+ python -m lidar_slam --no-model /working/8413e641-da62-4ee8-950b-0970645c0faa Lidar SLAM 0.0.12 ===================================================== The recording path: /working/8413e641-da62-4ee8-950b-0970645c0faa 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 0.02327356 Adjusted end_distance from 9.223372036854776e+18 to 85.24327356 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.02327356 meters 0.18589212000997388 Centerline is valid? [0, False] SLAMing on 0.05327356 meters 0.20005409632738058 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:0.00 [[ 9.99992095e-01 -3.92524456e-03 -6.34078831e-04 1.32492843e-03] [ 3.92248561e-03 9.99983082e-01 -4.29529299e-03 6.17463579e-04] [ 6.50928179e-04 4.29277187e-03 9.99990574e-01 3.18248368e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08327356 meters 0.2032039408956835 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99993339e-01 -3.58354129e-03 -6.92324826e-04 1.67155256e-03] [ 3.58081838e-03 9.99986003e-01 -3.89499209e-03 -6.85039216e-04] [ 7.06273001e-04 3.89248706e-03 9.99992175e-01 1.07393231e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11327356 meters 0.203730353299054 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99995856e-01 -2.74220340e-03 -8.77023868e-04 2.99335913e-03] [ 2.73963622e-03 9.99991998e-01 -2.91508081e-03 -2.97708529e-03] [ 8.85010595e-04 2.91266600e-03 9.99995367e-01 -9.89329823e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14327356 meters 0.20944835571321033 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99996840e-01 -2.30657441e-03 -9.99902178e-04 3.94869600e-03] [ 2.30416656e-03 9.99994459e-01 -2.40259089e-03 -3.80605570e-03] [ 1.00543839e-03 2.40027935e-03 9.99996614e-01 -1.85102326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17327356 meters 0.21095630983272753 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 0.99999764 -0.00188089 -0.00109186 0.00486821] [ 0.00187886 0.99999652 -0.00185148 -0.00465308] [ 0.00109533 0.00184943 0.99999769 -0.00279556] [ 0. 0. 0. 1. ]] SLAMing on 0.20327356 meters 0.21682453597022355 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99999838 -0.0012853 -0.00126061 0.00614765] [ 0.00128388 0.99999855 -0.00112119 -0.00578908] [ 0.00126205 0.00111957 0.99999858 -0.00395616] [ 0. 0. 0. 1. ]] SLAMing on 0.23327356 meters 0.22162354229487102 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99998728e-01 -8.45766856e-04 -1.35202462e-03 7.09491896e-03] [ 8.44997617e-04 9.99999481e-01 -5.69423121e-04 -6.80313307e-03] [ 1.35250552e-03 5.68279939e-04 9.99998924e-01 -4.89518202e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.26327356 meters 0.2184075415974997 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99998777e-01 -7.66368358e-04 -1.36304150e-03 7.09798892e-03] [ 7.65623232e-04 9.99999557e-01 -5.47102463e-04 -7.25555889e-03] [ 1.36346018e-03 5.46058218e-04 9.99998921e-01 -4.76456728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29327356000000004 meters 0.21854043000919932 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.01 [[ 9.99998855e-01 -4.79835671e-04 -1.43533913e-03 7.59812207e-03] [ 4.79548593e-04 9.99999865e-01 -2.00344783e-04 -7.95648458e-03] [ 1.43543507e-03 1.99656238e-04 9.99998950e-01 -5.18452959e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32327355999999996 meters 0.22092573243122898 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99998844e-01 -1.15022376e-04 -1.51630653e-03 7.49566280e-03] [ 1.15319623e-04 9.99999974e-01 1.95947491e-04 -9.95808127e-03] [ 1.51628395e-03 -1.96122124e-04 9.99998831e-01 -4.72051733e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35327356 