X:60.15, Y:-6.22, Z:-0.43 [[ 9.98655033e-01 5.17653710e-02 -2.91072264e-03 6.01527151e+01] [-5.17644728e-02 9.98659247e-01 3.83123803e-04 -6.22012825e+00] [ 2.92665262e-03 -2.31936491e-04 9.99995690e-01 -4.32181912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.667552017999995 meters 0.04789996594048596 Centerline is valid? [True, True] Translation: X:60.18, Y:-6.22, Z:-0.43 [[ 9.98638883e-01 5.20712336e-02 -2.99456811e-03 6.01818496e+01] [-5.20702905e-02 9.98643345e-01 3.92078191e-04 -6.21639205e+00] [ 3.01092151e-03 -2.35616496e-04 9.99995439e-01 -4.30975424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.697552017999996 meters 0.04825605120931025 Centerline is valid? [True, True] Translation: X:60.21, Y:-6.22, Z:-0.43 [[ 9.98571521e-01 5.33559768e-02 -2.83866857e-03 6.02092924e+01] [-5.33551320e-02 9.98575531e-01 3.72549005e-04 -6.21920962e+00] [ 2.85450269e-03 -2.20559290e-04 9.99995902e-01 -4.31877632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.727552018 meters 0.04770979954455113 Centerline is valid? [True, True] Translation: X:60.24, Y:-6.22, Z:-0.43 [[ 9.98531284e-01 5.40838768e-02 -3.19514754e-03 6.02383390e+01] [-5.40828161e-02 9.98536366e-01 4.17497858e-04 -6.22201163e+00] [ 3.21305092e-03 -2.44082096e-04 9.99994808e-01 -4.32720389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.757552018 meters 0.047300102522514986 Centerline is valid? [True, True] Translation: X:60.27, Y:-6.22, Z:-0.43 [[ 9.98508960e-01 5.44513259e-02 -3.86140140e-03 6.02671821e+01] [-5.44497827e-02 9.98516383e-01 5.03725147e-04 -6.22429273e+00] [ 3.88310106e-03 -2.92721605e-04 9.99992418e-01 -4.33772901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.787552018 meters 0.047300102522514986 Centerline is valid? [True, True] Translation: X:60.29, Y:-6.23, Z:-0.43 [[ 9.98525811e-01 5.41414075e-02 -3.86159350e-03 6.02944155e+01] [-5.41398677e-02 9.98533236e-01 5.02254159e-04 -6.22772716e+00] [ 3.88312220e-03 -2.92447581e-04 9.99992418e-01 -4.33967507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81755201799999 meters 0.04605307383784218 Centerline is valid? [True, True] Translation: X:60.32, Y:-6.23, Z:-0.43 [[ 9.98522681e-01 5.41996815e-02 -3.85359196e-03 6.03226633e+01] [-5.41981517e-02 9.98530075e-01 5.00383942e-04 -6.22971582e+00] [ 3.87504812e-03 -2.90787154e-04 9.99992450e-01 -4.34598924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.847552017999995 meters 0.0471304735579385 Centerline is valid? [True, True] Translation: X:60.35, Y:-6.23, Z:-0.44 [[ 9.98547761e-01 5.37171209e-02 -4.10358387e-03 6.03514776e+01] [-5.37153862e-02 9.98556145e-01 5.31848742e-04 -6.23432412e+00] [ 4.12622827e-03 -3.10650778e-04 9.99991439e-01 -4.35911000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.877552017999996 meters 0.049482087629768565 Centerline is valid? [True, True] Translation: X:60.38, Y:-6.24, Z:-0.44 [[ 9.98551580e-01 5.36159005e-02 -4.48073172e-03 6.03780067e+01] [-5.36138288e-02 9.98561575e-01 5.81275056e-04 -6.23977424e+00] [ 4.50545211e-03 -3.40203942e-04 9.99989793e-01 -4.36157477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.907552018 meters 0.04940798926896383 Centerline is valid? [True, True] Translation: X:60.41, Y:-6.24, Z:-0.44 [[ 9.98549281e-01 5.36276815e-02 -4.83791773e-03 6.04064040e+01] [-5.36252771e-02 9.98560934e-01 6.25449575e-04 -6.24196717e+00] [ 4.86449706e-03 -3.65107545e-04 9.99988102e-01 -4.35705886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.937552018 meters 0.05021753485918536 Centerline is valid? [True, True] Translation: X:60.43, Y:-6.25, Z:-0.44 [[ 9.98534414e-01 5.38655646e-02 -5.24644275e-03 6.04333985e+01] [-5.38627386e-02 9.98548118e-01 6.78569635e-04 -6.24640655e+00] [ 5.27537708e-03 -3.94987358e-04 9.99986007e-01 -4.37430246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.967552018 meters 0.046401384133711615 Centerline is valid? [True, True] Translation: X:60.46, Y:-6.25, Z:-0.44 [[ 9.98486320e-01 5.47383796e-02 -5.36449188e-03 6.04622997e+01] [-5.47354507e-02 9.98500652e-01 6.91402482e-04 -6.24501670e+00] [ 5.39429489e-03 -3.96728039e-04 9.99985372e-01 -4.37912002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99755201799999 meters 0.04685238076590763 Centerline is valid? [True, True] Translation: X:60.49, Y:-6.25, Z:-0.44 [[ 9.98522451e-01 5.40814078e-02 -5.30247722e-03 6.04894294e+01] [-5.40785331e-02 9.98536451e-01 6.84123123e-04 -6.24965823e+00] [ 5.33171513e-03 -3.96362107e-04 9.99985708e-01 -4.38480405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.027552017999994 meters 0.04595041652245985 Centerline is valid? [True, True] Translation: X:60.52, Y:-6.25, Z:-0.44 [[ 9.98498484e-01 5.45073830e-02 -5.45179269e-03 6.05183255e+01] [-5.45043656e-02 9.98513286e-01 7.00628664e-04 -6.24942319e+00] [ 5.48187687e-03 -4.02430157e-04 9.99984893e-01 -4.37450696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.057552017999996 meters 0.047151585091544504 Centerline is valid? [True, True] Translation: X:60.55, Y:-6.25, Z:-0.44 [[ 9.98481526e-01 5.48460007e-02 -5.15349098e-03 6.05462659e+01] [-5.48433168e-02 9.98494754e-01 6.60780819e-04 -6.25375550e+00] [ 5.18197489e-03 -3.77142902e-04 9.99986502e-01 -4.37318444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.087552018 meters 0.047950192376039584 Centerline is valid? [True, True] Translation: X:60.57, Y:-6.26, Z:-0.44 [[ 9.98483857e-01 5.48550744e-02 -4.57251497e-03 6.05739043e+01] [-5.48529589e-02 9.98494271e-01 5.86882798e-04 -6.25750150e+00] [ 4.59782350e-03 -3.35177024e-04 9.99989374e-01 -4.37512918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.117552018 meters 0.04527941243296241 Centerline is valid? [True, True] Translation: X:60.60, Y:-6.26, Z:-0.44 [[ 9.98485968e-01 5.48051340e-02 -4.70834448e-03 6.06026860e+01] [-5.48029026e-02 9.98497010e-01 6.01742152e-04 -6.25697852e+00] [ 4.73424644e-03 -3.42800152e-04 9.99988735e-01 -4.37698882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.147552018 meters 0.04712051111527091 Centerline is valid? [True, True] Translation: X:60.63, Y:-6.26, Z:-0.44 [[ 9.98534538e-01 5.38605963e-02 -5.27376798e-03 6.06299552e+01] [-5.38577817e-02 9.98548389e-01 6.74372835e-04 -6.26404141e+00] [ 5.30243464e-03 -3.89351123e-04 9.99985866e-01 -4.39920477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17755201799999 meters 0.04844075390179539 Centerline is valid? [True, True] Translation: X:60.66, Y:-6.27, Z:-0.44 [[ 9.98572850e-01 5.31777549e-02 -4.93868630e-03 6.06569269e+01] [-5.31752792e-02 9.98584994e-01 6.31341843e-04 -6.26952400e+00] [ 4.96527137e-03 -3.67824800e-04 9.99987605e-01 -4.40368095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.207552017999994 meters 0.04732972504977359 Centerline is valid? [True, True] Translation: X:60.69, Y:-6.27, Z:-0.44 [[ 9.98626206e-01 5.21908939e-02 -4.67023761e-03 6.06854239e+01] [-5.21886815e-02 9.98637065e-01 5.94444520e-04 -6.27031357e+00] [ 4.69489697e-03 -3.49894333e-04 9.99988918e-01 -4.39127621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.237552017999995 meters 0.04778621916254982 Centerline is valid? [True, True] Translation: X:60.71, Y:-6.27, Z:-0.44 [[ 9.98637454e-01 5.19896511e-02 -4.50693407e-03 6.07126942e+01] [-5.19875965e-02 9.98647567e-01 5.71914347e-04 -6.27332506e+00] [ 4.53057237e-03 -3.36830418e-04 9.99989680e-01 -4.38900046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.267552017999996 meters 0.04697307547081809 Centerline is valid? [True, True] Translation: X:60.74, Y:-6.28, Z:-0.44 [[ 9.98617013e-01 5.23962827e-02 -4.32327332e-03 6.07417400e+01] [-5.23944004e-02 9.98626320e-01 5.47588054e-04 -6.27529458e+00] [ 4.34602611e-03 -3.20315433e-04 9.99990505e-01 -4.38928508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.297552018 meters 0.04597308054550609 Centerline is valid? [True, True] Translation: X:60.77, Y:-6.28, Z:-0.44 [[ 9.98586683e-01 5.29847111e-02 -4.15425649e-03 6.07700245e+01] [-5.29829834e-02 9.98595277e-01 5.24941876e-04 -6.27753098e+00] [ 4.17623481e-03 -3.04095064e-04 9.99991233e-01 -4.39064548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.327552018 meters 0.04883848758003079 Centerline is valid? [True, True] Translation: X:60.80, Y:-6.29, Z:-0.44 [[ 9.98484214e-01 5.49167726e-02 -3.66366571e-03 6.07977455e+01] [-5.49154378e-02 9.98490901e-01 4.64037342e-04 -6.28551492e+00] [ 3.68362031e-03 -2.62142154e-04 9.99993181e-01 -4.40417025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35755201799999 meters 0.045019890062531515 Centerline is valid? [True, True] Translation: X:60.83, Y:-6.28, Z:-0.44 [[ 9.98450236e-01 5.55474831e-02 -3.40635283e-03 6.08266846e+01] [-5.55463413e-02 9.98456018e-01 4.28956096e-04 -6.28303461e+00] [ 3.42492091e-03 -2.39080879e-04 9.99994106e-01 -4.39057507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.387552017999994 meters 0.04373278733041112 Centerline is valid? [True, True] Translation: X:60.86, Y:-6.28, Z:-0.44 [[ 9.98380207e-01 5.68066435e-02 -3.15728161e-03 6.08560367e+01] [-5.68056715e-02 9.98385175e-01 3.96762565e-04 -6.28438986e+00] [ 3.17472191e-03 -2.16768390e-04 9.99994937e-01 -4.39019093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.417552017999995 meters 0.043157113206580035 Centerline is valid? [True, True] Translation: X:60.89, Y:-6.29, Z:-0.44 [[ 9.98258926e-01 5.88885590e-02 -3.35465077e-03 6.08860322e+01] [-5.88874676e-02 9.98264538e-01 4.23280513e-04 -6.28792374e+00] [ 3.37375528e-03 -2.24996661e-04 9.99994284e-01 -4.39964544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.447552017999996 meters 0.04352022772512973 Centerline is valid? [True, True] Translation: X:60.91, Y:-6.29, Z:-0.44 [[ 9.98064754e-01 6.21197167e-02 -2.80860109e-03 6.09144492e+01] [-6.21189651e-02 9.98068689e-01 3.54114368e-04 -6.29213446e+00] [ 2.82517429e-03 -1.78961677e-04 9.99995993e-01 -4.40497607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.477552018 meters 0.04224127247667414 Centerline is valid? [True, True] Translation: X:60.94, Y:-6.29, Z:-0.44 [[ 9.98008496e-01 6.30219302e-02 -2.69783207e-03 6.09437433e+01] [-6.30212459e-02 9.98012128e-01 3.37972481e-04 -6.29349749e+00] [ 2.71376880e-03 -1.67278669e-04 9.99996304e-01 -4.40323990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.507552018 meters 0.04033579665285136 Centerline is valid? [True, True] Translation: X:60.97, Y:-6.29, Z:-0.44 [[ 9.97974864e-01 6.35281343e-02 -3.21664271e-03 6.09725837e+01] [-6.35271666e-02 9.97980029e-01 4.02235785e-04 -6.29318005e+00] [ 3.23569847e-03 -1.97077006e-04 9.99994746e-01 -4.40148745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.537552018 meters 0.04065164380170768 Centerline is valid? [True, True] Translation: X:61.00, Y:-6.30, Z:-0.44 [[ 9.97904507e-01 6.45737045e-02 -4.10261480e-03 6.09997134e+01] [-6.45721334e-02 9.97912910e-01 5.14411880e-04 -6.29767020e+00] [ 4.12726975e-03 -2.48419344e-04 9.99991452e-01 -4.41893790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56755201799999 meters 0.040426790694914144 Centerline is valid? [True, True] Translation: X:61.03, Y:-6.30, Z:-0.44 [[ 9.97894835e-01 6.46879569e-02 -4.62237936e-03 6.10278801e+01] [-6.46859748e-02 9.97905502e-01 5.77180280e-04 -6.30194486e+00] [ 4.65003441e-03 -2.76962106e-04 9.99989150e-01 -4.43290012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.597552017999995 meters 0.04642815173146 Centerline is valid? [True, True] Translation: X:61.05, Y:-6.32, Z:-0.45 [[ 9.97872865e-01 6.49970861e-02 -5.01237521e-03 6.10543686e+01] [-6.49947548e-02 9.97885409e-01 6.26791884e-04 -6.31610759e+00] [ 5.04251574e-03 -2.99680516e-04 9.99987242e-01 -4.46295231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.627552017999996 meters 0.04642815173146 Centerline is valid? [True, True] Translation: X:61.08, Y:-6.32, Z:-0.45 [[ 9.97891175e-01 6.47153468e-02 -5.01271619e-03 6.10816029e+01] [-6.47130255e-02 9.97903720e-01 6.24064164e-04 -6.31935946e+00] [ 5.04259467e-03 -2.98360091e-04 9.99987242e-01 -4.46489227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.657552018 meters 0.04082965328149689 Centerline is valid? [True, True] Translation: X:61.11, Y:-6.31, Z:-0.44 [[ 9.97932658e-01 6.41189547e-02 -4.37829667e-03 6.11110787e+01] [-6.41171840e-02 9.97942228e-01 5.43749967e-04 -6.31476433e+00] [ 4.40415182e-03 -2.61901797e-04 9.99990267e-01 -4.43610773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.687552018 meters 0.040304580485647834 Centerline is valid? [True, True] Translation: X:61.14, Y:-6.32, Z:-0.44 [[ 9.97945290e-01 6.39801081e-02 -3.42685939e-03 6.11398494e+01] [-6.39790272e-02 9.97951153e-01 4.24223011e-04 -6.31681653e+00] [ 3.44698012e-03 -2.04104226e-04 9.99994038e-01 -4.41828000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.717552018 meters 0.03959704939036348 Centerline is valid? [True, True] Translation: X:61.17, Y:-6.32, Z:-0.44 [[ 9.97895710e-01 6.47971964e-02 -2.33994104e-03 6.11691696e+01] [-6.47966947e-02 9.97898444e-01 2.89666346e-04 -6.31832866e+00] [ 2.35379309e-03 -1.37436359e-04 9.99997220e-01 -4.39473429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74755201799999 meters 0.03982744777976579 Centerline is valid? [True, True] Translation: X:61.20, Y:-6.32, Z:-0.44 [[ 9.97869330e-01 6.52134908e-02 -2.00003558e-03 6.11974880e+01] [-6.52131284e-02 9.97871328e-01 2.45974230e-04 -6.32274030e+00] [ 2.01181900e-03 -1.15021563e-04 9.99997970e-01 -4.40164943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.777552017999994 meters 0.0397094272610677 Centerline is valid? [True, True] Translation: X:61.23, Y:-6.33, Z:-0.44 [[ 9.97818022e-01 6.60030948e-02 -1.66938785e-03 6.12252545e+01] [-6.60028428e-02 9.97819414e-01 2.05675328e-04 -6.32755960e+00] [ 1.67932281e-03 -9.50422049e-05 9.99998585e-01 -4.40731127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.807552017999996 meters 0.04039592475321782 Centerline is valid? [True, True] Translation: X:61.25, Y:-6.33, Z:-0.44 [[ 9.97769764e-01 6.67271300e-02 -1.72872681e-03 6.12526267e+01] [-6.67268605e-02 9.97771257e-01 2.13180083e-04 -6.33330134e+00] [ 1.73909882e-03 -9.73521277e-05 9.99998483e-01 -4.41794577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.837552018 meters 0.038630996295933605 Centerline is valid? [True, True] Translation: X:61.28, Y:-6.34, Z:-0.44 [[ 9.97657179e-01 6.83929336e-02 -1.59990275e-03 6.12819084e+01] [-6.83927074e-02 9.97658458e-01 1.95759513e-04 -6.33531605e+00] [ 1.60954508e-03 -8.58792031e-05 9.99998701e-01 -4.41528239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.867552018 meters 0.03897645780097357 Centerline is valid? [True, True] Translation: X:61.31, Y:-6.34, Z:-0.44 [[ 9.97583598e-01 6.94579372e-02 -1.60008762e-03 6.13095801e+01] [-6.94577108e-02 9.97584877e-01 1.96714743e-04 -6.33893253e+00] [ 1.60988661e-03 -8.51009777e-05 9.99998701e-01 -4.40888949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.897552018 meters 0.03554003721277321 Centerline is valid? [True, True] Translation: X:61.34, Y:-6.34, Z:-0.44 [[ 9.97518191e-01 7.03997762e-02 -1.15313275e-03 6.13389960e+01] [-7.03996613e-02 9.97518856e-01 1.39979432e-04 -6.33668624e+00] [ 1.16012619e-03 -5.84518742e-05 9.99999325e-01 -4.39408844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92755201799999 meters 0.03474241663958364 Centerline is valid? [True, True] Translation: X:61.37, Y:-6.34, Z:-0.44 [[ 9.97376055e-01 7.23927874e-02 -5.37368926e-04 6.13678397e+01] [-7.23927626e-02 9.97376200e-01 6.55440562e-05 -6.34020561e+00] [ 5.40703894e-04 -2.64704511e-05 9.99999853e-01 -4.39331058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.957552017999994 meters 0.03470324353866229 Centerline is valid? [True, True] Translation: X:61.39, Y:-6.35, Z:-0.44 [[ 9.97285403e-01 7.36329693e-02 1.05971326e-04 6.13949066e+01] [-7.36329683e-02 9.97285408e-01 -1.37090868e-05 -6.34556028e+00] [-1.06693098e-04 5.86888887e-06 9.99999994e-01 -4.40189949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.987552017999995 meters 0.03390806505872397 Centerline is valid? [True, True] Translation: X:61.42, Y:-6.35, Z:-0.44 [[ 9.97250043e-01 7.41087950e-02 -4.88398443e-04 6.14231406e+01] [-7.41087755e-02 9.97250162e-01 5.79587564e-05 -6.34889362e+00] [ 4.91350680e-04 -2.16047617e-05 9.99999879e-01 -4.40517897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.017552017999996 meters 0.03443801902156346 Centerline is valid? [True, True] Translation: X:61.45, Y:-6.35, Z:-0.44 [[ 9.97162856e-01 7.52735491e-02 3.62140691e-04 6.14501530e+01] [-7.52735377e-02 9.97162922e-01 -4.50560646e-05 -6.35411755e+00] [-3.64504799e-04 1.76686231e-05 9.99999933e-01 -4.39568793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.047552018 meters 0.033736766177819955 Centerline is valid? [True, True] Translation: X:61.48, Y:-6.36, Z:-0.44 [[ 9.97160354e-01 7.53050749e-02 6.11292541e-04 6.14784987e+01] [-7.53050420e-02 9.97160541e-01 -7.66398246e-05 -6.35594266e+00] [-6.15328168e-04 3.03887842e-05 9.99999810e-01 -4.38308295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.077552018 meters 0.0326767931041284 Centerline is valid? [True, True] Translation: X:61.51, Y:-6.36, Z:-0.44 [[ 9.97156473e-01 7.53498896e-02 1.16707241e-03 6.15070963e+01] [-7.53497722e-02 9.97157155e-01 -1.44299598e-04 -6.35912232e+00] [-1.17462756e-03 5.59506387e-05 9.99999309e-01 -4.38005912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10755201799999 meters 0.035145882510357766 Centerline is valid? [True, True] Translation: X:61.53, Y:-6.37, Z:-0.44 [[ 9.97169782e-01 7.51786924e-02 7.67693667e-04 6.15336416e+01] [-7.51786421e-02 9.97170077e-01 -9.42548746e-05 -6.36808190e+00] [-7.72607111e-04 3.62739453e-05 9.99999701e-01 -4.39364938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.137552017999994 meters 0.03323143858083414 Centerline is valid? [True, True] Translation: X:61.56, Y:-6.37, Z:-0.44 [[ 9.97222561e-01 7.44788402e-02 2.57460186e-04 6.15620235e+01] [-7.44788341e-02 9.97222594e-01 -3.32319928e-05 -6.36948964e+00] [-2.59220195e-04 1.39643585e-05 9.99999966e-01 -4.39741192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.167552017999995 meters 0.03332386043290632 Centerline is valid? [True, True] Translation: X:61.59, Y:-6.37, Z:-0.44 [[ 9.97278189e-01 7.37298068e-02 -3.59436215e-04 6.15904306e+01] [-7.37297965e-02 9.97278254e-01 4.16895795e-05 -6.37420602e+00] [ 3.61531686e-04 -1.50749493e-05 9.99999935e-01 -4.40114905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.197552017999996 meters 0.03500976897259215 Centerline is valid? [True, True] Translation: X:61.62, Y:-6.38, Z:-0.44 [[ 9.97377780e-01 7.23678307e-02 -6.78945683e-04 6.16172306e+01] [-7.23677921e-02 9.97378011e-01 8.12616377e-05 -6.38147860e+00] [ 6.83046223e-04 -3.19147518e-05 9.99999766e-01 -4.40630086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.227552018 meters 0.03330344725751754 Centerline is valid? [True, True] Translation: X:61.65, Y:-6.38, Z:-0.44 [[ 9.97455068e-01 7.12896316e-02 -1.08399617e-03 6.16463912e+01] [-7.12895333e-02 9.97455656e-01 1.29115125e-04 -6.38294463e+00] [ 1.09044268e-03 -5.15089547e-05 9.99999404e-01 -4.39954792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.257552018 meters 0.03363108674418295 Centerline is valid? [True, True] Translation: X:61.67, Y:-6.39, Z:-0.44 [[ 9.97518137e-01 7.03932539e-02 -1.53485251e-03 6.16748059e+01] [-7.03930551e-02 9.97519315e-01 1.83202890e-04 -6.38723533e+00] [ 1.54394127e-03 -7.47052478e-05 9.99998805e-01 -4.40370851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.287552018 meters 0.03582851286347539 Centerline is valid? [True, True] Translation: X:61.70, Y:-6.40, Z:-0.44 [[ 9.97708162e-01 6.75820475e-02 -3.33029247e-03 6.17022001e+01] [-6.75810847e-02 9.97713705e-01 4.00930993e-04 -6.39567286e+00] [ 3.34977418e-03 -1.74947347e-04 9.99994374e-01 -4.42829692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31755201799999 meters 0.041064832670781426 Centerline is valid? [True, True] Translation: X:61.73, Y:-6.41, Z:-0.44 [[ 9.97795348e-01 6.62602434e-02 -3.74470660e-03 6.17283649e+01] [-6.62590213e-02 9.97802355e-01 4.49618119e-04 -6.40718929e+00] [ 3.76626887e-03 -2.00506273e-04 9.99992887e-01 -4.44873140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.347552017999995 meters 0.03552222899191011 Centerline is valid? [True, True] Translation: X:61.76, Y:-6.40, Z:-0.44 [[ 9.97867112e-01 6.51357640e-02 -4.30805925e-03 6.17579258e+01] [-6.51341438e-02 9.97876384e-01 5.15470561e-04 -6.40239124e+00] [ 4.33248616e-03 -2.33769369e-04 9.99990587e-01 -4.43154156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.377552017999996 meters 0.0372996582445139 Centerline is valid? [True, True] Translation: X:61.79, Y:-6.41, Z:-0.44 [[ 9.97888282e-01 6.48041107e-02 -4.40491044e-03 6.17855918e+01] [-6.48024098e-02 9.97897975e-01 5.27932037e-04 -6.40846262e+00] [ 4.42986337e-03 -2.41368382e-04 9.99990159e-01 -4.43370110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.407552018 meters 0.036571405086084266 Centerline is valid? [True, True] Translation: X:61.81, Y:-6.41, Z:-0.44 [[ 9.97922608e-01 6.43053428e-02 -3.91051964e-03 6.18133970e+01] [-6.43040096e-02 9.97930247e-01 4.65843735e-04 -6.40999747e+00] [ 3.93238207e-03 -2.13413902e-04 9.99992245e-01 -4.42393765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.437552018 meters 0.03733035897821183 Centerline is valid? [True, True] Translation: X:61.84, Y:-6.41, Z:-0.44 [[ 9.97893951e-01 6.47437276e-02 -3.98897848e-03 6.18408519e+01] [-6.47423391e-02 9.97901900e-01 4.76375061e-04 -6.41447272e+00] [ 4.01145150e-03 -2.17115994e-04 9.99991931e-01 -4.43221009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.467552018 meters 0.03754378171102925 Centerline is valid? [True, True] Translation: X:61.87, Y:-6.42, Z:-0.44 [[ 9.97895533e-01 6.46482580e-02 -5.01071538e-03 6.18688433e+01] [-6.46460803e-02 9.97908077e-01 5.95542108e-04 -6.41763665e+00] [ 5.03873411e-03 -2.70365701e-04 9.99987269e-01 -4.44126158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49755201799999 meters 0.03776046572468779 Centerline is valid? [True, True] Translation: X:61.90, Y:-6.42, Z:-0.44 [[ 9.97838262e-01 6.54960239e-02 -5.39203491e-03 6.18960346e+01] [-6.54935082e-02 9.97852789e-01 6.42009903e-04 -6.42106949e+00] [ 5.42250617e-03 -2.87478763e-04 9.99985257e-01 -4.44762951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.527552017999994 meters 0.03500147566880777 Centerline is valid? [True, True] Translation: X:61.93, Y:-6.42, Z:-0.44 [[ 9.97811886e-01 6.59159768e-02 -5.15007675e-03 6.19256183e+01] [-6.59136935e-02 9.97825140e-01 6.12013124e-04 -6.41976727e+00] [ 5.17921750e-03 -2.71213390e-04 9.99986551e-01 -4.43454471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.557552017999996 meters 0.03517495279363153 Centerline is valid? [True, True] Translation: X:61.95, Y:-6.42, Z:-0.44 [[ 9.97727436e-01 6.72116916e-02 -4.74881245e-03 6.19536442e+01] [-6.72097658e-02 9.97738708e-01 5.64139664e-04 -6.42222811e+00] [ 4.77599078e-03 -2.43691048e-04 9.99988565e-01 -4.42692556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.587552018 meters 0.034551757010226634 Centerline is valid? [True, True] Translation: X:61.98, Y:-6.42, Z:-0.44 [[ 9.97666277e-01 6.81196042e-02 -4.66037919e-03 6.19828548e+01] [-6.81177701e-02 9.97677135e-01 5.51340119e-04 -6.42389359e+00] [ 4.68711083e-03 -2.32598805e-04 9.99988988e-01 -4.42707807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.617552018 meters 0.03431762689260007 Centerline is valid? [True, True] Translation: X:62.01, Y:-6.43, Z:-0.44 [[ 9.97606914e-01 6.89729466e-02 -4.81432880e-03 6.20112585e+01] [-6.89710059e-02 9.97618503e-01 5.68176885e-04 -6.42616570e+00] [ 4.84205233e-03 -2.34768089e-04 9.99988250e-01 -4.42538732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.647552018 meters 0.03429869900520283 Centerline is valid? [True, True] Translation: X:62.04, Y:-6.43, Z:-0.44 [[ 9.97544837e-01 6.98642718e-02 -4.82514563e-03 6.20402919e+01] [-6.98623390e-02 9.97556480e-01 5.68168118e-04 -6.42821074e+00] [ 4.85304994e-03 -2.29677214e-04 9.99988198e-01 -4.42757266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67755201799999 meters 0.03214076700417087 Centerline is valid? [True, True] Translation: X:62.07, Y:-6.43, Z:-0.44 [[ 9.97430308e-01 7.15251496e-02 -4.11500300e-03 6.20692423e+01] [-7.15237549e-02 9.97438779e-01 4.85280416e-04 -6.42688069e+00] [ 4.13917332e-03 -1.89712930e-04 9.99991416e-01 -4.41308920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.707552017999994 meters 0.03466441852330206 Centerline is valid? [True, True] Translation: X:62.10, Y:-6.43, Z:-0.44 [[ 9.97428044e-01 7.15706265e-02 -3.86555155e-03 6.20965921e+01] [-7.15693983e-02 9.97435519e-01 4.55314414e-04 -6.43351555e+00] [ 3.88822556e-03 -1.77488167e-04 9.99992425e-01 -4.41751223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.737552017999995 meters 0.033369891595028574 Centerline is valid? [True, True] Translation: X:62.13, Y:-6.43, Z:-0.44 [[ 9.97527876e-01 7.01817344e-02 -3.55820858e-03 6.21258185e+01] [-7.01806930e-02 9.97534208e-01 4.16838429e-04 -6.43385767e+00] [ 3.57868922e-03 -1.66090408e-04 9.99993583e-01 -4.40464659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.767552017999996 meters 0.03424320630507406 Centerline is valid? [True, True] Translation: X:62.15, Y:-6.44, Z:-0.44 [[ 9.97603865e-01 6.90770423e-02 -3.85875798e-03 6.21531726e+01] [-6.90758054e-02 9.97611311e-01 4.53082729e-04 -6.43947281e+00] [ 3.88083822e-03 -1.85450266e-04 9.99992452e-01 -4.41790291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.797552018 meters 0.03753295712489768 Centerline is valid? [True, True] Translation: X:62.18, Y:-6.45, Z:-0.44 [[ 9.97701331e-01 6.76383587e-02 -4.13611885e-03 6.21795604e+01] [-6.76369300e-02 9.97709883e-01 4.84497474e-04 -6.44878889e+00] [ 4.15941727e-03 -2.03629394e-04 9.99991329e-01 -4.44017815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.827552018 meters 0.03573598866531965 Centerline is valid? [True, True] Translation: X:62.21, Y:-6.45, Z:-0.44 [[ 9.97811803e-01 6.59848655e-02 -4.19560299e-03 6.22081068e+01] [-6.59833885e-02 9.97820601e-01 4.89639372e-04 -6.45034230e+00] [ 4.21876789e-03 -2.11727842e-04 9.99991079e-01 -4.44316538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85755201799999 meters 0.04119801174525355 Centerline is valid? [True, True] Translation: X:62.24, Y:-6.46, Z:-0.45 [[ 9.98040492e-01 6.23186263e-02 -5.61826098e-03 6.22364596e+01] [-6.23159073e-02 9.98056258e-01 6.57896208e-04 -6.46134199e+00] [ 5.64833972e-03 -3.06500025e-04 9.99984001e-01 -4.46364318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.887552017999994 meters 0.042057668070181325 Centerline is valid? [True, True] Translation: X:62.27, Y:-6.47, Z:-0.45 [[ 9.98131335e-01 6.07661291e-02 -6.42777862e-03 6.22657493e+01] [-6.07625399e-02 9.98151966e-01 7.52397304e-04 -6.46538108e+00] [ 6.46162014e-03 -3.60423170e-04 9.99979059e-01 -4.46619157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.917552017999995 meters 0.039405769621441225 Centerline is valid? [True, True] Translation: X:62.29, Y:-6.46, Z:-0.45 [[ 9.98211665e-01 5.93193955e-02 -7.39469878e-03 6.22944409e+01] [-5.93146189e-02 9.98238964e-01 8.63782326e-04 -6.46386378e+00] [ 7.43291550e-03 -4.23623854e-04 9.99972286e-01 -4.45175081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.947552017999996 meters 0.045010181651116254 Centerline is valid? [True, True] Translation: X:62.32, Y:-6.47, Z:-0.45 [[ 9.98279144e-01 5.80934725e-02 -7.99371915e-03 6.23207076e+01] [-5.80878629e-02 9.98311039e-01 9.32339539e-04 -6.47475525e+00] [ 8.03438091e-03 -4.66397055e-04 9.99967615e-01 -4.47261936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.977552018 meters 0.047383777129403094 Centerline is valid? [True, True] Translation: X:62.35, Y:-6.48, Z:-0.45 [[ 9.98489220e-01 5.44814895e-02 -7.14453049e-03 6.23486806e+01] [-5.44769124e-02 9.98514682e-01 8.33840089e-04 -6.48470854e+00] [ 7.17934745e-03 -4.43368379e-04 9.99974130e-01 -4.49111741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.007552018 meters 0.048979270393470185 Centerline is valid? [True, True] Translation: X:62.38, Y:-6.49, Z:-0.45 [[ 9.98592106e-01 5.25342548e-02 -7.34564912e-03 6.23775181e+01] [-5.25293657e-02 9.98619012e-01 8.57061257e-04 -6.49151236e+00] [ 7.38052994e-03 -4.69992316e-04 9.99972653e-01 -4.50090115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.037552018 meters 0.04183284131562346 Centerline is valid? [True, True] Translation: X:62.41, Y:-6.49, Z:-0.45 [[ 9.98685877e-01 5.07479085e-02 -7.15326006e-03 6.24081376e+01] [-5.07432288e-02 9.98711384e-01 8.34300990e-04 -6.48512216e+00] [ 7.18638128e-03 -4.70225104e-04 9.99974067e-01 -4.47662791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06755201799999 meters 0.05370863055756874 Centerline is valid? [True, True] Translation: X:62.44, Y:-6.50, Z:-0.45 [[ 9.98752066e-01 4.92964176e-02 -8.01090807e-03 6.24351185e+01] [-4.92905066e-02 9.98784048e-01 9.33763182e-04 -6.50301131e+00] [ 8.04719837e-03 -5.37736190e-04 9.99967476e-01 -4.50331449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.097552017999995 meters 0.04234059264166549 Centerline is valid? [True, True] Translation: X:62.47, Y:-6.49, Z:-0.45 [[ 9.98798533e-01 4.83606901e-02 -7.92050037e-03 6.24651112e+01] [-4.83548968e-02 9.98829793e-01 9.21413030e-04 -6.49011525e+00] [ 7.95579191e-03 -5.37311004e-04 9.99968208e-01 -4.46821555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.127552017999996 meters 0.04341402078875012 Centerline is valid? [True, True] Translation: X:62.49, Y:-6.49, Z:-0.45 [[ 9.98788647e-01 4.85656571e-02 -7.91301661e-03 6.24927326e+01] [-4.85598845e-02 9.98819849e-01 9.20116765e-04 -6.49431032e+00] [ 7.94836413e-03 -5.34747006e-04 9.99968268e-01 -4.47124289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.157552018 meters 0.04268493775365605 Centerline is valid? [True, True] Translation: X:62.52, Y:-6.50, Z:-0.45 [[ 9.98730255e-01 4.97951427e-02 -7.63682785e-03 6.25220993e+01] [-4.97898115e-02 9.98759325e-01 8.86751803e-04 -6.49612111e+00] [ 7.67150896e-03 -5.05389635e-04 9.99970446e-01 -4.46574699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.187552018 meters 0.04130389651808463 Centerline is valid? [True, True] Translation: X:62.55, Y:-6.50, Z:-0.45 [[ 9.98719675e-01 5.00849510e-02 -7.10689254e-03 6.25510976e+01] [-5.00803632e-02 9.98744853e-01 8.22155923e-04 -6.49702129e+00] [ 7.13914999e-03 -4.65187537e-04 9.99974408e-01 -4.46017590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.217552018 meters 0.042412010600871373 Centerline is valid? [True, True] Translation: X:62.58, Y:-6.50, Z:-0.45 [[ 9.98657426e-01 5.13710266e-02 -6.66060921e-03 6.25785473e+01] [-5.13670221e-02 9.98679545e-01 7.71011757e-04 -6.50025712e+00] [ 6.69142184e-03 -4.27840956e-04 9.99977521e-01 -4.45222205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24755201799999 meters 0.04214177569077295 Centerline is valid? [True, True] Translation: X:62.61, Y:-6.50, Z:-0.44 [[ 9.98644592e-01 5.18080221e-02 -4.99082256e-03 6.26068745e+01] [-5.18057930e-02 9.98657013e-01 5.74974222e-04 -6.50170865e+00] [ 5.01390823e-03 -3.15641376e-04 9.99987380e-01 -4.43745821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.277552017999994 meters 0.041156439040066994 Centerline is valid? [True, True] Translation: X:62.64, Y:-6.50, Z:-0.44 [[ 9.98609836e-01 5.25031569e-02 -4.67046396e-03 6.26356498e+01] [-5.25012190e-02 9.98620716e-01 5.36663772e-04 -6.50303471e+00] [ 4.69219861e-03 -2.90712671e-04 9.99988949e-01 -4.43931155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.307552017999996 meters 0.04168932103007154 Centerline is valid? [True, True] Translation: X:62.66, Y:-6.51, Z:-0.44 [[ 9.98559186e-01 5.34743931e-02 -4.47681176e-03 6.26628016e+01] [-5.34726190e-02 9.98569183e-01 5.15139502e-04 -6.50680889e+00] [ 4.49795303e-03 -2.75010432e-04 9.99989846e-01 -4.44829702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.337552018 meters 0.039839204116276436 Centerline is valid? [True, True] Translation: X:62.69, Y:-6.51, Z:-0.45 [[ 9.98473845e-01 5.49345641e-02 -5.67234598e-03 6.26920439e+01] [-5.49317528e-02 9.98489900e-01 6.50349489e-04 -6.50702905e+00] [ 5.69950684e-03 -3.37765047e-04 9.99983701e-01 -4.47179405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.367552018 meters 0.03875378945430166 Centerline is valid? [True, True] Translation: X:62.72, Y:-6.51, Z:-0.45 [[ 9.98448624e-01 5.53385017e-02 -6.16408333e-03 6.27208814e+01] [-5.53352000e-02 9.98467585e-01 7.05031036e-04 -6.50881676e+00] [ 6.19365276e-03 -3.62846484e-04 9.99980753e-01 -4.47809030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.397552018 meters 0.03979796904846339 Centerline is valid? [True, True] Translation: X:62.75, Y:-6.51, Z:-0.45 [[ 9.98454531e-01 5.52082943e-02 -6.37135054e-03 6.27475681e+01] [-5.52047630e-02 9.98474788e-01 7.28909422e-04 -6.51290831e+00] [ 6.40187473e-03 -3.76054018e-04 9.99979437e-01 -4.48616165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42755201799999 meters 0.04027126341831027 Centerline is valid? [True, True] Translation: X:62.78, Y:-6.52, Z:-0.45 [[ 9.98469643e-01 5.48927648e-02 -6.71982792e-03 6.27750815e+01] [-5.48888514e-02 9.98492177e-01 7.65545004e-04 -6.51605735e+00] [ 6.75171849e-03 -3.95529811e-04 9.99977129e-01 -4.48737475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.457552017999994 meters 0.03942112779712544 Centerline is valid? [True, True] Translation: X:62.80, Y:-6.52, Z:-0.45 [[ 9.98510154e-01 5.42367190e-02 -5.98756350e-03 6.28035164e+01] [-5.42336101e-02 9.98528043e-01 6.80489071e-04 -6.51695698e+00] [ 6.01565756e-03 -3.54748063e-04 9.99981843e-01 -4.47063548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.487552017999995 meters 0.03887169470334045 Centerline is valid? [True, True] Translation: X:62.83, Y:-6.52, Z:-0.45 [[ 9.98548700e-01 5.35846485e-02 -5.40183212e-03 6.28319444e+01] [-5.35821179e-02 9.98563259e-01 6.12213094e-04 -6.51921778e+00] [ 5.42687631e-03 -3.21882983e-04 9.99985223e-01 -4.46113637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.517552017999996 meters 0.0421884515161556 Centerline is valid? [True, True] Translation: X:62.86, Y:-6.53, Z:-0.45 [[ 9.98579237e-01 5.30649811e-02 -4.85955885e-03 6.28589613e+01] [-5.30629241e-02 9.98591018e-01 5.51340130e-04 -6.52757665e+00] [ 4.88196867e-03 -2.92694404e-04 9.99988040e-01 -4.46927648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.547552018 meters 0.0421884515161556 Centerline is valid? [True, True] Translation: X:62.89, Y:-6.53, Z:-0.45 [[ 9.98595060e-01 5.27663556e-02 -4.85988464e-03 6.28862238e+01] [-5.27643090e-02 9.98606843e-01 5.48467420e-04 -6.53053264e+00] [ 4.88205468e-03 -2.91268401e-04 9.99988040e-01 -4.47121610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.577552018 meters 0.04111929302005102 Centerline is valid? [True, True] Translation: X:62.92, Y:-6.53, Z:-0.45 [[ 9.98689707e-01 5.10060108e-02 -4.15402049e-03 6.29154587e+01] [-5.10044946e-02 9.98698313e-01 4.70189105e-04 -6.53320959e+00] [ 4.17259572e-03 -2.57699304e-04 9.99991261e-01 -4.47964767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60755201799999 meters 0.04082913398228181 Centerline is valid? [True, True] Translation: X:62.94, Y:-6.54, Z:-0.45 [[ 9.98754129e-01 4.97290264e-02 -4.14892364e-03 6.29436492e+01] [-4.97275146e-02 9.98762713e-01 4.66815860e-04 -6.53640102e+00] [ 4.16700453e-03 -2.59918607e-04 9.99991284e-01 -4.48330665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.637552017999994 meters 0.04071472546854098 Centerline is valid? [True, True] Translation: X:62.97, Y:-6.54, Z:-0.45 [[ 9.98832785e-01 4.80591460e-02 -4.83597617e-03 6.29723224e+01] [-4.80570775e-02 9.98844444e-01 5.43083101e-04 -6.53879945e+00] [ 4.85648804e-03 -3.10046324e-04 9.99988159e-01 -4.48826997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.667552017999995 meters 0.04294366526761232 Centerline is valid? [True, True] Translation: X:63.00, Y:-6.54, Z:-0.45 [[ 9.98912041e-01 4.61864109e-02 -6.44584869e-03 6.30005050e+01] [-4.61826856e-02 9.98932747e-01 7.25669978e-04 -6.54456652e+00] [ 6.47248543e-03 -4.27193875e-04 9.99978962e-01 -4.49407909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.697552017999996 meters 0.043072532410737566 Centerline is valid? [True, True] Translation: X:63.03, Y:-6.55, Z:-0.45 [[ 9.98954209e-01 4.51874399e-02 -6.97022938e-03 6.30289626e+01] [-4.51830833e-02 9.98978417e-01 7.81317265e-04 -6.54763680e+00] [ 6.99841445e-03 -4.65563716e-04 9.99975402e-01 -4.49851096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.727552018 meters 0.04371859893153391 Centerline is valid? [True, True] Translation: X:63.06, Y:-6.55, Z:-0.45 [[ 9.98980302e-01 4.45993334e-02 -7.01824802e-03 6.30569316e+01] [-4.45948981e-02 9.99004842e-01 7.87271275e-04 -6.55225586e+00] [ 7.04637553e-03 -4.73490440e-04 9.99975062e-01 -4.50336672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.757552018 meters 0.043766215024235 Centerline is valid? [True, True] Translation: X:63.09, Y:-6.56, Z:-0.45 [[ 9.99004004e-01 4.40546977e-02 -7.08401672e-03 6.30851775e+01] [-4.40501877e-02 9.99029006e-01 7.91490189e-04 -6.55594963e+00] [ 7.11200705e-03 -4.78649602e-04 9.99974595e-01 -4.51265316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.787552018 meters 0.0430629731238075 Centerline is valid? [True, True] Translation: X:63.11, Y:-6.56, Z:-0.45 [[ 9.98998940e-01 4.42944485e-02 -6.25452410e-03 6.31140408e+01] [-4.42909335e-02 9.99018430e-01 6.99461960e-04 -6.55869827e+00] [ 6.27936713e-03 -4.21743046e-04 9.99980196e-01 -4.50868327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81755201799999 meters 0.04492587913925069 Centerline is valid? [True, True] Translation: X:63.14, Y:-6.56, Z:-0.45 [[ 9.98975668e-01 4.48861649e-02 -5.73117703e-03 6.31419342e+01] [-4.48832260e-02 9.98992035e-01 6.40446883e-04 -6.56353937e+00] [ 5.75414740e-03 -3.82557139e-04 9.99983372e-01 -4.50870734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.847552017999995 meters 0.04509705204801982 Centerline is valid? [True, True] Translation: X:63.17, Y:-6.57, Z:-0.45 [[ 9.98937427e-01 4.57269570e-02 -5.75006806e-03 6.31704617e+01] [-4.57240149e-02 9.98953904e-01 6.42139770e-04 -6.56598477e+00] [ 5.77341604e-03 -3.78541251e-04 9.99983262e-01 -4.50478123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.877552017999996 meters 0.03926006160254877 Centerline is valid? [True, True] Translation: X:63.20, Y:-6.56, Z:-0.45 [[ 9.98796221e-01 4.88518332e-02 -4.42803485e-03 6.32008455e+01] [-4.88501193e-02 9.98805998e-01 4.94452621e-04 -6.56042696e+00] [ 4.44690269e-03 -2.77547378e-04 9.99990074e-01 -4.48437420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.907552018 meters 0.043131666262512885 Centerline is valid? [True, True] Translation: X:63.23, Y:-6.57, Z:-0.45 [[ 9.98702047e-01 5.08037895e-02 -3.63277543e-03 6.32288629e+01] [-5.08026503e-02 9.98708629e-01 4.05248013e-04 -6.56918138e+00] [ 3.64867230e-03 -2.20167400e-04 9.99993319e-01 -4.49597210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.937552018 meters 0.03754499866312084 Centerline is valid? [True, True] Translation: X:63.26, Y:-6.56, Z:-0.45 [[ 9.98589752e-01 5.30207799e-02 -2.70271352e-03 6.32596661e+01] [-5.30201581e-02 9.98593397e-01 3.01245468e-04 -6.56451461e+00] [ 2.71488414e-03 -1.57522339e-04 9.99996302e-01 -4.48054983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.967552018 meters 0.03576056933844981 Centerline is valid? [True, True] Translation: X:63.29, Y:-6.56, Z:-0.45 [[ 9.98317574e-01 5.79718649e-02 -1.13367559e-03 6.32897916e+01] [-5.79717587e-02 9.98318215e-01 1.26322626e-04 -6.56411391e+00] [ 1.13909215e-03 -6.03889293e-05 9.99999349e-01 -4.46671361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99755201799999 meters 0.03502228966752809 Centerline is valid? [True, True] Translation: X:63.32, Y:-6.57, Z:-0.45 [[ 9.98175190e-01 6.03699609e-02 -1.32596356e-03 6.33192135e+01] [-6.03698204e-02 9.98176068e-01 1.45824136e-04 -6.56553481e+00] [ 1.33234849e-03 -6.55098521e-05 9.99999110e-01 -4.46399807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.027552018 meters 0.03310391935505811 Centerline is valid? [True, True] Translation: X:63.35, Y:-6.57, Z:-0.45 [[ 9.98024597e-01 6.28158383e-02 -1.03687885e-03 6.33481566e+01] [-6.28157528e-02 9.98025134e-01 1.14793338e-04 -6.56515971e+00] [ 1.04204199e-03 -4.94342496e-05 9.99999456e-01 -4.46418240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.057552018 meters 0.03359758673848604 Centerline is valid? [True, True] Translation: X:63.38, Y:-6.57, Z:-0.45 [[ 9.97771174e-01 6.67079006e-02 -1.65546384e-03 6.33763226e+01] [-6.67076875e-02 9.97772545e-01 1.83653806e-04 -6.56981398e+00] [ 1.66402752e-03 -7.28123097e-05 9.99998613e-01 -4.49025030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.087552018 meters 0.031373829805910934 Centerline is valid? [True, True] Translation: X:63.40, Y:-6.57, Z:-0.45 [[ 9.97677374e-01 6.80752018e-02 -2.37155943e-03 6.34049539e+01] [-6.80747731e-02 9.97680188e-01 2.61091315e-04 -6.57030166e+00] [ 2.38383170e-03 -9.90415278e-05 9.99997154e-01 -4.49847549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.117552018 meters 0.030414044463275502 Centerline is valid? [True, True] Translation: X:63.43, Y:-6.57, Z:-0.45 [[ 9.97602994e-01 6.91095486e-02 -3.48388089e-03 6.34336031e+01] [-6.91086301e-02 9.97609067e-01 3.83477902e-04 -6.57269837e+00] [ 3.50205315e-03 -1.41792467e-04 9.99993858e-01 -4.51009945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.147552018 meters 0.031070725852003336 Centerline is valid? [True, True] Translation: X:63.46, Y:-6.58, Z:-0.45 [[ 9.97436847e-01 7.13624699e-02 -5.20902670e-03 6.34614944e+01] [-7.13604496e-02 9.97450429e-01 5.72925282e-04 -6.57764524e+00] [ 5.23663127e-03 -1.99738300e-04 9.99986269e-01 -4.53474982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.177552018 meters 0.02992172383220377 Centerline is valid? [True, True] Translation: X:63.49, Y:-6.58, Z:-0.45 [[ 9.97351370e-01 7.25575823e-02 -5.06371847e-03 6.34902019e+01] [-7.25556957e-02 9.97364208e-01 5.55530788e-04 -6.57918241e+00] [ 5.09067953e-03 -1.86657776e-04 9.99987025e-01 -4.53315076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.207552018 meters 0.029425147028853706 Centerline is valid? [True, True] Translation: X:63.52, Y:-6.58, Z:-0.45 [[ 9.97282777e-01 7.35236140e-02 -4.61966833e-03 6.35189083e+01] [-7.35220607e-02 9.97293463e-01 5.05379592e-04 -6.58102748e+00] [ 4.64432236e-03 -1.64358827e-04 9.99989202e-01 -4.52910117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.237552018 meters 0.02931172304422777 Centerline is valid? [True, True] Translation: X:63.55, Y:-6.58, Z:-0.45 [[ 9.97182285e-01 7.48973913e-02 -4.22748128e-03 6.35468383e+01] [-7.48961084e-02 9.97191236e-01 4.61188753e-04 -6.58456520e+00] [ 4.25014912e-03 -1.43267358e-04 9.99990958e-01 -4.52272491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26755201799999 meters 0.029580432547341436 Centerline is valid? [True, True] Translation: X:63.57, Y:-6.59, Z:-0.45 [[ 9.97215846e-01 7.44405003e-02 -4.37824514e-03 6.35740498e+01] [-7.44391266e-02 9.97225446e-01 4.76111096e-04 -6.58917778e+00] [ 4.40153941e-03 -1.48872786e-04 9.99990302e-01 -4.52929169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29755201799999 meters 0.030229065558193807 Centerline is valid? [True, True] Translation: X:63.60, Y:-6.60, Z:-0.45 [[ 9.97291451e-01 7.34452527e-02 -3.94411862e-03 6.36019012e+01] [-7.34441340e-02 9.97299241e-01 4.27922251e-04 -6.59507756e+00] [ 3.96489536e-03 -1.37090827e-04 9.99992130e-01 -4.53623733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32755201799999 meters 0.03316278461354094 Centerline is valid? [True, True] Translation: X:63.63, Y:-6.61, Z:-0.46 [[ 9.97391061e-01 7.20960840e-02 -3.63667630e-03 6.36287410e+01] [-7.20951231e-02 9.97397683e-01 3.94787096e-04 -6.60514003e+00] [ 3.65567511e-03 -1.31570495e-04 9.99993309e-01 -4.55120311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35755201799999 meters 0.03353763868957265 Centerline is valid? [True, True] Translation: X:63.66, Y:-6.61, Z:-0.45 [[ 9.97687618e-01 6.79198372e-02 -2.51264455e-03 6.36573092e+01] [-6.79193655e-02 9.97690776e-01 2.72684773e-04 -6.61229945e+00] [ 2.52536300e-03 -1.01396998e-04 9.99996806e-01 -4.53806085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.387552018 meters 0.034640769189078796 Centerline is valid? [True, True] Translation: X:63.69, Y:-6.62, Z:-0.45 [[ 9.97856261e-01 6.54144432e-02 -1.95755528e-03 6.36865305e+01] [-6.54141519e-02 9.97858178e-01 2.12550520e-04 -6.61963122e+00] [ 1.96726642e-03 -8.40430490e-05 9.99998061e-01 -4.53650991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.417552018 meters 0.036111294222670794 Centerline is valid? [True, True] Translation: X:63.71, Y:-6.63, Z:-0.45 [[ 9.98028743e-01 6.27396193e-02 -1.53862811e-03 6.37148236e+01] [-6.27394366e-02 9.98029927e-01 1.66796317e-04 -6.62760200e+00] [ 1.54606164e-03 -6.99348583e-05 9.99998802e-01 -4.53535193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.447552018 meters 0.035618323130625004 Centerline is valid? [True, True] Translation: X:63.74, Y:-6.63, Z:-0.45 [[ 9.98318767e-01 5.79486400e-02 -1.26255994e-03 6.37448077e+01] [-5.79485127e-02 9.98319564e-01 1.37185957e-04 -6.63452938e+00] [ 1.26838803e-03 -6.37918442e-05 9.99999194e-01 -4.52242395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.477552018 meters 0.03666302478476274 Centerline is valid? [True, True] Translation: X:63.77, Y:-6.64, Z:-0.45 [[ 9.98455333e-01 5.55424968e-02 -1.40707814e-03 6.37740249e+01] [-5.55423368e-02 9.98456321e-01 1.52562675e-04 -6.64041975e+00] [ 1.41337978e-03 -7.41746079e-05 9.99998998e-01 -4.52069196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.507552018 meters 0.03798860945529773 Centerline is valid? [True, True] Translation: X:63.80, Y:-6.65, Z:-0.45 [[ 9.98556476e-01 5.36851052e-02 -1.69492477e-03 6.38030289e+01] [-5.36848704e-02 9.98557911e-01 1.83763930e-04 -6.64636096e+00] [ 1.70234593e-03 -9.25068459e-05 9.99998547e-01 -4.51911346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.537552018 meters 0.040128238962598387 Centerline is valid? [True, True] Translation: X:63.83, Y:-6.66, Z:-0.45 [[ 9.98709567e-01 5.07657870e-02 -1.42702472e-03 6.38309539e+01] [-5.07656179e-02 9.98710583e-01 1.54461172e-04 -6.65545619e+00] [ 1.43302604e-03 -8.18180582e-05 9.99998970e-01 -4.52406825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.567552018 meters 0.04207013118700628 Centerline is valid? [True, True] Translation: X:63.86, Y:-6.66, Z:-0.45 [[ 9.98791103e-01 4.91388597e-02 -1.30574346e-03 6.38592858e+01] [-4.91387169e-02 9.98791954e-01 1.41229770e-04 -6.66290967e+00] [ 1.31110593e-03 -7.68964792e-05 9.99999138e-01 -4.53166605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.597552018 meters 0.04052402376901807 Centerline is valid? [True, True] Translation: X:63.89, Y:-6.67, Z:-0.45 [[ 9.98914570e-01 4.65210407e-02 -2.33994447e-03 6.38883648e+01] [-4.65205752e-02 9.98917300e-01 2.53012164e-04 -6.66678804e+00] [ 2.34918140e-03 -1.43881974e-04 9.99997230e-01 -4.54533160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.627552018 meters 0.042440347936816454 Centerline is valid? [True, True] Translation: X:63.92, Y:-6.67, Z:-0.46 [[ 9.98984843e-01 4.49610960e-02 -2.78990561e-03 6.39159028e+01] [-4.49604284e-02 9.98988723e-01 3.01570060e-04 -6.67358476e+00] [ 2.80064316e-03 -1.75828567e-04 9.99996063e-01 -4.56154942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65755201799999 meters 0.04302298949140773 Centerline is valid? [True, True] Translation: X:63.94, Y:-6.68, Z:-0.46 [[ 9.99014558e-01 4.43023836e-02 -2.68528969e-03 6.39442453e+01] [-4.43017633e-02 9.99018153e-01 2.90074322e-04 -6.67876880e+00] [ 2.69550413e-03 -1.70825403e-04 9.99996353e-01 -4.56721981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68755201799999 meters 0.043683374731237935 Centerline is valid? [True, True] Translation: X:63.97, Y:-6.68, Z:-0.46 [[ 9.99041513e-01 4.36862997e-02 -2.75002772e-03 6.39724733e+01] [-4.36856473e-02 9.99045282e-01 2.96876089e-04 -6.68307874e+00] [ 2.76037164e-03 -1.76454796e-04 9.99996175e-01 -4.56367786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71755201799999 meters 0.041005538357798625 Centerline is valid? [True, True] Translation: X:64.00, Y:-6.68, Z:-0.45 [[ 9.99008303e-01 4.44825198e-02 -1.92772989e-03 6.40017560e+01] [-4.44822013e-02 9.99010155e-01 2.07777491e-04 -6.68113126e+00] [ 1.93506420e-03 -1.21821770e-04 9.99998120e-01 -4.53923437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.747552018 meters 0.04052647739531189 Centerline is valid? [True, True] Translation: X:64.03, Y:-6.68, Z:-0.45 [[ 9.98977557e-01 4.51922610e-02 -1.22450873e-03 6.40306477e+01] [-4.51921334e-02 9.98978305e-01 1.31684861e-04 -6.68318908e+00] [ 1.22920879e-03 -7.62120594e-05 9.99999242e-01 -4.53309418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.777552018 meters 0.041254171413388906 Centerline is valid? [True, True] Translation: X:64.06, Y:-6.69, Z:-0.45 [[ 9.98938258e-01 4.60654750e-02 -5.73296454e-04 6.40580891e+01] [-4.60654474e-02 9.98938422e-01 6.11728196e-05 -6.68760106e+00] [ 5.75505810e-04 -3.46987122e-05 9.99999834e-01 -4.53674635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.807552018 meters 0.03936195860450196 Centerline is valid? [True, True] Translation: X:64.09, Y:-6.69, Z:-0.45 [[ 9.98924289e-01 4.63681245e-02 -5.11802261e-04 6.40873195e+01] [-4.63681026e-02 9.98924420e-01 5.46262629e-05 -6.68820149e+00] [ 5.13784694e-04 -3.08362011e-05 9.99999868e-01 -4.53617272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.837552018 meters 0.04288323031958224 Centerline is valid? [True, True] Translation: X:64.11, Y:-6.70, Z:-0.46 [[ 9.98929688e-01 4.62212417e-02 -1.75362273e-03 6.41144172e+01] [-4.62209823e-02 9.98931222e-01 1.88209075e-04 -6.69615998e+00] [ 1.76044775e-03 -1.06953468e-04 9.99998445e-01 -4.55328048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.867552018 meters 0.04097137661679629 Centerline is valid? [True, True] Translation: X:64.14, Y:-6.70, Z:-0.45 [[ 9.98997005e-01 4.47237018e-02 -2.18494525e-03 6.41444638e+01] [-4.47232943e-02 9.98999385e-01 2.34996671e-04 -6.69591435e+00] [ 2.19326888e-03 -1.37043021e-04 9.99997585e-01 -4.54892628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.897552018 meters 0.04097549877027355 Centerline is valid? [True, True] Translation: X:64.17, Y:-6.70, Z:-0.45 [[ 9.99049951e-01 4.35025904e-02 -2.59216321e-03 6.41730480e+01] [-4.35020140e-02 9.99053301e-01 2.78365546e-04 -6.69864655e+00] [ 2.60181883e-03 -1.65336765e-04 9.99996602e-01 -4.54702832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.927552018 meters 0.0437698866187807 Centerline is valid? [True, True] Translation: X:64.20, Y:-6.71, Z:-0.46 [[ 9.99186864e-01 4.01776656e-02 -3.37145211e-03 6.42017917e+01] [-4.01766706e-02 9.99192526e-01 3.62362768e-04 -6.70556303e+00] [ 3.38328864e-03 -2.26614397e-04 9.99994251e-01 -4.56651004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.957552018 meters 0.042914665363390746 Centerline is valid? [True, True] Translation: X:64.23, Y:-6.71, Z:-0.46 [[ 9.99260519e-01 3.82731495e-02 -3.68523448e-03 6.42306652e+01] [-3.82719490e-02 9.99267282e-01 3.95751364e-04 -6.70868306e+00] [ 3.69768090e-03 -2.54417607e-04 9.99993131e-01 -4.57593102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.987552018 meters 0.04636134413632709 Centerline is valid? [True, True] Translation: X:64.26, Y:-6.72, Z:-0.46 [[ 9.99315929e-01 3.67511061e-02 -4.12674649e-03 6.42584763e+01] [-3.67495886e-02 9.99324408e-01 4.42976609e-04 -6.71700179e+00] [ 4.14023837e-03 -2.91017346e-04 9.99991387e-01 -4.59449490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01755201799999 meters 0.043950958868557224 Centerline is valid? [True, True] Translation: X:64.29, Y:-6.72, Z:-0.46 [[ 9.99433441e-01 3.32791537e-02 -5.02940618e-03 6.42888702e+01] [-3.32768547e-02 9.99446026e-01 5.40129929e-04 -6.71536670e+00] [ 5.04459509e-03 -3.72461094e-04 9.99987207e-01 -4.58793260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04755201799999 meters 0.04487229993160822 Centerline is valid? [True, True] Translation: X:64.32, Y:-6.72, Z:-0.46 [[ 9.99472186e-01 3.20150450e-02 -5.51232545e-03 6.43185852e+01] [-3.20122661e-02 9.99487301e-01 5.91643659e-04 -6.71768759e+00] [ 5.52844079e-03 -4.14869352e-04 9.99984632e-01 -4.57958218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07755201799999 meters 0.04794625766218207 Centerline is valid? [True, True] Translation: X:64.35, Y:-6.72, Z:-0.46 [[ 9.99505214e-01 3.10072541e-02 -5.27981756e-03 6.43453828e+01] [-3.10046971e-02 9.99519079e-01 5.65488550e-04 -6.72302273e+00] [ 5.29481263e-03 -4.01509610e-04 9.99985902e-01 -4.57452786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10755201799999 meters 0.04752330544674494 Centerline is valid? [True, True] Translation: X:64.37, Y:-6.72, Z:-0.45 [[ 9.99537722e-01 3.03340698e-02 -2.04595733e-03 6.43742551e+01] [-3.03336853e-02 9.99539804e-01 2.18741150e-04 -6.72385122e+00] [ 2.05165110e-03 -1.56578605e-04 9.99997883e-01 -4.54815301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.137552018 meters 0.04632641314462364 Centerline is valid? [True, True] Translation: X:64.40, Y:-6.73, Z:-0.45 [[ 9.99557031e-01 2.97516042e-02 -7.64277078e-04 6.44034719e+01] [-2.97515507e-02 9.99557321e-01 8.12950990e-05 -6.72510804e+00] [ 7.66357408e-04 -5.85206595e-05 9.99999705e-01 -4.54139865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.167552018 meters 0.047671467871032464 Centerline is valid? [True, True] Translation: X:64.43, Y:-6.73, Z:-0.45 [[ 9.99559862e-01 2.96658112e-02 -1.48382597e-04 6.44318521e+01] [-2.96658093e-02 9.99559873e-01 1.53232745e-05 -6.72935388e+00] [ 1.48771868e-04 -1.09146403e-05 9.99999989e-01 -4.54103662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.197552018 meters 0.05065931718056472 Centerline is valid? [True, True] Translation: X:64.46, Y:-6.74, Z:-0.45 [[ 9.99618152e-01 2.76323802e-02 -4.85240320e-05 6.44594858e+01] [-2.76323801e-02 9.99618153e-01 4.58959108e-06 -6.73547050e+00] [ 4.86323245e-05 -3.24700405e-06 9.99999999e-01 -4.54458414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.227552018 meters 0.05091207323628019 Centerline is valid? [True, True] Translation: X:64.49, Y:-6.74, Z:-0.46 [[ 9.99656594e-01 2.61999283e-02 -5.08746660e-04 6.44891163e+01] [-2.61999041e-02 9.99656722e-01 5.41123628e-05 -6.73797007e+00] [ 5.09989759e-04 -4.07646665e-05 9.99999869e-01 -4.55079602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.257552018 meters 0.05269178432543534 Centerline is valid? [True, True] Translation: X:64.52, Y:-6.74, Z:-0.46 [[ 9.99677597e-01 2.53746295e-02 -9.11635167e-04 6.45170495e+01] [-2.53745518e-02 9.99678010e-01 9.66893130e-05 -6.74232956e+00] [ 9.13795084e-04 -7.35258062e-05 9.99999580e-01 -4.55724460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.287552018 meters 0.05395915226408519 Centerline is valid? [True, True] Translation: X:64.55, Y:-6.75, Z:-0.46 [[ 9.99730090e-01 2.31935640e-02 -1.34347672e-03 6.45465138e+01] [-2.31933922e-02 9.99730987e-01 1.43328339e-04 -6.74702957e+00] [ 1.34643961e-03 -1.12129871e-04 9.99999087e-01 -4.56505745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.317552018 meters 0.05169067338295803 Centerline is valid? [True, True] Translation: X:64.58, Y:-6.75, Z:-0.46 [[ 9.99750617e-01 2.23086955e-02 -1.01294972e-03 6.45754773e+01] [-2.23085979e-02 9.99751126e-01 1.07535149e-04 -6.74752652e+00] [ 1.01509659e-03 -8.49108437e-05 9.99999481e-01 -4.57248176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.347552018 meters 0.052977584449311776 Centerline is valid? [True, True] Translation: X:64.60, Y:-6.75, Z:-0.46 [[ 9.99748310e-01 2.23676719e-02 -1.73300255e-03 6.46038559e+01] [-2.23673860e-02 9.99749802e-01 1.84236909e-04 -6.75262320e+00] [ 1.73668991e-03 -1.45427802e-04 9.99998481e-01 -4.58760422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.377552018 meters 0.05161564127714156 Centerline is valid? [True, True] Translation: X:64.63, Y:-6.75, Z:-0.46 [[ 9.99774212e-01 2.11610658e-02 -1.93249911e-03 6.46338213e+01] [-2.11607074e-02 9.99776066e-01 2.05703289e-04 -6.75409614e+00] [ 1.93641926e-03 -1.64763796e-04 9.99998112e-01 -4.59508265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40755201799999 meters 0.050196784967027924 Centerline is valid? [True, True] Translation: X:64.66, Y:-6.75, Z:-0.46 [[ 9.99776550e-01 2.09357685e-02 -2.92307514e-03 6.46629025e+01] [-2.09349487e-02 9.99780792e-01 3.10765650e-04 -6.75458852e+00] [ 2.92894050e-03 -2.49501781e-04 9.99995680e-01 -4.60321989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43755201799999 meters 0.050196784967027924 Centerline is valid? [True, True] Translation: X:64.69, Y:-6.76, Z:-0.46 [[ 9.99779040e-01 2.08165141e-02 -2.92314195e-03 6.46903139e+01] [-2.08156957e-02 9.99783282e-01 3.10137687e-04 -6.75739746e+00] [ 2.92896444e-03 -2.49221926e-04 9.99995680e-01 -4.60516824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46755201799999 meters 0.051632287128834005 Centerline is valid? [True, True] Translation: X:64.72, Y:-6.76, Z:-0.46 [[ 9.99785168e-01 2.05460878e-02 -2.73433090e-03 6.47176159e+01] [-2.05453712e-02 9.99788880e-01 2.89925322e-04 -6.76088235e+00] [ 2.73971046e-03 -2.33685194e-04 9.99996220e-01 -4.60237575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.497552018 meters 0.05470814068795789 Centerline is valid? [True, True] Translation: X:64.74, Y:-6.77, Z:-0.46 [[ 9.99771185e-01 2.12069451e-02 -2.80069942e-03 6.47446174e+01] [-2.12061966e-02 9.99775079e-01 2.96714321e-04 -6.76702404e+00] [ 2.80636189e-03 -2.37254246e-04 9.99996034e-01 -4.60410707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.527552018 meters 0.04816209880993375 Centerline is valid? [True, True] Translation: X:64.78, Y:-6.76, Z:-0.46 [[ 9.99728639e-01 2.32253273e-02 -1.79776505e-03 6.47756107e+01] [-2.32250221e-02 9.99730245e-01 1.90452545e-04 -6.76171895e+00] [ 1.80170342e-03 -1.48647731e-04 9.99998366e-01 -4.60031548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.557552018 meters 0.05079705700947144 Centerline is valid? [True, True] Translation: X:64.80, Y:-6.77, Z:-0.46 [[ 9.99701756e-01 2.43509781e-02 -1.85156762e-03 6.48032132e+01] [-2.43506569e-02 9.99703460e-01 1.95810851e-04 -6.76827081e+00] [ 1.85578674e-03 -1.50665564e-04 9.99998267e-01 -4.61065237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.587552018 meters 0.05025919114310367 Centerline is valid? [True, True] Translation: X:64.83, Y:-6.77, Z:-0.46 [[ 9.99680797e-01 2.52154763e-02 -1.57571291e-03 6.48317587e+01] [-2.52152450e-02 9.99682031e-01 1.66445942e-04 -6.77037970e+00] [ 1.57940889e-03 -1.26660825e-04 9.99998745e-01 -4.61496957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.617552018 meters 0.05115430342480035 Centerline is valid? [True, True] Translation: X:64.86, Y:-6.77, Z:-0.46 [[ 9.99665350e-01 2.58059969e-02 -1.79945900e-03 6.48595121e+01] [-2.58056967e-02 9.99666960e-01 1.89852604e-04 -6.77278041e+00] [ 1.80375905e-03 -1.43352777e-04 9.99998363e-01 -4.61740796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.647552018 meters 0.04749779996812125 Centerline is valid? [True, True] Translation: X:64.89, Y:-6.77, Z:-0.46 [[ 9.99670950e-01 2.55907709e-02 -1.76193364e-03 6.48889238e+01] [-2.55904828e-02 9.99672493e-01 1.85855878e-04 -6.76943883e+00] [ 1.76611279e-03 -1.40705990e-04 9.99998431e-01 -4.61072606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.677552018 meters 0.049986288668426616 Centerline is valid? [True, True] Translation: X:64.92, Y:-6.77, Z:-0.46 [[ 9.99670868e-01 2.56050227e-02 -1.59331819e-03 6.49159542e+01] [-2.56047877e-02 9.99672130e-01 1.67723204e-04 -6.77490547e+00] [ 1.59709035e-03 -1.26871427e-04 9.99998717e-01 -4.61212771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.707552018 meters 0.048017906995477685 Centerline is valid? [True, True] Translation: X:64.94, Y:-6.77, Z:-0.46 [[ 9.99676743e-01 2.53942635e-02 -1.24158492e-03 6.49445762e+01] [-2.53941207e-02 9.99677509e-01 1.30581456e-04 -6.77448470e+00] [ 1.24450054e-03 -9.90102867e-05 9.99999221e-01 -4.60623425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.737552018 meters 0.048710386897014415 Centerline is valid? [True, True] Translation: X:64.97, Y:-6.78, Z:-0.46 [[ 9.99644654e-01 2.66393284e-02 -9.55098197e-04 6.49731108e+01] [-2.66392447e-02 9.99645107e-01 1.00244482e-04 -6.77787536e+00] [ 9.57429685e-04 -7.47657660e-05 9.99999539e-01 -4.61173857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76755201799999 meters 0.04950816734500892 Centerline is valid? [True, True] Translation: X:65.00, Y:-6.78, Z:-0.46 [[ 9.99642553e-01 2.67286135e-02 -5.90156947e-04 6.50005319e+01] [-2.67285818e-02 9.99642726e-01 6.15345536e-05 -6.78135288e+00] [ 5.91590832e-04 -4.57385000e-05 9.99999824e-01 -4.61695091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.79755201799999 meters 0.04831006924625819 Centerline is valid? [True, True] Translation: X:65.03, Y:-6.78, Z:-0.46 [[ 9.99657426e-01 2.61709213e-02 3.37305883e-04 6.50291560e+01] [-2.61709106e-02 9.99657482e-01 -3.60970062e-05 -6.78202401e+00] [-3.38135042e-04 2.72570382e-05 9.99999942e-01 -4.61121264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82755201799999 meters 0.04931482090395649 Centerline is valid? [True, True] Translation: X:65.06, Y:-6.78, Z:-0.46 [[ 9.99662008e-01 2.59965180e-02 -2.27242405e-04 6.50571897e+01] [-2.59965134e-02 9.99662033e-01 2.32313822e-05 -6.78302211e+00] [ 2.27769539e-04 -1.73160200e-05 9.99999974e-01 -4.60818063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85755201799999 meters 0.048370874255995774 Centerline is valid? [True, True] Translation: X:65.09, Y:-6.78, Z:-0.46 [[ 9.99668559e-01 2.57400279e-02 -4.72313719e-04 6.50862827e+01] [-2.57400075e-02 9.99668670e-01 4.91237696e-05 -6.78399743e+00] [ 4.73421675e-04 -3.69501293e-05 9.99999887e-01 -4.61394417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.887552018 meters 0.0492707738647575 Centerline is valid? [True, True] Translation: X:65.11, Y:-6.79, Z:-0.46 [[ 9.99669492e-01 2.57072093e-02 -2.15127363e-04 6.51139909e+01] [-2.57072052e-02 9.99669515e-01 2.16548550e-05 -6.78812571e+00] [ 2.15612952e-04 -1.61173747e-05 9.99999977e-01 -4.61885153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.917552018 meters 0.04799414875036686 Centerline is valid? [True, True] Translation: X:65.14, Y:-6.79, Z:-0.46 [[ 9.99670674e-01 2.56604456e-02 2.90615334e-04 6.51426328e+01] [-2.56604376e-02 9.99670716e-01 -3.10663296e-05 -6.78897897e+00] [-2.91316814e-04 2.35987820e-05 9.99999957e-01 -4.61756826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.947552018 meters 0.04920921250837945 Centerline is valid? [True, True] Translation: X:65.17, Y:-6.79, Z:-0.46 [[ 9.99665482e-01 2.58209786e-02 1.48344898e-03 6.51702380e+01] [-2.58207749e-02 9.99666576e-01 -1.56270646e-04 -6.79179409e+00] [-1.48698942e-03 1.17914568e-04 9.99998887e-01 -4.61340243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.977552018 meters 0.04638908634328751 Centerline is valid? [True, True] Translation: X:65.20, Y:-6.79, Z:-0.46 [[ 9.99671184e-01 2.55845887e-02 1.71846264e-03 6.51991278e+01] [-2.55843157e-02 9.99672651e-01 -1.80655370e-04 -6.78971813e+00] [-1.72252209e-03 1.36630277e-04 9.99998507e-01 -4.60813295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.007552018 meters 0.04816095799003428 Centerline is valid? [True, True] Translation: X:65.23, Y:-6.79, Z:-0.46 [[ 9.99665923e-01 2.57212506e-02 2.54159494e-03 6.52263831e+01] [-2.57206549e-02 9.99669134e-01 -2.66796056e-04 -6.79368887e+00] [-2.54761634e-03 2.01335439e-04 9.99996735e-01 -4.60500903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.037552018 meters 0.048040173186497906 Centerline is valid? [True, True] Translation: X:65.25, Y:-6.80, Z:-0.46 [[ 9.99667722e-01 2.56492419e-02 2.56163008e-03 6.52546386e+01] [-2.56486370e-02 9.99670983e-01 -2.68721263e-04 -6.79509066e+00] [-2.56767976e-03 2.02929653e-04 9.99996683e-01 -4.60170079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.067552018 meters 0.05326261491049043 Centerline is valid? [True, True] Translation: X:65.28, Y:-6.80, Z:-0.46 [[ 9.99668107e-01 2.56678035e-02 2.19990606e-03 6.52817052e+01] [-2.56673580e-02 9.99670513e-01 -2.30530268e-04 -6.80238782e+00] [-2.20509842e-03 1.73987980e-04 9.99997554e-01 -4.60735896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.097552018 meters 0.04872945442870815 Centerline is valid? [True, True] Translation: X:65.31, Y:-6.80, Z:-0.46 [[ 9.99665756e-01 2.57999813e-02 1.65429618e-03 6.53111487e+01] [-2.57997297e-02 9.99667117e-01 -1.73257392e-04 -6.79801073e+00] [-1.65821553e-03 1.30519088e-04 9.99998617e-01 -4.61106562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.127552018 meters 0.048293006055840276 Centerline is valid? [True, True] Translation: X:65.34, Y:-6.80, Z:-0.46 [[ 9.99677999e-01 2.53425388e-02 1.28590109e-03 6.53402151e+01] [-2.53423863e-02 9.99678821e-01 -1.34699305e-04 -6.79941874e+00] [-1.28890171e-03 1.02068130e-04 9.99999164e-01 -4.62153770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.15755201799999 meters 0.05138523236914699 Centerline is valid? [True, True] Translation: X:65.37, Y:-6.81, Z:-0.46 [[ 9.99717759e-01 2.37360205e-02 1.00134605e-03 6.53685458e+01] [-2.37359274e-02 9.99718258e-01 -1.04814063e-04 -6.80539689e+00] [-1.00355180e-03 8.10166032e-05 9.99999493e-01 -4.62989054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18755201799999 meters 0.049091231706868674 Centerline is valid? [True, True] Translation: X:65.40, Y:-6.80, Z:-0.46 [[ 9.99742904e-01 2.26423509e-02 1.20386786e-03 6.53973602e+01] [-2.26422155e-02 9.99743624e-01 -1.25978316e-04 -6.80453291e+00] [-1.20641166e-03 9.86876915e-05 9.99999267e-01 -4.62632627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21755201799999 meters 0.052580228310508376 Centerline is valid? [True, True] Translation: X:65.43, Y:-6.81, Z:-0.46 [[ 9.99785689e-01 2.06457137e-02 1.52682949e-03 6.54256317e+01] [-2.06454942e-02 9.99786846e-01 -1.59391075e-04 -6.81108187e+00] [-1.52979478e-03 1.27834767e-04 9.99998822e-01 -4.63019653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.247552018 meters 0.050785291900772064 Centerline is valid? [True, True] Translation: X:65.45, Y:-6.81, Z:-0.46 [[ 9.99785057e-01 2.06791273e-02 1.48790820e-03 6.54541178e+01] [-2.06789189e-02 9.99786156e-01 -1.55360792e-04 -6.81134062e+00] [-1.49080275e-03 1.24559065e-04 9.99998881e-01 -4.63727509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.277552018 meters 0.050441890440852635 Centerline is valid? [True, True] Translation: X:65.48, Y:-6.81, Z:-0.46 [[ 9.99773333e-01 2.12525746e-02 1.26887756e-03 6.54833841e+01] [-2.12524236e-02 9.99774133e-01 -1.32358199e-04 -6.81374662e+00] [-1.27140392e-03 1.05361475e-04 9.99999186e-01 -4.64667600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.307552018 meters 0.0489401913839998 Centerline is valid? [True, True] Translation: X:65.51, Y:-6.81, Z:-0.47 [[ 9.99760021e-01 2.18879315e-02 9.04765009e-04 6.55125016e+01] [-2.18878548e-02 9.99760428e-01 -9.45687276e-05 -6.81440051e+00] [-9.06618166e-04 7.47426680e-05 9.99999586e-01 -4.65214652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.337552018 meters 0.051803234898810196 Centerline is valid? [True, True] Translation: X:65.54, Y:-6.82, Z:-0.47 [[ 9.99708087e-01 2.41578978e-02 3.69838826e-04 6.55412092e+01] [-2.41578851e-02 9.99708155e-01 -3.86906574e-05 -6.81899426e+00] [-3.70665575e-04 2.97448392e-05 9.99999931e-01 -4.66090710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.367552018 meters 0.048441447661266186 Centerline is valid? [True, True] Translation: X:65.57, Y:-6.82, Z:-0.47 [[ 9.99678592e-01 2.53445035e-02 6.07614023e-04 6.55702628e+01] [-2.53444694e-02 9.99678775e-01 -6.36161432e-05 -6.81550492e+00] [-6.09031162e-04 4.81960414e-05 9.99999813e-01 -4.65838350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.397552018 meters 0.04898349023646158 Centerline is valid? [True, True] Translation: X:65.60, Y:-6.82, Z:-0.47 [[ 9.99662073e-01 2.59776200e-02 9.50397307e-04 6.55977842e+01] [-2.59775372e-02 9.99662522e-01 -9.94160753e-05 -6.81878509e+00] [-9.52659161e-04 7.46934985e-05 9.99999543e-01 -4.65887248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.427552018 meters 0.04529360049455817 Centerline is valid? [True, True] Translation: X:65.63, Y:-6.82, Z:-0.47 [[ 9.99567287e-01 2.93721206e-02 1.58645366e-03 6.56285972e+01] [-2.93718963e-02 9.99568539e-01 -1.64538629e-04 -6.81677843e+00] [-1.59060201e-03 1.17870279e-04 9.99998728e-01 -4.65838719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.457552018 meters 0.04501656476805008 Centerline is valid? [True, True] Translation: X:65.66, Y:-6.82, Z:-0.47 [[ 9.99525604e-01 3.07585608e-02 1.57385735e-03 6.56571105e+01] [-3.07583412e-02 9.99526837e-01 -1.63544867e-04 -6.81881360e+00] [-1.57814306e-03 1.15058041e-04 9.99998748e-01 -4.66153319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.487552018 meters 0.044581939241334106 Centerline is valid? [True, True] Translation: X:65.69, Y:-6.82, Z:-0.47 [[ 9.99477218e-01 3.23053925e-02 1.28528496e-03 6.56857566e+01] [-3.23052473e-02 9.99478040e-01 -1.33555601e-04 -6.82103242e+00] [-1.28892866e-03 9.19643324e-05 9.99999165e-01 -4.66505628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.51755201799999 meters 0.04232384153225483 Centerline is valid? [True, True] Translation: X:65.72, Y:-6.82, Z:-0.47 [[ 9.99367272e-01 3.55509303e-02 1.08982579e-03 6.57158390e+01] [-3.55508283e-02 9.99367863e-01 -1.12894350e-04 -6.82096321e+00] [-1.09315037e-03 7.40787088e-05 9.99999400e-01 -4.66797498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54755201799999 meters 0.04101165811870341 Centerline is valid? [True, True] Translation: X:65.75, Y:-6.82, Z:-0.47 [[ 9.99337815e-01 3.63586054e-02 1.40842080e-03 6.57450568e+01] [-3.63584354e-02 9.99338803e-01 -1.46167133e-04 -6.82204079e+00] [-1.41280399e-03 9.48623667e-05 9.99998997e-01 -4.66784138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57755201799999 meters 0.041299528631149086 Centerline is valid? [True, True] Translation: X:65.77, Y:-6.83, Z:-0.47 [[ 9.99312862e-01 3.69979752e-02 2.22564136e-03 6.57727152e+01] [-3.69975526e-02 9.99315330e-01 -2.30778744e-04 -6.82567105e+00] [-2.23265588e-03 1.48276884e-04 9.99997497e-01 -4.66986290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60755201799999 meters 0.04214786385796403 Centerline is valid? [True, True] Translation: X:65.80, Y:-6.83, Z:-0.47 [[ 9.99312897e-01 3.70150550e-02 1.90254643e-03 6.58007604e+01] [-3.70147471e-02 9.99314700e-01 -1.96817836e-04 -6.83010122e+00] [-1.90852783e-03 1.26260327e-04 9.99998171e-01 -4.67926180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.637552018 meters 0.041582280433238104 Centerline is valid? [True, True] Translation: X:65.83, Y:-6.84, Z:-0.47 [[ 9.99307904e-01 3.71469378e-02 1.95414161e-03 6.58288344e+01] [-3.71466136e-02 9.99309806e-01 -2.01988193e-04 -6.83523797e+00] [-1.96029612e-03 1.29258655e-04 9.99998070e-01 -4.69301995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.667552018 meters 0.043039571184046964 Centerline is valid? [True, True] Translation: X:65.86, Y:-6.84, Z:-0.47 [[ 9.99320947e-01 3.68200085e-02 1.38957638e-03 6.58558098e+01] [-3.68198440e-02 9.99321909e-01 -1.43788801e-04 -6.84112370e+00] [-1.39392843e-03 9.25271757e-05 9.99999024e-01 -4.70372686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.697552018 meters 0.043306664696405546 Centerline is valid? [True, True] Translation: X:65.88, Y:-6.85, Z:-0.47 [[ 9.99337671e-01 3.63723787e-02 1.12665383e-03 6.58840218e+01] [-3.63722704e-02 9.99338303e-01 -1.16483094e-04 -6.84563563e+00] [-1.13014509e-03 7.54269859e-05 9.99999359e-01 -4.71223164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.727552018 meters 0.042058513200875045 Centerline is valid? [True, True] Translation: X:65.91, Y:-6.85, Z:-0.47 [[ 9.99407866e-01 3.44080429e-02 6.51938076e-05 6.59138071e+01] [-3.44080425e-02 9.99407868e-01 -6.98518959e-06 -6.84803033e+00] [-6.53955510e-05 4.73786212e-06 9.99999998e-01 -4.71137018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.757552018 meters 0.04424971017787843 Centerline is valid? [True, True] Translation: X:65.94, Y:-6.85, Z:-0.47 [[ 9.99427456e-01 3.38322525e-02 -3.73754286e-04 6.59414561e+01] [-3.38322407e-02 9.99427525e-01 3.77189590e-05 -6.85415239e+00] [ 3.74816438e-04 -2.50524183e-05 9.99999929e-01 -4.72121387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.787552018 meters 0.04366792817587131 Centerline is valid? [True, True] Translation: X:65.97, Y:-6.86, Z:-0.47 [[ 9.99483590e-01 3.21253697e-02 -7.16560715e-04 6.59709302e+01] [-3.21253253e-02 9.99483846e-01 7.33346612e-05 -6.85836232e+00] [ 7.18546762e-04 -5.02770444e-05 9.99999741e-01 -4.72913784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.817552018 meters 0.04757092313989398 Centerline is valid? [True, True] Translation: X:66.00, Y:-6.87, Z:-0.47 [[ 9.99561312e-01 2.96047545e-02 -8.60897063e-04 6.59988504e+01] [-2.96046896e-02 9.99561681e-01 8.81310199e-05 -6.86974047e+00] [ 8.63128812e-04 -6.26057677e-05 9.99999626e-01 -4.74212468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.847552018 meters 0.04849262817894409 Centerline is valid? [True, True] Translation: X:66.03, Y:-6.88, Z:-0.47 [[ 9.99577565e-01 2.90594148e-02 -4.91401799e-04 6.60275983e+01] [-2.90593938e-02 9.99577685e-01 4.98850528e-05 -6.87537431e+00] [ 4.92643903e-04 -3.55841413e-05 9.99999878e-01 -4.74630896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.877552018 meters 0.04787990883825637 Centerline is valid? [True, True] Translation: X:66.06, Y:-6.88, Z:-0.47 [[ 9.99618605e-01 2.76159669e-02 5.22612590e-05 6.60565838e+01] [-2.76159667e-02 9.99618606e-01 -5.76705980e-06 -6.87913835e+00] [-5.24005899e-05 4.32161508e-06 9.99999999e-01 -4.74248141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90755201799999 meters 0.046244403607705264 Centerline is valid? [True, True] Translation: X:66.09, Y:-6.88, Z:-0.47 [[ 9.99636139e-01 2.69735221e-02 1.36323128e-04 6.60857849e+01] [-2.69735204e-02 9.99636148e-01 -1.45243934e-05 -6.88077335e+00] [-1.36665300e-04 1.08419939e-05 9.99999991e-01 -4.73620584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93755201799999 meters 0.046796984787053714 Centerline is valid? [True, True] Translation: X:66.11, Y:-6.88, Z:-0.47 [[ 9.99644628e-01 2.66413052e-02 9.26943429e-04 6.61144169e+01] [-2.66412281e-02 9.99645055e-01 -9.54715473e-05 -6.88485193e+00] [-9.29157901e-04 7.07427080e-05 9.99999566e-01 -4.72918978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96755201799999 meters 0.04724498579140352 Centerline is valid? [True, True] Translation: X:66.14, Y:-6.89, Z:-0.47 [[ 9.99653544e-01 2.63058646e-02 8.91056304e-04 6.61432787e+01] [-2.63057932e-02 9.99653939e-01 -9.17228196e-05 -6.88898548e+00] [-8.93160792e-04 6.82510988e-05 9.99999599e-01 -4.73291209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.997552018 meters 0.04767793797573461 Centerline is valid? [True, True] Translation: X:66.17, Y:-6.89, Z:-0.47 [[ 9.99661970e-01 2.59915812e-02 6.18475926e-04 6.61721625e+01] [-2.59915466e-02 9.99662161e-01 -6.37822140e-05 -6.89388846e+00] [-6.19924782e-04 4.76855078e-05 9.99999807e-01 -4.74114538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.027552018 meters 0.04940434859909536 Centerline is valid? [True, True] Translation: X:66.20, Y:-6.90, Z:-0.48 [[ 9.99678766e-01 2.53449039e-02 -2.03228767e-05 6.61988943e+01] [-2.53449038e-02 9.99678766e-01 1.39518386e-06 -6.90233668e+00] [ 2.03517091e-05 -8.79654321e-07 1.00000000e+00 -4.76541744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.057552018 meters 0.04961587926206313 Centerline is valid? [True, True] Translation: X:66.23, Y:-6.91, Z:-0.48 [[ 9.99689837e-01 2.49041545e-02 -1.09849029e-04 6.62273650e+01] [-2.49041534e-02 9.99689843e-01 1.06724686e-05 -6.90694061e+00] [ 1.10080747e-04 -7.93346129e-06 9.99999994e-01 -4.77404190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.087552018 meters 0.04785676380013816 Centerline is valid? [True, True] Translation: X:66.26, Y:-6.91, Z:-0.48 [[ 9.99706453e-01 2.42268208e-02 2.63920960e-04 6.62557580e+01] [-2.42268142e-02 9.99706487e-01 -2.78541682e-05 -6.90796290e+00] [-2.64518313e-04 2.14520276e-05 9.99999965e-01 -4.77281588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.117552018 meters 0.048703663135472884 Centerline is valid? [True, True] Translation: X:66.28, Y:-6.91, Z:-0.48 [[ 9.99725773e-01 2.34168651e-02 -1.72731357e-04 6.62845379e+01] [-2.34168625e-02 9.99725788e-01 1.70444881e-05 -6.91293645e+00] [ 1.73083121e-04 -1.29949876e-05 9.99999985e-01 -4.77041027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.147552018 meters 0.0488972841844029 Centerline is valid? [True, True] Translation: X:66.31, Y:-6.92, Z:-0.48 [[ 9.99737933e-01 2.28915187e-02 -2.09452358e-04 6.63125995e+01] [-2.28915149e-02 9.99737955e-01 2.06256603e-05 -6.91644834e+00] [ 2.09869624e-04 -1.58255732e-05 9.99999978e-01 -4.77065069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.177552018 meters 0.04767013916691433 Centerline is valid? [True, True] Translation: X:66.34, Y:-6.92, Z:-0.48 [[ 9.99746057e-01 2.25346706e-02 -1.01907891e-04 6.63411163e+01] [-2.25346697e-02 9.99746062e-01 9.80435004e-06 -6.91893743e+00] [ 1.02102951e-04 -7.50539962e-06 9.99999995e-01 -4.77137904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.207552018 meters 0.05105416087144445 Centerline is valid? [True, True] Translation: X:66.37, Y:-6.93, Z:-0.48 [[ 9.99779574e-01 2.09921089e-02 3.67463986e-04 6.63684974e+01] [-2.09920964e-02 9.99779641e-01 -3.77547740e-05 -6.93081515e+00] [-3.68175564e-04 3.00326124e-05 9.99999932e-01 -4.78465910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.237552018 meters 0.05117922984957709 Centerline is valid? [True, True] Translation: X:66.40, Y:-6.94, Z:-0.48 [[ 9.99803292e-01 1.98239148e-02 6.23699527e-04 6.63964932e+01] [-1.98238786e-02 9.99803486e-01 -6.41460547e-05 -6.93637528e+00] [-6.24848587e-04 5.17692930e-05 9.99999803e-01 -4.79021309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26755201799999 meters 0.0524352751712178 Centerline is valid? [True, True] Translation: X:66.43, Y:-6.94, Z:-0.48 [[ 9.99835544e-01 1.81343833e-02 1.69527670e-04 6.64253135e+01] [-1.81343805e-02 9.99835558e-01 -1.76059350e-05 -6.94246975e+00] [-1.69819066e-04 1.45287604e-05 9.99999985e-01 -4.79127366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29755201799999 meters 0.055353484811641866 Centerline is valid? [True, True] Translation: X:66.45, Y:-6.95, Z:-0.48 [[ 9.99891657e-01 1.46755498e-02 -1.14096442e-03 6.64541046e+01] [-1.46754274e-02 9.99892303e-01 1.15563100e-04 -6.95238150e+00] [ 1.14253750e-03 -9.88064395e-05 9.99999342e-01 -4.80260928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32755201799999 meters 0.05592549747979059 Centerline is valid? [True, True] Translation: X:66.48, Y:-6.96, Z:-0.48 [[ 9.99914603e-01 1.29971363e-02 -1.36423651e-03 6.64829396e+01] [-1.29969604e-02 9.99915526e-01 1.37721191e-04 -6.95844016e+00] [ 1.36591125e-03 -1.19978502e-04 9.99999060e-01 -4.81464681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35755201799999 meters 0.05592549747979059 Centerline is valid? [True, True] Translation: X:66.51, Y:-6.96, Z:-0.48 [[ 9.99915592e-01 1.29208603e-02 -1.36424786e-03 6.65112176e+01] [-1.29206845e-02 9.99916515e-01 1.37608941e-04 -6.96122895e+00] [ 1.36591200e-03 -1.19970309e-04 9.99999060e-01 -4.81665572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.387552018 meters 0.05773585217775856 Centerline is valid? [True, True] Translation: X:66.54, Y:-6.97, Z:-0.48 [[ 9.99936064e-01 1.11774129e-02 -1.71250733e-03 6.65400546e+01] [-1.11771327e-02 9.99937519e-01 1.73082375e-04 -6.96953125e+00] [ 1.71433494e-03 -1.53930388e-04 9.99998519e-01 -4.83162006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.417552018 meters 0.059794186133920194 Centerline is valid? [True, True] Translation: X:66.57, Y:-6.98, Z:-0.48 [[ 9.99956359e-01 9.18140855e-03 -1.72706176e-03 6.65692248e+01] [-9.18112050e-03 9.99957837e-01 1.74643887e-04 -6.97815073e+00] [ 1.72859242e-03 -1.58779903e-04 9.99998493e-01 -4.84276230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.447552018 meters 0.058276863698657276 Centerline is valid? [True, True] Translation: X:66.60, Y:-6.98, Z:-0.48 [[ 9.99978859e-01 6.09420184e-03 -2.26759657e-03 6.65993093e+01] [-6.09369709e-03 9.99981407e-01 2.29434513e-04 -6.98395548e+00] [ 2.26895263e-03 -2.15611616e-04 9.99997403e-01 -4.84759713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.477552018 meters 0.06605197271124656 Centerline is valid? [True, True] Translation: X:66.63, Y:-7.00, Z:-0.49 [[ 9.99983366e-01 5.18893805e-03 -2.51847163e-03 6.66261337e+01] [-5.18831291e-03 9.99986508e-01 2.54691266e-04 -6.99885038e+00] [ 2.51975923e-03 -2.41620410e-04 9.99996796e-01 -4.85868481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.507552018 meters 0.061892678521777995 Centerline is valid? [True, True] Translation: X:66.66, Y:-7.00, Z:-0.48 [[ 9.99991583e-01 3.40003768e-03 -2.29627334e-03 6.66553454e+01] [-3.39951428e-03 9.99994195e-01 2.31799128e-04 -6.99820081e+00] [ 2.29704814e-03 -2.23990963e-04 9.99997337e-01 -4.84928193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.537552018 meters 0.0643711279567956 Centerline is valid? [True, True] Translation: X:66.68, Y:-7.01, Z:-0.48 [[ 9.99995187e-01 2.09366804e-03 -2.28957644e-03 6.66828370e+01] [-2.09314501e-03 9.99997783e-01 2.30813887e-04 -7.00708282e+00] [ 2.29005461e-03 -2.26020361e-04 9.99997352e-01 -4.83836736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.567552018 meters 0.0582431323100342 Centerline is valid? [True, True] Translation: X:66.71, Y:-7.00, Z:-0.48 [[ 9.99996622e-01 1.91676502e-03 -1.75548341e-03 6.67120771e+01] [-1.91645778e-03 9.99998148e-01 1.76682833e-04 -7.00357958e+00] [ 1.75581882e-03 -1.73317927e-04 9.99998444e-01 -4.82783839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.597552018 meters 0.060663460407053796 Centerline is valid? [True, True] Translation: X:66.74, Y:-7.01, Z:-0.48 [[ 9.99995719e-01 2.72895924e-03 -1.05622603e-03 6.67400899e+01] [-2.72884857e-03 9.99996271e-01 1.06200551e-04 -7.01177541e+00] [ 1.05651191e-03 -1.03317816e-04 9.99999437e-01 -4.82751017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.627552018 meters 0.05745552392887833 Centerline is valid? [True, True] Translation: X:66.77, Y:-7.01, Z:-0.48 [[ 9.99991949e-01 3.92325028e-03 -8.43002332e-04 6.67694540e+01] [-3.92318034e-03 9.99992301e-01 8.46016889e-05 -7.01158718e+00] [ 8.43327755e-04 -8.12937575e-05 9.99999641e-01 -4.82450419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65755201799999 meters 0.05369958841299436 Centerline is valid? [True, True] Translation: X:66.80, Y:-7.01, Z:-0.48 [[ 9.99958266e-01 9.06508057e-03 -1.13599287e-03 6.68003938e+01] [-9.06495613e-03 9.99958906e-01 1.14643330e-04 -7.01062307e+00] [ 1.13698544e-03 -1.04340820e-04 9.99999348e-01 -4.81934290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68755201799999 meters 0.056136867351975775 Centerline is valid? [True, True] Translation: X:66.83, Y:-7.02, Z:-0.48 [[ 9.99925456e-01 1.20755161e-02 -1.80659181e-03 6.68290156e+01] [-1.20752068e-02 9.99927075e-01 1.81985481e-04 -7.01658276e+00] [ 1.80865764e-03 -1.60156945e-04 9.99998352e-01 -4.82746827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71755201799999 meters 0.053428756531649586 Centerline is valid? [True, True] Translation: X:66.86, Y:-7.02, Z:-0.48 [[ 9.99889751e-01 1.46639848e-02 -2.33518901e-03 6.68592013e+01] [-1.46634750e-02 9.99892458e-01 2.35287255e-04 -7.01518319e+00] [ 2.33838813e-03 -2.01019329e-04 9.99997246e-01 -4.82693285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.747552018 meters 0.05150236240457348 Centerline is valid? [True, True] Translation: X:66.89, Y:-7.01, Z:-0.48 [[ 9.99778742e-01 2.08320320e-02 -2.91447932e-03 6.68891355e+01] [-2.08312636e-02 9.99782963e-01 2.93757767e-04 -7.01465416e+00] [ 2.91996634e-03 -2.32980483e-04 9.99995710e-01 -4.83037433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.777552018 meters 0.04733192001285801 Centerline is valid? [True, True] Translation: X:66.92, Y:-7.01, Z:-0.48 [[ 9.99714546e-01 2.37976674e-02 -2.12067064e-03 6.69199565e+01] [-2.37972676e-02 9.99716782e-01 2.13604795e-04 -7.01158689e+00] [ 2.12515332e-03 -1.63077654e-04 9.99997729e-01 -4.82130515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.807552018 meters 0.04581816967233718 Centerline is valid? [True, True] Translation: X:66.95, Y:-7.01, Z:-0.48 [[ 9.99634377e-01 2.69840075e-02 -1.72522757e-03 6.69499902e+01] [-2.69837477e-02 9.99635857e-01 1.73717668e-04 -7.01170430e+00] [ 1.72928694e-03 -1.27101047e-04 9.99998497e-01 -4.81406180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.837552018 meters 0.044776945320397596 Centerline is valid? [True, True] Translation: X:66.98, Y:-7.01, Z:-0.48 [[ 9.99547462e-01 3.00600778e-02 -1.12418926e-03 6.69800359e+01] [-3.00599695e-02 9.99548091e-01 1.13126992e-04 -7.01244145e+00] [ 1.12708183e-03 -7.92827031e-05 9.99999362e-01 -4.80955327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.867552018 meters 0.04335032941829673 Centerline is valid? [True, True] Translation: X:67.01, Y:-7.01, Z:-0.48 [[ 9.99355238e-01 3.58828086e-02 -1.23823412e-03 6.70090697e+01] [-3.58826820e-02 9.99356001e-01 1.24348001e-04 -7.01185034e+00] [ 1.24189866e-03 -7.98366644e-05 9.99999226e-01 -4.81358298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.897552018 meters 0.042761331452205675 Centerline is valid? [True, True] Translation: X:67.04, Y:-7.01, Z:-0.48 [[ 9.99258371e-01 3.84742099e-02 -1.56333450e-03 6.70390653e+01] [-3.84740111e-02 9.99259589e-01 1.57016219e-04 -7.01364740e+00] [ 1.56821807e-03 -9.67520223e-05 9.99998766e-01 -4.82313307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.927552018 meters 0.040265445491030366 Centerline is valid? [True, True] Translation: X:67.07, Y:-7.01, Z:-0.48 [[ 9.99166741e-01 4.07249845e-02 -2.70184887e-03 6.70689090e+01] [-4.07243984e-02 9.99170381e-01 2.71580831e-04 -7.01220157e+00] [ 2.71066749e-03 -1.61323364e-04 9.99996313e-01 -4.83123523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.957552018 meters 0.03923365899729954 Centerline is valid? [True, True] Translation: X:67.10, Y:-7.01, Z:-0.48 [[ 9.99142112e-01 4.13177307e-02 -2.80799862e-03 6.70977107e+01] [-4.13171014e-02 9.99146044e-01 2.81772738e-04 -7.01237936e+00] [ 2.81724292e-03 -1.65512645e-04 9.99996018e-01 -4.82795236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.987552018 meters 0.03682586656220341 Centerline is valid? [True, True] Translation: X:67.13, Y:-7.01, Z:-0.48 [[ 9.99123459e-01 4.17631156e-02 -2.85588313e-03 6.71270569e+01] [-4.17624672e-02 9.99127527e-01 2.86343566e-04 -7.01125778e+00] [ 2.86535004e-03 -1.66823849e-04 9.99995881e-01 -4.82187678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01755201799999 meters 0.03946437514975201 Centerline is valid? [True, True] Translation: X:67.15, Y:-7.02, Z:-0.48 [[ 9.99107373e-01 4.21834253e-02 -2.23951017e-03 6.71548244e+01] [-4.21830283e-02 9.99109875e-01 2.24251674e-04 -7.01746931e+00] [ 2.24697642e-03 -1.29582180e-04 9.99997467e-01 -4.83210521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04755201799999 meters 0.038084348330462536 Centerline is valid? [True, True] Translation: X:67.18, Y:-7.02, Z:-0.48 [[ 9.99111107e-01 4.21163510e-02 -1.79136268e-03 6.71839890e+01] [-4.21160973e-02 9.99112707e-01 1.79134156e-04 -7.01863279e+00] [ 1.79731770e-03 -1.03529720e-04 9.99998379e-01 -4.83033395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07755201799999 meters 0.038267364267046904 Centerline is valid? [True, True] Translation: X:67.21, Y:-7.02, Z:-0.48 [[ 9.99142041e-01 4.13719634e-02 -1.88233349e-03 6.72122804e+01] [-4.13716825e-02 9.99143808e-01 1.87932586e-04 -7.02067770e+00] [ 1.88849699e-03 -1.09896044e-04 9.99998211e-01 -4.82339480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10755201799999 meters 0.03640493766958439 Centerline is valid? [True, True] Translation: X:67.24, Y:-7.02, Z:-0.48 [[ 9.99177859e-01 4.05101639e-02 -1.59115560e-03 6.72409389e+01] [-4.05099623e-02 9.99179122e-01 1.58748085e-04 -7.01994888e+00] [ 1.59628037e-03 -9.41599180e-05 9.99998722e-01 -4.80964762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.137552018 meters 0.03728565266106269 Centerline is valid? [True, True] Translation: X:67.27, Y:-7.02, Z:-0.48 [[ 9.99246911e-01 3.87921304e-02 -8.83837369e-04 6.72701298e+01] [-3.87920676e-02 9.99247301e-01 8.81756210e-05 -7.02294057e+00] [ 8.86592625e-04 -5.38233379e-05 9.99999606e-01 -4.79645907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.167552018 meters 0.043065794174310994 Centerline is valid? [True, True] Translation: X:67.30, Y:-7.03, Z:-0.48 [[ 9.99242869e-01 3.88756054e-02 -1.54164483e-03 6.72974478e+01] [-3.88754148e-02 9.99244054e-01 1.53439387e-04 -7.03295254e+00] [ 1.54644448e-03 -9.33911307e-05 9.99998800e-01 -4.80736345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.197552018 meters 0.040375059533529614 Centerline is valid? [True, True] Translation: X:67.33, Y:-7.03, Z:-0.48 [[ 9.99375672e-01 3.53087161e-02 -1.24905018e-03 6.73272963e+01] [-3.53085877e-02 9.99376450e-01 1.24722766e-04 -7.03379715e+00] [ 1.25267513e-03 -8.05427003e-05 9.99999212e-01 -4.80913158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.227552018 meters 0.04061250454978848 Centerline is valid? [True, True] Translation: X:67.36, Y:-7.04, Z:-0.48 [[ 9.99435290e-01 3.35713652e-02 -1.43710917e-03 6.73567383e+01] [-3.35711937e-02 9.99436318e-01 1.43323753e-04 -7.03805605e+00] [ 1.44111067e-03 -9.49973459e-05 9.99998957e-01 -4.81832388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.257552018 meters 0.042259290597450094 Centerline is valid? [True, True] Translation: X:67.39, Y:-7.04, Z:-0.48 [[ 9.99513766e-01 3.11162099e-02 -2.00335176e-03 6.73854440e+01] [-3.11158719e-02 9.99515764e-01 1.99649609e-04 -7.04425478e+00] [ 2.00859400e-03 -1.37216496e-04 9.99997973e-01 -4.82645022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.287552018 meters 0.04622568071304555 Centerline is valid? [True, True] Translation: X:67.41, Y:-7.05, Z:-0.48 [[ 9.99629682e-01 2.70967516e-02 -2.50294489e-03 6.74135996e+01] [-2.70962109e-02 9.99632799e-01 2.49714986e-04 -7.05357292e+00] [ 2.50879227e-03 -1.81802190e-04 9.99996836e-01 -4.83271858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.317552018 meters 0.04643332399300811 Centerline is valid? [True, True] Translation: X:67.44, Y:-7.06, Z:-0.48 [[ 9.99669941e-01 2.55870789e-02 -2.30444060e-03 6.74430735e+01] [-2.55866169e-02 9.99672583e-01 2.29712435e-04 -7.05675012e+00] [ 2.30956375e-03 -1.70673777e-04 9.99997318e-01 -4.82960107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.347552018 meters 0.04650036148568086 Centerline is valid? [True, True] Translation: X:67.47, Y:-7.06, Z:-0.48 [[ 9.99692141e-01 2.46473920e-02 -2.85113606e-03 6.74713747e+01] [-2.46466824e-02 9.99696184e-01 2.83773788e-04 -7.05993756e+00] [ 2.85726412e-03 -2.13415381e-04 9.99995895e-01 -4.83084333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.377552018 meters 0.04610856227632595 Centerline is valid? [True, True] Translation: X:67.50, Y:-7.06, Z:-0.48 [[ 9.99695156e-01 2.45216257e-02 -2.87850764e-03 6.74993004e+01] [-2.45209036e-02 9.99699277e-01 2.85883181e-04 -7.06245467e+00] [ 2.88465232e-03 -2.15212423e-04 9.99995816e-01 -4.83503147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40755201799999 meters 0.04700443448826504 Centerline is valid? [True, True] Translation: X:67.53, Y:-7.07, Z:-0.48 [[ 9.99666590e-01 2.55107657e-02 -3.98871819e-03 6.75274904e+01] [-2.55093859e-02 9.99674504e-01 3.96434436e-04 -7.06661955e+00] [ 3.99753323e-03 -2.94552509e-04 9.99991966e-01 -4.84967971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43755201799999 meters 0.04541921965732209 Centerline is valid? [True, True] Translation: X:67.56, Y:-7.07, Z:-0.48 [[ 9.99677498e-01 2.50698640e-02 -4.05005083e-03 6.75561057e+01] [-2.50684391e-02 9.99685656e-01 4.02213288e-04 -7.06708119e+00] [ 4.05886115e-03 -3.00555121e-04 9.99991718e-01 -4.84539589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46755201799999 meters 0.04717455904982229 Centerline is valid? [True, True] Translation: X:67.58, Y:-7.07, Z:-0.48 [[ 9.99658717e-01 2.58887585e-02 -3.49594473e-03 6.75835306e+01] [-2.58877037e-02 9.99664797e-01 3.46635882e-04 -7.07152221e+00] [ 3.50374685e-03 -2.56015599e-04 9.99993829e-01 -4.84134423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.497552018 meters 0.04722067732595137 Centerline is valid? [True, True] Translation: X:67.61, Y:-7.08, Z:-0.48 [[ 9.99644982e-01 2.64735090e-02 -3.01045304e-03 6.76120513e+01] [-2.64727300e-02 9.99649491e-01 2.98316238e-04 -7.07504628e+00] [ 3.01729533e-03 -2.18515420e-04 9.99995424e-01 -4.83965629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.527552018 meters 0.04822351749620699 Centerline is valid? [True, True] Translation: X:67.64, Y:-7.08, Z:-0.48 [[ 9.99632703e-01 2.69924203e-02 -2.42228091e-03 6.76394018e+01] [-2.69919192e-02 9.99635623e-01 2.39309410e-04 -7.07988274e+00] [ 2.42785782e-03 -1.73839502e-04 9.99997038e-01 -4.84184874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.557552018 meters 0.04851838655127846 Centerline is valid? [True, True] Translation: X:67.67, Y:-7.08, Z:-0.48 [[ 9.99585603e-01 2.87273018e-02 -1.83425657e-03 6.76691924e+01] [-2.87270170e-02 9.99587278e-01 1.81397499e-04 -7.08264982e+00] [ 1.83871059e-03 -1.28629608e-04 9.99998301e-01 -4.84055094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.587552018 meters 0.0485865539581718 Centerline is valid? [True, True] Translation: X:67.70, Y:-7.08, Z:-0.48 [[ 9.99580984e-01 2.89035146e-02 -1.56324404e-03 6.76968979e+01] [-2.89033088e-02 9.99582200e-01 1.54108640e-04 -7.08425401e+00] [ 1.56704520e-03 -1.08861141e-04 9.99998766e-01 -4.83449130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.617552018 meters 0.0429186931286845 Centerline is valid? [True, True] Translation: X:67.73, Y:-7.08, Z:-0.48 [[ 9.99562776e-01 2.94891429e-02 -2.15556899e-03 6.77269369e+01] [-2.94887521e-02 9.99565090e-01 2.12864898e-04 -7.07824648e+00] [ 2.16090871e-03 -1.49206788e-04 9.99997654e-01 -4.83369122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.647552018 meters 0.04332083398979974 Centerline is valid? [True, True] Translation: X:67.76, Y:-7.08, Z:-0.48 [[ 9.99531215e-01 3.04599138e-02 -3.08936700e-03 6.77559143e+01] [-3.04591163e-02 9.99535967e-01 3.04878118e-04 -7.08112489e+00] [ 3.09721999e-03 -2.10635807e-04 9.99995181e-01 -4.84632005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.677552018 meters 0.044464398062244184 Centerline is valid? [True, True] Translation: X:67.78, Y:-7.09, Z:-0.49 [[ 9.99569921e-01 2.90095012e-02 -4.29212429e-03 6.77842677e+01] [-2.90079481e-02 9.99579091e-01 4.23679514e-04 -7.08680820e+00] [ 4.30260842e-03 -2.98991580e-04 9.99990699e-01 -4.87414592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.707552018 meters 0.04515017205714623 Centerline is valid? [True, True] Translation: X:67.81, Y:-7.09, Z:-0.49 [[ 9.99580848e-01 2.85733654e-02 -4.65734020e-03 6.78125046e+01] [-2.85715342e-02 9.99591645e-01 4.59273865e-04 -7.09038977e+00] [ 4.66856135e-03 -3.26014004e-04 9.99989049e-01 -4.87893343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.737552018 meters 0.04420775543601633 Centerline is valid? [True, True] Translation: X:67.84, Y:-7.09, Z:-0.49 [[ 9.99596933e-01 2.78974349e-02 -5.26353254e-03 6.78412092e+01] [-2.78950884e-02 9.99610722e-01 5.18700761e-04 -7.09078887e+00] [ 5.27595398e-03 -3.71664985e-04 9.99986013e-01 -4.87379966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76755201799999 meters 0.04535251334603551 Centerline is valid? [True, True] Translation: X:67.87, Y:-7.09, Z:-0.49 [[ 9.99623134e-01 2.69096340e-02 -5.42794214e-03 6.78687329e+01] [-2.69071277e-02 9.99637795e-01 5.34259396e-04 -7.09445820e+00] [ 5.44035284e-03 -3.88007719e-04 9.99985126e-01 -4.87366202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79755201799999 meters 0.04559305597014839 Centerline is valid? [True, True] Translation: X:67.90, Y:-7.10, Z:-0.49 [[ 9.99662331e-01 2.55393575e-02 -4.79213665e-03 6.78976830e+01] [-2.55373898e-02 9.99673757e-01 4.71358527e-04 -7.09767858e+00] [ 4.80261144e-03 -3.48820702e-04 9.99988407e-01 -4.87453987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82755201799999 meters 0.04773267213491273 Centerline is valid? [True, True] Translation: X:67.92, Y:-7.10, Z:-0.49 [[ 9.99667033e-01 2.53837289e-02 -4.63556826e-03 6.79239769e+01] [-2.53818910e-02 9.99677724e-01 4.54907756e-04 -7.10325578e+00] [ 4.64562159e-03 -3.37096799e-04 9.99989152e-01 -4.87982918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85755201799999 meters 0.047791228819850456 Centerline is valid? [True, True] Translation: X:67.95, Y:-7.11, Z:-0.49 [[ 9.99716342e-01 2.36127132e-02 -3.11059077e-03 6.79531564e+01] [-2.36118763e-02 9.99721154e-01 3.05503492e-04 -7.10763811e+00] [ 3.11693716e-03 -2.31969949e-04 9.99995115e-01 -4.87309940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.887552018 meters 0.04616755565594875 Centerline is valid? [True, True] Translation: X:67.98, Y:-7.11, Z:-0.49 [[ 9.99752740e-01 2.20858708e-02 -2.58333619e-03 6.79824255e+01] [-2.20852899e-02 9.99756058e-01 2.53183158e-04 -7.10835345e+00] [ 2.58829777e-03 -1.96066827e-04 9.99996631e-01 -4.86526673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.917552018 meters 0.04883712407899601 Centerline is valid? [True, True] Translation: X:68.01, Y:-7.11, Z:-0.49 [[ 9.99771520e-01 2.10274942e-02 -3.84083463e-03 6.80096850e+01] [-2.10262033e-02 9.99778854e-01 3.76186123e-04 -7.11281185e+00] [ 3.84789550e-03 -2.95342002e-04 9.99992553e-01 -4.86959664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.947552018 meters 0.04861168906647694 Centerline is valid? [True, True] Translation: X:68.04, Y:-7.11, Z:-0.49 [[ 9.99788483e-01 2.01401212e-02 -4.16705172e-03 6.80380657e+01] [-2.01385945e-02 9.99797115e-01 4.08013284e-04 -7.11476007e+00] [ 4.17442372e-03 -3.24008418e-04 9.99991235e-01 -4.87635941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.977552018 meters 0.04613117247794304 Centerline is valid? [True, True] Translation: X:68.07, Y:-7.11, Z:-0.49 [[ 9.99775916e-01 2.08379237e-02 -3.72797593e-03 6.80673285e+01] [-2.08367080e-02 9.99782826e-01 3.64649731e-04 -7.11345018e+00] [ 3.73476485e-03 -2.86889273e-04 9.99992985e-01 -4.87201812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.007552018 meters 0.04890905905967159 Centerline is valid? [True, True] Translation: X:68.09, Y:-7.12, Z:-0.49 [[ 9.99776887e-01 2.09068995e-02 -3.01282945e-03 6.80946676e+01] [-2.09061074e-02 9.99781400e-01 2.94155788e-04 -7.11951729e+00] [ 3.01832073e-03 -2.31103622e-04 9.99995418e-01 -4.87427122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.037552018 meters 0.044373833821056585 Centerline is valid? [True, True] Translation: X:68.12, Y:-7.12, Z:-0.49 [[ 9.99771108e-01 2.12747686e-02 -2.26183429e-03 6.81238820e+01] [-2.12743236e-02 9.99773652e-01 2.20601682e-04 -7.11510224e+00] [ 2.26601558e-03 -1.72432193e-04 9.99997418e-01 -4.86248288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.067552018 meters 0.047112818836772714 Centerline is valid? [True, True] Translation: X:68.15, Y:-7.12, Z:-0.49 [[ 9.99760923e-01 2.17198006e-02 -2.51918287e-03 6.81517019e+01] [-2.17192509e-02 9.99764079e-01 2.45376375e-04 -7.11933686e+00] [ 2.52391806e-03 -1.90602947e-04 9.99996797e-01 -4.86251156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.097552018 meters 0.04786967730848513 Centerline is valid? [True, True] Translation: X:68.18, Y:-7.12, Z:-0.49 [[ 9.99761268e-01 2.16378700e-02 -3.03476295e-03 6.81792575e+01] [-2.16370728e-02 9.99765848e-01 2.95272118e-04 -7.12169778e+00] [ 3.04044142e-03 -2.29538240e-04 9.99995352e-01 -4.87140378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.127552018 meters 0.04794847187508343 Centerline is valid? [True, True] Translation: X:68.21, Y:-7.12, Z:-0.49 [[ 9.99772097e-01 2.10457618e-02 -3.58201333e-03 6.82082101e+01] [-2.10446469e-02 9.99778476e-01 3.48658159e-04 -7.12306903e+00] [ 3.58855760e-03 -2.73196493e-04 9.99993524e-01 -4.87987643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15755201799999 meters 0.05005504036147241 Centerline is valid? [True, True] Translation: X:68.24, Y:-7.13, Z:-0.49 [[ 9.99779040e-01 2.05022304e-02 -4.64005240e-03 6.82353887e+01] [-2.05003557e-02 9.99789744e-01 4.51224360e-04 -7.12957588e+00] [ 4.64832791e-03 -3.56001932e-04 9.99989133e-01 -4.90572622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18755201799999 meters 0.05091027859877292 Centerline is valid? [True, True] Translation: X:68.26, Y:-7.13, Z:-0.49 [[ 9.99794444e-01 1.97229242e-02 -4.69850098e-03 6.82637742e+01] [-1.97209945e-02 9.99805418e-01 4.56703876e-04 -7.13365329e+00] [ 4.70659427e-03 -3.63950886e-04 9.99988858e-01 -4.91592189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21755201799999 meters 0.04915566998627665 Centerline is valid? [True, True] Translation: X:68.29, Y:-7.13, Z:-0.49 [[ 9.99810632e-01 1.87727131e-02 -5.12696084e-03 6.82929049e+01] [-1.87704047e-02 9.99823696e-01 4.97985756e-04 -7.13346631e+00] [ 5.13540548e-03 -4.01656323e-04 9.99986733e-01 -4.91621482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.247552018 meters 0.04915566998627665 Centerline is valid? [True, True] Translation: X:68.32, Y:-7.14, Z:-0.49 [[ 9.99812809e-01 1.86564023e-02 -5.12704536e-03 6.83203292e+01] [-1.86540968e-02 9.99825874e-01 4.97115691e-04 -7.13601978e+00] [ 5.13542700e-03 -4.01382235e-04 9.99986733e-01 -4.91816217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.277552018 meters 0.0502981462002759 Centerline is valid? [True, True] Translation: X:68.35, Y:-7.14, Z:-0.49 [[ 9.99836693e-01 1.72260160e-02 -5.46365524e-03 6.83499055e+01] [-1.72233746e-02 9.99851526e-01 5.30147005e-04 -7.13852668e+00] [ 5.47197635e-03 -4.35957848e-04 9.99984934e-01 -4.91278393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.307552018 meters 0.051576574871582244 Centerline is valid? [True, True] Translation: X:68.38, Y:-7.14, Z:-0.49 [[ 9.99853546e-01 1.63656963e-02 -5.00510232e-03 6.83770204e+01] [-1.63634746e-02 9.99865992e-01 4.84509841e-04 -7.14228627e+00] [ 5.01236093e-03 -4.02538017e-04 9.99987357e-01 -4.90748350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.337552018 meters 0.052389190720858674 Centerline is valid? [True, True] Translation: X:68.41, Y:-7.15, Z:-0.49 [[ 9.99867300e-01 1.56983266e-02 -4.35267070e-03 6.84050443e+01] [-1.56966418e-02 9.99876712e-01 4.20967905e-04 -7.14614896e+00] [ 4.35874256e-03 -3.52589730e-04 9.99990438e-01 -4.90143774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.367552018 meters 0.04991003494868066 Centerline is valid? [True, True] Translation: X:68.43, Y:-7.15, Z:-0.49 [[ 9.99884212e-01 1.47635582e-02 -3.68789415e-03 6.84339624e+01] [-1.47623435e-02 9.99890967e-01 3.56399527e-04 -7.14602324e+00] [ 3.69275378e-03 -3.01916300e-04 9.99993136e-01 -4.89840273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.397552018 meters 0.04898088447838163 Centerline is valid? [True, True] Translation: X:68.46, Y:-7.15, Z:-0.49 [[ 9.99910082e-01 1.28984324e-02 -3.66849679e-03 6.84633224e+01] [-1.28972175e-02 9.99916765e-01 3.54646257e-04 -7.14874933e+00] [ 3.67276582e-03 -3.07300967e-04 9.99993208e-01 -4.90314779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.427552018 meters 0.054984148052264835 Centerline is valid? [True, True] Translation: X:68.49, Y:-7.16, Z:-0.49 [[ 9.99914195e-01 1.24187996e-02 -4.16854633e-03 6.84901536e+01] [-1.24172301e-02 9.99922822e-01 4.02191452e-04 -7.15980520e+00] [ 4.17321934e-03 -3.50395143e-04 9.99991231e-01 -4.91635330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.457552018 meters 0.05598078816090414 Centerline is valid? [True, True] Translation: X:68.52, Y:-7.16, Z:-0.49 [[ 9.99927156e-01 1.11321437e-02 -4.66463502e-03 6.85197438e+01] [-1.11301628e-02 9.99937956e-01 4.50396945e-04 -7.16373976e+00] [ 4.66935949e-03 -3.98445989e-04 9.99989019e-01 -4.91606539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.487552018 meters 0.05291871463841099 Centerline is valid? [True, True] Translation: X:68.55, Y:-7.16, Z:-0.49 [[ 9.99929005e-01 1.05053654e-02 -5.62345580e-03 6.85492653e+01] [-1.05024805e-02 9.99944700e-01 5.42306054e-04 -7.16156432e+00] [ 5.62884195e-03 -4.83207318e-04 9.99984041e-01 -4.91366880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51755201799999 meters 0.05264126155218669 Centerline is valid? [True, True] Translation: X:68.58, Y:-7.16, Z:-0.49 [[ 9.99928051e-01 1.04350887e-02 -5.91622416e-03 6.85768741e+01] [-1.04318999e-02 9.99945424e-01 5.69592374e-04 -7.16417587e+00] [ 5.92184502e-03 -5.07833934e-04 9.99982337e-01 -4.91921583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54755201799999 meters 0.05635765773597994 Centerline is valid? [True, True] Translation: X:68.60, Y:-7.17, Z:-0.49 [[ 9.99922110e-01 1.09308845e-02 -6.02405870e-03 6.86038451e+01] [-1.09275905e-02 9.99940124e-01 5.79462892e-04 -7.17349334e+00] [ 6.03003205e-03 -5.13589311e-04 9.99981687e-01 -4.93977202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57755201799999 meters 0.05593772557054053 Centerline is valid? [True, True] Translation: X:68.63, Y:-7.18, Z:-0.49 [[ 9.99916631e-01 1.16520555e-02 -5.56421786e-03 6.86323489e+01] [-1.16492578e-02 9.99932002e-01 5.34950176e-04 -7.17582711e+00] [ 5.57007277e-03 -4.70086570e-04 9.99984377e-01 -4.93846196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60755201799999 meters 0.05354962176932151 Centerline is valid? [True, True] Translation: X:68.66, Y:-7.17, Z:-0.49 [[ 9.99901363e-01 1.30224262e-02 -5.26119744e-03 6.86612434e+01] [-1.30199460e-02 9.99915109e-01 5.05386487e-04 -7.17431573e+00] [ 5.26733217e-03 -4.36836130e-04 9.99986032e-01 -4.92567692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.637552018 meters 0.05197987012509993 Centerline is valid? [True, True] Translation: X:68.69, Y:-7.17, Z:-0.49 [[ 9.99881027e-01 1.45800386e-02 -5.03539285e-03 6.86918267e+01] [-1.45777849e-02 9.99893621e-01 4.83974612e-04 -7.17325662e+00] [ 5.04191356e-03 -4.10512158e-04 9.99987205e-01 -4.91402237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.667552018 meters 0.049376097948359704 Centerline is valid? [True, True] Translation: X:68.72, Y:-7.17, Z:-0.49 [[ 9.99815409e-01 1.87571882e-02 -4.16128810e-03 6.87230527e+01] [-1.87556847e-02 9.99824017e-01 4.00037354e-04 -7.17033930e+00] [ 4.16805936e-03 -3.21915703e-04 9.99991262e-01 -4.89770464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.697552018 meters 0.047628918200408606 Centerline is valid? [True, True] Translation: X:68.75, Y:-7.17, Z:-0.49 [[ 9.99783116e-01 2.04969379e-02 -3.68735233e-03 6.87534810e+01] [-2.04957699e-02 9.99789877e-01 3.54286819e-04 -7.17058402e+00] [ 3.69383933e-03 -2.78634856e-04 9.99993139e-01 -4.89904573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.727552018 meters 0.04836440893501223 Centerline is valid? [True, True] Translation: X:68.78, Y:-7.17, Z:-0.49 [[ 9.99720042e-01 2.33851392e-02 -3.60166465e-03 6.87822218e+01] [-2.33840444e-02 9.99726496e-01 3.45776446e-04 -7.17473123e+00] [ 3.60876561e-03 -2.61458157e-04 9.99993454e-01 -4.91348898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.757552018 meters 0.04542153021283777 Centerline is valid? [True, True] Translation: X:68.81, Y:-7.17, Z:-0.49 [[ 9.99695085e-01 2.43098736e-02 -4.33213821e-03 6.88118968e+01] [-2.43082999e-02 9.99704423e-01 4.15567881e-04 -7.17281239e+00] [ 4.34096013e-03 -3.10134253e-04 9.99990530e-01 -4.91698946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.787552018 meters 0.04502402916531294 Centerline is valid? [True, True] Translation: X:68.84, Y:-7.17, Z:-0.49 [[ 9.99669724e-01 2.51762159e-02 -5.15759371e-03 6.88403079e+01] [-2.51739991e-02 9.99682962e-01 4.94292316e-04 -7.17407791e+00] [ 5.16840297e-03 -3.64291804e-04 9.99986577e-01 -4.92286020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.817552018 meters 0.04325796522223223 Centerline is valid? [True, True] Translation: X:68.87, Y:-7.17, Z:-0.49 [[ 9.99659604e-01 2.55253247e-02 -5.39750823e-03 6.88694646e+01] [-2.55229041e-02 9.99674104e-01 5.16874727e-04 -7.17333945e+00] [ 5.40894260e-03 -3.78938700e-04 9.99985300e-01 -4.92052381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.847552018 meters 0.04522210195502627 Centerline is valid? [True, True] Translation: X:68.90, Y:-7.18, Z:-0.49 [[ 9.99639068e-01 2.63136922e-02 -5.41511270e-03 6.88974841e+01] [-2.63112696e-02 9.99653664e-01 5.18143846e-04 -7.17699899e+00] [ 5.42687153e-03 -3.75478341e-04 9.99985204e-01 -4.92417338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87755201799999 meters 0.04415314406196023 Centerline is valid? [True, True] Translation: X:68.93, Y:-7.18, Z:-0.49 [[ 9.99639930e-01 2.63815619e-02 -4.90144181e-03 6.89264158e+01] [-2.63795800e-02 9.99651889e-01 4.68561877e-04 -7.17822180e+00] [ 4.91209696e-03 -3.39095185e-04 9.99987878e-01 -4.92038596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90755201799999 meters 0.04691639917954213 Centerline is valid? [True, True] Translation: X:68.95, Y:-7.19, Z:-0.49 [[ 9.99647699e-01 2.61622320e-02 -4.47394677e-03 6.89531639e+01] [-2.61605833e-02 9.99657662e-01 4.26639520e-04 -7.18575153e+00] [ 4.48357701e-03 -3.09448157e-04 9.99989901e-01 -4.93242587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93755201799999 meters 0.04448837754371139 Centerline is valid? [True, True] Translation: X:68.98, Y:-7.19, Z:-0.49 [[ 9.99670390e-01 2.53562626e-02 -4.02130245e-03 6.89816950e+01] [-2.53549242e-02 9.99678439e-01 3.83469336e-04 -7.18605552e+00] [ 4.02973270e-03 -2.81383122e-04 9.99991841e-01 -4.92432711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96755201799999 meters 0.045205596344104065 Centerline is valid? [True, True] Translation: X:69.01, Y:-7.19, Z:-0.49 [[ 9.99686930e-01 2.47272092e-02 -3.82192307e-03 6.90104847e+01] [-2.47259969e-02 9.99694199e-01 3.64137075e-04 -7.18956808e+00] [ 3.82975842e-03 -2.69522217e-04 9.99992630e-01 -4.92360375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.997552018 meters 0.045461489917690834 Centerline is valid? [True, True] Translation: X:69.04, Y:-7.19, Z:-0.49 [[ 9.99703314e-01 2.40822593e-02 -3.65090809e-03 6.90397002e+01] [-2.40811499e-02 9.99709947e-01 3.47537953e-04 -7.19098492e+00] [ 3.65821864e-03 -2.59516778e-04 9.99993275e-01 -4.90830231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.027552018 meters 0.04552228980141606 Centerline is valid? [True, True] Translation: X:69.07, Y:-7.19, Z:-0.49 [[ 9.99704391e-01 2.40901925e-02 -3.28543802e-03 6.90688421e+01] [-2.40892951e-02 9.99709762e-01 3.12440387e-04 -7.19346317e+00] [ 3.29201121e-03 -2.33204141e-04 9.99994554e-01 -4.90518929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.057552018 meters 0.04419156982687271 Centerline is valid? [True, True] Translation: X:69.10, Y:-7.19, Z:-0.49 [[ 9.99690227e-01 2.47795277e-02 -2.32919387e-03 6.90981814e+01] [-2.47790790e-02 9.99692927e-01 2.21334019e-04 -7.19390451e+00] [ 2.33396319e-03 -1.63550177e-04 9.99997263e-01 -4.89867679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.087552018 meters 0.04354892098930095 Centerline is valid? [True, True] Translation: X:69.13, Y:-7.20, Z:-0.49 [[ 9.99711464e-01 2.39723040e-02 -1.52244984e-03 6.91266186e+01] [-2.39721120e-02 9.99712617e-01 1.44264694e-04 -7.19600575e+00] [ 1.52547067e-03 -1.07726730e-04 9.99998831e-01 -4.89454220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.117552018 meters 0.043045514648982264 Centerline is valid? [True, True] Translation: X:69.15, Y:-7.20, Z:-0.49 [[ 9.99704863e-01 2.42727805e-02 -1.00965904e-03 6.91548639e+01] [-2.42726965e-02 9.99705370e-01 9.54055517e-05 -7.19859881e+00] [ 1.01167733e-03 -7.08702464e-05 9.99999486e-01 -4.89105620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.147552018 meters 0.04339980262874084 Centerline is valid? [True, True] Translation: X:69.18, Y:-7.20, Z:-0.49 [[ 9.99700145e-01 2.44595983e-02 -1.16104892e-03 6.91837434e+01] [-2.44594873e-02 9.99700816e-01 1.09706899e-04 -7.20112399e+00] [ 1.16338494e-03 -8.12753419e-05 9.99999320e-01 -4.89340891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.177552018 meters 0.042209259590986266 Centerline is valid? [True, True] Translation: X:69.21, Y:-7.20, Z:-0.49 [[ 9.99683212e-01 2.51361044e-02 -1.28544422e-03 6.92129105e+01] [-2.51359689e-02 9.99684034e-01 1.21413317e-04 -7.20110934e+00] [ 1.28808992e-03 -8.90639682e-05 9.99999166e-01 -4.89155219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.207552018 meters 0.041851891137614304 Centerline is valid? [True, True] Translation: X:69.24, Y:-7.20, Z:-0.49 [[ 9.99634113e-01 2.69668926e-02 -2.10420217e-03 6.92424379e+01] [-2.69665329e-02 9.99636317e-01 1.99121920e-04 -7.20097029e+00] [ 2.10880661e-03 -1.42306027e-04 9.99997766e-01 -4.90171299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.237552018 meters 0.041995329107066486 Centerline is valid? [True, True] Translation: X:69.27, Y:-7.20, Z:-0.49 [[ 9.99610570e-01 2.77800053e-02 -2.64200142e-03 6.92711227e+01] [-2.77794417e-02 9.99614046e-01 2.49775634e-04 -7.20313210e+00] [ 2.64792050e-03 -1.76285039e-04 9.99996479e-01 -4.92021441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26755201799999 meters 0.04083657946714185 Centerline is valid? [True, True] Translation: X:69.30, Y:-7.20, Z:-0.49 [[ 9.99597486e-01 2.81245151e-02 -3.72536776e-03 6.93002335e+01] [-2.81233972e-02 9.99604397e-01 3.52121825e-04 -7.20449440e+00] [ 3.73379725e-03 -2.47210093e-04 9.99992999e-01 -4.93483035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29755201799999 meters 0.04095016500867001 Centerline is valid? [True, True] Translation: X:69.33, Y:-7.21, Z:-0.49 [[ 9.99593596e-01 2.81585525e-02 -4.44289980e-03 6.93277088e+01] [-2.81569660e-02 9.99603426e-01 4.19247287e-04 -7.20761996e+00] [ 4.45294326e-03 -2.93978325e-04 9.99990042e-01 -4.94854333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32755201799999 meters 0.042717042165388054 Centerline is valid? [True, True] Translation: X:69.35, Y:-7.21, Z:-0.50 [[ 9.99602881e-01 2.75702855e-02 -5.82742932e-03 6.93547678e+01] [-2.75675486e-02 9.99619792e-01 5.49477472e-04 -7.21112701e+00] [ 5.84036294e-03 -3.88611323e-04 9.99982869e-01 -4.95667085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35755201799999 meters 0.04115670249376608 Centerline is valid? [True, True] Translation: X:69.38, Y:-7.21, Z:-0.49 [[ 9.99615149e-01 2.70639487e-02 -6.09061983e-03 6.93832508e+01] [-2.70609524e-02 9.99633621e-01 5.73852466e-04 -7.21019122e+00] [ 6.10391907e-03 -4.08813646e-04 9.99981287e-01 -4.94842825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.387552018 meters 0.04555953722096689 Centerline is valid? [True, True] Translation: X:69.41, Y:-7.22, Z:-0.50 [[ 9.99630550e-01 2.65613070e-02 -5.76715723e-03 6.94100948e+01] [-2.65586156e-02 9.99647110e-01 5.42776011e-04 -7.21821565e+00] [ 5.77953890e-03 -3.89407770e-04 9.99983223e-01 -4.95644823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.417552018 meters 0.0453381408913183 Centerline is valid? [True, True] Translation: X:69.44, Y:-7.22, Z:-0.49 [[ 9.99668342e-01 2.54379087e-02 -4.01489805e-03 6.94385301e+01] [-2.54365968e-02 9.99676366e-01 3.77500899e-04 -7.21956184e+00] [ 4.02320152e-03 -2.75250355e-04 9.99991869e-01 -4.93841723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.447552018 meters 0.046048726087603804 Centerline is valid? [True, True] Translation: X:69.47, Y:-7.22, Z:-0.49 [[ 9.99686887e-01 2.48680477e-02 -2.77650512e-03 6.94671270e+01] [-2.48674191e-02 9.99690724e-01 2.60687593e-04 -7.22339509e+00] [ 2.78212920e-03 -1.91561452e-04 9.99996112e-01 -4.93008366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.477552018 meters 0.04655272168907318 Centerline is valid? [True, True] Translation: X:69.50, Y:-7.23, Z:-0.49 [[ 9.99708310e-01 2.40572161e-02 -2.13193041e-03 6.94958008e+01] [-2.40568443e-02 9.99710572e-01 1.99882856e-04 -7.22618279e+00] [ 2.13612200e-03 -1.48537034e-04 9.99997707e-01 -4.92296497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.507552018 meters 0.04474496934952681 Centerline is valid? [True, True] Translation: X:69.52, Y:-7.23, Z:-0.49 [[ 9.99736971e-01 2.28761517e-02 -1.63420524e-03 6.95243627e+01] [-2.28759324e-02 9.99738300e-01 1.52780455e-04 -7.22550447e+00] [ 1.63727260e-03 -1.15356301e-04 9.99998653e-01 -4.91678257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.537552018 meters 0.043336670365986686 Centerline is valid? [True, True] Translation: X:69.55, Y:-7.23, Z:-0.49 [[ 9.99744187e-01 2.25910342e-02 -1.09798332e-03 6.95534873e+01] [-2.25909352e-02 9.99744787e-01 1.02464630e-04 -7.22597162e+00] [ 1.10001789e-03 -7.76339479e-05 9.99999392e-01 -4.91743280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.567552018 meters 0.0441173219984494 Centerline is valid? [True, True] Translation: X:69.58, Y:-7.23, Z:-0.49 [[ 9.99742300e-01 2.26673191e-02 -1.23578214e-03 6.95826158e+01] [-2.26671938e-02 9.99743060e-01 1.15301631e-04 -7.22883009e+00] [ 1.23807820e-03 -8.72602044e-05 9.99999230e-01 -4.91670656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.597552018 meters 0.04435976183248419 Centerline is valid? [True, True] Translation: X:69.61, Y:-7.23, Z:-0.49 [[ 9.99728427e-01 2.32669000e-02 -1.31317951e-03 6.96118938e+01] [-2.32667591e-02 9.99729285e-01 1.22457382e-04 -7.22781112e+00] [ 1.31567321e-03 -9.18706946e-05 9.99999130e-01 -4.90882231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62755201799999 meters 0.04462200750398725 Centerline is valid? [True, True] Translation: X:69.64, Y:-7.23, Z:-0.49 [[ 9.99713697e-01 2.38741837e-02 -1.59574507e-03 6.96395454e+01] [-2.38739771e-02 9.99714965e-01 1.48357923e-04 -7.22940355e+00] [ 1.59883215e-03 -1.10218667e-04 9.99998716e-01 -4.91120732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65755201799999 meters 0.045353208570541155 Centerline is valid? [True, True] Translation: X:69.67, Y:-7.23, Z:-0.49 [[ 9.99708701e-01 2.39566467e-02 -2.93113534e-03 6.96668688e+01] [-2.39559492e-02 9.99712978e-01 2.72845079e-04 -7.23135298e+00] [ 2.93683049e-03 -2.02547470e-04 9.99995667e-01 -4.93875416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68755201799999 meters 0.04624618878278843 Centerline is valid? [True, True] Translation: X:69.70, Y:-7.24, Z:-0.50 [[ 9.99718596e-01 2.34471433e-02 -3.60017478e-03 6.96955150e+01] [-2.34460865e-02 9.99725046e-01 3.35474086e-04 -7.23512195e+00] [ 3.60705081e-03 -2.50969673e-04 9.99993463e-01 -4.95251911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71755201799999 meters 0.04735246565332672 Centerline is valid? [True, True] Translation: X:69.72, Y:-7.24, Z:-0.50 [[ 9.99736040e-01 2.26967115e-02 -3.56495045e-03 6.97244895e+01] [-2.26956715e-02 9.99742365e-01 3.31918571e-04 -7.23839834e+00] [ 3.57156545e-03 -2.50922013e-04 9.99993590e-01 -4.96034952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.747552018 meters 0.047473767781236256 Centerline is valid? [True, True] Translation: X:69.75, Y:-7.24, Z:-0.50 [[ 9.99729520e-01 2.28817906e-02 -4.16058436e-03 6.97527729e+01] [-2.28803766e-02 9.99738135e-01 3.87151030e-04 -7.24038952e+00] [ 4.16835355e-03 -2.91850577e-04 9.99991270e-01 -4.95821271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.777552018 meters 0.04798433793089517 Centerline is valid? [True, True] Translation: X:69.78, Y:-7.24, Z:-0.50 [[ 9.99719346e-01 2.34702549e-02 -3.22111825e-03 6.97802791e+01] [-2.34694122e-02 9.99724511e-01 2.99181909e-04 -7.24046089e+00] [ 3.22725274e-03 -2.23500191e-04 9.99994767e-01 -4.95329849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.807552018 meters 0.042730673662001284 Centerline is valid? [True, True] Translation: X:69.81, Y:-7.23, Z:-0.49 [[ 9.99692847e-01 2.45707938e-02 -3.23858632e-03 6.98099052e+01] [-2.45699481e-02 9.99698068e-01 3.00656024e-04 -7.23355790e+00] [ 3.24499585e-03 -2.20991778e-04 9.99994711e-01 -4.94315948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.837552018 meters 0.0442421968143881 Centerline is valid? [True, True] Translation: X:69.84, Y:-7.24, Z:-0.49 [[ 9.99665250e-01 2.57103460e-02 -2.89253984e-03 6.98377057e+01] [-2.57096775e-02 9.99669416e-01 2.68054145e-04 -7.23635763e+00] [ 2.89847537e-03 -1.93598148e-04 9.99995781e-01 -4.94787214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.867552018 meters 0.047723222459183624 Centerline is valid? [True, True] Translation: X:69.87, Y:-7.24, Z:-0.50 [[ 9.99623979e-01 2.73419073e-02 -2.07868902e-03 6.98651099e+01] [-2.73415664e-02 9.99626131e-01 1.92261838e-04 -7.24202077e+00] [ 2.08316866e-03 -1.35354930e-04 9.99997821e-01 -4.95335802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.897552018 meters 0.04097594653556022 Centerline is valid? [True, True] Translation: X:69.90, Y:-7.23, Z:-0.49 [[ 9.99584188e-01 2.88324901e-02 -3.71962321e-04 6.98951771e+01] [-2.88324794e-02 9.99584257e-01 3.39414319e-05 -7.23262386e+00] [ 3.72786296e-04 -2.32027226e-05 9.99999930e-01 -4.92485197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.927552018 meters 0.04128761030246277 Centerline is valid? [True, True] Translation: X:69.92, Y:-7.23, Z:-0.49 [[ 9.99595271e-01 2.84476010e-02 -1.68512047e-04 6.99242018e+01] [-2.84475989e-02 9.99595285e-01 1.50605635e-05 -7.23466826e+00] [ 1.68872284e-04 -1.02607050e-05 9.99999986e-01 -4.92072727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.957552018 meters 0.043733915334250424 Centerline is valid? [True, True] Translation: X:69.95, Y:-7.24, Z:-0.49 [[ 9.99626614e-01 2.73241657e-02 1.51998629e-04 6.99514598e+01] [-2.73241638e-02 9.99626625e-01 -1.47549503e-05 -7.24029391e+00] [-1.52345044e-04 1.05962056e-05 9.99999988e-01 -4.92699908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.987552018 meters 0.04471994537238422 Centerline is valid? [True, True] Translation: X:69.98, Y:-7.24, Z:-0.49 [[ 9.99714511e-01 2.38857692e-02 -6.06032733e-04 6.99809524e+01] [-2.38857396e-02 9.99714693e-01 5.59462796e-05 -7.24467137e+00] [ 6.07196148e-04 -4.14547674e-05 9.99999815e-01 -4.93401851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01755201799999 meters 0.04648934647035867 Centerline is valid? [True, True] Translation: X:70.01, Y:-7.25, Z:-0.49 [[ 9.99762258e-01 2.17916313e-02 -7.42673493e-04 7.00101781e+01] [-2.17915865e-02 9.99762533e-01 6.84285497e-05 -7.25022465e+00] [ 7.43988302e-04 -5.22282478e-05 9.99999722e-01 -4.93857266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04755201799999 meters 0.050995016256352096 Centerline is valid? [True, True] Translation: X:70.04, Y:-7.26, Z:-0.50 [[ 9.99844807e-01 1.75203248e-02 -1.84369059e-03 7.00386706e+01] [-1.75200403e-02 9.99846498e-01 1.70365406e-04 -7.25953526e+00] [ 1.84639244e-03 -1.38037433e-04 9.99998286e-01 -4.95957869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07755201799999 meters 0.04866681355967375 Centerline is valid? [True, True] Translation: X:70.07, Y:-7.26, Z:-0.50 [[ 9.99871161e-01 1.57824641e-02 -2.92829030e-03 7.00685282e+01] [-1.57817394e-02 9.99875424e-01 2.70425787e-04 -7.25928431e+00] [ 2.93219349e-03 -2.24177432e-04 9.99995676e-01 -4.97060190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10755201799999 meters 0.0494409469986297 Centerline is valid? [True, True] Translation: X:70.10, Y:-7.26, Z:-0.50 [[ 9.99887782e-01 1.45165658e-02 -3.70047245e-03 7.00977913e+01] [-1.45154002e-02 9.99894588e-01 3.41664517e-04 -7.26340471e+00] [ 3.70504217e-03 -2.87912338e-04 9.99993095e-01 -4.98834422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.137552018 meters 0.0499742090931383 Centerline is valid? [True, True] Translation: X:70.13, Y:-7.27, Z:-0.50 [[ 9.99886216e-01 1.44513277e-02 -4.32598264e-03 7.01264087e+01] [-1.44497364e-02 9.99895518e-01 3.98860300e-04 -7.26786601e+00] [ 4.33129471e-03 -3.36305607e-04 9.99990563e-01 -4.99993164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.167552018 meters 0.0499742090931383 Centerline is valid? [True, True] Translation: X:70.15, Y:-7.27, Z:-0.50 [[ 9.99887867e-01 1.43365906e-02 -4.32605321e-03 7.01538402e+01] [-1.43350016e-02 9.99897169e-01 3.98095080e-04 -7.27028438e+00] [ 4.33131569e-03 -3.36036461e-04 9.99990563e-01 -5.00187880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.197552018 meters 0.04729813263511067 Centerline is valid? [True, True] Translation: X:70.18, Y:-7.27, Z:-0.50 [[ 9.99874251e-01 1.53179913e-02 -4.10371383e-03 7.01832548e+01] [-1.53165701e-02 9.99882623e-01 3.77527166e-04 -7.26836717e+00] [ 4.10901511e-03 -3.14624872e-04 9.99991508e-01 -4.99121481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.227552018 meters 0.04903215858893946 Centerline is valid? [True, True] Translation: X:70.21, Y:-7.27, Z:-0.50 [[ 9.99847015e-01 1.70941955e-02 -3.70607854e-03 7.02116703e+01] [-1.70930485e-02 9.99853845e-01 3.40955769e-04 -7.27197387e+00] [ 3.71136524e-03 -2.77555428e-04 9.99993074e-01 -4.98598325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.257552018 meters 0.0524712677951301 Centerline is valid? [True, True] Translation: X:70.24, Y:-7.28, Z:-0.50 [[ 9.99757243e-01 2.18966919e-02 -2.44756968e-03 7.02405923e+01] [-2.18962060e-02 9.99760224e-01 2.25177156e-04 -7.27689522e+00] [ 2.45191345e-03 -1.71530003e-04 9.99996979e-01 -4.97977944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.287552018 meters 0.04435319373234895 Centerline is valid? [True, True] Translation: X:70.27, Y:-7.27, Z:-0.50 [[ 9.99697895e-01 2.44640197e-02 -2.37306558e-03 7.02717616e+01] [-2.44635708e-02 9.99700698e-01 2.18019940e-04 -7.26754658e+00] [ 2.37768897e-03 -1.59900417e-04 9.99997161e-01 -4.96797126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.317552018 meters 0.04158533257329159 Centerline is valid? [True, True] Translation: X:70.30, Y:-7.27, Z:-0.50 [[ 9.99639849e-01 2.67721037e-02 -1.85115454e-03 7.03014738e+01] [-2.67718346e-02 9.99641556e-01 1.69984159e-04 -7.26551871e+00] [ 1.85504184e-03 -1.20364136e-04 9.99998272e-01 -4.96442857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.347552018 meters 0.04055358762448632 Centerline is valid? [True, True] Translation: X:70.33, Y:-7.26, Z:-0.50 [[ 9.99535346e-01 3.04647885e-02 -9.94611528e-04 7.03320203e+01] [-3.04647126e-02 9.99535839e-01 9.13253549e-05 -7.26451304e+00] [ 9.96932075e-04 -6.09823658e-05 9.99999501e-01 -4.95751788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37755201799999 meters 0.04332052527589651 Centerline is valid? [True, True] Translation: X:70.36, Y:-7.27, Z:-0.50 [[ 9.99488289e-01 3.19808288e-02 -6.21863816e-04 7.03597694e+01] [-3.19807997e-02 9.99488482e-01 5.65902966e-05 -7.27004680e+00] [ 6.23355526e-04 -3.66736365e-05 9.99999805e-01 -4.96094327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40755201799999 meters 0.03899395399797257 Centerline is valid? [True, True] Translation: X:70.39, Y:-7.27, Z:-0.50 [[ 9.99448277e-01 3.32018852e-02 8.80813945e-04 7.03891180e+01] [-3.32018263e-02 9.99448664e-01 -8.14108901e-05 -7.26634402e+00] [-8.83031316e-04 5.21213423e-05 9.99999609e-01 -4.95978376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43755201799999 meters 0.039745222467646106 Centerline is valid? [True, True] Translation: X:70.42, Y:-7.27, Z:-0.50 [[ 9.99442762e-01 3.33283426e-02 1.84037787e-03 7.04170464e+01] [-3.33280864e-02 9.99444451e-01 -1.69688000e-04 -7.27026494e+00] [-1.84501086e-03 1.08257170e-04 9.99998292e-01 -4.96328808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46755201799999 meters 0.03906575033068947 Centerline is valid? [True, True] Translation: X:70.44, Y:-7.27, Z:-0.50 [[ 9.99446130e-01 3.32399290e-02 1.59362765e-03 7.04446964e+01] [-3.32397371e-02 9.99447396e-01 -1.46709366e-04 -7.27092261e+00] [-1.59762362e-03 9.36563441e-05 9.99998719e-01 -4.96728463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.497552018 meters 0.039032627152464985 Centerline is valid? [True, True] Translation: X:70.47, Y:-7.27, Z:-0.50 [[ 9.99478808e-01 3.22622953e-02 1.12070599e-03 7.04731036e+01] [-3.22622000e-02 9.99479434e-01 -1.03053569e-04 -7.27266938e+00] [-1.12344733e-03 6.68434178e-05 9.99999367e-01 -4.97672310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.527552018 meters 0.04012978256198253 Centerline is valid? [True, True] Translation: X:70.50, Y:-7.28, Z:-0.50 [[ 9.99540634e-01 3.03070935e-02 -3.07460804e-05 7.05021425e+01] [-3.03070934e-02 9.99540635e-01 2.39872233e-06 -7.27631549e+00] [ 3.08046550e-05 -1.46579610e-06 1.00000000e+00 -5.00238669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.557552018 meters 0.04132911681034298 Centerline is valid? [True, True] Translation: X:70.53, Y:-7.28, Z:-0.50 [[ 9.99578258e-01 2.90361668e-02 -4.55151673e-04 7.05307143e+01] [-2.90361511e-02 9.99578361e-01 4.10232077e-05 -7.28122299e+00] [ 4.56150920e-04 -2.77900537e-05 9.99999896e-01 -5.01553902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.587552018 meters 0.04202239659878774 Centerline is valid? [True, True] Translation: X:70.56, Y:-7.29, Z:-0.50 [[ 9.99630261e-01 2.71725434e-02 -9.97037537e-04 7.05594556e+01] [-2.71724665e-02 9.99630756e-01 9.05901019e-05 -7.28524084e+00] [ 9.99130951e-04 -6.34646381e-05 9.99999499e-01 -5.02678757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.617552018 meters 0.04323744758470372 Centerline is valid? [True, True] Translation: X:70.59, Y:-7.29, Z:-0.50 [[ 9.99710747e-01 2.39838023e-02 -1.78879191e-03 7.05889653e+01] [-2.39835487e-02 9.99712340e-01 1.63088600e-04 -7.29023576e+00] [ 1.79218883e-03 -1.20139848e-04 9.99998387e-01 -5.04084730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.647552018 meters 0.04507496796645932 Centerline is valid? [True, True] Translation: X:70.62, Y:-7.30, Z:-0.50 [[ 9.99749714e-01 2.22959672e-02 -1.84382518e-03 7.06166721e+01] [-2.22956959e-02 9.99751406e-01 1.67561016e-04 -7.29593247e+00] [ 1.84710275e-03 -1.26409712e-04 9.99998286e-01 -5.04732460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.677552018 meters 0.043497709116458096 Centerline is valid? [True, True] Translation: X:70.65, Y:-7.30, Z:-0.51 [[ 9.99782132e-01 2.07955642e-02 -1.79826262e-03 7.06467102e+01] [-2.07953034e-02 9.99783741e-01 1.63601362e-04 -7.29655391e+00] [ 1.80127591e-03 -1.26170301e-04 9.99998370e-01 -5.05050166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.707552018 meters 0.04616915873266407 Centerline is valid? [True, True] Translation: X:70.67, Y:-7.30, Z:-0.50 [[ 9.99825631e-01 1.86441956e-02 -1.04957761e-03 7.06744415e+01] [-1.86441061e-02 9.99826179e-01 9.50165006e-05 -7.30274372e+00] [ 1.05116668e-03 -7.54314963e-05 9.99999445e-01 -5.04432366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.737552018 meters 0.04602082965528819 Centerline is valid? [True, True] Translation: X:70.70, Y:-7.30, Z:-0.50 [[ 9.99838136e-01 1.79760769e-02 -7.50433809e-04 7.07031528e+01] [-1.79760311e-02 9.99838416e-01 6.77237159e-05 -7.30474902e+00] [ 7.51529957e-04 -5.42229324e-05 9.99999716e-01 -5.03468528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76755201799999 meters 0.04371959527810077 Centerline is valid? [True, True] Translation: X:70.73, Y:-7.30, Z:-0.50 [[ 9.99830796e-01 1.83898203e-02 -4.40971033e-04 7.07321640e+01] [-1.83898046e-02 9.99830892e-01 3.95211113e-05 -7.30384309e+00] [ 4.41623248e-04 -3.14050530e-05 9.99999902e-01 -5.03310285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.79755201799999 meters 0.04771758551459019 Centerline is valid? [True, True] Translation: X:70.76, Y:-7.31, Z:-0.50 [[ 9.99790220e-01 2.04748222e-02 5.45091178e-04 7.07607056e+01] [-2.04747981e-02 9.99790368e-01 -4.98030119e-05 -7.31207721e+00] [-5.45996618e-04 3.86319324e-05 9.99999850e-01 -5.04336397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82755201799999 meters 0.044762793788293745 Centerline is valid? [True, True] Translation: X:70.79, Y:-7.31, Z:-0.50 [[ 9.99771321e-01 2.13805807e-02 4.21054031e-04 7.07902911e+01] [-2.13805663e-02 9.99771409e-01 -3.86391613e-05 -7.31071396e+00] [-4.21783909e-04 2.96279517e-05 9.99999911e-01 -5.04644146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85755201799999 meters 0.0424255174561801 Centerline is valid? [True, True] Translation: X:70.82, Y:-7.31, Z:-0.50 [[ 9.99750434e-01 2.23257778e-02 7.93236608e-04 7.08193453e+01] [-2.23257273e-02 9.99750747e-01 -7.25186752e-05 -7.31028400e+00] [-7.94657927e-04 5.47909928e-05 9.99999683e-01 -5.04659369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.887552018 meters 0.04885171732053721 Centerline is valid? [True, True] Translation: X:70.85, Y:-7.32, Z:-0.51 [[ 9.99736286e-01 2.29514665e-02 7.66749877e-04 7.08464496e+01] [-2.29514192e-02 9.99736579e-01 -7.03872740e-05 -7.32070379e+00] [-7.68163390e-04 5.27707141e-05 9.99999704e-01 -5.05122844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.917552018 meters 0.042225828615826355 Centerline is valid? [True, True] Translation: X:70.88, Y:-7.31, Z:-0.50 [[ 9.99747687e-01 2.24455563e-02 8.71374901e-04 7.08760492e+01] [-2.24454956e-02 9.99748065e-01 -7.94229597e-05 -7.31372972e+00] [-8.72938064e-04 5.98444788e-05 9.99999617e-01 -5.04446778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.947552018 meters 0.043505714134124455 Centerline is valid? [True, True] Translation: X:70.90, Y:-7.32, Z:-0.51 [[ 9.99762029e-01 2.18142551e-02 1.56988763e-04 7.09038070e+01] [-2.18142530e-02 9.99762041e-01 -1.48830116e-05 -7.31839365e+00] [-1.57276068e-04 1.14548772e-05 9.99999988e-01 -5.05475669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.977552018 meters 0.04970258608950671 Centerline is valid? [True, True] Translation: X:70.93, Y:-7.33, Z:-0.51 [[ 9.99779559e-01 2.09955287e-02 -1.45858280e-04 7.09302423e+01] [-2.09955271e-02 9.99779570e-01 1.24900090e-05 -7.33063185e+00] [ 1.46088362e-04 -9.42488420e-06 9.99999989e-01 -5.07571398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.007552018 meters 0.045464080028820096 Centerline is valid? [True, True] Translation: X:70.96, Y:-7.33, Z:-0.51 [[ 9.99816236e-01 1.91641969e-02 -4.77551657e-04 7.09596195e+01] [-1.91641787e-02 9.99816349e-01 4.26898981e-05 -7.32970498e+00] [ 4.78282072e-04 -3.35301680e-05 9.99999885e-01 -5.07887706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.037552018 meters 0.04563675988658818 Centerline is valid? [True, True] Translation: X:70.99, Y:-7.33, Z:-0.51 [[ 9.99824406e-01 1.87340355e-02 -4.39676853e-04 7.09886657e+01] [-1.87340201e-02 9.99824502e-01 3.90996232e-05 -7.33334673e+00] [ 4.40332184e-04 -3.08558425e-05 9.99999903e-01 -5.07587118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.067552018 meters 0.04622034667322411 Centerline is valid? [True, True] Translation: X:71.02, Y:-7.34, Z:-0.51 [[ 9.99834143e-01 1.82104265e-02 -2.59866095e-04 7.10170782e+01] [-1.82104212e-02 9.99834176e-01 2.28663026e-05 -7.33640996e+00] [ 2.60239409e-04 -1.81302390e-05 9.99999966e-01 -5.07607551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.097552018 meters 0.04682140337734287 Centerline is valid? [True, True] Translation: X:71.04, Y:-7.34, Z:-0.51 [[ 9.99812612e-01 1.93546440e-02 -3.72961629e-04 7.10444209e+01] [-1.93546331e-02 9.99812681e-01 3.28898811e-05 -7.34045123e+00] [ 3.73528338e-04 -2.56651825e-05 9.99999930e-01 -5.07818162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12755201799999 meters 0.04636879248335885 Centerline is valid? [True, True] Translation: X:71.07, Y:-7.34, Z:-0.51 [[ 9.99787111e-01 2.06147806e-02 -8.74344371e-04 7.10730715e+01] [-2.06147202e-02 9.99787491e-01 7.80888009e-05 -7.34220789e+00] [ 8.75768348e-04 -6.00478121e-05 9.99999615e-01 -5.08010546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.15755201799999 meters 0.04517309215013847 Centerline is valid? [True, True] Translation: X:71.10, Y:-7.34, Z:-0.51 [[ 9.99760012e-01 2.18739986e-02 -1.20235510e-03 7.11018492e+01] [-2.18738851e-02 9.99760732e-01 1.07489985e-04 -7.34297237e+00] [ 1.20441865e-03 -8.11640118e-05 9.99999271e-01 -5.08382161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18755201799999 meters 0.042115597216412885 Centerline is valid? [True, True] Translation: X:71.13, Y:-7.34, Z:-0.51 [[ 9.99732525e-01 2.30359160e-02 -2.05560102e-03 7.11312297e+01] [-2.30355862e-02 9.99734629e-01 1.83975612e-04 -7.34167382e+00] [ 2.05929357e-03 -1.36574429e-04 9.99997870e-01 -5.08917376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21755201799999 meters 0.04343314714299644 Centerline is valid? [True, True] Translation: X:71.16, Y:-7.35, Z:-0.51 [[ 9.99729499e-01 2.31533923e-02 -2.20187691e-03 7.11588263e+01] [-2.31530149e-02 9.99731914e-01 1.96758836e-04 -7.34733579e+00] [ 2.20584225e-03 -1.45725523e-04 9.99997557e-01 -5.09753674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.247552018 meters 0.042976621635165656 Centerline is valid? [True, True] Translation: X:71.19, Y:-7.35, Z:-0.51 [[ 9.99722718e-01 2.34102976e-02 -2.53860299e-03 7.11871814e+01] [-2.34097966e-02 9.99725927e-01 2.26896512e-04 -7.34989880e+00] [ 2.54321894e-03 -1.67405418e-04 9.99996752e-01 -5.10206304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.277552018 meters 0.04208714306018484 Centerline is valid? [True, True] Translation: X:71.22, Y:-7.35, Z:-0.51 [[ 9.99704034e-01 2.42318520e-02 -2.15891147e-03 7.12157218e+01] [-2.42314921e-02 9.99706356e-01 1.92711063e-04 -7.35251735e+00] [ 2.16294727e-03 -1.40340381e-04 9.99997651e-01 -5.09322319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.307552018 meters 0.04228001488571867 Centerline is valid? [True, True] Translation: X:71.24, Y:-7.36, Z:-0.51 [[ 9.99688916e-01 2.48883883e-02 -1.62447457e-03 7.12445127e+01] [-2.48881859e-02 9.99690231e-01 1.44747657e-04 -7.35505262e+00] [ 1.62757390e-03 -1.04272403e-04 9.99998670e-01 -5.09178474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.337552018 meters 0.04073328715271601 Centerline is valid? [True, True] Translation: X:71.27, Y:-7.36, Z:-0.51 [[ 9.99675865e-01 2.53822377e-02 -1.97677776e-03 7.12734927e+01] [-2.53819389e-02 9.99677811e-01 1.76091048e-04 -7.35618103e+00] [ 1.98061045e-03 -1.25859519e-04 9.99998031e-01 -5.09051019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.367552018 meters 0.04098553288338216 Centerline is valid? [True, True] Translation: X:71.30, Y:-7.36, Z:-0.51 [[ 9.99670591e-01 2.55948317e-02 -1.90105002e-03 7.13019853e+01] [-2.55945561e-02 9.99672391e-01 1.69179266e-04 -7.36013854e+00] [ 1.90475733e-03 -1.20467006e-04 9.99998179e-01 -5.09756841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.397552018 meters 0.04029294179897344 Centerline is valid? [True, True] Translation: X:71.33, Y:-7.36, Z:-0.51 [[ 9.99662982e-01 2.58677822e-02 -2.18621094e-03 7.13302990e+01] [-2.58674185e-02 9.99665363e-01 1.94462989e-04 -7.36209495e+00] [ 2.19050968e-03 -1.37845818e-04 9.99997591e-01 -5.09937999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.427552018 meters 0.04175798073721316 Centerline is valid? [True, True] Translation: X:71.36, Y:-7.37, Z:-0.51 [[ 9.99661953e-01 2.58307879e-02 -2.95797309e-03 7.13570145e+01] [-2.58301238e-02 9.99666312e-01 2.62493786e-04 -7.36594626e+00] [ 2.96376647e-03 -1.86000240e-04 9.99995591e-01 -5.10316434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.457552018 meters 0.04163939773093566 Centerline is valid? [True, True] Translation: X:71.39, Y:-7.37, Z:-0.51 [[ 9.99649366e-01 2.61754193e-02 -3.99894656e-03 7.13858074e+01] [-2.61742066e-02 9.99657334e-01 3.55318645e-04 -7.36844792e+00] [ 4.00687687e-03 -2.50524805e-04 9.99991941e-01 -5.10558572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.487552018 meters 0.041491629797401945 Centerline is valid? [True, True] Translation: X:71.41, Y:-7.37, Z:-0.51 [[ 9.99654111e-01 2.59804354e-02 -4.08363555e-03 7.14145615e+01] [-2.59791703e-02 9.99662419e-01 3.62539518e-04 -7.37200563e+00] [ 4.09167593e-03 -2.56324656e-04 9.99991596e-01 -5.11388405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51755201799999 meters 0.04177210783650601 Centerline is valid? [True, True] Translation: X:71.44, Y:-7.38, Z:-0.51 [[ 9.99685522e-01 2.47774607e-02 -3.86456837e-03 7.14426550e+01] [-2.47763201e-02 9.99692961e-01 3.42760448e-04 -7.37877560e+00] [ 3.87187453e-03 -2.46902875e-04 9.99992474e-01 -5.13683489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54755201799999 meters 0.04158171733772558 Centerline is valid? [True, True] Translation: X:71.47, Y:-7.38, Z:-0.51 [[ 9.99696938e-01 2.43785807e-02 -3.42289934e-03 7.14709617e+01] [-2.43776846e-02 9.99702774e-01 3.03253234e-04 -7.38278996e+00] [ 3.42927485e-03 -2.19718968e-04 9.99994096e-01 -5.14054020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57755201799999 meters 0.04091809164908613 Centerline is valid? [True, True] Translation: X:71.50, Y:-7.39, Z:-0.51 [[ 9.99712223e-01 2.37298144e-02 -3.51680649e-03 7.14994249e+01] [-2.37288655e-02 9.99718382e-01 3.11302013e-04 -7.38543112e+00] [ 3.52320324e-03 -2.27762599e-04 9.99993768e-01 -5.13748441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60755201799999 meters 0.04113964732260719 Centerline is valid? [True, True] Translation: X:71.53, Y:-7.39, Z:-0.51 [[ 9.99719847e-01 2.34422660e-02 -3.26918438e-03 7.15285063e+01] [-2.34414455e-02 9.99725170e-01 2.89086723e-04 -7.38760634e+00] [ 3.27506276e-03 -2.12371327e-04 9.99994614e-01 -5.11074884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.637552018 meters 0.04173825207521358 Centerline is valid? [True, True] Translation: X:71.56, Y:-7.39, Z:-0.51 [[ 9.99714861e-01 2.37074487e-02 -2.85557657e-03 7.15559539e+01] [-2.37068252e-02 9.99718922e-01 2.52029509e-04 -7.39048148e+00] [ 2.86074891e-03 -1.84260991e-04 9.99995891e-01 -5.10246408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.667552018 meters 0.04102797907401249 Centerline is valid? [True, True] Translation: X:71.58, Y:-7.39, Z:-0.51 [[ 9.99715937e-01 2.36967687e-02 -2.55118414e-03 7.15844434e+01] [-2.36962713e-02 9.99719179e-01 2.25023977e-04 -7.39274935e+00] [ 2.55580006e-03 -1.64506505e-04 9.99996720e-01 -5.10867300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.697552018 meters 0.04092276910581034 Centerline is valid? [True, True] Translation: X:71.61, Y:-7.40, Z:-0.51 [[ 9.99685043e-01 2.50242961e-02 -1.89739475e-03 7.16128109e+01] [-2.50240239e-02 9.99686836e-01 1.67070132e-04 -7.39982774e+00] [ 1.90098136e-03 -1.19537060e-04 9.99998186e-01 -5.12575552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.727552018 meters 0.0407760501684063 Centerline is valid? [True, True] Translation: X:71.64, Y:-7.40, Z:-0.51 [[ 9.99677299e-01 2.53114401e-02 -2.15146444e-03 7.16411271e+01] [-2.53110910e-02 9.99679605e-01 1.89347607e-04 -7.40369528e+00] [ 2.15556778e-03 -1.34830593e-04 9.99997668e-01 -5.13748421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.757552018 meters 0.0413974820565616 Centerline is valid? [True, True] Translation: X:71.67, Y:-7.41, Z:-0.51 [[ 9.99674654e-01 2.53736951e-02 -2.60017509e-03 7.16688118e+01] [-2.53731861e-02 9.99678023e-01 2.28570149e-04 -7.40810858e+00] [ 2.60513756e-03 -1.62521058e-04 9.99996593e-01 -5.14731703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.787552018 meters 0.0405621150475266 Centerline is valid? [True, True] Translation: X:71.70, Y:-7.41, Z:-0.51 [[ 9.99655042e-01 2.59622351e-02 -3.96991350e-03 7.16976944e+01] [-2.59610524e-02 9.99662894e-01 3.49160148e-04 -7.40851303e+00] [ 3.97764020e-03 -2.45976569e-04 9.99992059e-01 -5.14675311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.817552018 meters 0.040347509831253514 Centerline is valid? [True, True] Translation: X:71.73, Y:-7.41, Z:-0.51 [[ 9.99640092e-01 2.65453358e-02 -3.87695080e-03 7.17268529e+01] [-2.65442127e-02 9.99647582e-01 3.40884075e-04 -7.41128779e+00] [ 3.88463337e-03 -2.37850782e-04 9.99992426e-01 -5.14338572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.847552018 meters 0.04065042693064681 Centerline is valid? [True, True] Translation: X:71.75, Y:-7.42, Z:-0.52 [[ 9.99619020e-01 2.73648898e-02 -3.60235460e-03 7.17538782e+01] [-2.73639277e-02 9.99625488e-01 3.16095523e-04 -7.41745009e+00] [ 3.60965539e-03 -2.17400526e-04 9.99993462e-01 -5.15951124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87755201799999 meters 0.03876003207968878 Centerline is valid? [True, True] Translation: X:71.78, Y:-7.42, Z:-0.52 [[ 9.99613707e-01 2.75076619e-02 -3.97061907e-03 7.17826540e+01] [-2.75064947e-02 9.99621564e-01 3.48290276e-04 -7.41964033e+00] [ 3.97869709e-03 -2.38937921e-04 9.99992056e-01 -5.16950287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90755201799999 meters 0.04063710113096657 Centerline is valid? [True, True] Translation: X:71.81, Y:-7.43, Z:-0.52 [[ 9.99620503e-01 2.72527344e-02 -4.01730686e-03 7.18096710e+01] [-2.72515415e-02 9.99628546e-01 3.51379437e-04 -7.42605537e+00] [ 4.02539067e-03 -2.41768285e-04 9.99991869e-01 -5.18137272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93755201799999 meters 0.03929117991302691 Centerline is valid? [True, True] Translation: X:71.84, Y:-7.43, Z:-0.52 [[ 9.99625715e-01 2.70495408e-02 -4.09300475e-03 7.18387330e+01] [-2.70483003e-02 9.99634064e-01 3.58145035e-04 -7.42707343e+00] [ 4.10119463e-03 -2.47302165e-04 9.99991559e-01 -5.17818464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96755201799999 meters 0.04004663008091115 Centerline is valid? [True, True] Translation: X:71.87, Y:-7.43, Z:-0.52 [[ 9.99637820e-01 2.64915652e-02 -4.73557042e-03 7.18676758e+01] [-2.64898997e-02 9.99648995e-01 4.14090933e-04 -7.42947005e+00] [ 4.74487813e-03 -2.88496172e-04 9.99988701e-01 -5.16633157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.997552018 meters 0.03904163325970222 Centerline is valid? [True, True] Translation: X:71.90, Y:-7.43, Z:-0.52 [[ 9.99636250e-01 2.65388177e-02 -4.80201935e-03 7.18969240e+01] [-2.65371075e-02 9.99647741e-01 4.19525644e-04 -7.43071397e+00] [ 4.81146151e-03 -2.91941338e-04 9.99988382e-01 -5.16171998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.027552018 meters 0.039816499856615374 Centerline is valid? [True, True] Translation: X:71.93, Y:-7.44, Z:-0.52 [[ 9.99644618e-01 2.61900656e-02 -4.97174428e-03 7.19252855e+01] [-2.61882298e-02 9.99656935e-01 4.33987572e-04 -7.43523474e+00] [ 4.98140481e-03 -3.03632159e-04 9.99987547e-01 -5.16828999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.057552018 meters 0.039816499856615374 Centerline is valid? [True, True] Translation: X:71.95, Y:-7.44, Z:-0.52 [[ 9.99647662e-01 2.60735888e-02 -4.97181875e-03 7.19526969e+01] [-2.60717558e-02 9.99659980e-01 4.33134647e-04 -7.43751958e+00] [ 4.98142160e-03 -3.03357993e-04 9.99987547e-01 -5.17023491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.087552018 meters 0.040262397268313196 Centerline is valid? [True, True] Translation: X:71.98, Y:-7.45, Z:-0.52 [[ 9.99658658e-01 2.57994541e-02 -4.11780712e-03 7.19801541e+01] [-2.57981970e-02 9.99667107e-01 3.58118604e-04 -7.44533808e+00] [ 4.12567559e-03 -2.51764364e-04 9.99991458e-01 -5.18437177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.117552018 meters 0.040372332579587826 Centerline is valid? [True, True] Translation: X:72.01, Y:-7.45, Z:-0.52 [[ 9.99659932e-01 2.57732577e-02 -3.96974781e-03 7.20081760e+01] [-2.57720894e-02 9.99667785e-01 3.45180880e-04 -7.45012296e+00] [ 3.97732543e-03 -2.42754800e-04 9.99992061e-01 -5.19274003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.147552018 meters 0.042151676706951496 Centerline is valid? [True, True] Translation: X:72.04, Y:-7.46, Z:-0.52 [[ 9.99671596e-01 2.52294117e-02 -4.49196812e-03 7.20354467e+01] [-2.52279126e-02 9.99681649e-01 3.90098821e-04 -7.45509246e+00] [ 4.50038006e-03 -2.76647732e-04 9.99989835e-01 -5.19799311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.177552018 meters 0.0404619107174464 Centerline is valid? [True, True] Translation: X:72.06, Y:-7.46, Z:-0.52 [[ 9.99686723e-01 2.46917072e-02 -4.09583990e-03 7.20642408e+01] [-2.46904573e-02 9.99695081e-01 3.55445152e-04 -7.45500205e+00] [ 4.10336755e-03 -2.54205639e-04 9.99991549e-01 -5.18198465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.207552018 meters 0.042650867992842074 Centerline is valid? [True, True] Translation: X:72.09, Y:-7.46, Z:-0.52 [[ 9.99693401e-01 2.44469163e-02 -3.93086593e-03 7.20914789e+01] [-2.44457653e-02 9.99701100e-01 3.40595454e-04 -7.46141476e+00] [ 3.93801750e-03 -2.44398002e-04 9.99992216e-01 -5.19008732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.237552018 meters 0.04313150822980251 Centerline is valid? [True, True] Translation: X:72.12, Y:-7.47, Z:-0.52 [[ 9.99694188e-01 2.44913689e-02 -3.42110774e-03 7.21191005e+01] [-2.44904987e-02 9.99700019e-01 2.96033504e-04 -7.46858837e+00] [ 3.42733174e-03 -2.12158339e-04 9.99994104e-01 -5.20120169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26755201799999 meters 0.04289922861972382 Centerline is valid? [True, True] Translation: X:72.15, Y:-7.47, Z:-0.52 [[ 9.99687605e-01 2.48108843e-02 -3.01862645e-03 7.21473717e+01] [-2.48102088e-02 9.99692145e-01 2.61035805e-04 -7.47242885e+00] [ 3.02417368e-03 -1.86061506e-04 9.99995410e-01 -5.20382930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29755201799999 meters 0.03995322840033955 Centerline is valid? [True, True] Translation: X:72.18, Y:-7.47, Z:-0.52 [[ 9.99684917e-01 2.49962829e-02 -2.29179331e-03 7.21759466e+01] [-2.49958948e-02 9.99687534e-01 1.97858803e-04 -7.47261650e+00] [ 2.29602294e-03 -1.40511037e-04 9.99997354e-01 -5.19417793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32755201799999 meters 0.03999592921831751 Centerline is valid? [True, True] Translation: X:72.20, Y:-7.48, Z:-0.52 [[ 9.99689442e-01 2.48534475e-02 -1.82352062e-03 7.22035130e+01] [-2.48532026e-02 9.99691099e-01 1.56831048e-04 -7.47532048e+00] [ 1.82685512e-03 -1.11462016e-04 9.99998325e-01 -5.18993729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35755201799999 meters 0.04016313114833254 Centerline is valid? [True, True] Translation: X:72.23, Y:-7.48, Z:-0.52 [[ 9.99693612e-01 2.47458078e-02 -5.71516115e-04 7.22319819e+01] [-2.47457839e-02 9.99693775e-01 4.88206035e-05 -7.47771139e+00] [ 5.72549208e-04 -3.46630312e-05 9.99999835e-01 -5.16835290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.387552018 meters 0.03995685980752376 Centerline is valid? [True, True] Translation: X:72.26, Y:-7.48, Z:-0.52 [[ 9.99693443e-01 2.47552444e-02 -4.45053688e-04 7.22605230e+01] [-2.47552300e-02 9.99693542e-01 3.78624628e-05 -7.48004376e+00] [ 4.45854592e-04 -2.68334494e-05 9.99999900e-01 -5.16620246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.417552018 meters 0.040219962788191614 Centerline is valid? [True, True] Translation: X:72.29, Y:-7.48, Z:-0.52 [[ 9.99696125e-01 2.46504468e-02 -1.18057044e-04 7.22887267e+01] [-2.46504459e-02 9.99696132e-01 9.35668748e-06 -7.48364547e+00] [ 1.18251816e-04 -6.44368546e-06 9.99999993e-01 -5.17172528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.447552018 meters 0.041266482512488385 Centerline is valid? [True, True] Translation: X:72.32, Y:-7.49, Z:-0.52 [[ 9.99706029e-01 2.42439339e-02 -2.94375725e-04 7.23158432e+01] [-2.42439277e-02 9.99706072e-01 2.46655354e-05 -7.49166036e+00] [ 2.94887189e-04 -1.75214606e-05 9.99999956e-01 -5.19417897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.477552018 meters 0.045797669939466726 Centerline is valid? [True, True] Translation: X:72.34, Y:-7.50, Z:-0.52 [[ 9.99726824e-01 2.33458809e-02 -1.11710879e-03 7.23424413e+01] [-2.33457889e-02 9.99727445e-01 9.52458043e-05 -7.50064948e+00] [ 1.11902792e-03 -6.91399993e-05 9.99999371e-01 -5.20680853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.507552018 meters 0.046957223317224385 Centerline is valid? [True, True] Translation: X:72.37, Y:-7.50, Z:-0.52 [[ 9.99748813e-01 2.23635081e-02 -1.47820276e-03 7.23713723e+01] [-2.23633455e-02 9.99749901e-01 1.26476161e-04 -7.50463423e+00] [ 1.48066151e-03 -9.33868325e-05 9.99998899e-01 -5.21242416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.537552018 meters 0.04233647392676098 Centerline is valid? [True, True] Translation: X:72.40, Y:-7.50, Z:-0.52 [[ 9.99795302e-01 2.00582794e-02 -2.64949816e-03 7.24012499e+01] [-2.00577485e-02 9.99798797e-01 2.26811988e-04 -7.50053363e+00] [ 2.65351453e-03 -1.73622593e-04 9.99996464e-01 -5.21122153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.567552018 meters 0.041329866088989364 Centerline is valid? [True, True] Translation: X:72.43, Y:-7.50, Z:-0.52 [[ 9.99818587e-01 1.88516767e-02 -2.72165875e-03 7.24296708e+01] [-1.88511130e-02 9.99822275e-01 2.32615357e-04 -7.50170317e+00] [ 2.72556023e-03 -1.81266860e-04 9.99996269e-01 -5.21020130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.597552018 meters 0.04288429498101197 Centerline is valid? [True, True] Translation: X:72.46, Y:-7.51, Z:-0.52 [[ 9.99834141e-01 1.80662476e-02 -2.30241557e-03 7.24569449e+01] [-1.80658429e-02 9.99836780e-01 1.96458296e-04 -7.50691475e+00] [ 2.30558903e-03 -1.54830633e-04 9.99997330e-01 -5.21447340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62755201799999 meters 0.04551289368181096 Centerline is valid? [True, True] Translation: X:72.48, Y:-7.51, Z:-0.52 [[ 9.99873246e-01 1.58029647e-02 -1.93867422e-03 7.24848987e+01] [-1.58026738e-02 9.99875116e-01 1.65310337e-04 -7.51273918e+00] [ 1.94104451e-03 -1.34653147e-04 9.99998107e-01 -5.20670637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65755201799999 meters 0.04666742262437398 Centerline is valid? [True, True] Translation: X:72.51, Y:-7.52, Z:-0.52 [[ 9.99886002e-01 1.50502202e-02 -1.21408739e-03 7.25121071e+01] [-1.50501061e-02 9.99886735e-01 1.03083065e-04 -7.51677772e+00] [ 1.21550130e-03 -8.47991694e-05 9.99999258e-01 -5.20179933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68755201799999 meters 0.0444677345686682 Centerline is valid? [True, True] Translation: X:72.54, Y:-7.52, Z:-0.52 [[ 9.99907561e-01 1.35823711e-02 -6.22671463e-04 7.25417422e+01] [-1.35823408e-02 9.99907754e-01 5.29093556e-05 -7.51671698e+00] [ 6.23332659e-04 -4.44471288e-05 9.99999805e-01 -5.19924968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71755201799999 meters 0.049538558823063655 Centerline is valid? [True, True] Translation: X:72.57, Y:-7.53, Z:-0.52 [[ 9.99920917e-01 1.25724196e-02 -3.06444661e-04 7.25685936e+01] [-1.25724124e-02 9.99920964e-01 2.54597492e-05 -7.52660281e+00] [ 3.06740531e-04 -2.16049872e-05 9.99999953e-01 -5.20710533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.747552018 meters 0.050343778145524105 Centerline is valid? [True, True] Translation: X:72.60, Y:-7.53, Z:-0.52 [[ 9.99929981e-01 1.18317949e-02 2.04307783e-04 7.25966087e+01] [-1.18317914e-02 9.99930002e-01 -1.80646189e-05 -7.53056902e+00] [-2.04507219e-04 1.56460270e-05 9.99999979e-01 -5.20545353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.777552018 meters 0.045918735081757 Centerline is valid? [True, True] Translation: X:72.63, Y:-7.53, Z:-0.52 [[ 9.99940288e-01 1.09154752e-02 5.23213394e-04 7.26261482e+01] [-1.09154531e-02 9.99940424e-01 -4.51004222e-05 -7.52665203e+00] [-5.23674516e-04 3.93866179e-05 9.99999862e-01 -5.19129391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.807552018 meters 0.047011856806241 Centerline is valid? [True, True] Translation: X:72.65, Y:-7.53, Z:-0.52 [[ 9.99946692e-01 1.02339301e-02 1.37108787e-03 7.26541367e+01] [-1.02337789e-02 9.99947627e-01 -1.17293979e-04 -7.52909576e+00] [-1.37221644e-03 1.03256317e-04 9.99999053e-01 -5.18003260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.837552018 meters 0.04817821954571922 Centerline is valid? [True, True] Translation: X:72.68, Y:-7.53, Z:-0.52 [[ 9.99948888e-01 9.94410462e-03 1.82644956e-03 7.26814467e+01] [-9.94383646e-03 9.99950547e-01 -1.55839065e-04 -7.53287823e+00] [-1.82790891e-03 1.37669184e-04 9.99998320e-01 -5.18043897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.867552018 meters 0.05041971743026685 Centerline is valid? [True, True] Translation: X:72.71, Y:-7.54, Z:-0.52 [[ 9.99949885e-01 9.73799494e-03 2.32368271e-03 7.27083675e+01] [-9.73756122e-03 9.99952569e-01 -1.97892595e-04 -7.53912812e+00] [-2.32549957e-03 1.75255675e-04 9.99997281e-01 -5.18348691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.897552018 meters 0.04669360614728026 Centerline is valid? [True, True] Translation: X:72.74, Y:-7.54, Z:-0.52 [[ 9.99959242e-01 8.80317019e-03 2.00476465e-03 7.27384020e+01] [-8.80284635e-03 9.99961240e-01 -1.70300615e-04 -7.53819763e+00] [-2.00618613e-03 1.52646039e-04 9.99997976e-01 -5.19717144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.927552018 meters 0.047263295215503535 Centerline is valid? [True, True] Translation: X:72.77, Y:-7.54, Z:-0.52 [[ 9.99969144e-01 7.77899128e-03 1.09464246e-03 7.27679243e+01] [-7.77889403e-03 9.99969740e-01 -9.30699610e-05 -7.54154392e+00] [-1.09533333e-03 8.45519815e-05 9.99999397e-01 -5.20597685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.957552018 meters 0.04904108799753271 Centerline is valid? [True, True] Translation: X:72.80, Y:-7.55, Z:-0.52 [[ 9.99981993e-01 6.00055226e-03 -8.17731748e-05 7.27965699e+01] [-6.00055175e-03 9.99981997e-01 6.51693230e-06 -7.54541401e+00] [ 8.18108077e-05 -6.02613078e-06 9.99999997e-01 -5.21597995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.987552018 meters 0.05123435061978197 Centerline is valid? [True, True] Translation: X:72.83, Y:-7.55, Z:-0.52 [[ 9.99983760e-01 5.64090926e-03 -8.11721367e-04 7.28253202e+01] [-5.64085566e-03 9.99984088e-01 6.83101477e-05 -7.55017894e+00] [ 8.12093782e-04 -6.37302354e-05 9.99999668e-01 -5.22662744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01755201799999 meters 0.04992758639170332 Centerline is valid? [True, True] Translation: X:72.85, Y:-7.55, Z:-0.52 [[ 9.99982573e-01 5.83911832e-03 -8.70414647e-04 7.28540777e+01] [-5.83905691e-03 9.99982950e-01 7.30758725e-05 -7.55084634e+00] [ 8.70826505e-04 -6.79921983e-05 9.99999619e-01 -5.23586281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04755201799999 meters 0.0502636292751978 Centerline is valid? [True, True] Translation: X:72.88, Y:-7.55, Z:-0.52 [[ 9.99972776e-01 7.35996348e-03 -5.26931528e-04 7.28825790e+01] [-7.35994124e-03 9.99972914e-01 4.41333803e-05 -7.55439107e+00] [ 5.27242075e-04 -4.02539938e-05 9.99999860e-01 -5.24281345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07755201799999 meters 0.05035719062302454 Centerline is valid? [True, True] Translation: X:72.91, Y:-7.56, Z:-0.52 [[ 9.99961791e-01 8.73260803e-03 -3.97901808e-04 7.29112326e+01] [-8.73259555e-03 9.99961870e-01 3.30708965e-05 -7.55637813e+00] [ 3.98175431e-04 -2.95949173e-05 9.99999920e-01 -5.24590136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10755201799999 meters 0.044693566180350704 Centerline is valid? [True, True] Translation: X:72.94, Y:-7.55, Z:-0.52 [[ 9.99943393e-01 1.06168054e-02 -7.03412699e-04 7.29414959e+01] [-1.06167665e-02 9.99943639e-01 5.90941278e-05 -7.55000885e+00] [ 7.04000445e-04 -5.16228143e-05 9.99999751e-01 -5.23987890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.137552018 meters 0.047973304864085575 Centerline is valid? [True, True] Translation: X:72.97, Y:-7.56, Z:-0.52 [[ 9.99910442e-01 1.33689989e-02 -6.14407948e-04 7.29705419e+01] [-1.33689697e-02 9.99910630e-01 5.15601699e-05 -7.55539112e+00] [ 6.15042347e-04 -4.33415510e-05 9.99999810e-01 -5.24390864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.167552018 meters 0.04206171851278523 Centerline is valid? [True, True] Translation: X:73.00, Y:-7.55, Z:-0.52 [[ 9.99802972e-01 1.98476530e-02 2.96487394e-04 7.30015836e+01] [-1.98476465e-02 9.99803016e-01 -2.51038118e-05 -7.54620539e+00] [-2.96927242e-04 1.92142887e-05 9.99999956e-01 -5.22368040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.197552018 meters 0.041654685415624594 Centerline is valid? [True, True] Translation: X:73.03, Y:-7.55, Z:-0.52 [[ 9.99730022e-01 2.32035091e-02 1.21663455e-03 7.30302465e+01] [-2.32034009e-02 9.99730760e-01 -1.02961623e-04 -7.54712069e+00] [-1.21869606e-03 7.47037668e-05 9.99999255e-01 -5.22101157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.227552018 meters 0.03836891450830494 Centerline is valid? [True, True] Translation: X:73.06, Y:-7.54, Z:-0.52 [[ 9.99568631e-01 2.92986779e-02 2.03433966e-03 7.30611813e+01] [-2.92983894e-02 9.99570695e-01 -1.71503551e-04 -7.54366507e+00] [-2.03849114e-03 1.11826695e-04 9.99997916e-01 -5.22058627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.257552018 meters 0.03720657340562385 Centerline is valid? [True, True] Translation: X:73.09, Y:-7.54, Z:-0.52 [[ 9.99502230e-01 3.14876683e-02 1.95402098e-03 7.30899112e+01] [-3.14874055e-02 9.99504135e-01 -1.65092048e-04 -7.54328857e+00] [-1.95825041e-03 1.03482819e-04 9.99998077e-01 -5.22294314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.287552018 meters 0.037555290126181085 Centerline is valid? [True, True] Translation: X:73.12, Y:-7.54, Z:-0.52 [[ 9.99450086e-01 3.30944356e-02 2.06975157e-03 7.31178764e+01] [-3.30941442e-02 9.99452223e-01 -1.74912667e-04 -7.54439336e+00] [-2.07440645e-03 1.06319824e-04 9.99997843e-01 -5.22672448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.317552018 meters 0.03678983692190864 Centerline is valid? [True, True] Translation: X:73.15, Y:-7.54, Z:-0.52 [[ 9.99331548e-01 3.65089256e-02 1.88540145e-03 7.31467817e+01] [-3.65086907e-02 9.99333323e-01 -1.58839582e-04 -7.54313125e+00] [-1.88994356e-03 8.98998672e-05 9.99998210e-01 -5.22270323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.347552018 meters 0.03611595099526622 Centerline is valid? [True, True] Translation: X:73.18, Y:-7.54, Z:-0.52 [[ 9.99307947e-01 3.71349779e-02 2.14945284e-03 7.31758519e+01] [-3.71346743e-02 9.99310254e-01 -1.81000184e-04 -7.54476384e+00] [-2.15469170e-03 1.01055692e-04 9.99997674e-01 -5.22950328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37755201799999 meters 0.03163843328916423 Centerline is valid? [True, True] Translation: X:73.21, Y:-7.54, Z:-0.52 [[ 9.99282896e-01 3.77897179e-02 2.37283371e-03 7.32051507e+01] [-3.77893502e-02 9.99285707e-01 -1.99613413e-04 -7.54036158e+00] [-2.37868214e-03 1.09802426e-04 9.99997165e-01 -5.23049641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40755201799999 meters 0.03604013649928211 Centerline is valid? [True, True] Translation: X:73.23, Y:-7.55, Z:-0.52 [[ 9.99253038e-01 3.85639318e-02 2.48766173e-03 7.32318922e+01] [-3.85635304e-02 9.99256129e-01 -2.09134687e-04 -7.55129988e+00] [-2.49387628e-03 1.13045453e-04 9.99996884e-01 -5.24875654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43755201799999 meters 0.033192843330264815 Centerline is valid? [True, True] Translation: X:73.26, Y:-7.55, Z:-0.52 [[ 9.99255264e-01 3.85291351e-02 2.10319022e-03 7.32603596e+01] [-3.85288482e-02 9.99257473e-01 -1.76790734e-04 -7.54905292e+00] [-2.10844013e-03 9.56255751e-05 9.99997773e-01 -5.24872118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46755201799999 meters 0.035573591866186735 Centerline is valid? [True, True] Translation: X:73.29, Y:-7.55, Z:-0.53 [[ 9.99266952e-01 3.82528292e-02 1.50967559e-03 7.32879528e+01] [-3.82526808e-02 9.99268090e-01 -1.27092713e-04 -7.55469428e+00] [-1.51343230e-03 6.92504098e-05 9.99998852e-01 -5.25488428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.497552018 meters 0.03310848599583439 Centerline is valid? [True, True] Translation: X:73.32, Y:-7.55, Z:-0.53 [[ 9.99274175e-01 3.80480714e-02 1.86212537e-03 7.33164894e+01] [-3.80478467e-02 9.99275906e-01 -1.55953858e-04 -7.55355537e+00] [-1.86671076e-03 8.49908022e-05 9.99998254e-01 -5.25625404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.527552018 meters 0.03167419072531104 Centerline is valid? [True, True] Translation: X:73.34, Y:-7.56, Z:-0.53 [[ 9.99281673e-01 3.78293781e-02 2.25281467e-03 7.33442635e+01] [-3.78290489e-02 9.99284208e-01 -1.88588216e-04 -7.55513021e+00] [-2.25833630e-03 1.03230911e-04 9.99997445e-01 -5.26148861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.557552018 meters 0.03207686505746232 Centerline is valid? [True, True] Translation: X:73.37, Y:-7.56, Z:-0.53 [[ 9.99327497e-01 3.65745950e-02 2.61772739e-03 7.33725977e+01] [-3.65741478e-02 9.99330918e-01 -2.18515146e-04 -7.56112990e+00] [-2.62396802e-03 1.22627045e-04 9.99996550e-01 -5.27180640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.587552018 meters 0.034026075789156264 Centerline is valid? [True, True] Translation: X:73.40, Y:-7.57, Z:-0.53 [[ 9.99367130e-01 3.54814165e-02 2.53168212e-03 7.34003078e+01] [-3.54809945e-02 9.99370329e-01 -2.11422835e-04 -7.56772686e+00] [-2.53758958e-03 1.21462432e-04 9.99996773e-01 -5.27906733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.617552018 meters 0.03521545640993561 Centerline is valid? [True, True] Translation: X:73.43, Y:-7.57, Z:-0.53 [[ 9.99416067e-01 3.40802950e-02 2.46159285e-03 7.34284639e+01] [-3.40798931e-02 9.99419091e-01 -2.05050774e-04 -7.57169653e+00] [-2.46715108e-03 1.21040217e-04 9.99996949e-01 -5.28114641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.647552018 meters 0.03442112148976373 Centerline is valid? [True, True] Translation: X:73.46, Y:-7.57, Z:-0.53 [[ 9.99482991e-01 3.21034677e-02 1.76569058e-03 7.34583573e+01] [-3.21032583e-02 9.99484547e-01 -1.46809084e-04 -7.57267798e+00] [-1.76949353e-03 9.00487622e-05 9.99998430e-01 -5.27757654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.677552018 meters 0.035816693690436316 Centerline is valid? [True, True] Translation: X:73.49, Y:-7.58, Z:-0.53 [[ 9.99529847e-01 3.06229262e-02 1.52350461e-03 7.34856051e+01] [-3.06227681e-02 9.99531005e-01 -1.26971249e-04 -7.57746705e+00] [-1.52667833e-03 8.02576248e-05 9.99998831e-01 -5.28585661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.707552018 meters 0.03513760976517793 Centerline is valid? [True, True] Translation: X:73.51, Y:-7.58, Z:-0.53 [[ 9.99571820e-01 2.92463351e-02 9.10345246e-04 7.35146491e+01] [-2.92462780e-02 9.99572233e-01 -7.59458501e-05 -7.57968872e+00] [-9.12176968e-04 4.92891215e-05 9.99999583e-01 -5.29005728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.737552018 meters 0.03610004288527847 Centerline is valid? [True, True] Translation: X:73.54, Y:-7.59, Z:-0.53 [[ 9.99615977e-01 2.77011031e-02 7.39780620e-04 7.35432633e+01] [-2.77010650e-02 9.99616250e-01 -6.17605804e-05 -7.58506437e+00] [-7.41207565e-04 4.12441519e-05 9.99999724e-01 -5.29962246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76755201799999 meters 0.03794739091827668 Centerline is valid? [True, True] Translation: X:73.57, Y:-7.59, Z:-0.53 [[ 9.99684789e-01 2.50742830e-02 1.26587352e-03 7.35711882e+01] [-2.50741700e-02 9.99685588e-01 -1.05068747e-04 -7.59284828e+00] [-1.26811004e-03 7.32949005e-05 9.99999193e-01 -5.30382105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79755201799999 meters 0.03998936516610099 Centerline is valid? [True, True] Translation: X:73.60, Y:-7.60, Z:-0.53 [[ 9.99724316e-01 2.32990684e-02 2.90625169e-03 7.35990272e+01] [-2.32984672e-02 9.99728525e-01 -2.40546017e-04 -7.59900125e+00] [-2.91106721e-03 1.72768493e-04 9.99995748e-01 -5.28815833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82755201799999 meters 0.03754524549042002 Centerline is valid? [True, True] Translation: X:73.63, Y:-7.60, Z:-0.53 [[ 9.99727408e-01 2.30802653e-02 3.52285192e-03 7.36277165e+01] [-2.30793816e-02 9.99733593e-01 -2.91297019e-04 -7.59773917e+00] [-3.52863662e-03 2.09912370e-04 9.99993752e-01 -5.28209362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85755201799999 meters 0.0383932232013832 Centerline is valid? [True, True] Translation: X:73.66, Y:-7.60, Z:-0.53 [[ 9.99728508e-01 2.30010068e-02 3.72347103e-03 7.36557482e+01] [-2.30000200e-02 9.99735417e-01 -3.07619927e-04 -7.60156543e+00] [-3.72956143e-03 2.21896503e-04 9.99993021e-01 -5.28505277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.887552018 meters 0.03969895060104311 Centerline is valid? [True, True] Translation: X:73.68, Y:-7.61, Z:-0.53 [[ 9.99734233e-01 2.28593958e-02 2.98518015e-03 7.36835415e+01] [-2.28587614e-02 9.99738674e-01 -2.46463497e-04 -7.60630428e+00] [-2.99003405e-03 1.78160475e-04 9.99995514e-01 -5.30259005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.917552018 meters 0.04053467808606598 Centerline is valid? [True, True] Translation: X:73.71, Y:-7.61, Z:-0.53 [[ 9.99744412e-01 2.25129153e-02 2.06888739e-03 7.37108386e+01] [-2.25126099e-02 9.99746544e-01 -1.70811291e-04 -7.61115529e+00] [-2.07220848e-03 1.24191579e-04 9.99997845e-01 -5.32182767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.947552018 meters 0.038656043978045916 Centerline is valid? [True, True] Translation: X:73.74, Y:-7.61, Z:-0.53 [[ 9.99764377e-01 2.16217146e-02 1.92146871e-03 7.37394645e+01] [-2.16214500e-02 9.99766217e-01 -1.58419402e-04 -7.61031571e+00] [-1.92444480e-03 1.16837135e-04 9.99998141e-01 -5.32391197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.977552018 meters 0.038656043978045916 Centerline is valid? [True, True] Translation: X:73.77, Y:-7.61, Z:-0.53 [[ 9.99766081e-01 2.15427778e-02 1.92148113e-03 7.37677307e+01] [-2.15425133e-02 9.99767921e-01 -1.58268464e-04 -7.61256503e+00] [-1.92444474e-03 1.16837910e-04 9.99998141e-01 -5.32591676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.007552018 meters 0.039779599842386264 Centerline is valid? [True, True] Translation: X:73.79, Y:-7.62, Z:-0.53 [[ 9.99772342e-01 2.12223065e-02 2.20849154e-03 7.37949074e+01] [-2.12219564e-02 9.99774772e-01 -1.81813774e-04 -7.61700854e+00] [-2.21185264e-03 1.34903871e-04 9.99997545e-01 -5.32708806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.037552018 meters 0.040044211721980257 Centerline is valid? [True, True] Translation: X:73.82, Y:-7.62, Z:-0.53 [[ 9.99821995e-01 1.86921464e-02 2.56550858e-03 7.38247008e+01] [-1.86916677e-02 9.99825273e-01 -2.10454669e-04 -7.61958692e+00] [-2.56899416e-03 1.62463574e-04 9.99996687e-01 -5.31632998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.067552018 meters 0.04230090867137018 Centerline is valid? [True, True] Translation: X:73.85, Y:-7.62, Z:-0.53 [[ 9.99851124e-01 1.70346503e-02 2.74785671e-03 7.38528550e+01] [-1.70340948e-02 9.99854884e-01 -2.25431305e-04 -7.62481270e+00] [-2.75129810e-03 1.78590492e-04 9.99996199e-01 -5.31881868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.097552018 meters 0.04177182899854884 Centerline is valid? [True, True] Translation: X:73.88, Y:-7.63, Z:-0.53 [[ 9.99885522e-01 1.49310452e-02 2.45094161e-03 7.38822747e+01] [-1.49305977e-02 9.99888512e-01 -2.00791152e-04 -7.62648632e+00] [-2.45366638e-03 1.64174143e-04 9.99996976e-01 -5.32166082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12755201799999 meters 0.045544782809204834 Centerline is valid? [True, True] Translation: X:73.91, Y:-7.64, Z:-0.53 [[ 9.99936251e-01 1.11623532e-02 1.70188082e-03 7.39105181e+01] [-1.11621322e-02 9.99937692e-01 -1.39337604e-04 -7.63570910e+00] [-1.70333011e-03 1.20332102e-04 9.99998542e-01 -5.34277106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15755201799999 meters 0.04745791754158627 Centerline is valid? [True, True] Translation: X:73.94, Y:-7.64, Z:-0.54 [[ 9.99955690e-01 9.37282752e-03 8.76928480e-04 7.39389180e+01] [-9.37276790e-03 9.99956072e-01 -7.20789510e-05 -7.64084262e+00] [-8.77565542e-04 6.38565101e-05 9.99999613e-01 -5.35693347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18755201799999 meters 0.04835265082410465 Centerline is valid? [True, True] Translation: X:73.97, Y:-7.64, Z:-0.54 [[ 9.99974424e-01 7.14777370e-03 2.45950695e-04 7.39678709e+01] [-7.14776886e-03 9.99974454e-01 -2.05518374e-05 -7.64288614e+00] [-2.46091312e-04 1.87933131e-05 9.99999970e-01 -5.36065547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21755201799999 meters 0.04880685241664265 Centerline is valid? [True, True] Translation: X:74.00, Y:-7.64, Z:-0.54 [[ 9.99978155e-01 6.59806087e-03 3.94125274e-04 7.39969573e+01] [-6.59804850e-03 9.99978232e-01 -3.26950531e-05 -7.64428421e+00] [-3.94332419e-04 3.00938812e-05 9.99999922e-01 -5.35522604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.247552018 meters 0.04972917365877564 Centerline is valid? [True, True] Translation: X:74.03, Y:-7.65, Z:-0.54 [[ 9.99978327e-01 6.47379821e-03 1.19841950e-03 7.40252874e+01] [-6.47368512e-03 9.99979041e-01 -9.82223644e-05 -7.64625650e+00] [-1.19903025e-03 9.04620451e-05 9.99999277e-01 -5.35161829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.277552018 meters 0.0508825474779455 Centerline is valid? [True, True] Translation: X:74.05, Y:-7.65, Z:-0.53 [[ 9.99976674e-01 6.60989043e-03 1.72059256e-03 7.40540407e+01] [-6.60965832e-03 9.99978146e-01 -1.40553819e-04 -7.64877167e+00] [-1.72148400e-03 1.29178011e-04 9.99998510e-01 -5.34647553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.307552018 meters 0.04710857350930973 Centerline is valid? [True, True] Translation: X:74.08, Y:-7.64, Z:-0.53 [[ 9.99974883e-01 6.24715100e-03 3.34761746e-03 7.40840126e+01] [-6.24627244e-03 9.99980455e-01 -2.72834375e-04 -7.64443020e+00] [-3.34925647e-03 2.51917391e-04 9.99994359e-01 -5.33207602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.337552018 meters 0.0445160215587975 Centerline is valid? [True, True] Translation: X:74.11, Y:-7.64, Z:-0.53 [[ 9.99979024e-01 5.30008116e-03 3.72287192e-03 7.41141486e+01] [-5.29898895e-03 9.99985914e-01 -3.03179072e-04 -7.64281866e+00] [-3.72442635e-03 2.83445255e-04 9.99993024e-01 -5.33499616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.367552018 meters 0.043403005057528816 Centerline is valid? [True, True] Translation: X:74.15, Y:-7.64, Z:-0.53 [[ 9.99981950e-01 4.71038385e-03 3.72991484e-03 7.41450641e+01] [-4.70928397e-03 9.99988865e-01 -3.03609865e-04 -7.64379555e+00] [-3.73130342e-03 2.86039157e-04 9.99992998e-01 -5.33846168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.397552018 meters 0.047788729119239516 Centerline is valid? [True, True] Translation: X:74.17, Y:-7.65, Z:-0.53 [[ 9.99990281e-01 3.05262367e-03 3.18117193e-03 7.41747353e+01] [-3.05181552e-03 9.99995310e-01 -2.58864310e-04 -7.65054797e+00] [-3.18194722e-03 2.49153444e-04 9.99994907e-01 -5.34798287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.427552018 meters 0.04935899552331249 Centerline is valid? [True, True] Translation: X:74.21, Y:-7.65, Z:-0.54 [[ 9.99993369e-01 2.47056210e-03 2.67546231e-03 7.42052067e+01] [-2.46998831e-03 9.99996926e-01 -2.17747861e-04 -7.65404992e+00] [-2.67599205e-03 2.11138057e-04 9.99996397e-01 -5.35075855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.457552018 meters 0.04949299101176718 Centerline is valid? [True, True] Translation: X:74.24, Y:-7.65, Z:-0.54 [[ 9.99995105e-01 2.28406112e-03 2.13856550e-03 7.42357496e+01] [-2.28369385e-03 9.99997377e-01 -1.74161754e-04 -7.65435233e+00] [-2.13895768e-03 1.69277072e-04 9.99997698e-01 -5.35709337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.487552018 meters 0.0502043677231267 Centerline is valid? [True, True] Translation: X:74.27, Y:-7.66, Z:-0.54 [[ 9.99994662e-01 2.77421799e-03 1.72601204e-03 7.42662874e+01] [-2.77397966e-03 9.99996143e-01 -1.40461184e-04 -7.65686837e+00] [-1.72639505e-03 1.35672512e-04 9.99998501e-01 -5.36622026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51755201799999 meters 0.04799960251155768 Centerline is valid? [True, True] Translation: X:74.30, Y:-7.66, Z:-0.54 [[ 9.99992731e-01 3.62390740e-03 1.18548801e-03 7.42965723e+01] [-3.62379531e-03 9.99993429e-01 -9.66822677e-05 -7.65513606e+00] [-1.18583059e-03 9.23855990e-05 9.99999293e-01 -5.37648966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54755201799999 meters 0.04759478699809807 Centerline is valid? [True, True] Translation: X:74.33, Y:-7.65, Z:-0.54 [[ 9.99977233e-01 6.74672547e-03 -1.26536923e-04 7.43262827e+01] [-6.74672425e-03 9.99977241e-01 1.00854385e-05 -7.65307647e+00] [ 1.26602087e-04 -9.23149919e-06 9.99999992e-01 -5.38803171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57755201799999 meters 0.04657780730380928 Centerline is valid? [True, True] Translation: X:74.36, Y:-7.65, Z:-0.54 [[ 9.99955929e-01 9.38299679e-03 -3.15259429e-04 7.43562059e+01] [-9.38298925e-03 9.99955978e-01 2.53803645e-05 -7.65145439e+00] [ 3.15483695e-04 -2.24211701e-05 9.99999950e-01 -5.39015593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60755201799999 meters 0.0455065421517342 Centerline is valid? [True, True] Translation: X:74.39, Y:-7.65, Z:-0.54 [[ 9.99921156e-01 1.25563286e-02 -1.39988005e-04 7.43852310e+01] [-1.25563271e-02 9.99921166e-01 1.11157362e-05 -7.64992567e+00] [ 1.40116542e-04 -9.35712462e-06 9.99999990e-01 -5.38909430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.637552018 meters 0.041848589870047054 Centerline is valid? [True, True] Translation: X:74.42, Y:-7.64, Z:-0.54 [[ 9.99786015e-01 2.06861313e-02 8.57679411e-05 7.44169901e+01] [-2.06861308e-02 9.99786019e-01 -6.98097294e-06 -7.64058539e+00] [-8.58939977e-05 5.20527227e-06 9.99999996e-01 -5.38155275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.667552018 meters 0.03668556312603348 Centerline is valid? [True, True] Translation: X:74.45, Y:-7.63, Z:-0.54 [[ 9.99691324e-01 2.48404243e-02 4.57757657e-04 7.44475626e+01] [-2.48404097e-02 9.99691429e-01 -3.74828134e-05 -7.63241125e+00] [-4.58547495e-04 2.61003557e-05 9.99999895e-01 -5.37677939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.697552018 meters 0.034702030934112574 Centerline is valid? [True, True] Translation: X:74.48, Y:-7.63, Z:-0.54 [[ 9.99487018e-01 3.20030074e-02 1.22851533e-03 7.44768119e+01] [-3.20029085e-02 9.99487771e-01 -1.00150760e-04 -7.62754589e+00] [-1.23109118e-03 6.07833204e-05 9.99999240e-01 -5.38573509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.727552018 meters 0.03650667554193965 Centerline is valid? [True, True] Translation: X:74.51, Y:-7.63, Z:-0.54 [[ 9.99391703e-01 3.48153085e-02 2.02953084e-03 7.45050080e+01] [-3.48150447e-02 9.99393759e-01 -1.65175016e-04 -7.63114363e+00] [-2.03405108e-03 9.44163337e-05 9.99997927e-01 -5.38626247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.757552018 meters 0.03373764672725654 Centerline is valid? [True, True] Translation: X:74.54, Y:-7.63, Z:-0.54 [[ 9.99289962e-01 3.75201830e-02 3.43622389e-03 7.45350726e+01] [-3.75194446e-02 9.99295859e-01 -2.79106118e-04 -7.62684126e+00] [-3.44427641e-03 1.49982730e-04 9.99994057e-01 -5.37602561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.787552018 meters 0.03148781574925104 Centerline is valid? [True, True] Translation: X:74.56, Y:-7.62, Z:-0.54 [[ 9.99176993e-01 4.03436284e-02 4.21045409e-03 7.45643172e+01] [-4.03425453e-02 9.99185850e-01 -3.41881388e-04 -7.62356508e+00] [-4.22081888e-03 1.71739583e-04 9.99991078e-01 -5.35921401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.817552018 meters 0.02994643785779313 Centerline is valid? [True, True] Translation: X:74.59, Y:-7.62, Z:-0.53 [[ 9.98939734e-01 4.56802912e-02 5.72005393e-03 7.45944155e+01] [-4.56783835e-02 9.98956090e-01 -4.63779250e-04 -7.61837771e+00] [-5.73526828e-03 2.02004703e-04 9.99983533e-01 -5.34898351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.847552018 meters 0.028791249668018624 Centerline is valid? [True, True] Translation: X:74.62, Y:-7.62, Z:-0.54 [[ 9.98843980e-01 4.76996716e-02 5.95351323e-03 7.46237886e+01] [-4.76976409e-02 9.98861703e-01 -4.82700811e-04 -7.61826102e+00] [-5.96976103e-03 1.98174263e-04 9.99982161e-01 -5.35640776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87755201799999 meters 0.02768659859836107 Centerline is valid? [True, True] Translation: X:74.65, Y:-7.62, Z:-0.54 [[ 9.98743617e-01 4.98871900e-02 4.73872553e-03 7.46523001e+01] [-4.98859339e-02 9.98754848e-01 -3.82976584e-04 -7.61863625e+00] [-4.75193072e-03 1.46099670e-04 9.99988699e-01 -5.38696386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90755201799999 meters 0.02813926994346258 Centerline is valid? [True, True] Translation: X:74.68, Y:-7.62, Z:-0.54 [[ 9.98762348e-01 4.95974488e-02 3.72353430e-03 7.46802581e+01] [-4.95966717e-02 9.98769283e-01 -3.00819112e-04 -7.62216156e+00] [-3.73387154e-03 1.15771895e-04 9.99993022e-01 -5.40492136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93755201799999 meters 0.028283880627347997 Centerline is valid? [True, True] Translation: X:74.71, Y:-7.63, Z:-0.54 [[ 9.98828690e-01 4.82886775e-02 3.07444787e-03 7.47085351e+01] [-4.82881423e-02 9.98833416e-01 -2.48123045e-04 -7.62554564e+00] [-3.08284280e-03 9.93730394e-05 9.99995243e-01 -5.41920982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96755201799999 meters 0.03103924340998162 Centerline is valid? [True, True] Translation: X:74.74, Y:-7.63, Z:-0.54 [[ 9.98934763e-01 4.60606721e-02 2.78449380e-03 7.47350796e+01] [-4.60602245e-02 9.98938639e-01 -2.24719544e-04 -7.63484282e+00] [-2.79188918e-03 9.62257555e-05 9.99996098e-01 -5.43747440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.997552018 meters 0.029120034741132967 Centerline is valid? [True, True] Translation: X:74.76, Y:-7.63, Z:-0.54 [[ 9.98963411e-01 4.54314188e-02 2.84422933e-03 7.47642944e+01] [-4.54309506e-02 9.98967455e-01 -2.29034343e-04 -7.63495853e+00] [-2.85169789e-03 9.95808863e-05 9.99995929e-01 -5.43801616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.027552018 meters 0.029001011016017375 Centerline is valid? [True, True] Translation: X:74.79, Y:-7.64, Z:-0.54 [[ 9.98982104e-01 4.49657656e-02 3.58259464e-03 7.47925306e+01] [-4.49650213e-02 9.98988520e-01 -2.88077144e-04 -7.63786531e+00] [-3.59192453e-03 1.26692467e-04 9.99993541e-01 -5.43765117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.057552018 meters 0.03014984501932735 Centerline is valid? [True, True] Translation: X:74.82, Y:-7.64, Z:-0.54 [[ 9.99049902e-01 4.33763747e-02 4.21701743e-03 7.48197225e+01] [-4.33753308e-02 9.99058790e-01 -3.38718293e-04 -7.64348097e+00] [-4.22774070e-03 1.55481951e-04 9.99991051e-01 -5.44049853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.087552018 meters 0.03038966256788433 Centerline is valid? [True, True] Translation: X:74.85, Y:-7.65, Z:-0.54 [[ 9.99094535e-01 4.23049139e-02 4.51701454e-03 7.48480836e+01] [-4.23037077e-02 9.99104732e-01 -3.62280611e-04 -7.64689233e+00] [-4.52829685e-03 1.70866116e-04 9.99989733e-01 -5.43855461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.117552018 meters 0.030619164417431968 Centerline is valid? [True, True] Translation: X:74.88, Y:-7.65, Z:-0.54 [[ 9.99197238e-01 3.96155589e-02 5.95709915e-03 7.48769724e+01] [-3.96134172e-02 9.99214967e-01 -4.77129665e-04 -7.65002800e+00] [-5.97132438e-03 2.40765589e-04 9.99982142e-01 -5.42347246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.147552018 meters 0.03271337178074309 Centerline is valid? [True, True] Translation: X:74.90, Y:-7.66, Z:-0.54 [[ 9.99251807e-01 3.80602764e-02 6.87321003e-03 7.49042607e+01] [-3.80573918e-02 9.99275404e-01 -5.50040750e-04 -7.65653607e+00] [-6.88916443e-03 2.88052767e-04 9.99976228e-01 -5.41942822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.177552018 meters 0.03404070395945517 Centerline is valid? [True, True] Translation: X:74.93, Y:-7.66, Z:-0.54 [[ 9.99314997e-01 3.63535721e-02 6.92486232e-03 7.49314149e+01] [-3.63506078e-02 9.99338945e-01 -5.53491067e-04 -7.66234248e+00] [-6.94040598e-03 3.01388970e-04 9.99975870e-01 -5.42038297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.207552018 meters 0.034063614140096635 Centerline is valid? [True, True] Translation: X:74.96, Y:-7.67, Z:-0.54 [[ 9.99485042e-01 3.16174550e-02 5.47606410e-03 7.49608028e+01] [-3.16155331e-02 9.99500008e-01 -4.37197199e-04 -7.66727062e+00] [-5.48714918e-03 2.63843375e-04 9.99984911e-01 -5.44808744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.237552018 meters 0.03529194073230402 Centerline is valid? [True, True] Translation: X:74.99, Y:-7.67, Z:-0.55 [[ 9.99587393e-01 2.83785995e-02 4.43826224e-03 7.49900750e+01] [-2.83773052e-02 9.99597220e-01 -3.54332032e-04 -7.67207491e+00] [-4.44653005e-03 2.28239910e-04 9.99990088e-01 -5.46208143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26755201799999 meters 0.03696121938508617 Centerline is valid? [True, True] Translation: X:75.02, Y:-7.68, Z:-0.55 [[ 9.99681022e-01 2.50489569e-02 3.22562310e-03 7.50187706e+01] [-2.50482559e-02 9.99686210e-01 -2.57540297e-04 -7.67735014e+00] [-3.23106204e-03 1.76661914e-04 9.99994765e-01 -5.47690786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29755201799999 meters 0.039799900255067966 Centerline is valid? [True, True] Translation: X:75.05, Y:-7.69, Z:-0.55 [[ 9.99822459e-01 1.87718962e-02 1.63299972e-03 7.50481432e+01] [-1.87717084e-02 9.99823787e-01 -1.30280100e-04 -7.68632309e+00] [-1.63515757e-03 9.96027759e-05 9.99998658e-01 -5.49898715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32755201799999 meters 0.04190809703638417 Centerline is valid? [True, True] Translation: X:75.08, Y:-7.69, Z:-0.55 [[ 9.99867231e-01 1.62798283e-02 6.98432499e-04 7.50757152e+01] [-1.62797930e-02 9.99867474e-01 -5.61525010e-05 -7.69252455e+00] [-6.99254092e-04 4.47747092e-05 9.99999755e-01 -5.51079291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35755201799999 meters 0.04203786708722747 Centerline is valid? [True, True] Translation: X:75.11, Y:-7.70, Z:-0.55 [[ 9.99896469e-01 1.43846620e-02 -3.63027990e-04 7.51050556e+01] [-1.43846526e-02 9.99896535e-01 2.86158659e-05 -7.69516299e+00] [ 3.63402059e-04 -2.33908717e-05 9.99999934e-01 -5.51734211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.387552018 meters 0.04322032037922999 Centerline is valid? [True, True] Translation: X:75.14, Y:-7.70, Z:-0.55 [[ 9.99934253e-01 1.13147690e-02 -1.86162077e-03 7.51355489e+01] [-1.13145127e-02 9.99935978e-01 1.48149385e-04 -7.69833460e+00] [ 1.86317786e-03 -1.27076313e-04 9.99998256e-01 -5.52421686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.417552018 meters 0.044470065374028624 Centerline is valid? [True, True] Translation: X:75.16, Y:-7.70, Z:-0.55 [[ 9.99944810e-01 1.02253456e-02 -2.41247583e-03 7.51634250e+01] [-1.02249142e-02 9.99947706e-01 1.91070038e-04 -7.70188337e+00] [ 2.41430342e-03 -1.66392134e-04 9.99997072e-01 -5.53382386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.447552018 meters 0.04293237022296853 Centerline is valid? [True, True] Translation: X:75.19, Y:-7.70, Z:-0.55 [[ 9.99956154e-01 9.23734659e-03 -1.53665268e-03 7.51925739e+01] [-9.23717079e-03 9.99957329e-01 1.21458203e-04 -7.70141148e+00] [ 1.53770907e-03 -1.07258555e-04 9.99998812e-01 -5.52543770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.477552018 meters 0.04944214988740635 Centerline is valid? [True, True] Translation: X:75.22, Y:-7.71, Z:-0.55 [[ 9.99957212e-01 9.18644463e-03 -1.08756853e-03 7.52200568e+01] [-9.18635698e-03 9.99957801e-01 8.55580516e-05 -7.71130880e+00] [ 1.08830861e-03 -7.55635980e-05 9.99999405e-01 -5.53141915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.507552018 meters 0.04280570904709466 Centerline is valid? [True, True] Translation: X:75.25, Y:-7.70, Z:-0.55 [[ 9.99958168e-01 9.12893348e-03 -5.70305124e-04 7.52494661e+01] [-9.12890951e-03 9.99958330e-01 4.46244858e-05 -7.70300849e+00] [ 5.70688734e-04 -3.94163552e-05 9.99999836e-01 -5.51587047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.537552018 meters 0.04247011000784241 Centerline is valid? [True, True] Translation: X:75.28, Y:-7.70, Z:-0.55 [[ 9.99958303e-01 9.10184685e-03 -7.40742160e-04 7.52788391e+01] [-9.10180632e-03 9.99958576e-01 5.80663468e-05 -7.70265460e+00] [ 7.41239987e-04 -5.13218340e-05 9.99999724e-01 -5.51594274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.567552018 meters 0.04442100589107194 Centerline is valid? [True, True] Translation: X:75.31, Y:-7.70, Z:-0.55 [[ 9.99958272e-01 9.13508754e-03 -6.44041248e-05 7.53065959e+01] [-9.13508728e-03 9.99958274e-01 4.39619686e-06 -7.70421830e+00] [ 6.44415971e-05 -3.80767612e-06 9.99999998e-01 -5.52426873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.597552018 meters 0.043051912082269876 Centerline is valid? [True, True] Translation: X:75.34, Y:-7.70, Z:-0.55 [[ 9.99966729e-01 8.14120716e-03 5.11282567e-04 7.53359886e+01] [-8.14118729e-03 9.99966859e-01 -4.09356452e-05 -7.70191265e+00] [-5.11598888e-04 3.67718361e-05 9.99999868e-01 -5.52410626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62755201799999 meters 0.04409229967393128 Centerline is valid? [True, True] Translation: X:75.36, Y:-7.70, Z:-0.55 [[ 9.99972185e-01 7.44287999e-03 4.81943671e-04 7.53649451e+01] [-7.44286226e-03 9.99972301e-01 -3.85758081e-05 -7.70374658e+00] [-4.82217436e-04 3.49876948e-05 9.99999883e-01 -5.52722384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65755201799999 meters 0.04623250937540155 Centerline is valid? [True, True] Translation: X:75.39, Y:-7.71, Z:-0.55 [[ 9.99968753e-01 7.84996950e-03 -9.33726650e-04 7.53929484e+01] [-7.84990485e-03 9.99969186e-01 7.28820329e-05 -7.70600037e+00] [ 9.34270000e-04 -6.55500901e-05 9.99999561e-01 -5.52897181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68755201799999 meters 0.045580637316905225 Centerline is valid? [True, True] Translation: X:75.42, Y:-7.70, Z:-0.55 [[ 9.99956924e-01 9.17832627e-03 -1.38124594e-03 7.54214126e+01] [-9.17818555e-03 9.99957874e-01 1.08182979e-04 -7.70300989e+00] [ 1.38218070e-03 -9.55009877e-05 9.99999040e-01 -5.54319045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71755201799999 meters 0.04183610876065928 Centerline is valid? [True, True] Translation: X:75.45, Y:-7.70, Z:-0.55 [[ 9.99941471e-01 1.05749666e-02 -2.28560630e-03 7.54511046e+01] [-1.05745841e-02 9.99944071e-01 1.79351142e-04 -7.69707225e+00] [ 2.28737510e-03 -1.55171309e-04 9.99997372e-01 -5.54194818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.747552018 meters 0.042202761666027176 Centerline is valid? [True, True] Translation: X:75.48, Y:-7.70, Z:-0.56 [[ 9.99935272e-01 1.12883030e-02 -1.42316416e-03 7.54790901e+01] [-1.12881563e-02 9.99936281e-01 1.11098317e-04 -7.69839041e+00] [ 1.42432759e-03 -9.50262267e-05 9.99998981e-01 -5.55167067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.777552018 meters 0.042315339953307295 Centerline is valid? [True, True] Translation: X:75.51, Y:-7.70, Z:-0.56 [[ 9.99903165e-01 1.38636949e-02 -1.20735887e-03 7.55079039e+01] [-1.38635910e-02 9.99903891e-01 9.43628545e-05 -7.69766731e+00] [ 1.20855105e-03 -7.76153874e-05 9.99999267e-01 -5.55789535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.807552018 meters 0.04011861150030007 Centerline is valid? [True, True] Translation: X:75.54, Y:-7.70, Z:-0.56 [[ 9.99886451e-01 1.50325396e-02 -1.05228733e-03 7.55369774e+01] [-1.50324616e-02 9.99887003e-01 8.19616064e-05 -7.69537408e+00] [ 1.05340051e-03 -6.61338309e-05 9.99999443e-01 -5.55666664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.837552018 meters 0.04075568920189774 Centerline is valid? [True, True] Translation: X:75.57, Y:-7.70, Z:-0.56 [[ 9.99853067e-01 1.70471409e-02 -1.79989110e-03 7.55654806e+01] [-1.70469155e-02 9.99854681e-01 1.40454471e-04 -7.69508789e+00] [ 1.80202389e-03 -1.09751242e-04 9.99998370e-01 -5.58005357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.867552018 meters 0.04075568920189774 Centerline is valid? [True, True] Translation: X:75.59, Y:-7.70, Z:-0.56 [[ 9.99855025e-01 1.69318908e-02 -1.79992811e-03 7.55929073e+01] [-1.69316661e-02 9.99856639e-01 1.39981308e-04 -7.69712501e+00] [ 1.80204022e-03 -1.09485233e-04 9.99998370e-01 -5.58199838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.897552018 meters 0.03969056689405926 Centerline is valid? [True, True] Translation: X:75.62, Y:-7.70, Z:-0.56 [[ 9.99831336e-01 1.81851878e-02 -2.56878918e-03 7.56217602e+01] [-1.81847333e-02 9.99834624e-01 2.00189785e-04 -7.69633999e+00] [ 2.57200485e-03 -1.53443274e-04 9.99996681e-01 -5.59125891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.927552018 meters 0.039609883269683566 Centerline is valid? [True, True] Translation: X:75.65, Y:-7.70, Z:-0.56 [[ 9.99809135e-01 1.94647082e-02 -1.67882686e-03 7.56501876e+01] [-1.94645164e-02 9.99810540e-01 1.30517796e-04 -7.69728191e+00] [ 1.68104928e-03 -9.78153316e-05 9.99998582e-01 -5.59731089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.957552018 meters 0.03866733174151661 Centerline is valid? [True, True] Translation: X:75.68, Y:-7.70, Z:-0.56 [[ 9.99775317e-01 2.11823229e-02 -7.91005829e-04 7.56794495e+01] [-2.11822810e-02 9.99775628e-01 6.12983244e-05 -7.69630209e+00] [ 7.92126791e-04 -4.45292439e-05 9.99999685e-01 -5.58775523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.987552018 meters 0.03667859222810215 Centerline is valid? [True, True] Translation: X:75.71, Y:-7.69, Z:-0.56 [[ 9.99716780e-01 2.37812755e-02 9.00143600e-04 7.57101977e+01] [-2.37812218e-02 9.99717184e-01 -7.03409724e-05 -7.69116519e+00] [-9.01561823e-04 4.89145358e-05 9.99999592e-01 -5.57336746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01755201799999 meters 0.037611401171379316 Centerline is valid? [True, True] Translation: X:75.74, Y:-7.69, Z:-0.56 [[ 9.99701475e-01 2.43936242e-02 1.38290556e-03 7.57383117e+01] [-2.43934977e-02 9.99702429e-01 -1.08294125e-04 -7.69371314e+00] [-1.38513574e-03 7.45278932e-05 9.99999038e-01 -5.57962357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04755201799999 meters 0.037192464085764036 Centerline is valid? [True, True] Translation: X:75.77, Y:-7.69, Z:-0.56 [[ 9.99711501e-01 2.40147800e-02 4.52298315e-04 7.57669503e+01] [-2.40147663e-02 9.99711603e-01 -3.57496190e-05 -7.69392418e+00] [-4.53026393e-04 2.48774670e-05 9.99999897e-01 -5.59337764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07755201799999 meters 0.03791772317920257 Centerline is valid? [True, True] Translation: X:75.80, Y:-7.70, Z:-0.56 [[ 9.99731568e-01 2.31664726e-02 -3.24884752e-04 7.57950184e+01] [-2.31664660e-02 9.99731621e-01 2.43074644e-05 -7.69692283e+00] [ 3.25360678e-04 -1.67745079e-05 9.99999947e-01 -5.60526161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10755201799999 meters 0.03848591880069689 Centerline is valid? [True, True] Translation: X:75.82, Y:-7.70, Z:-0.56 [[ 9.99745728e-01 2.25459696e-02 -3.97379833e-04 7.58238747e+01] [-2.25459593e-02 9.99745807e-01 3.03088711e-05 -7.70003637e+00] [ 3.97962165e-04 -2.13418549e-05 9.99999921e-01 -5.61312709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.137552018 meters 0.03716360066426185 Centerline is valid? [True, True] Translation: X:75.85, Y:-7.70, Z:-0.56 [[ 9.99765060e-01 2.16688750e-02 -5.34259189e-04 7.58524655e+01] [-2.16688562e-02 9.99765202e-01 4.08784975e-05 -7.69967153e+00] [ 5.35019537e-04 -2.92921079e-05 9.99999856e-01 -5.61926979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.167552018 meters 0.037680290722108996 Centerline is valid? [True, True] Translation: X:75.88, Y:-7.70, Z:-0.56 [[ 9.99770024e-01 2.14309070e-02 -7.84270166e-04 7.58808646e+01] [-2.14308664e-02 9.99770331e-01 6.02105500e-05 -7.70285167e+00] [ 7.85380410e-04 -4.33891139e-05 9.99999691e-01 -5.62944213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.197552018 meters 0.038522164874988864 Centerline is valid? [True, True] Translation: X:75.91, Y:-7.71, Z:-0.56 [[ 9.99775924e-01 2.11624319e-02 -5.04248489e-04 7.59082952e+01] [-2.11624152e-02 9.99776050e-01 3.83379252e-05 -7.70647002e+00] [ 5.04946887e-04 -2.76582187e-05 9.99999872e-01 -5.64073406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.227552018 meters 0.038554060702381966 Centerline is valid? [True, True] Translation: X:75.94, Y:-7.71, Z:-0.56 [[ 9.99788827e-01 2.05498643e-02 -7.08140749e-05 7.59367033e+01] [-2.05498640e-02 9.99788829e-01 4.93152385e-06 -7.70852815e+00] [ 7.09004632e-05 -3.47526284e-06 9.99999997e-01 -5.64289033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.257552018 meters 0.03959953201886035 Centerline is valid? [True, True] Translation: X:75.96, Y:-7.71, Z:-0.56 [[ 9.99799361e-01 2.00302907e-02 -1.60797960e-04 7.59644839e+01] [-2.00302891e-02 9.99799374e-01 1.17415815e-05 -7.71140525e+00] [ 1.61000887e-04 -8.51839602e-06 9.99999987e-01 -5.64266728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.287552018 meters 0.040227283765492644 Centerline is valid? [True, True] Translation: X:75.99, Y:-7.71, Z:-0.56 [[ 9.99796419e-01 2.01733896e-02 -3.94779427e-04 7.59921321e+01] [-2.01733796e-02 9.99796496e-01 2.95045441e-05 -7.71470979e+00] [ 3.95294294e-04 -2.15345023e-05 9.99999922e-01 -5.64396557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.317552018 meters 0.04071481833802954 Centerline is valid? [True, True] Translation: X:76.02, Y:-7.72, Z:-0.56 [[ 9.99792383e-01 2.03691636e-02 -5.36348461e-04 7.60203527e+01] [-2.03691446e-02 9.99792527e-01 4.07714714e-05 -7.71801052e+00] [ 5.37067664e-04 -2.98380472e-05 9.99999855e-01 -5.64633931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.347552018 meters 0.04019544178968796 Centerline is valid? [True, True] Translation: X:76.05, Y:-7.72, Z:-0.56 [[ 9.99789955e-01 2.04818821e-02 7.34068548e-04 7.60493775e+01] [-2.04818457e-02 9.99790223e-01 -5.69934986e-05 -7.71965427e+00] [-7.35081892e-04 4.19464486e-05 9.99999729e-01 -5.64504636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37755201799999 meters 0.04062993776259886 Centerline is valid? [True, True] Translation: X:76.08, Y:-7.72, Z:-0.56 [[ 9.99792379e-01 2.03606210e-02 8.02357197e-04 7.60772624e+01] [-2.03605775e-02 9.99792700e-01 -6.24161213e-05 -7.72208414e+00] [-8.03461699e-04 4.60667065e-05 9.99999676e-01 -5.63991498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40755201799999 meters 0.04067183348831257 Centerline is valid? [True, True] Translation: X:76.11, Y:-7.72, Z:-0.56 [[ 9.99788973e-01 2.05333265e-02 6.25756215e-04 7.61058370e+01] [-2.05333002e-02 9.99789168e-01 -4.85402814e-05 -7.72414356e+00] [-6.26620980e-04 3.56811979e-05 9.99999803e-01 -5.64796512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43755201799999 meters 0.03698058340245956 Centerline is valid? [True, True] Translation: X:76.13, Y:-7.72, Z:-0.57 [[ 9.99790457e-01 2.04694340e-02 2.11151827e-04 7.61345278e+01] [-2.04694309e-02 9.99790479e-01 -1.70093397e-05 -7.72078087e+00] [-2.11455758e-04 1.26836178e-05 9.99999978e-01 -5.65237661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46755201799999 meters 0.04189058772597445 Centerline is valid? [True, True] Translation: X:76.16, Y:-7.73, Z:-0.57 [[ 9.99807885e-01 1.96007621e-02 -5.43494644e-05 7.61618461e+01] [-1.96007620e-02 9.99807887e-01 3.47160878e-06 -7.72956183e+00] [ 5.44070693e-05 -2.40565092e-06 9.99999999e-01 -5.66444444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.497552018 meters 0.03960274951262481 Centerline is valid? [True, True] Translation: X:76.19, Y:-7.73, Z:-0.57 [[ 9.99810822e-01 1.94391538e-02 -6.63278471e-04 7.61912038e+01] [-1.94391248e-02 9.99811041e-01 5.01647236e-05 -7.72768773e+00] [ 6.64128299e-04 -3.72616806e-05 9.99999779e-01 -5.66433167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.527552018 meters 0.03994306513288922 Centerline is valid? [True, True] Translation: X:76.22, Y:-7.73, Z:-0.57 [[ 9.99814484e-01 1.92366476e-02 -9.74388293e-04 7.62203118e+01] [-1.92365847e-02 9.99814957e-01 7.38750848e-05 -7.73026227e+00] [ 9.75629099e-04 -5.51174768e-05 9.99999523e-01 -5.66995466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.557552018 meters 0.040529588606834144 Centerline is valid? [True, True] Translation: X:76.25, Y:-7.73, Z:-0.57 [[ 9.99825415e-01 1.86789862e-02 -4.84853779e-04 7.62489545e+01] [-1.86789707e-02 9.99825532e-01 3.64572427e-05 -7.73379030e+00] [ 4.85450172e-04 -2.73943083e-05 9.99999882e-01 -5.67818020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.587552018 meters 0.04042523768568855 Centerline is valid? [True, True] Translation: X:76.28, Y:-7.74, Z:-0.57 [[ 9.99839377e-01 1.79004895e-02 -8.90125272e-04 7.62774490e+01] [-1.79004366e-02 9.99839772e-01 6.73059751e-05 -7.73635815e+00] [ 8.91187459e-04 -5.13615332e-05 9.99999602e-01 -5.68654601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.617552018 meters 0.040042359741895336 Centerline is valid? [True, True] Translation: X:76.31, Y:-7.74, Z:-0.57 [[ 9.99862481e-01 1.63781513e-02 -2.60277592e-03 7.63071327e+01] [-1.63776912e-02 9.99865857e-01 1.97999121e-04 -7.73890363e+00] [ 2.60566963e-03 -1.55344432e-04 9.99996593e-01 -5.70688677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.647552018 meters 0.04240348333470465 Centerline is valid? [True, True] Translation: X:76.33, Y:-7.74, Z:-0.57 [[ 9.99860878e-01 1.62175669e-02 -3.90074471e-03 7.63346562e+01] [-1.62165347e-02 9.99868460e-01 2.96098754e-04 -7.74375736e+00] [ 3.90503361e-03 -2.32800998e-04 9.99992348e-01 -5.71776203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.677552018 meters 0.04034226214593979 Centerline is valid? [True, True] Translation: X:76.36, Y:-7.74, Z:-0.57 [[ 9.99856252e-01 1.65213960e-02 -3.81047952e-03 7.63631666e+01] [-1.65204139e-02 9.99863487e-01 2.89073259e-04 -7.74260364e+00] [ 3.81473524e-03 -2.26081006e-04 9.99992698e-01 -5.71363183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.707552018 meters 0.039253955181975914 Centerline is valid? [True, True] Translation: X:76.39, Y:-7.74, Z:-0.57 [[ 9.99827145e-01 1.83784736e-02 -2.81271647e-03 7.63919349e+01] [-1.83779467e-02 9.99831089e-01 2.13027625e-04 -7.74205192e+00] [ 2.81615650e-03 -1.61298849e-04 9.99996022e-01 -5.70252559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.737552018 meters 0.04220071618834491 Centerline is valid? [True, True] Translation: X:76.42, Y:-7.75, Z:-0.57 [[ 9.99805515e-01 1.96039564e-02 -2.14866291e-03 7.64199649e+01] [-1.96036524e-02 9.99807817e-01 1.62444675e-04 -7.74729361e+00] [ 2.15143453e-03 -1.20291441e-04 9.99997678e-01 -5.70562933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76755201799999 meters 0.035919219345385896 Centerline is valid? [True, True] Translation: X:76.45, Y:-7.74, Z:-0.57 [[ 9.99755469e-01 2.21014128e-02 -7.27170404e-04 7.64503858e+01] [-2.21013787e-02 9.99755733e-01 5.48512916e-05 -7.73958464e+00] [ 7.28205072e-04 -3.87664102e-05 9.99999734e-01 -5.69379314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79755201799999 meters 0.037725219996249997 Centerline is valid? [True, True] Translation: X:76.48, Y:-7.74, Z:-0.57 [[ 9.99735322e-01 2.30005971e-02 -5.08065480e-04 7.64775193e+01] [-2.30005808e-02 9.99735451e-01 3.77803455e-05 -7.74406612e+00] [ 5.08800043e-04 -2.60845447e-05 9.99999870e-01 -5.70034273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82755201799999 meters 0.039837415004100825 Centerline is valid? [True, True] Translation: X:76.50, Y:-7.75, Z:-0.57 [[ 9.99717044e-01 2.37841903e-02 -3.80787369e-04 7.65049919e+01] [-2.37841813e-02 9.99717116e-01 2.81339163e-05 -7.74807320e+00] [ 3.81348793e-04 -1.90692398e-05 9.99999927e-01 -5.70707477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85755201799999 meters 0.03520208593776221 Centerline is valid? [True, True] Translation: X:76.53, Y:-7.74, Z:-0.57 [[ 9.99665075e-01 2.58790245e-02 -1.15746186e-04 7.65348115e+01] [-2.58790237e-02 9.99665082e-01 8.33796079e-06 -7.74084739e+00] [ 1.15923199e-04 -5.33976990e-06 9.99999993e-01 -5.69728280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.887552018 meters 0.035313798205689285 Centerline is valid? [True, True] Translation: X:76.56, Y:-7.74, Z:-0.57 [[ 9.99655055e-01 2.62623155e-02 -2.47966397e-04 7.65640046e+01] [-2.62623118e-02 9.99655086e-01 1.81752855e-05 -7.74220699e+00] [ 2.48358195e-04 -1.16568451e-05 9.99999969e-01 -5.70013368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.917552018 meters 0.03588951492711841 Centerline is valid? [True, True] Translation: X:76.59, Y:-7.74, Z:-0.57 [[ 9.99644886e-01 2.66461947e-02 -2.87035717e-04 7.65916398e+01] [-2.66461897e-02 9.99644927e-01 2.09669271e-05 -7.74499037e+00] [ 2.87492487e-04 -1.33110732e-05 9.99999959e-01 -5.71300979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.947552018 meters 0.03583575567746708 Centerline is valid? [True, True] Translation: X:76.62, Y:-7.75, Z:-0.57 [[ 9.99656275e-01 2.62152802e-02 -3.03064185e-04 7.66198313e+01] [-2.62152747e-02 9.99656320e-01 2.21504267e-05 -7.74721738e+00] [ 3.03540708e-04 -1.41979022e-05 9.99999954e-01 -5.72038270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.977552018 meters 0.03551368280146742 Centerline is valid? [True, True] Translation: X:76.65, Y:-7.75, Z:-0.57 [[ 9.99662014e-01 2.59927793e-02 -4.82135024e-04 7.66487653e+01] [-2.59927651e-02 9.99662130e-01 3.57269813e-05 -7.74880946e+00] [ 4.82900769e-04 -2.31828837e-05 9.99999883e-01 -5.72533483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.007552018 meters 0.035863598860368405 Centerline is valid? [True, True] Translation: X:76.68, Y:-7.75, Z:-0.57 [[ 9.99672546e-01 2.55675005e-02 -1.05053869e-03 7.66770742e+01] [-2.55674322e-02 9.99673097e-01 7.84050723e-05 -7.75157661e+00] [ 1.05219989e-03 -5.15198215e-05 9.99999445e-01 -5.73275537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.037552018 meters 0.034551108367342515 Centerline is valid? [True, True] Translation: X:76.71, Y:-7.75, Z:-0.57 [[ 9.99696508e-01 2.45672433e-02 -1.82827824e-03 7.67061645e+01] [-2.45670343e-02 9.99698176e-01 1.36685311e-04 -7.75143958e+00] [ 1.83108441e-03 -9.17284542e-05 9.99998319e-01 -5.73171325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.067552018 meters 0.03861506411534785 Centerline is valid? [True, True] Translation: X:76.73, Y:-7.76, Z:-0.58 [[ 9.99721612e-01 2.34953238e-02 -2.16048532e-03 7.67328771e+01] [-2.34950304e-02 9.99723941e-01 1.61099804e-04 -7.76085599e+00] [ 2.16367399e-03 -1.10294288e-04 9.99997653e-01 -5.75381806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.097552018 meters 0.03582551444161981 Centerline is valid? [True, True] Translation: X:76.76, Y:-7.76, Z:-0.57 [[ 9.99733683e-01 2.29522329e-02 -2.39960695e-03 7.67616431e+01] [-2.29518689e-02 9.99736555e-01 1.79113940e-04 -7.75943686e+00] [ 2.40308585e-03 -1.23990775e-04 9.99997105e-01 -5.74974785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12755201799999 meters 0.036107190639915396 Centerline is valid? [True, True] Translation: X:76.79, Y:-7.76, Z:-0.58 [[ 9.99742506e-01 2.25944688e-02 -2.10028287e-03 7.67905099e+01] [-2.25941896e-02 9.99744706e-01 1.56544141e-04 -7.76233810e+00] [ 2.10328371e-03 -1.09049643e-04 9.99997782e-01 -5.75044971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15755201799999 meters 0.036354691927380785 Centerline is valid? [True, True] Translation: X:76.82, Y:-7.76, Z:-0.57 [[ 9.99737124e-01 2.27976078e-02 -2.43965493e-03 7.68191696e+01] [-2.27972320e-02 9.99740093e-01 1.81741695e-04 -7.76370881e+00] [ 2.44316412e-03 -1.26076540e-04 9.99997008e-01 -5.74557853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18755201799999 meters 0.03586799563533446 Centerline is valid? [True, True] Translation: X:76.85, Y:-7.77, Z:-0.57 [[ 9.99729653e-01 2.31708199e-02 -1.93238846e-03 7.68482433e+01] [-2.31705854e-02 9.99731516e-01 1.43691651e-04 -7.76521277e+00] [ 1.93519910e-03 -9.88782326e-05 9.99998123e-01 -5.74172438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21755201799999 meters 0.036366131373989675 Centerline is valid? [True, True] Translation: X:76.88, Y:-7.77, Z:-0.57 [[ 9.99733428e-01 2.30597174e-02 -1.14970205e-03 7.68763730e+01] [-2.30596352e-02 9.99734088e-01 8.46736287e-05 -7.76776936e+00] [ 1.15134888e-03 -5.81393471e-05 9.99999336e-01 -5.73482231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.247552018 meters 0.03677232236956884 Centerline is valid? [True, True] Translation: X:76.90, Y:-7.77, Z:-0.57 [[ 9.99722331e-01 2.35450048e-02 9.45504759e-04 7.69038590e+01] [-2.35449482e-02 9.99722777e-01 -7.10155055e-05 -7.77068902e+00] [-9.46914704e-04 4.87339261e-05 9.99999550e-01 -5.72421651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.277552018 meters 0.03558554584410668 Centerline is valid? [True, True] Translation: X:76.93, Y:-7.77, Z:-0.57 [[ 9.99719841e-01 2.36347016e-02 1.28039358e-03 7.69324760e+01] [-2.36345984e-02 9.99720659e-01 -9.57111098e-05 -7.77164469e+00] [-1.28229802e-03 6.54227075e-05 9.99999176e-01 -5.72346334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.307552018 meters 0.035673899480891905 Centerline is valid? [True, True] Translation: X:76.96, Y:-7.78, Z:-0.57 [[ 9.99708483e-01 2.40226630e-02 2.42108445e-03 7.69615514e+01] [-2.40222969e-02 9.99711407e-01 -1.80222771e-04 -7.77532909e+00] [-2.42471517e-03 1.22010224e-04 9.99997053e-01 -5.72477149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.337552018 meters 0.03490045250525036 Centerline is valid? [True, True] Translation: X:76.99, Y:-7.78, Z:-0.57 [[ 9.99696910e-01 2.44782866e-02 2.62703741e-03 7.69901384e+01] [-2.44778573e-02 9.99700353e-01 -1.95457135e-04 -7.77590536e+00] [-2.63103468e-03 1.31093647e-04 9.99996530e-01 -5.71937433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.367552018 meters 0.03741037701776317 Centerline is valid? [True, True] Translation: X:77.02, Y:-7.78, Z:-0.57 [[ 9.99686554e-01 2.48870974e-02 2.72519913e-03 7.70173693e+01] [-2.48866374e-02 9.99690259e-01 -2.02609234e-04 -7.78139702e+00] [-2.72939738e-03 1.34724685e-04 9.99996266e-01 -5.71996847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.397552018 meters 0.03747007623248212 Centerline is valid? [True, True] Translation: X:77.04, Y:-7.78, Z:-0.57 [[ 9.99645260e-01 2.65274273e-02 2.37685604e-03 7.70448255e+01] [-2.65270823e-02 9.99648079e-01 -1.76548285e-04 -7.78361195e+00] [-2.38070295e-03 1.13434601e-04 9.99997160e-01 -5.73176918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.427552018 meters 0.03748283689744949 Centerline is valid? [True, True] Translation: X:77.07, Y:-7.79, Z:-0.57 [[ 9.99624783e-01 2.73266281e-02 1.88354641e-03 7.70729602e+01] [-2.73264131e-02 9.99626554e-01 -1.39766884e-04 -7.78645675e+00] [-1.88666236e-03 8.82438734e-05 9.99998216e-01 -5.74484815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.457552018 meters 0.037346362891832616 Centerline is valid? [True, True] Translation: X:77.10, Y:-7.79, Z:-0.58 [[ 9.99603071e-01 2.81611811e-02 8.04948193e-04 7.71020556e+01] [-2.81611416e-02 9.99603395e-01 -6.03394736e-05 -7.78925759e+00] [-8.06328177e-04 3.76472631e-05 9.99999674e-01 -5.76523359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.487552018 meters 0.03447608428241737 Centerline is valid? [True, True] Translation: X:77.13, Y:-7.79, Z:-0.58 [[ 9.99600363e-01 2.82664033e-02 3.54413035e-04 7.71313396e+01] [-2.82663956e-02 9.99600425e-01 -2.66585000e-05 -7.78652036e+00] [-3.55024960e-04 1.66298672e-05 9.99999937e-01 -5.76416897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51755201799999 meters 0.03181619000577842 Centerline is valid? [True, True] Translation: X:77.16, Y:-7.78, Z:-0.58 [[ 9.99574059e-01 2.91717576e-02 -8.41620626e-04 7.71601042e+01] [-2.91717162e-02 9.99574413e-01 6.14353887e-05 -7.78472901e+00] [ 8.43054621e-04 -3.68577028e-05 9.99999644e-01 -5.77418748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54755201799999 meters 0.03243550508896276 Centerline is valid? [True, True] Translation: X:77.19, Y:-7.79, Z:-0.58 [[ 9.99580751e-01 2.89348549e-02 -1.04740567e-03 7.71874401e+01] [-2.89347907e-02 9.99581298e-01 7.63579964e-05 -7.78819666e+00] [ 1.04917653e-03 -4.60195194e-05 9.99999449e-01 -5.78314187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57755201799999 meters 0.032800574060913856 Centerline is valid? [True, True] Translation: X:77.22, Y:-7.79, Z:-0.58 [[ 9.99583231e-01 2.88635636e-02 -5.08461734e-04 7.72160497e+01] [-2.88635486e-02 9.99583360e-01 3.68181195e-05 -7.79095635e+00] [ 5.09312590e-04 -2.21267649e-05 9.99999870e-01 -5.78237288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60755201799999 meters 0.03268697205035115 Centerline is valid? [True, True] Translation: X:77.24, Y:-7.79, Z:-0.58 [[ 9.99595052e-01 2.84549553e-02 -2.18845977e-04 7.72448530e+01] [-2.84549526e-02 9.99595076e-01 1.55208709e-05 -7.79278564e+00] [ 2.19199007e-04 -9.28733380e-06 9.99999976e-01 -5.76719164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.637552018 meters 0.03332644777673249 Centerline is valid? [True, True] Translation: X:77.27, Y:-7.80, Z:-0.58 [[ 9.99606656e-01 2.80444576e-02 2.04630892e-04 7.72736786e+01] [-2.80444550e-02 9.99606677e-01 -1.55433946e-05 -7.79571949e+00] [-2.04986312e-04 9.79851884e-06 9.99999979e-01 -5.76884647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.667552018 meters 0.03227376784144036 Centerline is valid? [True, True] Translation: X:77.30, Y:-7.80, Z:-0.58 [[ 9.99634890e-01 2.69983387e-02 1.08434161e-03 7.73019286e+01] [-2.69982677e-02 9.99635477e-01 -8.00950060e-05 -7.79760982e+00] [-1.08610878e-03 5.07904174e-05 9.99999409e-01 -5.76646973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.697552018 meters 0.03327553573839122 Centerline is valid? [True, True] Translation: X:77.33, Y:-7.80, Z:-0.58 [[ 9.99651863e-01 2.63408569e-02 1.52081647e-03 7.73297105e+01] [-2.63407167e-02 9.99653017e-01 -1.12138980e-04 -7.80181100e+00] [-1.52324261e-03 7.20405443e-05 9.99998837e-01 -5.76695361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.727552018 meters 0.03393716966453969 Centerline is valid? [True, True] Translation: X:77.36, Y:-7.81, Z:-0.58 [[ 9.99695236e-01 2.46480086e-02 1.38219923e-03 7.73582000e+01] [-2.46478919e-02 9.99696189e-01 -1.01457997e-04 -7.80621667e+00] [-1.38428004e-03 6.73587794e-05 9.99999040e-01 -5.76680440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.757552018 meters 0.035276464399951225 Centerline is valid? [True, True] Translation: X:77.39, Y:-7.81, Z:-0.58 [[ 9.99714971e-01 2.38038922e-02 1.83070771e-03 7.73856820e+01] [-2.38036864e-02 9.99716643e-01 -1.34158291e-04 -7.81093195e+00] [-1.83338245e-03 9.05424599e-05 9.99998315e-01 -5.76738961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.787552018 meters 0.035276464399951225 Centerline is valid? [True, True] Translation: X:77.41, Y:-7.81, Z:-0.58 [[ 9.99717666e-01 2.36904373e-02 1.83071374e-03 7.74130992e+01] [-2.36902314e-02 9.99719338e-01 -1.34075959e-04 -7.81281860e+00] [-1.83337625e-03 9.06680727e-05 9.99998315e-01 -5.76933358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.817552018 meters 0.035560695338905574 Centerline is valid? [True, True] Translation: X:77.44, Y:-7.82, Z:-0.58 [[ 9.99732479e-01 2.30702926e-02 1.65281033e-03 7.74415696e+01] [-2.30701245e-02 9.99733842e-01 -1.20731716e-04 -7.81594578e+00] [-1.65515574e-03 8.25688771e-05 9.99998627e-01 -5.77074448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.847552018 meters 0.03586101931986303 Centerline is valid? [True, True] Translation: X:77.47, Y:-7.82, Z:-0.58 [[ 9.99755350e-01 2.20892327e-02 1.14282764e-03 7.74698188e+01] [-2.20891516e-02 9.99756001e-01 -8.35588915e-05 -7.81999674e+00] [-1.14439455e-03 5.82943557e-05 9.99999343e-01 -5.77670481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87755201799999 meters 0.03595149167342663 Centerline is valid? [True, True] Translation: X:77.50, Y:-7.82, Z:-0.58 [[ 9.99750831e-01 2.22792089e-02 1.38285252e-03 7.74986989e+01] [-2.22790906e-02 9.99751785e-01 -1.00888654e-04 -7.82258796e+00] [-1.38475699e-03 7.00548188e-05 9.99999039e-01 -5.77743353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90755201799999 meters 0.03412062018970534 Centerline is valid? [True, True] Translation: X:77.53, Y:-7.82, Z:-0.58 [[ 9.99723269e-01 2.34962778e-02 1.14489300e-03 7.75281762e+01] [-2.34961976e-02 9.99723923e-01 -8.34285253e-05 -7.82214228e+00] [-1.14653718e-03 5.65048058e-05 9.99999341e-01 -5.78162998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93755201799999 meters 0.03510823528387582 Centerline is valid? [True, True] Translation: X:77.56, Y:-7.83, Z:-0.58 [[ 9.99704402e-01 2.42888729e-02 1.07640826e-03 7.75554474e+01] [-2.42888023e-02 9.99704980e-01 -7.86264897e-05 -7.82619553e+00] [-1.07800045e-03 5.24585804e-05 9.99999418e-01 -5.79358105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96755201799999 meters 0.034089090821386094 Centerline is valid? [True, True] Translation: X:77.58, Y:-7.83, Z:-0.58 [[ 9.99673172e-01 2.55375857e-02 1.17494030e-03 7.75843215e+01] [-2.55375028e-02 9.99673861e-01 -8.55311730e-05 -7.82675086e+00] [-1.17674136e-03 5.54981780e-05 9.99999306e-01 -5.79752061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.997552018 meters 0.033509958399752154 Centerline is valid? [True, True] Translation: X:77.61, Y:-7.83, Z:-0.58 [[ 9.99587088e-01 2.86940733e-02 1.51760428e-03 7.76133549e+01] [-2.86939393e-02 9.99588238e-01 -1.09990005e-04 -7.82756058e+00] [-1.52013545e-03 6.63985436e-05 9.99998842e-01 -5.79433167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.027552018 meters 0.033569491911640124 Centerline is valid? [True, True] Translation: X:77.64, Y:-7.83, Z:-0.58 [[ 9.99556715e-01 2.97479187e-02 1.19805051e-03 7.76411793e+01] [-2.97478353e-02 9.99557431e-01 -8.73796987e-05 -7.82899894e+00] [-1.20011965e-03 5.17015554e-05 9.99999279e-01 -5.79565635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.057552018 meters 0.03149803396272617 Centerline is valid? [True, True] Translation: X:77.67, Y:-7.83, Z:-0.58 [[ 9.99453208e-01 3.30552538e-02 7.96786160e-04 7.76711271e+01] [-3.30552183e-02 9.99453525e-01 -5.77374838e-05 -7.82692314e+00] [-7.98259263e-04 3.13679730e-05 9.99999681e-01 -5.80314781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.087552018 meters 0.02944245964949018 Centerline is valid? [True, True] Translation: X:77.70, Y:-7.82, Z:-0.58 [[ 9.99400797e-01 3.45936997e-02 1.15001537e-03 7.77005034e+01] [-3.45936266e-02 9.99401458e-01 -8.34099074e-05 -7.82497124e+00] [-1.15221250e-03 4.35767257e-05 9.99999335e-01 -5.80535057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.117552018 meters 0.0291055250618902 Centerline is valid? [True, True] Translation: X:77.73, Y:-7.83, Z:-0.58 [[ 9.99342221e-01 3.62203047e-02 1.79279915e-03 7.77284844e+01] [-3.62201299e-02 9.99343827e-01 -1.29910089e-04 -7.82639524e+00] [-1.79632815e-03 6.48892186e-05 9.99998384e-01 -5.80403612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.147552018 meters 0.02724019962967873 Centerline is valid? [True, True] Translation: X:77.76, Y:-7.82, Z:-0.58 [[ 9.99243401e-01 3.88542424e-02 1.72420016e-03 7.77575577e+01] [-3.88540855e-02 9.99244887e-01 -1.24422284e-04 -7.82405025e+00] [-1.72773252e-03 5.73359261e-05 9.99998506e-01 -5.80039096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.177552018 meters 0.027749862049274893 Centerline is valid? [True, True] Translation: X:77.78, Y:-7.83, Z:-0.58 [[ 9.99243315e-01 3.88642226e-02 1.53937578e-03 7.77844539e+01] [-3.88640971e-02 9.99244499e-01 -1.11342642e-04 -7.82676218e+00] [-1.54254003e-03 5.14319406e-05 9.99998809e-01 -5.80615781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.207552018 meters 0.027516053501687267 Centerline is valid? [True, True] Translation: X:77.81, Y:-7.83, Z:-0.58 [[ 9.99239906e-01 3.89430480e-02 1.74650264e-03 7.78136273e+01] [-3.89428862e-02 9.99241430e-01 -1.26558784e-04 -7.82839492e+00] [-1.75010638e-03 5.84487337e-05 9.99998467e-01 -5.80966970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.237552018 meters 0.027731951792414333 Centerline is valid? [True, True] Translation: X:77.84, Y:-7.83, Z:-0.58 [[ 9.99244608e-01 3.88062917e-02 2.06987103e-03 7.78410084e+01] [-3.88060673e-02 9.99246750e-01 -1.48467725e-04 -7.83068034e+00] [-2.07407338e-03 6.80320190e-05 9.99997847e-01 -5.81046817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26755201799999 meters 0.027429490588233702 Centerline is valid? [True, True] Translation: X:77.87, Y:-7.83, Z:-0.58 [[ 9.99263964e-01 3.82950804e-02 2.24009060e-03 7.78697027e+01] [-3.82948175e-02 9.99266472e-01 -1.60167972e-04 -7.83305787e+00] [-2.24458108e-03 7.42662218e-05 9.99997478e-01 -5.81404889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29755201799999 meters 0.02783624376006737 Centerline is valid? [True, True] Translation: X:77.90, Y:-7.84, Z:-0.58 [[ 9.99305921e-01 3.71738125e-02 2.40514447e-03 7.78986370e+01] [-3.71735067e-02 9.99308812e-01 -1.71741207e-04 -7.83746509e+00] [-2.40986634e-03 8.22143503e-05 9.99997093e-01 -5.82475728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32755201799999 meters 0.028755176271007512 Centerline is valid? [True, True] Translation: X:77.93, Y:-7.84, Z:-0.58 [[ 9.99332930e-01 3.64375689e-02 2.44935966e-03 7.79263415e+01] [-3.64372498e-02 9.99335928e-01 -1.74783837e-04 -7.84150091e+00] [-2.45410181e-03 8.54193139e-05 9.99996985e-01 -5.82650016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35755201799999 meters 0.028360093060167263 Centerline is valid? [True, True] Translation: X:77.96, Y:-7.84, Z:-0.58 [[ 9.99406557e-01 3.43352513e-02 2.76132859e-03 7.79552796e+01] [-3.43348390e-02 9.99410366e-01 -1.96616815e-04 -7.84351529e+00] [-2.76645131e-03 1.01690361e-04 9.99996168e-01 -5.82042960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.387552018 meters 0.029515157844202847 Centerline is valid? [True, True] Translation: X:77.98, Y:-7.85, Z:-0.58 [[ 9.99449080e-01 3.30816110e-02 2.67283983e-03 7.79829908e+01] [-3.30812199e-02 9.99452649e-01 -1.90410704e-04 -7.84840416e+00] [-2.67767594e-03 1.01885000e-04 9.99996410e-01 -5.82844588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.417552018 meters 0.029996093750079368 Centerline is valid? [True, True] Translation: X:78.01, Y:-7.85, Z:-0.58 [[ 9.99486091e-01 3.19530498e-02 2.56043431e-03 7.80116844e+01] [-3.19526888e-02 9.99489366e-01 -1.81771642e-04 -7.85212730e+00] [-2.56493502e-03 9.98654676e-05 9.99996706e-01 -5.83536528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.447552018 meters 0.03006899231033897 Centerline is valid? [True, True] Translation: X:78.04, Y:-7.86, Z:-0.59 [[ 9.99546953e-01 3.00449090e-02 1.78664578e-03 7.80397688e+01] [-3.00447296e-02 9.99548547e-01 -1.27205514e-04 -7.85604174e+00] [-1.78966107e-03 7.34685942e-05 9.99998396e-01 -5.85079794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.477552018 meters 0.03080774614818371 Centerline is valid? [True, True] Translation: X:78.07, Y:-7.86, Z:-0.59 [[ 9.99572074e-01 2.92238264e-02 1.27939497e-03 7.80670301e+01] [-2.92237339e-02 9.99572891e-01 -9.09338530e-05 -7.85971245e+00] [-1.28150596e-03 5.35062420e-05 9.99999177e-01 -5.85920689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.507552018 meters 0.0307296891424797 Centerline is valid? [True, True] Translation: X:78.09, Y:-7.86, Z:-0.59 [[ 9.99575507e-01 2.90965823e-02 1.48148707e-03 7.80947343e+01] [-2.90964584e-02 9.99576603e-01 -1.05153565e-04 -7.86169133e+00] [-1.48391942e-03 6.20029008e-05 9.99998897e-01 -5.85686256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.537552018 meters 0.0313407669212175 Centerline is valid? [True, True] Translation: X:78.12, Y:-7.86, Z:-0.59 [[ 9.99580801e-01 2.89162612e-02 1.43929788e-03 7.81224299e+01] [-2.89161444e-02 9.99581836e-01 -1.01901232e-04 -7.86433023e+00] [-1.44164262e-03 6.02395700e-05 9.99998959e-01 -5.86083282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.567552018 meters 0.03161157025778638 Centerline is valid? [True, True] Translation: X:78.15, Y:-7.87, Z:-0.59 [[ 9.99578922e-01 2.89866545e-02 1.32364887e-03 7.81509603e+01] [-2.89865560e-02 9.99579797e-01 -9.35251145e-05 -7.86768833e+00] [-1.32580365e-03 5.51177110e-05 9.99999120e-01 -5.87091090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.597552018 meters 0.031379563633243485 Centerline is valid? [True, True] Translation: X:78.18, Y:-7.87, Z:-0.59 [[ 9.99591285e-01 2.85566530e-02 1.33441804e-03 7.81794212e+01] [-2.85565527e-02 9.99592174e-01 -9.41833809e-05 -7.87213589e+00] [-1.33656340e-03 5.60385076e-05 9.99999105e-01 -5.88444751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62755201799999 meters 0.031481621113065086 Centerline is valid? [True, True] Translation: X:78.21, Y:-7.88, Z:-0.59 [[ 9.99601649e-01 2.81904308e-02 1.35742872e-03 7.82084874e+01] [-2.81903268e-02 9.99602569e-01 -9.56923705e-05 -7.87523874e+00] [-1.35958684e-03 5.73878922e-05 9.99999074e-01 -5.88039022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65755201799999 meters 0.03292628834943317 Centerline is valid? [True, True] Translation: X:78.24, Y:-7.88, Z:-0.59 [[ 9.99593922e-01 2.84732799e-02 1.12421918e-03 7.82358204e+01] [-2.84732084e-02 9.99594553e-01 -7.96033043e-05 -7.87879821e+00] [-1.12602994e-03 4.75608520e-05 9.99999365e-01 -5.87910506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68755201799999 meters 0.03210561728138733 Centerline is valid? [True, True] Translation: X:78.26, Y:-7.88, Z:-0.59 [[ 9.99575320e-01 2.90958097e-02 1.61644217e-03 7.82647966e+01] [-2.90956642e-02 9.99576625e-01 -1.13501624e-04 -7.88023824e+00] [-1.61906023e-03 6.64219636e-05 9.99998687e-01 -5.87901811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71755201799999 meters 0.031149112656707483 Centerline is valid? [True, True] Translation: X:78.29, Y:-7.88, Z:-0.59 [[ 9.99549747e-01 2.99271744e-02 2.16058935e-03 7.82932544e+01] [-2.99269170e-02 9.99552078e-01 -1.51376975e-04 -7.88170145e+00] [-2.16415186e-03 8.66490388e-05 9.99997654e-01 -5.87936737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.747552018 meters 0.029144682545870392 Centerline is valid? [True, True] Translation: X:78.32, Y:-7.88, Z:-0.59 [[ 9.99490158e-01 3.18557475e-02 2.15304710e-03 7.83224436e+01] [-3.18554967e-02 9.99492474e-01 -1.50699010e-04 -7.88192157e+00] [-2.15675501e-03 8.20357928e-05 9.99997671e-01 -5.88194496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.777552018 meters 0.029617757840748823 Centerline is valid? [True, True] Translation: X:78.35, Y:-7.88, Z:-0.59 [[ 9.99445103e-01 3.32636246e-02 1.73713023e-03 7.83506867e+01] [-3.32634635e-02 9.99446610e-01 -1.21554079e-04 -7.88426552e+00] [-1.74021225e-03 6.37036609e-05 9.99998484e-01 -5.88734711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.807552018 meters 0.028408471197558106 Centerline is valid? [True, True] Translation: X:78.38, Y:-7.88, Z:-0.59 [[ 9.99362924e-01 3.56290819e-02 2.07731673e-03 7.83792006e+01] [-3.56288572e-02 9.99365080e-01 -1.45088948e-04 -7.88458980e+00] [-2.08116719e-03 7.09840937e-05 9.99997832e-01 -5.88168405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.837552018 meters 0.02760448883165369 Centerline is valid? [True, True] Translation: X:78.41, Y:-7.89, Z:-0.59 [[ 9.99299491e-01 3.73387135e-02 2.51943476e-03 7.84078570e+01] [-3.73383892e-02 9.99302664e-01 -1.75660441e-04 -7.88594653e+00] [-2.52423680e-03 8.14657537e-05 9.99996811e-01 -5.88006912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.867552018 meters 0.02706862608488027 Centerline is valid? [True, True] Translation: X:78.44, Y:-7.89, Z:-0.59 [[ 9.99234091e-01 3.90732001e-02 2.12538580e-03 7.84369203e+01] [-3.90729734e-02 9.99236349e-01 -1.48114448e-04 -7.88673652e+00] [-2.12955005e-03 6.49558623e-05 9.99997730e-01 -5.88190896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.897552018 meters 0.026351269699906844 Centerline is valid? [True, True] Translation: X:78.46, Y:-7.89, Z:-0.59 [[ 9.99092668e-01 4.25601598e-02 1.57301359e-03 7.84647098e+01] [-4.25600397e-02 9.99093905e-01 -1.09741647e-04 -7.88912383e+00] [-1.57625891e-03 4.26945538e-05 9.99998757e-01 -5.90066194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.927552018 meters 0.025823382098197987 Centerline is valid? [True, True] Translation: X:78.49, Y:-7.89, Z:-0.59 [[ 9.99011505e-01 4.44175511e-02 1.75902954e-03 7.84919953e+01] [-4.44174043e-02 9.99013053e-01 -1.22462418e-04 -7.89139457e+00] [-1.76273295e-03 4.42098386e-05 9.99998445e-01 -5.90516603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.957552018 meters 0.02434454955599768 Centerline is valid? [True, True] Translation: X:78.52, Y:-7.89, Z:-0.59 [[ 9.98825367e-01 4.84390498e-02 1.24259370e-03 7.85211027e+01] [-4.84389797e-02 9.98826140e-01 -8.64830002e-05 -7.89239031e+00] [-1.24532423e-03 2.61914432e-05 9.99999224e-01 -5.90629096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.987552018 meters 0.024571767189887843 Centerline is valid? [True, True] Translation: X:78.55, Y:-7.90, Z:-0.59 [[ 9.98717046e-01 5.06076795e-02 1.76765296e-03 7.85485821e+01] [-5.06075414e-02 9.98718610e-01 -1.22759491e-04 -7.89575777e+00] [-1.77160048e-03 3.31454255e-05 9.99998430e-01 -5.91120631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.01755201799999 meters 0.023752499009812578 Centerline is valid? [True, True] Translation: X:78.58, Y:-7.90, Z:-0.59 [[ 9.98566771e-01 5.34757744e-02 2.17820176e-03 7.85776489e+01] [-5.34755727e-02 9.98569147e-01 -1.50811916e-04 -7.89659793e+00] [-2.18314986e-03 3.41151816e-05 9.99997616e-01 -5.90505489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04755201799999 meters 0.022466153855956076 Centerline is valid? [True, True] Translation: X:78.61, Y:-7.90, Z:-0.59 [[ 9.98261871e-01 5.88221505e-02 3.63194154e-03 7.86064857e+01] [-5.88216246e-02 9.98268478e-01 -2.51542815e-04 -7.89749692e+00] [-3.64044904e-03 3.74688987e-05 9.99993373e-01 -5.89133439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07755201799999 meters 0.02211078649691979 Centerline is valid? [True, True] Translation: X:78.63, Y:-7.90, Z:-0.59 [[ 9.98107185e-01 6.13627093e-02 4.08236524e-03 7.86345878e+01] [-6.13620740e-02 9.98115533e-01 -2.80803591e-04 -7.90028740e+00] [-4.09190303e-03 2.97696833e-05 9.99991628e-01 -5.89745551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10755201799999 meters 0.02210920506952362 Centerline is valid? [True, True] Translation: X:78.66, Y:-7.91, Z:-0.59 [[ 9.97843645e-01 6.55011997e-02 4.20156239e-03 7.86623219e+01] [-6.55005653e-02 9.97852490e-01 -2.88558333e-04 -7.90535328e+00] [-4.21144041e-03 1.27313866e-05 9.99991132e-01 -5.90594659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.137552018 meters 0.021870881915807952 Centerline is valid? [True, True] Translation: X:78.69, Y:-7.91, Z:-0.59 [[ 9.97781787e-01 6.64438055e-02 4.08980506e-03 7.86903439e+01] [-6.64432113e-02 9.97790169e-01 -2.81142736e-04 -7.90915113e+00] [-4.09944748e-03 8.77931917e-06 9.99991597e-01 -5.91049187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.167552018 meters 0.021641182440981503 Centerline is valid? [True, True] Translation: X:78.72, Y:-7.91, Z:-0.59 [[ 9.97726342e-01 6.72443751e-02 4.51004458e-03 7.87180890e+01] [-6.72436681e-02 9.97736535e-01 -3.08388972e-04 -7.91384340e+00] [-4.52057368e-03 4.41585991e-06 9.99989782e-01 -5.91855036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.197552018 meters 0.021495591775294604 Centerline is valid? [True, True] Translation: X:78.74, Y:-7.92, Z:-0.59 [[ 9.97749344e-01 6.69379052e-02 3.94498862e-03 7.87448557e+01] [-6.69373678e-02 9.97757143e-01 -2.68235965e-04 -7.92345384e+00] [-3.95409573e-03 3.56510402e-06 9.99992183e-01 -5.92824794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.227552018 meters 0.021613654870312818 Centerline is valid? [True, True] Translation: X:78.77, Y:-7.93, Z:-0.59 [[ 9.97823942e-01 6.57997931e-02 4.21523740e-03 7.87721523e+01] [-6.57991701e-02 9.97832845e-01 -2.86458520e-04 -7.92982894e+00] [-4.22495124e-03 8.47604742e-06 9.99991075e-01 -5.93415803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.257552018 meters 0.021512744245629507 Centerline is valid? [True, True] Translation: X:78.80, Y:-7.94, Z:-0.59 [[ 9.97914868e-01 6.44048027e-02 4.23536733e-03 7.87992918e+01] [-6.44041668e-02 9.97923855e-01 -2.86511615e-04 -7.93697777e+00] [-4.24502682e-03 1.31388958e-05 9.99990990e-01 -5.93956879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.287552018 meters 0.021413113948293514 Centerline is valid? [True, True] Translation: X:78.83, Y:-7.95, Z:-0.59 [[ 9.98131660e-01 6.09273656e-02 4.58761814e-03 7.88271021e+01] [-6.09265905e-02 9.98142202e-01 -3.08653564e-04 -7.94896922e+00] [-4.59790072e-03 2.85689621e-05 9.99989429e-01 -5.94258933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.317552018 meters 0.02250611590155583 Centerline is valid? [True, True] Translation: X:78.85, Y:-7.96, Z:-0.59 [[ 9.98362627e-01 5.70426586e-02 4.26616931e-03 7.88548625e+01] [-5.70419571e-02 9.98371741e-01 -2.86044100e-04 -7.96093493e+00] [-4.27553960e-03 4.22250928e-05 9.99990859e-01 -5.94015540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.347552018 meters 0.02209180336639652 Centerline is valid? [True, True] Translation: X:78.88, Y:-7.97, Z:-0.59 [[ 9.98551216e-01 5.36134565e-02 4.58980358e-03 7.88833361e+01] [-5.36126169e-02 9.98561763e-01 -3.05860991e-04 -7.96887833e+00] [-4.59960062e-03 5.93464834e-05 9.99989420e-01 -5.94704777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37755201799999 meters 0.022226525891630298 Centerline is valid? [True, True] Translation: X:78.91, Y:-7.98, Z:-0.60 [[ 9.98692373e-01 5.09302947e-02 4.43274602e-03 7.89116544e+01] [-5.09294866e-02 9.98702208e-01 -2.95059931e-04 -7.97744920e+00] [-4.44202073e-03 6.89166231e-05 9.99990132e-01 -5.95604562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40755201799999 meters 0.022969712806610657 Centerline is valid? [True, True] Translation: X:78.94, Y:-7.99, Z:-0.60 [[ 9.98826082e-01 4.82225315e-02 4.58746644e-03 7.89391169e+01] [-4.82216390e-02 9.98836614e-01 -3.05022534e-04 -7.98572533e+00] [-4.59683840e-03 8.34493120e-05 9.99989431e-01 -5.96081169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43755201799999 meters 0.024448818183771436 Centerline is valid? [True, True] Translation: X:78.97, Y:-8.00, Z:-0.60 [[ 9.99035130e-01 4.35933248e-02 5.33215436e-03 7.89656962e+01] [-4.35920559e-02 9.99049352e-01 -3.54009344e-04 -7.99974245e+00] [-5.34251780e-03 1.21228200e-04 9.99985721e-01 -5.95512279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46755201799999 meters 0.02451285746343802 Centerline is valid? [True, True] Translation: X:78.99, Y:-8.01, Z:-0.60 [[ 9.99104411e-01 4.19418822e-02 5.59059084e-03 7.89945857e+01] [-4.19404676e-02 9.99120043e-01 -3.70086717e-04 -8.00500500e+00] [-5.60119349e-03 1.35283277e-04 9.99984304e-01 -5.95582939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.497552018 meters 0.025161728812292863 Centerline is valid? [True, True] Translation: X:79.02, Y:-8.02, Z:-0.60 [[ 9.99195032e-01 3.96131605e-02 6.33125586e-03 7.90214196e+01] [-3.96113028e-02 9.99215077e-01 -4.18592332e-04 -8.01537042e+00] [-6.34286807e-03 1.67466086e-04 9.99979870e-01 -5.95767519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.527552018 meters 0.024557177833527698 Centerline is valid? [True, True] Translation: X:79.05, Y:-8.02, Z:-0.60 [[ 9.99221991e-01 3.88464034e-02 6.80957165e-03 7.90501909e+01] [-3.88442431e-02 9.99245177e-01 -4.49267027e-04 -8.01980048e+00] [-6.82188404e-03 1.84404837e-04 9.99976714e-01 -5.95966866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.557552018 meters 0.02484058494116513 Centerline is valid? [True, True] Translation: X:79.08, Y:-8.03, Z:-0.60 [[ 9.99262737e-01 3.77289072e-02 7.10713492e-03 7.90786656e+01] [-3.77265299e-02 9.99287991e-01 -4.68314214e-04 -8.02578594e+00] [-7.11974356e-03 1.99841405e-04 9.99974634e-01 -5.96594339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.587552018 meters 0.025667758135069572 Centerline is valid? [True, True] Translation: X:79.11, Y:-8.04, Z:-0.60 [[ 9.99341511e-01 3.56019909e-02 7.00300990e-03 7.91068525e+01] [-3.55996343e-02 9.99366026e-01 -4.60911633e-04 -8.03604358e+00] [-7.01497955e-03 2.11303537e-04 9.99975372e-01 -5.98015144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.617552018 meters 0.02681965513613708 Centerline is valid? [True, True] Translation: X:79.13, Y:-8.04, Z:-0.60 [[ 9.99390851e-01 3.41981269e-02 6.95810892e-03 7.91338507e+01] [-3.41957702e-02 9.99415049e-01 -4.57415672e-04 -8.04283561e+00] [-6.96968152e-03 2.19199144e-04 9.99975687e-01 -5.98615059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.647552018 meters 0.026828278648648833 Centerline is valid? [True, True] Translation: X:79.16, Y:-8.05, Z:-0.60 [[ 9.99457521e-01 3.22779382e-02 6.54197666e-03 7.91623700e+01] [-3.22758179e-02 9.99478908e-01 -4.29454625e-04 -8.04799985e+00] [-6.55242960e-03 2.18074008e-04 9.99978509e-01 -5.98776252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.677552018 meters 0.026828278648648833 Centerline is valid? [True, True] Translation: X:79.19, Y:-8.05, Z:-0.60 [[ 9.99461246e-01 3.21624047e-02 6.54200845e-03 7.91897948e+01] [-3.21602851e-02 9.99482632e-01 -4.28969769e-04 -8.04968867e+00] [-6.55242053e-03 2.18345803e-04 9.99978509e-01 -5.98970496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.707552018 meters 0.02839371868188693 Centerline is valid? [True, True] Translation: X:79.22, Y:-8.06, Z:-0.60 [[ 9.99597057e-01 2.77514404e-02 5.96506381e-03 7.92190384e+01] [-2.77496040e-02 9.99614829e-01 -3.90434898e-04 -8.06035835e+00] [-5.97360137e-03 2.24749416e-04 9.99982133e-01 -6.00551502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.737552018 meters 0.03034723719434775 Centerline is valid? [True, True] Translation: X:79.25, Y:-8.07, Z:-0.60 [[ 9.99664321e-01 2.53175878e-02 5.50145116e-03 7.92471590e+01] [-2.53159898e-02 9.99679434e-01 -3.59925527e-04 -8.06931732e+00] [-5.50880003e-03 2.20530026e-04 9.99984802e-01 -6.01603260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76755201799999 meters 0.03259551677281387 Centerline is valid? [True, True] Translation: X:79.28, Y:-8.08, Z:-0.60 [[ 9.99754830e-01 2.16144628e-02 4.80562859e-03 7.92753852e+01] [-2.16132018e-02 9.99766358e-01 -3.14171706e-04 -8.08102361e+00] [-4.81129645e-03 2.10229660e-04 9.99988404e-01 -6.02337421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79755201799999 meters 0.030363089009328287 Centerline is valid? [True, True] Translation: X:79.30, Y:-8.08, Z:-0.60 [[ 9.99782264e-01 2.00827214e-02 5.66654322e-03 7.93044219e+01] [-2.00809457e-02 9.99798289e-01 -3.70089455e-04 -8.08283859e+00] [-5.67283262e-03 2.56219327e-04 9.99983877e-01 -6.02091861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82755201799999 meters 0.0314277466101028 Centerline is valid? [True, True] Translation: X:79.33, Y:-8.09, Z:-0.60 [[ 9.99798131e-01 1.91912432e-02 5.94919795e-03 7.93325633e+01] [-1.91892733e-02 9.99815794e-01 -3.88025112e-04 -8.08874615e+00] [-5.95554875e-03 2.73785997e-04 9.99982228e-01 -6.01866232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85755201799999 meters 0.03142460482345215 Centerline is valid? [True, True] Translation: X:79.36, Y:-8.09, Z:-0.60 [[ 9.99782921e-01 1.96496323e-02 6.92839684e-03 7.93610956e+01] [-1.96469748e-02 9.99806878e-01 -4.51413970e-04 -8.09464597e+00] [-6.93592893e-03 3.15193939e-04 9.99975896e-01 -6.01819195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.887552018 meters 0.031307449475351586 Centerline is valid? [True, True] Translation: X:79.39, Y:-8.10, Z:-0.60 [[ 9.99759017e-01 2.08164247e-02 6.97029715e-03 7.93893637e+01] [-2.08137672e-02 9.99783267e-01 -4.53588081e-04 -8.09896524e+00] [-6.97822854e-03 3.08400632e-04 9.99975604e-01 -6.01961270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.917552018 meters 0.029778542554722037 Centerline is valid? [True, True] Translation: X:79.42, Y:-8.10, Z:-0.60 [[ 9.99695388e-01 2.35232923e-02 7.46897151e-03 7.94193430e+01] [-2.35203182e-02 9.99723241e-01 -4.85788646e-04 -8.10307067e+00] [-7.47833175e-03 3.09968082e-04 9.99971989e-01 -6.02571388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.947552018 meters 0.02901658618478806 Centerline is valid? [True, True] Translation: X:79.45, Y:-8.11, Z:-0.60 [[ 9.99661268e-01 2.49547690e-02 7.38982385e-03 7.94478842e+01] [-2.49518979e-02 9.99688537e-01 -4.80477048e-04 -8.10559073e+00] [-7.39951239e-03 2.95924165e-04 9.99972579e-01 -6.02615735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.977552018 meters 0.027726071613856533 Centerline is valid? [True, True] Translation: X:79.48, Y:-8.11, Z:-0.60 [[ 9.99612336e-01 2.64724894e-02 8.62468793e-03 7.94767902e+01] [-2.64686417e-02 9.99649487e-01 -5.59991400e-04 -8.10672903e+00] [-8.63648924e-03 3.31490537e-04 9.99962650e-01 -6.02421118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.007552018 meters 0.028587660276693017 Centerline is valid? [True, True] Translation: X:79.51, Y:-8.11, Z:-0.60 [[ 9.99563558e-01 2.81153737e-02 9.06749551e-03 7.95050929e+01] [-2.81111947e-02 9.99604629e-01 -5.88025199e-04 -8.11163394e+00] [-9.08044304e-03 3.32870428e-04 9.99958717e-01 -6.01835697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.037552018 meters 0.02765372615533484 Centerline is valid? [True, True] Translation: X:79.53, Y:-8.12, Z:-0.60 [[ 9.99502055e-01 2.99486876e-02 9.93566254e-03 7.95339857e+01] [-2.99437673e-02 9.99551378e-01 -6.43639126e-04 -8.11572579e+00] [-9.95048133e-03 3.45807462e-04 9.99950433e-01 -6.01817401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.067552018 meters 0.027038578439112056 Centerline is valid? [True, True] Translation: X:79.56, Y:-8.12, Z:-0.60 [[ 9.99475102e-01 3.10579165e-02 9.21558717e-03 7.95621747e+01] [-3.10537369e-02 9.99517539e-01 -5.96310847e-04 -8.12056644e+00] [-9.22966118e-03 3.09819425e-04 9.99957358e-01 -6.03753070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.097552018 meters 0.027158670953148785 Centerline is valid? [True, True] Translation: X:79.59, Y:-8.13, Z:-0.60 [[ 9.99499207e-01 3.03432382e-02 8.97901559e-03 7.95900628e+01] [-3.03392480e-02 9.99539491e-01 -5.80299304e-04 -8.12558116e+00] [-8.99248883e-03 3.07592114e-04 9.99959519e-01 -6.04084956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12755201799999 meters 0.02660212443177797 Centerline is valid? [True, True] Translation: X:79.62, Y:-8.13, Z:-0.60 [[ 9.99510088e-01 2.99618883e-02 9.04812346e-03 7.96183626e+01] [-2.99578274e-02 9.99550993e-01 -5.84042066e-04 -8.12912785e+00] [-9.06155979e-03 3.12693817e-04 9.99958894e-01 -6.04434790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15755201799999 meters 0.028082324878341773 Centerline is valid? [True, True] Translation: X:79.65, Y:-8.14, Z:-0.60 [[ 9.99529099e-01 2.92443548e-02 9.29237945e-03 7.96466879e+01] [-2.92400473e-02 9.99572239e-01 -5.99099166e-04 -8.14027661e+00] [-9.30592480e-03 3.27107435e-04 9.99956645e-01 -6.04718217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18755201799999 meters 0.02688480996952304 Centerline is valid? [True, True] Translation: X:79.67, Y:-8.14, Z:-0.60 [[ 9.99519755e-01 2.93815443e-02 9.84802165e-03 7.96749761e+01] [-2.93767195e-02 9.99568210e-01 -6.34255813e-04 -8.14303152e+00] [-9.86240479e-03 3.44648646e-04 9.99951306e-01 -6.04845951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21755201799999 meters 0.02652078344051585 Centerline is valid? [True, True] Translation: X:79.70, Y:-8.15, Z:-0.60 [[ 9.99454548e-01 3.11004035e-02 1.11072453e-02 7.97031076e+01] [-3.10943817e-02 9.99516197e-01 -7.14476585e-04 -8.15016452e+00] [-1.11240921e-02 3.68713948e-04 9.99938057e-01 -6.03911433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.247552018 meters 0.026161157688921154 Centerline is valid? [True, True] Translation: X:79.73, Y:-8.15, Z:-0.60 [[ 9.99404048e-01 3.27708504e-02 1.08452700e-02 7.97321431e+01] [-3.27652145e-02 9.99462833e-01 -6.96990877e-04 -8.15399949e+00] [-1.08622853e-02 3.41227906e-04 9.99940945e-01 -6.03852648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.277552018 meters 0.025341444660892606 Centerline is valid? [True, True] Translation: X:79.76, Y:-8.16, Z:-0.60 [[ 9.99344052e-01 3.44534363e-02 1.11546780e-02 7.97613385e+01] [-3.44475864e-02 9.99406249e-01 -7.16204243e-04 -8.15738032e+00] [-1.11727306e-02 3.31482716e-04 9.99937528e-01 -6.04055596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.307552018 meters 0.02550441791578316 Centerline is valid? [True, True] Translation: X:79.79, Y:-8.16, Z:-0.60 [[ 9.99197873e-01 3.83255834e-02 1.16086489e-02 7.97897215e+01] [-3.83195168e-02 9.99265260e-01 -7.44649916e-04 -8.16397091e+00] [-1.16286587e-02 2.99214793e-04 9.99932340e-01 -6.02646527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.337552018 meters 0.02428266253141403 Centerline is valid? [True, True] Translation: X:79.82, Y:-8.17, Z:-0.60 [[ 9.99152043e-01 3.92760603e-02 1.23526114e-02 7.98184791e+01] [-3.92692744e-02 9.99228351e-01 -7.91515815e-04 -8.16594848e+00] [-1.23741671e-02 3.05766557e-04 9.99923390e-01 -6.02703858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.367552018 meters 0.02449854599620644 Centerline is valid? [True, True] Translation: X:79.85, Y:-8.17, Z:-0.60 [[ 9.99116137e-01 4.02847415e-02 1.20034766e-02 7.98457679e+01] [-4.02784187e-02 9.99188200e-01 -7.68124880e-04 -8.17039504e+00] [-1.20246759e-02 2.83964905e-04 9.99927661e-01 -6.03091213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.397552018 meters 0.024576029914732858 Centerline is valid? [True, True] Translation: X:79.87, Y:-8.18, Z:-0.60 [[ 9.99156979e-01 3.95400806e-02 1.10414702e-02 7.98727148e+01] [-3.95346966e-02 9.99217949e-01 -7.05549308e-04 -8.17963025e+00] [-1.10607327e-02 2.68433341e-04 9.99938792e-01 -6.03525360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.427552018 meters 0.024512412839366865 Centerline is valid? [True, True] Translation: X:79.90, Y:-8.18, Z:-0.60 [[ 9.99212754e-01 3.80095103e-02 1.13644146e-02 7.99018387e+01] [-3.80037177e-02 9.99277335e-01 -7.25315690e-04 -8.18423096e+00] [-1.13837708e-02 2.92854684e-04 9.99935160e-01 -6.04136018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.457552018 meters 0.026052026148249287 Centerline is valid? [True, True] Translation: X:79.93, Y:-8.20, Z:-0.60 [[ 9.99390886e-01 3.28656296e-02 1.17348367e-02 7.99311350e+01] [-3.28591033e-02 9.99459714e-01 -7.48574122e-04 -8.19622747e+00] [-1.17530988e-02 3.62521946e-04 9.99930864e-01 -6.03217963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.487552018 meters 0.027674274522488166 Centerline is valid? [True, True] Translation: X:79.96, Y:-8.20, Z:-0.60 [[ 9.99492846e-01 2.97522279e-02 1.13514308e-02 7.99605860e+01] [-2.97459218e-02 9.99557230e-01 -7.24000301e-04 -8.20387494e+00] [-1.13679453e-02 3.85974348e-04 9.99935308e-01 -6.02910215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51755201799999 meters 0.03013263674087681 Centerline is valid? [True, True] Translation: X:79.99, Y:-8.22, Z:-0.60 [[ 9.99671240e-01 2.39684260e-02 9.10643923e-03 7.99899097e+01] [-2.39641261e-02 9.99712650e-01 -5.81015692e-04 -8.21665934e+00] [-9.11774853e-03 3.62596819e-04 9.99958367e-01 -6.04057825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54755201799999 meters 0.031488652205639144 Centerline is valid? [True, True] Translation: X:80.02, Y:-8.22, Z:-0.61 [[ 9.99737562e-01 2.15871427e-02 7.66827122e-03 8.00197290e+01] [-2.15840199e-02 9.99766918e-01 -4.89764420e-04 -8.22363353e+00] [-7.67705650e-03 3.24123769e-04 9.99970478e-01 -6.05193738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57755201799999 meters 0.03237740757536649 Centerline is valid? [True, True] Translation: X:80.05, Y:-8.23, Z:-0.61 [[ 9.99790137e-01 1.95190487e-02 6.21997192e-03 8.00502952e+01] [-1.95169543e-02 9.99809447e-01 -3.97246875e-04 -8.23036152e+00] [-6.22654056e-03 2.75768600e-04 9.99980577e-01 -6.05842111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60755201799999 meters 0.03237881542942988 Centerline is valid? [True, True] Translation: X:80.08, Y:-8.24, Z:-0.61 [[ 9.99819052e-01 1.82222324e-02 5.46013817e-03 8.00806334e+01] [-1.82205985e-02 9.99833930e-01 -3.48839889e-04 -8.23508349e+00] [-5.46558805e-03 2.49289782e-04 9.99985032e-01 -6.06325920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.637552018 meters 0.03230176143640381 Centerline is valid? [True, True] Translation: X:80.11, Y:-8.24, Z:-0.61 [[ 9.99862031e-01 1.61801026e-02 3.75801799e-03 8.01103441e+01] [-1.61793139e-02 9.99869077e-01 -2.40160169e-04 -8.24234872e+00] [-3.76141180e-03 1.79324881e-04 9.99992910e-01 -6.06118592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.667552018 meters 0.03266513528838005 Centerline is valid? [True, True] Translation: X:80.14, Y:-8.25, Z:-0.61 [[ 9.99872603e-01 1.56683263e-02 3.04649273e-03 8.01401225e+01] [-1.56678055e-02 9.99877233e-01 -1.94734595e-04 -8.24739674e+00] [-3.04916989e-03 1.46977931e-04 9.99995340e-01 -6.06170844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.697552018 meters 0.03258033421786925 Centerline is valid? [True, True] Translation: X:80.17, Y:-8.25, Z:-0.61 [[ 9.99885140e-01 1.49029168e-02 2.75872466e-03 8.01699176e+01] [-1.49024873e-02 9.99888936e-01 -1.76171794e-04 -8.25120774e+00] [-2.76104374e-03 1.35039700e-04 9.99996179e-01 -6.05779699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.727552018 meters 0.034339616587014975 Centerline is valid? [True, True] Translation: X:80.20, Y:-8.26, Z:-0.60 [[ 9.99886731e-01 1.47584852e-02 2.95178729e-03 8.01988371e+01] [-1.47579930e-02 9.99891077e-01 -1.88430315e-04 -8.26146949e+00] [-2.95424672e-03 1.44846515e-04 9.99995626e-01 -6.04396477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.757552018 meters 0.03318625529932331 Centerline is valid? [True, True] Translation: X:80.23, Y:-8.26, Z:-0.60 [[ 9.99880768e-01 1.49835672e-02 3.73400597e-03 8.02281285e+01] [-1.49827814e-02 9.99887723e-01 -2.38317114e-04 -8.26338795e+00] [-3.73715757e-03 1.82342904e-04 9.99993000e-01 -6.02982558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.787552018 meters 0.03339537423661485 Centerline is valid? [True, True] Translation: X:80.26, Y:-8.27, Z:-0.60 [[ 9.99851994e-01 1.66171008e-02 4.45675342e-03 8.02574190e+01] [-1.66159996e-02 9.99861904e-01 -2.84008572e-04 -8.26764654e+00] [-4.46085736e-03 2.09913124e-04 9.99990028e-01 -6.00433257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.817552018 meters 0.03357969176148593 Centerline is valid? [True, True] Translation: X:80.29, Y:-8.27, Z:-0.60 [[ 9.99844412e-01 1.72273659e-02 3.79078352e-03 8.02876102e+01] [-1.72265727e-02 9.99851582e-01 -2.41804709e-04 -8.27125661e+00] [-3.79438656e-03 1.76464879e-04 9.99992786e-01 -6.00086048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.847552018 meters 0.03216213551277405 Centerline is valid? [True, True] Translation: X:80.32, Y:-8.27, Z:-0.60 [[ 9.99837083e-01 1.77043089e-02 3.51651033e-03 8.03173439e+01] [-1.77036288e-02 9.99843253e-01 -2.24450178e-04 -8.27346624e+00] [-3.51993286e-03 1.62158618e-04 9.99993792e-01 -6.00329312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87755201799999 meters 0.032725715555227096 Centerline is valid? [True, True] Translation: X:80.35, Y:-8.28, Z:-0.60 [[ 9.99847456e-01 1.74031515e-02 1.48168012e-03 8.03460101e+01] [-1.74030304e-02 9.99848551e-01 -9.45637397e-05 -8.28209258e+00] [-1.48310143e-03 6.87635903e-05 9.99998898e-01 -6.01347189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90755201799999 meters 0.031160974298694962 Centerline is valid? [True, True] Translation: X:80.38, Y:-8.28, Z:-0.60 [[ 9.99863073e-01 1.65374885e-02 5.88285586e-04 8.03755891e+01] [-1.65374691e-02 9.99863246e-01 -3.77526475e-05 -8.28371181e+00] [-5.88829470e-04 2.80187234e-05 9.99999826e-01 -6.01460369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93755201799999 meters 0.03320808414698267 Centerline is valid? [True, True] Translation: X:80.40, Y:-8.29, Z:-0.60 [[ 9.99919157e-01 1.26383857e-02 -1.39642214e-03 8.04040896e+01] [-1.26382736e-02 9.99920130e-01 8.90648027e-05 -8.29181378e+00] [ 1.39743625e-03 -7.14092373e-05 9.99999021e-01 -6.02001488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96755201799999 meters 0.035106711463436954 Centerline is valid? [True, True] Translation: X:80.43, Y:-8.30, Z:-0.60 [[ 9.99942377e-01 1.04942827e-02 -2.26115596e-03 8.04322580e+01] [-1.04939851e-02 9.99944926e-01 1.43468288e-04 -8.29861621e+00] [ 2.26253702e-03 -1.19731485e-04 9.99997433e-01 -6.02400374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.997552018 meters 0.0379983137570016 Centerline is valid? [True, True] Translation: X:80.46, Y:-8.31, Z:-0.60 [[ 9.99980154e-01 5.63634666e-03 -2.81484223e-03 8.04607833e+01] [-5.63586551e-03 9.99984102e-01 1.78837722e-04 -8.30818776e+00] [ 2.81580547e-03 -1.62970100e-04 9.99996022e-01 -6.01668904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.027552018 meters 0.03695964871498615 Centerline is valid? [True, True] Translation: X:80.49, Y:-8.31, Z:-0.60 [[ 9.99990229e-01 3.61332520e-03 -2.54675739e-03 8.04903699e+01] [-3.61292529e-03 9.99993460e-01 1.61613615e-04 -8.31053164e+00] [ 2.54732470e-03 -1.52410792e-04 9.99996744e-01 -5.99824585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.057552018 meters 0.03628705080713965 Centerline is valid? [True, True] Translation: X:80.52, Y:-8.31, Z:-0.60 [[ 9.99996422e-01 1.93284077e-03 -1.84950094e-03 8.05192886e+01] [-1.93262762e-03 9.99998126e-01 1.17024184e-04 -8.31381315e+00] [ 1.84972366e-03 -1.13449369e-04 9.99998283e-01 -5.98353625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.087552018 meters 0.03914929968666544 Centerline is valid? [True, True] Translation: X:80.55, Y:-8.32, Z:-0.60 [[ 9.99998743e-01 9.08680605e-04 -1.29942874e-03 8.05478059e+01] [-9.08573487e-04 9.99999584e-01 8.30224314e-05 -8.32284497e+00] [ 1.29950364e-03 -8.18417006e-05 9.99999152e-01 -5.96985566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.117552018 meters 0.03937343784063454 Centerline is valid? [True, True] Translation: X:80.58, Y:-8.33, Z:-0.60 [[ 9.99997882e-01 1.45483093e-03 -1.45615735e-03 8.05773234e+01] [-1.45469817e-03 9.99998938e-01 9.22280765e-05 -8.32550446e+00] [ 1.45628998e-03 -9.01096116e-05 9.99998936e-01 -5.96924457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.147552018 meters 0.03747112573612067 Centerline is valid? [True, True] Translation: X:80.61, Y:-8.32, Z:-0.60 [[ 9.99995341e-01 2.45765161e-03 -1.81031044e-03 8.06071629e+01] [-2.45744807e-03 9.99996974e-01 1.14648624e-04 -8.32485986e+00] [ 1.81058673e-03 -1.10199346e-04 9.99998355e-01 -5.96518353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.177552018 meters 0.036273757795318794 Centerline is valid? [True, True] Translation: X:80.64, Y:-8.33, Z:-0.60 [[ 9.99991079e-01 3.87199903e-03 -1.68830679e-03 8.06374802e+01] [-3.87182386e-03 9.99992499e-01 1.07009465e-04 -8.32526744e+00] [ 1.68870847e-03 -1.00471684e-04 9.99998569e-01 -5.96112448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.207552018 meters 0.035979786495122894 Centerline is valid? [True, True] Translation: X:80.67, Y:-8.33, Z:-0.60 [[ 9.99980824e-01 6.05254964e-03 -1.31071381e-03 8.06658896e+01] [-6.05244645e-03 9.99981680e-01 8.26807553e-05 -8.32900940e+00] [ 1.31119023e-03 -7.47461446e-05 9.99999138e-01 -5.95416735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.237552018 meters 0.03654874307050889 Centerline is valid? [True, True] Translation: X:80.69, Y:-8.33, Z:-0.60 [[ 9.99981505e-01 5.97472351e-03 -1.13651860e-03 8.06947599e+01] [-5.97464589e-03 9.99982149e-01 7.16817720e-05 -8.33361402e+00] [ 1.13692660e-03 -6.48901500e-05 9.99999352e-01 -5.95026756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26755201799999 meters 0.036277294306930795 Centerline is valid? [True, True] Translation: X:80.72, Y:-8.34, Z:-0.59 [[ 9.99984445e-01 5.34624136e-03 -1.58977731e-03 8.07238585e+01] [-5.34608850e-03 9.99985705e-01 1.00382233e-04 -8.33710964e+00] [ 1.59029125e-03 -9.18815812e-05 9.99998731e-01 -5.94610458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29755201799999 meters 0.037175655391562874 Centerline is valid? [True, True] Translation: X:80.75, Y:-8.34, Z:-0.59 [[ 9.99987818e-01 4.20301006e-03 -2.58799880e-03 8.07529436e+01] [-4.20260097e-03 9.99991156e-01 1.63489204e-04 -8.34168717e+00] [ 2.58866305e-03 -1.52610886e-04 9.99996638e-01 -5.94901028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32755201799999 meters 0.038157841378528616 Centerline is valid? [True, True] Translation: X:80.78, Y:-8.35, Z:-0.60 [[ 9.99989814e-01 3.36164990e-03 -3.01196132e-03 8.07816914e+01] [-3.36108925e-03 9.99994333e-01 1.91181836e-04 -8.34637656e+00] [ 3.01258694e-03 -1.81056418e-04 9.99995446e-01 -5.95592928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35755201799999 meters 0.03962340304073984 Centerline is valid? [True, True] Translation: X:80.81, Y:-8.35, Z:-0.60 [[ 9.99992234e-01 1.43508094e-03 -3.67049306e-03 8.08107813e+01] [-1.43423955e-03 9.99998945e-01 2.31853077e-04 -8.35206144e+00] [ 3.67082191e-03 -2.26586911e-04 9.99993237e-01 -5.95532195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.387552018 meters 0.03872664605566098 Centerline is valid? [True, True] Translation: X:80.84, Y:-8.35, Z:-0.59 [[ 9.99994150e-01 3.66040079e-04 -3.40075428e-03 8.08394823e+01] [-3.65313179e-04 9.99999910e-01 2.14365239e-04 -8.35361802e+00] [ 3.40083244e-03 -2.13121645e-04 9.99994194e-01 -5.94635263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.417552018 meters 0.038560007161730345 Centerline is valid? [True, True] Translation: X:80.87, Y:-8.36, Z:-0.59 [[ 9.99995425e-01 -2.01715894e-04 -3.01822587e-03 8.08686730e+01] [ 2.02291328e-04 9.99999961e-01 1.90348772e-04 -8.35630279e+00] [ 3.01818736e-03 -1.90958462e-04 9.99995427e-01 -5.93859475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.447552018 meters 0.046820501064773624 Centerline is valid? [True, True] Translation: X:80.90, Y:-8.37, Z:-0.60 [[ 9.99992726e-01 1.05489258e-05 -3.81425008e-03 8.08963441e+01] [-9.63190321e-06 9.99999971e-01 2.40438437e-04 -8.37030244e+00] [ 3.81425250e-03 -2.40399950e-04 9.99992697e-01 -5.97183130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.477552018 meters 0.040320666174300863 Centerline is valid? [True, True] Translation: X:80.93, Y:-8.36, Z:-0.60 [[ 9.99991237e-01 9.24315975e-04 -4.08316760e-03 8.09254942e+01] [-9.23274253e-04 9.99999541e-01 2.57003669e-04 -8.36354573e+00] [ 4.08340327e-03 -2.53231533e-04 9.99991631e-01 -5.96333579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.507552018 meters 0.04668315960939706 Centerline is valid? [True, True] Translation: X:80.95, Y:-8.37, Z:-0.60 [[ 9.99988079e-01 1.40151439e-03 -4.67740975e-03 8.09537068e+01] [-1.40015362e-03 9.99998977e-01 2.94185865e-04 -8.37403972e+00] [ 4.67781727e-03 -2.87633266e-04 9.99989018e-01 -5.98860682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.537552018 meters 0.03947848497091226 Centerline is valid? [True, True] Translation: X:80.98, Y:-8.37, Z:-0.60 [[ 9.99990076e-01 6.28212890e-04 -4.41056959e-03 8.09834397e+01] [-6.26997959e-04 9.99999765e-01 2.76836300e-04 -8.36710550e+00] [ 4.41074247e-03 -2.74068135e-04 9.99990235e-01 -5.96651609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.567552018 meters 0.04910913299909736 Centerline is valid? [True, True] Translation: X:81.01, Y:-8.38, Z:-0.60 [[ 9.99991638e-01 -3.18094264e-04 -4.07721439e-03 8.10107496e+01] [ 3.19138775e-04 9.99999916e-01 2.55534442e-04 -8.38222544e+00] [ 4.07713276e-03 -2.56833502e-04 9.99991655e-01 -5.98584900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.597552018 meters 0.04910913299909736 Centerline is valid? [True, True] Translation: X:81.04, Y:-8.38, Z:-0.60 [[ 9.99991608e-01 -4.00790726e-04 -4.07723496e-03 8.10390815e+01] [ 4.01834590e-04 9.99999887e-01 2.55206404e-04 -8.38391111e+00] [ 4.07713221e-03 -2.56842636e-04 9.99991655e-01 -5.98785423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62755201799999 meters 0.05092389476793114 Centerline is valid? [True, True] Translation: X:81.07, Y:-8.39, Z:-0.60 [[ 9.99992667e-01 -2.39945833e-03 -2.98474859e-03 8.10681740e+01] [ 2.40002603e-03 9.99997103e-01 1.86632531e-04 -8.38888383e+00] [ 2.98429212e-03 -1.93794637e-04 9.99995528e-01 -5.97670362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65755201799999 meters 0.048212473408970245 Centerline is valid? [True, True] Translation: X:81.10, Y:-8.39, Z:-0.59 [[ 9.99971603e-01 -7.41466694e-03 -1.34729685e-03 8.10977687e+01] [ 7.41478747e-03 9.99972507e-01 8.44868781e-05 -8.38913465e+00] [ 1.34663337e-03 -9.44743987e-05 9.99999089e-01 -5.94201592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68755201799999 meters 0.0579191364579057 Centerline is valid? [True, True] Translation: X:81.13, Y:-8.40, Z:-0.60 [[ 9.99949169e-01 -1.00134956e-02 -1.17828149e-03 8.11267988e+01] [ 1.00135896e-02 9.99949860e-01 7.38548481e-05 -8.40497742e+00] [ 1.17748286e-03 -8.56499212e-05 9.99999303e-01 -5.95240436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71755201799999 meters 0.05581175955051587 Centerline is valid? [True, True] Translation: X:81.16, Y:-8.41, Z:-0.59 [[ 9.99871890e-01 -1.59978042e-02 -5.23593891e-04 8.11565136e+01] [ 1.59978236e-02 9.99872026e-01 3.27919179e-05 -8.40599221e+00] [ 5.23002286e-04 -4.11640796e-05 9.99999862e-01 -5.93459864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.747552018 meters 0.04615226951806431 Centerline is valid? [True, True] Translation: X:81.19, Y:-8.40, Z:-0.59 [[ 9.99834611e-01 -1.81843132e-02 -2.86916538e-04 8.11880895e+01] [ 1.81843192e-02 9.99834651e-01 1.81330782e-05 -8.39599166e+00] [ 2.86539359e-04 -2.33474611e-05 9.99999959e-01 -5.91732482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.777552018 meters 0.04980779789153029 Centerline is valid? [True, True] Translation: X:81.22, Y:-8.40, Z:-0.59 [[ 9.99779653e-01 -2.09895131e-02 2.92464391e-04 8.12179537e+01] [ 2.09895193e-02 9.99779696e-01 -1.81997987e-05 -8.40360860e+00] [-2.92017955e-04 2.43344754e-05 9.99999957e-01 -5.91912010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.807552018 meters 0.06217070422425143 Centerline is valid? [True, True] Translation: X:81.25, Y:-8.42, Z:-0.59 [[ 9.99730317e-01 -2.32188250e-02 4.23308255e-04 8.12472813e+01] [ 2.32188383e-02 9.99730406e-01 -2.64182413e-05 -8.42277858e+00] [-4.22580733e-04 3.62398426e-05 9.99999910e-01 -5.93037025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.837552018 meters 0.04965321824874784 Centerline is valid? [True, True] Translation: X:81.28, Y:-8.41, Z:-0.59 [[ 9.99629725e-01 -2.72101955e-02 -1.37373310e-04 8.12790478e+01] [ 2.72101969e-02 9.99629734e-01 8.64486001e-06 -8.40970561e+00] [ 1.37087217e-04 -1.23796138e-05 9.99999991e-01 -5.92181201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.867552018 meters 0.04965321824874784 Centerline is valid? [True, True] Translation: X:81.31, Y:-8.41, Z:-0.59 [[ 9.99630833e-01 -2.71694380e-02 -1.37356541e-04 8.13099473e+01] [ 2.71694395e-02 9.99630843e-01 8.91203976e-06 -8.41168106e+00] [ 1.37063699e-04 -1.26406499e-05 9.99999991e-01 -5.92399914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.897552018 meters 0.05290441596793816 Centerline is valid? [True, True] Translation: X:81.34, Y:-8.42, Z:-0.59 [[ 9.99571963e-01 -2.92491940e-02 -6.12241469e-04 8.13399108e+01] [ 2.92492231e-02 9.99572149e-01 3.85929879e-05 -8.41854904e+00] [ 6.10850707e-04 -5.64840560e-05 9.99999812e-01 -5.93275184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.927552018 meters 0.054014113335510046 Centerline is valid? [True, True] Translation: X:81.37, Y:-8.42, Z:-0.59 [[ 9.99543135e-01 -3.02242118e-02 1.33814853e-04 8.13709243e+01] [ 3.02242132e-02 9.99543144e-01 -8.12789976e-06 -8.42265068e+00] [-1.33508059e-04 1.21686350e-05 9.99999991e-01 -5.93119561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.957552018 meters 0.05338287043175623 Centerline is valid? [True, True] Translation: X:81.40, Y:-8.42, Z:-0.59 [[ 9.99532210e-01 -3.05807139e-02 4.25698129e-04 8.14025093e+01] [ 3.05807279e-02 9.99532300e-01 -2.64857070e-05 -8.42430141e+00] [-4.24689078e-04 3.94914760e-05 9.99999909e-01 -5.92542958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.987552018 meters 0.05549668856677449 Centerline is valid? [True, True] Translation: X:81.43, Y:-8.43, Z:-0.59 [[ 9.99530211e-01 -3.06377589e-02 8.27763209e-04 8.14325218e+01] [ 3.06378121e-02 9.99530551e-01 -5.16495222e-05 -8.42863897e+00] [-8.25792191e-04 7.69861115e-05 9.99999656e-01 -5.92728085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01755201799999 meters 0.0558011080083697 Centerline is valid? [True, True] Translation: X:81.46, Y:-8.43, Z:-0.59 [[ 9.99529162e-01 -3.06646848e-02 1.06348257e-03 8.14642864e+01] [ 3.06647729e-02 9.99529723e-01 -6.67060955e-05 -8.42858202e+00] [-1.06093692e-03 9.92861395e-05 9.99999432e-01 -5.92877887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04755201799999 meters 0.0587019627955074 Centerline is valid? [True, True] Translation: X:81.49, Y:-8.43, Z:-0.59 [[ 9.99531631e-01 -3.05759877e-02 1.27547950e-03 8.14947900e+01] [ 3.05761148e-02 9.99532438e-01 -8.02243861e-05 -8.43383119e+00] [-1.27243019e-03 1.19186019e-04 9.99999183e-01 -5.93444517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07755201799999 meters 0.05613216783073254 Centerline is valid? [True, True] Translation: X:81.53, Y:-8.43, Z:-0.59 [[ 9.99508614e-01 -3.13210829e-02 1.23281839e-03 8.15259670e+01] [ 3.13212020e-02 9.99509368e-01 -7.74449152e-05 -8.43227526e+00] [-1.22978787e-03 1.16020214e-04 9.99999237e-01 -5.93509275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10755201799999 meters 0.0571926509347767 Centerline is valid? [True, True] Translation: X:81.56, Y:-8.44, Z:-0.59 [[ 9.99509889e-01 -3.12912402e-02 9.16754094e-04 8.15568056e+01] [ 3.12913060e-02 9.99510306e-01 -5.75569622e-05 -8.43571984e+00] [-9.14504136e-04 8.62151859e-05 9.99999578e-01 -5.94057033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.137552018 meters 0.0600670577893326 Centerline is valid? [True, True] Translation: X:81.59, Y:-8.44, Z:-0.59 [[ 9.99489060e-01 -3.19235961e-02 1.58201731e-03 8.15868644e+01] [ 3.19237936e-02 9.99490301e-01 -9.96940792e-05 -8.44116084e+00] [-1.57802837e-03 1.50147136e-04 9.99998744e-01 -5.94317352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.167552018 meters 0.05646909090210476 Centerline is valid? [True, True] Translation: X:81.62, Y:-8.44, Z:-0.59 [[ 9.99451109e-01 -3.30292259e-02 2.55933288e-03 8.16184055e+01] [ 3.30297463e-02 9.99454356e-01 -1.61324900e-04 -8.43740715e+00] [-2.55260796e-03 2.45770466e-04 9.99996712e-01 -5.93118646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.197552018 meters 0.053857045784132224 Centerline is valid? [True, True] Translation: X:81.65, Y:-8.43, Z:-0.59 [[ 9.99410639e-01 -3.41623418e-02 3.36291804e-03 8.16494087e+01] [ 3.41632472e-02 9.99416243e-01 -2.12163665e-04 -8.43486207e+00] [-3.35370690e-03 3.26926824e-04 9.99994323e-01 -5.92578351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.227552018 meters 0.05754221500499104 Centerline is valid? [True, True] Translation: X:81.68, Y:-8.44, Z:-0.59 [[ 9.99389185e-01 -3.47394036e-02 3.79889939e-03 8.16797420e+01] [ 3.47405645e-02 9.99396336e-01 -2.39996769e-04 -8.44119131e+00] [-3.78826879e-03 3.71826084e-04 9.99992755e-01 -5.92876875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.257552018 meters 0.05806144076596002 Centerline is valid? [True, True] Translation: X:81.71, Y:-8.44, Z:-0.59 [[ 9.99369895e-01 -3.52741568e-02 3.94305294e-03 8.17112655e+01] [ 3.52754116e-02 9.99377598e-01 -2.49128277e-04 -8.44391755e+00] [-3.93181099e-03 3.88064115e-04 9.99992195e-01 -5.93150208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.287552018 meters 0.05775519621685691 Centerline is valid? [True, True] Translation: X:81.74, Y:-8.44, Z:-0.59 [[ 9.99320166e-01 -3.64888988e-02 5.26933350e-03 8.17424254e+01] [ 3.64911581e-02 9.99333920e-01 -3.33226690e-04 -8.44474775e+00] [-5.25366462e-03 5.25284233e-04 9.99986061e-01 -5.92419152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.317552018 meters 0.05750332883860233 Centerline is valid? [True, True] Translation: X:81.77, Y:-8.45, Z:-0.59 [[ 9.99319563e-01 -3.65635534e-02 4.84948581e-03 8.17746444e+01] [ 3.65654683e-02 9.99331213e-01 -3.06757721e-04 -8.44519466e+00] [-4.83502638e-03 4.83872711e-04 9.99988194e-01 -5.92764826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.347552018 meters 0.05832495633475279 Centerline is valid? [True, True] Translation: X:81.81, Y:-8.45, Z:-0.59 [[ 9.99320191e-01 -3.65081027e-02 5.12980903e-03 8.18066069e+01] [ 3.65102469e-02 9.99333226e-01 -3.24938011e-04 -8.44761200e+00] [-5.11452574e-03 5.12007710e-04 9.99986790e-01 -5.92739333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37755201799999 meters 0.05370408592725933 Centerline is valid? [True, True] Translation: X:81.84, Y:-8.44, Z:-0.59 [[ 9.99354430e-01 -3.55645372e-02 5.08787977e-03 8.18384661e+01] [ 3.55666369e-02 9.99367255e-01 -3.22761260e-04 -8.44259960e+00] [-5.07318158e-03 5.03511668e-04 9.99987005e-01 -5.92855385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40755201799999 meters 0.0721193441466449 Centerline is valid? [True, True] Translation: X:81.87, Y:-8.47, Z:-0.59 [[ 9.99390843e-01 -3.44907915e-02 5.32242017e-03 8.18674130e+01] [ 3.44930755e-02 9.99404880e-01 -3.37910878e-04 -8.46666890e+00] [-5.30759787e-03 5.21291678e-04 9.99985779e-01 -5.93188061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43755201799999 meters 0.055968365361487075 Centerline is valid? [True, True] Translation: X:81.90, Y:-8.45, Z:-0.59 [[ 9.99428464e-01 -3.33296840e-02 5.64605741e-03 8.19006778e+01] [ 3.33322363e-02 9.99444262e-01 -3.58525646e-04 -8.44649536e+00] [-5.63097013e-03 5.46516455e-04 9.99983997e-01 -5.92509638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46755201799999 meters 0.05443645029507663 Centerline is valid? [True, True] Translation: X:81.93, Y:-8.44, Z:-0.59 [[ 9.99507559e-01 -3.06163413e-02 6.87592738e-03 8.19315464e+01] [ 3.06200665e-02 9.99531000e-01 -4.37139218e-04 -8.44294185e+00] [-6.85931897e-03 6.47465306e-04 9.99976265e-01 -5.92778486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.497552018 meters 0.056387635253671776 Centerline is valid? [True, True] Translation: X:81.96, Y:-8.45, Z:-0.59 [[ 9.99558868e-01 -2.89033495e-02 6.83120307e-03 8.19617061e+01] [ 2.89069877e-02 9.99582011e-01 -4.34432442e-04 -8.44567110e+00] [-6.81579116e-03 6.31710304e-04 9.99976573e-01 -5.93471508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.527552018 meters 0.05393733124443023 Centerline is valid? [True, True] Translation: X:81.99, Y:-8.44, Z:-0.59 [[ 9.99590588e-01 -2.77170419e-02 7.10085834e-03 8.19934009e+01] [ 2.77209444e-02 9.99615599e-01 -4.51732023e-04 -8.44288542e+00] [-7.08560808e-03 6.48389578e-04 9.99974687e-01 -5.93885700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.557552018 meters 0.05334926192579969 Centerline is valid? [True, True] Translation: X:82.03, Y:-8.44, Z:-0.59 [[ 9.99623373e-01 -2.64970669e-02 7.14267336e-03 8.20252226e+01] [ 2.65009867e-02 9.99648684e-01 -4.54683074e-04 -8.44192650e+00] [-7.12811625e-03 6.43799720e-04 9.99974387e-01 -5.94522027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.587552018 meters 0.05612961147856153 Centerline is valid? [True, True] Translation: X:82.06, Y:-8.44, Z:-0.60 [[ 9.99673419e-01 -2.46185681e-02 6.85427808e-03 8.20554348e+01] [ 2.46221367e-02 9.99696734e-01 -4.36728218e-04 -8.44315350e+00] [-6.84144779e-03 6.05352563e-04 9.99976414e-01 -5.95071576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.617552018 meters 0.05513767138551421 Centerline is valid? [True, True] Translation: X:82.09, Y:-8.44, Z:-0.59 [[ 9.99703203e-01 -2.32553430e-02 7.25917611e-03 8.20868831e+01] [ 2.32593111e-02 9.99729359e-01 -4.62685080e-04 -8.44229225e+00] [-7.24645158e-03 6.31391192e-04 9.99973545e-01 -5.94744757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.647552018 meters 0.05438910195841663 Centerline is valid? [True, True] Translation: X:82.12, Y:-8.44, Z:-0.59 [[ 9.99714738e-01 -2.23433167e-02 8.43908396e-03 8.21196302e+01] [ 2.23486513e-02 9.99750093e-01 -5.38345692e-04 -8.44192897e+00] [-8.42494654e-03 7.26794268e-04 9.99964245e-01 -5.93897727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.677552018 meters 0.05478793154855221 Centerline is valid? [True, True] Translation: X:82.15, Y:-8.44, Z:-0.59 [[ 9.99732965e-01 -2.13276502e-02 8.89549139e-03 8.21519370e+01] [ 2.13335453e-02 9.99772252e-01 -5.68327583e-04 -8.44368874e+00] [-8.88134437e-03 7.57948188e-04 9.99960273e-01 -5.93381524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.707552018 meters 0.05440238487403344 Centerline is valid? [True, True] Translation: X:82.18, Y:-8.44, Z:-0.59 [[ 9.99761748e-01 -1.97421891e-02 9.31089612e-03 8.21835003e+01] [ 1.97485854e-02 9.99804800e-01 -5.95526490e-04 -8.44283857e+00] [-9.29732163e-03 7.79261632e-04 9.99956475e-01 -5.93581193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.737552018 meters 0.052533361599586534 Centerline is valid? [True, True] Translation: X:82.22, Y:-8.44, Z:-0.59 [[ 9.99784151e-01 -1.87384133e-02 8.97344233e-03 8.22157307e+01] [ 1.87443179e-02 9.99824145e-01 -5.74355843e-04 -8.44202684e+00] [-8.96110178e-03 7.42432925e-04 9.99959573e-01 -5.94309366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76755201799999 meters 0.054023879260931676 Centerline is valid? [True, True] Translation: X:82.25, Y:-8.44, Z:-0.59 [[ 9.99792129e-01 -1.82314321e-02 9.12768468e-03 8.22465692e+01] [ 1.82375282e-02 9.99833511e-01 -5.85074957e-04 -8.44477168e+00] [-9.11549827e-03 7.51419744e-04 9.99958171e-01 -5.94517811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79755201799999 meters 0.055498207122443 Centerline is valid? [True, True] Translation: X:82.28, Y:-8.45, Z:-0.59 [[ 9.99818964e-01 -1.68039207e-02 8.92566817e-03 8.22774302e+01] [ 1.68097026e-02 9.99858543e-01 -5.73155808e-04 -8.44668729e+00] [-8.91477431e-03 7.23089874e-04 9.99960001e-01 -5.94874141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82755201799999 meters 0.054817665022386754 Centerline is valid? [True, True] Translation: X:82.31, Y:-8.45, Z:-0.59 [[ 9.99822787e-01 -1.63132952e-02 9.39531745e-03 8.23096104e+01] [ 1.63196844e-02 9.99866643e-01 -6.03775335e-04 -8.44752665e+00] [-9.38421495e-03 7.56996954e-04 9.99955681e-01 -5.94808563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85755201799999 meters 0.055138290365749056 Centerline is valid? [True, True] Translation: X:82.34, Y:-8.45, Z:-0.60 [[ 9.99840392e-01 -1.54802467e-02 8.91921197e-03 8.23422405e+01] [ 1.54859780e-02 9.99879920e-01 -5.73861283e-04 -8.45028678e+00] [-8.90925744e-03 7.11892410e-04 9.99960058e-01 -5.95596400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.887552018 meters 0.055418936600689396 Centerline is valid? [True, True] Translation: X:82.37, Y:-8.45, Z:-0.60 [[ 9.99852447e-01 -1.44214617e-02 9.33302383e-03 8.23736395e+01] [ 1.44276993e-02 9.99895735e-01 -6.01346455e-04 -8.45339341e+00] [-9.32337843e-03 7.35911786e-04 9.99956266e-01 -5.96025497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.917552018 meters 0.05582014465568261 Centerline is valid? [True, True] Translation: X:82.40, Y:-8.46, Z:-0.60 [[ 9.99876119e-01 -1.28645796e-02 9.06915099e-03 8.24043625e+01] [ 1.28704111e-02 9.99917002e-01 -5.84928984e-04 -8.45538109e+00] [-9.06087340e-03 7.01580224e-04 9.99958703e-01 -5.96797655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.947552018 meters 0.05612639955641981 Centerline is valid? [True, True] Translation: X:82.44, Y:-8.46, Z:-0.60 [[ 9.99884338e-01 -1.21840250e-02 9.10281016e-03 8.24369286e+01] [ 1.21898759e-02 9.99925528e-01 -5.87548453e-04 -8.45724636e+00] [-9.09497355e-03 6.98442622e-04 9.99958396e-01 -5.96861157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.977552018 meters 0.05632819814250123 Centerline is valid? [True, True] Translation: X:82.47, Y:-8.46, Z:-0.60 [[ 9.99893006e-01 -1.15474354e-02 8.97955327e-03 8.24686694e+01] [ 1.15531103e-02 9.99933092e-01 -5.80364852e-04 -8.45929226e+00] [-8.97225074e-03 6.84044526e-04 9.99959515e-01 -5.97249116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.007552018 meters 0.05661782828106049 Centerline is valid? [True, True] Translation: X:82.50, Y:-8.46, Z:-0.60 [[ 9.99895509e-01 -1.07000513e-02 9.72009779e-03 8.25003607e+01] [ 1.07066683e-02 9.99942484e-01 -6.28971879e-04 -8.46181562e+00] [-9.71280870e-03 7.32976021e-04 9.99952561e-01 -5.96884226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.037552018 meters 0.0571446077139416 Centerline is valid? [True, True] Translation: X:82.53, Y:-8.47, Z:-0.60 [[ 9.99903580e-01 -1.02109509e-02 9.41099017e-03 8.25319776e+01] [ 1.02171384e-02 9.99947618e-01 -6.09629571e-04 -8.46506411e+00] [-9.40427231e-03 7.05724180e-04 9.99955530e-01 -5.97269681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.067552018 meters 0.058026828932699274 Centerline is valid? [True, True] Translation: X:82.56, Y:-8.47, Z:-0.60 [[ 9.99908869e-01 -9.80642296e-03 9.27838558e-03 8.25625324e+01] [ 9.81242568e-03 9.99951676e-01 -6.01654320e-04 -8.46908317e+00] [-9.27203713e-03 6.92642959e-04 9.99956774e-01 -5.97420734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.097552018 meters 0.04334133186762678 Centerline is valid? [True, True] Translation: X:82.60, Y:-8.45, Z:-0.60 [[ 9.99907130e-01 -9.67304834e-03 9.60013283e-03 8.25955947e+01] [ 9.67947422e-03 9.99952959e-01 -6.23115343e-04 -8.45214167e+00] [-9.59365380e-03 7.15981713e-04 9.99953724e-01 -5.98419652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12755201799999 meters 0.043935226381653626 Centerline is valid? [True, True] Translation: X:82.63, Y:-8.46, Z:-0.60 [[ 9.99915011e-01 -8.91362307e-03 9.51414035e-03 8.26265944e+01] [ 8.91990704e-03 9.99960026e-01 -6.18257739e-04 -8.45596119e+00] [-9.50824911e-03 7.03070441e-04 9.99954548e-01 -5.98441245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15755201799999 meters 0.05081392155963591 Centerline is valid? [True, True] Translation: X:82.66, Y:-8.47, Z:-0.60 [[ 9.99910759e-01 -8.58235732e-03 1.02380117e-02 8.26575531e+01] [ 8.58962404e-03 9.99962887e-01 -6.66016802e-04 -8.46840789e+00] [-1.02319157e-02 7.53898037e-04 9.99947368e-01 -5.97367048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18755201799999 meters 0.046268744707403706 Centerline is valid? [True, True] Translation: X:82.69, Y:-8.47, Z:-0.60 [[ 9.99904139e-01 -8.62344162e-03 1.08328061e-02 8.26897576e+01] [ 8.63158938e-03 9.99962498e-01 -7.05608511e-04 -8.46576213e+00] [-1.08263151e-02 7.99045205e-04 9.99941074e-01 -5.97410840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21755201799999 meters 0.045764643834016024 Centerline is valid? [True, True] Translation: X:82.72, Y:-8.47, Z:-0.60 [[ 9.99903524e-01 -8.52091506e-03 1.09698151e-02 8.27215883e+01] [ 8.52927370e-03 9.99963369e-01 -7.15407646e-04 -8.46840691e+00] [-1.09633174e-02 8.08903182e-04 9.99939574e-01 -5.97671476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.247552018 meters 0.04725407471077379 Centerline is valid? [True, True] Translation: X:82.75, Y:-8.48, Z:-0.60 [[ 9.99899855e-01 -8.38309197e-03 1.14019076e-02 8.27536899e+01] [ 8.39212475e-03 9.99964508e-01 -7.44602600e-04 -8.47581008e+00] [-1.13952609e-02 8.40214263e-04 9.99934719e-01 -5.97471587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.277552018 meters 0.04575450721905483 Centerline is valid? [True, True] Translation: X:82.79, Y:-8.48, Z:-0.60 [[ 9.99909241e-01 -7.88337686e-03 1.09252729e-02 8.27858866e+01] [ 7.89165121e-03 9.99968605e-01 -7.14454044e-04 -8.47702015e+00] [-1.09192976e-02 8.00607645e-04 9.99940062e-01 -5.98190611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.307552018 meters 0.04594589228204788 Centerline is valid? [True, True] Translation: X:82.82, Y:-8.48, Z:-0.60 [[ 9.99931936e-01 -6.12905451e-03 9.92762324e-03 8.28160501e+01] [ 6.13580622e-03 9.99980965e-01 -6.49777818e-04 -8.48160182e+00] [-9.92345174e-03 7.10647564e-04 9.99950509e-01 -5.99325843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.337552018 meters 0.04213466055767142 Centerline is valid? [True, True] Translation: X:82.85, Y:-8.48, Z:-0.60 [[ 9.99940826e-01 -4.56225356e-03 9.87573357e-03 8.28476924e+01] [ 4.56886134e-03 9.99989354e-01 -6.46635361e-04 -8.48008918e+00] [-9.87267832e-03 6.91717954e-04 9.99951025e-01 -5.99825143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.367552018 meters 0.043541889655947796 Centerline is valid? [True, True] Translation: X:82.88, Y:-8.49, Z:-0.60 [[ 9.99943728e-01 -2.56056448e-03 1.02948661e-02 8.28782247e+01] [ 2.56764390e-03 9.99996476e-01 -6.74506939e-04 -8.48519856e+00] [-1.02931027e-02 7.00902533e-04 9.99946779e-01 -5.99794144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.397552018 meters 0.041520093981700854 Centerline is valid? [True, True] Translation: X:82.91, Y:-8.49, Z:-0.60 [[ 9.99942140e-01 -2.29864414e-04 1.07546807e-02 8.29100621e+01] [ 2.37462511e-04 9.99999723e-01 -7.05220483e-04 -8.48587167e+00] [-1.07545157e-02 7.07733513e-04 9.99941918e-01 -5.99340444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.427552018 meters 0.03881896966377792 Centerline is valid? [True, True] Translation: X:82.94, Y:-8.49, Z:-0.60 [[ 9.99944150e-01 3.49476136e-03 9.97410069e-03 8.29407815e+01] [-3.48840505e-03 9.99993701e-01 -6.54607793e-04 -8.48548414e+00] [-9.97632557e-03 6.19777530e-04 9.99950043e-01 -5.99866509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.457552018 meters 0.05001089497621339 Centerline is valid? [True, True] Translation: X:82.97, Y:-8.50, Z:-0.60 [[ 9.99942842e-01 5.42975512e-03 9.21035282e-03 8.29698556e+01] [-5.42441475e-03 9.99985105e-01 -6.04704877e-04 -8.50415243e+00] [-9.21349904e-03 5.54709540e-04 9.99957401e-01 -5.99965206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48755201799999 meters 0.05001089497621339 Centerline is valid? [True, True] Translation: X:83.00, Y:-8.51, Z:-0.60 [[ 9.99941063e-01 5.74810768e-03 9.21028769e-03 8.30023708e+01] [-5.74277168e-03 9.99983327e-01 -6.05694857e-04 -8.50650425e+00] [-9.21361572e-03 5.52766580e-04 9.99957401e-01 -6.00195462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51755201799999 meters 0.04418441725791499 Centerline is valid? [True, True] Translation: X:83.04, Y:-8.50, Z:-0.60 [[ 9.99930749e-01 7.28751514e-03 9.24061955e-03 8.30353139e+01] [-7.28218636e-03 9.99973298e-01 -6.10185981e-04 -8.50291537e+00] [-9.24481955e-03 5.42851811e-04 9.99957118e-01 -6.00817799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54755201799999 meters 0.042698264744732435 Centerline is valid? [True, True] Translation: X:83.07, Y:-8.51, Z:-0.60 [[ 9.99914915e-01 8.73325288e-03 9.68981207e-03 8.30672520e+01] [-8.72744559e-03 9.99961709e-01 -6.41442286e-04 -8.50543572e+00] [-9.69504292e-03 5.56820401e-04 9.99952847e-01 -6.00680085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57755201799999 meters 0.043508673915893324 Centerline is valid? [True, True] Translation: X:83.10, Y:-8.51, Z:-0.60 [[ 9.99889211e-01 1.03438600e-02 1.07037864e-02 8.30979481e+01] [-1.03368294e-02 9.99946320e-01 -7.11948489e-04 -8.51077375e+00] [-1.07105761e-02 6.01226399e-04 9.99942459e-01 -5.98855167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60755201799999 meters 0.041564684976446054 Centerline is valid? [True, True] Translation: X:83.13, Y:-8.51, Z:-0.60 [[ 9.99878852e-01 1.06533841e-02 1.13483815e-02 8.31311065e+01] [-1.06454603e-02 9.99943048e-01 -7.58415611e-04 -8.51108851e+00] [-1.13558149e-02 6.37514987e-04 9.99935317e-01 -5.98539584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.637552018 meters 0.042483704057228684 Centerline is valid? [True, True] Translation: X:83.16, Y:-8.52, Z:-0.60 [[ 9.99880014e-01 1.05311391e-02 1.13601668e-02 8.31619853e+01] [-1.05231490e-02 9.99944339e-01 -7.62890593e-04 -8.51618806e+00] [-1.13675686e-02 6.43254328e-04 9.99935180e-01 -5.98483705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.667552018 meters 0.04465621162890983 Centerline is valid? [True, True] Translation: X:83.19, Y:-8.53, Z:-0.60 [[ 9.99905177e-01 8.66166029e-03 1.07057161e-02 8.31926415e+01] [-8.65442658e-03 9.99962289e-01 -7.21830947e-04 -8.52786289e+00] [-1.07115646e-02 6.29110667e-04 9.99942432e-01 -5.98243581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.697552018 meters 0.044375245145747165 Centerline is valid? [True, True] Translation: X:83.22, Y:-8.53, Z:-0.60 [[ 9.99917578e-01 7.09221145e-03 1.07022463e-02 8.32245194e+01] [-7.08486848e-03 9.99974640e-01 -7.23872291e-04 -8.53207178e+00] [-1.07071087e-02 6.47988621e-04 9.99942467e-01 -5.98486484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.727552018 meters 0.044270256686045346 Centerline is valid? [True, True] Translation: X:83.26, Y:-8.54, Z:-0.60 [[ 9.99924515e-01 5.92071237e-03 1.07661245e-02 8.32562007e+01] [-5.91319528e-03 9.99982251e-01 -7.29915787e-04 -8.53625204e+00] [-1.07702550e-02 6.66198493e-04 9.99941777e-01 -5.98416504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.757552018 meters 0.04658971972976562 Centerline is valid? [True, True] Translation: X:83.29, Y:-8.54, Z:-0.60 [[ 9.99945903e-01 2.57360760e-03 1.00781133e-02 8.32864920e+01] [-2.56683077e-03 9.99996471e-01 -6.85307873e-04 -8.54325867e+00] [-1.00798414e-02 6.59401989e-04 9.99948980e-01 -5.98957397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.787552018 meters 0.046304271071533724 Centerline is valid? [True, True] Translation: X:83.32, Y:-8.55, Z:-0.60 [[ 9.99951357e-01 1.15624633e-03 9.79523783e-03 8.33181544e+01] [-1.14977308e-03 9.99999117e-01 -6.66461904e-04 -8.54769984e+00] [-9.79599978e-03 6.55167184e-04 9.99951803e-01 -5.99147622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.817552018 meters 0.048096793839098935 Centerline is valid? [True, True] Translation: X:83.35, Y:-8.56, Z:-0.60 [[ 9.99954186e-01 -3.36547199e-06 9.57213118e-03 8.33483718e+01] [ 9.60692018e-06 9.99999787e-01 -6.51997832e-04 -8.55552610e+00] [-9.57212695e-03 6.52059920e-04 9.99953974e-01 -5.99329147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.847552018 meters 0.04856102958502314 Centerline is valid? [True, True] Translation: X:83.38, Y:-8.56, Z:-0.60 [[ 9.99949845e-01 -1.25591121e-03 9.93631556e-03 8.33803210e+01] [ 1.26270385e-03 9.99998973e-01 -6.77373201e-04 -8.56177586e+00] [-9.93545464e-03 6.89885852e-04 9.99950404e-01 -5.99213383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87755201799999 meters 0.04839949086737421 Centerline is valid? [True, True] Translation: X:83.41, Y:-8.57, Z:-0.60 [[ 9.99939442e-01 -3.31927502e-03 1.04925817e-02 8.34108409e+01] [ 3.32697156e-03 9.99994209e-01 -7.16151923e-04 -8.56762139e+00] [-1.04901438e-02 7.51017075e-04 9.99944695e-01 -5.97993904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90755201799999 meters 0.05024535981195865 Centerline is valid? [True, True] Translation: X:83.44, Y:-8.57, Z:-0.60 [[ 9.99933748e-01 -3.98950241e-03 1.07973538e-02 8.34414072e+01] [ 3.99769899e-03 9.99991737e-01 -7.37651377e-04 -8.57315338e+00] [-1.07943217e-02 7.80767076e-04 9.99941435e-01 -5.97736415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93755201799999 meters 0.05164968212456848 Centerline is valid? [True, True] Translation: X:83.47, Y:-8.58, Z:-0.60 [[ 9.99928559e-01 -4.62280903e-03 1.10229889e-02 8.34723013e+01] [ 4.63139805e-03 9.99988991e-01 -7.53791510e-04 -8.57875001e+00] [-1.10193829e-02 8.04789507e-04 9.99938961e-01 -5.97491063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96755201799999 meters 0.055119869311299745 Centerline is valid? [True, True] Translation: X:83.50, Y:-8.59, Z:-0.60 [[ 9.99938166e-01 -5.36570473e-03 9.74026841e-03 8.35021663e+01] [ 5.37245108e-03 9.99985346e-01 -6.66590856e-04 -8.59107860e+00] [-9.73654894e-03 7.18878754e-04 9.99952340e-01 -5.98804792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.997552018 meters 0.051995570079316336 Centerline is valid? [True, True] Translation: X:83.53, Y:-8.59, Z:-0.60 [[ 9.99944772e-01 -5.57794037e-03 8.90722770e-03 8.35340240e+01] [ 5.58359427e-03 9.99984226e-01 -6.10012962e-04 -8.59211602e+00] [-8.90368458e-03 6.59713618e-04 9.99960144e-01 -5.99769764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.027552018 meters 0.05167187870911412 Centerline is valid? [True, True] Translation: X:83.57, Y:-8.60, Z:-0.60 [[ 9.99948071e-01 -6.13856050e-03 8.13475219e-03 8.35657030e+01] [ 6.14329992e-03 9.99980974e-01 -5.57754525e-04 -8.59500889e+00] [-8.13117361e-03 6.07699783e-04 9.99966757e-01 -6.00651251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.057552018 meters 0.05395492833644378 Centerline is valid? [True, True] Translation: X:83.60, Y:-8.60, Z:-0.60 [[ 9.99948074e-01 -6.56111239e-03 7.79745451e-03 8.35963935e+01] [ 6.56548461e-03 9.99978304e-01 -5.35258701e-04 -8.60047974e+00] [-7.79377344e-03 5.86424975e-04 9.99969456e-01 -6.01020007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.087552018 meters 0.047960218553502326 Centerline is valid? [True, True] Translation: X:83.63, Y:-8.60, Z:-0.60 [[ 9.99954091e-01 -6.46991956e-03 7.06800093e-03 8.36287960e+01] [ 6.47351263e-03 9.99978929e-01 -4.85597115e-04 -8.59698291e+00] [-7.06471022e-03 5.31329615e-04 9.99974903e-01 -6.01628098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.117552018 meters 0.051825278347255165 Centerline is valid? [True, True] Translation: X:83.66, Y:-8.61, Z:-0.60 [[ 9.99958676e-01 -5.97169089e-03 6.85458872e-03 8.36590355e+01] [ 5.97506273e-03 9.99982038e-01 -4.71536365e-04 -8.60657786e+00] [-6.85164973e-03 5.12473477e-04 9.99976396e-01 -6.01841068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.147552018 meters 0.05164348752869399 Centerline is valid? [True, True] Translation: X:83.69, Y:-8.61, Z:-0.60 [[ 9.99967052e-01 -4.71299678e-03 6.60930284e-03 8.36911842e+01] [ 4.71610704e-03 9.99988776e-01 -4.55081360e-04 -8.61150614e+00] [-6.60708386e-03 4.86236546e-04 9.99978055e-01 -6.01668895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.177552018 meters 0.0499503896485723 Centerline is valid? [True, True] Translation: X:83.72, Y:-8.61, Z:-0.60 [[ 9.99970728e-01 -3.26249916e-03 6.92091320e-03 8.37224511e+01] [ 3.26587939e-03 9.99994553e-01 -4.77163065e-04 -8.61366583e+00] [-6.91931876e-03 4.99751965e-04 9.99975936e-01 -6.00977527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.207552018 meters 0.047707919655210505 Centerline is valid? [True, True] Translation: X:83.75, Y:-8.61, Z:-0.60 [[ 9.99971875e-01 1.51150757e-03 7.34606442e-03 8.37529248e+01] [-1.50782509e-03 9.99998735e-01 -5.06799031e-04 -8.61301536e+00] [-7.34682116e-03 4.95708197e-04 9.99972889e-01 -5.99976100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23755201799999 meters 0.04573854000351359 Centerline is valid? [True, True] Translation: X:83.78, Y:-8.61, Z:-0.60 [[ 9.99961207e-01 4.60457631e-03 7.50876502e-03 8.37840061e+01] [-4.60081548e-03 9.99989282e-01 -5.18055558e-04 -8.61277733e+00] [-7.51106996e-03 4.83489018e-04 9.99971675e-01 -6.00083213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26755201799999 meters 0.043083448688217514 Centerline is valid? [True, True] Translation: X:83.82, Y:-8.61, Z:-0.60 [[ 9.99941749e-01 7.86256040e-03 7.39453149e-03 8.38151230e+01] [-7.85900070e-03 9.99968987e-01 -5.10330709e-04 -8.61263216e+00] [-7.39831467e-03 4.52187353e-04 9.99972530e-01 -6.00391429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29755201799999 meters 0.039688776218136025 Centerline is valid? [True, True] Translation: X:83.84, Y:-8.61, Z:-0.60 [[ 9.99872275e-01 1.44244482e-02 6.88247633e-03 8.38446980e+01] [-1.44215184e-02 9.99895892e-01 -4.75137569e-04 -8.61484502e+00] [-6.88861340e-03 3.75821123e-04 9.99976203e-01 -6.00458938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32755201799999 meters 0.038834268620021255 Centerline is valid? [True, True] Translation: X:83.88, Y:-8.62, Z:-0.60 [[ 9.99832546e-01 1.71113898e-02 6.48694837e-03 8.38754880e+01] [-1.71088445e-02 9.99853533e-01 -4.47665618e-04 -8.61747970e+00] [-6.49365842e-03 3.36606464e-04 9.99978859e-01 -6.00958774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35755201799999 meters 0.03718944791236726 Centerline is valid? [True, True] Translation: X:83.91, Y:-8.62, Z:-0.60 [[ 9.99783174e-01 1.96738751e-02 6.82227566e-03 8.39073698e+01] [-1.96711173e-02 9.99806394e-01 -4.71112286e-04 -8.61931268e+00] [-6.83022343e-03 3.36808352e-04 9.99976617e-01 -6.00395053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.387552018 meters 0.03604421000296995 Centerline is valid? [True, True] Translation: X:83.94, Y:-8.62, Z:-0.60 [[ 9.99733648e-01 2.20193175e-02 6.91251325e-03 8.39383573e+01] [-2.20165390e-02 9.99757492e-01 -4.77798582e-04 -8.62209193e+00] [-6.92135771e-03 3.25481702e-04 9.99975994e-01 -5.99913909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.417552018 meters 0.03159499793772462 Centerline is valid? [True, True] Translation: X:83.97, Y:-8.62, Z:-0.60 [[ 9.99628945e-01 2.61479441e-02 7.63267306e-03 8.39696963e+01] [-2.61446739e-02 9.99658030e-01 -5.27937005e-04 -8.62318033e+00] [-7.64386738e-03 3.28187363e-04 9.99970731e-01 -5.98732801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.447552018 meters 0.03034849233055427 Centerline is valid? [True, True] Translation: X:84.00, Y:-8.63, Z:-0.60 [[ 9.99570603e-01 2.83372890e-02 7.45711099e-03 8.40017680e+01] [-2.83342250e-02 9.99598372e-01 -5.16230254e-04 -8.62674193e+00] [-7.46874457e-03 3.04717126e-04 9.99972062e-01 -5.98469257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.477552018 meters 0.030402536936243764 Centerline is valid? [True, True] Translation: X:84.03, Y:-8.63, Z:-0.60 [[ 9.99509615e-01 3.03733005e-02 7.61529731e-03 8.40330805e+01] [-3.03701456e-02 9.99538580e-01 -5.29606983e-04 -8.63229760e+00] [-7.62786937e-03 2.98069584e-04 9.99970863e-01 -5.98301589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.507552018 meters 0.028784927581955794 Centerline is valid? [True, True] Translation: X:84.07, Y:-8.64, Z:-0.60 [[ 9.99445164e-01 3.23864977e-02 7.77680612e-03 8.40654106e+01] [-3.23832494e-02 9.99475377e-01 -5.43294788e-04 -8.63566946e+00] [-7.79032165e-03 2.91155097e-04 9.99969613e-01 -5.97984221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.537552018 meters 0.026437280725939597 Centerline is valid? [True, True] Translation: X:84.10, Y:-8.64, Z:-0.60 [[ 9.99310682e-01 3.62855940e-02 7.84319841e-03 8.40965445e+01] [-3.62823921e-02 9.99341426e-01 -5.50179154e-04 -8.64095037e+00] [-7.85799666e-03 2.65229906e-04 9.99969090e-01 -5.97544376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.567552018 meters 0.025994351028663935 Centerline is valid? [True, True] Translation: X:84.13, Y:-8.65, Z:-0.60 [[ 9.99233008e-01 3.84242025e-02 7.54827628e-03 8.41275229e+01] [-3.84212944e-02 9.99261489e-01 -5.29941516e-04 -8.64616895e+00] [-7.56306438e-03 2.39520509e-04 9.99971371e-01 -5.97728818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.597552018 meters 0.024746213265048597 Centerline is valid? [True, True] Translation: X:84.16, Y:-8.65, Z:-0.60 [[ 9.99184652e-01 3.97903706e-02 6.83796926e-03 8.41595541e+01] [-3.97880039e-02 9.99208028e-01 -4.81847553e-04 -8.65074279e+00] [-6.85172667e-03 2.09385532e-04 9.99976505e-01 -5.98575336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62755201799999 meters 0.02399219250419191 Centerline is valid? [True, True] Translation: X:84.19, Y:-8.66, Z:-0.60 [[ 9.99148092e-01 4.09053324e-02 5.46291671e-03 8.41905889e+01] [-4.09038317e-02 9.99163013e-01 -3.86208694e-04 -8.66230412e+00] [-5.47414231e-03 1.62425454e-04 9.99985004e-01 -5.99481414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65755201799999 meters 0.024204955550601617 Centerline is valid? [True, True] Translation: X:84.22, Y:-8.67, Z:-0.60 [[ 9.99127302e-01 4.13964028e-02 5.56525967e-03 8.42209781e+01] [-4.13948426e-02 9.99142788e-01 -3.95281395e-04 -8.67058842e+00] [-5.57685229e-03 1.64563386e-04 9.99984436e-01 -5.98944254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68755201799999 meters 0.02389749389624416 Centerline is valid? [True, True] Translation: X:84.25, Y:-8.68, Z:-0.60 [[ 9.99113725e-01 4.15813017e-02 6.53903492e-03 8.42526853e+01] [-4.15791370e-02 9.99135105e-01 -4.66702748e-04 -8.67790673e+00] [-6.55278545e-03 1.94401693e-04 9.99978511e-01 -5.97569693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71755201799999 meters 0.02418761375846127 Centerline is valid? [True, True] Translation: X:84.28, Y:-8.69, Z:-0.60 [[ 9.99141549e-01 4.06887106e-02 7.78417598e-03 8.42834003e+01] [-4.06855936e-02 9.99171842e-01 -5.58436280e-04 -8.69204095e+00] [-7.80045151e-03 2.41253069e-04 9.99969547e-01 -5.95870541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.747552018 meters 0.026142725380629353 Centerline is valid? [True, True] Translation: X:84.31, Y:-8.70, Z:-0.60 [[ 9.99173292e-01 3.98694284e-02 7.94737134e-03 8.43133930e+01] [-3.98661362e-02 9.99204866e-01 -5.72305109e-04 -8.70311012e+00] [-7.96386959e-03 2.55000992e-04 9.99968255e-01 -5.95898367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.777552018 meters 0.025539257517647313 Centerline is valid? [True, True] Translation: X:84.34, Y:-8.71, Z:-0.60 [[ 9.99202046e-01 3.92269485e-02 7.51777448e-03 8.43445342e+01] [-3.92239811e-02 9.99230297e-01 -5.41807841e-04 -8.71117049e+00] [-7.53324149e-03 2.46498459e-04 9.99971594e-01 -5.96546871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.807552018 meters 0.02672735249406504 Centerline is valid? [True, True] Translation: X:84.38, Y:-8.73, Z:-0.60 [[ 9.99265223e-01 3.78834439e-02 5.81884839e-03 8.43750291e+01] [-3.78816354e-02 9.99282145e-01 -4.20751431e-04 -8.73021286e+00] [-5.83061082e-03 2.00014779e-04 9.99982982e-01 -5.98802820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.837552018 meters 0.026815865325562252 Centerline is valid? [True, True] Translation: X:84.41, Y:-8.74, Z:-0.60 [[ 9.99274540e-01 3.76372568e-02 5.81642104e-03 8.44066923e+01] [-3.76354411e-02 9.99291447e-01 -4.21331638e-04 -8.74153083e+00] [-5.82815756e-03 2.02122407e-04 9.99982996e-01 -5.98888626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.867552018 meters 0.0272120014829468 Centerline is valid? [True, True] Translation: X:84.44, Y:-8.75, Z:-0.60 [[ 9.99271109e-01 3.75537714e-02 6.85304748e-03 8.44387309e+01] [-3.75512314e-02 9.99294579e-01 -4.98977917e-04 -8.75322103e+00] [-6.86695170e-03 2.41273845e-04 9.99976393e-01 -5.98221646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.897552018 meters 0.02580324739382737 Centerline is valid? [True, True] Translation: X:84.47, Y:-8.77, Z:-0.60 [[ 9.99248383e-01 3.78618834e-02 8.31551637e-03 8.44710423e+01] [-3.78581247e-02 9.99282939e-01 -6.09016885e-04 -8.76889847e+00] [-8.33261216e-03 2.93749281e-04 9.99965240e-01 -5.96097086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.927552018 meters 0.02567284638487767 Centerline is valid? [True, True] Translation: X:84.50, Y:-8.78, Z:-0.60 [[ 9.99209250e-01 3.87855397e-02 8.74967605e-03 8.45013154e+01] [-3.87813846e-02 9.99247512e-01 -6.44114947e-04 -8.77854913e+00] [-8.76807437e-03 3.04281061e-04 9.99961513e-01 -5.96176230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.957552018 meters 0.026957653133249233 Centerline is valid? [True, True] Translation: X:84.53, Y:-8.79, Z:-0.60 [[ 9.99174663e-01 3.97021606e-02 8.58674399e-03 8.45316650e+01] [-3.96981722e-02 9.99211515e-01 -6.34496227e-04 -8.79052012e+00] [-8.60516435e-03 2.93094511e-04 9.99962932e-01 -5.96015798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98755201799999 meters 0.02404689647324966 Centerline is valid? [True, True] Translation: X:84.56, Y:-8.81, Z:-0.60 [[ 9.99058140e-01 4.23627753e-02 9.39297832e-03 8.45624612e+01] [-4.23580996e-02 9.99102250e-01 -6.96256176e-04 -8.80724449e+00] [-9.41404112e-03 2.97731689e-04 9.99955643e-01 -5.95060784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01755201799999 meters 0.024729330691437384 Centerline is valid? [True, True] Translation: X:84.59, Y:-8.82, Z:-0.59 [[ 9.98993857e-01 4.38413403e-02 9.44514324e-03 8.45931804e+01] [-4.38366493e-02 9.99038465e-01 -7.03219308e-04 -8.82010561e+00] [-9.46689147e-03 2.88468338e-04 9.99955146e-01 -5.94867057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04755201799999 meters 0.023706149649407197 Centerline is valid? [True, True] Translation: X:84.63, Y:-8.83, Z:-0.60 [[ 9.98932285e-01 4.52258150e-02 9.42947987e-03 8.46251988e+01] [-4.52211769e-02 9.98976751e-01 -7.04611799e-04 -8.83021229e+00] [-9.45169780e-03 2.77447298e-04 9.99955293e-01 -5.95246810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07755201799999 meters 0.02364530161276812 Centerline is valid? [True, True] Translation: X:84.66, Y:-8.84, Z:-0.60 [[ 9.98884559e-01 4.63543632e-02 8.99501201e-03 8.46552855e+01] [-4.63501783e-02 9.98925026e-01 -6.73266790e-04 -8.84114991e+00] [-9.01655146e-03 2.55595390e-04 9.99959317e-01 -5.95623928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10755201799999 meters 0.02223794408214453 Centerline is valid? [True, True] Translation: X:84.69, Y:-8.86, Z:-0.60 [[ 9.98826405e-01 4.77503672e-02 8.10652743e-03 8.46857768e+01] [-4.77470020e-02 9.98859276e-01 -6.08256865e-04 -8.85873451e+00] [-8.12632461e-03 2.20480637e-04 9.99966957e-01 -5.97481493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.137552018 meters 0.02230815246634257 Centerline is valid? [True, True] Translation: X:84.72, Y:-8.87, Z:-0.60 [[ 9.98809962e-01 4.81994551e-02 7.44799984e-03 8.47180669e+01] [-4.81966103e-02 9.98837711e-01 -5.61078556e-04 -8.87073846e+00] [-7.46638679e-03 2.01442506e-04 9.99972106e-01 -5.98638343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.167552018 meters 0.022704641534852552 Centerline is valid? [True, True] Translation: X:84.75, Y:-8.88, Z:-0.60 [[ 9.98803083e-01 4.83603526e-02 7.32653340e-03 8.47504270e+01] [-4.83575848e-02 9.98829934e-01 -5.54561980e-04 -8.88402004e+00] [-7.34477968e-03 1.99604755e-04 9.99973007e-01 -5.99021757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.197552018 meters 0.023741269997356852 Centerline is valid? [True, True] Translation: X:84.78, Y:-8.91, Z:-0.60 [[ 9.98818829e-01 4.79300280e-02 7.97863746e-03 8.47799566e+01] [-4.79267075e-02 9.98850671e-01 -6.06961360e-04 -8.91002559e+00] [-7.99855905e-03 2.23854611e-04 9.99967986e-01 -5.97936979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.227552018 meters 0.023156021852205107 Centerline is valid? [True, True] Translation: X:84.81, Y:-8.92, Z:-0.60 [[ 9.98832999e-01 4.76703588e-02 7.75740966e-03 8.48113101e+01] [-4.76671949e-02 9.98863098e-01 -5.92342383e-04 -8.92203164e+00] [-7.77682741e-03 2.21877161e-04 9.99969735e-01 -5.97949191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.257552018 meters 0.024257203638566198 Centerline is valid? [True, True] Translation: X:84.84, Y:-8.94, Z:-0.60 [[ 9.98861701e-01 4.71107747e-02 7.47503872e-03 8.48418528e+01] [-4.71078042e-02 9.98889647e-01 -5.73058013e-04 -8.93612907e+00] [-7.49373600e-03 2.20273041e-04 9.99971897e-01 -5.98328511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.287552018 meters 0.0243844965177104 Centerline is valid? [True, True] Translation: X:84.87, Y:-8.95, Z:-0.60 [[ 9.98890426e-01 4.65906147e-02 6.87258606e-03 8.48729115e+01] [-4.65880788e-02 9.98914046e-01 -5.28699867e-04 -8.94895084e+00] [-6.88975520e-03 2.07932654e-04 9.99976244e-01 -5.99216982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.317552018 meters 0.026780958369587608 Centerline is valid? [True, True] Translation: X:84.90, Y:-8.98, Z:-0.60 [[ 9.99004324e-01 4.43487801e-02 4.85251563e-03 8.49021693e+01] [-4.43474850e-02 9.99016096e-01 -3.74225743e-04 -8.97598391e+00] [-4.86433767e-03 1.58656271e-04 9.99988156e-01 -6.01273302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.347552018 meters 0.027973650087979605 Centerline is valid? [True, True] Translation: X:84.93, Y:-8.99, Z:-0.60 [[ 9.99066692e-01 4.30197682e-02 3.87881504e-03 8.49333300e+01] [-4.30189281e-02 9.99074212e-01 -2.99789694e-04 -8.99096155e+00] [-3.88812097e-03 1.32647432e-04 9.99992432e-01 -6.02361439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37755201799999 meters 0.029644549460680892 Centerline is valid? [True, True] Translation: X:84.96, Y:-9.01, Z:-0.60 [[ 9.99123589e-01 4.17793493e-02 2.55748563e-03 8.49629528e+01] [-4.17789797e-02 9.99126858e-01 -1.97824080e-04 -9.00670521e+00] [-2.56351754e-03 9.08015642e-05 9.99996710e-01 -6.03274235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40755201799999 meters 0.029644549460680892 Centerline is valid? [True, True] Translation: X:85.00, Y:-9.01, Z:-0.60 [[ 9.99109216e-01 4.21216601e-02 2.55745206e-03 8.49952782e+01] [-4.21212905e-02 9.99112485e-01 -1.98257150e-04 -9.00947128e+00] [-2.56353320e-03 9.03573647e-05 9.99996710e-01 -6.03503960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43755201799999 meters 0.030738206673117413 Centerline is valid? [True, True] Translation: X:85.03, Y:-9.02, Z:-0.60 [[ 9.99175523e-01 4.05429537e-02 2.13152412e-03 8.50264837e+01] [-4.05426922e-02 9.99177793e-01 -1.65777071e-04 -9.02454460e+00] [-2.13649266e-03 7.92226652e-05 9.99997715e-01 -6.03267625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46755201799999 meters 0.030706631672133774 Centerline is valid? [True, True] Translation: X:85.06, Y:-9.05, Z:-0.60 [[ 9.99252758e-01 3.85870759e-02 2.22804702e-03 8.50567803e+01] [-3.85867837e-02 9.99255238e-01 -1.74011578e-04 -9.04815756e+00] [-2.23310225e-03 8.79083803e-05 9.99997503e-01 -6.02026356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.497552018 meters 0.02370379247148203 Centerline is valid? [True, True] Translation: X:85.09, Y:-9.05, Z:-0.60 [[ 9.99274081e-01 3.80595893e-02 1.66714645e-03 8.50883423e+01] [-3.80594250e-02 9.99275469e-01 -1.30155920e-04 -9.05064487e+00] [-1.67089223e-03 6.66108023e-05 9.99998602e-01 -6.00782542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.527552018 meters 0.024439672611043007 Centerline is valid? [True, True] Translation: X:85.12, Y:-9.07, Z:-0.60 [[ 9.99302396e-01 3.73459472e-02 -4.71060416e-05 8.51187858e+01] [-3.73459469e-02 9.99302397e-01 5.64720297e-06 -9.07497264e+00] [ 4.72840804e-05 -3.88404372e-06 9.99999999e-01 -6.00886186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.557552018 meters 0.025463186217304982 Centerline is valid? [True, True] Translation: X:85.15, Y:-9.09, Z:-0.60 [[ 9.99319672e-01 3.68715116e-02 -8.27445449e-04 8.51487229e+01] [-3.68714687e-02 9.99320014e-01 6.70587320e-05 -9.08879844e+00] [ 8.29355354e-04 -3.65039811e-05 9.99999655e-01 -6.01462227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.587552018 meters 0.026278280958553873 Centerline is valid? [True, True] Translation: X:85.18, Y:-9.10, Z:-0.60 [[ 9.99329032e-01 3.66062814e-02 -1.21067261e-03 8.51784038e+01] [-3.66061898e-02 9.99329764e-01 9.77119974e-05 -9.10185977e+00] [ 1.21343804e-03 -5.33283245e-05 9.99999262e-01 -6.02279434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.617552018 meters 0.02704731156966807 Centerline is valid? [True, True] Translation: X:85.21, Y:-9.11, Z:-0.60 [[ 9.99321314e-01 3.68056753e-02 -1.50122496e-03 8.52098508e+01] [-3.68055328e-02 9.99322439e-01 1.22399228e-04 -9.11466671e+00] [ 1.50471278e-03 -6.70627726e-05 9.99998866e-01 -6.02702124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.647552018 meters 0.02754201768884999 Centerline is valid? [True, True] Translation: X:85.24, Y:-9.14, Z:-0.60 [[ 9.99349102e-01 3.60705996e-02 -5.32974311e-04 8.52397702e+01] [-3.60705810e-02 9.99349244e-01 4.45749875e-05 -9.13680284e+00] [ 5.34235321e-04 -2.53212806e-05 9.99999857e-01 -6.01930775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.677552018 meters 0.024961613036929245 Centerline is valid? [True, True] Translation: X:85.27, Y:-9.15, Z:-0.60 [[ 9.99360356e-01 3.57328210e-02 -1.42988749e-03 8.52707721e+01] [-3.57326898e-02 9.99361377e-01 1.17203767e-04 -9.14542795e+00] [ 1.43316235e-03 -6.60350726e-05 9.99998971e-01 -6.00880168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.707552018 meters 0.027139119677915016 Centerline is valid? [True, True] Translation: X:85.30, Y:-9.16, Z:-0.60 [[ 9.99402338e-01 3.45447326e-02 -1.27627054e-03 8.53007274e+01] [-3.45446265e-02 9.99403151e-01 1.05110228e-04 -9.16045828e+00] [ 1.27913980e-03 -6.09591186e-05 9.99999180e-01 -6.01676674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73755201799999 meters 0.02684796229330348 Centerline is valid? [True, True] Translation: X:85.33, Y:-9.17, Z:-0.60 [[ 9.99414174e-01 3.41857755e-02 -1.62502229e-03 8.53315475e+01] [-3.41856029e-02 9.99415492e-01 1.33900467e-04 -9.17197616e+00] [ 1.62864994e-03 -7.82696577e-05 9.99998671e-01 -6.01857457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76755201799999 meters 0.02853032142671282 Centerline is valid? [True, True] Translation: X:85.36, Y:-9.19, Z:-0.60 [[ 9.99461599e-01 3.27743006e-02 -1.53508502e-03 8.53611071e+01] [-3.27741444e-02 9.99462775e-01 1.26826056e-04 -9.19420074e+00] [ 1.53841697e-03 -7.64466750e-05 9.99998814e-01 -6.02561125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79755201799999 meters 0.028727044228793415 Centerline is valid? [True, True] Translation: X:85.39, Y:-9.21, Z:-0.60 [[ 9.99472601e-01 3.24302242e-02 -1.67333967e-03 8.53919714e+01] [-3.24300374e-02 9.99473998e-01 1.38654890e-04 -9.20542973e+00] [ 1.67695610e-03 -8.43152955e-05 9.99998590e-01 -6.03461160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82755201799999 meters 0.03013483682624625 Centerline is valid? [True, True] Translation: X:85.42, Y:-9.23, Z:-0.60 [[ 9.99468164e-01 3.25419553e-02 -2.10011515e-03 8.54218194e+01] [-3.25416608e-02 9.99470365e-01 1.74250005e-04 -9.22750706e+00] [ 2.10467329e-03 -1.05816098e-04 9.99997780e-01 -6.04339075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85755201799999 meters 0.03066350484762855 Centerline is valid? [True, True] Translation: X:85.45, Y:-9.24, Z:-0.60 [[ 9.99461765e-01 3.27551598e-02 -1.81112155e-03 8.54539076e+01] [-3.27549395e-02 9.99463402e-01 1.51171067e-04 -9.23977475e+00] [ 1.81510134e-03 -9.17665244e-05 9.99998348e-01 -6.04243587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.887552018 meters 0.029880129496592134 Centerline is valid? [True, True] Translation: X:85.49, Y:-9.25, Z:-0.60 [[ 9.99428523e-01 3.37860571e-02 -1.06314008e-03 8.54851755e+01] [-3.37859808e-02 9.99429087e-01 8.96271951e-05 -9.24958143e+00] [ 1.06556127e-03 -5.36567448e-05 9.99999431e-01 -6.04221442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.917552018 meters 0.028366306654874728 Centerline is valid? [True, True] Translation: X:85.52, Y:-9.26, Z:-0.60 [[ 9.99399673e-01 3.46386826e-02 -6.75241279e-04 8.55172824e+01] [-3.46386523e-02 9.99399900e-01 5.64979923e-05 -9.25772383e+00] [ 6.76793083e-04 -3.30746271e-05 9.99999770e-01 -6.04160013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.947552018 meters 0.027586315518430275 Centerline is valid? [True, True] Translation: X:85.55, Y:-9.26, Z:-0.60 [[ 9.99321550e-01 3.68283751e-02 -3.31382118e-04 8.55491597e+01] [-3.68283673e-02 9.99321605e-01 2.93592098e-05 -9.26479942e+00] [ 3.32238562e-04 -1.71350286e-05 9.99999945e-01 -6.03406236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.977552018 meters 0.023419848571417646 Centerline is valid? [True, True] Translation: X:85.58, Y:-9.26, Z:-0.60 [[ 9.98566700e-01 5.33321742e-02 4.49712355e-03 8.55787006e+01] [-5.33310345e-02 9.98576818e-01 -3.73063906e-04 -9.26225514e+00] [-4.51061963e-03 1.32692943e-04 9.99989818e-01 -6.01756819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.007552018 meters 0.020248499052983274 Centerline is valid? [True, True] Translation: X:85.61, Y:-9.26, Z:-0.60 [[ 9.98129230e-01 6.10022738e-02 4.09421299e-03 8.56101498e+01] [-6.10013943e-02 9.98137623e-01 -3.39458821e-04 -9.25968011e+00] [-4.10729578e-03 8.90710709e-05 9.99991561e-01 -6.01033567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.037552018 meters 0.018366866035402062 Centerline is valid? [True, True] Translation: X:85.64, Y:-9.26, Z:-0.60 [[ 9.97712160e-01 6.75155269e-02 3.47843732e-03 8.56414234e+01] [-6.75149318e-02 9.97718222e-01 -2.88378173e-04 -9.25823205e+00] [-3.48997030e-03 5.28719519e-05 9.99993909e-01 -6.01905532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.067552018 meters 0.01715540403076477 Centerline is valid? [True, True] Translation: X:85.67, Y:-9.25, Z:-0.61 [[ 9.96838317e-01 7.94560919e-02 3.15706655e-04 8.56729056e+01] [-7.94560881e-02 9.96838367e-01 -2.45348614e-05 -9.25463564e+00] [-3.16657950e-04 -6.27525837e-07 9.99999950e-01 -6.05233444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.097552018 meters 0.017138585507891803 Centerline is valid? [True, True] Translation: X:85.71, Y:-9.25, Z:-0.61 [[ 9.96557173e-01 8.29014468e-02 -1.07252722e-03 8.57059155e+01] [-8.29013961e-02 9.96557751e-01 9.17393726e-05 -9.25492747e+00] [ 1.07644064e-03 -2.50952558e-06 9.99999421e-01 -6.07073419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12755201799999 meters 0.017121429018382584 Centerline is valid? [True, True] Translation: X:85.74, Y:-9.26, Z:-0.61 [[ 9.96414947e-01 8.45901040e-02 -1.32978826e-03 8.57374752e+01] [-8.45900279e-02 9.96415834e-01 1.13457956e-04 -9.25613889e+00] [ 1.33461950e-03 -5.64377269e-07 9.99999109e-01 -6.09604770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15755201799999 meters 0.0171943453818684 Centerline is valid? [True, True] Translation: X:85.77, Y:-9.26, Z:-0.61 [[ 9.96527348e-01 8.31897636e-02 -3.56473652e-03 8.57684495e+01] [-8.31892178e-02 9.96533724e-01 3.01362876e-04 -9.25897630e+00] [ 3.57745046e-03 -3.76870546e-06 9.99993601e-01 -6.12604887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18755201799999 meters 0.01722693877191183 Centerline is valid? [True, True] Translation: X:85.80, Y:-9.26, Z:-0.61 [[ 9.96834745e-01 7.94276078e-02 -3.42738999e-03 8.57996007e+01] [-7.94270767e-02 9.96840637e-01 2.91013170e-04 -9.26477531e+00] [ 3.43967610e-03 -1.78644721e-05 9.99994084e-01 -6.12960178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21755201799999 meters 0.017799679664326794 Centerline is valid? [True, True] Translation: X:85.83, Y:-9.27, Z:-0.61 [[ 9.97178119e-01 7.50566288e-02 -1.51687904e-03 8.58298546e+01] [-7.50565192e-02 9.97179273e-01 1.29140552e-04 -9.27080842e+00] [ 1.52229319e-03 -1.49244720e-05 9.99998841e-01 -6.12262699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.247552018 meters 0.019737757127329995 Centerline is valid? [True, True] Translation: X:85.86, Y:-9.28, Z:-0.61 [[ 9.97945493e-01 6.40223045e-02 2.43676935e-03 8.58601293e+01] [-6.40219932e-02 9.97948467e-01 -2.05610024e-04 -9.28049407e+00] [-2.44493387e-03 4.91807656e-05 9.99997010e-01 -6.08073141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.277552018 meters 0.021074936383195176 Centerline is valid? [True, True] Translation: X:85.89, Y:-9.29, Z:-0.61 [[ 9.98252850e-01 5.89537581e-02 3.96248441e-03 8.58913234e+01] [-5.89528956e-02 9.98260710e-01 -3.34214576e-04 -9.28644104e+00] [-3.97529571e-03 1.00030723e-04 9.99992093e-01 -6.06416322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.307552018 meters 0.022192526645151946 Centerline is valid? [True, True] Translation: X:85.92, Y:-9.29, Z:-0.61 [[ 9.98521911e-01 5.41332620e-02 4.85620084e-03 8.59220395e+01] [-5.41319000e-02 9.98533709e-01 -4.11580437e-04 -9.29159461e+00] [-4.87136043e-03 1.48096706e-04 9.99988124e-01 -6.05112000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.337552018 meters 0.025486531673499513 Centerline is valid? [True, True] Translation: X:85.95, Y:-9.30, Z:-0.61 [[ 9.98954160e-01 4.54982786e-02 4.52699610e-03 8.59519533e+01] [-4.54970049e-02 9.98964401e-01 -3.84010185e-04 -9.29980712e+00] [-4.53977975e-03 1.77643808e-04 9.99989679e-01 -6.05908180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.367552018 meters 0.027287077055349215 Centerline is valid? [True, True] Translation: X:85.98, Y:-9.30, Z:-0.61 [[ 9.99195885e-01 3.99000874e-02 3.94535471e-03 8.59822811e+01] [-3.98990764e-02 9.99203659e-01 -3.34655307e-04 -9.30447783e+00] [-3.95556564e-03 1.76970197e-04 9.99992161e-01 -6.07509911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.397552018 meters 0.02893727796919757 Centerline is valid? [True, True] Translation: X:86.01, Y:-9.31, Z:-0.61 [[ 9.99396598e-01 3.45630179e-02 3.44068444e-03 8.60132157e+01] [-3.45622174e-02 9.99402505e-01 -2.91862607e-04 -9.30810476e+00] [-3.44871630e-03 1.72768812e-04 9.99994038e-01 -6.09287403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.427552018 meters 0.034094165543678445 Centerline is valid? [True, True] Translation: X:86.04, Y:-9.32, Z:-0.61 [[ 9.99706846e-01 2.40477267e-02 2.81587577e-03 8.60421983e+01] [-2.40471487e-02 9.99710797e-01 -2.38946841e-04 -9.31607652e+00] [-2.82080754e-03 1.71163009e-04 9.99996007e-01 -6.11453346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.457552018 meters 0.037589156331662946 Centerline is valid? [True, True] Translation: X:86.07, Y:-9.32, Z:-0.61 [[ 9.99832388e-01 1.81350478e-02 2.51333037e-03 8.60715442e+01] [-1.81345683e-02 9.99835532e-01 -2.13422410e-04 -9.32300104e+00] [-2.51678743e-03 1.67808477e-04 9.99996819e-01 -6.11780082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48755201799999 meters 0.03806541294844671 Centerline is valid? [True, True] Translation: X:86.10, Y:-9.33, Z:-0.61 [[ 9.99906396e-01 1.31863275e-02 3.64952883e-03 8.61016434e+01] [-1.31852842e-02 9.99913022e-01 -3.09799947e-04 -9.32558741e+00] [-3.65329653e-03 2.61650874e-04 9.99993292e-01 -6.11412418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51755201799999 meters 0.043168072954837884 Centerline is valid? [True, True] Translation: X:86.13, Y:-9.34, Z:-0.61 [[ 9.99964961e-01 7.65106526e-03 3.39682696e-03 8.61305691e+01] [-7.65013056e-03 9.99970696e-01 -2.88077617e-04 -9.33507049e+00] [-3.39893152e-03 2.62081354e-04 9.99994189e-01 -6.11177717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54755201799999 meters 0.04610564423135983 Centerline is valid? [True, True] Translation: X:86.16, Y:-9.34, Z:-0.61 [[ 9.99996049e-01 -1.79401141e-03 2.16409478e-03 8.61611148e+01] [ 1.79441344e-03 9.99998373e-01 -1.83845380e-04 -9.34135694e+00] [-2.16376144e-03 1.87727935e-04 9.99997641e-01 -6.11515775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57755201799999 meters 0.04541097833449263 Centerline is valid? [True, True] Translation: X:86.19, Y:-9.34, Z:-0.61 [[ 9.99985531e-01 -5.05108145e-03 1.85057368e-03 8.61920701e+01] [ 5.05138105e-03 9.99987229e-01 -1.57259564e-04 -9.34209970e+00] [-1.84975571e-03 1.66605241e-04 9.99998275e-01 -6.12409003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60755201799999 meters 0.04798253875224242 Centerline is valid? [True, True] Translation: X:86.22, Y:-9.35, Z:-0.61 [[ 9.99962949e-01 -8.53333759e-03 1.13293497e-03 8.62212897e+01] [ 8.53345210e-03 9.99963585e-01 -9.62840294e-05 -9.34714408e+00] [-1.13207209e-03 1.05948308e-04 9.99999354e-01 -6.13583238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.637552018 meters 0.05030371747050653 Centerline is valid? [True, True] Translation: X:86.25, Y:-9.35, Z:-0.62 [[ 9.99927653e-01 -1.19771576e-02 1.11224636e-03 8.62515835e+01] [ 1.19772701e-02 9.99928265e-01 -9.45582337e-05 -9.35168718e+00] [-1.11103404e-03 1.07873068e-04 9.99999377e-01 -6.15143455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.667552018 meters 0.050288742905291145 Centerline is valid? [True, True] Translation: X:86.28, Y:-9.35, Z:-0.62 [[ 9.99824107e-01 -1.86896121e-02 1.56657280e-03 8.62814952e+01] [ 1.86898435e-02 9.99825321e-01 -1.33161794e-04 -9.35299691e+00] [-1.56381041e-03 1.62417372e-04 9.99998764e-01 -6.15684415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.697552018 meters 0.04882829654209257 Centerline is valid? [True, True] Translation: X:86.31, Y:-9.35, Z:-0.62 [[ 9.99774417e-01 -2.11714607e-02 1.69806547e-03 8.63121606e+01] [ 2.11717361e-02 9.99775843e-01 -1.44364235e-04 -9.35403868e+00] [-1.69462843e-03 1.80282663e-04 9.99998548e-01 -6.15105037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.727552018 meters 0.05287158646047779 Centerline is valid? [True, True] Translation: X:86.34, Y:-9.36, Z:-0.62 [[ 9.99731797e-01 -2.31085998e-02 1.52541316e-03 8.63408786e+01] [ 2.31088244e-02 9.99732947e-01 -1.29805451e-04 -9.36176642e+00] [-1.52200617e-03 1.65021142e-04 9.99998828e-01 -6.15684950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.757552018 meters 0.05246015653340084 Centerline is valid? [True, True] Translation: X:86.37, Y:-9.36, Z:-0.62 [[ 9.99686626e-01 -2.50157432e-02 9.28919909e-04 8.63707059e+01] [ 2.50158273e-02 9.99687052e-01 -7.89994499e-05 -9.36305804e+00] [-9.26652975e-04 1.02212393e-04 9.99999565e-01 -6.16407590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.787552018 meters 0.05526841546419976 Centerline is valid? [True, True] Translation: X:86.40, Y:-9.37, Z:-0.62 [[ 9.99698312e-01 -2.45503124e-02 7.52505843e-04 8.63984559e+01] [ 2.45503678e-02 9.99698592e-01 -6.44698541e-05 -9.36814098e+00] [-7.50696277e-04 8.29246996e-05 9.99999715e-01 -6.16320405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.817552018 meters 0.05098952676319603 Centerline is valid? [True, True] Translation: X:86.43, Y:-9.36, Z:-0.61 [[ 9.99767341e-01 -2.14817560e-02 1.94865579e-03 8.64296899e+01] [ 2.14821185e-02 9.99769219e-01 -1.65285114e-04 -9.36315084e+00] [-1.94465546e-03 2.07107914e-04 9.99998088e-01 -6.14976548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.847552018 meters 0.05038139167344069 Centerline is valid? [True, True] Translation: X:86.46, Y:-9.36, Z:-0.62 [[ 9.99787411e-01 -2.05304770e-02 1.90594622e-03 8.64587449e+01] [ 2.05308227e-02 9.99789207e-01 -1.62022057e-04 -9.36418949e+00] [-1.90221807e-03 2.01118256e-04 9.99998171e-01 -6.15466302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87755201799999 meters 0.05175219091894756 Centerline is valid? [True, True] Translation: X:86.49, Y:-9.37, Z:-0.62 [[ 9.99803726e-01 -1.97587128e-02 1.44982827e-03 8.64861400e+01] [ 1.97589122e-02 9.99804766e-01 -1.23365661e-04 -9.36844895e+00] [-1.44710767e-03 1.51988477e-04 9.99998941e-01 -6.16006788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90755201799999 meters 0.051558242790253485 Centerline is valid? [True, True] Translation: X:86.51, Y:-9.37, Z:-0.62 [[ 9.99812702e-01 -1.93193127e-02 1.15113092e-03 8.65146258e+01] [ 1.93194393e-02 9.99813357e-01 -9.89529670e-05 -9.37103167e+00] [-1.14900436e-03 1.21173637e-04 9.99999333e-01 -6.16855866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.93755201799999 meters 0.04869138879303191 Centerline is valid? [True, True] Translation: X:86.54, Y:-9.37, Z:-0.62 [[ 9.99851346e-01 -1.71342298e-02 1.92462322e-03 8.65444335e+01] [ 1.71345740e-02 9.99853179e-01 -1.62499039e-04 -9.37183599e+00] [-1.92155634e-03 1.95452482e-04 9.99998135e-01 -6.16200446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96755201799999 meters 0.05082712474738601 Centerline is valid? [True, True] Translation: X:86.57, Y:-9.38, Z:-0.62 [[ 9.99872279e-01 -1.58246429e-02 2.23747797e-03 8.65733249e+01] [ 1.58251049e-02 9.99874757e-01 -1.88940894e-04 -9.37816380e+00] [-2.23420782e-03 2.24325086e-04 9.99997479e-01 -6.15746124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.997552018 meters 0.05006758071940798 Centerline is valid? [True, True] Translation: X:86.60, Y:-9.38, Z:-0.62 [[ 9.99895479e-01 -1.41344231e-02 3.04136524e-03 8.66026976e+01] [ 1.41352684e-02 9.99900059e-01 -2.56616039e-04 -9.38122441e+00] [-3.03743417e-03 2.99579731e-04 9.99995342e-01 -6.15566372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.027552018 meters 0.04877240878799767 Centerline is valid? [True, True] Translation: X:86.63, Y:-9.39, Z:-0.61 [[ 9.99926762e-01 -1.14520720e-02 3.91417594e-03 8.66330611e+01] [ 1.14534505e-02 9.99934353e-01 -3.29940689e-04 -9.38548511e+00] [-3.91014048e-03 3.74747345e-04 9.99992285e-01 -6.14327513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.057552018 meters 0.05138851703940708 Centerline is valid? [True, True] Translation: X:86.66, Y:-9.39, Z:-0.61 [[ 9.99951038e-01 -8.26390216e-03 5.44337895e-03 8.66622195e+01] [ 8.26652130e-03 9.99965726e-01 -4.58837042e-04 -9.39126087e+00] [-5.43940060e-03 5.03812385e-04 9.99985079e-01 -6.13440649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.087552018 meters 0.045515430579507056 Centerline is valid? [True, True] Translation: X:86.69, Y:-9.39, Z:-0.61 [[ 9.99964062e-01 -5.75394146e-03 6.22634742e-03 8.66926291e+01] [ 5.75731902e-03 9.99983289e-01 -5.24675454e-04 -9.38700846e+00] [-6.22322442e-03 5.60503667e-04 9.99980478e-01 -6.13359563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.117552018 meters 0.04283965219642767 Centerline is valid? [True, True] Translation: X:86.72, Y:-9.39, Z:-0.61 [[ 9.99972423e-01 -2.54118904e-03 6.97823068e-03 8.67235728e+01] [ 2.54535301e-03 9.99996588e-01 -5.87892416e-04 -9.38621062e+00] [-6.97671292e-03 6.05638264e-04 9.99975479e-01 -6.12576167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.147552018 meters 0.040823217479101115 Centerline is valid? [True, True] Translation: X:86.75, Y:-9.39, Z:-0.61 [[ 9.99977979e-01 3.03374804e-03 5.90229230e-03 8.67538881e+01] [-3.03086580e-03 9.99995283e-01 -4.97207716e-04 -9.38697326e+00] [-5.90377286e-03 4.79307712e-04 9.99982458e-01 -6.12889887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.177552018 meters 0.04045419834110033 Centerline is valid? [True, True] Translation: X:86.78, Y:-9.39, Z:-0.61 [[ 9.99970327e-01 5.34676145e-03 5.54589218e-03 8.67845933e+01] [-5.34425239e-03 9.99985610e-01 -4.67139575e-04 -9.38857959e+00] [-5.54831006e-03 4.37487066e-04 9.99984512e-01 -6.13216149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.207552018 meters 0.04142406668873187 Centerline is valid? [True, True] Translation: X:86.82, Y:-9.39, Z:-0.62 [[ 9.99966387e-01 7.42204563e-03 3.48398198e-03 8.68152362e+01] [-7.42106809e-03 9.99972420e-01 -2.93424893e-04 -9.39115120e+00] [-3.48606371e-03 2.67560163e-04 9.99993888e-01 -6.15591336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23755201799999 meters 0.04187344344518694 Centerline is valid? [True, True] Translation: X:86.85, Y:-9.39, Z:-0.62 [[ 9.99964521e-01 7.92177948e-03 2.86389461e-03 8.68475295e+01] [-7.92112342e-03 9.99968599e-01 -2.40352113e-04 -9.39382374e+00] [-2.86570869e-03 2.17658323e-04 9.99995870e-01 -6.16571688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26755201799999 meters 0.0423475703905861 Centerline is valid? [True, True] Translation: X:86.88, Y:-9.40, Z:-0.62 [[ 9.99967819e-01 7.39981315e-03 3.09912539e-03 8.68794399e+01] [-7.39903948e-03 9.99972593e-01 -2.61032494e-04 -9.39673654e+00] [-3.10097205e-03 2.38093543e-04 9.99995164e-01 -6.17192800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29755201799999 meters 0.0423475703905861 Centerline is valid? [True, True] Translation: X:86.91, Y:-9.40, Z:-0.62 [[ 9.99965641e-01 7.68842004e-03 3.09907134e-03 8.69117815e+01] [-7.68764577e-03 9.99970415e-01 -2.61671846e-04 -9.39960412e+00] [-3.10099150e-03 2.37838293e-04 9.99995164e-01 -6.17423056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32755201799999 meters 0.04392197530246634 Centerline is valid? [True, True] Translation: X:86.94, Y:-9.40, Z:-0.62 [[ 9.99973041e-01 6.50826512e-03 3.39994038e-03 8.69422460e+01] [-6.50731926e-03 9.99978785e-01 -2.89188614e-04 -9.40445430e+00] [-3.40175037e-03 2.67056320e-04 9.99994178e-01 -6.17167373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35755201799999 meters 0.04562864800633913 Centerline is valid? [True, True] Translation: X:86.97, Y:-9.41, Z:-0.62 [[ 9.99983655e-01 3.72888286e-03 4.33427477e-03 8.69729540e+01] [-3.72731855e-03 9.99992985e-01 -3.68937716e-04 -9.40974939e+00] [-4.33562009e-03 3.52776463e-04 9.99990539e-01 -6.15026477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.387552018 meters 0.047975378556095016 Centerline is valid? [True, True] Translation: X:87.00, Y:-9.42, Z:-0.62 [[ 9.99989397e-01 2.10990342e-03 4.09319613e-03 8.70023121e+01] [-2.10849434e-03 9.99997716e-01 -3.48534776e-04 -9.41526089e+00] [-4.09392215e-03 3.39900599e-04 9.99991562e-01 -6.15044172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.417552018 meters 0.0460279119009001 Centerline is valid? [True, True] Translation: X:87.03, Y:-9.41, Z:-0.62 [[ 9.99992535e-01 3.00801105e-04 3.85214834e-03 8.70338974e+01] [-2.99540214e-04 9.99999901e-01 -3.27894265e-04 -9.41496649e+00] [-3.85224659e-03 3.26737944e-04 9.99992527e-01 -6.15259872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.447552018 meters 0.04822007359649798 Centerline is valid? [True, True] Translation: X:87.06, Y:-9.42, Z:-0.62 [[ 9.99993147e-01 -1.87356153e-03 3.19308023e-03 8.70631658e+01] [ 1.87443867e-03 9.99998206e-01 -2.71729753e-04 -9.41983053e+00] [-3.19256540e-03 2.77713124e-04 9.99994865e-01 -6.16372208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.477552018 meters 0.05365059447203569 Centerline is valid? [True, True] Translation: X:87.09, Y:-9.43, Z:-0.62 [[ 9.99981452e-01 -5.74619423e-03 2.01928876e-03 8.70922577e+01] [ 5.74655268e-03 9.99983474e-01 -1.71757897e-04 -9.42802788e+00] [-2.01826843e-03 1.83358660e-04 9.99997946e-01 -6.17865105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.507552018 meters 0.04980915362188444 Centerline is valid? [True, True] Translation: X:87.12, Y:-9.43, Z:-0.62 [[ 9.99973262e-01 -7.23460351e-03 1.06581304e-03 8.71224532e+01] [ 7.23470476e-03 9.99973825e-01 -9.11697269e-05 -9.42550672e+00] [-1.06512557e-03 9.88781319e-05 9.99999428e-01 -6.17960578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.537552018 meters 0.05806740552735611 Centerline is valid? [True, True] Translation: X:87.15, Y:-9.44, Z:-0.62 [[ 9.99960357e-01 -8.85596288e-03 9.25520186e-04 8.71500705e+01] [ 8.85604016e-03 9.99960781e-01 -7.94409569e-05 -9.43907605e+00] [-9.24780363e-04 8.76342516e-05 9.99999569e-01 -6.18438960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.567552018 meters 0.05769907031106953 Centerline is valid? [True, True] Translation: X:87.18, Y:-9.44, Z:-0.62 [[ 9.99944953e-01 -1.04852452e-02 3.88064127e-04 8.71789161e+01] [ 1.04852590e-02 9.99945028e-01 -3.35674063e-05 -9.44164558e+00] [-3.87690832e-04 3.76345114e-05 9.99999924e-01 -6.18232861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.597552018 meters 0.05273539110178469 Centerline is valid? [True, True] Translation: X:87.21, Y:-9.44, Z:-0.62 [[ 9.99914582e-01 -1.30221998e-02 1.11846610e-03 8.72090656e+01] [ 1.30223145e-02 9.99915202e-01 -9.53370253e-05 -9.43773628e+00] [-1.11712976e-03 1.09893899e-04 9.99999370e-01 -6.17463446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62755201799999 meters 0.05528072212770445 Centerline is valid? [True, True] Translation: X:87.24, Y:-9.44, Z:-0.62 [[ 9.99890084e-01 -1.47386127e-02 1.61014433e-03 8.72374915e+01] [ 1.47388527e-02 9.99891368e-01 -1.37263556e-04 -9.44389834e+00] [-1.60794634e-03 1.60980149e-04 9.99998694e-01 -6.17414805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65755201799999 meters 0.049199135568988264 Centerline is valid? [True, True] Translation: X:87.27, Y:-9.44, Z:-0.62 [[ 9.99862690e-01 -1.64242118e-02 2.20147255e-03 8.72670846e+01] [ 1.64246643e-02 9.99865089e-01 -1.87601289e-04 -9.43919700e+00] [-2.19809434e-03 2.23733977e-04 9.99997559e-01 -6.16386996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68755201799999 meters 0.05238004999147422 Centerline is valid? [True, True] Translation: X:87.30, Y:-9.45, Z:-0.61 [[ 9.99831986e-01 -1.79023867e-02 3.93756224e-03 8.72950784e+01] [ 1.79038437e-02 9.99839657e-01 -3.35088486e-04 -9.44691847e+00] [-3.93093200e-03 4.05529685e-04 9.99992192e-01 -6.14909700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71755201799999 meters 0.046852734381933346 Centerline is valid? [True, True] Translation: X:87.32, Y:-9.44, Z:-0.61 [[ 9.99823895e-01 -1.82744522e-02 4.26899405e-03 8.73239135e+01] [ 1.82761691e-02 9.99832911e-01 -3.63526559e-04 -9.44240064e+00] [-4.26163750e-03 4.41483397e-04 9.99990822e-01 -6.13793536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.747552018 meters 0.05682089056258133 Centerline is valid? [True, True] Translation: X:87.35, Y:-9.46, Z:-0.61 [[ 9.99824353e-01 -1.80942984e-02 4.88458299e-03 8.73505980e+01] [ 1.80965332e-02 9.99836159e-01 -4.13701951e-04 -9.45790608e+00] [-4.87629705e-03 5.02023304e-04 9.99987985e-01 -6.13507882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.777552018 meters 0.04983998978996801 Centerline is valid? [True, True] Translation: X:87.38, Y:-9.45, Z:-0.61 [[ 9.99822295e-01 -1.80727291e-02 5.36238090e-03 8.73805695e+01] [ 1.80754206e-02 9.99836523e-01 -4.53879794e-04 -9.45162292e+00] [-5.35330143e-03 5.50726427e-04 9.99985519e-01 -6.12928748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.807552018 meters 0.048111845980832214 Centerline is valid? [True, True] Translation: X:87.41, Y:-9.45, Z:-0.61 [[ 9.99825804e-01 -1.76610490e-02 6.03731986e-03 8.74092407e+01] [ 1.76644424e-02 9.99843842e-01 -5.09210893e-04 -9.45230748e+00] [-6.02738389e-03 6.15768079e-04 9.99981646e-01 -6.11667336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.837552018 meters 0.05100312996579958 Centerline is valid? [True, True] Translation: X:87.44, Y:-9.46, Z:-0.61 [[ 9.99820722e-01 -1.78947409e-02 6.18884909e-03 8.74367748e+01] [ 1.78983001e-02 9.99839677e-01 -5.20175069e-04 -9.45757683e+00] [-6.17854848e-03 6.30851691e-04 9.99980714e-01 -6.11794008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.867552018 meters 0.04638613516102076 Centerline is valid? [True, True] Translation: X:87.47, Y:-9.45, Z:-0.61 [[ 9.99804980e-01 -1.88059396e-02 6.02812830e-03 8.74660549e+01] [ 1.88093304e-02 9.99822961e-01 -5.06298552e-04 -9.45313381e+00] [-6.01753967e-03 6.19584871e-04 9.99981702e-01 -6.12516866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.897552018 meters 0.05035109719280749 Centerline is valid? [True, True] Translation: X:87.50, Y:-9.46, Z:-0.61 [[ 9.99703237e-01 -2.37345600e-02 5.48709267e-03 8.74952881e+01] [ 2.37374337e-02 9.99718122e-01 -4.59182019e-04 -9.45944340e+00] [-5.47464749e-03 5.89295249e-04 9.99984840e-01 -6.14787824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.927552018 meters 0.050477910796475026 Centerline is valid? [True, True] Translation: X:87.53, Y:-9.46, Z:-0.62 [[ 9.99631304e-01 -2.65868209e-02 5.51328856e-03 8.75258533e+01] [ 2.65897641e-02 9.99646323e-01 -4.61227903e-04 -9.46162118e+00] [-5.49907605e-03 6.07654893e-04 9.99984695e-01 -6.15139011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.957552018 meters 0.05380190284267772 Centerline is valid? [True, True] Translation: X:87.55, Y:-9.47, Z:-0.62 [[ 9.99541605e-01 -2.97087698e-02 5.82833361e-03 8.75544274e+01] [ 2.97121111e-02 9.99558379e-01 -4.87530493e-04 -9.46773710e+00] [-5.81127576e-03 6.60479107e-04 9.99982896e-01 -6.15157591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98755201799999 meters 0.05557475233236635 Centerline is valid? [True, True] Translation: X:87.58, Y:-9.47, Z:-0.62 [[ 9.99430209e-01 -3.32990390e-02 5.51644940e-03 8.75843486e+01] [ 3.33020878e-02 9.99445225e-01 -4.61717356e-04 -9.47237740e+00] [-5.49801427e-03 6.45163556e-04 9.99984678e-01 -6.15073781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01755201799999 meters 0.05812220835458428 Centerline is valid? [True, True] Translation: X:87.61, Y:-9.48, Z:-0.62 [[ 9.99281756e-01 -3.75246623e-02 5.27929091e-03 8.76142621e+01] [ 3.75275125e-02 9.99295497e-01 -4.41819893e-04 -9.47860757e+00] [-5.25899249e-03 6.39621214e-04 9.99985967e-01 -6.15020744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04755201799999 meters 0.06326843437339436 Centerline is valid? [True, True] Translation: X:87.64, Y:-9.49, Z:-0.62 [[ 9.98973992e-01 -4.50067099e-02 5.03590614e-03 8.76435007e+01] [ 4.50093964e-02 9.98986475e-01 -4.21353934e-04 -9.48720619e+00] [-5.01183837e-03 6.47584717e-04 9.99987231e-01 -6.16036565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07755201799999 meters 0.06574238192512306 Centerline is valid? [True, True] Translation: X:87.67, Y:-9.49, Z:-0.62 [[ 9.98837565e-01 -4.79928140e-02 4.49535524e-03 8.76736051e+01] [ 4.79949842e-02 9.98847506e-01 -3.76081280e-04 -9.49316482e+00] [-4.47212517e-03 5.91398614e-04 9.99989825e-01 -6.16218114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10755201799999 meters 0.06818382739675945 Centerline is valid? [True, True] Translation: X:87.70, Y:-9.50, Z:-0.62 [[ 9.98719034e-01 -5.04083818e-02 4.39164697e-03 8.77038577e+01] [ 5.04104761e-02 9.98728516e-01 -3.67414775e-04 -9.49797625e+00] [-4.36754228e-03 5.88329144e-04 9.99990289e-01 -6.16461969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.137552018 meters 0.06986675821481948 Centerline is valid? [True, True] Translation: X:87.73, Y:-9.50, Z:-0.62 [[ 9.98612796e-01 -5.24807983e-02 4.27202513e-03 8.77343731e+01] [ 5.24827986e-02 9.98621764e-01 -3.57416805e-04 -9.50168795e+00] [-4.24737975e-03 5.81128829e-04 9.99990811e-01 -6.16928160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.167552018 meters 0.07444152540876818 Centerline is valid? [True, True] Translation: X:87.76, Y:-9.51, Z:-0.62 [[ 9.98377617e-01 -5.66744508e-02 5.49007535e-03 8.77628546e+01] [ 5.66778168e-02 9.98392415e-01 -4.59348254e-04 -9.50829394e+00] [-5.45521627e-03 7.69768500e-04 9.99984824e-01 -6.16972439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.197552018 meters 0.07613252205744689 Centerline is valid? [True, True] Translation: X:87.79, Y:-9.51, Z:-0.62 [[ 9.98258898e-01 -5.86000148e-02 6.72386792e-03 8.77928803e+01] [ 5.86051044e-02 9.98281085e-01 -5.62261560e-04 -9.51242084e+00] [-6.67936163e-03 9.55335587e-04 9.99977236e-01 -6.15991763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.227552018 meters 0.07772091283289506 Centerline is valid? [True, True] Translation: X:87.82, Y:-9.52, Z:-0.62 [[ 9.98169227e-01 -6.00496533e-02 7.22723870e-03 8.78227771e+01] [ 6.00555704e-02 9.98194852e-01 -6.04311781e-04 -9.51609402e+00] [-7.17790376e-03 1.03724137e-03 9.99973701e-01 -6.15070236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.257552018 meters 0.06294698510753728 Centerline is valid? [True, True] Translation: X:87.85, Y:-9.50, Z:-0.61 [[ 9.98123151e-01 -6.08434678e-02 6.94610529e-03 8.78536716e+01] [ 6.08489513e-02 9.98146817e-01 -5.80655763e-04 -9.49712388e+00] [-6.89790378e-03 1.00222918e-03 9.99975707e-01 -6.14914714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.287552018 meters 0.05871409468257979 Centerline is valid? [True, True] Translation: X:87.88, Y:-9.49, Z:-0.62 [[ 9.98165637e-01 -6.01669796e-02 6.73019696e-03 8.78831983e+01] [ 6.01721101e-02 9.98187859e-01 -5.62249121e-04 -9.49328004e+00] [-6.68417206e-03 9.66187904e-04 9.99977194e-01 -6.15251485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.317552018 meters 0.05947865306697464 Centerline is valid? [True, True] Translation: X:87.91, Y:-9.50, Z:-0.61 [[ 9.98261541e-01 -5.85903997e-02 6.40786058e-03 8.79132893e+01] [ 5.85950155e-02 9.98281693e-01 -5.34822872e-04 -9.49664272e+00] [-6.36551443e-03 9.09361795e-04 9.99979326e-01 -6.14931400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.347552018 meters 0.05509456897370634 Centerline is valid? [True, True] Translation: X:87.94, Y:-9.49, Z:-0.61 [[ 9.98355335e-01 -5.68833106e-02 7.13540215e-03 8.79440055e+01] [ 5.68889903e-02 9.98380332e-01 -5.95396278e-04 -9.49372717e+00] [-7.08997706e-03 1.00034287e-03 9.99974365e-01 -6.14276008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37755201799999 meters 0.05562756074455941 Centerline is valid? [True, True] Translation: X:87.97, Y:-9.50, Z:-0.61 [[ 9.98593450e-01 -5.23931275e-02 8.12913300e-03 8.79738105e+01] [ 5.24003521e-02 9.98625928e-01 -6.78158442e-04 -9.49624921e+00] [-8.08243214e-03 1.10317401e-03 9.99966728e-01 -6.13895851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40755201799999 meters 0.05883297759726931 Centerline is valid? [True, True] Translation: X:88.00, Y:-9.50, Z:-0.62 [[ 9.98719775e-01 -5.00141355e-02 7.57608686e-03 8.80024258e+01] [ 5.00203428e-02 9.98747999e-01 -6.31956981e-04 -9.50188926e+00] [-7.53499481e-03 1.01010640e-03 9.99971101e-01 -6.15039499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43755201799999 meters 0.05560427542611235 Centerline is valid? [True, True] Translation: X:88.03, Y:-9.50, Z:-0.62 [[ 9.98853871e-01 -4.73672167e-02 6.87692934e-03 8.80333481e+01] [ 4.73722685e-02 9.98877139e-01 -5.73479471e-04 -9.49965842e+00] [-6.84204338e-03 8.98597932e-04 9.99976189e-01 -6.16579404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46755201799999 meters 0.05931269821255615 Centerline is valid? [True, True] Translation: X:88.06, Y:-9.51, Z:-0.62 [[ 9.98970521e-01 -4.49819944e-02 5.87527360e-03 8.80621303e+01] [ 4.49856409e-02 9.98987513e-01 -4.89917723e-04 -9.50683856e+00] [-5.84728748e-03 7.53716311e-04 9.99982620e-01 -6.18035130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.497552018 meters 0.0579780326301089 Centerline is valid? [True, True] Translation: X:88.09, Y:-9.51, Z:-0.62 [[ 9.99157066e-01 -4.07587948e-02 4.88658846e-03 8.80922517e+01] [ 4.07612669e-02 9.99168831e-01 -4.07347013e-04 -9.50998440e+00] [-4.86592390e-03 6.06187182e-04 9.99987978e-01 -6.18304154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.527552018 meters 0.04900600838856148 Centerline is valid? [True, True] Translation: X:88.12, Y:-9.50, Z:-0.62 [[ 9.99219439e-01 -3.92052333e-02 4.84369898e-03 8.81231440e+01] [ 3.92076443e-02 9.99231003e-01 -4.03781527e-04 -9.50248646e+00] [-4.82414384e-03 5.93376378e-04 9.99988188e-01 -6.18422334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.557552018 meters 0.05605682371790528 Centerline is valid? [True, True] Translation: X:88.15, Y:-9.52, Z:-0.62 [[ 9.99265768e-01 -3.79982438e-02 4.90484317e-03 8.81508131e+01] [ 3.80007015e-02 9.99277629e-01 -4.08829553e-04 -9.51534197e+00] [-4.88576525e-03 5.94916858e-04 9.99987888e-01 -6.18815299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.587552018 meters 0.0529447147921892 Centerline is valid? [True, True] Translation: X:88.18, Y:-9.52, Z:-0.62 [[ 9.99372343e-01 -3.50460187e-02 5.16696455e-03 8.81811769e+01] [ 3.50487057e-02 9.99385513e-01 -4.30382136e-04 -9.51720501e+00] [-5.14870634e-03 6.11207424e-04 9.99986559e-01 -6.18324699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.617552018 meters 0.04969665626073057 Centerline is valid? [True, True] Translation: X:88.21, Y:-9.52, Z:-0.62 [[ 9.99460264e-01 -3.24629528e-02 5.03356671e-03 8.82118709e+01] [ 3.24654703e-02 9.99472770e-01 -4.19223164e-04 -9.51551108e+00] [-5.01730364e-03 5.82414005e-04 9.99987244e-01 -6.18450639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.647552018 meters 0.04890580198766094 Centerline is valid? [True, True] Translation: X:88.24, Y:-9.52, Z:-0.62 [[ 9.99567990e-01 -2.89508432e-02 5.06780042e-03 8.82419735e+01] [ 2.89533507e-02 9.99580675e-01 -4.22109855e-04 -9.51627289e+00] [-5.05345493e-03 5.68657302e-04 9.99987070e-01 -6.19192805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.677552018 meters 0.048667088887486526 Centerline is valid? [True, True] Translation: X:88.27, Y:-9.52, Z:-0.62 [[ 9.99673830e-01 -2.50125154e-02 5.15826770e-03 8.82719764e+01] [ 2.50150605e-02 9.99686982e-01 -4.29452555e-04 -9.51870410e+00] [-5.14591138e-03 5.58346859e-04 9.99986604e-01 -6.20178172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.707552018 meters 0.04525274962834308 Centerline is valid? [True, True] Translation: X:88.30, Y:-9.52, Z:-0.62 [[ 9.99749154e-01 -2.19256133e-02 4.57122403e-03 8.83021976e+01] [ 2.19275798e-02 9.99759489e-01 -3.80506945e-04 -9.51799516e+00] [-4.56178175e-03 4.80647377e-04 9.99989480e-01 -6.20322022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73755201799999 meters 0.04345655480494908 Centerline is valid? [True, True] Translation: X:88.33, Y:-9.52, Z:-0.62 [[ 9.99880931e-01 -1.46078023e-02 4.97360204e-03 8.83322720e+01] [ 1.46100406e-02 9.99893182e-01 -4.13998448e-04 -9.51942543e+00] [-4.96702316e-03 4.86613681e-04 9.99987546e-01 -6.19451625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76755201799999 meters 0.0446204345421556 Centerline is valid? [True, True] Translation: X:88.36, Y:-9.52, Z:-0.62 [[ 9.99922289e-01 -1.11793992e-02 5.51688361e-03 8.83610211e+01] [ 1.11821012e-02 9.99937373e-01 -4.59163308e-04 -9.52411254e+00] [-5.51140493e-03 5.20817977e-04 9.99984676e-01 -6.19016047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79755201799999 meters 0.04325131046434089 Centerline is valid? [True, True] Translation: X:88.39, Y:-9.53, Z:-0.62 [[ 9.99963148e-01 -5.51207167e-03 6.58179638e-03 8.83916759e+01] [ 5.51579449e-03 9.99984638e-01 -5.47604771e-04 -9.52511250e+00] [-6.57867683e-03 5.83888427e-04 9.99978190e-01 -6.18375532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82755201799999 meters 0.04051994739124761 Centerline is valid? [True, True] Translation: X:88.42, Y:-9.52, Z:-0.62 [[ 9.99967160e-01 -3.64279126e-03 7.23935150e-03 8.84222696e+01] [ 3.64724637e-03 9.99993167e-01 -6.02295692e-04 -9.52406251e+00] [-7.23710800e-03 6.28679612e-04 9.99973614e-01 -6.18731883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85755201799999 meters 0.04033601993577694 Centerline is valid? [True, True] Translation: X:88.45, Y:-9.53, Z:-0.62 [[ 9.99967475e-01 -1.44302501e-03 7.93517799e-03 8.84531147e+01] [ 1.44830575e-03 9.99998734e-01 -6.59779171e-04 -9.52642056e+00] [-7.93421586e-03 6.71250276e-04 9.99968298e-01 -6.18270949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.887552018 meters 0.042582874459383926 Centerline is valid? [True, True] Translation: X:88.48, Y:-9.53, Z:-0.62 [[ 9.99962235e-01 9.71789458e-04 8.63625700e-03 8.84822598e+01] [-9.65621484e-04 9.99999276e-01 -7.18336304e-04 -9.53191411e+00] [-8.63694882e-03 7.09969820e-04 9.99962449e-01 -6.17685434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.917552018 meters 0.03819571018130173 Centerline is valid? [True, True] Translation: X:88.51, Y:-9.53, Z:-0.62 [[ 9.99936940e-01 7.13932492e-03 8.66867580e-03 8.85133281e+01] [-7.13333598e-03 9.99974297e-01 -7.21593793e-04 -9.52767294e+00] [-8.67360469e-03 6.59711712e-04 9.99962166e-01 -6.17377746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.947552018 meters 0.03409871776990057 Centerline is valid? [True, True] Translation: X:88.54, Y:-9.52, Z:-0.62 [[ 9.99919709e-01 1.01296583e-02 7.61351327e-03 8.85444509e+01] [-1.01251238e-02 9.99948539e-01 -6.33885506e-04 -9.52348110e+00] [-7.61954251e-03 5.56746846e-04 9.99970816e-01 -6.18688758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.977552018 meters 0.040995716529670226 Centerline is valid? [True, True] Translation: X:88.57, Y:-9.53, Z:-0.62 [[ 9.99910553e-01 1.19094784e-02 6.08689231e-03 8.85738899e+01] [-1.19066124e-02 9.99928985e-01 -5.06872500e-04 -9.53480603e+00] [-6.09249664e-03 4.34352894e-04 9.99981346e-01 -6.20865410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.007552018 meters 0.03422990889825233 Centerline is valid? [True, True] Translation: X:88.61, Y:-9.53, Z:-0.62 [[ 9.99909530e-01 1.26087270e-02 4.68518462e-03 8.86063138e+01] [-1.26070391e-02 9.99920452e-01 -3.89621741e-04 -9.52943585e+00] [-4.68972455e-03 3.30520186e-04 9.99988949e-01 -6.22228544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.037552018 meters 0.03545031304429132 Centerline is valid? [True, True] Translation: X:88.64, Y:-9.53, Z:-0.62 [[ 9.99907465e-01 1.30173829e-02 3.95088654e-03 8.86377388e+01] [-1.30161830e-02 9.99915232e-01 -3.29268789e-04 -9.53376251e+00] [-3.95483785e-03 2.77812858e-04 9.99992141e-01 -6.22991968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.067552018 meters 0.03472151214872036 Centerline is valid? [True, True] Translation: X:88.67, Y:-9.54, Z:-0.62 [[ 9.99911341e-01 1.27926000e-02 3.69583030e-03 8.86700097e+01] [-1.27915449e-02 9.99918137e-01 -3.08999050e-04 -9.53518386e+00] [-3.69948065e-03 2.61696276e-04 9.99993123e-01 -6.23240385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.097552018 meters 0.03609639563547604 Centerline is valid? [True, True] Translation: X:88.70, Y:-9.54, Z:-0.62 [[ 9.99914040e-01 1.26286995e-02 3.52555558e-03 8.87012669e+01] [-1.26277350e-02 9.99920223e-01 -2.95695275e-04 -9.53943727e+00] [-3.52900857e-03 2.51150076e-04 9.99993741e-01 -6.24141249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12755201799999 meters 0.03692105479856255 Centerline is valid? [True, True] Translation: X:88.73, Y:-9.54, Z:-0.62 [[ 9.99916005e-01 1.24061850e-02 3.75086761e-03 8.87329070e+01] [-1.24050880e-02 9.99923004e-01 -3.15576921e-04 -9.54349977e+00] [-3.75449391e-03 2.69020572e-04 9.99992916e-01 -6.23720051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.15755201799999 meters 0.03514490109681508 Centerline is valid? [True, True] Translation: X:88.77, Y:-9.54, Z:-0.62 [[ 9.99909044e-01 1.28516229e-02 4.09133828e-03 8.87651992e+01] [-1.28503165e-02 9.99917372e-01 -3.45451194e-04 -9.54379297e+00] [-4.09543982e-03 2.92844781e-04 9.99991571e-01 -6.23256727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18755201799999 meters 0.03539816423140726 Centerline is valid? [True, True] Translation: X:88.80, Y:-9.55, Z:-0.62 [[ 9.99903846e-01 1.31872891e-02 4.28874796e-03 8.87977083e+01] [-1.31858517e-02 9.99912997e-01 -3.63253319e-04 -9.54776870e+00] [-4.29316516e-03 3.06667597e-04 9.99990737e-01 -6.23009511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21755201799999 meters 0.03539816423140726 Centerline is valid? [True, True] Translation: X:88.83, Y:-9.55, Z:-0.62 [[ 9.99899804e-01 1.34903447e-02 4.28863735e-03 8.88300327e+01] [-1.34889045e-02 9.99908954e-01 -3.64553120e-04 -9.55063294e+00] [-4.29316483e-03 3.06667574e-04 9.99990737e-01 -6.23239805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.247552018 meters 0.033331999396818114 Centerline is valid? [True, True] Translation: X:88.86, Y:-9.55, Z:-0.62 [[ 9.99889105e-01 1.43538219e-02 3.96814523e-03 8.88619306e+01] [-1.43525911e-02 9.99896939e-01 -3.38462311e-04 -9.55056086e+00] [-3.97259449e-03 2.81471611e-04 9.99992070e-01 -6.23018847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.277552018 meters 0.03459910570181415 Centerline is valid? [True, True] Translation: X:88.89, Y:-9.56, Z:-0.62 [[ 9.99872994e-01 1.55430297e-02 3.52270930e-03 8.88930975e+01] [-1.55420645e-02 9.99879169e-01 -3.01221217e-04 -9.55524413e+00] [-3.52696554e-03 2.46432785e-04 9.99993750e-01 -6.23024650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.307552018 meters 0.03561113389756442 Centerline is valid? [True, True] Translation: X:88.92, Y:-9.56, Z:-0.62 [[ 9.99862761e-01 1.62528263e-02 3.20998411e-03 8.89238315e+01] [-1.62520259e-02 9.99867889e-01 -2.75268906e-04 -9.56005634e+00] [-3.21403393e-03 2.23062384e-04 9.99994810e-01 -6.23269735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.337552018 meters 0.03284556423645492 Centerline is valid? [True, True] Translation: X:88.96, Y:-9.56, Z:-0.62 [[ 9.99849976e-01 1.69832740e-02 3.40500129e-03 8.89557223e+01] [-1.69823748e-02 9.99855746e-01 -2.92843977e-04 -9.55986327e+00] [-3.40948355e-03 2.34975035e-04 9.99994160e-01 -6.22706252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.367552018 meters 0.03477024930406514 Centerline is valid? [True, True] Translation: X:88.99, Y:-9.56, Z:-0.62 [[ 9.99824814e-01 1.82525670e-02 4.14553794e-03 8.89866653e+01] [-1.82512382e-02 9.99833368e-01 -3.58136557e-04 -9.56475638e+00] [-4.15138408e-03 2.82412615e-04 9.99991343e-01 -6.22570468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.397552018 meters 0.033892003042217074 Centerline is valid? [True, True] Translation: X:89.02, Y:-9.57, Z:-0.62 [[ 9.99813951e-01 1.87943100e-02 4.34026775e-03 8.90189043e+01] [-1.87928537e-02 9.99823328e-01 -3.76081347e-04 -9.56623058e+00] [-4.34656914e-03 2.94445360e-04 9.99990510e-01 -6.22730104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.427552018 meters 0.03405811748092725 Centerline is valid? [True, True] Translation: X:89.05, Y:-9.57, Z:-0.62 [[ 9.99793757e-01 1.97815768e-02 4.59712288e-03 8.90509413e+01] [-1.97799473e-02 9.99804278e-01 -3.99676853e-04 -9.56910363e+00] [-4.60412936e-03 3.08663574e-04 9.99989353e-01 -6.22829610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.457552018 meters 0.036730325780049 Centerline is valid? [True, True] Translation: X:89.08, Y:-9.58, Z:-0.62 [[ 9.99763425e-01 2.10927204e-02 5.30962842e-03 8.90813613e+01] [-2.10905557e-02 9.99777462e-01 -4.63356721e-04 -9.57564218e+00] [-5.31822028e-03 3.51264088e-04 9.99985796e-01 -6.22671325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48755201799999 meters 0.03224964054727791 Centerline is valid? [True, True] Translation: X:89.11, Y:-9.57, Z:-0.62 [[ 9.99722622e-01 2.27963076e-02 5.91676607e-03 8.91126746e+01] [-2.27936382e-02 9.99740057e-01 -5.18213796e-04 -9.57370322e+00] [-5.92704141e-03 3.83205430e-04 9.99982362e-01 -6.20641756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51755201799999 meters 0.031557819041571095 Centerline is valid? [True, True] Translation: X:89.14, Y:-9.58, Z:-0.62 [[ 9.99692264e-01 2.39504969e-02 6.46148100e-03 8.91445663e+01] [-2.39473364e-02 9.99713061e-01 -5.66063185e-04 -9.57594239e+00] [-6.47318445e-03 4.11153728e-04 9.99978964e-01 -6.20436578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54755201799999 meters 0.03218456991085681 Centerline is valid? [True, True] Translation: X:89.18, Y:-9.58, Z:-0.62 [[ 9.99673186e-01 2.48205531e-02 6.12051546e-03 8.91755642e+01] [-2.48177240e-02 9.99691848e-01 -5.37757598e-04 -9.57933692e+00] [-6.13197685e-03 3.85684588e-04 9.99981125e-01 -6.20971145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57755201799999 meters 0.031589926300903376 Centerline is valid? [True, True] Translation: X:89.21, Y:-9.58, Z:-0.62 [[ 9.99644618e-01 2.59343888e-02 6.16812403e-03 8.92074236e+01] [-2.59315273e-02 9.99663574e-01 -5.43464668e-04 -9.58096011e+00] [-6.18014333e-03 3.83322653e-04 9.99980829e-01 -6.21796374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60755201799999 meters 0.0316473697043863 Centerline is valid? [True, True] Translation: X:89.24, Y:-9.58, Z:-0.62 [[ 9.99609351e-01 2.74427620e-02 5.29528978e-03 8.92390558e+01] [-2.74406661e-02 9.99623324e-01 -4.68073574e-04 -9.58335190e+00] [-5.30614040e-03 3.22584443e-04 9.99985870e-01 -6.22958529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.637552018 meters 0.03106235391836938 Centerline is valid? [True, True] Translation: X:89.27, Y:-9.59, Z:-0.62 [[ 9.99597474e-01 2.78895419e-02 5.20229419e-03 8.92706898e+01] [-2.78875255e-02 9.99610962e-01 -4.59758729e-04 -9.58591157e+00] [-5.21309276e-03 3.14494553e-04 9.99986362e-01 -6.22883655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.667552018 meters 0.031091797571607255 Centerline is valid? [True, True] Translation: X:89.30, Y:-9.59, Z:-0.62 [[ 9.99611457e-01 2.73930151e-02 5.15341718e-03 8.93026762e+01] [-2.73910229e-02 9.99624691e-01 -4.56792236e-04 -9.58966851e+00] [-5.16399597e-03 3.15457385e-04 9.99986617e-01 -6.22662093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.697552018 meters 0.033519117337328756 Centerline is valid? [True, True] Translation: X:89.33, Y:-9.60, Z:-0.62 [[ 9.99625592e-01 2.66469709e-02 6.21412102e-03 8.93336800e+01] [-2.66440469e-02 9.99644831e-01 -5.52875818e-04 -9.59643280e+00] [-6.22664642e-03 3.87099485e-04 9.99980539e-01 -6.21634189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.727552018 meters 0.03100871852559589 Centerline is valid? [True, True] Translation: X:89.37, Y:-9.60, Z:-0.62 [[ 9.99617189e-01 2.68574426e-02 6.64472184e-03 8.93666007e+01] [-2.68540924e-02 9.99639188e-01 -5.92917157e-04 -9.59514663e+00] [-6.65824859e-03 4.14252207e-04 9.99977748e-01 -6.21647620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.757552018 meters 0.031758870002728395 Centerline is valid? [True, True] Translation: X:89.40, Y:-9.60, Z:-0.62 [[ 9.99620023e-01 2.66305796e-02 7.11487658e-03 8.93980350e+01] [-2.66267161e-02 9.99645243e-01 -6.37208256e-04 -9.59888766e+00] [-7.12932175e-03 4.47520333e-04 9.99974486e-01 -6.22108924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.787552018 meters 0.03148350957025529 Centerline is valid? [True, True] Translation: X:89.43, Y:-9.60, Z:-0.62 [[ 9.99626502e-01 2.65752805e-02 6.37263681e-03 8.94295253e+01] [-2.65721704e-02 9.99646734e-01 -5.72237351e-04 -9.60139994e+00] [-6.38559294e-03 4.02688831e-04 9.99979531e-01 -6.23096983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.817552018 meters 0.03199115271237513 Centerline is valid? [True, True] Translation: X:89.46, Y:-9.61, Z:-0.62 [[ 9.99618103e-01 2.70308121e-02 5.74304417e-03 8.94610652e+01] [-2.70282858e-02 9.99634535e-01 -5.17059615e-04 -9.60500526e+00] [-5.75492184e-03 3.61637512e-04 9.99983375e-01 -6.23522978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.847552018 meters 0.03302888412400919 Centerline is valid? [True, True] Translation: X:89.49, Y:-9.61, Z:-0.62 [[ 9.99605104e-01 2.76217563e-02 5.16468266e-03 8.94917221e+01] [-2.76197147e-02 9.99618394e-01 -4.66214629e-04 -9.60921828e+00] [-5.17558945e-03 3.23383461e-04 9.99986554e-01 -6.23969587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87755201799999 meters 0.03301906940875501 Centerline is valid? [True, True] Translation: X:89.52, Y:-9.61, Z:-0.62 [[ 9.99593510e-01 2.80355514e-02 5.17905399e-03 8.95242998e+01] [-2.80334979e-02 9.99606874e-01 -4.68683943e-04 -9.61219557e+00] [-5.19015779e-03 3.23306428e-04 9.99986479e-01 -6.24791686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90755201799999 meters 0.03170247224985602 Centerline is valid? [True, True] Translation: X:89.56, Y:-9.61, Z:-0.63 [[ 9.99574323e-01 2.87716317e-02 4.83373732e-03 8.95562400e+01] [-2.87698448e-02 9.99585966e-01 -4.38823425e-04 -9.61295084e+00] [-4.84436166e-03 2.99570756e-04 9.99988221e-01 -6.25553834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93755201799999 meters 0.0306912779280033 Centerline is valid? [True, True] Translation: X:89.59, Y:-9.61, Z:-0.63 [[ 9.99559092e-01 2.92333061e-02 5.19949593e-03 8.95882148e+01] [-2.92312368e-02 9.99572564e-01 -4.73553119e-04 -9.61467739e+00] [-5.21111700e-03 3.21356629e-04 9.99986370e-01 -6.25602772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96755201799999 meters 0.03011567891334565 Centerline is valid? [True, True] Translation: X:89.62, Y:-9.62, Z:-0.63 [[ 9.99525400e-01 3.02730063e-02 5.70265802e-03 8.96203568e+01] [-3.02705240e-02 9.99541607e-01 -5.21102601e-04 -9.61657898e+00] [-5.71581930e-03 3.48232839e-04 9.99983604e-01 -6.25578310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.997552018 meters 0.029966974720336697 Centerline is valid? [True, True] Translation: X:89.65, Y:-9.62, Z:-0.63 [[ 9.99438897e-01 3.29997746e-02 5.73639963e-03 8.96506697e+01] [-3.29972975e-02 9.99455303e-01 -5.25955981e-04 -9.61909360e+00] [-5.75063145e-03 3.36375180e-04 9.99983408e-01 -6.25780960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.027552018 meters 0.030498930544161335 Centerline is valid? [True, True] Translation: X:89.68, Y:-9.62, Z:-0.63 [[ 9.99368223e-01 3.51125881e-02 5.50097395e-03 8.96814014e+01] [-3.51103381e-02 9.99383314e-01 -5.05089532e-04 -9.62300193e+00] [-5.51531658e-03 3.11629373e-04 9.99984742e-01 -6.26113837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.057552018 meters 0.027517588225114072 Centerline is valid? [True, True] Translation: X:89.71, Y:-9.62, Z:-0.63 [[ 9.99273593e-01 3.77166501e-02 5.45358593e-03 8.97132789e+01] [-3.77144766e-02 9.99288431e-01 -5.00872165e-04 -9.62170869e+00] [-5.46859654e-03 2.94829189e-04 9.99985004e-01 -6.26174993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.087552018 meters 0.027042923766198785 Centerline is valid? [True, True] Translation: X:89.74, Y:-9.62, Z:-0.63 [[ 9.99161334e-01 4.06255033e-02 5.11822070e-03 8.97444613e+01] [-4.06236245e-02 9.99174409e-01 -4.70552303e-04 -9.62363049e+00] [-5.13311157e-03 2.62236991e-04 9.99986791e-01 -6.26818636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.117552018 meters 0.025737563509923834 Centerline is valid? [True, True] Translation: X:89.78, Y:-9.63, Z:-0.63 [[ 9.99027857e-01 4.38349260e-02 4.67338654e-03 8.97761700e+01] [-4.38333941e-02 9.99038762e-01 -4.29767270e-04 -9.62504454e+00] [-4.68773313e-03 2.24499081e-04 9.99988987e-01 -6.26963512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.147552018 meters 0.024644369799757544 Centerline is valid? [True, True] Translation: X:89.81, Y:-9.63, Z:-0.63 [[ 9.98636353e-01 5.20911273e-02 3.45674800e-03 8.98057720e+01] [-5.20903372e-02 9.98642326e-01 -3.18257382e-04 -9.62584956e+00] [-3.46863325e-03 1.37760223e-04 9.99993975e-01 -6.27813663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.177552018 meters 0.02215068743530094 Centerline is valid? [True, True] Translation: X:89.84, Y:-9.62, Z:-0.63 [[ 9.98428193e-01 5.59746980e-02 2.82418877e-03 8.98380348e+01] [-5.59741875e-02 9.98432182e-01 -2.59557733e-04 -9.62430923e+00] [-2.83428962e-03 1.01068086e-04 9.99995978e-01 -6.28859345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.207552018 meters 0.01970798876234512 Centerline is valid? [True, True] Translation: X:89.87, Y:-9.62, Z:-0.63 [[ 9.98227361e-01 5.94454435e-02 2.89398642e-03 8.98700607e+01] [-5.94449213e-02 9.98231552e-01 -2.66217635e-04 -9.62270546e+00] [-2.90469398e-03 9.37129323e-05 9.99995777e-01 -6.29587013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23755201799999 meters 0.019018377166984103 Centerline is valid? [True, True] Translation: X:89.90, Y:-9.62, Z:-0.63 [[ 9.97826535e-01 6.58223175e-02 3.10298845e-03 8.99000576e+01] [-6.58217459e-02 9.97831356e-01 -2.86079054e-04 -9.62359964e+00] [-3.11508956e-03 8.12131540e-05 9.99995145e-01 -6.30029383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26755201799999 meters 0.017172790101562172 Centerline is valid? [True, True] Translation: X:89.93, Y:-9.62, Z:-0.63 [[ 9.97605936e-01 6.90681301e-02 3.46267134e-03 8.99324582e+01] [-6.90674413e-02 9.97611942e-01 -3.18265915e-04 -9.62239903e+00] [-3.47638431e-03 7.83461161e-05 9.99993954e-01 -6.29073218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29755201799999 meters 0.016593117625788814 Centerline is valid? [True, True] Translation: X:89.96, Y:-9.62, Z:-0.63 [[ 9.97410269e-01 7.18238779e-02 3.75304741e-03 8.99639048e+01] [-7.18230834e-02 9.97417327e-01 -3.46210818e-04 -9.62354617e+00] [-3.76822072e-03 7.57587874e-05 9.99992897e-01 -6.29099051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32755201799999 meters 0.016061958549116018 Centerline is valid? [True, True] Translation: X:90.00, Y:-9.63, Z:-0.63 [[ 9.97210290e-01 7.46059189e-02 2.36514622e-03 8.99958404e+01] [-7.46056115e-02 9.97213094e-01 -2.18038724e-04 -9.62549800e+00] [-2.37482176e-03 4.09772792e-05 9.99997179e-01 -6.29850477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35755201799999 meters 0.016111582761125037 Centerline is valid? [True, True] Translation: X:90.03, Y:-9.63, Z:-0.63 [[ 9.97149046e-01 7.54408827e-02 1.56629980e-03 9.00290789e+01] [-7.54407496e-02 9.97150276e-01 -1.43964417e-04 -9.62829377e+00] [-1.57269708e-03 2.53911506e-05 9.99998763e-01 -6.30409964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.387552018 meters 0.016344828267179926 Centerline is valid? [True, True] Translation: X:90.06, Y:-9.63, Z:-0.63 [[ 9.97103380e-01 7.60536893e-02 8.28497764e-04 9.00609992e+01] [-7.60536528e-02 9.97103724e-01 -7.55196316e-05 -9.63206600e+00] [-8.31841752e-04 1.22905986e-05 9.99999654e-01 -6.31179846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.417552018 meters 0.01603002695866834 Centerline is valid? [True, True] Translation: X:90.09, Y:-9.63, Z:-0.63 [[ 9.97100633e-01 7.60940156e-02 -1.66676160e-04 9.00942186e+01] [-7.60940137e-02 9.97100647e-01 1.78324099e-05 -9.63363997e+00] [ 1.67549847e-04 -5.09764918e-06 9.99999986e-01 -6.31660791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.447552018 meters 0.017297577071418935 Centerline is valid? [True, True] Translation: X:90.12, Y:-9.64, Z:-0.63 [[ 9.97302358e-01 7.33932696e-02 -1.19755942e-03 9.01246807e+01] [-7.33931871e-02 9.97303077e-01 1.12758935e-04 -9.63658565e+00] [ 1.20260544e-03 -2.45620492e-05 9.99999277e-01 -6.33136804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.477552018 meters 0.0176147780833557 Centerline is valid? [True, True] Translation: X:90.16, Y:-9.64, Z:-0.63 [[ 9.97415670e-01 7.18428237e-02 -7.67453163e-04 9.01567784e+01] [-7.18427879e-02 9.97415966e-01 7.41708485e-05 -9.63864643e+00] [ 7.70798681e-04 -1.88431918e-05 9.99999703e-01 -6.32986610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.507552018 meters 0.01861045915705659 Centerline is valid? [True, True] Translation: X:90.19, Y:-9.64, Z:-0.63 [[ 9.97508924e-01 7.05403175e-02 -1.04145735e-04 9.01873763e+01] [-7.05403167e-02 9.97508929e-01 1.15640910e-05 -9.64192222e+00] [ 1.04702035e-04 -4.18881083e-06 9.99999995e-01 -6.33081907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.537552018 meters 0.019574171860898718 Centerline is valid? [True, True] Translation: X:90.22, Y:-9.64, Z:-0.63 [[ 9.97717046e-01 6.75327781e-02 1.41091417e-04 9.02190645e+01] [-6.75327772e-02 9.97717056e-01 -1.16366654e-05 -9.64393210e+00] [-1.41555170e-04 2.08180422e-06 9.99999990e-01 -6.32734391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.567552018 meters 0.019858707842832994 Centerline is valid? [True, True] Translation: X:90.25, Y:-9.65, Z:-0.63 [[ 9.97888382e-01 6.49462764e-02 -8.71073250e-04 9.02512466e+01] [-6.49462286e-02 9.97888762e-01 8.30914284e-05 -9.64647509e+00] [ 8.74630685e-04 -2.63430486e-05 9.99999617e-01 -6.32916945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.597552018 meters 0.02191419337046951 Centerline is valid? [True, True] Translation: X:90.28, Y:-9.65, Z:-0.63 [[ 9.98011014e-01 6.30169919e-02 -1.69520799e-03 9.02818739e+01] [-6.30168062e-02 9.98012453e-01 1.62814556e-04 -9.65194649e+00] [ 1.70209877e-03 -5.56641266e-05 9.99998550e-01 -6.34700756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62755201799999 meters 0.022670048970697784 Centerline is valid? [True, True] Translation: X:90.31, Y:-9.66, Z:-0.64 [[ 9.98242643e-01 5.91914502e-02 -2.82810539e-03 9.03124179e+01] [-5.91909257e-02 9.98246644e-01 2.68895921e-04 -9.65609720e+00] [ 2.83906305e-03 -1.01025199e-04 9.99995965e-01 -6.35811132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65755201799999 meters 0.02512432179875517 Centerline is valid? [True, True] Translation: X:90.34, Y:-9.66, Z:-0.64 [[ 9.98647678e-01 5.18898712e-02 -3.20253954e-03 9.03429669e+01] [-5.18891613e-02 9.98652804e-01 3.04411327e-04 -9.66213946e+00] [ 3.21402096e-03 -1.37822574e-04 9.99994826e-01 -6.36681180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68755201799999 meters 0.026111177136973307 Centerline is valid? [True, True] Translation: X:90.37, Y:-9.67, Z:-0.64 [[ 9.98842023e-01 4.80182886e-02 -2.97591486e-03 9.03738916e+01] [-4.80176574e-02 9.98846447e-01 2.83213835e-04 -9.66666975e+00] [ 2.98608142e-03 -1.39989420e-04 9.99995532e-01 -6.36755279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71755201799999 meters 0.027022692114890005 Centerline is valid? [True, True] Translation: X:90.41, Y:-9.67, Z:-0.64 [[ 9.98955124e-01 4.56590506e-02 -1.97776553e-03 9.04061129e+01] [-4.56587661e-02 9.98957077e-01 1.88737893e-04 -9.67040219e+00] [ 1.98432047e-03 -9.82383513e-05 9.99998026e-01 -6.36495751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.747552018 meters 0.02905110671799507 Centerline is valid? [True, True] Translation: X:90.44, Y:-9.68, Z:-0.64 [[ 9.99105641e-01 4.22821316e-02 -3.72819925e-04 9.04358931e+01] [-4.22821213e-02 9.99105711e-01 3.56172805e-05 -9.67624568e+00] [ 3.73992491e-04 -1.98218086e-05 9.99999930e-01 -6.35836559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.777552018 meters 0.030298881113787254 Centerline is valid? [True, True] Translation: X:90.47, Y:-9.68, Z:-0.64 [[ 9.99160719e-01 4.09561343e-02 -6.73475468e-04 9.04669034e+01] [-4.09560991e-02 9.99160945e-01 6.59882251e-05 -9.68218839e+00] [ 6.75613008e-04 -3.83499144e-05 9.99999771e-01 -6.35936226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.807552018 meters 0.032561615970198236 Centerline is valid? [True, True] Translation: X:90.50, Y:-9.69, Z:-0.64 [[ 9.99233551e-01 3.91391282e-02 -6.62944282e-04 9.04977237e+01] [-3.91390936e-02 9.99233770e-01 6.51300240e-05 -9.68892812e+00] [ 6.64985447e-04 -3.91330669e-05 9.99999778e-01 -6.37006477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.837552018 meters 0.03162254950092577 Centerline is valid? [True, True] Translation: X:90.53, Y:-9.69, Z:-0.64 [[ 9.99313696e-01 3.70404137e-02 -3.80885108e-04 9.05298246e+01] [-3.70404023e-02 9.99313768e-01 3.69960035e-05 -9.69148906e+00] [ 3.81994079e-04 -2.28624754e-05 9.99999927e-01 -6.37289132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.867552018 meters 0.034266403166516676 Centerline is valid? [True, True] Translation: X:90.56, Y:-9.70, Z:-0.64 [[ 9.99461312e-01 3.28155225e-02 -4.76823310e-04 9.05593121e+01] [-3.28155043e-02 9.99461425e-01 4.58804292e-05 -9.69791783e+00] [ 4.78072095e-04 -3.02085166e-05 9.99999885e-01 -6.39364138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.897552018 meters 0.036265509851940096 Centerline is valid? [True, True] Translation: X:90.59, Y:-9.70, Z:-0.64 [[ 9.99545270e-01 3.01455008e-02 -7.08169317e-04 9.05888347e+01] [-3.01454603e-02 9.99545520e-01 6.78206113e-05 -9.70393933e+00] [ 7.09891954e-04 -4.64416812e-05 9.99999747e-01 -6.40998704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.927552018 meters 0.038562529058315635 Centerline is valid? [True, True] Translation: X:90.62, Y:-9.71, Z:-0.64 [[ 9.99632538e-01 2.70753250e-02 -1.31007425e-03 9.06186939e+01] [-2.70751835e-02 9.99633392e-01 1.25618237e-04 -9.71159300e+00] [ 1.31299513e-03 -9.01015762e-05 9.99999134e-01 -6.42110214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.957552018 meters 0.04037775458103798 Centerline is valid? [True, True] Translation: X:90.65, Y:-9.72, Z:-0.64 [[ 9.99702279e-01 2.43962761e-02 -4.17259724e-04 9.06489724e+01] [-2.43962615e-02 9.99702366e-01 4.01040659e-05 -9.71808227e+00] [ 4.18113923e-04 -2.99125488e-05 9.99999912e-01 -6.41754914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98755201799999 meters 0.04331367272041563 Centerline is valid? [True, True] Translation: X:90.68, Y:-9.73, Z:-0.64 [[ 9.99758540e-01 2.18928055e-02 1.88882325e-03 9.06778685e+01] [-2.18925032e-02 9.99760314e-01 -1.80540596e-04 -9.72689626e+00] [-1.89232307e-03 1.39145933e-04 9.99998200e-01 -6.38479419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01755201799999 meters 0.044738998996788584 Centerline is valid? [True, True] Translation: X:90.71, Y:-9.73, Z:-0.64 [[ 9.99773085e-01 2.10881306e-02 3.01148410e-03 9.07082798e+01] [-2.10873587e-02 9.99777595e-01 -2.87833956e-04 -9.73252143e+00] [-3.01688422e-03 2.24264397e-04 9.99995424e-01 -6.37263747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04755201799999 meters 0.04133716855110179 Centerline is valid? [True, True] Translation: X:90.74, Y:-9.73, Z:-0.64 [[ 9.99804860e-01 1.90886181e-02 5.08593110e-03 9.07398436e+01] [-1.90863772e-02 9.99817719e-01 -4.88778354e-04 -9.73129718e+00] [-5.09433414e-03 3.91610974e-04 9.99986947e-01 -6.36337119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07755201799999 meters 0.04744724343329546 Centerline is valid? [True, True] Translation: X:90.77, Y:-9.74, Z:-0.64 [[ 9.99802570e-01 1.89015846e-02 6.12784015e-03 9.07703620e+01] [-1.88983274e-02 9.99821237e-01 -5.89007750e-04 -9.74280285e+00] [-6.13787790e-03 4.73085533e-04 9.99981051e-01 -6.36177934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10755201799999 meters 0.04744724343329546 Centerline is valid? [True, True] Translation: X:90.80, Y:-9.75, Z:-0.64 [[ 9.99797288e-01 1.91789905e-02 6.12770432e-03 9.08026727e+01] [-1.91757299e-02 9.99815954e-01 -5.90417171e-04 -9.74605464e+00] [-6.13790015e-03 4.72794283e-04 9.99981051e-01 -6.36408169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.137552018 meters 0.04094515578392588 Centerline is valid? [True, True] Translation: X:90.84, Y:-9.74, Z:-0.64 [[ 9.99785127e-01 1.96153877e-02 6.70352893e-03 9.08356558e+01] [-1.96114814e-02 9.99807466e-01 -6.47967966e-04 -9.74097612e+00] [-6.71494842e-03 5.16362602e-04 9.99977321e-01 -6.36225539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.167552018 meters 0.03703868902928193 Centerline is valid? [True, True] Translation: X:90.87, Y:-9.74, Z:-0.64 [[ 9.99743835e-01 2.12483707e-02 7.79562391e-03 9.08677049e+01] [-2.12431203e-02 9.99774054e-01 -7.55701718e-04 -9.73771337e+00] [-7.80991995e-03 5.89904757e-04 9.99969328e-01 -6.37415017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.197552018 meters 0.03703868902928193 Centerline is valid? [True, True] Translation: X:90.90, Y:-9.74, Z:-0.64 [[ 9.99737308e-01 2.15532985e-02 7.79556213e-03 9.09000027e+01] [-2.15480523e-02 9.99767528e-01 -7.56338373e-04 -9.74095286e+00] [-7.81005146e-03 5.88160508e-04 9.99969328e-01 -6.37644506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.227552018 meters 0.03889097570790895 Centerline is valid? [True, True] Translation: X:90.93, Y:-9.75, Z:-0.64 [[ 9.99681185e-01 2.45221561e-02 6.01597374e-03 9.09290304e+01] [-2.45190751e-02 9.99699191e-01 -5.85369585e-04 -9.74660871e+00] [-6.02851861e-03 4.37676848e-04 9.99981733e-01 -6.39951382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.257552018 meters 0.036981372168310704 Centerline is valid? [True, True] Translation: X:90.96, Y:-9.75, Z:-0.64 [[ 9.99645286e-01 2.61911322e-02 4.82971712e-03 9.09604351e+01] [-2.61891668e-02 9.99656895e-01 -4.69752508e-04 -9.74740943e+00] [-4.84036337e-03 3.43099613e-04 9.99988227e-01 -6.40794766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.287552018 meters 0.03798500083934761 Centerline is valid? [True, True] Translation: X:90.99, Y:-9.75, Z:-0.64 [[ 9.99609542e-01 2.76599355e-02 3.96114741e-03 9.09909782e+01] [-2.76586244e-02 9.99617353e-01 -3.85376416e-04 -9.75247409e+00] [-3.97029117e-03 2.75666054e-04 9.99992080e-01 -6.41249329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.317552018 meters 0.035820910812412024 Centerline is valid? [True, True] Translation: X:91.02, Y:-9.75, Z:-0.64 [[ 9.99559798e-01 2.95963503e-02 2.06544727e-03 9.10229311e+01] [-2.95959983e-02 9.99561922e-01 -2.00801616e-04 -9.75367039e+00] [-2.07048544e-03 1.39584249e-04 9.99997847e-01 -6.42795317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.347552018 meters 0.03834941714470858 Centerline is valid? [True, True] Translation: X:91.05, Y:-9.76, Z:-0.64 [[ 9.99514200e-01 3.11214706e-02 1.67871648e-03 9.10528037e+01] [-3.11212407e-02 9.99515604e-01 -1.62938651e-04 -9.75942506e+00] [-1.68297421e-03 1.10615756e-04 9.99998578e-01 -6.43951635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37755201799999 meters 0.0390899221663195 Centerline is valid? [True, True] Translation: X:91.08, Y:-9.76, Z:-0.64 [[ 9.99497086e-01 3.16951732e-02 9.95665329e-04 9.10838098e+01] [-3.16950930e-02 9.99497580e-01 -9.62270422e-05 -9.76338555e+00] [-9.98215020e-04 6.46209430e-05 9.99999500e-01 -6.44965559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40755201799999 meters 0.03859208432117661 Centerline is valid? [True, True] Translation: X:91.12, Y:-9.77, Z:-0.65 [[ 9.99535979e-01 3.04517239e-02 7.20279888e-04 9.11159777e+01] [-3.04516814e-02 9.99536238e-01 -6.98864057e-05 -9.76557830e+00] [-7.22074011e-04 4.79202433e-05 9.99999738e-01 -6.45777809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43755201799999 meters 0.03709989938987198 Centerline is valid? [True, True] Translation: X:91.15, Y:-9.77, Z:-0.65 [[ 9.99586559e-01 2.87469813e-02 5.68220439e-04 9.11479687e+01] [-2.87469547e-02 9.99586719e-01 -5.50587168e-05 -9.76688504e+00] [-5.69568377e-04 3.87013460e-05 9.99999837e-01 -6.45930074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46755201799999 meters 0.037322046377507835 Centerline is valid? [True, True] Translation: X:91.18, Y:-9.77, Z:-0.65 [[ 9.99611956e-01 2.77948703e-02 1.83935092e-03 9.11802159e+01] [-2.77945886e-02 9.99613640e-01 -1.78563130e-04 -9.77051576e+00] [-1.84360341e-03 1.27369838e-04 9.99998292e-01 -6.45083032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.497552018 meters 0.04065675134262139 Centerline is valid? [True, True] Translation: X:91.21, Y:-9.78, Z:-0.64 [[ 9.99719665e-01 2.33905666e-02 3.67059767e-03 9.12091761e+01] [-2.33894014e-02 9.99726366e-01 -3.60050084e-04 -9.77860140e+00] [-3.67801504e-03 2.74096067e-04 9.99993199e-01 -6.43737503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.527552018 meters 0.0421253622594005 Centerline is valid? [True, True] Translation: X:91.24, Y:-9.78, Z:-0.64 [[ 9.99777491e-01 2.06408593e-02 4.35008495e-03 9.12395378e+01] [-2.06391977e-02 9.99786898e-01 -4.26522545e-04 -9.78379257e+00] [-4.35796173e-03 3.36645377e-04 9.99990447e-01 -6.42878589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.557552018 meters 0.04933289603104821 Centerline is valid? [True, True] Translation: X:91.27, Y:-9.80, Z:-0.64 [[ 9.99846865e-01 1.68145902e-02 4.84935450e-03 9.12677917e+01] [-1.68124797e-02 9.99858547e-01 -4.75652667e-04 -9.79610193e+00] [-4.85666645e-03 3.94050154e-04 9.99988129e-01 -6.43013241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.587552018 meters 0.045440568245547486 Centerline is valid? [True, True] Translation: X:91.30, Y:-9.79, Z:-0.64 [[ 9.99928988e-01 1.02685732e-02 6.04771482e-03 9.12987209e+01] [-1.02651726e-02 9.99947136e-01 -5.93057750e-04 -9.79332543e+00] [-6.05348497e-03 5.30934799e-04 9.99981537e-01 -6.41950808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.617552018 meters 0.04737851243722437 Centerline is valid? [True, True] Translation: X:91.33, Y:-9.80, Z:-0.64 [[ 9.99951795e-01 6.96318228e-03 6.92258667e-03 9.13288404e+01] [-6.95864794e-03 9.99975558e-01 -6.78877379e-04 -9.79946719e+00] [-6.92714461e-03 6.30672810e-04 9.99975808e-01 -6.41422790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.647552018 meters 0.050609124754924385 Centerline is valid? [True, True] Translation: X:91.36, Y:-9.81, Z:-0.64 [[ 9.99966067e-01 3.33767228e-03 7.53152491e-03 9.13577540e+01] [-3.33220269e-03 9.99994175e-01 -7.38659005e-04 -9.80691610e+00] [-7.53394644e-03 7.13537373e-04 9.99971365e-01 -6.40843641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.677552018 meters 0.054340466175269185 Centerline is valid? [True, True] Translation: X:91.39, Y:-9.81, Z:-0.64 [[ 9.99970871e-01 -1.44577406e-03 7.49444626e-03 9.13864345e+01] [ 1.45132732e-03 9.99998676e-01 -7.35597355e-04 -9.81474133e+00] [-7.49337283e-03 7.46452823e-04 9.99971646e-01 -6.40647872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.707552018 meters 0.04983391258770133 Centerline is valid? [True, True] Translation: X:91.42, Y:-9.81, Z:-0.64 [[ 9.99973705e-01 -2.98992959e-03 6.60672936e-03 9.14176245e+01] [ 2.99427961e-03 9.99995307e-01 -6.48630049e-04 -9.81170660e+00] [-6.60475900e-03 6.68395389e-04 9.99977965e-01 -6.41602266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73755201799999 meters 0.0562121665834168 Centerline is valid? [True, True] Translation: X:91.45, Y:-9.82, Z:-0.64 [[ 9.99978203e-01 -3.79632747e-03 5.40201317e-03 9.14474672e+01] [ 3.79924758e-03 9.99992642e-01 -5.30400731e-04 -9.82247709e+00] [-5.39995985e-03 5.50912755e-04 9.99985268e-01 -6.43107200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76755201799999 meters 0.05801622280664541 Centerline is valid? [True, True] Translation: X:91.48, Y:-9.83, Z:-0.64 [[ 9.99977585e-01 -5.11249087e-03 4.32350753e-03 9.14769992e+01] [ 5.11437444e-03 9.99986831e-01 -4.24715230e-04 -9.82739160e+00] [-4.32127924e-03 4.46817746e-04 9.99990563e-01 -6.44952051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79755201799999 meters 0.06053657615695768 Centerline is valid? [True, True] Translation: X:91.51, Y:-9.83, Z:-0.65 [[ 9.99972867e-01 -6.68239283e-03 3.10020215e-03 9.15061960e+01] [ 6.68336898e-03 9.99977620e-01 -3.04613826e-04 -9.83345154e+00] [-3.09809721e-03 3.25325356e-04 9.99995148e-01 -6.46756767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82755201799999 meters 0.050130281951561495 Centerline is valid? [True, True] Translation: X:91.54, Y:-9.82, Z:-0.65 [[ 9.99969295e-01 -6.89741428e-03 3.71943180e-03 9.15368206e+01] [ 6.89882347e-03 9.99976136e-01 -3.66175876e-04 -9.82265239e+00] [-3.71681737e-03 3.91824336e-04 9.99993016e-01 -6.46280487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85755201799999 meters 0.052083312230068575 Centerline is valid? [True, True] Translation: X:91.56, Y:-9.83, Z:-0.65 [[ 9.99966536e-01 -7.31029301e-03 3.67247136e-03 9.15640961e+01] [ 7.31166466e-03 9.99973205e-01 -3.60207650e-04 -9.82823567e+00] [-3.66973973e-03 3.87047475e-04 9.99993192e-01 -6.46465894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.887552018 meters 0.05154119291076854 Centerline is valid? [True, True] Translation: X:91.59, Y:-9.83, Z:-0.65 [[ 9.99960683e-01 -7.72467296e-03 4.35462292e-03 9.15925623e+01] [ 7.72660331e-03 9.99970058e-01 -4.26638230e-04 -9.83083707e+00] [-4.35119690e-03 4.60267899e-04 9.99990428e-01 -6.46131931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.917552018 meters 0.051784128837122544 Centerline is valid? [True, True] Translation: X:91.62, Y:-9.83, Z:-0.65 [[ 9.99959137e-01 -7.89583320e-03 4.40230927e-03 9.16213458e+01] [ 7.89780258e-03 9.99968719e-01 -4.30147122e-04 -9.83437018e+00] [-4.39877519e-03 4.64898114e-04 9.99990217e-01 -6.45941185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.947552018 meters 0.052629237554708636 Centerline is valid? [True, True] Translation: X:91.65, Y:-9.84, Z:-0.64 [[ 9.99964814e-01 -6.25745390e-03 5.58708596e-03 9.16501264e+01] [ 6.26058806e-03 9.99980255e-01 -5.43652269e-04 -9.83973470e+00] [-5.58357377e-03 5.78611583e-04 9.99984244e-01 -6.44785414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.977552018 meters 0.05349727843802675 Centerline is valid? [True, True] Translation: X:91.68, Y:-9.84, Z:-0.64 [[ 9.99970362e-01 -4.57597774e-03 6.19152261e-03 9.16790104e+01] [ 4.57979327e-03 9.99989331e-01 -6.02212264e-04 -9.84412887e+00] [-6.18870085e-03 6.30550310e-04 9.99980651e-01 -6.43789340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.007552018 meters 0.05120529938838508 Centerline is valid? [True, True] Translation: X:91.71, Y:-9.85, Z:-0.64 [[ 9.99975591e-01 -2.52627114e-03 6.51423433e-03 9.17099054e+01] [ 2.53044993e-03 9.99996598e-01 -6.33322376e-04 -9.84509372e+00] [-6.51261222e-03 6.49790861e-04 9.99978582e-01 -6.43371691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.037552018 meters 0.049026232273243056 Centerline is valid? [True, True] Translation: X:91.74, Y:-9.85, Z:-0.64 [[ 9.99977111e-01 -9.66975477e-04 6.69648868e-03 9.17411065e+01] [ 9.71357565e-04 9.99999316e-01 -6.51164417e-04 -9.84529363e+00] [-6.69585444e-03 6.57654197e-04 9.99977366e-01 -6.43571140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.067552018 meters 0.053510218759804634 Centerline is valid? [True, True] Translation: X:91.77, Y:-9.85, Z:-0.64 [[ 9.99978474e-01 2.01927563e-03 6.24287617e-03 9.17701807e+01] [-2.01552317e-03 9.99997784e-01 -6.07311860e-04 -9.85394794e+00] [-6.24408867e-03 5.94716125e-04 9.99980329e-01 -6.44873110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.097552018 meters 0.05257470124085316 Centerline is valid? [True, True] Translation: X:91.80, Y:-9.86, Z:-0.65 [[ 9.99972874e-01 3.43962478e-03 6.51304527e-03 9.18014954e+01] [-3.43557127e-03 9.99993898e-01 -6.33454228e-04 -9.85534010e+00] [-6.51518437e-03 6.11061014e-04 9.99978589e-01 -6.45318485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12755201799999 meters 0.04628307310561529 Centerline is valid? [True, True] Translation: X:91.83, Y:-9.85, Z:-0.65 [[ 9.99966242e-01 4.34895350e-03 6.97153436e-03 9.18338073e+01] [-4.34432933e-03 9.99990333e-01 -6.78300173e-04 -9.85048421e+00] [-6.97441686e-03 6.47990633e-04 9.99975469e-01 -6.45688970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15755201799999 meters 0.04651661543741841 Centerline is valid? [True, True] Translation: X:91.87, Y:-9.85, Z:-0.64 [[ 9.99953942e-01 5.24373257e-03 8.03843086e-03 9.18658319e+01] [-5.23759433e-03 9.99985976e-01 -7.84472749e-04 -9.85443179e+00] [-8.04243170e-03 7.42334578e-04 9.99967384e-01 -6.44874814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18755201799999 meters 0.04358190880959429 Centerline is valid? [True, True] Translation: X:91.90, Y:-9.85, Z:-0.64 [[ 9.99946144e-01 5.58324414e-03 8.74853220e-03 9.18984792e+01] [-5.57596446e-03 9.99984088e-01 -8.56273010e-04 -9.85379453e+00] [-8.75317377e-03 8.07445390e-04 9.99961364e-01 -6.44538509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21755201799999 meters 0.0454176442702984 Centerline is valid? [True, True] Translation: X:91.93, Y:-9.86, Z:-0.64 [[ 9.99940988e-01 5.83135758e-03 9.16597670e-03 9.19302230e+01] [-5.82335087e-03 9.99982639e-01 -8.99972276e-04 -9.85989075e+00] [-9.17106564e-03 8.46542469e-04 9.99957587e-01 -6.44803273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.247552018 meters 0.04643901703880377 Centerline is valid? [True, True] Translation: X:91.96, Y:-9.87, Z:-0.64 [[ 9.99939863e-01 6.12256209e-03 9.09863362e-03 9.19624798e+01] [-6.11466482e-03 9.99980904e-01 -8.95526886e-04 -9.86511739e+00] [-9.10394279e-03 8.39837937e-04 9.99958206e-01 -6.44325027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.277552018 meters 0.04382557759949833 Centerline is valid? [True, True] Translation: X:91.99, Y:-9.86, Z:-0.64 [[ 9.99930397e-01 8.04490729e-03 8.63021631e-03 9.19930836e+01] [-8.03786793e-03 9.99967335e-01 -8.50040413e-04 -9.86461200e+00] [-8.63677289e-03 7.80612709e-04 9.99962398e-01 -6.44726653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.307552018 meters 0.04317837347527145 Centerline is valid? [True, True] Translation: X:92.02, Y:-9.87, Z:-0.65 [[ 9.99928820e-01 9.21242337e-03 7.58200386e-03 9.20239914e+01] [-9.20702332e-03 9.99957336e-01 -7.46816750e-04 -9.86697850e+00] [-7.58856037e-03 6.76955905e-04 9.99970977e-01 -6.45691726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.337552018 meters 0.04857073155901999 Centerline is valid? [True, True] Translation: X:92.05, Y:-9.88, Z:-0.65 [[ 9.99920475e-01 1.06438933e-02 6.76395229e-03 9.20538812e+01] [-1.06396266e-02 9.99943175e-01 -6.66467173e-04 -9.87655335e+00] [-6.77066174e-03 5.94448245e-04 9.99976902e-01 -6.47200930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.367552018 meters 0.04266168785866692 Centerline is valid? [True, True] Translation: X:92.09, Y:-9.87, Z:-0.65 [[ 9.99922428e-01 1.14127177e-02 4.98874443e-03 9.20867928e+01] [-1.14104079e-02 9.99934779e-01 -4.91209237e-04 -9.87218608e+00] [-4.99402509e-03 4.34247524e-04 9.99987435e-01 -6.48933537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.397552018 meters 0.04209984629815638 Centerline is valid? [True, True] Translation: X:92.12, Y:-9.87, Z:-0.65 [[ 9.99907782e-01 1.31281696e-02 3.47534760e-03 9.21178830e+01] [-1.31270549e-02 9.99913778e-01 -3.43349523e-04 -9.87330347e+00] [-3.47955549e-03 2.97696782e-04 9.99993902e-01 -6.51473545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.427552018 meters 0.041931755443914795 Centerline is valid? [True, True] Translation: X:92.15, Y:-9.88, Z:-0.65 [[ 9.99910643e-01 1.30966009e-02 2.68053600e-03 9.21492900e+01] [-1.30959400e-02 9.99914210e-01 -2.63965701e-04 -9.87682683e+00] [-2.68376309e-03 2.28837976e-04 9.99996373e-01 -6.51945363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.457552018 meters 0.0417587261098519 Centerline is valid? [True, True] Translation: X:92.18, Y:-9.88, Z:-0.65 [[ 9.99922332e-01 1.21904727e-02 2.59257782e-03 9.21815274e+01] [-1.21898479e-02 9.99925668e-01 -2.56631791e-04 -9.88064761e+00] [-2.59551357e-03 2.25008730e-04 9.99996606e-01 -6.52215924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48755201799999 meters 0.04405827443204313 Centerline is valid? [True, True] Translation: X:92.21, Y:-9.89, Z:-0.65 [[ 9.99928282e-01 1.16368729e-02 2.83076630e-03 9.22117680e+01] [-1.16361271e-02 9.99932259e-01 -2.79768693e-04 -9.88819669e+00] [-2.83383017e-03 2.46809472e-04 9.99995954e-01 -6.50902859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51755201799999 meters 0.04422276208861129 Centerline is valid? [True, True] Translation: X:92.24, Y:-9.89, Z:-0.65 [[ 9.99918107e-01 1.22976853e-02 3.54196200e-03 9.22440828e+01] [-1.22965155e-02 9.99924333e-01 -3.51878130e-04 -9.89242377e+00] [-3.54602128e-03 3.08295523e-04 9.99993665e-01 -6.49674496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54755201799999 meters 0.04418929869550933 Centerline is valid? [True, True] Translation: X:92.28, Y:-9.90, Z:-0.65 [[ 9.99907965e-01 1.30407013e-02 3.74189519e-03 9.22760029e+01] [-1.30394014e-02 9.99914914e-01 -3.71578471e-04 -9.89595215e+00] [-3.74642245e-03 3.22752199e-04 9.99992930e-01 -6.49376949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57755201799999 meters 0.043821712531608534 Centerline is valid? [True, True] Translation: X:92.31, Y:-9.90, Z:-0.65 [[ 9.99888911e-01 1.43097509e-02 4.17102266e-03 9.23076388e+01] [-1.43081413e-02 9.99897547e-01 -4.15482173e-04 -9.89821967e+00] [-4.17654077e-03 3.55756436e-04 9.99991215e-01 -6.49350277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60755201799999 meters 0.04268159690026899 Centerline is valid? [True, True] Translation: X:92.34, Y:-9.90, Z:-0.65 [[ 9.99871334e-01 1.54245011e-02 4.40467170e-03 9.23395069e+01] [-1.54227114e-02 9.99880966e-01 -4.39993012e-04 -9.90078293e+00] [-4.41093407e-03 3.72004420e-04 9.99990203e-01 -6.49001938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.637552018 meters 0.042366357741060755 Centerline is valid? [True, True] Translation: X:92.37, Y:-9.90, Z:-0.65 [[ 9.99846097e-01 1.66477552e-02 5.53491815e-03 9.23717908e+01] [-1.66449372e-02 9.99861310e-01 -5.54806991e-04 -9.90347973e+00] [-5.54338680e-03 4.62593239e-04 9.99984528e-01 -6.47928551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.667552018 meters 0.04372966169097927 Centerline is valid? [True, True] Translation: X:92.40, Y:-9.91, Z:-0.65 [[ 9.99818940e-01 1.78569546e-02 6.57384416e-03 9.24021857e+01] [-1.78529911e-02 9.99840404e-01 -6.61103461e-04 -9.90833991e+00] [-6.58460030e-03 5.43620981e-04 9.99978174e-01 -6.47823452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.697552018 meters 0.038682095548385725 Centerline is valid? [True, True] Translation: X:92.43, Y:-9.91, Z:-0.65 [[ 9.99778480e-01 1.95614864e-02 7.76779614e-03 9.24338048e+01] [-1.95560009e-02 9.99808458e-01 -7.81510954e-04 -9.90560185e+00] [-7.78159580e-03 6.29430805e-04 9.99969525e-01 -6.46455295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.727552018 meters 0.0425890542107688 Centerline is valid? [True, True] Translation: X:92.46, Y:-9.91, Z:-0.65 [[ 9.99754165e-01 2.06040654e-02 8.19032402e-03 9.24638845e+01] [-2.05979971e-02 9.99787499e-01 -8.24590313e-04 -9.91438240e+00] [-8.20557348e-03 6.55683330e-04 9.99966119e-01 -6.46378620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.757552018 meters 0.03759507709080532 Centerline is valid? [True, True] Translation: X:92.50, Y:-9.91, Z:-0.65 [[ 9.99714846e-01 2.23835537e-02 8.31886609e-03 9.24956050e+01] [-2.23773396e-02 9.99749244e-01 -8.39332859e-04 -9.91076046e+00] [-8.33556734e-03 6.52939429e-04 9.99965045e-01 -6.46669877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.787552018 meters 0.03784119459438249 Centerline is valid? [True, True] Translation: X:92.52, Y:-9.91, Z:-0.65 [[ 9.99633914e-01 2.62340582e-02 6.61910219e-03 9.25249200e+01] [-2.62302065e-02 9.99655706e-01 -6.68056644e-04 -9.91379840e+00] [-6.63434911e-03 4.94191661e-04 9.99977870e-01 -6.47996777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.817552018 meters 0.033766576242201175 Centerline is valid? [True, True] Translation: X:92.56, Y:-9.91, Z:-0.65 [[ 9.99587971e-01 2.81247131e-02 5.73492586e-03 9.25566939e+01] [-2.81218536e-02 9.99604335e-01 -5.78666365e-04 -9.91175835e+00] [-5.74893157e-03 4.17151192e-04 9.99983388e-01 -6.49179962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.847552018 meters 0.03474026996751835 Centerline is valid? [True, True] Translation: X:92.59, Y:-9.92, Z:-0.65 [[ 9.99502452e-01 3.11559176e-02 4.91508949e-03 9.25861182e+01] [-3.11538525e-02 9.99514478e-01 -4.96178676e-04 -9.91569912e+00] [-4.92816201e-03 3.42807830e-04 9.99987798e-01 -6.50031411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87755201799999 meters 0.03315328989120829 Centerline is valid? [True, True] Translation: X:92.62, Y:-9.92, Z:-0.65 [[ 9.99448721e-01 3.29097759e-02 4.38181531e-03 9.26173350e+01] [-3.29081518e-02 9.99458282e-01 -4.42242191e-04 -9.91687447e+00] [-4.39399569e-03 2.97800949e-04 9.99990302e-01 -6.51320746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90755201799999 meters 0.03334250587864489 Centerline is valid? [True, True] Translation: X:92.65, Y:-9.92, Z:-0.65 [[ 9.99319844e-01 3.67147988e-02 3.44582915e-03 9.26471671e+01] [-3.67138163e-02 9.99325760e-01 -3.47990566e-04 -9.91987389e+00] [-3.45628223e-03 2.21244340e-04 9.99994003e-01 -6.52797566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93755201799999 meters 0.03126554792146808 Centerline is valid? [True, True] Translation: X:92.68, Y:-9.92, Z:-0.65 [[ 9.99257381e-01 3.83526853e-02 3.70927058e-03 9.26791763e+01] [-3.83515613e-02 9.99264238e-01 -3.73702505e-04 -9.92038031e+00] [-3.72087394e-03 2.31168668e-04 9.99993051e-01 -6.53006026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96755201799999 meters 0.03129302825817778 Centerline is valid? [True, True] Translation: X:92.71, Y:-9.92, Z:-0.65 [[ 9.99203091e-01 3.97414864e-02 3.71436498e-03 9.27115503e+01] [-3.97403630e-02 9.99209969e-01 -3.75790222e-04 -9.92468209e+00] [-3.72636498e-03 2.27880539e-04 9.99993031e-01 -6.52986708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.997552018 meters 0.031190051034797103 Centerline is valid? [True, True] Translation: X:92.74, Y:-9.93, Z:-0.65 [[ 9.99129758e-01 4.14984074e-02 4.19640410e-03 9.27430980e+01] [-4.14969864e-02 9.99138539e-01 -4.25156420e-04 -9.92782700e+00] [-4.21043238e-03 2.50648307e-04 9.99991105e-01 -6.52942079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.027552018 meters 0.031190051034797103 Centerline is valid? [True, True] Translation: X:92.78, Y:-9.93, Z:-0.65 [[ 9.99117261e-01 4.17981781e-02 4.19645017e-03 9.27753475e+01] [-4.17967616e-02 9.99126043e-01 -4.24703392e-04 -9.93121338e+00] [-4.21053449e-03 2.48930463e-04 9.99991105e-01 -6.53171332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.057552018 meters 0.030233980713608385 Centerline is valid? [True, True] Translation: X:92.81, Y:-9.93, Z:-0.65 [[ 9.99005755e-01 4.42927297e-02 5.06510135e-03 9.28070894e+01] [-4.42906856e-02 9.99018553e-01 -5.15075085e-04 -9.93386132e+00] [-5.08294431e-03 2.90226163e-04 9.99987040e-01 -6.52199294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.087552018 meters 0.03004432509826365 Centerline is valid? [True, True] Translation: X:92.84, Y:-9.94, Z:-0.65 [[ 9.98971806e-01 4.50265603e-02 5.28586108e-03 9.28389376e+01] [-4.50243446e-02 9.98985745e-01 -5.37481229e-04 -9.93764687e+00] [-5.30470080e-03 2.98936163e-04 9.99985885e-01 -6.52026839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.117552018 meters 0.02972034102513414 Centerline is valid? [True, True] Translation: X:92.87, Y:-9.94, Z:-0.65 [[ 9.98941735e-01 4.56311687e-02 5.76258926e-03 9.28703995e+01] [-4.56285356e-02 9.98958303e-01 -5.87648270e-04 -9.94093763e+00] [-5.78340146e-03 3.24087873e-04 9.99983223e-01 -6.51715975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.147552018 meters 0.03054918104184674 Centerline is valid? [True, True] Translation: X:92.90, Y:-9.95, Z:-0.65 [[ 9.98947405e-01 4.53157886e-02 7.11061904e-03 9.29013805e+01] [-4.53117549e-02 9.98972630e-01 -7.27436954e-04 -9.94616740e+00] [-7.13627819e-03 4.04476630e-04 9.99974455e-01 -6.51017253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.177552018 meters 0.030881892619996573 Centerline is valid? [True, True] Translation: X:92.93, Y:-9.95, Z:-0.65 [[ 9.98927750e-01 4.56176609e-02 7.89807132e-03 9.29339220e+01] [-4.56126765e-02 9.98958872e-01 -8.10165272e-04 -9.94999256e+00] [-7.92680626e-03 4.49044400e-04 9.99968482e-01 -6.50667540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.207552018 meters 0.033784257329926445 Centerline is valid? [True, True] Translation: X:92.97, Y:-9.96, Z:-0.65 [[ 9.98915919e-01 4.58422365e-02 8.09170677e-03 9.29654750e+01] [-4.58369921e-02 9.98948586e-01 -8.32483684e-04 -9.95753974e+00] [-8.12136195e-03 4.60681705e-04 9.99966915e-01 -6.50332396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23755201799999 meters 0.031703728185499346 Centerline is valid? [True, True] Translation: X:93.00, Y:-9.96, Z:-0.65 [[ 9.98885630e-01 4.65092427e-02 8.02424170e-03 9.29975760e+01] [-4.65040891e-02 9.98917757e-01 -8.27744396e-04 -9.95825679e+00] [-8.05405528e-03 4.53661931e-04 9.99967463e-01 -6.50949955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26755201799999 meters 0.03172436711406693 Centerline is valid? [True, True] Translation: X:93.03, Y:-9.96, Z:-0.65 [[ 9.98841360e-01 4.75949023e-02 7.11784351e-03 9.30294579e+01] [-4.75908630e-02 9.98866642e-01 -7.35878837e-04 -9.96062275e+00] [-7.14480052e-03 3.96281903e-04 9.99974397e-01 -6.52603256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29755201799999 meters 0.03208870205882709 Centerline is valid? [True, True] Translation: X:93.06, Y:-9.96, Z:-0.65 [[ 9.98829301e-01 4.80035189e-02 5.97413917e-03 9.30618121e+01] [-4.80006735e-02 9.98847112e-01 -6.18844476e-04 -9.96435178e+00] [-5.99695837e-03 3.31357291e-04 9.99981963e-01 -6.53780643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32755201799999 meters 0.033290770567990534 Centerline is valid? [True, True] Translation: X:93.09, Y:-9.97, Z:-0.66 [[ 9.98847018e-01 4.77555152e-02 4.90359820e-03 9.30923300e+01] [-4.77535894e-02 9.98859017e-01 -5.09137694e-04 -9.96886129e+00] [-4.92231741e-03 2.74386252e-04 9.99987848e-01 -6.55228630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35755201799999 meters 0.03435534046462291 Centerline is valid? [True, True] Translation: X:93.12, Y:-9.97, Z:-0.66 [[ 9.98891676e-01 4.68703613e-02 4.31141593e-03 9.31236607e+01] [-4.68688607e-02 9.98900950e-01 -4.48473787e-04 -9.97302337e+00] [-4.32769760e-03 2.45905580e-04 9.99990605e-01 -6.55542379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.387552018 meters 0.0364094554339931 Centerline is valid? [True, True] Translation: X:93.15, Y:-9.98, Z:-0.66 [[ 9.99048622e-01 4.34485783e-02 3.75132207e-03 9.31544348e+01] [-4.34474131e-02 9.99055639e-01 -3.91579987e-04 -9.97853674e+00] [-3.76479306e-03 2.28222207e-04 9.99992887e-01 -6.56000101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.417552018 meters 0.03892665716903365 Centerline is valid? [True, True] Translation: X:93.18, Y:-9.98, Z:-0.66 [[ 9.99152401e-01 4.10198129e-02 3.44315985e-03 9.31835984e+01] [-4.10188175e-02 9.99158310e-01 -3.59231812e-04 -9.98456366e+00] [-3.45499740e-03 2.17692982e-04 9.99994008e-01 -6.56836210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.447552018 meters 0.041413219692571834 Centerline is valid? [True, True] Translation: X:93.21, Y:-9.99, Z:-0.66 [[ 9.99269633e-01 3.80635499e-02 3.37134408e-03 9.32132262e+01] [-3.80625778e-02 9.99275296e-01 -3.52065047e-04 -9.99061737e+00] [-3.38230170e-03 2.23485864e-04 9.99994255e-01 -6.57331604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.477552018 meters 0.03455836613001976 Centerline is valid? [True, True] Translation: X:93.24, Y:-9.98, Z:-0.66 [[ 9.99486442e-01 3.17882203e-02 4.04499613e-03 9.32448957e+01] [-3.17867680e-02 9.99494584e-01 -4.22849106e-04 -9.98467564e+00] [-4.05639334e-03 2.94054595e-04 9.99991730e-01 -6.55569774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.507552018 meters 0.04703637758908536 Centerline is valid? [True, True] Translation: X:93.27, Y:-10.00, Z:-0.66 [[ 9.99563518e-01 2.91716985e-02 4.66745524e-03 9.32735267e+01] [-2.91697350e-02 9.99574354e-01 -4.88209829e-04 -1.00044105e+01] [-4.67971046e-03 3.51848302e-04 9.99988988e-01 -6.55357560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.537552018 meters 0.037521286282759 Centerline is valid? [True, True] Translation: X:93.31, Y:-10.00, Z:-0.65 [[ 9.99621468e-01 2.71402870e-02 4.50849297e-03 9.33057939e+01] [-2.71384343e-02 9.99631574e-01 -4.71616384e-04 -9.99547836e+00] [-4.51963173e-03 3.49084422e-04 9.99989725e-01 -6.54211269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.567552018 meters 0.036758198504977274 Centerline is valid? [True, True] Translation: X:93.34, Y:-10.00, Z:-0.65 [[ 9.99691921e-01 2.43890532e-02 4.60845623e-03 9.33371729e+01] [-2.43870875e-02 9.99702474e-01 -4.82253199e-04 -9.99812106e+00] [-4.61884680e-03 3.69717802e-04 9.99989265e-01 -6.53888349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.597552018 meters 0.037369565485453636 Centerline is valid? [True, True] Translation: X:93.37, Y:-10.00, Z:-0.65 [[ 9.99722613e-01 2.32160691e-02 3.96370618e-03 9.33684785e+01] [-2.32146065e-02 9.99730419e-01 -4.14619896e-04 -1.00022597e+01] [-3.97226348e-03 3.22489006e-04 9.99992059e-01 -6.54004517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62755201799999 meters 0.04050588184800727 Centerline is valid? [True, True] Translation: X:93.40, Y:-10.01, Z:-0.65 [[ 9.99726484e-01 2.31338582e-02 3.43251927e-03 9.33991689e+01] [-2.31327613e-02 9.99732337e-01 -3.58949119e-04 -1.00092442e+01] [-3.43990439e-03 2.79447292e-04 9.99994044e-01 -6.54574833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65755201799999 meters 0.03815242625917084 Centerline is valid? [True, True] Translation: X:93.43, Y:-10.01, Z:-0.66 [[ 9.99718866e-01 2.35172391e-02 3.02123530e-03 9.34326899e+01] [-2.35163901e-02 9.99723401e-01 -3.16249016e-04 -1.00094770e+01] [-3.02783694e-03 2.45111560e-04 9.99995386e-01 -6.55201313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68755201799999 meters 0.03766615510563401 Centerline is valid? [True, True] Translation: X:93.46, Y:-10.01, Z:-0.66 [[ 9.99653790e-01 2.61541014e-02 2.87456012e-03 9.34633830e+01] [-2.61533380e-02 9.99657897e-01 -3.02853435e-04 -1.00116961e+01] [-2.88149759e-03 2.27569242e-04 9.99995823e-01 -6.55790364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71755201799999 meters 0.0396627562188497 Centerline is valid? [True, True] Translation: X:93.49, Y:-10.02, Z:-0.66 [[ 9.99563702e-01 2.94358068e-02 2.43692386e-03 9.34927324e+01] [-2.94352675e-02 9.99566656e-01 -2.56893345e-04 -1.00170893e+01] [-2.44342969e-03 1.85049757e-04 9.99996998e-01 -6.55952780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.747552018 meters 0.036607936677626095 Centerline is valid? [True, True] Translation: X:93.52, Y:-10.02, Z:-0.66 [[ 9.99454261e-01 3.29728906e-02 1.99222380e-03 9.35241570e+01] [-3.29725373e-02 9.99456236e-01 -2.09944965e-04 -1.00167161e+01] [-1.99806300e-03 1.44141716e-04 9.99997993e-01 -6.56761737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.777552018 meters 0.035061472369166326 Centerline is valid? [True, True] Translation: X:93.56, Y:-10.02, Z:-0.66 [[ 9.99316658e-01 3.69454656e-02 1.11817861e-03 9.35550278e+01] [-3.69453567e-02 9.99317280e-01 -1.17851137e-04 -1.00184334e+01] [-1.12176927e-03 7.64590965e-05 9.99999368e-01 -6.57423361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.807552018 meters 0.029169846692350176 Centerline is valid? [True, True] Translation: X:93.59, Y:-10.02, Z:-0.66 [[ 9.98971752e-01 4.53303145e-02 -7.75883905e-04 9.35865800e+01] [-4.53302645e-02 9.98972052e-01 8.19423057e-05 -1.00156573e+01] [ 7.78800807e-04 -4.66870260e-05 9.99999696e-01 -6.58389010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.837552018 meters 0.027849531689693896 Centerline is valid? [True, True] Translation: X:93.62, Y:-10.02, Z:-0.66 [[ 9.98746534e-01 5.00469427e-02 -8.14498146e-04 9.36176921e+01] [-5.00468892e-02 9.98746866e-01 8.59793036e-05 -1.00178799e+01] [ 8.17780472e-04 -4.51084331e-05 9.99999665e-01 -6.58866559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.867552018 meters 0.027180921522721373 Centerline is valid? [True, True] Translation: X:93.65, Y:-10.02, Z:-0.66 [[ 9.98485550e-01 5.50131637e-02 -3.97304432e-04 9.36474049e+01] [-5.50131514e-02 9.98485629e-01 4.18477139e-05 -1.00211155e+01] [ 3.99004941e-04 -1.99273688e-05 9.99999920e-01 -6.58845561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.897552018 meters 0.025229110182166073 Centerline is valid? [True, True] Translation: X:93.68, Y:-10.02, Z:-0.66 [[ 9.97847638e-01 6.55573891e-02 1.52313969e-03 9.36766536e+01] [-6.55572200e-02 9.97848799e-01 -1.60740610e-04 -1.00236244e+01] [-1.53040085e-03 6.05418339e-05 9.99998827e-01 -6.58202410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.927552018 meters 0.020338234511487318 Centerline is valid? [True, True] Translation: X:93.71, Y:-10.02, Z:-0.66 [[ 9.97439114e-01 7.14788975e-02 2.44570118e-03 9.37080070e+01] [-7.14784801e-02 9.97442109e-01 -2.57774930e-04 -1.00207224e+01] [-2.45787081e-03 8.22997944e-05 9.99996976e-01 -6.57049058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.957552018 meters 0.018925425300106123 Centerline is valid? [True, True] Translation: X:93.74, Y:-10.02, Z:-0.66 [[ 9.96996990e-01 7.73773903e-02 3.12101615e-03 9.37379507e+01] [-7.73767389e-02 9.97001872e-01 -3.29125755e-04 -1.00229283e+01] [-3.13712584e-03 8.66433356e-05 9.99995075e-01 -6.56605918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98755201799999 meters 0.016548369213852034 Centerline is valid? [True, True] Translation: X:93.77, Y:-10.02, Z:-0.66 [[ 9.96508804e-01 8.33897345e-02 4.04423736e-03 9.37700939e+01] [-8.33886908e-02 9.96517007e-01 -4.26313335e-04 -1.00234918e+01] [-4.06570147e-03 8.75813333e-05 9.99991731e-01 -6.55683795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01755201799999 meters 0.01345162973393136 Centerline is valid? [True, True] Translation: X:93.80, Y:-10.02, Z:-0.65 [[ 9.95545196e-01 9.41420337e-02 5.20005099e-03 9.38013157e+01] [-9.41404521e-02 9.95558775e-01 -5.48631827e-04 -1.00215237e+01] [-5.22860571e-03 5.66526276e-05 9.99986329e-01 -6.54478123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04755201799999 meters 0.012760626117069103 Centerline is valid? [True, True] Translation: X:93.83, Y:-10.02, Z:-0.65 [[ 9.95079690e-01 9.89254995e-02 5.49150053e-03 9.38340000e+01] [-9.89238085e-02 9.95094842e-01 -5.79375920e-04 -1.00226875e+01] [-5.52187890e-03 3.32850649e-05 9.99984754e-01 -6.54642224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07755201799999 meters 0.012446143756789674 Centerline is valid? [True, True] Translation: X:93.87, Y:-10.02, Z:-0.66 [[ 9.94670728e-01 1.02952494e-01 5.56118038e-03 9.38657473e+01] [-1.02950821e-01 9.94686274e-01 -5.87018469e-04 -1.00240843e+01] [-5.59206481e-03 1.13620015e-05 9.99984364e-01 -6.55088395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10755201799999 meters 0.012378396249467101 Centerline is valid? [True, True] Translation: X:93.90, Y:-10.03, Z:-0.66 [[ 9.94320517e-01 1.06290206e-01 5.39457769e-03 9.38978971e+01] [-1.06288673e-01 9.94335151e-01 -5.70813120e-04 -1.00263339e+01] [-5.42469006e-03 -5.81130836e-06 9.99985286e-01 -6.55275962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.137552018 meters 0.01254593226152255 Centerline is valid? [True, True] Translation: X:93.93, Y:-10.03, Z:-0.66 [[ 9.94089769e-01 1.08500518e-01 3.62883031e-03 9.39310317e+01] [-1.08499838e-01 9.94096392e-01 -3.84302273e-04 -1.00273607e+01] [-3.64910411e-03 -1.16965422e-05 9.99993342e-01 -6.58381050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.167552018 meters 0.012554782105502945 Centerline is valid? [True, True] Translation: X:93.96, Y:-10.03, Z:-0.66 [[ 9.94129999e-01 1.08164072e-01 2.46558970e-03 9.39628249e+01] [-1.08163757e-01 9.94133056e-01 -2.61275345e-04 -1.00306383e+01] [-2.47938483e-03 -6.94578625e-06 9.99996926e-01 -6.60098760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.197552018 meters 0.012478073977229874 Centerline is valid? [True, True] Translation: X:94.00, Y:-10.03, Z:-0.66 [[ 9.94249132e-01 1.07077674e-01 1.74222794e-03 9.39954572e+01] [-1.07077515e-01 9.94250658e-01 -1.84319584e-04 -1.00347952e+01] [-1.75194779e-03 -3.29385291e-06 9.99998465e-01 -6.60884667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.227552018 meters 0.012770222170152922 Centerline is valid? [True, True] Translation: X:94.03, Y:-10.04, Z:-0.66 [[ 9.94680520e-01 1.03007089e-01 4.51312126e-04 9.40262961e+01] [-1.03007078e-01 9.94680622e-01 -4.66191966e-05 -1.00406426e+01] [-4.53713534e-04 -1.17136873e-07 9.99999897e-01 -6.62531861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.257552018 meters 0.012987086379350535 Centerline is valid? [True, True] Translation: X:94.06, Y:-10.05, Z:-0.66 [[ 9.94866660e-01 1.01192332e-01 6.64042458e-04 9.40589646e+01] [-1.01192309e-01 9.94866881e-01 -6.92795245e-05 -1.00450479e+01] [-6.67644406e-04 1.72789988e-06 9.99999777e-01 -6.62101274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.287552018 meters 0.013343603405939961 Centerline is valid? [True, True] Translation: X:94.09, Y:-10.05, Z:-0.66 [[ 9.95131893e-01 9.85518627e-02 2.12269346e-04 9.40905137e+01] [-9.85518605e-02 9.95131916e-01 -2.09707632e-05 -1.00503554e+01] [-2.13302709e-04 -5.08637052e-08 9.99999977e-01 -6.62009959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.317552018 meters 0.015400815594313276 Centerline is valid? [True, True] Translation: X:94.12, Y:-10.06, Z:-0.66 [[ 9.95693623e-01 9.27007839e-02 8.79570849e-04 9.41205890e+01] [-9.27007364e-02 9.95694011e-01 -9.47189076e-05 -1.00578900e+01] [-8.84563944e-04 1.27741469e-05 9.99999609e-01 -6.62659085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.347552018 meters 0.01674885658014614 Centerline is valid? [True, True] Translation: X:94.15, Y:-10.06, Z:-0.66 [[ 9.96020943e-01 8.91084824e-02 1.40010229e-03 9.41523965e+01] [-8.91083598e-02 9.96021926e-01 -1.49790138e-04 -1.00635400e+01] [-1.40788015e-03 2.44332961e-05 9.99999009e-01 -6.62610776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37755201799999 meters 0.016856598772873745 Centerline is valid? [True, True] Translation: X:94.18, Y:-10.07, Z:-0.66 [[ 9.96369806e-01 8.51091511e-02 1.90862496e-03 9.41844528e+01] [-8.51089121e-02 9.96371633e-01 -2.06226740e-04 -1.00668153e+01] [-1.91925155e-03 4.30371025e-05 9.99998157e-01 -6.61158831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40755201799999 meters 0.01807001212126385 Centerline is valid? [True, True] Translation: X:94.22, Y:-10.07, Z:-0.66 [[ 9.96740545e-01 8.06333489e-02 2.55921887e-03 9.42161563e+01] [-8.06329036e-02 9.96743828e-01 -2.76902565e-04 -1.00720250e+01] [-2.57321320e-03 6.96427648e-05 9.99996687e-01 -6.60117443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43755201799999 meters 0.01958739277472134 Centerline is valid? [True, True] Translation: X:94.25, Y:-10.08, Z:-0.66 [[ 9.97074613e-01 7.63674152e-02 3.19910558e-03 9.42471168e+01] [-7.63666982e-02 9.97079740e-01 -3.45856580e-04 -1.00775863e+01] [-3.21617554e-03 1.00539685e-04 9.99994823e-01 -6.59592596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46755201799999 meters 0.023516658908876217 Centerline is valid? [True, True] Translation: X:94.28, Y:-10.09, Z:-0.66 [[ 9.97790208e-01 6.63244635e-02 3.97060997e-03 9.42766675e+01] [-6.63232707e-02 9.97798095e-01 -4.31457848e-04 -1.00859633e+01] [-3.99048327e-03 1.67160576e-04 9.99992024e-01 -6.58959643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.497552018 meters 0.025143533800681156 Centerline is valid? [True, True] Translation: X:94.31, Y:-10.09, Z:-0.66 [[ 9.98107261e-01 6.13392518e-02 4.40369880e-03 9.43076972e+01] [-6.13377366e-02 9.98116954e-01 -4.78453406e-04 -1.00912374e+01] [-4.42475441e-03 2.07434902e-04 9.99990189e-01 -6.58996384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.527552018 meters 0.02882676973148253 Centerline is valid? [True, True] Translation: X:94.34, Y:-10.10, Z:-0.66 [[ 9.98619006e-01 5.23227512e-02 4.73403398e-03 9.43377230e+01] [-5.23208977e-02 9.98630191e-01 -5.14614350e-04 -1.00987700e+01] [-4.75447530e-03 2.66214763e-04 9.99988662e-01 -6.58894781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.557552018 meters 0.02925681851125545 Centerline is valid? [True, True] Translation: X:94.37, Y:-10.10, Z:-0.66 [[ 9.98789561e-01 4.89912311e-02 4.38999021e-03 9.43685972e+01] [-4.89896051e-02 9.98799174e-01 -4.77225695e-04 -1.01019472e+01] [-4.40809847e-03 2.61584155e-04 9.99990250e-01 -6.59445861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.587552018 meters 0.030982239838226358 Centerline is valid? [True, True] Translation: X:94.40, Y:-10.11, Z:-0.66 [[ 9.98955028e-01 4.55313700e-02 3.96808091e-03 9.43996601e+01] [-4.55300143e-02 9.98962878e-01 -4.31366287e-04 -1.01068192e+01] [-3.98360622e-03 2.50248741e-04 9.99992034e-01 -6.60529920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.617552018 meters 0.033268922223672975 Centerline is valid? [True, True] Translation: X:94.43, Y:-10.11, Z:-0.66 [[ 9.99094359e-01 4.24218415e-02 3.29373905e-03 9.44288799e+01] [-4.24208898e-02 9.99099765e-01 -3.58285066e-04 -1.01123121e+01] [-3.30597302e-03 2.18237247e-04 9.99994511e-01 -6.61573495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.647552018 meters 0.03472234654239589 Centerline is valid? [True, True] Translation: X:94.46, Y:-10.12, Z:-0.66 [[ 9.99253746e-01 3.84373727e-02 3.81054133e-03 9.44589183e+01] [-3.84360702e-02 9.99260975e-01 -4.14480071e-04 -1.01178109e+01] [-3.82365677e-03 2.67708529e-04 9.99992654e-01 -6.61227475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.677552018 meters 0.03987721328846211 Centerline is valid? [True, True] Translation: X:94.49, Y:-10.13, Z:-0.66 [[ 9.99272598e-01 3.78767703e-02 4.43012420e-03 9.44892371e+01] [-3.78750069e-02 9.99282369e-01 -4.81289742e-04 -1.01284659e+01] [-4.44517471e-03 3.13148666e-04 9.99990071e-01 -6.60719376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.707552018 meters 0.036763388817436383 Centerline is valid? [True, True] Translation: X:94.52, Y:-10.13, Z:-0.66 [[ 9.99283554e-01 3.75722644e-02 4.55016619e-03 9.45218026e+01] [-3.75703959e-02 9.99293861e-01 -4.95456751e-04 -1.01284127e+01] [-4.56556857e-03 3.24150237e-04 9.99989525e-01 -6.59827370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73755201799999 meters 0.04115974540064716 Centerline is valid? [True, True] Translation: X:94.55, Y:-10.14, Z:-0.66 [[ 9.99244158e-01 3.84925699e-02 5.42543507e-03 9.45519847e+01] [-3.84899170e-02 9.99258813e-01 -5.92578876e-04 -1.01374547e+01] [-5.44422370e-03 3.83306434e-04 9.99985107e-01 -6.60072240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76755201799999 meters 0.03365958810447266 Centerline is valid? [True, True] Translation: X:94.58, Y:-10.13, Z:-0.66 [[ 9.99106820e-01 4.16546444e-02 7.10306379e-03 9.45840788e+01] [-4.16501608e-02 9.99131953e-01 -7.78042428e-04 -1.01305632e+01] [-7.12930707e-03 4.81503747e-04 9.99974470e-01 -6.60394606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79755201799999 meters 0.03427812313011416 Centerline is valid? [True, True] Translation: X:94.61, Y:-10.14, Z:-0.66 [[ 9.98980282e-01 4.43978858e-02 8.19903861e-03 9.46132544e+01] [-4.43920027e-02 9.99013785e-01 -8.98223876e-04 -1.01353864e+01] [-8.23083184e-03 5.33336196e-04 9.99965984e-01 -6.59744786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82755201799999 meters 0.029826996049628046 Centerline is valid? [True, True] Translation: X:94.64, Y:-10.13, Z:-0.66 [[ 9.98795896e-01 4.82190194e-02 9.03792641e-03 9.46447661e+01] [-4.82120276e-02 9.98836633e-01 -9.90018252e-04 -1.01336408e+01] [-9.07514969e-03 5.53089410e-04 9.99958667e-01 -6.59016257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85755201799999 meters 0.02758687862794141 Centerline is valid? [True, True] Translation: X:94.67, Y:-10.14, Z:-0.66 [[ 9.98384925e-01 5.57682339e-02 1.08371990e-02 9.46749547e+01] [-5.57586219e-02 9.98443572e-01 -1.18731160e-03 -1.01351743e+01] [-1.08865459e-02 5.81126727e-04 9.99940571e-01 -6.57522276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.887552018 meters 0.02951223311135405 Centerline is valid? [True, True] Translation: X:94.70, Y:-10.14, Z:-0.66 [[ 9.98167673e-01 5.94013982e-02 1.15225894e-02 9.47045472e+01] [-5.93907723e-02 9.98234012e-01 -1.26247446e-03 -1.01417339e+01] [-1.15772334e-02 5.75825711e-04 9.99932816e-01 -6.56894976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.917552018 meters 0.02951223311135405 Centerline is valid? [True, True] Translation: X:94.74, Y:-10.15, Z:-0.66 [[ 9.98150426e-01 5.96905381e-02 1.15224463e-02 9.47367542e+01] [-5.96799164e-02 9.98216765e-01 -1.26377825e-03 -1.01453910e+01] [-1.15773347e-02 5.73782168e-04 9.99932816e-01 -6.57123939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.947552018 meters 0.024348697501265396 Centerline is valid? [True, True] Translation: X:94.77, Y:-10.14, Z:-0.66 [[ 9.97886570e-01 6.37766040e-02 1.24474029e-02 9.47681380e+01] [-6.37644964e-02 9.97964037e-01 -1.36755627e-03 -1.01413677e+01] [-1.25092785e-02 5.70963657e-04 9.99921593e-01 -6.57560722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.977552018 meters 0.023185547228327885 Centerline is valid? [True, True] Translation: X:94.80, Y:-10.14, Z:-0.66 [[ 9.97636263e-01 6.75675271e-02 1.25106700e-02 9.47992586e+01] [-6.75555892e-02 9.97714564e-01 -1.37485900e-03 -1.01427821e+01] [-1.25749735e-02 5.26443514e-04 9.99920793e-01 -6.57908826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.007552018 meters 0.019786189647950366 Centerline is valid? [True, True] Translation: X:94.83, Y:-10.14, Z:-0.66 [[ 9.97041273e-01 7.58615612e-02 1.23985375e-02 9.48301973e+01] [-7.58504724e-02 9.97118272e-01 -1.36284502e-03 -1.01404786e+01] [-1.24661958e-02 4.18377811e-04 9.99922206e-01 -6.59914759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.037552018 meters 0.018912606985467647 Centerline is valid? [True, True] Translation: X:94.86, Y:-10.14, Z:-0.66 [[ 9.96773543e-01 7.93573330e-02 1.20381415e-02 9.48617488e+01] [-7.93471300e-02 9.96846167e-01 -1.32357478e-03 -1.01427356e+01] [-1.21052106e-02 3.64112342e-04 9.99926663e-01 -6.60622562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.067552018 meters 0.019192865804536677 Centerline is valid? [True, True] Translation: X:94.89, Y:-10.15, Z:-0.66 [[ 9.96490977e-01 8.28767292e-02 1.17124006e-02 9.48921736e+01] [-8.28672949e-02 9.96559757e-01 -1.28935488e-03 -1.01473176e+01] [-1.17789646e-02 3.14255552e-04 9.99930576e-01 -6.60824217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.097552018 meters 0.017579777736196758 Centerline is valid? [True, True] Translation: X:94.92, Y:-10.15, Z:-0.66 [[ 9.96196981e-01 8.63905723e-02 1.13245078e-02 9.49242599e+01] [-8.63819466e-02 9.96261310e-01 -1.24953232e-03 -1.01478056e+01] [-1.13901168e-02 2.66547293e-04 9.99935095e-01 -6.61301671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12755201799999 meters 0.016989185826026952 Centerline is valid? [True, True] Translation: X:94.95, Y:-10.15, Z:-0.66 [[ 9.95770362e-01 9.12857639e-02 1.04064774e-02 9.49548976e+01] [-9.12787276e-02 9.95824719e-01 -1.15010329e-03 -1.01491949e+01] [-1.04680155e-02 1.95348751e-04 9.99945190e-01 -6.63257547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15755201799999 meters 0.015844515097723444 Centerline is valid? [True, True] Translation: X:94.99, Y:-10.15, Z:-0.67 [[ 9.95649210e-01 9.26921904e-02 9.52929814e-03 9.49868013e+01] [-9.26863458e-02 9.95694798e-01 -1.05409132e-03 -1.01491855e+01] [-9.58597862e-03 1.66269371e-04 9.99954040e-01 -6.65230274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18755201799999 meters 0.015638680702135456 Centerline is valid? [True, True] Translation: X:95.02, Y:-10.15, Z:-0.67 [[ 9.95310735e-01 9.61489574e-02 1.05791805e-02 9.50177608e+01] [-9.61419170e-02 9.95366945e-01 -1.17325014e-03 -1.01489579e+01] [-1.06429734e-02 1.50645760e-04 9.99943351e-01 -6.66324748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21755201799999 meters 0.01555409909999538 Centerline is valid? [True, True] Translation: X:95.05, Y:-10.15, Z:-0.67 [[ 9.95231838e-01 9.69611067e-02 1.05892536e-02 9.50495120e+01] [-9.69540693e-02 9.95288161e-01 -1.17712601e-03 -1.01513476e+01] [-1.06534941e-02 1.44842059e-04 9.99943239e-01 -6.66884194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.247552018 meters 0.015159466400889826 Centerline is valid? [True, True] Translation: X:95.08, Y:-10.15, Z:-0.67 [[ 9.95210195e-01 9.71981247e-02 1.04495002e-02 9.50823347e+01] [-9.71912536e-02 9.95265042e-01 -1.16457492e-03 -1.01535285e+01] [-1.05132168e-02 1.43396807e-04 9.99944724e-01 -6.67743502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.277552018 meters 0.015575446017134705 Centerline is valid? [True, True] Translation: X:95.11, Y:-10.16, Z:-0.67 [[ 9.95352478e-01 9.57985811e-02 9.80182692e-03 9.51142571e+01] [-9.57924400e-02 9.95400728e-01 -1.09518207e-03 -1.01594413e+01] [-9.86166254e-03 1.51151270e-04 9.99951361e-01 -6.67903731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.307552018 meters 0.017378301716261275 Centerline is valid? [True, True] Translation: X:95.15, Y:-10.17, Z:-0.67 [[ 9.95890332e-01 9.01399115e-02 8.78883357e-03 9.51456043e+01] [-9.01347376e-02 9.95929094e-01 -9.83828120e-04 -1.01669869e+01] [-8.84173724e-03 1.87605705e-04 9.99960893e-01 -6.67936988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.337552018 meters 0.018572100732349044 Centerline is valid? [True, True] Translation: X:95.18, Y:-10.17, Z:-0.67 [[ 9.96156730e-01 8.71565623e-02 8.68929414e-03 9.51770701e+01] [-8.71513830e-02 9.96194604e-01 -9.73660494e-04 -1.01724127e+01] [-8.74108883e-03 2.12634452e-04 9.99961773e-01 -6.68282539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.367552018 meters 0.018776368320502498 Centerline is valid? [True, True] Translation: X:95.21, Y:-10.18, Z:-0.67 [[ 9.96442682e-01 8.38711702e-02 8.22243171e-03 9.52093465e+01] [-8.38664053e-02 9.96476580e-01 -9.23205786e-04 -1.01756498e+01] [-8.27089098e-03 2.30335859e-04 9.99965769e-01 -6.69039805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.397552018 meters 0.019824327829112375 Centerline is valid? [True, True] Translation: X:95.24, Y:-10.18, Z:-0.67 [[ 9.96760118e-01 8.00463787e-02 7.86416795e-03 9.52406529e+01] [-8.00418959e-02 9.96791109e-01 -8.83618914e-04 -1.01796205e+01] [-7.90966318e-03 2.51293180e-04 9.99968687e-01 -6.70120443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.427552018 meters 0.022712840523315056 Centerline is valid? [True, True] Translation: X:95.27, Y:-10.19, Z:-0.67 [[ 9.97265495e-01 7.35722817e-02 6.97509834e-03 9.52706071e+01] [-7.35685914e-02 9.97289851e-01 -7.84534029e-04 -1.01856242e+01] [-7.01391474e-03 2.69240558e-04 9.99975366e-01 -6.71446558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.457552018 meters 0.023989767217597123 Centerline is valid? [True, True] Translation: X:95.30, Y:-10.19, Z:-0.67 [[ 9.97438237e-01 7.12273499e-02 6.60518903e-03 9.53017223e+01] [-7.12239891e-02 9.97460070e-01 -7.42954206e-04 -1.01904757e+01] [-6.64133098e-03 2.70603021e-04 9.99977910e-01 -6.71203777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48755201799999 meters 0.025038112477829617 Centerline is valid? [True, True] Translation: X:95.33, Y:-10.19, Z:-0.67 [[ 9.97576321e-01 6.92907879e-02 6.34585228e-03 9.53332493e+01] [-6.92876362e-02 9.97596467e-01 -7.15418320e-04 -1.01948234e+01] [-6.38017172e-03 2.73995272e-04 9.99979609e-01 -6.71875550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51755201799999 meters 0.026659262987072642 Centerline is valid? [True, True] Translation: X:95.36, Y:-10.20, Z:-0.67 [[ 9.97728205e-01 6.71681755e-02 5.18314959e-03 9.53641111e+01] [-6.71660433e-02 9.97741640e-01 -5.84542387e-04 -1.01979848e+01] [-5.21070682e-03 2.35082777e-04 9.99986397e-01 -6.71936419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54755201799999 meters 0.026566442782970483 Centerline is valid? [True, True] Translation: X:95.40, Y:-10.20, Z:-0.67 [[ 9.97692980e-01 6.77130449e-02 4.86425557e-03 9.53961646e+01] [-6.77111721e-02 9.97704814e-01 -5.48851811e-04 -1.01990725e+01] [-4.89025562e-03 2.18221153e-04 9.99988019e-01 -6.72399016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57755201799999 meters 0.02575505849375079 Centerline is valid? [True, True] Translation: X:95.43, Y:-10.20, Z:-0.67 [[ 9.97630812e-01 6.86506191e-02 4.45584792e-03 9.54281755e+01] [-6.86490524e-02 9.97640744e-01 -5.03783263e-04 -1.01994760e+01] [-4.47992047e-03 1.96699969e-04 9.99989946e-01 -6.72427237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60755201799999 meters 0.02508863429589076 Centerline is valid? [True, True] Translation: X:95.46, Y:-10.20, Z:-0.67 [[ 9.97579332e-01 6.94598480e-02 3.28725070e-03 9.54601706e+01] [-6.94589985e-02 9.97584738e-01 -3.72035036e-04 -1.02007490e+01] [-3.30515263e-03 1.42805322e-04 9.99994528e-01 -6.72527247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.637552018 meters 0.028115679921138722 Centerline is valid? [True, True] Translation: X:95.49, Y:-10.21, Z:-0.67 [[ 9.97637394e-01 6.86830255e-02 1.50733950e-03 9.54906086e+01] [-6.86828459e-02 9.97638531e-01 -1.70680098e-04 -1.02084636e+01] [-1.51550279e-03 6.67484813e-05 9.99998849e-01 -6.74857229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.667552018 meters 0.025689896242385046 Centerline is valid? [True, True] Translation: X:95.52, Y:-10.21, Z:-0.67 [[ 9.97701133e-01 6.77572026e-02 1.18731936e-03 9.55232336e+01] [-6.77570914e-02 9.97701839e-01 -1.33637878e-04 -1.02086024e+01] [-1.19364564e-03 5.28813559e-05 9.99999286e-01 -6.74722877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.697552018 meters 0.028054148447967966 Centerline is valid? [True, True] Translation: X:95.55, Y:-10.22, Z:-0.68 [[ 9.97748779e-01 6.70409426e-02 1.69879719e-03 9.55533108e+01] [-6.70407113e-02 9.97750222e-01 -1.92808848e-04 -1.02151983e+01] [-1.70790136e-03 7.84862206e-05 9.99998538e-01 -6.75617337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.727552018 meters 0.028317058784145633 Centerline is valid? [True, True] Translation: X:95.59, Y:-10.22, Z:-0.68 [[ 9.97725018e-01 6.73661460e-02 2.56735114e-03 9.55855637e+01] [-6.73656163e-02 9.97728314e-01 -2.92319886e-04 -1.02189031e+01] [-2.58121139e-03 1.18703672e-04 9.99996662e-01 -6.75863336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.757552018 meters 0.02966787467907022 Centerline is valid? [True, True] Translation: X:95.62, Y:-10.23, Z:-0.68 [[ 9.97746219e-01 6.70203673e-02 3.27905487e-03 9.56162394e+01] [-6.70194956e-02 9.97751596e-01 -3.75138312e-04 -1.02251050e+01] [-3.29682413e-03 1.54532229e-04 9.99994554e-01 -6.76424494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.787552018 meters 0.030643637795560237 Centerline is valid? [True, True] Translation: X:95.65, Y:-10.23, Z:-0.68 [[ 9.97950937e-01 6.39239247e-02 2.76750716e-03 9.56463120e+01] [-6.39232881e-02 9.97954765e-01 -3.17963612e-04 -1.02335024e+01] [-2.78217244e-03 1.40403926e-04 9.99996120e-01 -6.77324071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.817552018 meters 0.029880291544887798 Centerline is valid? [True, True] Translation: X:95.68, Y:-10.24, Z:-0.68 [[ 9.98037854e-01 6.25320026e-02 3.19239078e-03 9.56776948e+01] [-6.25311509e-02 9.98042946e-01 -3.65985113e-04 -1.02375207e+01] [-3.20902888e-03 1.65643126e-04 9.99994837e-01 -6.76789037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.847552018 meters 0.030479002670933356 Centerline is valid? [True, True] Translation: X:95.71, Y:-10.24, Z:-0.68 [[ 9.98292893e-01 5.82239849e-02 4.61159494e-03 9.57085736e+01] [-5.82221507e-02 9.98303511e-01 -5.31096065e-04 -1.02439668e+01] [-4.63469394e-03 2.61692452e-04 9.99989226e-01 -6.77200170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87755201799999 meters 0.032358166574822246 Centerline is valid? [True, True] Translation: X:95.74, Y:-10.25, Z:-0.68 [[ 9.98439757e-01 5.56524472e-02 4.56683505e-03 9.57378674e+01] [-5.56506215e-02 9.98450165e-01 -5.25983107e-04 -1.02520107e+01] [-4.58902946e-03 2.71015237e-04 9.99989434e-01 -6.77269254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90755201799999 meters 0.03488542942110957 Centerline is valid? [True, True] Translation: X:95.77, Y:-10.26, Z:-0.68 [[ 9.98569717e-01 5.31298311e-02 5.97846229e-03 9.57677333e+01] [-5.31266522e-02 9.98587544e-01 -6.89395114e-04 -1.02598075e+01] [-6.00664543e-03 3.70793397e-04 9.99981891e-01 -6.77290092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93755201799999 meters 0.04107414065940914 Centerline is valid? [True, True] Translation: X:95.80, Y:-10.27, Z:-0.68 [[ 9.98718502e-01 5.01321369e-02 6.93704167e-03 9.57963283e+01] [-5.01277838e-02 9.98742492e-01 -8.00085761e-04 -1.02730307e+01] [-6.96842829e-03 4.51321928e-04 9.99975618e-01 -6.77367454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96755201799999 meters 0.038654425112049244 Centerline is valid? [True, True] Translation: X:95.83, Y:-10.27, Z:-0.68 [[ 9.98942654e-01 4.50935268e-02 8.95254106e-03 9.58275381e+01] [-4.50860748e-02 9.98982572e-01 -1.03257334e-03 -1.02743491e+01] [-8.98999487e-03 6.27846621e-04 9.99959392e-01 -6.76502918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.997552018 meters 0.03704304546839925 Centerline is valid? [True, True] Translation: X:95.86, Y:-10.28, Z:-0.68 [[ 9.99005737e-01 4.36219665e-02 9.20116514e-03 9.58597977e+01] [-4.36140302e-02 9.99047892e-01 -1.06152584e-03 -1.02765751e+01] [-9.23871048e-03 6.59170514e-04 9.99957105e-01 -6.76481158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.027552018 meters 0.041302526891336074 Centerline is valid? [True, True] Translation: X:95.89, Y:-10.29, Z:-0.68 [[ 9.99041864e-01 4.27783695e-02 9.23936711e-03 9.58896872e+01] [-4.27703212e-02 9.99084361e-01 -1.06701886e-03 -1.02859938e+01] [-9.27655251e-03 6.70825807e-04 9.99956747e-01 -6.76926078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.057552018 meters 0.03925168051465705 Centerline is valid? [True, True] Translation: X:95.92, Y:-10.29, Z:-0.68 [[ 9.99136354e-01 4.07113664e-02 8.31445651e-03 9.59211525e+01] [-4.07047642e-02 9.99170755e-01 -9.61806206e-04 -1.02876948e+01] [-8.34671823e-03 6.22537554e-04 9.99964972e-01 -6.77697533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.087552018 meters 0.04012155264138731 Centerline is valid? [True, True] Translation: X:95.95, Y:-10.29, Z:-0.68 [[ 9.99189099e-01 3.94865832e-02 7.87114612e-03 9.59530041e+01] [-3.94806261e-02 9.99219921e-01 -9.10839656e-04 -1.02930136e+01] [-7.90097195e-03 5.99343278e-04 9.99968607e-01 -6.78431361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.117552018 meters 0.040044091405419105 Centerline is valid? [True, True] Translation: X:95.98, Y:-10.30, Z:-0.68 [[ 9.99237745e-01 3.82510795e-02 7.79637826e-03 9.59848244e+01] [-3.82451931e-02 9.99267977e-01 -9.02770606e-04 -1.02966188e+01] [-7.82520309e-03 6.03908473e-04 9.99969200e-01 -6.79071264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.147552018 meters 0.04148593773673587 Centerline is valid? [True, True] Translation: X:96.02, Y:-10.30, Z:-0.68 [[ 9.99283570e-01 3.70764895e-02 7.59477169e-03 9.60155454e+01] [-3.70708649e-02 9.99312252e-01 -8.80085576e-04 -1.03021518e+01] [-7.62217888e-03 5.97910301e-04 9.99970772e-01 -6.79453034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.177552018 meters 0.04063365224012406 Centerline is valid? [True, True] Translation: X:96.05, Y:-10.30, Z:-0.68 [[ 9.99379206e-01 3.43539118e-02 7.81094747e-03 9.60459940e+01] [-3.43478658e-02 9.99409526e-01 -9.06912215e-04 -1.03045788e+01] [-7.83749130e-03 6.38059834e-04 9.99969083e-01 -6.79969740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.207552018 meters 0.04225187808860826 Centerline is valid? [True, True] Translation: X:96.08, Y:-10.31, Z:-0.68 [[ 9.99375526e-01 3.42676761e-02 8.61889439e-03 9.60767902e+01] [-3.42603067e-02 9.99412442e-01 -1.00126265e-03 -1.03109728e+01] [-8.64814123e-03 7.05351418e-04 9.99962355e-01 -6.79182404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23755201799999 meters 0.04219279882235212 Centerline is valid? [True, True] Translation: X:96.11, Y:-10.32, Z:-0.68 [[ 9.99394812e-01 3.33575170e-02 9.86340299e-03 9.61084069e+01] [-3.33478001e-02 9.99443148e-01 -1.14802717e-03 -1.03157316e+01] [-9.89620587e-03 8.18409610e-04 9.99950696e-01 -6.78447717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26755201799999 meters 0.0427066889822829 Centerline is valid? [True, True] Translation: X:96.14, Y:-10.32, Z:-0.68 [[ 9.99379635e-01 3.36925577e-02 1.02545753e-02 9.61406039e+01] [-3.36820565e-02 9.99431884e-01 -1.19508127e-03 -1.03208309e+01] [-1.02890148e-02 8.48944698e-04 9.99946706e-01 -6.77526341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29755201799999 meters 0.042956696475769836 Centerline is valid? [True, True] Translation: X:96.17, Y:-10.33, Z:-0.68 [[ 9.99340143e-01 3.45182335e-02 1.13035619e-02 9.61721035e+01] [-3.45054873e-02 9.99403636e-01 -1.32077913e-03 -1.03251797e+01] [-1.13424118e-02 9.29872689e-04 9.99935240e-01 -6.76067242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32755201799999 meters 0.04576593191610284 Centerline is valid? [True, True] Translation: X:96.20, Y:-10.33, Z:-0.68 [[ 9.99313692e-01 3.53517063e-02 1.10635110e-02 9.62028098e+01] [-3.53395156e-02 9.99374525e-01 -1.29550944e-03 -1.03324263e+01] [-1.11023895e-02 9.03641198e-04 9.99937958e-01 -6.76155671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35755201799999 meters 0.04385957100624999 Centerline is valid? [True, True] Translation: X:96.24, Y:-10.33, Z:-0.68 [[ 9.99282564e-01 3.62708945e-02 1.08985729e-02 9.62353732e+01] [-3.62590897e-02 9.99341605e-01 -1.27887053e-03 -1.03331027e+01] [-1.09377831e-02 8.82780687e-04 9.99939791e-01 -6.76576544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.387552018 meters 0.04566453443538822 Centerline is valid? [True, True] Translation: X:96.27, Y:-10.34, Z:-0.68 [[ 9.99268150e-01 3.68992794e-02 1.00801036e-02 9.62663282e+01] [-3.68891885e-02 9.99318659e-01 -1.18523225e-03 -1.03391917e+01] [-1.01169698e-02 8.12517994e-04 9.99948492e-01 -6.78190877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.417552018 meters 0.04894083145202715 Centerline is valid? [True, True] Translation: X:96.30, Y:-10.35, Z:-0.68 [[ 9.99360726e-01 3.47457144e-02 8.41870319e-03 9.62955464e+01] [-3.47385877e-02 9.99395941e-01 -9.91337231e-04 -1.03497442e+01] [-8.44806252e-03 6.98249636e-04 9.99964071e-01 -6.79140856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.447552018 meters 0.044844148215074174 Centerline is valid? [True, True] Translation: X:96.33, Y:-10.35, Z:-0.68 [[ 9.99352078e-01 3.48373380e-02 9.04350303e-03 9.63280564e+01] [-3.48291101e-02 9.99392714e-01 -1.06576457e-03 -1.03472103e+01] [-9.07513944e-03 7.50096875e-04 9.99958539e-01 -6.79929442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.477552018 meters 0.04720805596070353 Centerline is valid? [True, True] Translation: X:96.36, Y:-10.35, Z:-0.68 [[ 9.99360831e-01 3.46184000e-02 8.91600513e-03 9.63586701e+01] [-3.46103739e-02 9.99400327e-01 -1.05297168e-03 -1.03530386e+01] [-8.94711064e-03 7.43712379e-04 9.99959697e-01 -6.80268477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.507552018 meters 0.04848630680604125 Centerline is valid? [True, True] Translation: X:96.39, Y:-10.36, Z:-0.68 [[ 9.99397220e-01 3.35561923e-02 8.89819209e-03 9.63902932e+01] [-3.35481403e-02 9.99436548e-01 -1.05266579e-03 -1.03582487e+01] [-8.92850185e-03 7.53513463e-04 9.99959856e-01 -6.81591895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.537552018 meters 0.04446074356591048 Centerline is valid? [True, True] Translation: X:96.42, Y:-10.36, Z:-0.68 [[ 9.99467324e-01 3.13356111e-02 9.11849168e-03 9.64218238e+01] [-3.13270586e-02 9.99508605e-01 -1.07928445e-03 -1.03561700e+01] [-9.14783093e-03 7.93054016e-04 9.99957843e-01 -6.81958520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.567552018 meters 0.04143767687721541 Centerline is valid? [True, True] Translation: X:96.45, Y:-10.36, Z:-0.68 [[ 9.99470715e-01 3.10973144e-02 9.55234227e-03 9.64540964e+01] [-3.10879101e-02 9.99516014e-01 -1.13145674e-03 -1.03563834e+01] [-9.58290434e-03 8.33895521e-04 9.99953735e-01 -6.81948011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.597552018 meters 0.042733988080482246 Centerline is valid? [True, True] Translation: X:96.48, Y:-10.36, Z:-0.68 [[ 9.99448908e-01 3.15894951e-02 1.01972339e-02 9.64843089e+01] [-3.15787747e-02 9.99500533e-01 -1.21064796e-03 -1.03626692e+01] [-1.02303845e-02 8.87964633e-04 9.99947274e-01 -6.80715607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62755201799999 meters 0.042826969367350275 Centerline is valid? [True, True] Translation: X:96.52, Y:-10.37, Z:-0.68 [[ 9.99438900e-01 3.16466651e-02 1.09714535e-02 9.65164778e+01] [-3.16342262e-02 9.99498660e-01 -1.30548684e-03 -1.03665283e+01] [-1.10072673e-02 9.57680888e-04 9.99938960e-01 -6.80560517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65755201799999 meters 0.044667623131373124 Centerline is valid? [True, True] Translation: X:96.55, Y:-10.37, Z:-0.68 [[ 9.99466417e-01 3.09837474e-02 1.03387184e-02 9.65466404e+01] [-3.09726473e-02 9.99519473e-01 -1.23207957e-03 -1.03718709e+01] [-1.03719248e-02 9.11204673e-04 9.99945795e-01 -6.81791987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68755201799999 meters 0.04607739020908239 Centerline is valid? [True, True] Translation: X:96.58, Y:-10.38, Z:-0.68 [[ 9.99460721e-01 3.12190222e-02 1.01803319e-02 9.65777926e+01] [-3.12082600e-02 9.99512166e-01 -1.21434952e-03 -1.03768596e+01] [-1.02132764e-02 8.95984203e-04 9.99947442e-01 -6.82536471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71755201799999 meters 0.050112417181489864 Centerline is valid? [True, True] Translation: X:96.61, Y:-10.39, Z:-0.68 [[ 9.99496068e-01 3.02607211e-02 9.58636786e-03 9.66082429e+01] [-3.02511136e-02 9.99541674e-01 -1.14566089e-03 -1.03861540e+01] [-9.61664270e-03 8.55085251e-04 9.99953393e-01 -6.83097182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.747552018 meters 0.04761461417942398 Centerline is valid? [True, True] Translation: X:96.64, Y:-10.39, Z:-0.68 [[ 9.99579652e-01 2.74890875e-02 9.21243729e-03 9.66390680e+01] [-2.74800903e-02 9.99621744e-01 -1.10182598e-03 -1.03865524e+01] [-9.23924082e-03 8.48204218e-04 9.99956958e-01 -6.83458159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.777552018 meters 0.047245288167696305 Centerline is valid? [True, True] Translation: X:96.67, Y:-10.39, Z:-0.68 [[ 9.99624821e-01 2.55356633e-02 9.90693643e-03 9.66699378e+01] [-2.55251614e-02 9.99673478e-01 -1.18507501e-03 -1.03896976e+01] [-9.93396327e-03 9.31754245e-04 9.99950223e-01 -6.83500343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.807552018 meters 0.04974385730841833 Centerline is valid? [True, True] Translation: X:96.70, Y:-10.40, Z:-0.68 [[ 9.99678447e-01 2.30664955e-02 1.05327599e-02 9.66990382e+01] [-2.30544857e-02 9.99733416e-01 -1.26024724e-03 -1.03963967e+01] [-1.05590215e-02 1.01701464e-03 9.99943735e-01 -6.83105334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.837552018 meters 0.04974385730841833 Centerline is valid? [True, True] Translation: X:96.73, Y:-10.40, Z:-0.68 [[ 9.99671704e-01 2.33569480e-02 1.05326435e-02 9.67313106e+01] [-2.33449440e-02 9.99726674e-01 -1.26121916e-03 -1.04003788e+01] [-1.05592229e-02 1.01492114e-03 9.99943735e-01 -6.83335001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.867552018 meters 0.05181371004646965 Centerline is valid? [True, True] Translation: X:96.76, Y:-10.41, Z:-0.68 [[ 9.99704492e-01 2.16968950e-02 1.09623888e-02 9.67612252e+01] [-2.16837681e-02 9.99764015e-01 -1.31490189e-03 -1.04059074e+01] [-1.09883311e-02 1.07680743e-03 9.99939047e-01 -6.83277452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.897552018 meters 0.04919742330826348 Centerline is valid? [True, True] Translation: X:96.79, Y:-10.40, Z:-0.69 [[ 9.99780918e-01 1.80087225e-02 1.06677789e-02 9.67928226e+01] [-1.79960814e-02 9.99837238e-01 -1.27979145e-03 -1.04046794e+01] [-1.06890900e-02 1.08753286e-03 9.99942279e-01 -6.85290526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.927552018 meters 0.051219647703998276 Centerline is valid? [True, True] Translation: X:96.82, Y:-10.41, Z:-0.69 [[ 9.99812095e-01 1.66146222e-02 9.98639655e-03 9.68223399e+01] [-1.66034738e-02 9.99861435e-01 -1.19823162e-03 -1.04109420e+01] [-1.00049210e-02 1.03219759e-03 9.99949417e-01 -6.86847239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.957552018 meters 0.04717855859824892 Centerline is valid? [True, True] Translation: X:96.85, Y:-10.41, Z:-0.69 [[ 9.99819857e-01 1.64435447e-02 9.47968091e-03 9.68543194e+01] [-1.64334856e-02 9.99864313e-01 -1.13804752e-03 -1.04098755e+01] [-9.49710818e-03 9.82058312e-04 9.99954419e-01 -6.86554925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98755201799999 meters 0.048524382968695615 Centerline is valid? [True, True] Translation: X:96.89, Y:-10.42, Z:-0.69 [[ 9.99838122e-01 1.55541481e-02 9.04427941e-03 9.68853837e+01] [-1.55449362e-02 9.99878578e-01 -1.08794772e-03 -1.04173773e+01] [-9.06010334e-03 9.47178862e-04 9.99958508e-01 -6.85396352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01755201799999 meters 0.052145044012070985 Centerline is valid? [True, True] Translation: X:96.91, Y:-10.43, Z:-0.69 [[ 9.99869826e-01 1.39499457e-02 8.10743452e-03 9.69148402e+01] [-1.39424784e-02 9.99902322e-01 -9.76829591e-04 -1.04264444e+01] [-8.12026932e-03 8.63664703e-04 9.99966657e-01 -6.85399124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04755201799999 meters 0.05453031894230725 Centerline is valid? [True, True] Translation: X:96.94, Y:-10.43, Z:-0.69 [[ 9.99888586e-01 1.27034909e-02 7.83818463e-03 9.69446490e+01] [-1.26964725e-02 9.99918950e-01 -9.44532096e-04 -1.04327709e+01] [-7.84954820e-03 8.44909567e-04 9.99968835e-01 -6.86159121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07755201799999 meters 0.05422743895758586 Centerline is valid? [True, True] Translation: X:96.98, Y:-10.44, Z:-0.69 [[ 9.99891218e-01 1.24492033e-02 7.91010918e-03 9.69759814e+01] [-1.24420449e-02 9.99922140e-01 -9.53544615e-04 -1.04362197e+01] [-7.92136417e-03 8.55022953e-04 9.99968260e-01 -6.86620613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10755201799999 meters 0.05384809847285199 Centerline is valid? [True, True] Translation: X:97.01, Y:-10.44, Z:-0.69 [[ 9.99854367e-01 1.43255842e-02 9.27480514e-03 9.70065731e+01] [-1.43158041e-02 9.99896896e-01 -1.12002365e-03 -1.04379115e+01] [-9.28989387e-03 9.87084247e-04 9.99956361e-01 -6.86539307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.137552018 meters 0.05377923551355723 Centerline is valid? [True, True] Translation: X:97.04, Y:-10.44, Z:-0.69 [[ 9.99800864e-01 1.73747175e-02 9.81590555e-03 9.70356442e+01] [-1.73639087e-02 9.99848533e-01 -1.18531498e-03 -1.04422457e+01] [-9.83501328e-03 1.01463645e-03 9.99951120e-01 -6.86156761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.167552018 meters 0.04865536117557619 Centerline is valid? [True, True] Translation: X:97.07, Y:-10.44, Z:-0.69 [[ 9.99751371e-01 1.99460386e-02 9.96749702e-03 9.70671140e+01] [-1.99350208e-02 9.99800553e-01 -1.20351820e-03 -1.04397470e+01] [-9.98951446e-03 1.00451671e-03 9.99949599e-01 -6.86050904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.197552018 meters 0.053623815404127105 Centerline is valid? [True, True] Translation: X:97.10, Y:-10.45, Z:-0.69 [[ 9.99685636e-01 2.30398369e-02 9.88909668e-03 9.70955167e+01] [-2.30291415e-02 9.99734081e-01 -1.19406981e-03 -1.04500865e+01] [-9.91397815e-03 9.65957029e-04 9.99950389e-01 -6.85804102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.227552018 meters 0.047520596215528496 Centerline is valid? [True, True] Translation: X:97.13, Y:-10.45, Z:-0.69 [[ 9.99590631e-01 2.69532335e-02 9.59650545e-03 9.71273140e+01] [-2.69433413e-02 9.99636291e-01 -1.15863651e-03 -1.04454575e+01] [-9.62424411e-03 8.99600284e-04 9.99953281e-01 -6.86319536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.257552018 meters 0.05152488489342185 Centerline is valid? [True, True] Translation: X:97.16, Y:-10.45, Z:-0.69 [[ 9.99422136e-01 3.29447321e-02 8.36886189e-03 9.71556228e+01] [-3.29374171e-02 9.99456905e-01 -1.01044131e-03 -1.04544315e+01] [-8.39760552e-03 7.34208714e-04 9.99964470e-01 -6.87465336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.287552018 meters 0.04607933819961911 Centerline is valid? [True, True] Translation: X:97.19, Y:-10.45, Z:-0.69 [[ 9.99360604e-01 3.46560966e-02 8.79422351e-03 9.71877767e+01] [-3.46480845e-02 9.99399011e-01 -1.06183939e-03 -1.04514699e+01] [-8.82573749e-03 7.56457453e-04 9.99960766e-01 -6.87630914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.317552018 meters 0.0432962042088135 Centerline is valid? [True, True] Translation: X:97.22, Y:-10.45, Z:-0.69 [[ 9.99288120e-01 3.64046257e-02 9.89727499e-03 9.72194658e+01] [-3.63945553e-02 9.99336783e-01 -1.19576039e-03 -1.04515394e+01] [-9.93424216e-03 8.34702235e-04 9.99950306e-01 -6.86837552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.347552018 meters 0.04262550446065007 Centerline is valid? [True, True] Translation: X:97.25, Y:-10.46, Z:-0.69 [[ 9.99252486e-01 3.70286769e-02 1.11061532e-02 9.72510161e+01] [-3.70160191e-02 9.99313770e-01 -1.34318085e-03 -1.04558625e+01] [-1.11482680e-02 9.31071224e-04 9.99937423e-01 -6.86236375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37755201799999 meters 0.04164194392172842 Centerline is valid? [True, True] Translation: X:97.28, Y:-10.46, Z:-0.68 [[ 9.99220312e-01 3.69996417e-02 1.37766110e-02 9.72828491e+01] [-3.69801054e-02 9.99314606e-01 -1.67021208e-03 -1.04589135e+01] [-1.38289659e-02 1.15944930e-03 9.99903703e-01 -6.83879746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40755201799999 meters 0.0430143634135723 Centerline is valid? [True, True] Translation: X:97.31, Y:-10.46, Z:-0.68 [[ 9.99193110e-01 3.74279620e-02 1.45697102e-02 9.73136520e+01] [-3.74061011e-02 9.99298579e-01 -1.77016271e-03 -1.04636220e+01] [-1.46257443e-02 1.22373833e-03 9.99892289e-01 -6.84029161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43755201799999 meters 0.04417109072409171 Centerline is valid? [True, True] Translation: X:97.35, Y:-10.47, Z:-0.68 [[ 9.99222772e-01 3.68073522e-02 1.41092716e-02 9.73454015e+01] [-3.67867404e-02 9.99321663e-01 -1.71771337e-03 -1.04688444e+01] [-1.41629252e-02 1.19734420e-03 9.99898984e-01 -6.84314741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46755201799999 meters 0.044264593069683146 Centerline is valid? [True, True] Translation: X:97.38, Y:-10.47, Z:-0.69 [[ 9.99292701e-01 3.52298012e-02 1.31513926e-02 9.73767046e+01] [-3.52117323e-02 9.99378589e-01 -1.60301992e-03 -1.04718214e+01] [-1.31996943e-02 1.13880279e-03 9.99912232e-01 -6.85288517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.497552018 meters 0.048050274708146636 Centerline is valid? [True, True] Translation: X:97.41, Y:-10.48, Z:-0.69 [[ 9.99437720e-01 3.15271641e-02 1.14141435e-02 9.74059701e+01] [-3.15133123e-02 9.99502364e-01 -1.39143799e-03 -1.04790087e+01] [-1.14523315e-02 1.03095815e-03 9.99933888e-01 -6.87113060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.527552018 meters 0.04933830168084719 Centerline is valid? [True, True] Translation: X:97.44, Y:-10.48, Z:-0.69 [[ 9.99533981e-01 2.87023296e-02 1.03921692e-02 9.74365287e+01] [-2.86906966e-02 9.99587535e-01 -1.26679590e-03 -1.04839127e+01] [-1.04242428e-02 9.68046980e-04 9.99945198e-01 -6.87818717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.557552018 meters 0.047077956417479506 Centerline is valid? [True, True] Translation: X:97.47, Y:-10.48, Z:-0.69 [[ 9.99633814e-01 2.51941890e-02 9.87372042e-03 9.74672201e+01] [-2.51835175e-02 9.99682120e-01 -1.20365529e-03 -1.04838220e+01] [-9.90090688e-03 9.54559515e-04 9.99950529e-01 -6.88272332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.587552018 meters 0.049206316807425654 Centerline is valid? [True, True] Translation: X:97.50, Y:-10.49, Z:-0.69 [[ 9.99721122e-01 2.16932226e-02 9.33181252e-03 9.74968333e+01] [-2.16835394e-02 9.99764237e-01 -1.13759771e-03 -1.04897494e+01] [-9.35429059e-03 9.34933734e-04 9.99955811e-01 -6.89046578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.617552018 meters 0.04833230020777895 Centerline is valid? [True, True] Translation: X:97.53, Y:-10.49, Z:-0.69 [[ 9.99865657e-01 1.42880988e-02 8.03229110e-03 9.75279075e+01] [-1.42806888e-02 9.99897546e-01 -9.79118714e-04 -1.04906917e+01] [-8.04545791e-03 8.64280526e-04 9.99967261e-01 -6.91329445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.647552018 meters 0.05227307990960644 Centerline is valid? [True, True] Translation: X:97.56, Y:-10.50, Z:-0.69 [[ 9.99913207e-01 1.13117213e-02 6.75448337e-03 9.75569164e+01] [-1.13064137e-02 9.99935741e-01 -8.23468524e-04 -1.04995438e+01] [-6.76336419e-03 7.47028070e-04 9.99976849e-01 -6.92619326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.677552018 meters 0.04910013823520422 Centerline is valid? [True, True] Translation: X:97.59, Y:-10.50, Z:-0.69 [[ 9.99937021e-01 9.30544982e-03 6.27403243e-03 9.75877666e+01] [-9.30083212e-03 9.99956454e-01 -7.64778400e-04 -1.04989607e+01] [-6.28087583e-03 7.06376513e-04 9.99980026e-01 -6.93061397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.707552018 meters 0.050442282508040955 Centerline is valid? [True, True] Translation: X:97.62, Y:-10.50, Z:-0.69 [[ 9.99949467e-01 7.75142918e-03 6.40152277e-03 9.76187062e+01] [-7.74658974e-03 9.99969690e-01 -7.80433193e-04 -1.05049351e+01] [-6.40737822e-03 7.30803784e-04 9.99979205e-01 -6.92504122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73755201799999 meters 0.05227460252694492 Centerline is valid? [True, True] Translation: X:97.65, Y:-10.51, Z:-0.69 [[ 9.99938885e-01 8.83891149e-03 6.64080827e-03 9.76488090e+01] [-8.83372540e-03 9.99960654e-01 -8.09869127e-04 -1.05107762e+01] [-6.64770534e-03 7.51156555e-04 9.99977622e-01 -6.92555138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76755201799999 meters 0.05085313256315716 Centerline is valid? [True, True] Translation: X:97.68, Y:-10.51, Z:-0.69 [[ 9.99925064e-01 1.03586883e-02 6.52408301e-03 9.76805539e+01] [-1.03537133e-02 9.99946082e-01 -7.95869246e-04 -1.05138638e+01] [-6.53197541e-03 7.28261122e-04 9.99978401e-01 -6.91922111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79755201799999 meters 0.05060872179977114 Centerline is valid? [True, True] Translation: X:97.71, Y:-10.52, Z:-0.69 [[ 9.99885332e-01 1.33455738e-02 7.15671920e-03 9.77112008e+01] [-1.33396596e-02 9.99910641e-01 -8.73483274e-04 -1.05179063e+01] [-7.16773682e-03 7.77914916e-04 9.99974009e-01 -6.91431862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82755201799999 meters 0.050730742352908136 Centerline is valid? [True, True] Translation: X:97.74, Y:-10.52, Z:-0.69 [[ 9.99806422e-01 1.79403158e-02 8.07863130e-03 9.77403371e+01] [-1.79329282e-02 9.99838706e-01 -9.85981301e-04 -1.05217534e+01] [-8.09501708e-03 8.40916921e-04 9.99966881e-01 -6.90496844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85755201799999 meters 0.04497830070719698 Centerline is valid? [True, True] Translation: X:97.77, Y:-10.52, Z:-0.69 [[ 9.99568672e-01 2.80650118e-02 8.65017647e-03 9.77719793e+01] [-2.80569184e-02 9.99605770e-01 -1.05559853e-03 -1.05193628e+01] [-8.67639169e-03 8.12445921e-04 9.99962029e-01 -6.90408563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.887552018 meters 0.04307324242813561 Centerline is valid? [True, True] Translation: X:97.80, Y:-10.52, Z:-0.69 [[ 9.99388528e-01 3.38298402e-02 8.83807519e-03 9.78026711e+01] [-3.38216139e-02 9.99427304e-01 -1.07862291e-03 -1.05207663e+01] [-8.86950329e-03 7.79045400e-04 9.99960362e-01 -6.90495439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.917552018 meters 0.04197882432650254 Centerline is valid? [True, True] Translation: X:97.83, Y:-10.52, Z:-0.69 [[ 9.99149262e-01 4.01483920e-02 9.42654625e-03 9.78326321e+01] [-4.01393118e-02 9.99193431e-01 -1.15055754e-03 -1.05234513e+01] [-9.46513612e-03 7.71203639e-04 9.99954907e-01 -6.90659054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.947552018 meters 0.03850376498190578 Centerline is valid? [True, True] Translation: X:97.86, Y:-10.52, Z:-0.69 [[ 9.98880802e-01 4.63099048e-02 9.61958514e-03 9.78631404e+01] [-4.63007320e-02 9.98926856e-01 -1.17419832e-03 -1.05237142e+01] [-9.66363895e-03 7.27490331e-04 9.99953041e-01 -6.90659330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.977552018 meters 0.037345779582199916 Centerline is valid? [True, True] Translation: X:97.89, Y:-10.53, Z:-0.69 [[ 9.98197654e-01 5.89782022e-02 1.10912349e-02 9.78928832e+01] [-5.89667843e-02 9.98259027e-01 -1.35395422e-03 -1.05271552e+01] [-1.11517791e-02 6.97499475e-04 9.99937574e-01 -6.89895399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.007552018 meters 0.029318006434405665 Centerline is valid? [True, True] Translation: X:97.92, Y:-10.52, Z:-0.69 [[ 9.97799093e-01 6.53461707e-02 1.12627039e-02 9.79245765e+01] [-6.53348005e-02 9.97862452e-01 -1.37493757e-03 -1.05206205e+01] [-1.13284762e-02 6.36064952e-04 9.99935628e-01 -6.90696732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.037552018 meters 0.027554251984427562 Centerline is valid? [True, True] Translation: X:97.95, Y:-10.52, Z:-0.69 [[ 9.97397706e-01 7.12922335e-02 1.07346672e-02 9.79547812e+01] [-7.12822469e-02 9.97455324e-01 -1.31055350e-03 -1.05218203e+01] [-1.08007832e-02 5.41951863e-04 9.99941523e-01 -6.90969928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.067552018 meters 0.02476135882275541 Centerline is valid? [True, True] Translation: X:97.99, Y:-10.52, Z:-0.69 [[ 9.96972703e-01 7.69965701e-02 1.08147224e-02 9.79853185e+01] [-7.69867677e-02 9.97031240e-01 -1.32041406e-03 -1.05219111e+01] [-1.08842834e-02 4.83826254e-04 9.99940647e-01 -6.91989140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.097552018 meters 0.024071793862501398 Centerline is valid? [True, True] Translation: X:98.01, Y:-10.52, Z:-0.69 [[ 9.96192279e-01 8.65484810e-02 1.05025979e-02 9.80143843e+01] [-8.65397655e-02 9.96247572e-01 -1.28233294e-03 -1.05247745e+01] [-1.05741716e-02 3.68557819e-04 9.99944024e-01 -6.92389344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12755201799999 meters 0.02079988060829102 Centerline is valid? [True, True] Translation: X:98.05, Y:-10.52, Z:-0.69 [[ 9.95873819e-01 9.01397520e-02 1.04957930e-02 9.80464445e+01] [-9.01312463e-02 9.95929072e-01 -1.28157086e-03 -1.05238128e+01] [-1.05685858e-02 3.30283967e-04 9.99944096e-01 -6.93281953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15755201799999 meters 0.021352836349932326 Centerline is valid? [True, True] Translation: X:98.08, Y:-10.53, Z:-0.69 [[ 9.95661996e-01 9.24363400e-02 1.06165994e-02 9.80776600e+01] [-9.24277534e-02 9.95718548e-01 -1.29766513e-03 -1.05289558e+01] [-1.06910964e-02 3.10767415e-04 9.99942800e-01 -6.93451466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18755201799999 meters 0.018467572514975026 Centerline is valid? [True, True] Translation: X:98.11, Y:-10.53, Z:-0.69 [[ 9.95488725e-01 9.42762732e-02 1.06855909e-02 9.81105329e+01] [-9.42676568e-02 9.95546030e-01 -1.30829801e-03 -1.05289571e+01] [-1.07613390e-02 2.95090307e-04 9.99942052e-01 -6.93822412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21755201799999 meters 0.018920770411809933 Centerline is valid? [True, True] Translation: X:98.14, Y:-10.53, Z:-0.69 [[ 9.95539696e-01 9.36696632e-02 1.12564538e-02 9.81419801e+01] [-9.36600417e-02 9.95603280e-01 -1.38005589e-03 -1.05339750e+01] [-1.13362317e-02 3.19620482e-04 9.99935692e-01 -6.93818599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.247552018 meters 0.018885588910205076 Centerline is valid? [True, True] Translation: X:98.17, Y:-10.54, Z:-0.69 [[ 9.95591829e-01 9.30375467e-02 1.18712112e-02 9.81736981e+01] [-9.30267608e-02 9.95662540e-01 -1.45875472e-03 -1.05376970e+01] [-1.19554393e-02 3.47983957e-04 9.99928471e-01 -6.94139080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.277552018 meters 0.01955793205742807 Centerline is valid? [True, True] Translation: X:98.21, Y:-10.54, Z:-0.69 [[ 9.95698454e-01 9.18856714e-02 1.19000673e-02 9.82055358e+01] [-9.18747117e-02 9.95769496e-01 -1.46555850e-03 -1.05426687e+01] [-1.19843879e-02 3.65939078e-04 9.99928118e-01 -6.93682063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.307552018 meters 0.024036594938859523 Centerline is valid? [True, True] Translation: X:98.23, Y:-10.55, Z:-0.69 [[ 9.96142223e-01 8.68510053e-02 1.25528334e-02 9.82344277e+01] [-8.68383791e-02 9.96221209e-01 -1.54845706e-03 -1.05529418e+01] [-1.26398839e-02 4.52415762e-04 9.99920011e-01 -6.92851336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.337552018 meters 0.02290520126735587 Centerline is valid? [True, True] Translation: X:98.27, Y:-10.55, Z:-0.69 [[ 9.96433275e-01 8.33918369e-02 1.29046463e-02 9.82657808e+01] [-8.33781920e-02 9.96516703e-01 -1.59272298e-03 -1.05546540e+01] [-1.29925157e-02 5.11076101e-04 9.99915463e-01 -6.93604392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.367552018 meters 0.02580434783937561 Centerline is valid? [True, True] Translation: X:98.30, Y:-10.56, Z:-0.70 [[ 9.96768991e-01 7.93469586e-02 1.24754860e-02 9.82966553e+01] [-7.93338839e-02 9.96846910e-01 -1.54022817e-03 -1.05598289e+01] [-1.25583621e-02 5.45522927e-04 9.99920992e-01 -6.96752371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.397552018 meters 0.02763939898232895 Centerline is valid? [True, True] Translation: X:98.33, Y:-10.57, Z:-0.69 [[ 9.97300393e-01 7.24389429e-02 1.20218636e-02 9.83257123e+01] [-7.24262980e-02 9.97372662e-01 -1.48445519e-03 -1.05677688e+01] [-1.20978105e-02 6.09748665e-04 9.99926633e-01 -6.94647857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.427552018 meters 0.02870014178081248 Centerline is valid? [True, True] Translation: X:98.36, Y:-10.57, Z:-0.70 [[ 9.97472807e-01 7.00553252e-02 1.18427771e-02 9.83568033e+01] [-7.00428849e-02 9.97542909e-01 -1.46248486e-03 -1.05713898e+01] [-1.19161332e-02 6.29286602e-04 9.99928802e-01 -6.95157218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.457552018 meters 0.03140377357358204 Centerline is valid? [True, True] Translation: X:98.39, Y:-10.58, Z:-0.70 [[ 9.97782382e-01 6.57507470e-02 1.03517350e-02 9.83864259e+01] [-6.57410087e-02 9.97835901e-01 -1.27858657e-03 -1.05786897e+01] [-1.04134009e-02 5.95217647e-04 9.99945602e-01 -6.96442725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48755201799999 meters 0.03339641628329521 Centerline is valid? [True, True] Translation: X:98.42, Y:-10.58, Z:-0.70 [[ 9.98251713e-01 5.86030665e-02 7.69398464e-03 9.84174097e+01] [-5.85974752e-02 9.98281239e-01 -9.50336999e-04 -1.05833955e+01] [-7.73645318e-03 4.97827464e-04 9.99969949e-01 -6.98593615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51755201799999 meters 0.032682161279233485 Centerline is valid? [True, True] Translation: X:98.45, Y:-10.59, Z:-0.70 [[ 9.98494362e-01 5.45190491e-02 6.05654147e-03 9.84478877e+01] [-5.45155086e-02 9.98512644e-01 -7.48251346e-04 -1.05855300e+01] [-6.08832719e-03 4.16949311e-04 9.99981379e-01 -6.99830914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54755201799999 meters 0.0373641172853669 Centerline is valid? [True, True] Translation: X:98.48, Y:-10.59, Z:-0.70 [[ 9.98692181e-01 5.08412399e-02 5.39412951e-03 9.84765894e+01] [-5.08383777e-02 9.98706671e-01 -6.66487550e-04 -1.05948441e+01] [-5.42103818e-03 3.91387111e-04 9.99985229e-01 -7.00798427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57755201799999 meters 0.040899581151349666 Centerline is valid? [True, True] Translation: X:98.51, Y:-10.60, Z:-0.70 [[ 9.98898272e-01 4.66488398e-02 5.11152411e-03 9.85057952e+01] [-4.66462153e-02 9.98911273e-01 -6.31532680e-04 -1.06029317e+01] [-5.13541933e-03 3.92403649e-04 9.99986737e-01 -7.00548789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60755201799999 meters 0.03852382756806289 Centerline is valid? [True, True] Translation: X:98.54, Y:-10.60, Z:-0.70 [[ 9.99227692e-01 3.85512208e-02 7.60409372e-03 9.85366569e+01] [-3.85451804e-02 9.99256417e-01 -9.39372682e-04 -1.06038371e+01] [-7.63465341e-03 6.45546033e-04 9.99970647e-01 -6.98927815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.637552018 meters 0.04142421921889107 Centerline is valid? [True, True] Translation: X:98.57, Y:-10.61, Z:-0.70 [[ 9.99330399e-01 3.54945909e-02 8.88188981e-03 9.85660221e+01] [-3.54862288e-02 9.99369563e-01 -1.09735397e-03 -1.06105446e+01] [-8.91524047e-03 7.81434406e-04 9.99959953e-01 -6.97706856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.667552018 meters 0.04395808782825188 Centerline is valid? [True, True] Translation: X:98.59, Y:-10.62, Z:-0.70 [[ 9.99421944e-01 3.24239639e-02 1.02208279e-02 9.85948483e+01] [-3.24127278e-02 9.99473771e-01 -1.26310845e-03 -1.06171047e+01] [-1.02564044e-02 9.31093387e-04 9.99946968e-01 -6.97889915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.697552018 meters 0.04549762133089628 Centerline is valid? [True, True] Translation: X:98.63, Y:-10.62, Z:-0.70 [[ 9.99515292e-01 2.87133638e-02 1.20301461e-02 9.86250890e+01] [-2.86975279e-02 9.99587035e-01 -1.48695389e-03 -1.06229571e+01] [-1.20678735e-02 1.14099769e-03 9.99926530e-01 -6.96917514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.727552018 meters 0.04549762133089628 Centerline is valid? [True, True] Translation: X:98.66, Y:-10.63, Z:-0.70 [[ 9.99506683e-01 2.90115587e-02 1.20299523e-02 9.86573404e+01] [-2.89957255e-02 9.99578427e-01 -1.48851973e-03 -1.06270571e+01] [-1.20680651e-02 1.13896822e-03 9.99926530e-01 -6.97147198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.757552018 meters 0.04258298641544115 Centerline is valid? [True, True] Translation: X:98.69, Y:-10.63, Z:-0.70 [[ 9.99483939e-01 2.94997065e-02 1.27130760e-02 9.86895102e+01] [-2.94820147e-02 9.99564067e-01 -1.57683860e-03 -1.06268332e+01] [-1.27540502e-02 1.20121777e-03 9.99917942e-01 -6.96731256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.787552018 meters 0.04569845422862972 Centerline is valid? [True, True] Translation: X:98.72, Y:-10.64, Z:-0.70 [[ 9.99475806e-01 2.98471850e-02 1.25403169e-02 9.87205351e+01] [-2.98299540e-02 9.99553772e-01 -1.55889307e-03 -1.06354788e+01] [-1.25812496e-02 1.18399883e-03 9.99920152e-01 -6.97182826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.817552018 meters 0.047649458273454924 Centerline is valid? [True, True] Translation: X:98.75, Y:-10.64, Z:-0.70 [[ 9.99447529e-01 3.09055308e-02 1.22264415e-02 9.87501539e+01] [-3.08892046e-02 9.99521656e-01 -1.52195507e-03 -1.06416805e+01] [-1.22676298e-02 1.14344919e-03 9.99924096e-01 -6.97546799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.847552018 meters 0.0432200613626594 Centerline is valid? [True, True] Translation: X:98.78, Y:-10.64, Z:-0.70 [[ 9.99399961e-01 3.27288594e-02 1.13374945e-02 9.87809884e+01] [-3.27149360e-02 9.99463727e-01 -1.41141999e-03 -1.06392897e+01] [-1.13776086e-02 1.03966768e-03 9.99934732e-01 -6.99947018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87755201799999 meters 0.04188450548955385 Centerline is valid? [True, True] Translation: X:98.81, Y:-10.64, Z:-0.70 [[ 9.99328967e-01 3.48064661e-02 1.14072713e-02 9.88118219e+01] [-3.47925040e-02 9.99393548e-01 -1.42019079e-03 -1.06410664e+01] [-1.14497852e-02 1.02235026e-03 9.99933926e-01 -7.00088663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90755201799999 meters 0.03944606400170934 Centerline is valid? [True, True] Translation: X:98.84, Y:-10.64, Z:-0.70 [[ 9.99251783e-01 3.69868994e-02 1.13068256e-02 9.88425260e+01] [-3.69733192e-02 9.99315261e-01 -1.40781841e-03 -1.06414965e+01] [-1.13511542e-02 9.88714184e-04 9.99935085e-01 -7.00688935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93755201799999 meters 0.044341982872048914 Centerline is valid? [True, True] Translation: X:98.87, Y:-10.65, Z:-0.70 [[ 9.99151959e-01 3.97250445e-02 1.08297449e-02 9.88710469e+01] [-3.97127458e-02 9.99210228e-01 -1.34841687e-03 -1.06517586e+01] [-1.08747578e-02 9.17194445e-04 9.99940447e-01 -7.00821673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96755201799999 meters 0.0362525380654314 Centerline is valid? [True, True] Translation: X:98.90, Y:-10.64, Z:-0.70 [[ 9.98875632e-01 4.61371887e-02 1.09009744e-02 9.89030831e+01] [-4.61251062e-02 9.98934749e-01 -1.35735289e-03 -1.06433372e+01] [-1.09519866e-02 8.53018123e-04 9.99939661e-01 -7.01787810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.997552018 meters 0.03641251757133041 Centerline is valid? [True, True] Translation: X:98.93, Y:-10.65, Z:-0.70 [[ 9.98778845e-01 4.82667755e-02 1.05421598e-02 9.89336829e+01] [-4.82555905e-02 9.98834158e-01 -1.31292895e-03 -1.06476063e+01] [-1.05932401e-02 8.02607519e-04 9.99943568e-01 -7.02600148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.027552018 meters 0.035095913873596535 Centerline is valid? [True, True] Translation: X:98.96, Y:-10.65, Z:-0.70 [[ 9.98522081e-01 5.32244952e-02 1.09912603e-02 9.89638808e+01] [-5.32126324e-02 9.98582266e-01 -1.36914412e-03 -1.06492885e+01] [-1.10485496e-02 7.82246742e-04 9.99938657e-01 -7.02492988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.057552018 meters 0.03383041817044549 Centerline is valid? [True, True] Translation: X:99.00, Y:-10.65, Z:-0.70 [[ 9.98434510e-01 5.48128979e-02 1.11389132e-02 9.89955105e+01] [-5.48008090e-02 9.98496342e-01 -1.38785850e-03 -1.06513944e+01] [-1.11982366e-02 7.75264366e-04 9.99936997e-01 -7.02241586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.087552018 meters 0.0325335883733458 Centerline is valid? [True, True] Translation: X:99.03, Y:-10.65, Z:-0.70 [[ 9.98327956e-01 5.65874793e-02 1.17961801e-02 9.90266909e+01] [-5.65740357e-02 9.98397324e-01 -1.47051854e-03 -1.06533514e+01] [-1.18604876e-02 8.00702258e-04 9.99929341e-01 -7.02193820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.117552018 meters 0.03318232456844143 Centerline is valid? [True, True] Translation: X:99.06, Y:-10.66, Z:-0.70 [[ 9.98296412e-01 5.71029181e-02 1.19804077e-02 9.90585042e+01] [-5.70890687e-02 9.98367970e-01 -1.49510832e-03 -1.06587086e+01] [-1.20462303e-02 8.08610952e-04 9.99927115e-01 -7.01952465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.147552018 meters 0.032014093864500465 Centerline is valid? [True, True] Translation: X:99.09, Y:-10.66, Z:-0.70 [[ 9.98264759e-01 5.75044704e-02 1.26770403e-02 9.90915666e+01] [-5.74889473e-02 9.98344883e-01 -1.58583052e-03 -1.06609941e+01] [-1.27472506e-02 8.54289017e-04 9.99918386e-01 -7.02242859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.177552018 meters 0.03504133274463251 Centerline is valid? [True, True] Translation: X:99.12, Y:-10.67, Z:-0.70 [[ 9.98179318e-01 5.86964456e-02 1.38844293e-02 9.91221554e+01] [-5.86778815e-02 9.98275451e-01 -1.74101415e-03 -1.06684936e+01] [-1.39626763e-02 9.23135423e-04 9.99902091e-01 -7.01995822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.207552018 meters 0.031048547749234004 Centerline is valid? [True, True] Translation: X:99.15, Y:-10.67, Z:-0.70 [[ 9.98072861e-01 6.03681720e-02 1.43613508e-02 9.91543278e+01] [-6.03484272e-02 9.98175741e-01 -1.80466619e-03 -1.06670482e+01] [-1.44440964e-02 9.34503410e-04 9.99895242e-01 -7.02464431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23755201799999 meters 0.03158495335137693 Centerline is valid? [True, True] Translation: X:99.19, Y:-10.67, Z:-0.70 [[ 9.97994958e-01 6.16289665e-02 1.44199596e-02 9.91854387e+01] [-6.16091464e-02 9.98098702e-01 -1.81512297e-03 -1.06715740e+01] [-1.45044071e-02 9.23082167e-04 9.99894379e-01 -7.02677316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26755201799999 meters 0.03081936413939921 Centerline is valid? [True, True] Translation: X:99.22, Y:-10.67, Z:-0.70 [[ 9.97775488e-01 6.52459562e-02 1.36762968e-02 9.92167825e+01] [-6.52284502e-02 9.97868870e-01 -1.72268202e-03 -1.06731489e+01] [-1.37595489e-02 8.26766245e-04 9.99904991e-01 -7.04581355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29755201799999 meters 0.030467010976905604 Centerline is valid? [True, True] Translation: X:99.25, Y:-10.68, Z:-0.71 [[ 9.97673576e-01 6.70477058e-02 1.23304507e-02 9.92480755e+01] [-6.70336089e-02 9.97749509e-01 -1.55348426e-03 -1.06759430e+01] [-1.24068587e-02 7.23315590e-04 9.99922770e-01 -7.06555494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32755201799999 meters 0.028299475217092817 Centerline is valid? [True, True] Translation: X:99.28, Y:-10.68, Z:-0.71 [[ 9.97522636e-01 6.95986125e-02 1.02285622e-02 9.92800472e+01] [-6.95890416e-02 9.97574911e-01 -1.28908539e-03 -1.06764157e+01] [-1.02934755e-02 5.74096021e-04 9.99946856e-01 -7.08481767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35755201799999 meters 0.02972148329796556 Centerline is valid? [True, True] Translation: X:99.31, Y:-10.68, Z:-0.71 [[ 9.97346821e-01 7.24440741e-02 7.15371456e-03 9.93101884e+01] [-7.24394635e-02 9.97372403e-01 -9.01861742e-04 -1.06833326e+01] [-7.20025202e-03 3.81257696e-04 9.99974005e-01 -7.10361262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.387552018 meters 0.026961110436259077 Centerline is valid? [True, True] Translation: X:99.34, Y:-10.68, Z:-0.71 [[ 9.97350544e-01 7.24072522e-02 7.00582887e-03 9.93428204e+01] [-7.24028275e-02 9.97375080e-01 -8.83484332e-04 -1.06843653e+01] [-7.05140980e-03 3.73901760e-04 9.99975069e-01 -7.10452088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.417552018 meters 0.028460778808639856 Centerline is valid? [True, True] Translation: X:99.37, Y:-10.69, Z:-0.71 [[ 9.97311473e-01 7.28136318e-02 8.24631275e-03 9.93745111e+01] [-7.28074934e-02 9.97345468e-01 -1.04255117e-03 -1.06896309e+01] [-8.30033459e-03 4.39354884e-04 9.99965455e-01 -7.09775996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.447552018 meters 0.027830316553904038 Centerline is valid? [True, True] Translation: X:99.41, Y:-10.69, Z:-0.71 [[ 9.97484164e-01 7.03006776e-02 9.11908384e-03 9.94052084e+01] [-7.02930451e-02 9.97525716e-01 -1.15520405e-03 -1.06932933e+01] [-9.17773226e-03 5.11289570e-04 9.99957753e-01 -7.09283614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.477552018 meters 0.02932095262527959 Centerline is valid? [True, True] Translation: X:99.44, Y:-10.70, Z:-0.71 [[ 9.97563738e-01 6.88971251e-02 1.09441965e-02 9.94355345e+01] [-6.88860438e-02 9.97623571e-01 -1.38672879e-03 -1.06989760e+01] [-1.10137300e-02 6.29447960e-04 9.99939149e-01 -7.08540980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.507552018 meters 0.030657115558190364 Centerline is valid? [True, True] Translation: X:99.47, Y:-10.71, Z:-0.71 [[ 9.97873851e-01 6.39636712e-02 1.25070391e-02 9.94660237e+01] [-6.39488081e-02 9.97951921e-01 -1.58512026e-03 -1.07055727e+01] [-1.25828138e-02 7.81939820e-04 9.99920528e-01 -7.07367565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.537552018 meters 0.030902676051372945 Centerline is valid? [True, True] Translation: X:99.50, Y:-10.71, Z:-0.71 [[ 9.97899543e-01 6.33316579e-02 1.36236523e-02 9.94979299e+01] [-6.33139379e-02 9.97992163e-01 -1.72851187e-03 -1.07101884e+01] [-1.37057678e-02 8.62314124e-04 9.99905700e-01 -7.06373534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.567552018 meters 0.03179612782545414 Centerline is valid? [True, True] Translation: X:99.53, Y:-10.72, Z:-0.71 [[ 9.97899752e-01 6.32246806e-02 1.40970020e-02 9.95286511e+01] [-6.32056437e-02 9.97998915e-01 -1.79232618e-03 -1.07156910e+01] [-1.41821119e-02 8.97551764e-04 9.99899026e-01 -7.05167190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59755201799999 meters 0.03155173039758057 Centerline is valid? [True, True] Translation: X:99.56, Y:-10.72, Z:-0.70 [[ 9.97829157e-01 6.39836148e-02 1.55906870e-02 9.95601181e+01] [-6.39603550e-02 9.97950463e-01 -1.98649906e-03 -1.07193210e+01] [-1.56858367e-02 9.85000805e-04 9.99876485e-01 -7.04436194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62755201799999 meters 0.03122508246023356 Centerline is valid? [True, True] Translation: X:99.59, Y:-10.72, Z:-0.71 [[ 9.97816094e-01 6.43147590e-02 1.50550730e-02 9.95926825e+01] [-6.42930421e-02 9.97929210e-01 -1.92257554e-03 -1.07233355e+01] [-1.51475471e-02 9.50440370e-04 9.99884818e-01 -7.05060673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65755201799999 meters 0.030980172417897796 Centerline is valid? [True, True] Translation: X:99.62, Y:-10.73, Z:-0.71 [[ 9.97736091e-01 6.57130871e-02 1.42997862e-02 9.96244246e+01] [-6.56935797e-02 9.97838165e-01 -1.83016084e-03 -1.07269836e+01] [-1.43891379e-02 8.86613380e-04 9.99896078e-01 -7.05518511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68755201799999 meters 0.02956427641901064 Centerline is valid? [True, True] Translation: X:99.66, Y:-10.73, Z:-0.71 [[ 9.97533364e-01 6.87349331e-02 1.42371546e-02 9.96555285e+01] [-6.87158737e-02 9.97634603e-01 -1.82417164e-03 -1.07266052e+01] [-1.43288623e-02 8.41353555e-04 9.99896983e-01 -7.07123241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71755201799999 meters 0.029840837990996447 Centerline is valid? [True, True] Translation: X:99.68, Y:-10.73, Z:-0.71 [[ 9.97232079e-01 7.35499337e-02 1.08898336e-02 9.96842880e+01] [-7.35390686e-02 9.97291361e-01 -1.39535001e-03 -1.07323616e+01] [-1.09629648e-02 5.90659571e-04 9.99939730e-01 -7.09986039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.747552018 meters 0.028821324207020497 Centerline is valid? [True, True] Translation: X:99.72, Y:-10.74, Z:-0.71 [[ 9.96998759e-01 7.67293774e-02 1.02993366e-02 9.97157275e+01] [-7.67198268e-02 9.97051817e-01 -1.31980106e-03 -1.07351576e+01] [-1.03702398e-02 5.25676698e-04 9.99946089e-01 -7.11465502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.777552018 meters 0.026261569170811645 Centerline is valid? [True, True] Translation: X:99.75, Y:-10.74, Z:-0.71 [[ 9.96654460e-01 8.11223249e-02 9.95269805e-03 9.97463288e+01] [-8.11136210e-02 9.96704045e-01 -1.27575937e-03 -1.07358648e+01] [-1.00233870e-02 4.64191887e-04 9.99949657e-01 -7.11637415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.807552018 meters 0.021943158725529235 Centerline is valid? [True, True] Translation: X:99.78, Y:-10.73, Z:-0.71 [[ 9.95740108e-01 9.17257943e-02 9.38173236e-03 9.97769958e+01] [-9.17185299e-02 9.95784246e-01 -1.20256857e-03 -1.07343537e+01] [-9.45248784e-03 3.36967058e-04 9.99955267e-01 -7.11945420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.837552018 meters 0.01957992404149863 Centerline is valid? [True, True] Translation: X:99.81, Y:-10.74, Z:-0.71 [[ 9.95306580e-01 9.64072294e-02 8.39392052e-03 9.98084712e+01] [-9.64015800e-02 9.95341940e-01 -1.07599467e-03 -1.07351241e+01] [-8.45855480e-03 2.61757370e-04 9.99964192e-01 -7.13412931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.867552018 meters 0.0184625286015149 Centerline is valid? [True, True] Translation: X:99.84, Y:-10.73, Z:-0.72 [[ 9.94553523e-01 1.03906142e-01 8.17334407e-03 9.98391204e+01] [-1.03901037e-01 9.94587088e-01 -1.04798487e-03 -1.07344448e+01] [-8.23799455e-03 1.93058123e-04 9.99966049e-01 -7.16396138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.897552018 meters 0.01604880722120307 Centerline is valid? [True, True] Translation: X:99.87, Y:-10.74, Z:-0.72 [[ 9.93939204e-01 1.09652041e-01 7.82874980e-03 9.98698284e+01] [-1.09647535e-01 9.93970025e-01 -1.00383264e-03 -1.07372686e+01] [-7.89161493e-03 1.39345495e-04 9.99968851e-01 -7.15569327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.927552018 meters 0.012960445940544308 Centerline is valid? [True, True] Translation: X:99.90, Y:-10.73, Z:-0.71 [[ 9.92525670e-01 1.21668005e-01 9.47050712e-03 9.99016563e+01] [-1.21661952e-01 9.92570851e-01 -1.21476506e-03 -1.07345193e+01] [-9.54794735e-03 5.34851247e-05 9.99954416e-01 -7.14318449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.957552018 meters 0.012691360459153294 Centerline is valid? [True, True] Translation: X:99.93, Y:-10.74, Z:-0.71 [[ 9.91904946e-01 1.26577842e-01 1.01305953e-02 9.99344307e+01] [-1.26571166e-01 9.91956677e-01 -1.30001758e-03 -1.07355936e+01] [-1.02136651e-02 7.25260770e-06 9.99947839e-01 -7.13535181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98755201799999 meters 0.012692821483595596 Centerline is valid? [True, True] Translation: X:99.97, Y:-10.74, Z:-0.72 [[ 9.91893752e-01 1.26736698e-01 9.19752339e-03 9.99659775e+01] [-1.26731193e-01 9.91936394e-01 -1.18129859e-03 -1.07388936e+01] [-9.27307206e-03 6.10957600e-06 9.99957004e-01 -7.15997658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01755201799999 meters 0.012799041621634612 Centerline is valid? [True, True] Translation: X:100.00, Y:-10.75, Z:-0.71 [[ 9.92165522e-01 1.24396366e-01 1.15377703e-02 9.99976616e+01] [-1.24387511e-01 9.92232605e-01 -1.48476841e-03 -1.07451709e+01] [-1.16328517e-02 3.79815028e-05 9.99932335e-01 -7.14623863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04755201799999 meters 0.013115458381424795 Centerline is valid? [True, True] Translation: X:100.03, Y:-10.75, Z:-0.71 [[ 9.92371761e-01 1.22568077e-01 1.32421871e-02 1.00028336e+02] [-1.22556199e-01 9.92460106e-01 -1.70786830e-03 -1.07518976e+01] [-1.33516725e-02 7.19281633e-05 9.99910860e-01 -7.12796244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07755201799999 meters 0.01350443146578027 Centerline is valid? [True, True] Translation: X:100.06, Y:-10.76, Z:-0.71 [[ 9.92578325e-01 1.20694238e-01 1.48717464e-02 1.00060155e+02] [-1.20678984e-01 9.92689724e-01 -1.92215542e-03 -1.07577239e+01] [-1.49950229e-02 1.13182552e-04 9.99887562e-01 -7.11660028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10755201799999 meters 0.01393809725587182 Centerline is valid? [True, True] Translation: X:100.09, Y:-10.76, Z:-0.71 [[ 9.92758545e-01 1.18980621e-01 1.65554387e-02 1.00091528e+02] [-1.18961400e-01 9.92896564e-01 -2.14449187e-03 -1.07636745e+01] [-1.66929911e-02 1.59504474e-04 9.99860650e-01 -7.09680124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.137552018 meters 0.014433865456199995 Centerline is valid? [True, True] Translation: X:100.12, Y:-10.77, Z:-0.71 [[ 9.92963720e-01 1.17200976e-01 1.69405664e-02 1.00122406e+02] [-1.17180515e-01 9.93108198e-01 -2.19881552e-03 -1.07689253e+01] [-1.70815187e-02 1.98239738e-04 9.99854081e-01 -7.09255454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.167552018 meters 0.014157305551346571 Centerline is valid? [True, True] Translation: X:100.15, Y:-10.77, Z:-0.71 [[ 9.92913393e-01 1.17752474e-01 1.60421091e-02 1.00154353e+02] [-1.17734131e-01 9.93042961e-01 -2.08636316e-03 -1.07711093e+01] [-1.61761779e-02 1.82874145e-04 9.99869140e-01 -7.11872537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.197552018 meters 0.014201207947107216 Centerline is valid? [True, True] Translation: X:100.19, Y:-10.77, Z:-0.71 [[ 9.92821951e-01 1.18694690e-01 1.47018298e-02 1.00185123e+02] [-1.18679332e-01 9.92930786e-01 -1.91579375e-03 -1.07737926e+01] [-1.48252940e-02 1.57238745e-04 9.99890087e-01 -7.13894744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.227552018 meters 0.01355918018158022 Centerline is valid? [True, True] Translation: X:100.22, Y:-10.77, Z:-0.72 [[ 9.92413009e-01 1.22411284e-01 1.14846635e-02 1.00217513e+02] [-1.22402131e-01 9.92479456e-01 -1.49917530e-03 -1.07735417e+01] [-1.15818085e-02 8.20537842e-05 9.99932925e-01 -7.18609103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.257552018 meters 0.01332711816760553 Centerline is valid? [True, True] Translation: X:100.25, Y:-10.78, Z:-0.72 [[ 9.92225178e-01 1.24109479e-01 9.27542247e-03 1.00249557e+02] [-1.24103563e-01 9.92268529e-01 -1.21293662e-03 -1.07756489e+01] [-9.35424675e-03 5.23932742e-05 9.99956247e-01 -7.21367572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.287552018 meters 0.013424351713914288 Centerline is valid? [True, True] Translation: X:100.28, Y:-10.78, Z:-0.72 [[ 9.92118698e-01 1.25058408e-01 7.80282454e-03 1.00281440e+02] [-1.25054237e-01 9.92149380e-01 -1.02219455e-03 -1.07793172e+01] [-7.86940155e-03 3.83620580e-05 9.99969035e-01 -7.22805251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.317552018 meters 0.013278506932348449 Centerline is valid? [True, True] Translation: X:100.31, Y:-10.78, Z:-0.72 [[ 9.92001592e-01 1.25994023e-01 7.63860616e-03 1.00314348e+02] [-1.25990036e-01 9.92031000e-01 -1.00285717e-03 -1.07832489e+01] [-7.70408812e-03 3.24476433e-05 9.99970323e-01 -7.23218612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34755201799999 meters 0.013674815619758852 Centerline is valid? [True, True] Translation: X:100.35, Y:-10.79, Z:-0.72 [[ 9.92217899e-01 1.24331568e-01 6.73071716e-03 1.00345762e+02] [-1.24328422e-01 9.92240727e-01 -8.85484100e-04 -1.07888629e+01] [-6.78858531e-03 4.17737303e-05 9.99976956e-01 -7.23298775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37755201799999 meters 0.013747456953435143 Centerline is valid? [True, True] Translation: X:100.38, Y:-10.79, Z:-0.72 [[ 9.92180746e-01 1.24575649e-01 7.63377143e-03 1.00378259e+02] [-1.24571590e-01 9.92210112e-01 -1.00675914e-03 -1.07926158e+01] [-7.69972287e-03 4.79359853e-05 9.99970356e-01 -7.22398017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40755201799999 meters 0.013877083978890113 Centerline is valid? [True, True] Translation: X:100.41, Y:-10.80, Z:-0.72 [[ 9.92258710e-01 1.23942768e-01 7.80018978e-03 1.00410081e+02] [-1.23938492e-01 9.92289367e-01 -1.03115128e-03 -1.07976377e+01] [-7.86784912e-03 5.64250785e-05 9.99969046e-01 -7.21533887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43755201799999 meters 0.014435885641529325 Centerline is valid? [True, True] Translation: X:100.44, Y:-10.80, Z:-0.72 [[ 9.92480814e-01 1.22072906e-01 8.94650182e-03 1.00441681e+02] [-1.22067178e-01 9.92521133e-01 -1.18552013e-03 -1.08013237e+01] [-9.02431200e-03 8.45317526e-05 9.99959276e-01 -7.21624949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46755201799999 meters 0.015177145570232229 Centerline is valid? [True, True] Translation: X:100.47, Y:-10.81, Z:-0.72 [[ 9.92879529e-01 1.18834119e-01 8.28817647e-03 1.00473394e+02] [-1.18829073e-01 9.92914115e-01 -1.10035558e-03 -1.08079304e+01] [-8.36020719e-03 1.07644205e-04 9.99965047e-01 -7.22510133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.497552018 meters 0.017158690542103228 Centerline is valid? [True, True] Translation: X:100.50, Y:-10.81, Z:-0.72 [[ 9.93105797e-01 1.16918011e-01 8.42944406e-03 1.00504676e+02] [-1.16912703e-01 9.93141562e-01 -1.12141225e-03 -1.08134953e+01] [-8.50274453e-03 1.28171920e-04 9.99963843e-01 -7.24508084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.527552018 meters 0.016306485177330243 Centerline is valid? [True, True] Translation: X:100.54, Y:-10.82, Z:-0.72 [[ 9.93392106e-01 1.14414747e-01 9.02164318e-03 1.00536754e+02] [-1.14408541e-01 9.93433057e-01 -1.20277019e-03 -1.08183124e+01] [-9.10001322e-03 1.62669383e-04 9.99958581e-01 -7.22776880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.557552018 meters 0.01801588200316072 Centerline is valid? [True, True] Translation: X:100.57, Y:-10.82, Z:-0.72 [[ 9.93902382e-01 1.09877228e-01 9.22228266e-03 1.00567544e+02] [-1.09870524e-01 9.93945144e-01 -1.23204899e-03 -1.08240304e+01] [-9.30181720e-03 2.11279402e-04 9.99956715e-01 -7.22823244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.587552018 meters 0.018663245170066397 Centerline is valid? [True, True] Translation: X:100.60, Y:-10.83, Z:-0.72 [[ 9.94097911e-01 1.08081320e-01 9.36866713e-03 1.00599698e+02] [-1.08074298e-01 9.94142029e-01 -1.25404262e-03 -1.08285813e+01] [-9.44932433e-03 2.34129024e-04 9.99955327e-01 -7.22872133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.617552018 meters 0.019009843991532677 Centerline is valid? [True, True] Translation: X:100.63, Y:-10.83, Z:-0.72 [[ 9.94153411e-01 1.07566746e-01 9.40157685e-03 1.00631643e+02] [-1.07559628e-01 9.94197836e-01 -1.26098934e-03 -1.08305465e+01] [-9.48266788e-03 2.42386749e-04 9.99955009e-01 -7.22500020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.647552018 meters 0.019009843991532677 Centerline is valid? [True, True] Translation: X:100.66, Y:-10.83, Z:-0.72 [[ 9.94120731e-01 1.07868383e-01 9.40122974e-03 1.00663728e+02] [-1.07861254e-01 9.94165154e-01 -1.26357262e-03 -1.08349738e+01] [-9.48267455e-03 2.42115311e-04 9.99955009e-01 -7.22729668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.677552018 meters 0.01943422274937366 Centerline is valid? [True, True] Translation: X:100.70, Y:-10.84, Z:-0.72 [[ 9.94201881e-01 1.07149885e-01 9.02894721e-03 1.00695753e+02] [-1.07143256e-01 9.94242849e-01 -1.21615703e-03 -1.08383828e+01] [-9.10727729e-03 2.41714806e-04 9.99958499e-01 -7.23022750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.707552018 meters 0.020655075909042548 Centerline is valid? [True, True] Translation: X:100.73, Y:-10.84, Z:-0.73 [[ 9.94619379e-01 1.03373939e-01 6.79114945e-03 1.00727534e+02] [-1.03370091e-01 9.94642541e-01 -9.16132544e-04 -1.08419488e+01] [-6.84947038e-03 2.09201444e-04 9.99976520e-01 -7.25455807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73755201799999 meters 0.02247421647219244 Centerline is valid? [True, True] Translation: X:100.76, Y:-10.85, Z:-0.73 [[ 9.94996521e-01 9.97904790e-02 4.87687581e-03 1.00757488e+02] [-9.97884501e-02 9.95008458e-01 -6.58205195e-04 -1.08486297e+01] [-4.91821529e-03 1.68256001e-04 9.99987891e-01 -7.27016906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76755201799999 meters 0.025557837381756238 Centerline is valid? [True, True] Translation: X:100.79, Y:-10.86, Z:-0.73 [[ 9.95692240e-01 9.26430078e-02 3.77318260e-03 1.00787726e+02] [-9.26417415e-02 9.95699376e-01 -5.09383734e-04 -1.08566526e+01] [-3.80414640e-03 1.57635224e-04 9.99992752e-01 -7.28118121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79755201799999 meters 0.02658670451772201 Centerline is valid? [True, True] Translation: X:100.82, Y:-10.86, Z:-0.73 [[ 9.95958775e-01 8.97265981e-02 3.90584768e-03 1.00818508e+02] [-8.97252187e-02 9.95966419e-01 -5.27325203e-04 -1.08613949e+01] [-3.93740823e-03 1.74741126e-04 9.99992233e-01 -7.28036933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82755201799999 meters 0.02837326516080123 Centerline is valid? [True, True] Translation: X:100.85, Y:-10.87, Z:-0.73 [[ 9.96256307e-01 8.63389705e-02 4.35353096e-03 1.00849151e+02] [-8.63372236e-02 9.96265797e-01 -5.87963542e-04 -1.08678179e+01] [-4.38803816e-03 2.09890611e-04 9.99990350e-01 -7.28684927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85755201799999 meters 0.03216240625601699 Centerline is valid? [True, True] Translation: X:100.88, Y:-10.88, Z:-0.73 [[ 9.96631734e-01 8.18959272e-02 4.27133401e-03 1.00878302e+02] [-8.18942042e-02 9.96640861e-01 -5.77020325e-04 -1.08791507e+01] [-4.30424162e-03 2.25279268e-04 9.99990711e-01 -7.29689530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.887552018 meters 0.03202521730543185 Centerline is valid? [True, True] Translation: X:100.91, Y:-10.88, Z:-0.73 [[ 9.96786072e-01 7.99716479e-02 4.69712824e-03 1.00909801e+02] [-7.99695443e-02 9.96797106e-01 -6.34270470e-04 -1.08835529e+01] [-4.73280749e-03 2.56604765e-04 9.99988767e-01 -7.29058440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.917552018 meters 0.030302536849560895 Centerline is valid? [True, True] Translation: X:100.94, Y:-10.89, Z:-0.73 [[ 9.96970185e-01 7.74974624e-02 6.67790625e-03 1.00941032e+02] [-7.74931390e-02 9.96992475e-01 -9.04143493e-04 -1.08861777e+01] [-6.72789111e-03 3.83912189e-04 9.99977294e-01 -7.27949197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.947552018 meters 0.031227982210844364 Centerline is valid? [True, True] Translation: X:100.97, Y:-10.89, Z:-0.73 [[ 9.97022324e-01 7.67728934e-02 7.23933081e-03 1.00972708e+02] [-7.67677908e-02 9.97048517e-01 -9.80515979e-04 -1.08930567e+01] [-7.29324109e-03 4.21848888e-04 9.99973315e-01 -7.27853271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.977552018 meters 0.031478612876198804 Centerline is valid? [True, True] Translation: X:101.00, Y:-10.90, Z:-0.73 [[ 9.97021708e-01 7.67926092e-02 7.11397923e-03 1.01004460e+02] [-7.67876688e-02 9.97047001e-01 -9.65424458e-04 -1.08983216e+01] [-7.16710912e-03 4.16283261e-04 9.99974229e-01 -7.28679116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.007552018 meters 0.03251138719885449 Centerline is valid? [True, True] Translation: X:101.04, Y:-10.90, Z:-0.73 [[ 9.97006742e-01 7.70215876e-02 6.72541129e-03 1.01035467e+02] [-7.70171658e-02 9.97029348e-01 -9.14396785e-04 -1.09042966e+01] [-6.77586073e-03 3.93687643e-04 9.99976966e-01 -7.29795438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.037552018 meters 0.036148722587657243 Centerline is valid? [True, True] Translation: X:101.06, Y:-10.91, Z:-0.73 [[ 9.96834848e-01 7.92174319e-02 6.69960483e-03 1.01064972e+02] [-7.92130800e-02 9.96857289e-01 -9.12876247e-04 -1.09147334e+01] [-6.75086562e-03 3.79290522e-04 9.99977141e-01 -7.30352459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.067552018 meters 0.03248214933650934 Centerline is valid? [True, True] Translation: X:101.10, Y:-10.92, Z:-0.73 [[ 9.96745787e-01 8.03649410e-02 6.27001562e-03 1.01097764e+02] [-8.03611510e-02 9.96765446e-01 -8.54485828e-04 -1.09151681e+01] [-6.31840562e-03 3.47839477e-04 9.99979978e-01 -7.30803660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09755201799999 meters 0.03222044055201272 Centerline is valid? [True, True] Translation: X:101.13, Y:-10.92, Z:-0.73 [[ 9.96651354e-01 8.15269888e-02 6.27927517e-03 1.01129096e+02] [-8.15232055e-02 9.96671076e-01 -8.56558771e-04 -1.09200844e+01] [-6.32820460e-03 3.41783819e-04 9.99979918e-01 -7.30868896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12755201799999 meters 0.03194931550098371 Centerline is valid? [True, True] Translation: X:101.16, Y:-10.92, Z:-0.73 [[ 9.96597273e-01 8.21674160e-02 6.51082826e-03 1.01160615e+02] [-8.21633504e-02 9.96618479e-01 -8.89919704e-04 -1.09241830e+01] [-6.56193416e-03 3.51940087e-04 9.99978408e-01 -7.31412853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.15755201799999 meters 0.033433795902314975 Centerline is valid? [True, True] Translation: X:101.19, Y:-10.93, Z:-0.73 [[ 9.96416401e-01 8.43837686e-02 5.80819532e-03 1.01190000e+02] [-8.43805619e-02 9.96433283e-01 -7.95388084e-04 -1.09308858e+01] [-5.85459698e-03 3.02438948e-04 9.99982816e-01 -7.31767172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18755201799999 meters 0.029312376771896645 Centerline is valid? [True, True] Translation: X:101.22, Y:-10.93, Z:-0.73 [[ 9.96272770e-01 8.60836693e-02 5.49262361e-03 1.01222431e+02] [-8.60808256e-02 9.96287873e-01 -7.52508139e-04 -1.09290654e+01] [-5.53701295e-03 2.76893793e-04 9.99984632e-01 -7.33074455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21755201799999 meters 0.028942108107773108 Centerline is valid? [True, True] Translation: X:101.25, Y:-10.93, Z:-0.73 [[ 9.96174128e-01 8.72877177e-02 4.23802966e-03 1.01254269e+02] [-8.72860326e-02 9.96183121e-01 -5.81334542e-04 -1.09323881e+01] [-4.27259698e-03 2.09189635e-04 9.99990851e-01 -7.34070473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.247552018 meters 0.030384833264460707 Centerline is valid? [True, True] Translation: X:101.29, Y:-10.94, Z:-0.74 [[ 9.96204018e-01 8.70012713e-02 2.88676163e-03 1.01286478e+02] [-8.70004877e-02 9.96208190e-01 -3.96161787e-04 -1.09365911e+01] [-2.91028216e-03 1.43508294e-04 9.99995755e-01 -7.37237403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.277552018 meters 0.03032925933712589 Centerline is valid? [True, True] Translation: X:101.32, Y:-10.94, Z:-0.74 [[ 9.96117202e-01 8.80179593e-02 1.83268809e-03 1.01317156e+02] [-8.80176444e-02 9.96118884e-01 -2.51907552e-04 -1.09424319e+01] [-1.84774760e-03 8.96205572e-05 9.99998289e-01 -7.38065764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.307552018 meters 0.030277249302115474 Centerline is valid? [True, True] Translation: X:101.35, Y:-10.95, Z:-0.74 [[ 9.96086307e-01 8.83526190e-02 2.42548151e-03 1.01350172e+02] [-8.83520684e-02 9.96089253e-01 -3.33424681e-04 -1.09462402e+01] [-2.44545501e-03 1.17823451e-04 9.99997003e-01 -7.38410526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.337552018 meters 0.03269201997878574 Centerline is valid? [True, True] Translation: X:101.38, Y:-10.95, Z:-0.74 [[ 9.96204854e-01 8.70228685e-02 1.70538851e-03 1.01379910e+02] [-8.70225930e-02 9.96206310e-01 -2.35222522e-04 -1.09546722e+01] [-1.71938853e-03 8.59224885e-05 9.99998518e-01 -7.39000463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.367552018 meters 0.030603481465656397 Centerline is valid? [True, True] Translation: X:101.41, Y:-10.96, Z:-0.74 [[ 9.96662250e-01 8.15942012e-02 2.59713397e-03 1.01410582e+02] [-8.15935405e-02 9.96665623e-01 -3.59532261e-04 -1.09568451e+01] [-2.61780990e-03 1.46422877e-04 9.99996563e-01 -7.36829031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.397552018 meters 0.037059741148104515 Centerline is valid? [True, True] Translation: X:101.44, Y:-10.97, Z:-0.74 [[ 9.96946619e-01 7.80215175e-02 3.17527105e-03 1.01438547e+02] [-7.80205113e-02 9.96951657e-01 -4.39713008e-04 -1.09705121e+01] [-3.19989881e-03 1.90634126e-04 9.99994862e-01 -7.36914772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.427552018 meters 0.03425678027546196 Centerline is valid? [True, True] Translation: X:101.47, Y:-10.97, Z:-0.74 [[ 9.97243327e-01 7.41118243e-02 3.63089654e-03 1.01470068e+02] [-7.41104833e-02 9.97249910e-01 -5.02682167e-04 -1.09718592e+01] [-3.65816594e-03 2.32208939e-04 9.99993282e-01 -7.36073558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.457552018 meters 0.03629492077989424 Centerline is valid? [True, True] Translation: X:101.50, Y:-10.98, Z:-0.73 [[ 9.97750659e-01 6.69156687e-02 3.98938501e-03 1.01500254e+02] [-6.69139915e-02 9.97758594e-01 -5.52571204e-04 -1.09794155e+01] [-4.01741885e-03 2.84382609e-04 9.99991890e-01 -7.34414233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48755201799999 meters 0.039025372188627526 Centerline is valid? [True, True] Translation: X:101.53, Y:-10.99, Z:-0.73 [[ 9.98065877e-01 6.20366807e-02 3.99443186e-03 1.01529449e+02] [-6.20349607e-02 9.98073824e-01 -5.53208733e-04 -1.09875896e+01] [-4.02105711e-03 3.04344336e-04 9.99991869e-01 -7.34563269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51755201799999 meters 0.03871859565643737 Centerline is valid? [True, True] Translation: X:101.56, Y:-10.99, Z:-0.73 [[ 9.98216360e-01 5.95626740e-02 4.04792831e-03 1.01560881e+02] [-5.95608865e-02 9.98224517e-01 -5.60814890e-04 -1.09905552e+01] [-4.07414492e-03 3.18716399e-04 9.99991650e-01 -7.34404553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54755201799999 meters 0.046085777932091086 Centerline is valid? [True, True] Translation: X:101.59, Y:-11.00, Z:-0.74 [[ 9.98659792e-01 5.17017657e-02 2.35541454e-03 1.01588588e+02] [-5.17011392e-02 9.98662549e-01 -3.26143612e-04 -1.10034855e+01] [-2.36912649e-03 2.03928897e-04 9.99997173e-01 -7.35903449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57755201799999 meters 0.04560860185028038 Centerline is valid? [True, True] Translation: X:101.62, Y:-11.01, Z:-0.74 [[ 9.98837408e-01 4.81593719e-02 2.12315235e-03 1.01618896e+02] [-4.81588539e-02 9.98839646e-01 -2.94416664e-04 -1.10064247e+01] [-2.13486766e-03 1.91825793e-04 9.99997703e-01 -7.35881147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60755201799999 meters 0.04590079975889992 Centerline is valid? [True, True] Translation: X:101.65, Y:-11.01, Z:-0.74 [[ 9.99003834e-01 4.45744274e-02 2.11209613e-03 1.01648884e+02] [-4.45739070e-02 9.99006047e-01 -2.92893019e-04 -1.10110605e+01] [-2.12305234e-03 1.98456873e-04 9.99997727e-01 -7.36145013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.637552018 meters 0.04842641350932653 Centerline is valid? [True, True] Translation: X:101.68, Y:-11.02, Z:-0.74 [[ 9.99268164e-01 3.81915288e-02 2.13177435e-03 1.01678690e+02] [-3.81909841e-02 9.99270415e-01 -2.95637864e-04 -1.10179758e+01] [-2.14150990e-03 2.14006945e-04 9.99997684e-01 -7.36050366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.667552018 meters 0.04860260788773676 Centerline is valid? [True, True] Translation: X:101.71, Y:-11.02, Z:-0.74 [[ 9.99321652e-01 3.67784068e-02 1.89318933e-03 1.01709957e+02] [-3.67779750e-02 9.99323427e-01 -2.62398900e-04 -1.10225549e+01] [-1.90155906e-03 1.92593232e-04 9.99998173e-01 -7.35399725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.697552018 meters 0.050564195547373736 Centerline is valid? [True, True] Translation: X:101.74, Y:-11.03, Z:-0.74 [[ 9.99369774e-01 3.54274125e-02 2.22545443e-03 1.01739043e+02] [-3.54268118e-02 9.99372226e-01 -3.08763352e-04 -1.10297642e+01] [-2.23499604e-03 2.29728006e-04 9.99997476e-01 -7.35750504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.727552018 meters 0.05087568970073452 Centerline is valid? [True, True] Translation: X:101.77, Y:-11.04, Z:-0.74 [[ 9.99386019e-01 3.49932257e-02 1.74927424e-03 1.01770418e+02] [-3.49928564e-02 9.99387533e-01 -2.41320956e-04 -1.10353188e+01] [-1.75664746e-03 1.79960687e-04 9.99998441e-01 -7.35366591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.757552018 meters 0.04942552791750594 Centerline is valid? [True, True] Translation: X:101.80, Y:-11.04, Z:-0.73 [[ 9.99300508e-01 3.72929256e-02 2.78079852e-03 1.01801590e+02] [-3.72919931e-02 9.99304337e-01 -3.86431048e-04 -1.10382188e+01] [-2.79327517e-03 2.82459223e-04 9.99996059e-01 -7.34163233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.787552018 meters 0.04935573543068484 Centerline is valid? [True, True] Translation: X:101.83, Y:-11.04, Z:-0.73 [[ 9.99214162e-01 3.95101760e-02 3.16284473e-03 1.01831818e+02] [-3.95089803e-02 9.99219119e-01 -4.39659861e-04 -1.10429583e+01] [-3.17774596e-03 3.14353589e-04 9.99994902e-01 -7.33888446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.817552018 meters 0.048141647318674374 Centerline is valid? [True, True] Translation: X:101.86, Y:-11.05, Z:-0.73 [[ 9.99130860e-01 4.14760743e-02 4.15452407e-03 1.01862949e+02] [-4.14740276e-02 9.99139415e-01 -5.77629310e-04 -1.10462078e+01] [-4.17490655e-03 4.04822423e-04 9.99991203e-01 -7.33348158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84755201799999 meters 0.04625772076959867 Centerline is valid? [True, True] Translation: X:101.89, Y:-11.05, Z:-0.73 [[ 9.98750946e-01 4.97966555e-02 4.10382409e-03 1.01892516e+02] [-4.97947277e-02 9.98759310e-01 -5.70671954e-04 -1.10490703e+01] [-4.12715007e-03 3.65610350e-04 9.99991416e-01 -7.34462185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.87755201799999 meters 0.043564247921901104 Centerline is valid? [True, True] Translation: X:101.92, Y:-11.05, Z:-0.73 [[ 9.98444961e-01 5.56037602e-02 3.98514499e-03 1.01923206e+02] [-5.56019880e-02 9.98452859e-01 -5.54195897e-04 -1.10507164e+01] [-4.00979478e-03 3.31752117e-04 9.99991906e-01 -7.34876634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90755201799999 meters 0.04013086955761129 Centerline is valid? [True, True] Translation: X:101.95, Y:-11.05, Z:-0.74 [[ 9.98090221e-01 6.16442824e-02 3.98657810e-03 1.01953920e+02] [-6.16425562e-02 9.98098135e-01 -5.54543313e-04 -1.10508060e+01] [-4.01318060e-03 3.07741393e-04 9.99991900e-01 -7.35357559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93755201799999 meters 0.0396992426809414 Centerline is valid? [True, True] Translation: X:101.98, Y:-11.06, Z:-0.74 [[ 9.97715192e-01 6.74453190e-02 3.94022791e-03 1.01983038e+02] [-6.74436775e-02 9.97722932e-01 -5.48146050e-04 -1.10550795e+01] [-3.96822563e-03 2.81150180e-04 9.99992087e-01 -7.35943924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96755201799999 meters 0.037039190392312606 Centerline is valid? [True, True] Translation: X:102.01, Y:-11.06, Z:-0.74 [[ 9.96946164e-01 7.79760801e-02 4.25170765e-03 1.02012736e+02] [-7.79742647e-02 9.96955197e-01 -5.91323129e-04 -1.10564949e+01] [-4.28487110e-03 2.57993547e-04 9.99990787e-01 -7.37253184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.997552018 meters 0.03382825878607065 Centerline is valid? [True, True] Translation: X:102.04, Y:-11.06, Z:-0.74 [[ 9.96519769e-01 8.32052095e-02 5.02415552e-03 1.02043436e+02] [-8.32027408e-02 9.96532396e-01 -6.98746533e-04 -1.10572556e+01] [-5.06487309e-03 2.78291224e-04 9.99987135e-01 -7.37103810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.027552018 meters 0.030546914317096885 Centerline is valid? [True, True] Translation: X:102.07, Y:-11.06, Z:-0.74 [[ 9.96131064e-01 8.76905562e-02 5.76800663e-03 1.02074389e+02] [-8.76873773e-02 9.96147720e-01 -8.02215838e-04 -1.10576184e+01] [-5.81613341e-03 2.93330742e-04 9.99983043e-01 -7.36594795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.057552018 meters 0.03080516721805705 Centerline is valid? [True, True] Translation: X:102.10, Y:-11.06, Z:-0.74 [[ 9.95804102e-01 9.12899852e-02 6.35055820e-03 1.02103987e+02] [-9.12862039e-02 9.95824306e-01 -8.83377754e-04 -1.10627073e+01] [-6.40468375e-03 2.99952840e-04 9.99979445e-01 -7.36997337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.087552018 meters 0.026649227160947704 Centerline is valid? [True, True] Translation: X:102.14, Y:-11.06, Z:-0.74 [[ 9.95171955e-01 9.78781420e-02 7.25599729e-03 1.02135121e+02] [-9.78733802e-02 9.95198364e-01 -1.00932858e-03 -1.10625075e+01] [-7.31994784e-03 2.94286518e-04 9.99973166e-01 -7.36849346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.117552018 meters 0.024678433376068145 Centerline is valid? [True, True] Translation: X:102.17, Y:-11.06, Z:-0.74 [[ 9.94908152e-01 1.00519834e-01 7.31652832e-03 1.02166290e+02] [-1.00515063e-01 9.94935016e-01 -1.01781733e-03 -1.10647481e+01] [-7.38178105e-03 2.77213452e-04 9.99972716e-01 -7.36533825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.147552018 meters 0.024645238014417818 Centerline is valid? [True, True] Translation: X:102.20, Y:-11.07, Z:-0.74 [[ 9.94630175e-01 1.03200079e-01 7.78199227e-03 1.02196988e+02] [-1.03194762e-01 9.94660580e-01 -1.08287122e-03 -1.10688148e+01] [-7.85219334e-03 2.73995552e-04 9.99969134e-01 -7.36504485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.177552018 meters 0.02322844222571791 Centerline is valid? [True, True] Translation: X:102.23, Y:-11.07, Z:-0.74 [[ 9.94266358e-01 1.06604333e-01 8.36213086e-03 1.02227367e+02] [-1.06598311e-01 9.94301486e-01 -1.16389680e-03 -1.10713248e+01] [-8.43855559e-03 2.65834404e-04 9.99964359e-01 -7.36258916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.207552018 meters 0.020559282736316995 Centerline is valid? [True, True] Translation: X:102.26, Y:-11.07, Z:-0.74 [[ 9.94144597e-01 1.07690167e-01 8.90771163e-03 1.02259887e+02] [-1.07683370e-01 9.94184466e-01 -1.24046783e-03 -1.10723227e+01] [-8.98949472e-03 2.73991977e-04 9.99959556e-01 -7.36252045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23755201799999 meters 0.020617893008639938 Centerline is valid? [True, True] Translation: X:102.29, Y:-11.08, Z:-0.74 [[ 9.94096788e-01 1.08087294e-01 9.41877349e-03 1.02292078e+02] [-1.08079688e-01 9.94141365e-01 -1.31429686e-03 -1.10773108e+01] [-9.50565113e-03 2.88560181e-04 9.99954779e-01 -7.36012389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26755201799999 meters 0.01994605610831432 Centerline is valid? [True, True] Translation: X:102.32, Y:-11.08, Z:-0.74 [[ 9.94129888e-01 1.07717801e-01 1.01311778e-02 1.02323654e+02] [-1.07708951e-01 9.94181460e-01 -1.41679509e-03 -1.10803467e+01] [-1.02248432e-02 3.17259809e-04 9.99947675e-01 -7.36335867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29755201799999 meters 0.024984381307632194 Centerline is valid? [True, True] Translation: X:102.35, Y:-11.09, Z:-0.74 [[ 9.94304445e-01 1.06103954e-01 1.00310065e-02 1.02353220e+02] [-1.06095172e-01 9.94354987e-01 -1.40506577e-03 -1.10910228e+01] [-1.01234643e-02 3.32821779e-04 9.99948701e-01 -7.37475285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32755201799999 meters 0.022290939996860798 Centerline is valid? [True, True] Translation: X:102.39, Y:-11.09, Z:-0.74 [[ 9.94493824e-01 1.04390426e-01 9.20180837e-03 1.02385686e+02] [-1.04382950e-01 9.94536342e-01 -1.29038954e-03 -1.10908424e+01] [-9.28623715e-03 3.22772525e-04 9.99956830e-01 -7.38901097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35755201799999 meters 0.022369997380379227 Centerline is valid? [True, True] Translation: X:102.42, Y:-11.09, Z:-0.74 [[ 9.94651045e-01 1.02969300e-01 8.16228645e-03 1.02417028e+02] [-1.02963354e-01 9.94684489e-01 -1.14652793e-03 -1.10945760e+01] [-8.23695691e-03 2.99978815e-04 9.99966031e-01 -7.40802145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.387552018 meters 0.02500386370726095 Centerline is valid? [True, True] Translation: X:102.45, Y:-11.10, Z:-0.74 [[ 9.94857298e-01 1.01068680e-01 6.63920865e-03 1.02447337e+02] [-1.01064695e-01 9.94879417e-01 -9.33903437e-04 -1.11021791e+01] [-6.69960042e-03 2.58111052e-04 9.99977524e-01 -7.42114075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.417552018 meters 0.028531924948909108 Centerline is valid? [True, True] Translation: X:102.48, Y:-11.11, Z:-0.74 [[ 9.95510264e-01 9.45247623e-02 4.93791255e-03 1.02477424e+02] [-9.45224712e-02 9.95522485e-01 -6.95838620e-04 -1.11106204e+01] [-4.98157696e-03 2.25970792e-04 9.99987566e-01 -7.43835898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.447552018 meters 0.027497290649049967 Centerline is valid? [True, True] Translation: X:102.51, Y:-11.11, Z:-0.74 [[ 9.95985416e-01 8.94147903e-02 4.24799940e-03 1.02508434e+02] [-8.94130482e-02 9.95994452e-01 -5.98648993e-04 -1.11141935e+01] [-4.28451191e-03 2.16419092e-04 9.99990798e-01 -7.43260187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.477552018 meters 0.03348073443074402 Centerline is valid? [True, True] Translation: X:102.54, Y:-11.13, Z:-0.74 [[ 9.96944041e-01 7.80399639e-02 3.51334417e-03 1.02536942e+02] [-7.80387014e-02 9.96950207e-01 -4.95206848e-04 -1.11256640e+01] [-3.54127512e-03 2.19516700e-04 9.99993706e-01 -7.43433065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.507552018 meters 0.04165751341678534 Centerline is valid? [True, True] Translation: X:102.56, Y:-11.14, Z:-0.74 [[ 9.97435888e-01 7.14877121e-02 3.34014908e-03 1.02564872e+02] [-7.14865354e-02 9.97441454e-01 -4.70511837e-04 -1.11395541e+01] [-3.36523897e-03 2.30529706e-04 9.99994311e-01 -7.44316462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.537552018 meters 0.04165751341678534 Centerline is valid? [True, True] Translation: X:102.60, Y:-11.14, Z:-0.74 [[ 9.97415802e-01 7.17674121e-02 3.34021890e-03 1.02596990e+02] [-7.17662386e-02 9.97421368e-01 -4.70017811e-04 -1.11442219e+01] [-3.36533767e-03 2.29088245e-04 9.99994311e-01 -7.44545983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.567552018 meters 0.039866159233131235 Centerline is valid? [True, True] Translation: X:102.63, Y:-11.15, Z:-0.74 [[ 9.97904808e-01 6.46274227e-02 3.04809197e-03 1.02628280e+02] [-6.46264070e-02 9.97909436e-01 -4.30629556e-04 -1.11451743e+01] [-3.06955022e-03 2.32740072e-04 9.99995262e-01 -7.44906186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59755201799999 meters 0.04398014799439425 Centerline is valid? [True, True] Translation: X:102.66, Y:-11.15, Z:-0.75 [[ 9.98377787e-01 5.68552784e-02 3.04487922e-03 1.02658298e+02] [-5.68542286e-02 9.98382397e-01 -4.30314998e-04 -1.11542518e+01] [-3.06441950e-03 2.56502676e-04 9.99995272e-01 -7.45185489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62755201799999 meters 0.050137713999632426 Centerline is valid? [True, True] Translation: X:102.69, Y:-11.17, Z:-0.74 [[ 9.99103782e-01 4.21168002e-02 4.21987987e-03 1.02687453e+02] [-4.21146529e-02 9.99112606e-01 -5.96456481e-04 -1.11672691e+01] [-4.24125602e-03 4.18203150e-04 9.99990918e-01 -7.43611065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65755201799999 meters 0.0509981068738323 Centerline is valid? [True, True] Translation: X:102.72, Y:-11.17, Z:-0.74 [[ 9.99403402e-01 3.40891239e-02 5.54721841e-03 1.02717120e+02] [-3.40852903e-02 9.99418620e-01 -7.84189258e-04 -1.11739066e+01] [-5.57072570e-03 5.94642862e-04 9.99984307e-01 -7.41836013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68755201799999 meters 0.052404644989273864 Centerline is valid? [True, True] Translation: X:102.75, Y:-11.18, Z:-0.74 [[ 9.99564068e-01 2.85709163e-02 7.44157311e-03 1.02747148e+02] [-2.85638658e-02 9.99591416e-01 -1.05203622e-03 -1.11787263e+01] [-7.46859024e-03 8.39017512e-04 9.99971758e-01 -7.39538534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71755201799999 meters 0.05188376717854842 Centerline is valid? [True, True] Translation: X:102.78, Y:-11.18, Z:-0.74 [[ 9.99702779e-01 2.28025205e-02 8.62545907e-03 1.02777917e+02] [-2.27928357e-02 9.99739466e-01 -1.21945940e-03 -1.11820095e+01] [-8.65101859e-03 1.02249828e-03 9.99962056e-01 -7.39172523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.747552018 meters 0.0627200053187405 Centerline is valid? [True, True] Translation: X:102.81, Y:-11.20, Z:-0.74 [[ 9.99861841e-01 1.34498766e-02 9.76731864e-03 1.02805099e+02] [-1.34370173e-02 9.99908766e-01 -1.38099883e-03 -1.11991979e+01] [-9.78500179e-03 1.24956440e-03 9.99951345e-01 -7.38373919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.777552018 meters 0.06193278306947233 Centerline is valid? [True, True] Translation: X:102.84, Y:-11.20, Z:-0.74 [[ 9.99902671e-01 1.01881913e-02 9.53146635e-03 1.02835762e+02] [-1.01757985e-02 9.99947317e-01 -1.34779488e-03 -1.12022239e+01] [-9.54469580e-03 1.25067342e-03 9.99953666e-01 -7.38515965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.807552018 meters 0.057025047694309064 Centerline is valid? [True, True] Translation: X:102.87, Y:-11.20, Z:-0.74 [[ 9.99919005e-01 7.91237032e-03 9.96884760e-03 1.02866855e+02] [-7.89870184e-03 9.99967811e-01 -1.40974686e-03 -1.12002616e+01] [-9.97968115e-03 1.33089172e-03 9.99949316e-01 -7.38277376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.837552018 meters 0.07041655530242585 Centerline is valid? [True, True] Translation: X:102.90, Y:-11.22, Z:-0.74 [[ 9.99919199e-01 7.34955894e-03 1.03720416e-02 1.02895098e+02] [-7.33472369e-03 9.99972024e-01 -1.46762690e-03 -1.12215538e+01] [-1.03825378e-02 1.39143226e-03 9.99945132e-01 -7.37162880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.867552018 meters 0.05985593567624999 Centerline is valid? [True, True] Translation: X:102.93, Y:-11.21, Z:-0.74 [[ 9.99916053e-01 8.62963809e-03 9.66520179e-03 1.02928280e+02] [-8.61679775e-03 9.99961937e-01 -1.36936864e-03 -1.12118893e+01] [-9.67665106e-03 1.28597060e-03 9.99952353e-01 -7.38298482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.897552018 meters 0.059195351828663596 Centerline is valid? [True, True] Translation: X:102.96, Y:-11.21, Z:-0.74 [[ 9.99917710e-01 1.01115540e-02 7.89494349e-03 1.02959011e+02] [-1.01030294e-02 9.99948337e-01 -1.11889605e-03 -1.12148869e+01] [-7.90584939e-03 1.03904113e-03 9.99968208e-01 -7.39849888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.927552018 meters 0.059379846670590056 Centerline is valid? [True, True] Translation: X:102.99, Y:-11.22, Z:-0.74 [[ 9.99910523e-01 1.18213616e-02 6.26117189e-03 1.02989764e+02] [-1.18160326e-02 9.99929794e-01 -8.87439026e-04 -1.12193298e+01] [-6.27122305e-03 8.13377409e-04 9.99980005e-01 -7.41735725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.957552018 meters 0.053015402837066065 Centerline is valid? [True, True] Translation: X:103.02, Y:-11.21, Z:-0.74 [[ 9.99829474e-01 1.77717381e-02 5.01870192e-03 1.03021085e+02] [-1.77683874e-02 9.99841877e-01 -7.11452702e-04 -1.12145638e+01] [-5.03055210e-03 6.22157142e-04 9.99987153e-01 -7.43821688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98755201799999 meters 0.053759797796983984 Centerline is valid? [True, True] Translation: X:103.05, Y:-11.22, Z:-0.74 [[ 9.99785095e-01 2.01718744e-02 4.78104528e-03 1.03050067e+02] [-2.01688600e-02 9.99796358e-01 -6.77872444e-04 -1.12203284e+01] [-4.79374562e-03 5.81298533e-04 9.99988341e-01 -7.44483810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01755201799999 meters 0.05784304256820547 Centerline is valid? [True, True] Translation: X:103.08, Y:-11.23, Z:-0.74 [[ 9.99748926e-01 2.18807342e-02 4.82897111e-03 1.03078540e+02] [-2.18776793e-02 9.99760421e-01 -6.84547222e-04 -1.12302783e+01] [-4.84279259e-03 5.78728669e-04 9.99988106e-01 -7.44489456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04755201799999 meters 0.05533099431794048 Centerline is valid? [True, True] Translation: X:103.11, Y:-11.23, Z:-0.74 [[ 9.99677072e-01 2.47535689e-02 5.74570309e-03 1.03109324e+02] [-2.47492908e-02 9.99693358e-01 -8.14502126e-04 -1.12316047e+01] [-5.76410305e-03 6.72037024e-04 9.99983162e-01 -7.43930095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07755201799999 meters 0.05503417684427871 Centerline is valid? [True, True] Translation: X:103.14, Y:-11.24, Z:-0.74 [[ 9.99543289e-01 2.95048432e-02 6.53274703e-03 1.03138642e+02] [-2.94994129e-02 9.99564369e-01 -9.26075914e-04 -1.12378774e+01] [-6.55722489e-03 7.32940763e-04 9.99978233e-01 -7.42546215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10755201799999 meters 0.04868647672874337 Centerline is valid? [True, True] Translation: X:103.17, Y:-11.23, Z:-0.74 [[ 9.99405948e-01 3.35653131e-02 7.81802617e-03 1.03169776e+02] [-3.35576593e-02 9.99436169e-01 -1.10815688e-03 -1.12343700e+01] [-7.85081376e-03 8.45143917e-04 9.99968825e-01 -7.41404134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.137552018 meters 0.0455424022093517 Centerline is valid? [True, True] Translation: X:103.20, Y:-11.24, Z:-0.74 [[ 9.99273493e-01 3.70829230e-02 8.79444114e-03 1.03199968e+02] [-3.70733728e-02 9.99311769e-01 -1.24654112e-03 -1.12358874e+01] [-8.83461392e-03 9.19595902e-04 9.99960551e-01 -7.40371390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.167552018 meters 0.045295374338883115 Centerline is valid? [True, True] Translation: X:103.23, Y:-11.24, Z:-0.74 [[ 9.98964468e-01 4.43609900e-02 1.01041592e-02 1.03229700e+02] [-4.43487515e-02 9.99015083e-01 -1.43220415e-03 -1.12408052e+01] [-1.01577415e-02 9.82614207e-04 9.99947926e-01 -7.40292985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.197552018 meters 0.044321744045600166 Centerline is valid? [True, True] Translation: X:103.26, Y:-11.24, Z:-0.74 [[ 9.98818084e-01 4.75675209e-02 9.98829047e-03 1.03259718e+02] [-4.75557194e-02 9.98867583e-01 -1.41586764e-03 -1.12445060e+01] [-1.00443289e-02 9.39193870e-04 9.99949113e-01 -7.40970866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.227552018 meters 0.04357505700725937 Centerline is valid? [True, True] Translation: X:103.29, Y:-11.25, Z:-0.74 [[ 9.98643513e-01 5.10949006e-02 1.00222121e-02 1.03290130e+02] [-5.10831943e-02 9.98693391e-01 -1.42073752e-03 -1.12481141e+01] [-1.00817095e-02 9.06843698e-04 9.99948767e-01 -7.42014654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.257552018 meters 0.048980548145994326 Centerline is valid? [True, True] Translation: X:103.32, Y:-11.26, Z:-0.74 [[ 9.98283263e-01 5.76510986e-02 1.03381474e-02 1.03318312e+02] [-5.76389910e-02 9.98336416e-01 -1.46555373e-03 -1.12584372e+01] [-1.04054398e-02 8.67157379e-04 9.99945486e-01 -7.42666528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.287552018 meters 0.03901591713020113 Centerline is valid? [True, True] Translation: X:103.35, Y:-11.25, Z:-0.74 [[ 9.98020677e-01 6.20043576e-02 1.04970576e-02 1.03350541e+02] [-6.19921136e-02 9.98075530e-01 -1.48811889e-03 -1.12492964e+01] [-1.05691262e-02 8.34438631e-04 9.99943797e-01 -7.43149123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.317552018 meters 0.03889767865669666 Centerline is valid? [True, True] Translation: X:103.38, Y:-11.25, Z:-0.74 [[ 9.97840418e-01 6.49480807e-02 9.81056405e-03 1.03380238e+02] [-6.49375272e-02 9.97888362e-01 -1.39080467e-03 -1.12546936e+01] [-9.88017778e-03 7.50727342e-04 9.99950908e-01 -7.43690948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34755201799999 meters 0.037649168455541594 Centerline is valid? [True, True] Translation: X:103.41, Y:-11.26, Z:-0.74 [[ 9.97581736e-01 6.88859535e-02 9.24150237e-03 1.03410391e+02] [-6.88767566e-02 9.97624316e-01 -1.31015886e-03 -1.12570880e+01] [-9.30979902e-03 6.70465841e-04 9.99956438e-01 -7.44163257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37755201799999 meters 0.03727411847403595 Centerline is valid? [True, True] Translation: X:103.44, Y:-11.26, Z:-0.75 [[ 9.97282036e-01 7.34180928e-02 6.19060052e-03 1.03440117e+02] [-7.34140525e-02 9.97301161e-01 -8.77705152e-04 -1.12603271e+01] [-6.23833253e-03 4.20842509e-04 9.99980453e-01 -7.46739817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40755201799999 meters 0.03544509063202714 Centerline is valid? [True, True] Translation: X:103.47, Y:-11.26, Z:-0.75 [[ 9.97145833e-01 7.53046022e-02 5.42255635e-03 1.03471737e+02] [-7.53015308e-02 9.97160513e-01 -7.68662843e-04 -1.12613046e+01] [-5.46504292e-03 3.58142158e-04 9.99985002e-01 -7.48850643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43755201799999 meters 0.035073470166053645 Centerline is valid? [True, True] Translation: X:103.50, Y:-11.27, Z:-0.75 [[ 9.97099874e-01 7.59855366e-02 4.24740650e-03 1.03503869e+02] [-7.59836605e-02 9.97108881e-01 -6.01567658e-04 -1.12655368e+01] [-4.28083719e-03 2.77089542e-04 9.99990799e-01 -7.49908741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46755201799999 meters 0.035347647067345014 Centerline is valid? [True, True] Translation: X:103.54, Y:-11.27, Z:-0.75 [[ 9.97032834e-01 7.68571860e-02 4.30124941e-03 1.03536212e+02] [-7.68552637e-02 9.97042073e-01 -6.10671267e-04 -1.12696558e+01] [-4.33546110e-03 2.78285647e-04 9.99990563e-01 -7.51245438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.497552018 meters 0.0372599973058004 Centerline is valid? [True, True] Translation: X:103.57, Y:-11.28, Z:-0.75 [[ 9.97123457e-01 7.56545464e-02 4.60447016e-03 1.03566156e+02] [-7.56523263e-02 9.97134042e-01 -6.54690728e-04 -1.12761702e+01] [-4.64080427e-03 3.04468603e-04 9.99989185e-01 -7.51278411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.527552018 meters 0.03888861403258475 Centerline is valid? [True, True] Translation: X:103.60, Y:-11.28, Z:-0.75 [[ 9.97198302e-01 7.46742635e-02 4.39323550e-03 1.03596794e+02] [-7.46722333e-02 9.97207936e-01 -6.24568030e-04 -1.12834037e+01] [-4.42760846e-03 2.94765474e-04 9.99990155e-01 -7.51227096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.557552018 meters 0.0400840957780981 Centerline is valid? [True, True] Translation: X:103.63, Y:-11.29, Z:-0.75 [[ 9.97255737e-01 7.39042537e-02 4.37673684e-03 1.03628019e+02] [-7.39022303e-02 9.97265297e-01 -6.22464039e-04 -1.12899775e+01] [-4.41077051e-03 2.97305220e-04 9.99990228e-01 -7.51007204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.587552018 meters 0.04267949381296456 Centerline is valid? [True, True] Translation: X:103.66, Y:-11.30, Z:-0.75 [[ 9.97485029e-01 7.06944072e-02 5.09101435e-03 1.03656835e+02] [-7.06916173e-02 9.97497954e-01 -7.26101106e-04 -1.12972717e+01] [-5.12960768e-03 3.64382944e-04 9.99986777e-01 -7.49980794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.617552018 meters 0.04449594049051322 Centerline is valid? [True, True] Translation: X:103.69, Y:-11.30, Z:-0.75 [[ 9.97667767e-01 6.80290830e-02 5.57415500e-03 1.03687388e+02] [-6.80256972e-02 9.97683253e-01 -7.94979449e-04 -1.13043701e+01] [-5.61532281e-03 4.13939591e-04 9.99984148e-01 -7.50081674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.647552018 meters 0.04651848292799681 Centerline is valid? [True, True] Translation: X:103.72, Y:-11.31, Z:-0.75 [[ 9.97800766e-01 6.59733976e-02 6.41423088e-03 1.03717194e+02] [-6.59688713e-02 9.97821262e-01 -9.14922727e-04 -1.13114509e+01] [-6.46061652e-03 4.89771026e-04 9.99979010e-01 -7.49230275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.677552018 meters 0.03893452998904682 Centerline is valid? [True, True] Translation: X:103.75, Y:-11.31, Z:-0.75 [[ 9.98132222e-01 6.06077547e-02 7.66594122e-03 1.03748710e+02] [-6.06011308e-02 9.98161463e-01 -1.09363975e-03 -1.13069599e+01] [-7.71813016e-03 6.27032371e-04 9.99970018e-01 -7.47735390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.707552018 meters 0.038162801549773355 Centerline is valid? [True, True] Translation: X:103.78, Y:-11.31, Z:-0.75 [[ 9.98246962e-01 5.86547886e-02 7.91318466e-03 1.03779712e+02] [-5.86476672e-02 9.98278106e-01 -1.12921720e-03 -1.13101868e+01] [-7.96579299e-03 6.63147816e-04 9.99968053e-01 -7.47106794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73755201799999 meters 0.038403451174288394 Centerline is valid? [True, True] Translation: X:103.81, Y:-11.31, Z:-0.75 [[ 9.98306706e-01 5.75869506e-02 8.21368679e-03 1.03811863e+02] [-5.75792401e-02 9.98340251e-01 -1.17233624e-03 -1.13148097e+01] [-8.26756540e-03 6.97413283e-04 9.99965580e-01 -7.47087269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76755201799999 meters 0.039701501214352536 Centerline is valid? [True, True] Translation: X:103.84, Y:-11.32, Z:-0.75 [[ 9.98344251e-01 5.69169344e-02 8.31984213e-03 1.03843274e+02] [-5.69089926e-02 9.98378663e-01 -1.18839463e-03 -1.13211230e+01] [-8.37399264e-03 7.12953110e-04 9.99964683e-01 -7.46906768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79755201799999 meters 0.03907746047076914 Centerline is valid? [True, True] Translation: X:103.88, Y:-11.32, Z:-0.75 [[ 9.98371687e-01 5.65773982e-02 7.27817730e-03 1.03875365e+02] [-5.65712993e-02 9.98398019e-01 -1.04130602e-03 -1.13245910e+01] [-7.32543218e-03 6.27874503e-04 9.99972972e-01 -7.47478495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82755201799999 meters 0.04168899494819631 Centerline is valid? [True, True] Translation: X:103.91, Y:-11.33, Z:-0.75 [[ 9.98414992e-01 5.59852893e-02 5.75768200e-03 1.03905200e+02] [-5.59814542e-02 9.98431468e-01 -8.25228411e-04 -1.13323361e+01] [-5.79485154e-03 5.01597007e-04 9.99983084e-01 -7.48943209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85755201799999 meters 0.042325041373209235 Centerline is valid? [True, True] Translation: X:103.94, Y:-11.34, Z:-0.75 [[ 9.98429078e-01 5.58219158e-02 4.82586803e-03 1.03936792e+02] [-5.58192214e-02 9.98440653e-01 -6.91325220e-04 -1.13377049e+01] [-4.85693392e-03 4.20863006e-04 9.99988116e-01 -7.50040831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.887552018 meters 0.03829098500623459 Centerline is valid? [True, True] Translation: X:103.97, Y:-11.34, Z:-0.75 [[ 9.98360066e-01 5.70695937e-02 4.49893070e-03 1.03968743e+02] [-5.70672572e-02 9.98370127e-01 -6.46131119e-04 -1.13371561e+01] [-4.52847246e-03 3.88329871e-04 9.99989671e-01 -7.50974130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.917552018 meters 0.03861619468715813 Centerline is valid? [True, True] Translation: X:104.00, Y:-11.34, Z:-0.75 [[ 9.98315587e-01 5.78854848e-02 3.90627944e-03 1.04000240e+02] [-5.78837318e-02 9.98323174e-01 -5.60410439e-04 -1.13423846e+01] [-3.93216891e-03 3.33356445e-04 9.99992213e-01 -7.51570894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.947552018 meters 0.04056684386110553 Centerline is valid? [True, True] Translation: X:104.03, Y:-11.35, Z:-0.75 [[ 9.98245998e-01 5.90740339e-02 3.89686989e-03 1.04030127e+02] [-5.90722912e-02 9.98253550e-01 -5.60910787e-04 -1.13495985e+01] [-3.92319946e-03 3.29729915e-04 9.99992250e-01 -7.51863348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.977552018 meters 0.0380565460154585 Centerline is valid? [True, True] Translation: X:104.06, Y:-11.35, Z:-0.75 [[ 9.98172030e-01 6.02824480e-02 4.31561714e-03 1.04062093e+02] [-6.02803219e-02 9.98181295e-01 -6.21177545e-04 -1.13511563e+01] [-4.34521441e-03 3.59895261e-04 9.99990495e-01 -7.51536537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.007552018 meters 0.03743408400912513 Centerline is valid? [True, True] Translation: X:104.09, Y:-11.36, Z:-0.75 [[ 9.98005626e-01 6.29387134e-02 4.84661792e-03 1.04092627e+02] [-6.29360609e-02 9.98017317e-01 -6.98028169e-04 -1.13555201e+01] [-4.88094161e-03 3.91608999e-04 9.99988011e-01 -7.50950493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.037552018 meters 0.039551667929435756 Centerline is valid? [True, True] Translation: X:104.12, Y:-11.36, Z:-0.75 [[ 9.97922705e-01 6.42515967e-02 4.69125685e-03 1.04122547e+02] [-6.42491257e-02 9.97933662e-01 -6.75694552e-04 -1.13633107e+01] [-4.72497758e-03 3.72881783e-04 9.99988768e-01 -7.51022157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.067552018 meters 0.03608892816984716 Centerline is valid? [True, True] Translation: X:104.15, Y:-11.36, Z:-0.75 [[ 9.97803201e-01 6.60740952e-02 4.79439738e-03 1.04154635e+02] [-6.60715346e-02 9.97814650e-01 -6.90699224e-04 -1.13638875e+01] [-4.82955727e-03 3.72408704e-04 9.99988268e-01 -7.50662964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09755201799999 meters 0.03497928045239317 Centerline is valid? [True, True] Translation: X:104.18, Y:-11.37, Z:-0.75 [[ 9.97643970e-01 6.84074884e-02 5.18882884e-03 1.04184771e+02] [-6.84045182e-02 9.97657387e-01 -7.47966928e-04 -1.13670753e+01] [-5.22783996e-03 3.91265359e-04 9.99986258e-01 -7.50064920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12755201799999 meters 0.03414495136330109 Centerline is valid? [True, True] Translation: X:104.22, Y:-11.37, Z:-0.75 [[ 9.97538497e-01 6.99026955e-02 5.52815196e-03 1.04215836e+02] [-6.98993472e-02 9.97553731e-01 -7.96822379e-04 -1.13712881e+01] [-5.57032865e-03 4.08446784e-04 9.99984402e-01 -7.50135433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15755201799999 meters 0.03486693444739439 Centerline is valid? [True, True] Translation: X:104.25, Y:-11.38, Z:-0.75 [[ 9.97330308e-01 7.27475392e-02 6.32861197e-03 1.04245318e+02] [-7.27432060e-02 9.97350286e-01 -9.12516055e-04 -1.13765923e+01] [-6.37822626e-03 4.49716395e-04 9.99979558e-01 -7.50068582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18755201799999 meters 0.03520577957783617 Centerline is valid? [True, True] Translation: X:104.28, Y:-11.38, Z:-0.75 [[ 9.97277851e-01 7.34209815e-02 6.80052700e-03 1.04277436e+02] [-7.34159938e-02 9.97300923e-01 -9.80533359e-04 -1.13820153e+01] [-6.85416357e-03 4.78596754e-04 9.99976395e-01 -7.50503302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21755201799999 meters 0.03480695305498899 Centerline is valid? [True, True] Translation: X:104.31, Y:-11.39, Z:-0.75 [[ 9.97204719e-01 7.44330375e-02 6.51706160e-03 1.04308930e+02] [-7.44284728e-02 9.97225911e-01 -9.40505525e-04 -1.13867729e+01] [-6.56898737e-03 4.52821606e-04 9.99978321e-01 -7.50645804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.247552018 meters 0.035536845768730056 Centerline is valid? [True, True] Translation: X:104.34, Y:-11.39, Z:-0.75 [[ 9.97155196e-01 7.51032941e-02 6.40398127e-03 1.04339682e+02] [-7.50988893e-02 9.97175661e-01 -9.25883726e-04 -1.13921112e+01] [-6.45543118e-03 4.42317888e-04 9.99979066e-01 -7.50773464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.277552018 meters 0.03549861927489343 Centerline is valid? [True, True] Translation: X:104.37, Y:-11.40, Z:-0.75 [[ 9.97136908e-01 7.53523684e-02 6.32509767e-03 1.04372061e+02] [-7.53480668e-02 9.97156873e-01 -9.15981699e-04 -1.13964508e+01] [-6.37613601e-03 4.36775277e-04 9.99979577e-01 -7.51613586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.307552018 meters 0.03439529466644534 Centerline is valid? [True, True] Translation: X:104.40, Y:-11.40, Z:-0.75 [[ 9.97097662e-01 7.58760942e-02 6.25071585e-03 1.04403932e+02] [-7.58718914e-02 9.97117161e-01 -9.07112629e-04 -1.13994108e+01] [-6.30152421e-03 4.30226247e-04 9.99980053e-01 -7.51860062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.337552018 meters 0.035559690200457246 Centerline is valid? [True, True] Translation: X:104.44, Y:-11.41, Z:-0.75 [[ 9.97076285e-01 7.61482107e-02 6.35069543e-03 1.04435431e+02] [-7.61438668e-02 9.97096414e-01 -9.23346545e-04 -1.14054218e+01] [-6.40256683e-03 4.37080436e-04 9.99979408e-01 -7.51921537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.367552018 meters 0.03368025428735507 Centerline is valid? [True, True] Translation: X:104.47, Y:-11.41, Z:-0.75 [[ 9.97076094e-01 7.61499219e-02 6.36018822e-03 1.04468044e+02] [-7.61455534e-02 9.97096282e-01 -9.26559622e-04 -1.14065915e+01] [-6.41227747e-03 4.39550397e-04 9.99979345e-01 -7.52520162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.397552018 meters 0.04027040322518794 Centerline is valid? [True, True] Translation: X:104.50, Y:-11.42, Z:-0.75 [[ 9.97047716e-01 7.64949794e-02 6.66108474e-03 1.04498630e+02] [-7.64901827e-02 9.97069860e-01 -9.72285882e-04 -1.14187667e+01] [-6.71594182e-03 4.59907830e-04 9.99977342e-01 -7.53113087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.427552018 meters 0.03312811545156775 Centerline is valid? [True, True] Translation: X:104.53, Y:-11.41, Z:-0.75 [[ 9.97068516e-01 7.62414265e-02 6.45135228e-03 1.04531502e+02] [-7.62369100e-02 9.97089286e-01 -9.43480490e-04 -1.14138131e+01] [-6.50450654e-03 4.48883528e-04 9.99978745e-01 -7.53865118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.457552018 meters 0.03312811545156775 Centerline is valid? [True, True] Translation: X:104.56, Y:-11.42, Z:-0.75 [[ 9.97045086e-01 7.65472431e-02 6.45110174e-03 1.04563589e+02] [-7.65427220e-02 9.97065855e-01 -9.45190391e-04 -1.14186228e+01] [-6.50452498e-03 4.48612547e-04 9.99978745e-01 -7.54095234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48755201799999 meters 0.03291169186409148 Centerline is valid? [True, True] Translation: X:104.60, Y:-11.42, Z:-0.76 [[ 9.97016145e-01 7.69715881e-02 5.84649471e-03 1.04596004e+02] [-7.69678725e-02 9.97033204e-01 -8.58231829e-04 -1.14211027e+01] [-5.89520882e-03 4.05678731e-04 9.99982541e-01 -7.55048521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51755201799999 meters 0.03352807278178021 Centerline is valid? [True, True] Translation: X:104.63, Y:-11.43, Z:-0.76 [[ 9.97115099e-01 7.57618112e-02 4.65049515e-03 1.04627382e+02] [-7.57594398e-02 9.97125889e-01 -6.84227084e-04 -1.14270950e+01] [-4.68896740e-03 3.29934249e-04 9.99988952e-01 -7.56038588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54755201799999 meters 0.034489826868771695 Centerline is valid? [True, True] Translation: X:104.66, Y:-11.43, Z:-0.76 [[ 9.97132861e-01 7.55342214e-02 4.54311473e-03 1.04658801e+02] [-7.55319565e-02 9.97143158e-01 -6.68299822e-04 -1.14330190e+01] [-4.58061527e-03 3.23233369e-04 9.99989457e-01 -7.56188812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57755201799999 meters 0.03569300990398044 Centerline is valid? [True, True] Translation: X:104.69, Y:-11.44, Z:-0.76 [[ 9.97205646e-01 7.45932131e-02 4.09299237e-03 1.04689818e+02] [-7.45913629e-02 9.97214002e-01 -6.03071015e-04 -1.14394672e+01] [-4.12657431e-03 2.96083941e-04 9.99991442e-01 -7.56478533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60755201799999 meters 0.03538440632957465 Centerline is valid? [True, True] Translation: X:104.72, Y:-11.44, Z:-0.76 [[ 9.97217423e-01 7.43429602e-02 5.52595622e-03 1.04721800e+02] [-7.43395728e-02 9.97232652e-01 -8.16170986e-04 -1.14436689e+01] [-5.57134054e-03 4.03102703e-04 9.99984399e-01 -7.55555814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.637552018 meters 0.03500404865385571 Centerline is valid? [True, True] Translation: X:104.75, Y:-11.45, Z:-0.76 [[ 9.97171591e-01 7.48901965e-02 6.34641144e-03 1.04753228e+02] [-7.48857268e-02 9.97191679e-01 -9.39348714e-04 -1.14475720e+01] [-6.39893670e-03 4.61436219e-04 9.99979420e-01 -7.55298817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.667552018 meters 0.03725839409432598 Centerline is valid? [True, True] Translation: X:104.78, Y:-11.46, Z:-0.76 [[ 9.97140607e-01 7.52805264e-02 6.59190436e-03 1.04783516e+02] [-7.52757002e-02 9.97162280e-01 -9.77555958e-04 -1.14555759e+01] [-6.64678931e-03 4.78550525e-04 9.99977795e-01 -7.55527913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.697552018 meters 0.03360261486325078 Centerline is valid? [True, True] Translation: X:104.82, Y:-11.46, Z:-0.76 [[ 9.97033294e-01 7.66609404e-02 6.90726231e-03 1.04815685e+02] [-7.66556617e-02 9.97057098e-01 -1.02614793e-03 -1.14552588e+01] [-6.96560038e-03 4.93622887e-04 9.99975618e-01 -7.55383718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.727552018 meters 0.03357681713096079 Centerline is valid? [True, True] Translation: X:104.85, Y:-11.46, Z:-0.76 [[ 9.96885418e-01 7.85315221e-02 7.22932955e-03 1.04846831e+02] [-7.85257854e-02 9.96911504e-01 -1.07443443e-03 -1.14600392e+01] [-7.29137876e-03 5.03399235e-04 9.99973291e-01 -7.55115630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.757552018 meters 0.03306683136474456 Centerline is valid? [True, True] Translation: X:104.88, Y:-11.46, Z:-0.76 [[ 9.96532979e-01 8.28988595e-02 7.05691925e-03 1.04876007e+02] [-8.28935002e-02 9.96557859e-01 -1.04907642e-03 -1.14642044e+01] [-7.11959558e-03 4.60466511e-04 9.99974549e-01 -7.55593461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.787552018 meters 0.034505647255954945 Centerline is valid? [True, True] Translation: X:104.91, Y:-11.47, Z:-0.76 [[ 9.96306412e-01 8.56191183e-02 6.54986541e-03 1.04905485e+02] [-8.56145605e-02 9.96327857e-01 -9.73631177e-04 -1.14708762e+01] [-6.60917481e-03 4.09271136e-04 9.99978075e-01 -7.55861037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.817552018 meters 0.031019140723831457 Centerline is valid? [True, True] Translation: X:104.94, Y:-11.47, Z:-0.76 [[ 9.95973507e-01 8.94436676e-02 6.05008157e-03 1.04936641e+02] [-8.94398492e-02 9.95991820e-01 -8.99321000e-04 -1.14704659e+01] [-6.10627032e-03 3.54581507e-04 9.99981294e-01 -7.56609419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84755201799999 meters 0.029109108727041255 Centerline is valid? [True, True] Translation: X:104.97, Y:-11.47, Z:-0.76 [[ 9.95426193e-01 9.54138900e-02 4.78364137e-03 1.04965755e+02] [-9.54115709e-02 9.95437656e-01 -7.11203484e-04 -1.14736160e+01] [-4.82967545e-03 2.51535838e-04 9.99988305e-01 -7.56769158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87755201799999 meters 0.025725477225464363 Centerline is valid? [True, True] Translation: X:105.00, Y:-11.47, Z:-0.76 [[ 9.95098638e-01 9.87867938e-02 4.45768095e-03 1.04997494e+02] [-9.87848145e-02 9.95108598e-01 -6.62557172e-04 -1.14737767e+01] [-4.50132854e-03 2.18958553e-04 9.99989845e-01 -7.57285171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90755201799999 meters 0.02596294226890537 Centerline is valid? [True, True] Translation: X:105.03, Y:-11.48, Z:-0.76 [[ 9.94759818e-01 1.02157055e-01 4.10370932e-03 1.05027818e+02] [-1.02155406e-01 9.94768265e-01 -6.10084911e-04 -1.14783049e+01] [-4.14456428e-03 1.87671864e-04 9.99991394e-01 -7.58060273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93755201799999 meters 0.02427520112831062 Centerline is valid? [True, True] Translation: X:105.06, Y:-11.48, Z:-0.76 [[ 9.94418790e-01 1.05426477e-01 4.06537612e-03 1.05059097e+02] [-1.05424885e-01 9.94427085e-01 -6.04542668e-04 -1.14806071e+01] [-4.10645493e-03 1.72576778e-04 9.99991554e-01 -7.58327976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96755201799999 meters 0.024603234294661807 Centerline is valid? [True, True] Translation: X:105.09, Y:-11.49, Z:-0.76 [[ 9.93934623e-01 1.09863736e-01 4.89119006e-03 1.05088720e+02] [-1.09861484e-01 9.93946641e-01 -7.27668415e-04 -1.14860549e+01] [-4.94152630e-03 1.85901436e-04 9.99987773e-01 -7.58499117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.997552018 meters 0.021184359730364543 Centerline is valid? [True, True] Translation: X:105.12, Y:-11.49, Z:-0.76 [[ 9.93638878e-01 1.12479704e-01 5.48604513e-03 1.05121389e+02] [-1.12476912e-01 9.93654004e-01 -8.15761356e-04 -1.14864173e+01] [-5.54298731e-03 1.93518784e-04 9.99984619e-01 -7.58251128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.027552018 meters 0.020874936538328216 Centerline is valid? [True, True] Translation: X:105.15, Y:-11.49, Z:-0.76 [[ 9.93302390e-01 1.15383754e-01 6.07877583e-03 1.05152247e+02] [-1.15380370e-01 9.93320970e-01 -9.05760251e-04 -1.14903675e+01] [-6.14268553e-03 1.98322419e-04 9.99981114e-01 -7.57473292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.057552018 meters 0.022381816972796714 Centerline is valid? [True, True] Translation: X:105.18, Y:-11.50, Z:-0.76 [[ 9.93110463e-01 1.17016431e-01 6.22596284e-03 1.05182297e+02] [-1.17012902e-01 9.93129960e-01 -9.29279243e-04 -1.14976818e+01] [-6.29193116e-03 1.94358960e-04 9.99980187e-01 -7.57834498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.087552018 meters 0.019394865373859087 Centerline is valid? [True, True] Translation: X:105.21, Y:-11.50, Z:-0.76 [[ 9.92601181e-01 1.21268582e-01 6.06851305e-03 1.05214558e+02] [-1.21265299e-01 9.92619718e-01 -9.07386030e-04 -1.14974710e+01] [-6.13376313e-03 1.64772397e-04 9.99981175e-01 -7.57983799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.117552018 meters 0.018264514143594934 Centerline is valid? [True, True] Translation: X:105.25, Y:-11.50, Z:-0.76 [[ 9.92363120e-01 1.23186758e-01 6.36094178e-03 1.05246651e+02] [-1.23183189e-01 9.92383493e-01 -9.51354162e-04 -1.14998000e+01] [-6.42968786e-03 1.60527688e-04 9.99979316e-01 -7.58317956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.147552018 meters 0.01682814962680497 Centerline is valid? [True, True] Translation: X:105.28, Y:-11.50, Z:-0.76 [[ 9.92371695e-01 1.23144672e-01 5.81450076e-03 1.05279516e+02] [-1.23141681e-01 9.92388718e-01 -8.70926395e-04 -1.15028055e+01] [-5.87749490e-03 1.48275305e-04 9.99982716e-01 -7.59256336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.177552018 meters 0.02115759695704256 Centerline is valid? [True, True] Translation: X:105.31, Y:-11.51, Z:-0.76 [[ 9.92310902e-01 1.23633440e-01 5.81780253e-03 1.05309915e+02] [-1.23630444e-01 9.92327945e-01 -8.73308880e-04 -1.15141124e+01] [-5.88113821e-03 1.47336416e-04 9.99982695e-01 -7.59507142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.207552018 meters 0.01746587690650352 Centerline is valid? [True, True] Translation: X:105.34, Y:-11.51, Z:-0.76 [[ 9.92444585e-01 1.22569159e-01 5.52693468e-03 1.05342178e+02] [-1.22566429e-01 9.92459964e-01 -8.31214663e-04 -1.15128057e+01] [-5.58714268e-03 1.47517841e-04 9.99984381e-01 -7.60213172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23755201799999 meters 0.018132110673327307 Centerline is valid? [True, True] Translation: X:105.37, Y:-11.52, Z:-0.76 [[ 9.92448868e-01 1.22540452e-01 5.39276805e-03 1.05373787e+02] [-1.22537845e-01 9.92463509e-01 -8.12463075e-04 -1.15180906e+01] [-5.45168510e-03 1.45509883e-04 9.99985129e-01 -7.60482675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26755201799999 meters 0.01959623044950742 Centerline is valid? [True, True] Translation: X:105.41, Y:-11.52, Z:-0.76 [[ 9.92825665e-01 1.19475766e-01 4.76858600e-03 1.05405219e+02] [-1.19473685e-01 9.92837107e-01 -7.20083669e-04 -1.15236029e+01] [-4.82046167e-03 1.45197008e-04 9.99988371e-01 -7.61723059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29755201799999 meters 0.019347942998189042 Centerline is valid? [True, True] Translation: X:105.44, Y:-11.53, Z:-0.76 [[ 9.92950608e-01 1.18433145e-01 4.76242535e-03 1.05437457e+02] [-1.18431057e-01 9.92962017e-01 -7.19078789e-04 -1.15270400e+01] [-4.81407025e-03 1.49990651e-04 9.99988401e-01 -7.62181678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32755201799999 meters 0.020288807879095386 Centerline is valid? [True, True] Translation: X:105.47, Y:-11.53, Z:-0.76 [[ 9.93083992e-01 1.17312816e-01 4.67837915e-03 1.05468165e+02] [-1.17310782e-01 9.93095000e-01 -7.07703476e-04 -1.15321153e+01] [-4.72909763e-03 1.53984676e-04 9.99988806e-01 -7.62238344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35755201799999 meters 0.02100760300294981 Centerline is valid? [True, True] Translation: X:105.50, Y:-11.54, Z:-0.76 [[ 9.93204773e-01 1.16292962e-01 4.49728783e-03 1.05500225e+02] [-1.16291068e-01 9.93214943e-01 -6.81346912e-04 -1.15371008e+01] [-4.54600933e-03 1.53722602e-04 9.99989655e-01 -7.62409909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.387552018 meters 0.02115787044975903 Centerline is valid? [True, True] Translation: X:105.53, Y:-11.54, Z:-0.76 [[ 9.93252748e-01 1.15884367e-01 4.44888585e-03 1.05531841e+02] [-1.15882504e-01 9.93262699e-01 -6.75199219e-04 -1.15414115e+01] [-4.49715740e-03 1.55095448e-04 9.99989876e-01 -7.62424642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.417552018 meters 0.02315712863320998 Centerline is valid? [True, True] Translation: X:105.56, Y:-11.55, Z:-0.76 [[ 9.93728862e-01 1.11783175e-01 2.73327548e-03 1.05560654e+02] [-1.11782454e-01 9.93732615e-01 -4.15605838e-04 -1.15502920e+01] [-2.76260273e-03 1.07467275e-04 9.99996178e-01 -7.62704503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.447552018 meters 0.023427617528129163 Centerline is valid? [True, True] Translation: X:105.59, Y:-11.55, Z:-0.76 [[ 9.93871046e-01 1.10528537e-01 1.94610412e-03 1.05592738e+02] [-1.10528171e-01 9.93872948e-01 -2.94997805e-04 -1.15546354e+01] [-1.96678591e-03 7.80904496e-05 9.99998063e-01 -7.63753278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.477552018 meters 0.02412189229622071 Centerline is valid? [True, True] Translation: X:105.62, Y:-11.56, Z:-0.76 [[ 9.93941229e-01 1.09903549e-01 1.42945399e-03 1.05624486e+02] [-1.09903351e-01 9.93942255e-01 -2.16575907e-04 -1.15596646e+01] [-1.44459719e-03 5.81619392e-05 9.99998955e-01 -7.64823075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.507552018 meters 0.02488486459324186 Centerline is valid? [True, True] Translation: X:105.66, Y:-11.56, Z:-0.77 [[ 9.93964891e-01 1.09690292e-01 1.35473995e-03 1.05655181e+02] [-1.09690114e-01 9.93965813e-01 -2.05643862e-04 -1.15644561e+01] [-1.36912233e-03 5.58011996e-05 9.99999061e-01 -7.66445562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.537552018 meters 0.02468179942115824 Centerline is valid? [True, True] Translation: X:105.69, Y:-11.57, Z:-0.77 [[ 9.93830460e-01 1.10908064e-01 6.45918666e-04 1.05687014e+02] [-1.10908025e-01 9.93830670e-01 -9.71865157e-05 -1.15675508e+01] [-6.52712549e-04 2.49493564e-05 9.99999787e-01 -7.67284231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.567552018 meters 0.024566921670379837 Centerline is valid? [True, True] Translation: X:105.72, Y:-11.57, Z:-0.77 [[ 9.93607528e-01 1.12888750e-01 4.58854459e-04 1.05717521e+02] [-1.12888730e-01 9.93607634e-01 -6.87603113e-05 -1.15722268e+01] [-4.63683559e-04 1.65212657e-05 9.99999892e-01 -7.67021237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59755201799999 meters 0.023763610958046934 Centerline is valid? [True, True] Translation: X:105.75, Y:-11.58, Z:-0.77 [[ 9.93313417e-01 1.15448553e-01 2.96013933e-04 1.05749200e+02] [-1.15448544e-01 9.93313461e-01 -4.50876444e-05 -1.15760725e+01] [-2.99239928e-04 1.06117844e-05 9.99999955e-01 -7.66584187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62755201799999 meters 0.02259402585565355 Centerline is valid? [True, True] Translation: X:105.78, Y:-11.58, Z:-0.77 [[ 9.92919127e-01 1.18792276e-01 3.96638584e-05 1.05780411e+02] [-1.18792276e-01 9.92919128e-01 -5.83255371e-06 -1.15793112e+01] [-4.00758660e-05 1.07949412e-06 9.99999999e-01 -7.65973231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65755201799999 meters 0.019632922325700932 Centerline is valid? [True, True] Translation: X:105.81, Y:-11.58, Z:-0.77 [[ 9.91962219e-01 1.26519411e-01 -1.94797659e-03 1.05812027e+02] [-1.26519066e-01 9.91964130e-01 2.99546921e-04 -1.15780279e+01] [ 1.97022140e-03 -5.06830495e-05 9.99998058e-01 -7.67012190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68755201799999 meters 0.01826149295538145 Centerline is valid? [True, True] Translation: X:105.84, Y:-11.58, Z:-0.77 [[ 9.91140792e-01 1.32806302e-01 -1.55469669e-03 1.05842998e+02] [-1.32806090e-01 9.91142011e-01 2.39127761e-04 -1.15771681e+01] [ 1.57268288e-03 -3.05360900e-05 9.99998763e-01 -7.67585911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71755201799999 meters 0.016343860447251026 Centerline is valid? [True, True] Translation: X:105.88, Y:-11.58, Z:-0.77 [[ 9.90370927e-01 1.38422540e-01 -2.15095696e-03 1.05875622e+02] [-1.38422143e-01 9.90373263e-01 3.32975071e-04 -1.15769557e+01] [ 2.17634151e-03 -3.20287581e-05 9.99997631e-01 -7.68243498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.747552018 meters 0.014828093019311036 Centerline is valid? [True, True] Translation: X:105.91, Y:-11.58, Z:-0.77 [[ 9.89693219e-01 1.43176531e-01 -2.79527172e-03 1.05907980e+02] [-1.43175879e-01 9.89697166e-01 4.33063109e-04 -1.15773090e+01] [ 2.82847697e-03 -2.83841364e-05 9.99995999e-01 -7.67408256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.777552018 meters 0.014477413290924833 Centerline is valid? [True, True] Translation: X:105.94, Y:-11.58, Z:-0.77 [[ 9.88905905e-01 1.48501472e-01 -3.52490194e-03 1.05939485e+02] [-1.48500467e-01 9.88912187e-01 5.46546489e-04 -1.15806725e+01] [ 3.56698145e-03 -1.70334655e-05 9.99993638e-01 -7.67645830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.807552018 meters 0.01447620927990351 Centerline is valid? [True, True] Translation: X:105.97, Y:-11.59, Z:-0.77 [[ 9.88611633e-01 1.50449219e-01 -3.47456294e-03 1.05972296e+02] [-1.50448250e-01 9.88617738e-01 5.40172736e-04 -1.15852297e+01] [ 3.51628312e-03 -1.12791374e-05 9.99993818e-01 -7.67348233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.837552018 meters 0.014576540099833071 Centerline is valid? [True, True] Translation: X:106.00, Y:-11.59, Z:-0.77 [[ 9.88090878e-01 1.53851375e-01 -2.48423012e-03 1.06003264e+02] [-1.53850891e-01 9.88094001e-01 3.86103354e-04 -1.15881648e+01] [ 2.51405541e-03 6.95813894e-07 9.99996840e-01 -7.66821881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.867552018 meters 0.014771734521046338 Centerline is valid? [True, True] Translation: X:106.04, Y:-11.59, Z:-0.77 [[ 9.87696471e-01 1.56371794e-01 -1.88230343e-03 1.06036081e+02] [-1.56371517e-01 9.87698265e-01 2.94465394e-04 -1.15919501e+01] [ 1.90519391e-03 3.49621189e-06 9.99998185e-01 -7.66707455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.897552018 meters 0.015416114468307911 Centerline is valid? [True, True] Translation: X:106.07, Y:-11.60, Z:-0.77 [[ 9.87082338e-01 1.60206204e-01 -1.55921889e-03 1.06068051e+02] [-1.60206018e-01 9.87083569e-01 2.44451763e-04 -1.15956700e+01] [ 1.57824203e-03 8.50223077e-06 9.99998755e-01 -7.66339816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.927552018 meters 0.015531060463350706 Centerline is valid? [True, True] Translation: X:106.10, Y:-11.60, Z:-0.77 [[ 9.87111625e-01 1.60022439e-01 -1.86000902e-03 1.06100510e+02] [-1.60022172e-01 9.87113377e-01 2.92108423e-04 -1.16039094e+01] [ 1.88278369e-03 9.29906348e-06 9.99998228e-01 -7.66984777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.957552018 meters 0.015653446255709188 Centerline is valid? [True, True] Translation: X:106.13, Y:-11.61, Z:-0.77 [[ 9.87146106e-01 1.59804439e-01 -2.25974437e-03 1.06131500e+02] [-1.59804046e-01 9.87148692e-01 3.54917912e-04 -1.16115457e+01] [ 2.28742116e-03 1.07604583e-05 9.99997384e-01 -7.67116962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98755201799999 meters 0.016079483375001282 Centerline is valid? [True, True] Translation: X:106.16, Y:-11.62, Z:-0.77 [[ 9.86940100e-01 1.61077489e-01 -1.81145208e-03 1.06163642e+02] [-1.61077236e-01 9.86941762e-01 2.85585624e-04 -1.16165800e+01] [ 1.83379913e-03 9.92779020e-06 9.99998319e-01 -7.68126234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01755201799999 meters 0.016076103153610508 Centerline is valid? [True, True] Translation: X:106.20, Y:-11.62, Z:-0.77 [[ 9.86980664e-01 1.60823268e-01 -2.24622577e-03 1.06196330e+02] [-1.60822878e-01 9.86983220e-01 3.54301437e-04 -1.16229869e+01] [ 2.27396706e-03 1.15558255e-05 9.99997414e-01 -7.69097300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04755201799999 meters 0.016150952710436012 Centerline is valid? [True, True] Translation: X:106.23, Y:-11.63, Z:-0.77 [[ 9.86972453e-01 1.60864385e-01 -2.83294323e-03 1.06229152e+02] [-1.60863765e-01 9.86976519e-01 4.47132961e-04 -1.16287277e+01] [ 2.86797621e-03 1.44099974e-05 9.99995887e-01 -7.70394145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07755201799999 meters 0.01633150785908207 Centerline is valid? [True, True] Translation: X:106.26, Y:-11.64, Z:-0.77 [[ 9.86974914e-01 1.60848806e-01 -2.86011576e-03 1.06261897e+02] [-1.60848171e-01 9.86979058e-01 4.52257649e-04 -1.16350613e+01] [ 2.89561946e-03 1.36774346e-05 9.99995808e-01 -7.71253861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10755201799999 meters 0.01638196152567353 Centerline is valid? [True, True] Translation: X:106.29, Y:-11.64, Z:-0.77 [[ 9.87060589e-01 1.60312930e-01 -3.34026835e-03 1.06294017e+02] [-1.60312058e-01 9.87066241e-01 5.28835975e-04 -1.16416869e+01] [ 3.38184537e-03 1.34921441e-05 9.99994281e-01 -7.71214463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.137552018 meters 0.017739225798732404 Centerline is valid? [True, True] Translation: X:106.33, Y:-11.65, Z:-0.77 [[ 9.87348589e-01 1.58524291e-01 -3.57964122e-03 1.06325751e+02] [-1.58523275e-01 9.87355077e-01 5.67748553e-04 -1.16512577e+01] [ 3.62437887e-03 6.89071664e-06 9.99993432e-01 -7.71339108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.167552018 meters 0.016480169742599506 Centerline is valid? [True, True] Translation: X:106.36, Y:-11.66, Z:-0.77 [[ 9.87424649e-01 1.58039286e-01 -4.01817758e-03 1.06357045e+02] [-1.58037998e-01 9.87432825e-01 6.38045910e-04 -1.16563494e+01] [ 4.06851676e-03 5.00248265e-06 9.99991724e-01 -7.71624007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.197552018 meters 0.016548013340706685 Centerline is valid? [True, True] Translation: X:106.39, Y:-11.66, Z:-0.77 [[ 9.87694234e-01 1.56344927e-01 -4.04517156e-03 1.06388842e+02] [-1.56343602e-01 9.87702518e-01 6.43644703e-04 -1.16628985e+01] [ 4.09605672e-03 -3.28747043e-06 9.99991611e-01 -7.72031522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.227552018 meters 0.01676881423944055 Centerline is valid? [True, True] Translation: X:106.42, Y:-11.67, Z:-0.77 [[ 9.88125423e-01 1.53591860e-01 -4.20585885e-03 1.06420234e+02] [-1.53590398e-01 9.88134374e-01 6.70166707e-04 -1.16701722e+01] [ 4.25888585e-03 -1.62292244e-05 9.99990931e-01 -7.74239321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.257552018 meters 0.01730605773850663 Centerline is valid? [True, True] Translation: X:106.45, Y:-11.68, Z:-0.77 [[ 9.88927645e-01 1.48363542e-01 -3.22057215e-03 1.06451700e+02] [-1.48362654e-01 9.88932889e-01 5.14395079e-04 -1.16785990e+01] [ 3.26124719e-03 -3.08868833e-05 9.99994682e-01 -7.72812401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.287552018 meters 0.01796126499639536 Centerline is valid? [True, True] Translation: X:106.48, Y:-11.69, Z:-0.77 [[ 9.89511631e-01 1.44424250e-01 -2.89287337e-03 1.06482510e+02] [-1.44423514e-01 9.89515859e-01 4.63026560e-04 -1.16875775e+01] [ 2.92941634e-03 -4.03712293e-05 9.99995708e-01 -7.72155592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.317552018 meters 0.01875721493508832 Centerline is valid? [True, True] Translation: X:106.51, Y:-11.70, Z:-0.77 [[ 9.90062017e-01 1.40618955e-01 -1.87385834e-03 1.06513199e+02] [-1.40618637e-01 9.90063790e-01 3.00940950e-04 -1.16958523e+01] [ 1.89755729e-03 -3.44507976e-05 9.99998199e-01 -7.70046893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34755201799999 meters 0.01875721493508832 Centerline is valid? [True, True] Translation: X:106.55, Y:-11.70, Z:-0.77 [[ 9.90019432e-01 1.40918467e-01 -1.87370407e-03 1.06545159e+02] [-1.40918148e-01 9.90021204e-01 3.01904592e-04 -1.17010762e+01] [ 1.89755069e-03 -3.48525044e-05 9.99998199e-01 -7.70276444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37755201799999 meters 0.020187345303569387 Centerline is valid? [True, True] Translation: X:106.58, Y:-11.71, Z:-0.77 [[ 9.90588437e-01 1.36869958e-01 -1.07857717e-03 1.06575612e+02] [-1.36869850e-01 9.90589024e-01 1.73643917e-04 -1.17097997e+01] [ 1.09219335e-03 -2.43849607e-05 9.99999403e-01 -7.69034153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40755201799999 meters 0.023026467143667 Centerline is valid? [True, True] Translation: X:106.61, Y:-11.72, Z:-0.77 [[ 9.91950674e-01 1.26624850e-01 8.39687446e-05 1.06605081e+02] [-1.26624850e-01 9.91950678e-01 -1.33390984e-05 -1.17189553e+01] [-8.49819145e-05 2.59919800e-06 9.99999996e-01 -7.68868244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.43755201799999 meters 0.026419460906246472 Centerline is valid? [True, True] Translation: X:106.63, Y:-11.73, Z:-0.77 [[ 9.92785619e-01 1.19902716e-01 2.31714662e-04 1.06634240e+02] [-1.19902710e-01 9.92785646e-01 -3.69782989e-05 -1.17289624e+01] [-2.34476789e-04 8.92830739e-06 9.99999972e-01 -7.69726361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46755201799999 meters 0.030867915463567264 Centerline is valid? [True, True] Translation: X:106.66, Y:-11.74, Z:-0.77 [[ 9.93542768e-01 1.13453225e-01 1.06509001e-03 1.06662339e+02] [-1.13453107e-01 9.93543337e-01 -1.70594854e-04 -1.17396569e+01] [-1.07756762e-03 4.86555131e-05 9.99999418e-01 -7.70067609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.497552018 meters 0.037050677007146385 Centerline is valid? [True, True] Translation: X:106.69, Y:-11.75, Z:-0.77 [[ 9.94880289e-01 1.01032426e-01 2.37905284e-03 1.06691155e+02] [-1.01031803e-01 9.94883124e-01 -3.80819697e-04 -1.17525038e+01] [-2.40535466e-03 1.38510013e-04 9.99997098e-01 -7.68471341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.527552018 meters 0.03484727228066069 Centerline is valid? [True, True] Translation: X:106.72, Y:-11.75, Z:-0.77 [[ 9.95593205e-01 9.37444317e-02 2.48032322e-03 1.06722688e+02] [-9.37437320e-02 9.95596281e-01 -3.97124084e-04 -1.17545378e+01] [-2.50662874e-03 1.62859284e-04 9.99996845e-01 -7.67369769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.557552018 meters 0.03617561702900456 Centerline is valid? [True, True] Translation: X:106.75, Y:-11.76, Z:-0.77 [[ 9.96121393e-01 8.79495933e-02 2.65321462e-03 1.06753250e+02] [-8.79487719e-02 9.96124908e-01 -4.24930675e-04 -1.17595949e+01] [-2.68030565e-03 1.89935568e-04 9.99996390e-01 -7.67387103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.587552018 meters 0.04168269255911896 Centerline is valid? [True, True] Translation: X:106.78, Y:-11.77, Z:-0.77 [[ 9.96651091e-01 8.17264588e-02 2.71836095e-03 1.06781143e+02] [-8.17255728e-02 9.96654775e-01 -4.35615439e-04 -1.17715898e+01] [-2.74486873e-03 2.11996997e-04 9.99996210e-01 -7.68891445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.617552018 meters 0.04651754205737224 Centerline is valid? [True, True] Translation: X:106.81, Y:-11.78, Z:-0.77 [[ 9.97779648e-01 6.65713648e-02 2.00662980e-03 1.06810563e+02] [-6.65708519e-02 9.97781649e-01 -3.21404471e-04 -1.17825791e+01] [-2.02357473e-03 1.87107785e-04 9.99997935e-01 -7.68857864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.647552018 meters 0.04894302219058777 Centerline is valid? [True, True] Translation: X:106.84, Y:-11.79, Z:-0.77 [[ 9.98160657e-01 6.05134957e-02 3.66341871e-03 1.06840286e+02] [-6.05117447e-02 9.98167313e-01 -5.87028685e-04 -1.17895401e+01] [-3.69222797e-03 3.64269080e-04 9.99993117e-01 -7.69091783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.677552018 meters 0.04931458166561968 Centerline is valid? [True, True] Translation: X:106.87, Y:-11.80, Z:-0.77 [[ 9.98507619e-01 5.44184007e-02 4.60133718e-03 1.06870703e+02] [-5.44155740e-02 9.98518103e-01 -7.37407677e-04 -1.17961785e+01] [-4.63464702e-03 4.85922781e-04 9.99989142e-01 -7.67801306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.707552018 meters 0.05407281770726847 Centerline is valid? [True, True] Translation: X:106.90, Y:-11.81, Z:-0.77 [[ 9.98845215e-01 4.76072121e-02 6.46457442e-03 1.06899404e+02] [-4.76014908e-02 9.98865869e-01 -1.03611444e-03 -1.18069249e+01] [-6.50656926e-03 7.27194568e-04 9.99978568e-01 -7.65152091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73755201799999 meters 0.05379714710646319 Centerline is valid? [True, True] Translation: X:106.93, Y:-11.81, Z:-0.77 [[ 9.98924407e-01 4.58955800e-02 6.60496434e-03 1.06930279e+02] [-4.58895704e-02 9.98945958e-01 -1.05863388e-03 -1.18105378e+01] [-6.64658905e-03 7.54396243e-04 9.99977627e-01 -7.65530755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76755201799999 meters 0.051741757482587906 Centerline is valid? [True, True] Translation: X:106.96, Y:-11.81, Z:-0.77 [[ 9.99011507e-01 4.41036785e-02 5.55646304e-03 1.06961628e+02] [-4.40993978e-02 9.99026751e-01 -8.90638155e-04 -1.18130325e+01] [-5.59033564e-03 6.44721091e-04 9.99984166e-01 -7.66171133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79755201799999 meters 0.05582228013851572 Centerline is valid? [True, True] Translation: X:106.99, Y:-11.82, Z:-0.77 [[ 9.99018459e-01 4.39775949e-02 5.29995441e-03 1.06991946e+02] [-4.39736995e-02 9.99032328e-01 -8.49362358e-04 -1.18227427e+01] [-5.33217870e-03 6.15470072e-04 9.99985594e-01 -7.67239348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82755201799999 meters 0.05845796138483204 Centerline is valid? [True, True] Translation: X:107.02, Y:-11.83, Z:-0.77 [[ 9.99056296e-01 4.32233116e-02 4.27339006e-03 1.07022141e+02] [-4.32207690e-02 9.99065311e-01 -6.85592533e-04 -1.18301441e+01] [-4.29902935e-03 5.00246332e-04 9.99990634e-01 -7.69267701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85755201799999 meters 0.05686964998500258 Centerline is valid? [True, True] Translation: X:107.05, Y:-11.83, Z:-0.77 [[ 9.99090953e-01 4.24496614e-02 3.91076176e-03 1.07053449e+02] [-4.24475230e-02 9.99098500e-01 -6.28215355e-04 -1.18331301e+01] [-3.93390374e-03 4.61642128e-04 9.99992156e-01 -7.70397043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.887552018 meters 0.057610423166885846 Centerline is valid? [True, True] Translation: X:107.08, Y:-11.84, Z:-0.77 [[ 9.99114686e-01 4.18655865e-02 4.13727228e-03 1.07084342e+02] [-4.18631837e-02 9.99123131e-01 -6.65712227e-04 -1.18392477e+01] [-4.16151487e-03 4.91923473e-04 9.99991220e-01 -7.70610471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.917552018 meters 0.05864390424902383 Centerline is valid? [True, True] Translation: X:107.12, Y:-11.85, Z:-0.77 [[ 9.99119507e-01 4.17299935e-02 4.33812028e-03 1.07115226e+02] [-4.17273455e-02 9.99128790e-01 -6.99170929e-04 -1.18460464e+01] [-4.36351727e-03 5.17537071e-04 9.99990346e-01 -7.70571359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.947552018 meters 0.05332629357130472 Centerline is valid? [True, True] Translation: X:107.15, Y:-11.84, Z:-0.77 [[ 9.99048943e-01 4.33264619e-02 4.90172847e-03 1.07146831e+02] [-4.33230908e-02 9.99060800e-01 -7.91874118e-04 -1.18437063e+01] [-4.93143387e-03 5.78762973e-04 9.99987673e-01 -7.70346499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.977552018 meters 0.05422826944853733 Centerline is valid? [True, True] Translation: X:107.18, Y:-11.85, Z:-0.77 [[ 9.99006720e-01 4.43358154e-02 4.46186010e-03 1.07177793e+02] [-4.43330323e-02 9.99016548e-01 -7.20791220e-04 -1.18514043e+01] [-4.48942894e-03 5.22267485e-04 9.99989786e-01 -7.70805102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.007552018 meters 0.054853814478280104 Centerline is valid? [True, True] Translation: X:107.21, Y:-11.86, Z:-0.77 [[ 9.98910402e-01 4.65138399e-02 3.80423139e-03 1.07207476e+02] [-4.65118310e-02 9.98917550e-01 -6.14899736e-04 -1.18566792e+01] [-3.82871485e-03 4.37287975e-04 9.99992575e-01 -7.70430293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.037552018 meters 0.05439841972235995 Centerline is valid? [True, True] Translation: X:107.24, Y:-11.86, Z:-0.77 [[ 9.98717989e-01 5.04845375e-02 3.70007182e-03 1.07237391e+02] [-5.04826640e-02 9.98724758e-01 -5.98058278e-04 -1.18619271e+01] [-3.72554603e-03 4.10502078e-04 9.99992976e-01 -7.71705999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.067552018 meters 0.05425658874625065 Centerline is valid? [True, True] Translation: X:107.27, Y:-11.87, Z:-0.77 [[ 9.98675732e-01 5.13183622e-02 3.63419685e-03 1.07268403e+02] [-5.13165635e-02 9.98682265e-01 -5.86526067e-04 -1.18686099e+01] [-3.65950749e-03 3.99254856e-04 9.99993224e-01 -7.71762727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09755201799999 meters 0.05421833794423128 Centerline is valid? [True, True] Translation: X:107.30, Y:-11.87, Z:-0.77 [[ 9.98563138e-01 5.33809252e-02 4.70486269e-03 1.07299221e+02] [-5.33779222e-02 9.98574092e-01 -7.61641321e-04 -1.18729424e+01] [-4.73881111e-03 5.09411153e-04 9.99988642e-01 -7.71194274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12755201799999 meters 0.053759182774042645 Centerline is valid? [True, True] Translation: X:107.33, Y:-11.88, Z:-0.77 [[ 9.98522656e-01 5.40204772e-02 5.85614126e-03 1.07331481e+02] [-5.40158352e-02 9.98539629e-01 -9.48071763e-04 -1.18777753e+01] [-5.89880441e-03 6.30346773e-04 9.99982403e-01 -7.70974436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15755201799999 meters 0.0553747932557169 Centerline is valid? [True, True] Translation: X:107.36, Y:-11.89, Z:-0.77 [[ 9.98531629e-01 5.37282626e-02 6.91811039e-03 1.07361705e+02] [-5.37217721e-02 9.98555314e-01 -1.12075941e-03 -1.18868833e+01] [-6.96833235e-03 7.47460569e-04 9.99975442e-01 -7.70361998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18755201799999 meters 0.05593686629743536 Centerline is valid? [True, True] Translation: X:107.39, Y:-11.89, Z:-0.77 [[ 9.98494695e-01 5.42239763e-02 8.25250308e-03 1.07393026e+02] [-5.42147450e-02 9.98528402e-01 -1.33840817e-03 -1.18936860e+01] [-8.31293253e-03 8.88986113e-04 9.99965052e-01 -7.68776403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21755201799999 meters 0.052704460786976985 Centerline is valid? [True, True] Translation: X:107.42, Y:-11.90, Z:-0.77 [[ 9.98427403e-01 5.52626535e-02 9.42129182e-03 1.07424722e+02] [-5.52506474e-02 9.98471344e-01 -1.53010190e-03 -1.18951923e+01] [-9.49144739e-03 1.00716320e-03 9.99954448e-01 -7.67231860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.247552018 meters 0.0500126107591395 Centerline is valid? [True, True] Translation: X:107.46, Y:-11.90, Z:-0.77 [[ 9.98341893e-01 5.66715493e-02 1.00895849e-02 1.07456766e+02] [-5.66578458e-02 9.98392309e-01 -1.63909810e-03 -1.18967290e+01] [-1.01662542e-02 1.06472615e-03 9.99947755e-01 -7.66869715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.277552018 meters 0.05831897241168383 Centerline is valid? [True, True] Translation: X:107.48, Y:-11.91, Z:-0.77 [[ 9.98262013e-01 5.81639121e-02 9.48227122e-03 1.07484918e+02] [-5.81518713e-02 9.98306559e-01 -1.54085993e-03 -1.19126277e+01] [-9.55583599e-03 9.86770116e-04 9.99953855e-01 -7.66862435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.307552018 meters 0.04826267367156975 Centerline is valid? [True, True] Translation: X:107.52, Y:-11.90, Z:-0.77 [[ 9.98200856e-01 5.92802347e-02 8.99476693e-03 1.07518135e+02] [-5.92694432e-02 9.98240951e-01 -1.46184500e-03 -1.19046780e+01] [-9.06560320e-03 9.26100103e-04 9.99958478e-01 -7.68282447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.337552018 meters 0.051170088896845524 Centerline is valid? [True, True] Translation: X:107.55, Y:-11.91, Z:-0.77 [[ 9.98115642e-01 6.09937773e-02 6.70261883e-03 1.07547487e+02] [-6.09878220e-02 9.98137916e-01 -1.08952090e-03 -1.19117620e+01] [-6.75659199e-03 6.78689725e-04 9.99976944e-01 -7.71256721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.367552018 meters 0.04949490066860528 Centerline is valid? [True, True] Translation: X:107.58, Y:-11.91, Z:-0.77 [[ 9.98056734e-01 6.20085770e-02 6.13940458e-03 1.07579892e+02] [-6.20036008e-02 9.98075427e-01 -9.97750082e-04 -1.19142500e+01] [-6.18945791e-03 6.15145997e-04 9.99980656e-01 -7.71979985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.397552018 meters 0.050661357852315264 Centerline is valid? [True, True] Translation: X:107.61, Y:-11.92, Z:-0.77 [[ 9.98064442e-01 6.19262579e-02 5.70166533e-03 1.07611540e+02] [-6.19219568e-02 9.98080563e-01 -9.27985192e-04 -1.19208430e+01] [-5.74818799e-03 5.73130748e-04 9.99983315e-01 -7.72647598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.427552018 meters 0.0550292811649978 Centerline is valid? [True, True] Translation: X:107.64, Y:-11.93, Z:-0.77 [[ 9.98213317e-01 5.95407970e-02 5.00675800e-03 1.07639789e+02] [-5.95374431e-02 9.98225739e-01 -8.16407797e-04 -1.19313368e+01] [-5.04648427e-03 5.16859566e-04 9.99987133e-01 -7.72621439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.457552018 meters 0.05224360198313912 Centerline is valid? [True, True] Translation: X:107.67, Y:-11.93, Z:-0.77 [[ 9.98268921e-01 5.86384195e-02 4.54942768e-03 1.07671496e+02] [-5.86356426e-02 9.98279175e-01 -7.41496075e-04 -1.19327953e+01] [-4.58507907e-03 4.73453871e-04 9.99989376e-01 -7.72220340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48755201799999 meters 0.05082676612033228 Centerline is valid? [True, True] Translation: X:107.70, Y:-11.94, Z:-0.77 [[ 9.98376713e-01 5.67690891e-02 4.60530522e-03 1.07702015e+02] [-5.67662161e-02 9.98387215e-01 -7.52271536e-04 -1.19360320e+01] [-4.64058362e-03 4.89624632e-04 9.99989113e-01 -7.71608735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51755201799999 meters 0.05285374162087885 Centerline is valid? [True, True] Translation: X:107.73, Y:-11.94, Z:-0.77 [[ 9.98424698e-01 5.59021558e-02 4.80328276e-03 1.07732630e+02] [-5.58990225e-02 9.98436119e-01 -7.84219467e-04 -1.19432503e+01] [-4.83961056e-03 5.14485274e-04 9.99988157e-01 -7.71576931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54755201799999 meters 0.048193627885510196 Centerline is valid? [True, True] Translation: X:107.76, Y:-11.94, Z:-0.77 [[ 9.98651209e-01 5.17042522e-02 4.73637980e-03 1.07763617e+02] [-5.17011510e-02 9.98662301e-01 -7.74953092e-04 -1.19424296e+01] [-4.77011231e-03 5.29031555e-04 9.99988483e-01 -7.71448871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57755201799999 meters 0.049913817417714196 Centerline is valid? [True, True] Translation: X:107.79, Y:-11.95, Z:-0.77 [[ 9.98747119e-01 4.98608655e-02 4.25276033e-03 1.07794106e+02] [-4.98583490e-02 9.98756057e-01 -6.95779191e-04 -1.19496847e+01] [-4.28216229e-03 4.82871854e-04 9.99990715e-01 -7.71382807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60755201799999 meters 0.05083681592544911 Centerline is valid? [True, True] Translation: X:107.83, Y:-11.96, Z:-0.77 [[ 9.98748519e-01 4.97935936e-02 4.68983597e-03 1.07825583e+02] [-4.97905340e-02 9.98759388e-01 -7.66970101e-04 -1.19559157e+01] [-4.72220790e-03 5.32500814e-04 9.99988709e-01 -7.71073762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.637552018 meters 0.05080838950753954 Centerline is valid? [True, True] Translation: X:107.86, Y:-11.96, Z:-0.77 [[ 9.98811794e-01 4.85063595e-02 4.70456916e-03 1.07855916e+02] [-4.85032578e-02 9.98822727e-01 -7.71221068e-04 -1.19622574e+01] [-4.73643972e-03 5.42117768e-04 9.99988636e-01 -7.70959953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.667552018 meters 0.053047118539091796 Centerline is valid? [True, True] Translation: X:107.89, Y:-11.97, Z:-0.77 [[ 9.98799870e-01 4.88202876e-02 3.92422838e-03 1.07886580e+02] [-4.88181350e-02 9.98807477e-01 -6.42535899e-04 -1.19705833e+01] [-3.95091744e-03 4.50191262e-04 9.99992094e-01 -7.70164744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.697552018 meters 0.05263306577054516 Centerline is valid? [True, True] Translation: X:107.92, Y:-11.97, Z:-0.77 [[ 9.98778448e-01 4.92623699e-02 3.85109439e-03 1.07918665e+02] [-4.92602956e-02 9.98785775e-01 -6.31695068e-04 -1.19744607e+01] [-3.87753709e-03 4.41217371e-04 9.99992385e-01 -7.71004920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.727552018 meters 0.05713268573641256 Centerline is valid? [True, True] Translation: X:107.95, Y:-11.99, Z:-0.77 [[ 9.98782582e-01 4.92602448e-02 2.60426465e-03 1.07948309e+02] [-4.92592945e-02 9.98785932e-01 -4.27803723e-04 -1.19861762e+01] [-2.62217661e-03 2.98998668e-04 9.99996517e-01 -7.71782089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.757552018 meters 0.055002072750064246 Centerline is valid? [True, True] Translation: X:107.98, Y:-11.99, Z:-0.77 [[ 9.98759627e-01 4.97303239e-02 2.47013281e-03 1.07980938e+02] [-4.97294692e-02 9.98762642e-01 -4.06305133e-04 -1.19889692e+01] [-2.48728205e-03 2.82962770e-04 9.99996867e-01 -7.72255648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.787552018 meters 0.054800928716861624 Centerline is valid? [True, True] Translation: X:108.01, Y:-11.99, Z:-0.77 [[ 9.98712920e-01 5.06259533e-02 3.08477793e-03 1.08011700e+02] [-5.06246224e-02 9.98717622e-01 -5.08078548e-04 -1.19944617e+01] [-3.10654404e-03 3.51258893e-04 9.99995113e-01 -7.72222003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.817552018 meters 0.05505697747303007 Centerline is valid? [True, True] Translation: X:108.04, Y:-12.00, Z:-0.77 [[ 9.98578918e-01 5.31393395e-02 4.04423574e-03 1.08040627e+02] [-5.31370706e-02 9.98587005e-01 -6.66492987e-04 -1.20014743e+01] [-4.07393826e-03 4.50647006e-04 9.99991600e-01 -7.71376139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84755201799999 meters 0.05638765056030575 Centerline is valid? [True, True] Translation: X:108.07, Y:-12.01, Z:-0.77 [[ 9.98416709e-01 5.60261958e-02 5.01410056e-03 1.08069528e+02] [-5.60227446e-02 9.98429151e-01 -8.26238659e-04 -1.20086731e+01] [-5.05251517e-03 5.44026807e-04 9.99987088e-01 -7.70155906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87755201799999 meters 0.053502467966939596 Centerline is valid? [True, True] Translation: X:108.10, Y:-12.01, Z:-0.77 [[ 9.98238608e-01 5.90549617e-02 5.67386207e-03 1.08100350e+02] [-5.90505916e-02 9.98254554e-01 -9.34811845e-04 -1.20099569e+01] [-5.71916393e-03 5.98120362e-04 9.99983467e-01 -7.69865599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90755201799999 meters 0.050634327191696575 Centerline is valid? [True, True] Translation: X:108.13, Y:-12.01, Z:-0.77 [[ 9.98057235e-01 6.20218845e-02 5.91953444e-03 1.08131252e+02] [-6.20171792e-02 9.98074606e-01 -9.75338224e-04 -1.20117708e+01] [-5.96862932e-03 6.06330543e-04 9.99982004e-01 -7.69892006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93755201799999 meters 0.051568643543139746 Centerline is valid? [True, True] Translation: X:108.16, Y:-12.02, Z:-0.77 [[ 9.97622084e-01 6.85713369e-02 6.93898801e-03 1.08160428e+02] [-6.85650274e-02 9.97645994e-01 -1.14339175e-03 -1.20175850e+01] [-7.00105749e-03 6.64900958e-04 9.99975271e-01 -7.68687391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96755201799999 meters 0.05178400533221673 Centerline is valid? [True, True] Translation: X:108.19, Y:-12.02, Z:-0.77 [[ 9.97451059e-01 7.09627136e-02 7.46179683e-03 1.08189718e+02] [-7.09554850e-02 9.97478725e-01 -1.22939694e-03 -1.20227483e+01] [-7.53022494e-03 6.96807871e-04 9.99971405e-01 -7.68815326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.997552018 meters 0.045890432245111676 Centerline is valid? [True, True] Translation: X:108.22, Y:-12.02, Z:-0.77 [[ 9.97409942e-01 7.15311967e-02 7.52960910e-03 1.08222019e+02] [-7.15238510e-02 9.97438118e-01 -1.24071789e-03 -1.20219903e+01] [-7.59906917e-03 6.98957715e-04 9.99970882e-01 -7.68618589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.027552018 meters 0.045551438822943886 Centerline is valid? [True, True] Translation: X:108.25, Y:-12.03, Z:-0.77 [[ 9.97242781e-01 7.37298126e-02 8.41130790e-03 1.08252566e+02] [-7.37207056e-02 9.97277961e-01 -1.38809145e-03 -1.20250454e+01] [-8.49075571e-03 7.64176624e-04 9.99963661e-01 -7.68249683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.057552018 meters 0.04679654112994679 Centerline is valid? [True, True] Translation: X:108.28, Y:-12.03, Z:-0.77 [[ 9.97247859e-01 7.35517677e-02 9.31904149e-03 1.08282787e+02] [-7.35405745e-02 9.97291039e-01 -1.53860874e-03 -1.20319929e+01] [-9.40696396e-03 8.49046607e-04 9.99955393e-01 -7.68796173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.087552018 meters 0.04983043035516115 Centerline is valid? [True, True] Translation: X:108.31, Y:-12.04, Z:-0.77 [[ 9.97374214e-01 7.18628904e-02 8.96667485e-03 1.08312143e+02] [-7.18524443e-02 9.97414171e-01 -1.48215872e-03 -1.20412914e+01] [-9.05000078e-03 8.33989385e-04 9.99958700e-01 -7.68928320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.117552018 meters 0.050571636834116265 Centerline is valid? [True, True] Translation: X:108.34, Y:-12.05, Z:-0.77 [[ 9.97372133e-01 7.18947378e-02 8.94286026e-03 1.08343978e+02] [-7.18843408e-02 9.97411878e-01 -1.47905988e-03 -1.20470509e+01] [-9.02605167e-03 8.32321490e-04 9.99958918e-01 -7.69672023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.147552018 meters 0.05215155864139235 Centerline is valid? [True, True] Translation: X:108.37, Y:-12.05, Z:-0.77 [[ 9.97444322e-01 7.10177877e-02 7.82938348e-03 1.08374029e+02] [-7.10097787e-02 9.97474777e-01 -1.29657117e-03 -1.20540717e+01] [-7.90169216e-03 7.37294765e-04 9.99968509e-01 -7.70504963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.177552018 meters 0.052767635240589555 Centerline is valid? [True, True] Translation: X:108.41, Y:-12.06, Z:-0.77 [[ 9.97515841e-01 7.00600976e-02 7.33010069e-03 1.08405810e+02] [-7.00530456e-02 9.97542528e-01 -1.21474451e-03 -1.20602650e+01] [-7.39719229e-03 6.98231011e-04 9.99972397e-01 -7.71896958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.207552018 meters 0.05549568114504536 Centerline is valid? [True, True] Translation: X:108.43, Y:-12.07, Z:-0.77 [[ 9.97648329e-01 6.82544595e-02 6.25620816e-03 1.08434960e+02] [-6.82492849e-02 9.97667760e-01 -1.03715802e-03 -1.20679511e+01] [-6.31240785e-03 6.07737237e-04 9.99979892e-01 -7.72990565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23755201799999 meters 0.05733535624391872 Centerline is valid? [True, True] Translation: X:108.47, Y:-12.08, Z:-0.77 [[ 9.97743212e-01 6.69117020e-02 5.59529602e-03 1.08465169e+02] [-6.69075396e-02 9.97758748e-01 -9.28026098e-04 -1.20754609e+01] [-5.64485136e-03 5.51564250e-04 9.99983916e-01 -7.73694943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26755201799999 meters 0.05733535624391872 Centerline is valid? [True, True] Translation: X:108.50, Y:-12.08, Z:-0.77 [[ 9.97724669e-01 6.71876273e-02 5.59533913e-03 1.08497236e+02] [-6.71834707e-02 9.97740207e-01 -9.27766508e-04 -1.20809202e+01] [-5.64502926e-03 5.49741230e-04 9.99983916e-01 -7.73924774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29755201799999 meters 0.05775224158531571 Centerline is valid? [True, True] Translation: X:108.53, Y:-12.09, Z:-0.77 [[ 9.97793591e-01 6.61930805e-02 5.14064838e-03 1.08529163e+02] [-6.61895501e-02 9.97806702e-01 -8.54063430e-04 -1.20866791e+01] [-5.18590650e-03 5.11921813e-04 9.99986422e-01 -7.74436770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32755201799999 meters 0.04821492973381165 Centerline is valid? [True, True] Translation: X:108.56, Y:-12.08, Z:-0.77 [[ 9.97979809e-01 6.33962219e-02 4.14964792e-03 1.08561580e+02] [-6.33938960e-02 9.97988346e-01 -6.89795106e-04 -1.20801541e+01] [-4.18503067e-03 4.25339239e-04 9.99991152e-01 -7.74947927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35755201799999 meters 0.04761919441142819 Centerline is valid? [True, True] Translation: X:108.59, Y:-12.08, Z:-0.78 [[ 9.97966205e-01 6.35657047e-02 4.78059497e-03 1.08594517e+02] [-6.35626225e-02 9.97977536e-01 -7.94073043e-04 -1.20843965e+01] [-4.82140220e-03 4.88590907e-04 9.99988258e-01 -7.75530029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.387552018 meters 0.047887152633432004 Centerline is valid? [True, True] Translation: X:108.63, Y:-12.09, Z:-0.78 [[ 9.97905832e-01 6.45373063e-02 4.34578103e-03 1.08626431e+02] [-6.45347630e-02 9.97915198e-01 -7.23096248e-04 -1.20897291e+01] [-4.38338762e-03 4.41128014e-04 9.99990296e-01 -7.75676540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.417552018 meters 0.04348153994143838 Centerline is valid? [True, True] Translation: X:108.66, Y:-12.09, Z:-0.78 [[ 9.97857861e-01 6.52698344e-02 4.42023954e-03 1.08658789e+02] [-6.52672049e-02 9.97867551e-01 -7.36678304e-04 -1.20899354e+01] [-4.45889648e-03 4.46603556e-04 9.99989959e-01 -7.75991713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.447552018 meters 0.04745060910352869 Centerline is valid? [True, True] Translation: X:108.69, Y:-12.10, Z:-0.78 [[ 9.97662147e-01 6.81834951e-02 4.60982709e-03 1.08687185e+02] [-6.81806566e-02 9.97672694e-01 -7.70306906e-04 -1.21000126e+01] [-4.65162083e-03 4.54205005e-04 9.99989078e-01 -7.75624221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.477552018 meters 0.045486652161131104 Centerline is valid? [True, True] Translation: X:108.72, Y:-12.10, Z:-0.78 [[ 9.97511007e-01 7.03415237e-02 4.88478458e-03 1.08717557e+02] [-7.03383625e-02 9.97522856e-01 -8.16168402e-04 -1.21030894e+01] [-4.93009479e-03 4.70549216e-04 9.99987736e-01 -7.75510078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.507552018 meters 0.04507265251491147 Centerline is valid? [True, True] Translation: X:108.75, Y:-12.11, Z:-0.78 [[ 9.97320848e-01 7.29822920e-02 4.97102729e-03 1.08748552e+02] [-7.29790509e-02 9.97333128e-01 -8.30540771e-04 -1.21078340e+01] [-5.01838496e-03 4.65534773e-04 9.99987299e-01 -7.75006350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.537552018 meters 0.04200679625045502 Centerline is valid? [True, True] Translation: X:108.78, Y:-12.11, Z:-0.77 [[ 9.97160387e-01 7.51388882e-02 5.03086950e-03 1.08779452e+02] [-7.51355954e-02 9.97172972e-01 -8.40633432e-04 -1.21099998e+01] [-5.07981135e-03 4.60248983e-04 9.99986992e-01 -7.74876610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.567552018 meters 0.050109595699403056 Centerline is valid? [True, True] Translation: X:108.81, Y:-12.13, Z:-0.77 [[ 9.96743566e-01 8.04245556e-02 5.84422802e-03 1.08807459e+02] [-8.04202010e-02 9.96760572e-01 -9.76701102e-04 -1.21257370e+01] [-5.90384681e-03 5.03526547e-04 9.99982445e-01 -7.74353771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59755201799999 meters 0.037990262162115575 Centerline is valid? [True, True] Translation: X:108.84, Y:-12.12, Z:-0.77 [[ 9.96564848e-01 8.26193203e-02 5.70546137e-03 1.08840200e+02] [-8.26152059e-02 9.96581065e-01 -9.53497111e-04 -1.21154988e+01] [-5.76473205e-03 4.78863838e-04 9.99983269e-01 -7.74704519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62755201799999 meters 0.03821044919891592 Centerline is valid? [True, True] Translation: X:108.87, Y:-12.12, Z:-0.77 [[ 9.96288352e-01 8.58382493e-02 6.42757526e-03 1.08869434e+02] [-8.58330939e-02 9.96308951e-01 -1.07417885e-03 -1.21209529e+01] [-6.49605639e-03 5.18493207e-04 9.99978766e-01 -7.73999137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65755201799999 meters 0.03723515365099953 Centerline is valid? [True, True] Translation: X:108.90, Y:-12.13, Z:-0.77 [[ 9.96163336e-01 8.72468908e-02 6.82552053e-03 1.08900074e+02] [-8.72411104e-02 9.96186573e-01 -1.14065042e-03 -1.21257505e+01] [-6.89901010e-03 5.40808139e-04 9.99976055e-01 -7.73598009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68755201799999 meters 0.03716410788102378 Centerline is valid? [True, True] Translation: X:108.93, Y:-12.13, Z:-0.77 [[ 9.95925867e-01 8.97542277e-02 8.70899709e-03 1.08929129e+02] [-8.97449094e-02 9.95963720e-01 -1.45572434e-03 -1.21312941e+01] [-8.80450255e-03 6.68205370e-04 9.99961016e-01 -7.72545148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71755201799999 meters 0.03565363245762756 Centerline is valid? [True, True] Translation: X:108.96, Y:-12.13, Z:-0.77 [[ 9.95887227e-01 9.01212302e-02 9.31638549e-03 1.08961735e+02] [-9.01105770e-02 9.95930548e-01 -1.55784621e-03 -1.21347231e+01] [-9.41886793e-03 7.11934270e-04 9.99955388e-01 -7.72406786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.747552018 meters 0.036433781260850916 Centerline is valid? [True, True] Translation: X:108.99, Y:-12.14, Z:-0.77 [[ 9.95819947e-01 9.07420480e-02 1.04169897e-02 1.08991951e+02] [-9.07287277e-02 9.95874115e-01 -1.74521295e-03 -1.21411780e+01] [-1.05323746e-02 7.92797647e-04 9.99944219e-01 -7.71533064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.777552018 meters 0.0378383794342359 Centerline is valid? [True, True] Translation: X:109.02, Y:-12.15, Z:-0.77 [[ 9.95919072e-01 8.97012538e-02 9.94416091e-03 1.09023155e+02] [-8.96890445e-02 9.95968420e-01 -1.66791333e-03 -1.21489827e+01] [-1.00536841e-02 7.69224407e-04 9.99949165e-01 -7.71300698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.807552018 meters 0.03403515123912425 Centerline is valid? [True, True] Translation: X:109.06, Y:-12.15, Z:-0.77 [[ 9.95869108e-01 9.02015761e-02 1.04112669e-02 1.09055654e+02] [-9.01882039e-02 9.95923206e-01 -1.74779075e-03 -1.21485529e+01] [-1.05264758e-02 8.01597355e-04 9.99944274e-01 -7.71425990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.837552018 meters 0.03966981993104437 Centerline is valid? [True, True] Translation: X:109.08, Y:-12.16, Z:-0.77 [[ 9.96153287e-01 8.71596490e-02 9.04569617e-03 1.09084431e+02] [-8.71494141e-02 9.96194092e-01 -1.52028494e-03 -1.21606290e+01] [-9.14377658e-03 7.26109717e-04 9.99957931e-01 -7.72720296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.867552018 meters 0.04056534442025316 Centerline is valid? [True, True] Translation: X:109.12, Y:-12.17, Z:-0.77 [[ 9.96321039e-01 8.52779169e-02 8.48901763e-03 1.09115137e+02] [-8.52688336e-02 9.96356959e-01 -1.42691348e-03 -1.21667513e+01] [-8.57977600e-03 6.97815292e-04 9.99962950e-01 -7.73842759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.897552018 meters 0.03835208665126269 Centerline is valid? [True, True] Translation: X:109.15, Y:-12.17, Z:-0.78 [[ 9.96487692e-01 8.33020794e-02 8.54655270e-03 1.09145807e+02] [-8.32927973e-02 9.96524082e-01 -1.43693288e-03 -1.21687561e+01] [-8.63654507e-03 7.20019647e-04 9.99962445e-01 -7.75064512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.927552018 meters 0.04002392780950955 Centerline is valid? [True, True] Translation: X:109.18, Y:-12.18, Z:-0.78 [[ 9.96884213e-01 7.84452625e-02 8.25870275e-03 1.09175703e+02] [-7.84364266e-02 9.96918150e-01 -1.38889455e-03 -1.21750764e+01] [-8.34220287e-03 7.36783915e-04 9.99964932e-01 -7.75465460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.957552018 meters 0.04244243711798588 Centerline is valid? [True, True] Translation: X:109.20, Y:-12.18, Z:-0.78 [[ 9.97081657e-01 7.59371386e-02 7.85625418e-03 1.09204517e+02] [-7.59290646e-02 9.97112346e-01 -1.32135543e-03 -1.21833832e+01] [-7.93390799e-03 7.20981231e-04 9.99968266e-01 -7.76098132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98755201799999 meters 0.04329878980788599 Centerline is valid? [True, True] Translation: X:109.24, Y:-12.19, Z:-0.78 [[ 9.97102240e-01 7.56487244e-02 8.02450913e-03 1.09235713e+02] [-7.56402853e-02 9.97134256e-01 -1.35042874e-03 -1.21895282e+01] [-8.10367115e-03 7.39539361e-04 9.99966891e-01 -7.76382491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01755201799999 meters 0.04475939052361282 Centerline is valid? [True, True] Translation: X:109.27, Y:-12.20, Z:-0.78 [[ 9.97104286e-01 7.56119026e-02 8.11681338e-03 1.09265626e+02] [-7.56032502e-02 9.97137040e-01 -1.36801875e-03 -1.21963382e+01] [-8.19701377e-03 7.50399889e-04 9.99966122e-01 -7.76539608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04755201799999 meters 0.04316658974959013 Centerline is valid? [True, True] Translation: X:109.30, Y:-12.20, Z:-0.78 [[ 9.96997776e-01 7.71047553e-02 7.09159293e-03 1.09296698e+02] [-7.70981822e-02 9.97022788e-01 -1.19604745e-03 -1.22000311e+01] [-7.16270071e-03 6.45707728e-04 9.99974139e-01 -7.76356941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07755201799999 meters 0.04294796797648898 Centerline is valid? [True, True] Translation: X:109.33, Y:-12.20, Z:-0.78 [[ 9.96789783e-01 7.97152204e-02 7.45740172e-03 1.09327214e+02] [-7.97080219e-02 9.96817460e-01 -1.25803677e-03 -1.22042728e+01] [-7.53395292e-03 6.59583459e-04 9.99971402e-01 -7.76077665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10755201799999 meters 0.03730805802545375 Centerline is valid? [True, True] Translation: X:109.36, Y:-12.20, Z:-0.78 [[ 9.96622801e-01 8.18052024e-02 7.13453822e-03 1.09358934e+02] [-8.17986659e-02 9.96648147e-01 -1.20370154e-03 -1.22019783e+01] [-7.20909335e-03 6.16040687e-04 9.99973824e-01 -7.76589985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.137552018 meters 0.0380791752377787 Centerline is valid? [True, True] Translation: X:109.39, Y:-12.21, Z:-0.78 [[ 9.96465385e-01 8.37458209e-02 6.58582632e-03 1.09388821e+02] [-8.37402925e-02 9.96486994e-01 -1.11124648e-03 -1.22078449e+01] [-6.65575252e-03 5.55819626e-04 9.99977696e-01 -7.77424810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.167552018 meters 0.0366585477158411 Centerline is valid? [True, True] Translation: X:109.42, Y:-12.21, Z:-0.78 [[ 9.96286432e-01 8.58491502e-02 6.57794316e-03 1.09420128e+02] [-8.58436797e-02 9.96308000e-01 -1.11004085e-03 -1.22108053e+01] [-6.64895346e-03 5.41243794e-04 9.99977749e-01 -7.78578661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.197552018 meters 0.03752200418160512 Centerline is valid? [True, True] Translation: X:109.45, Y:-12.22, Z:-0.78 [[ 9.95754615e-01 9.16834823e-02 8.17837775e-03 1.09449073e+02] [-9.16752187e-02 9.95788004e-01 -1.38043602e-03 -1.22163061e+01] [-8.27049363e-03 6.24820967e-04 9.99965604e-01 -7.78523491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.227552018 meters 0.034643837296241015 Centerline is valid? [True, True] Translation: X:109.48, Y:-12.22, Z:-0.78 [[ 9.95519912e-01 9.41877265e-02 8.29315642e-03 1.09480027e+02] [-9.41793167e-02 9.95554266e-01 -1.39968776e-03 -1.22186271e+01] [-8.38812067e-03 6.12373234e-04 9.99964632e-01 -7.78526935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.257552018 meters 0.034257397959534086 Centerline is valid? [True, True] Translation: X:109.51, Y:-12.22, Z:-0.78 [[ 9.95204980e-01 9.74121609e-02 8.82710644e-03 1.09509304e+02] [-9.74027580e-02 9.95243931e-01 -1.48996229e-03 -1.22243077e+01] [-8.93026456e-03 6.23033378e-04 9.99959930e-01 -7.77945846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.287552018 meters 0.03306966249811855 Centerline is valid? [True, True] Translation: X:109.54, Y:-12.23, Z:-0.78 [[ 9.94810964e-01 1.01310520e-01 9.34479725e-03 1.09539555e+02] [-1.01300153e-01 9.94854658e-01 -1.57739867e-03 -1.22278271e+01] [-9.45652216e-03 6.22584102e-04 9.99955092e-01 -7.77589656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.317552018 meters 0.03278417318276346 Centerline is valid? [True, True] Translation: X:109.57, Y:-12.23, Z:-0.78 [[ 9.94565571e-01 1.03665966e-01 9.62768530e-03 1.09570301e+02] [-1.03655069e-01 9.94611977e-01 -1.62541415e-03 -1.22340330e+01] [-9.74431124e-03 6.18622569e-04 9.99952332e-01 -7.77260597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34755201799999 meters 0.03136219379662552 Centerline is valid? [True, True] Translation: X:109.60, Y:-12.24, Z:-0.78 [[ 9.93968051e-01 1.09223311e-01 9.88845884e-03 1.09601499e+02] [-1.09212085e-01 9.94017068e-01 -1.66979897e-03 -1.22361331e+01] [-1.00116778e-02 5.79787614e-04 9.99949714e-01 -7.79102986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37755201799999 meters 0.028924846492149464 Centerline is valid? [True, True] Translation: X:109.63, Y:-12.24, Z:-0.78 [[ 9.93622838e-01 1.12235336e-01 1.08113177e-02 1.09632347e+02] [-1.12222091e-01 9.93681472e-01 -1.82599856e-03 -1.22404542e+01] [-1.09479477e-02 6.01085189e-04 9.99939889e-01 -7.76678353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40755201799999 meters 0.02851783192136149 Centerline is valid? [True, True] Translation: X:109.66, Y:-12.25, Z:-0.78 [[ 9.93374665e-01 1.14400247e-01 1.09251514e-02 1.09663587e+02] [-1.14386847e-01 9.93434569e-01 -1.84572948e-03 -1.22452677e+01] [-1.10645750e-02 5.83807286e-04 9.99938615e-01 -7.76503472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43755201799999 meters 0.028034611048553353 Centerline is valid? [True, True] Translation: X:109.69, Y:-12.25, Z:-0.78 [[ 9.93054290e-01 1.17024941e-01 1.21795333e-02 1.09693624e+02] [-1.17008477e-01 9.93128783e-01 -2.05820030e-03 -1.22494487e+01] [-1.23367059e-02 6.18796000e-04 9.99923708e-01 -7.76087083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46755201799999 meters 0.02870224548535393 Centerline is valid? [True, True] Translation: X:109.72, Y:-12.26, Z:-0.78 [[ 9.92970972e-01 1.17650682e-01 1.29215635e-02 1.09724321e+02] [-1.17632181e-01 9.93054830e-01 -2.18520364e-03 -1.22563350e+01] [-1.30889117e-02 6.49852087e-04 9.99914125e-01 -7.75715083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.497552018 meters 0.02933017805864959 Centerline is valid? [True, True] Translation: X:109.76, Y:-12.26, Z:-0.78 [[ 9.92978504e-01 1.17564148e-01 1.31286440e-02 1.09755199e+02] [-1.17544998e-01 9.93065068e-01 -2.22357945e-03 -1.22632709e+01] [-1.32990110e-02 6.64760169e-04 9.99911343e-01 -7.76277567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.527552018 meters 0.029156008045405336 Centerline is valid? [True, True] Translation: X:109.79, Y:-12.27, Z:-0.78 [[ 9.92869253e-01 1.18470825e-01 1.32404818e-02 1.09787072e+02] [-1.18451380e-01 9.92957313e-01 -2.24600359e-03 -1.22674213e+01] [-1.34133191e-02 6.61634564e-04 9.99909818e-01 -7.76574459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.557552018 meters 0.03065742113143265 Centerline is valid? [True, True] Translation: X:109.82, Y:-12.27, Z:-0.78 [[ 9.92888070e-01 1.18330916e-01 1.30795356e-02 1.09817608e+02] [-1.18311886e-01 9.92973998e-01 -2.22198031e-03 -1.22744844e+01] [-1.32505677e-02 6.58713208e-04 9.99911990e-01 -7.77759840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.587552018 meters 0.030556198985559713 Centerline is valid? [True, True] Translation: X:109.85, Y:-12.28, Z:-0.78 [[ 9.92773314e-01 1.19323805e-01 1.27661990e-02 1.09849613e+02] [-1.19305717e-01 9.92855190e-01 -2.17187303e-03 -1.22799535e+01] [-1.29341431e-02 6.33097063e-04 9.99916150e-01 -7.77747505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.617552018 meters 0.02618443866166002 Centerline is valid? [True, True] Translation: X:109.88, Y:-12.28, Z:-0.78 [[ 9.92718681e-01 1.19787420e-01 1.26725459e-02 1.09882604e+02] [-1.19769589e-01 9.92799366e-01 -2.15948825e-03 -1.22795655e+01] [-1.28399751e-02 6.25978702e-04 9.99917368e-01 -7.78273804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.647552018 meters 0.02557774600574989 Centerline is valid? [True, True] Translation: X:109.91, Y:-12.28, Z:-0.78 [[ 9.92568543e-01 1.21038254e-01 1.25470187e-02 1.09914214e+02] [-1.21020827e-01 9.92647658e-01 -2.14178343e-03 -1.22840961e+01] [-1.27140064e-02 6.07416282e-04 9.99918989e-01 -7.78287460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.677552018 meters 0.025445239569686938 Centerline is valid? [True, True] Translation: X:109.95, Y:-12.29, Z:-0.78 [[ 9.92506911e-01 1.21659738e-01 1.13551832e-02 1.09946123e+02] [-1.21645472e-01 9.92571716e-01 -1.94126702e-03 -1.22893147e+01] [-1.15070077e-02 5.45414319e-04 9.99933643e-01 -7.79270883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.707552018 meters 0.024547851033603053 Centerline is valid? [True, True] Translation: X:109.98, Y:-12.29, Z:-0.78 [[ 9.92441480e-01 1.22225060e-01 1.09974172e-02 1.09978603e+02] [-1.22211688e-01 9.92502272e-01 -1.88235153e-03 -1.22928064e+01] [-1.11450320e-02 5.24110827e-04 9.99937755e-01 -7.79967919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73755201799999 meters 0.024759358583954894 Centerline is valid? [True, True] Translation: X:110.01, Y:-12.30, Z:-0.78 [[ 9.92498555e-01 1.21815556e-01 1.03725372e-02 1.10009683e+02] [-1.21803621e-01 9.92552628e-01 -1.77699484e-03 -1.22986462e+01] [-1.05117547e-02 5.00252222e-04 9.99944625e-01 -7.80964308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76755201799999 meters 0.02451100133351612 Centerline is valid? [True, True] Translation: X:110.04, Y:-12.30, Z:-0.78 [[ 9.92456237e-01 1.22181189e-01 1.01180814e-02 1.10041689e+02] [-1.22169822e-01 9.92507693e-01 -1.73629772e-03 -1.23037592e+01] [-1.02544165e-02 4.87075299e-04 9.99947303e-01 -7.81098349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79755201799999 meters 0.02576570678074624 Centerline is valid? [True, True] Translation: X:110.07, Y:-12.31, Z:-0.78 [[ 9.92459939e-01 1.22128032e-01 1.03929676e-02 1.10071574e+02] [-1.22116003e-01 9.92514226e-01 -1.78663696e-03 -1.23112747e+01] [-1.05333667e-02 5.04017937e-04 9.99944396e-01 -7.80714248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82755201799999 meters 0.025113543188093525 Centerline is valid? [True, True] Translation: X:110.10, Y:-12.32, Z:-0.78 [[ 9.92468436e-01 1.22001857e-01 1.10430816e-02 1.10102579e+02] [-1.21988235e-01 9.92529725e-01 -1.90135006e-03 -1.23171585e+01] [-1.11925549e-02 5.39903895e-04 9.99937216e-01 -7.79616098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85755201799999 meters 0.02580330590740857 Centerline is valid? [True, True] Translation: X:110.13, Y:-12.32, Z:-0.78 [[ 9.92436375e-01 1.22227083e-01 1.14272424e-02 1.10133497e+02] [-1.22212475e-01 9.92502004e-01 -1.97066603e-03 -1.23232876e+01] [-1.15824297e-02 5.59209085e-04 9.99932765e-01 -7.79691808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.887552018 meters 0.026037243896536857 Centerline is valid? [True, True] Translation: X:110.16, Y:-12.33, Z:-0.78 [[ 9.92375208e-01 1.22715523e-01 1.15042519e-02 1.10164795e+02] [-1.22700711e-01 9.92441729e-01 -1.98725132e-03 -1.23285746e+01] [-1.16611663e-02 5.60519053e-04 9.99931849e-01 -7.80099274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.917552018 meters 0.025520082113939718 Centerline is valid? [True, True] Translation: X:110.20, Y:-12.33, Z:-0.78 [[ 9.92222041e-01 1.23923687e-01 1.17618796e-02 1.10196874e+02] [-1.23908251e-01 9.92291592e-01 -2.03500167e-03 -1.23325398e+01] [-1.19233991e-02 5.61779586e-04 9.99928756e-01 -7.81632621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.947552018 meters 0.025347609872277754 Centerline is valid? [True, True] Translation: X:110.23, Y:-12.34, Z:-0.78 [[ 9.92093286e-01 1.24939187e-01 1.18789931e-02 1.10228180e+02] [-1.24923475e-01 9.92164244e-01 -2.05852428e-03 -1.23375771e+01] [-1.20431026e-02 5.58283021e-04 9.99927323e-01 -7.81599253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.977552018 meters 0.025458324610505217 Centerline is valid? [True, True] Translation: X:110.26, Y:-12.34, Z:-0.78 [[ 9.91938830e-01 1.26108468e-01 1.24101219e-02 1.10258323e+02] [-1.26091368e-01 9.92016294e-01 -2.15391364e-03 -1.23431023e+01] [-1.25826699e-02 5.71741320e-04 9.99920672e-01 -7.81572784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.007552018 meters 0.02581081891606536 Centerline is valid? [True, True] Translation: X:110.29, Y:-12.35, Z:-0.78 [[ 9.91909395e-01 1.26342471e-01 1.23827210e-02 1.10290174e+02] [-1.26325423e-01 9.91986519e-01 -2.15256985e-03 -1.23499581e+01] [-1.25554533e-02 5.70901785e-04 9.99921014e-01 -7.81579727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.037552018 meters 0.026531032879045246 Centerline is valid? [True, True] Translation: X:110.32, Y:-12.36, Z:-0.78 [[ 9.91936445e-01 1.26053047e-01 1.31422592e-02 1.10320406e+02] [-1.26033766e-01 9.92023313e-01 -2.28841003e-03 -1.23571014e+01] [-1.33258886e-02 6.13588886e-04 9.99911018e-01 -7.79729007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.067552018 meters 0.0249207698147691 Centerline is valid? [True, True] Translation: X:110.35, Y:-12.36, Z:-0.78 [[ 9.91907448e-01 1.26206006e-01 1.38440739e-02 1.10353595e+02] [-1.26184570e-01 9.92003843e-01 -2.41459671e-03 -1.23603856e+01] [-1.40381111e-02 6.48147942e-04 9.99901251e-01 -7.80154275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09755201799999 meters 0.02793644645417602 Centerline is valid? [True, True] Translation: X:110.38, Y:-12.37, Z:-0.78 [[ 9.92015121e-01 1.25354743e-01 1.38631666e-02 1.10383569e+02] [-1.25333110e-01 9.92111761e-01 -2.42186674e-03 -1.23696741e+01] [-1.40574031e-02 6.65014646e-04 9.99900969e-01 -7.79999179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12755201799999 meters 0.025764630155146476 Centerline is valid? [True, True] Translation: X:110.42, Y:-12.37, Z:-0.78 [[ 9.92061280e-01 1.24952566e-01 1.41870659e-02 1.10415404e+02] [-1.24929814e-01 9.92162477e-01 -2.48223418e-03 -1.23713608e+01] [-1.43860360e-02 6.90140908e-04 9.99896277e-01 -7.81392625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15755201799999 meters 0.025764630155146476 Centerline is valid? [True, True] Translation: X:110.45, Y:-12.38, Z:-0.78 [[ 9.92023194e-01 1.25254657e-01 1.41863563e-02 1.10447308e+02] [-1.25231879e-01 9.92124385e-01 -2.48628459e-03 -1.23770605e+01] [-1.43860488e-02 6.89867933e-04 9.99896277e-01 -7.81622461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18755201799999 meters 0.024949746522799517 Centerline is valid? [True, True] Translation: X:110.48, Y:-12.38, Z:-0.78 [[ 9.92157890e-01 1.24058083e-01 1.52418430e-02 1.10479477e+02] [-1.24031576e-01 9.92274663e-01 -2.67594303e-03 -1.23804453e+01] [-1.54560670e-02 7.64488179e-04 9.99880256e-01 -7.82420281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21755201799999 meters 0.025943483506537624 Centerline is valid? [True, True] Translation: X:110.51, Y:-12.39, Z:-0.78 [[ 9.92211059e-01 1.23580559e-01 1.56544204e-02 1.10510023e+02] [-1.23552470e-01 9.92334223e-01 -2.75263576e-03 -1.23872034e+01] [-1.58745894e-02 7.97053338e-04 9.99873673e-01 -7.82629203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.247552018 meters 0.026592504711480367 Centerline is valid? [True, True] Translation: X:110.54, Y:-12.39, Z:-0.78 [[ 9.92262255e-01 1.23098007e-01 1.62017881e-02 1.10541497e+02] [-1.23067783e-01 9.92394165e-01 -2.85329978e-03 -1.23931140e+01] [-1.64297955e-02 8.37303540e-04 9.99864671e-01 -7.82779857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.277552018 meters 0.02671850264918857 Centerline is valid? [True, True] Translation: X:110.57, Y:-12.40, Z:-0.78 [[ 9.92230798e-01 1.23426601e-01 1.56178871e-02 1.10573959e+02] [-1.23398484e-01 9.92353377e-01 -2.75505663e-03 -1.23985079e+01] [-1.58385103e-02 8.06428443e-04 9.99874238e-01 -7.82935446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.307552018 meters 0.027121612893362936 Centerline is valid? [True, True] Translation: X:110.61, Y:-12.40, Z:-0.78 [[ 9.92167761e-01 1.23952029e-01 1.54605671e-02 1.10605444e+02] [-1.23924468e-01 9.92287893e-01 -2.73180933e-03 -1.24037930e+01] [-1.56799469e-02 7.94470588e-04 9.99876746e-01 -7.84069423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.337552018 meters 0.027501651301759276 Centerline is valid? [True, True] Translation: X:110.64, Y:-12.41, Z:-0.79 [[ 9.91926234e-01 1.26101574e-01 1.34439097e-02 1.10635765e+02] [-1.26080905e-01 9.92017113e-01 -2.37738580e-03 -1.24082377e+01] [-1.36363806e-02 6.63171040e-04 9.99906800e-01 -7.85056572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.367552018 meters 0.025068881743550576 Centerline is valid? [True, True] Translation: X:110.67, Y:-12.41, Z:-0.79 [[ 9.91774232e-01 1.27444634e-01 1.19053397e-02 1.10668672e+02] [-1.27428510e-01 9.91845521e-01 -2.10629926e-03 -1.24093334e+01] [-1.20766944e-02 5.71893635e-04 9.99926911e-01 -7.86746355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.397552018 meters 0.025095970650581133 Centerline is valid? [True, True] Translation: X:110.70, Y:-12.41, Z:-0.79 [[ 9.91611321e-01 1.28816039e-01 1.06497056e-02 1.10700033e+02] [-1.28803195e-01 9.91668382e-01 -1.88611581e-03 -1.24138372e+01] [-1.08039383e-02 4.98577686e-04 9.99941511e-01 -7.88595781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.427552018 meters 0.02422578686274811 Centerline is valid? [True, True] Translation: X:110.73, Y:-12.42, Z:-0.79 [[ 9.91327834e-01 1.31147344e-01 8.33659646e-03 1.10731737e+02] [-1.31139542e-01 9.91362817e-01 -1.47804081e-03 -1.24162591e+01] [-8.45843288e-03 3.71965551e-04 9.99964158e-01 -7.90659910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.457552018 meters 0.023957398688246208 Centerline is valid? [True, True] Translation: X:110.76, Y:-12.42, Z:-0.79 [[ 9.90919294e-01 1.34217048e-01 8.04594217e-03 1.10762281e+02] [-1.34209878e-01 9.90951902e-01 -1.42695281e-03 -1.24191497e+01] [-8.16466309e-03 3.34150150e-04 9.99966613e-01 -7.91003187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48755201799999 meters 0.023296744930942578 Centerline is valid? [True, True] Translation: X:110.79, Y:-12.42, Z:-0.79 [[ 9.90640041e-01 1.36312189e-01 7.16211141e-03 1.10794700e+02] [-1.36306560e-01 9.90665891e-01 -1.27046999e-03 -1.24228718e+01] [-7.26844003e-03 2.82335668e-04 9.99973545e-01 -7.91978422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51755201799999 meters 0.023014040540564717 Centerline is valid? [True, True] Translation: X:110.83, Y:-12.43, Z:-0.79 [[ 9.90310007e-01 1.38721186e-01 6.52094033e-03 1.10825807e+02] [-1.38716569e-01 9.90331447e-01 -1.15724264e-03 -1.24270267e+01] [-6.61842634e-03 2.41466498e-04 9.99978069e-01 -7.92774438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54755201799999 meters 0.02174715215050105 Centerline is valid? [True, True] Translation: X:110.86, Y:-12.43, Z:-0.79 [[ 9.89950103e-01 1.41303446e-01 5.66832834e-03 1.10857537e+02] [-1.41299991e-01 9.89966311e-01 -1.00737675e-03 -1.24296688e+01] [-5.75379991e-03 1.96317970e-04 9.99983427e-01 -7.93909601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57755201799999 meters 0.021732645135456075 Centerline is valid? [True, True] Translation: X:110.89, Y:-12.43, Z:-0.80 [[ 9.89860819e-01 1.41937413e-01 5.41575087e-03 1.10888919e+02] [-1.41934270e-01 9.89875617e-01 -9.62459376e-04 -1.24348617e+01] [-5.49752872e-03 1.84020182e-04 9.99984872e-01 -7.95056145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60755201799999 meters 0.021519317798936673 Centerline is valid? [True, True] Translation: X:110.92, Y:-12.44, Z:-0.80 [[ 9.89840452e-01 1.42043753e-01 6.28100853e-03 1.10921168e+02] [-1.42039514e-01 9.89860357e-01 -1.11821130e-03 -1.24399519e+01] [-6.37615628e-03 2.14699384e-04 9.99979649e-01 -7.95114860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.637552018 meters 0.022527299762461615 Centerline is valid? [True, True] Translation: X:110.95, Y:-12.45, Z:-0.80 [[ 9.89906520e-01 1.41592260e-01 6.05913711e-03 1.10951923e+02] [-1.41588295e-01 9.89925041e-01 -1.08058721e-03 -1.24468651e+01] [-6.15109433e-03 2.11777431e-04 9.99981059e-01 -7.95315119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.667552018 meters 0.021958065060296395 Centerline is valid? [True, True] Translation: X:110.98, Y:-12.45, Z:-0.79 [[ 9.89697499e-01 1.42975037e-01 7.54981808e-03 1.10983368e+02] [-1.42968903e-01 9.89726262e-01 -1.34878130e-03 -1.24509106e+01] [-7.66509528e-03 2.55496269e-04 9.99970590e-01 -7.94973900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.697552018 meters 0.022780075890578313 Centerline is valid? [True, True] Translation: X:111.01, Y:-12.46, Z:-0.79 [[ 9.89702417e-01 1.42940497e-01 7.55908770e-03 1.11014360e+02] [-1.42934332e-01 9.89731250e-01 -1.35248831e-03 -1.24572885e+01] [-7.67479067e-03 2.58107797e-04 9.99970515e-01 -7.94812159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.727552018 meters 0.02325024330267738 Centerline is valid? [True, True] Translation: X:111.05, Y:-12.46, Z:-0.79 [[ 9.89447425e-01 1.44665971e-01 8.09624435e-03 1.11045559e+02] [-1.44658935e-01 9.89480514e-01 -1.45103749e-03 -1.24619182e+01] [-8.22099176e-03 2.64531225e-04 9.99966172e-01 -7.94791374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.757552018 meters 0.022630672825659403 Centerline is valid? [True, True] Translation: X:111.08, Y:-12.47, Z:-0.79 [[ 9.89323654e-01 1.45514198e-01 8.02035463e-03 1.11077305e+02] [-1.45507305e-01 9.89356130e-01 -1.43952741e-03 -1.24650656e+01] [-8.14445869e-03 2.57138334e-04 9.99966800e-01 -7.94806149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.787552018 meters 0.02339526262699129 Centerline is valid? [True, True] Translation: X:111.11, Y:-12.47, Z:-0.80 [[ 9.89446269e-01 1.44718316e-01 7.25877566e-03 1.11107226e+02] [-1.44712636e-01 9.89472865e-01 -1.30453816e-03 -1.24711836e+01] [-7.37115212e-03 2.40333853e-04 9.99972804e-01 -7.96349738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.817552018 meters 0.02126060078210104 Centerline is valid? [True, True] Translation: X:111.14, Y:-12.47, Z:-0.80 [[ 9.89680529e-01 1.43164219e-01 6.03792600e-03 1.11139682e+02] [-1.43160254e-01 9.89698925e-01 -1.08605317e-03 -1.24738578e+01] [-6.13121283e-03 2.10454653e-04 9.99981182e-01 -7.97869678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84755201799999 meters 0.027476165277882422 Centerline is valid? [True, True] Translation: X:111.17, Y:-12.49, Z:-0.80 [[ 9.90292654e-01 1.38919522e-01 4.67175134e-03 1.11168097e+02] [-1.38917094e-01 9.90303657e-01 -8.41702635e-04 -1.24870921e+01] [-4.74338137e-03 1.84545814e-04 9.99988733e-01 -8.00895542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87755201799999 meters 0.0241407687054281 Centerline is valid? [True, True] Translation: X:111.20, Y:-12.49, Z:-0.80 [[ 9.90634187e-01 1.36475902e-01 4.27041817e-03 1.11200887e+02] [-1.36473850e-01 9.90643375e-01 -7.69511850e-04 -1.24867323e+01] [-4.33548129e-03 1.79504335e-04 9.99990586e-01 -8.01573120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90755201799999 meters 0.025070946289674774 Centerline is valid? [True, True] Translation: X:111.23, Y:-12.49, Z:-0.80 [[ 9.90847722e-01 1.34929479e-01 3.85052408e-03 1.11232526e+02] [-1.34927801e-01 9.90855190e-01 -6.93492611e-04 -1.24922476e+01] [-3.90888436e-03 1.67602828e-04 9.99992346e-01 -8.02673909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93755201799999 meters 0.026199529216578997 Centerline is valid? [True, True] Translation: X:111.26, Y:-12.50, Z:-0.80 [[ 9.91125322e-01 1.32916551e-01 1.94573605e-03 1.11264007e+02] [-1.32916119e-01 9.91127228e-01 -3.50125679e-04 -1.24966197e+01] [-1.97500948e-03 8.83987418e-05 9.99998046e-01 -8.04538686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96755201799999 meters 0.027584521571516755 Centerline is valid? [True, True] Translation: X:111.29, Y:-12.50, Z:-0.81 [[ 9.91378116e-01 1.31030615e-01 6.39176048e-04 1.11293865e+02] [-1.31030568e-01 9.91378322e-01 -1.15350840e-04 -1.25034478e+01] [-6.48779769e-04 3.06046977e-05 9.99999789e-01 -8.05370581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.997552018 meters 0.02906969049662482 Centerline is valid? [True, True] Translation: X:111.32, Y:-12.51, Z:-0.81 [[ 9.91533887e-01 1.29847122e-01 5.25339372e-04 1.11323727e+02] [-1.29847090e-01 9.91534026e-01 -9.41655733e-05 -1.25103087e+01] [-5.33118991e-04 2.51545680e-05 9.99999858e-01 -8.05281245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.027552018 meters 0.030372444122544303 Centerline is valid? [True, True] Translation: X:111.36, Y:-12.52, Z:-0.81 [[ 9.91770917e-01 1.28023741e-01 6.07520259e-04 1.11355021e+02] [-1.28023698e-01 9.91771103e-01 -1.09497469e-04 -1.25165648e+01] [-6.16539313e-04 3.08194154e-05 9.99999809e-01 -8.05061916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.057552018 meters 0.034998285040075336 Centerline is valid? [True, True] Translation: X:111.38, Y:-12.53, Z:-0.81 [[ 9.93259719e-01 1.15906702e-01 -8.75347036e-04 1.11384449e+02] [-1.15906606e-01 9.93260104e-01 1.58750602e-04 -1.25291710e+01] [ 8.87847546e-04 -5.62220742e-05 9.99999604e-01 -8.07951171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.087552018 meters 0.03642798246130091 Centerline is valid? [True, True] Translation: X:111.41, Y:-12.54, Z:-0.81 [[ 9.94104879e-01 1.08416245e-01 -1.18598398e-03 1.11414543e+02] [-1.08416065e-01 9.94105583e-01 2.14921813e-04 -1.25364516e+01] [ 1.20229431e-03 -8.50751068e-05 9.99999274e-01 -8.08801656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.117552018 meters 0.042514781016186665 Centerline is valid? [True, True] Translation: X:111.44, Y:-12.55, Z:-0.81 [[ 9.94946510e-01 1.00406127e-01 -2.29476148e-04 1.11442622e+02] [-1.00406120e-01 9.94946536e-01 4.18211258e-05 -1.25491693e+01] [ 2.32515596e-04 -1.85689735e-05 9.99999973e-01 -8.09529417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.147552018 meters 0.04276334023801268 Centerline is valid? [True, True] Translation: X:111.47, Y:-12.55, Z:-0.81 [[ 9.95638911e-01 9.32800152e-02 1.41359686e-03 1.11472814e+02] [-9.32797450e-02 9.95639907e-01 -2.56048950e-04 -1.25547698e+01] [-1.43131770e-03 1.23072343e-04 9.99998968e-01 -8.08695891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.177552018 meters 0.045716683446067566 Centerline is valid? [True, True] Translation: X:111.50, Y:-12.57, Z:-0.81 [[ 9.96730496e-01 8.07002886e-02 3.97267171e-03 1.11501944e+02] [-8.06980544e-02 9.96738334e-01 -7.19761610e-04 -1.25662197e+01] [-4.01779915e-03 3.96821468e-04 9.99991850e-01 -8.05435438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.207552018 meters 0.04812590547639901 Centerline is valid? [True, True] Translation: X:111.53, Y:-12.58, Z:-0.80 [[ 9.97062711e-01 7.64443383e-02 4.71310474e-03 1.11532063e+02] [-7.64411463e-02 9.97073729e-01 -8.53992553e-04 -1.25751951e+01] [-4.76459582e-03 4.91209001e-04 9.99988529e-01 -8.04124857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23755201799999 meters 0.04989898538354544 Centerline is valid? [True, True] Translation: X:111.56, Y:-12.58, Z:-0.80 [[ 9.97212761e-01 7.43970454e-02 5.63822017e-03 1.11562610e+02] [-7.43924436e-02 9.97228520e-01 -1.02183951e-03 -1.25816839e+01] [-5.69861579e-03 5.99550420e-04 9.99983583e-01 -8.03832754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26755201799999 meters 0.05138079734634577 Centerline is valid? [True, True] Translation: X:111.59, Y:-12.59, Z:-0.81 [[ 9.97332248e-01 7.27601866e-02 5.86031554e-03 1.11593426e+02] [-7.27551858e-02 9.97349264e-01 -1.06233576e-03 -1.25872510e+01] [-5.92207714e-03 6.33133361e-04 9.99982264e-01 -8.05696176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29755201799999 meters 0.051576994079412665 Centerline is valid? [True, True] Translation: X:111.63, Y:-12.59, Z:-0.81 [[ 9.97304885e-01 7.31851346e-02 5.18676078e-03 1.11625321e+02] [-7.31812242e-02 9.97318216e-01 -9.40001255e-04 -1.25935828e+01] [-5.24164513e-03 5.57894340e-04 9.99986107e-01 -8.05400459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32755201799999 meters 0.051860630597551464 Centerline is valid? [True, True] Translation: X:111.66, Y:-12.60, Z:-0.81 [[ 9.97367608e-01 7.24217050e-02 3.59883550e-03 1.11656397e+02] [-7.24198159e-02 9.97374024e-01 -6.52676379e-04 -1.25996131e+01] [-3.63665298e-03 3.90331275e-04 9.99993311e-01 -8.06956084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35755201799999 meters 0.0527482394183899 Centerline is valid? [True, True] Translation: X:111.69, Y:-12.60, Z:-0.81 [[ 9.97467364e-01 7.10818034e-02 2.49708827e-03 1.11686823e+02] [-7.10808869e-02 9.97470451e-01 -4.53977624e-04 -1.26039103e+01] [-2.52304131e-03 2.75332615e-04 9.99996779e-01 -8.09282210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.387552018 meters 0.04941666734767033 Centerline is valid? [True, True] Translation: X:111.72, Y:-12.60, Z:-0.81 [[ 9.97235858e-01 7.41888844e-02 4.08090660e-03 1.11718082e+02] [-7.41864615e-02 9.97244112e-01 -7.42130598e-04 -1.26007698e+01] [-4.12471792e-03 4.37331223e-04 9.99991398e-01 -8.09403349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.417552018 meters 0.04966011379643745 Centerline is valid? [True, True] Translation: X:111.75, Y:-12.61, Z:-0.81 [[ 9.97044480e-01 7.67232206e-02 3.98153468e-03 1.11748963e+02] [-7.67209343e-02 9.97052343e-01 -7.24034868e-04 -1.26051979e+01] [-4.02534877e-03 4.16427907e-04 9.99991812e-01 -8.10000034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.447552018 meters 0.04905470608713099 Centerline is valid? [True, True] Translation: X:111.78, Y:-12.61, Z:-0.81 [[ 9.97047908e-01 7.67390723e-02 2.56582482e-03 1.11780509e+02] [-7.67381258e-02 9.97051174e-01 -4.65459748e-04 -1.26106688e+01] [-2.59397760e-03 2.67189081e-04 9.99996600e-01 -8.12242205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.477552018 meters 0.04873087869303627 Centerline is valid? [True, True] Translation: X:111.81, Y:-12.62, Z:-0.81 [[ 9.96962702e-01 7.78285046e-02 2.84494789e-03 1.11811173e+02] [-7.78273398e-02 9.96966718e-01 -5.18025069e-04 -1.26180620e+01] [-2.87663547e-03 2.95036947e-04 9.99995819e-01 -8.09979040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.507552018 meters 0.047613506966938696 Centerline is valid? [True, True] Translation: X:111.84, Y:-12.62, Z:-0.81 [[ 9.97028012e-01 7.69153448e-02 4.37862039e-03 1.11842187e+02] [-7.69125780e-02 9.97037522e-01 -7.97048952e-04 -1.26236084e+01] [-4.42695412e-03 4.57909150e-04 9.99990096e-01 -8.08810759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.537552018 meters 0.048302555049101754 Centerline is valid? [True, True] Translation: X:111.87, Y:-12.63, Z:-0.81 [[ 9.97078302e-01 7.60375485e-02 7.29048791e-03 1.11873410e+02] [-7.60298331e-02 9.97104656e-01 -1.33006177e-03 -1.26317230e+01] [-7.37051408e-03 7.71881155e-04 9.99972539e-01 -8.06107422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.567552018 meters 0.04982714339719497 Centerline is valid? [True, True] Translation: X:111.90, Y:-12.64, Z:-0.81 [[ 9.97148640e-01 7.51059811e-02 7.32671103e-03 1.11904767e+02] [-7.50981598e-02 9.97175249e-01 -1.33724421e-03 -1.26384182e+01] [-7.40644993e-03 7.83208727e-04 9.99972265e-01 -8.06872660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59755201799999 meters 0.06275890614088492 Centerline is valid? [True, True] Translation: X:111.93, Y:-12.66, Z:-0.81 [[ 9.97233734e-01 7.39513634e-02 7.48833486e-03 1.11931259e+02] [-7.39431567e-02 9.97261520e-01 -1.36729273e-03 -1.26586600e+01] [-7.56894137e-03 8.09799319e-04 9.99971027e-01 -8.08580968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62755201799999 meters 0.0505148234199185 Centerline is valid? [True, True] Translation: X:111.97, Y:-12.65, Z:-0.81 [[ 9.97306205e-01 7.29814640e-02 7.35110533e-03 1.11965763e+02] [-7.29735291e-02 9.97332975e-01 -1.34226716e-03 -1.26480473e+01] [-7.42946037e-03 8.02215267e-04 9.99972079e-01 -8.09307105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65755201799999 meters 0.05192797425760764 Centerline is valid? [True, True] Translation: X:112.00, Y:-12.65, Z:-0.81 [[ 9.97220090e-01 7.40304278e-02 8.46095434e-03 1.11995396e+02] [-7.40199478e-02 9.97255563e-01 -1.54556668e-03 -1.26541438e+01] [-8.55215274e-03 9.14990743e-04 9.99963011e-01 -8.08222989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68755201799999 meters 0.048367363855097344 Centerline is valid? [True, True] Translation: X:112.03, Y:-12.66, Z:-0.81 [[ 9.97189943e-01 7.44145068e-02 8.64282681e-03 1.12028236e+02] [-7.44035799e-02 9.97226961e-01 -1.57945744e-03 -1.26552790e+01] [-8.73639446e-03 9.31961825e-04 9.99961403e-01 -8.08525666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71755201799999 meters 0.054088828497998696 Centerline is valid? [True, True] Translation: X:112.06, Y:-12.67, Z:-0.81 [[ 9.97250939e-01 7.35555849e-02 8.95216368e-03 1.12057723e+02] [-7.35438026e-02 9.97290641e-01 -1.63874685e-03 -1.26676646e+01] [-9.04844804e-03 9.75865679e-04 9.99958586e-01 -8.08218915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.747552018 meters 0.048654517476186716 Centerline is valid? [True, True] Translation: X:112.09, Y:-12.67, Z:-0.81 [[ 9.97387214e-01 7.17064209e-02 8.77118034e-03 1.12089188e+02] [-7.16950236e-02 9.97425305e-01 -1.60741121e-03 -1.26663335e+01] [-8.86385894e-03 9.74361409e-04 9.99960241e-01 -8.08708305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.777552018 meters 0.05031174443357461 Centerline is valid? [True, True] Translation: X:112.12, Y:-12.68, Z:-0.81 [[ 9.97620611e-01 6.83998916e-02 8.63548407e-03 1.12118821e+02] [-6.83887189e-02 9.97657495e-01 -1.58288213e-03 -1.26753745e+01] [-8.72352438e-03 9.88546148e-04 9.99961461e-01 -8.09101009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.807552018 meters 0.05721836965488049 Centerline is valid? [True, True] Translation: X:112.15, Y:-12.69, Z:-0.81 [[ 9.98181693e-01 5.98119287e-02 7.47261802e-03 1.12145829e+02] [-5.98033237e-02 9.98209239e-01 -1.36992930e-03 -1.26919807e+01] [-7.54117447e-03 9.20550956e-04 9.99971141e-01 -8.10827275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.837552018 meters 0.057230168173192625 Centerline is valid? [True, True] Translation: X:112.18, Y:-12.70, Z:-0.81 [[ 9.98430754e-01 5.54967005e-02 7.49298202e-03 1.12175745e+02] [-5.54879256e-02 9.98458413e-01 -1.37409403e-03 -1.26985537e+01] [-7.55768862e-03 9.56167713e-04 9.99970983e-01 -8.11318091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.867552018 meters 0.062017461669809044 Centerline is valid? [True, True] Translation: X:112.20, Y:-12.71, Z:-0.81 [[ 9.98507452e-01 5.39543117e-02 8.47351487e-03 1.12204086e+02] [-5.39430342e-02 9.98542805e-01 -1.55403266e-03 -1.27101617e+01] [-8.54501408e-03 1.09462609e-03 9.99962892e-01 -8.11164955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.897552018 meters 0.05888847299979346 Centerline is valid? [True, True] Translation: X:112.24, Y:-12.71, Z:-0.81 [[ 9.98421907e-01 5.49188795e-02 1.17308237e-02 1.12236225e+02] [-5.48973147e-02 9.98489685e-01 -2.15270610e-03 -1.27116767e+01] [-1.18313307e-02 1.50531820e-03 9.99928874e-01 -8.12065449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.927552018 meters 0.06158265492084637 Centerline is valid? [True, True] Translation: X:112.27, Y:-12.72, Z:-0.81 [[ 9.98392210e-01 5.53192000e-02 1.23604392e-02 1.12266294e+02] [-5.52952470e-02 9.98467464e-01 -2.27156083e-03 -1.27224106e+01] [-1.24671573e-02 1.58443510e-03 9.99921027e-01 -8.12122282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.957552018 meters 0.06508529681063388 Centerline is valid? [True, True] Translation: X:112.30, Y:-12.73, Z:-0.81 [[ 9.98190705e-01 5.86833089e-02 1.30990514e-02 1.12295051e+02] [-5.86566673e-02 9.98275308e-01 -2.40919767e-03 -1.27311979e+01] [-1.32178393e-02 1.63649202e-03 9.99911301e-01 -8.11771103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98755201799999 meters 0.06344508146182393 Centerline is valid? [True, True] Translation: X:112.33, Y:-12.74, Z:-0.81 [[ 9.98132373e-01 5.97945904e-02 1.25049121e-02 1.12326641e+02] [-5.97703918e-02 9.98209501e-01 -2.30031064e-03 -1.27353494e+01] [-1.26200682e-02 1.54859102e-03 9.99919165e-01 -8.12661310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01755201799999 meters 0.058366631207592966 Centerline is valid? [True, True] Translation: X:112.36, Y:-12.73, Z:-0.81 [[ 9.97986935e-01 6.19683348e-02 1.34908460e-02 1.12359000e+02] [-6.19403581e-02 9.98076766e-01 -2.48220540e-03 -1.27323317e+01] [-1.36187180e-02 1.64158073e-03 9.99905913e-01 -8.14108735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04755201799999 meters 0.060374699677490554 Centerline is valid? [True, True] Translation: X:112.39, Y:-12.74, Z:-0.82 [[ 9.97942492e-01 6.25371863e-02 1.41379724e-02 1.12389932e+02] [-6.25064901e-02 9.98041163e-01 -2.60317519e-03 -1.27381306e+01] [-1.42730736e-02 1.71410410e-03 9.99896665e-01 -8.15397774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07755201799999 meters 0.060374699677490554 Centerline is valid? [True, True] Translation: X:112.42, Y:-12.74, Z:-0.82 [[ 9.97924006e-01 6.28316511e-02 1.41372733e-02 1.12421978e+02] [-6.28009311e-02 9.98022668e-01 -2.60696747e-03 -1.27441547e+01] [-1.42731193e-02 1.71372149e-03 9.99896665e-01 -8.15628941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10755201799999 meters 0.05823460945983231 Centerline is valid? [True, True] Translation: X:112.45, Y:-12.74, Z:-0.82 [[ 9.97988933e-01 6.16594821e-02 1.47036904e-02 1.12453235e+02] [-6.16260906e-02 9.98095617e-01 -2.71377169e-03 -1.27447820e+01] [-1.48430187e-02 1.80218316e-03 9.99888212e-01 -8.17836348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.137552018 meters 0.06231008334172927 Centerline is valid? [True, True] Translation: X:112.48, Y:-12.75, Z:-0.82 [[ 9.98068325e-01 6.02398347e-02 1.51914443e-02 1.12481650e+02] [-6.02040268e-02 9.98182154e-01 -2.80393283e-03 -1.27538248e+01] [-1.53327370e-02 1.88393043e-03 9.99880672e-01 -8.18261575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.167552018 meters 0.06338060978924705 Centerline is valid? [True, True] Translation: X:112.51, Y:-12.76, Z:-0.82 [[ 9.98125496e-01 5.90679036e-02 1.60148942e-02 1.12512204e+02] [-5.90279568e-02 9.98251953e-01 -2.95609244e-03 -1.27597301e+01] [-1.61615096e-02 2.00522475e-03 9.99867384e-01 -8.18119901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.197552018 meters 0.06702380020176633 Centerline is valid? [True, True] Translation: X:112.54, Y:-12.77, Z:-0.82 [[ 9.98157280e-01 5.77858404e-02 1.85159549e-02 1.12541289e+02] [-5.77322202e-02 9.98326254e-01 -3.41790116e-03 -1.27672729e+01] [-1.86824702e-02 2.34263574e-03 9.99822723e-01 -8.17304396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.227552018 meters 0.0635670276890646 Centerline is valid? [True, True] Translation: X:112.57, Y:-12.77, Z:-0.82 [[ 9.98128612e-01 5.81622465e-02 1.88792553e-02 1.12573738e+02] [-5.81065055e-02 9.98304295e-01 -3.48821075e-03 -1.27664587e+01] [-1.90501238e-02 2.38467541e-03 9.99815686e-01 -8.18750627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.257552018 meters 0.0637971564744039 Centerline is valid? [True, True] Translation: X:112.61, Y:-12.77, Z:-0.82 [[ 9.98172361e-01 5.74288764e-02 1.88112117e-02 1.12605008e+02] [-5.73733152e-02 9.98346728e-01 -3.48055025e-03 -1.27711286e+01] [-1.89799958e-02 2.39492748e-03 9.99816995e-01 -8.20050849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.287552018 meters 0.0751827880750495 Centerline is valid? [True, True] Translation: X:112.63, Y:-12.79, Z:-0.82 [[ 9.98122222e-01 5.81849414e-02 1.91452889e-02 1.12633616e+02] [-5.81274312e-02 9.98302869e-01 -3.54725349e-03 -1.27886259e+01] [-1.93191936e-02 2.42772607e-03 9.99810419e-01 -8.19921798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.317552018 meters 0.06974078973072727 Centerline is valid? [True, True] Translation: X:112.67, Y:-12.78, Z:-0.82 [[ 9.98082843e-01 5.87179113e-02 1.95664379e-02 1.12667903e+02] [-5.86578392e-02 9.98271545e-01 -3.63056283e-03 -1.27798028e+01] [-1.97457973e-02 2.47587750e-03 9.99801967e-01 -8.23265823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34755201799999 meters 0.07993316259798229 Centerline is valid? [True, True] Translation: X:112.70, Y:-12.79, Z:-0.83 [[ 9.98159804e-01 5.72806793e-02 1.98979952e-02 1.12696419e+02] [-5.72182335e-02 9.98354861e-01 -3.69403227e-03 -1.27913059e+01] [-2.00768569e-02 2.54870639e-03 9.99795191e-01 -8.26638738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37755201799999 meters 0.08436400269384556 Centerline is valid? [True, True] Translation: X:112.73, Y:-12.80, Z:-0.83 [[ 9.98133006e-01 5.72500465e-02 2.12822647e-02 1.12726686e+02] [-5.71785246e-02 9.98356138e-01 -3.95459286e-03 -1.27972030e+01] [-2.14736802e-02 2.73032116e-03 9.99765686e-01 -8.27371072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40755201799999 meters 0.08992835611756703 Centerline is valid? [True, True] Translation: X:112.76, Y:-12.80, Z:-0.83 [[ 9.98120824e-01 5.64642039e-02 2.38036501e-02 1.12757509e+02] [-5.63744449e-02 9.98399887e-01 -4.42567924e-03 -1.28038325e+01] [-2.40154541e-02 3.07544504e-03 9.99706857e-01 -8.27481423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43755201799999 meters 0.08944816296271482 Centerline is valid? [True, True] Translation: X:112.79, Y:-12.80, Z:-0.83 [[ 9.98117399e-01 5.53107226e-02 2.65024830e-02 1.12789763e+02] [-5.51990215e-02 9.98463208e-01 -4.92851049e-03 -1.28027016e+01] [-2.67343537e-02 3.45632094e-03 9.99636598e-01 -8.28312876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1645.25 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%| | 0/3782 [00:00