meters 0.2167509242005884 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99998847e-01 -4.05395089e-05 -1.51770705e-03 7.17151534e-03] [ 4.09812429e-05 9.99999957e-01 2.91023568e-04 -1.09782390e-02] [ 1.51769519e-03 -2.91085430e-04 9.99998806e-01 -4.25579460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38327356 meters 0.22525646012773584 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 9.99998955e-01 2.03049819e-04 -1.43165656e-03 6.92503209e-03] [-2.02104526e-04 9.99999762e-01 6.60392601e-04 -1.26908159e-02] [ 1.43179031e-03 -6.60102566e-04 9.99998757e-01 -4.15952305e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.41327356000000004 meters 0.22141435877730264 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:-0.00 [[ 0.99999111 -0.00372309 -0.00197954 0.00823562] [ 0.00371634 0.99998731 -0.00340201 -0.01290784] [ 0.00199219 0.00339462 0.99999225 -0.0040926 ] [ 0. 0. 0. 1. ]] SLAMing on 0.44327355999999996 meters 0.21884931146084202 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 0.99999339 -0.00299737 -0.00205927 0.00922933] [ 0.00299244 0.99999265 -0.00239541 -0.01535532] [ 0.00206643 0.00238923 0.99999501 -0.00516084] [ 0. 0. 0. 1. ]] SLAMing on 0.47327356 meters 0.2234371746434157 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99996231e-01 -1.87123745e-03 -2.00902480e-03 1.05419111e-02] [ 1.87007384e-03 9.99998083e-01 -5.80911180e-04 -2.00547430e-02] [ 2.01010797e-03 5.77151965e-04 9.99997813e-01 -7.18871102e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.50327356 meters 0.22241716282344984 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99997054e-01 -1.55062468e-03 -1.86738911e-03 1.06255595e-02] [ 1.55075325e-03 9.99998795e-01 6.74048898e-05 -2.18778413e-02] [ 1.86728234e-03 -7.03005510e-05 9.99998254e-01 -7.82481658e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.53327356 meters 0.22170492379060033 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.02, Z:-0.01 [[ 9.99997323e-01 -1.22657076e-03 -1.96179900e-03 1.09942795e-02] [ 1.22751917e-03 9.99999130e-01 4.82306276e-04 -2.33185337e-02] [ 1.96120571e-03 -4.84713131e-04 9.99997959e-01 -7.96651685e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5632735600000001 meters 0.22284739656005334 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99998051e-01 -7.87916116e-04 -1.81019186e-03 1.09754555e-02] [ 7.90305100e-04 9.99998817e-01 1.31940494e-03 -2.60569912e-02] [ 1.80915014e-03 -1.32083298e-03 9.99997491e-01 -8.46839933e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.59327356 meters 0.22353609915917325 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99998180e-01 -6.53479590e-04 -1.79243034e-03 1.08301455e-02] [ 6.56188346e-04 9.99998643e-01 1.51104805e-03 -2.71879173e-02] [ 1.79144046e-03 -1.51222147e-03 9.99997252e-01 -8.28463918e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.62327356 meters 0.2294090507126879 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99998382e-01 -3.79091105e-04 -1.75831938e-03 1.09972547e-02] [ 3.82568198e-04 9.99997971e-01 1.97759493e-03 -2.85197784e-02] [ 1.75756612e-03 -1.97826441e-03 9.99996499e-01 -8.62750657e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.65327356 meters 0.22334474295312423 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99998381e-01 -3.43745580e-04 -1.76650492e-03 1.07228172e-02] [ 3.47282361e-04 9.99997935e-01 2.00221823e-03 -2.93727199e-02] [ 1.76581302e-03 -2.00282847e-03 9.99996435e-01 -8.17063374e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.68327356 meters 0.2181833334435805 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99998523e-01 -1.97900566e-04 -1.70718821e-03 1.01705641e-02] [ 2.01701258e-04 9.99997501e-01 2.22640268e-03 -3.14715123e-02] [ 1.70674334e-03 -2.22674374e-03 9.99996064e-01 -7.52790536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.71327356 meters 0.21486694492632438 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99998453e-01 -6.35977404e-06 -1.75869772e-03 1.02589278e-02] [ 1.07251229e-05 9.99996919e-01 2.48215016e-03 -3.26444869e-02] [ 1.75867651e-03 -2.48216519e-03 9.99995373e-01 -7.43528091e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.74327356 meters 0.21310054344364152 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.03, Z:-0.01 [[ 9.99998331e-01 7.32710082e-05 -1.82529801e-03 1.02197719e-02] [-6.86085168e-05 9.99996735e-01 2.55430439e-03 -3.35719896e-02] [ 1.82547921e-03 -2.55417489e-03 9.99995072e-01 -7.09303365e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.77327356 meters 0.21101234994399815 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99998342e-01 4.57629774e-04 -1.76248214e-03 1.03510324e-02] [-4.51861000e-04 9.99994545e-01 3.27210483e-03 -3.63002134e-02] [ 1.76396993e-03 -3.27130300e-03 9.99993093e-01 -7.44468549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.80327356 meters 0.21008935835533454 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99998067e-01 7.71686165e-04 -1.80855858e-03 1.07685955e-02] [-7.64893962e-04 9.99992664e-01 3.75327659e-03 -3.78426242e-02] [ 1.81144166e-03 -3.75188597e-03 9.99991321e-01 -7.79349820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.83327356 meters 0.21008935835533454 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99998067e-01 7.71686165e-04 -1.80855858e-03 1.07685955e-02] [-7.64893962e-04 9.99992664e-01 3.75327659e-03 -3.78426242e-02] [ 1.81144166e-03 -3.75188597e-03 9.99991321e-01 -7.79349820e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.86327356 meters 0.20995933569124703 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99997924e-01 9.27615227e-04 -1.81438061e-03 1.07883310e-02] [-9.20315641e-04 9.99991497e-01 4.01988875e-03 -3.90692642e-02] [ 1.81809410e-03 -4.01821060e-03 9.99990274e-01 -7.76058059e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.89327356 meters 0.20814853025718796 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 0.99999785 0.0010463 -0.0017922 0.0106815 ] [-0.00103866 0.99999038 0.00426044 -0.04027161] [ 0.00179664 -0.00425857 0.99998932 -0.00767207] [ 0. 0. 0. 1. ]] SLAMing on 0.9232735599999999 meters 0.20368341484664879 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 0.99999779 0.00112739 -0.001776 0.01019946] [-0.00111933 0.99998911 0.00453136 -0.04226655] [ 0.00178109 -0.00452936 0.99998816 -0.00702889] [ 0. 0. 0. 1. ]] SLAMing on 0.95327356 meters 0.20103908466314765 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 0.99999775 0.0012259 -0.00173243 0.01010887] [-0.00121766 0.99998798 0.00474858 -0.04324375] [ 0.00173824 -0.00474646 0.99998722 -0.00700694] [ 0. 0. 0. 1. ]] SLAMing on 0.98327356 meters 0.20063440248998474 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 0.99999755 0.0013245 -0.00177627 0.01001995] [-0.00131576 0.99998707 0.00491277 -0.04439054] [ 0.00178275 -0.00491042 0.99998635 -0.00667901] [ 0. 0. 0. 1. ]] SLAMing on 1.01327356 meters 0.19599450933334742 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.9999972 0.00152797 -0.00180627 0.01004573] [-0.00151848 0.99998509 0.00524598 -0.04588997] [ 0.00181426 -0.00524322 0.99998461 -0.00655531] [ 0. 0. 0. 1. ]] SLAMing on 1.04327356 meters 0.19255770452140897 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999411 -0.00204935 -0.00275333 0.01206427] [ 0.00205281 0.99999711 0.00125477 -0.04625662] [ 0.00275075 -0.00126042 0.99999542 -0.00613538] [ 0. 0. 0. 1. ]] SLAMing on 1.07327356 meters 0.18619944890272466 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999426 -0.00190865 -0.00280063 0.0121583 ] [ 0.00191272 0.99999711 0.0014541 -0.04730421] [ 0.00279785 -0.00145945 0.99999502 -0.00604821] [ 0. 0. 0. 1. ]] SLAMing on 1.10327356 meters 0.18157858691967904 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999461 -0.0016179 -0.0028585 0.01261088] [ 0.00162322 0.99999695 0.00186032 -0.04853298] [ 0.00285548 -0.00186495 0.99999418 -0.00641202] [ 0. 0. 0. 1. ]] SLAMing on 1.13327356 meters 0.1800607570205889 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999467 -0.00114155 -0.00305799 0.01335548] [ 0.00114934 0.9999961 0.00254659 -0.05071876] [ 0.00305507 -0.00255009 0.99999208 -0.00668599] [ 0. 0. 0. 1. ]] SLAMing on 1.16327356 meters 0.1758322713307781 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999446 -0.0010046 -0.00317298 0.01349822] [ 0.0010131 0.9999959 0.00267812 -0.05164385] [ 0.00317028 -0.00268132 0.99999138 -0.00641855] [ 0. 0. 0. 1. ]] SLAMing on 1.19327356 meters 0.17123276926317368 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99994225e-01 -8.50345580e-04 -3.29037040e-03 1.37416303e-02] [ 8.59767403e-04 9.99995532e-01 2.86309941e-03 -5.24712939e-02] [ 3.28792108e-03 -2.86591183e-03 9.99990488e-01 -6.32648983e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.22327356 meters 0.16788154957994458 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99994026e-01 -7.52303365e-04 -3.37383048e-03 1.39270534e-02] [ 7.62426012e-04 9.99995209e-01 3.00006078e-03 -5.32331744e-02] [ 3.37155736e-03 -3.00261515e-03 9.99989808e-01 -6.25425667e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.25327356 meters 0.16220479100670804 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99993896e-01 -3.08082018e-04 -3.48040965e-03 1.45999618e-02] [ 3.20872785e-04 9.99993195e-01 3.67511465e-03 -5.55710395e-02] [ 3.47925373e-03 -3.67620899e-03 9.99987190e-01 -6.68362697e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.28327356 meters 0.16008382998752826 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99993606e-01 -6.96237561e-05 -3.57523063e-03 1.49589662e-02] [ 8.39434405e-05 9.99991975e-01 4.00525389e-03 -5.67374544e-02] [ 3.57492308e-03 -4.00552840e-03 9.99985588e-01 -6.81040507e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.31327356 meters 0.15633929993623888 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99993513e-01 -1.07442798e-05 -3.60203772e-03 1.49900110e-02] [ 2.55297942e-05 9.99991575e-01 4.10474306e-03 -5.73600543e-02] [ 3.60196327e-03 -4.10480839e-03 9.99985088e-01 -6.74042652e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3432735599999999 meters 0.1537983586862602 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99993304e-01 8.90155935e-05 -3.65831079e-03 1.48449959e-02] [-7.33646534e-05 9.99990846e-01 4.27809920e-03 -5.88135954e-02] [ 3.65865812e-03 -4.27780216e-03 9.99984157e-01 -6.20615035e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.37327356 meters 0.15103869566719272 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.01 [[ 9.99992952e-01 2.60143859e-04 -3.74530675e-03 1.51054125e-02] [-2.43356951e-04 9.99989927e-01 4.48187667e-03 -5.94977072e-02] [ 3.74643495e-03 -4.48093364e-03 9.99982943e-01 -6.20844695e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.40327356 meters 0.14890356968749846 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99992888e-01 2.02569700e-04 -3.76594237e-03 1.48795635e-02] [-1.85962435e-04 9.99990260e-01 4.40968375e-03 -5.98447990e-02] [ 3.76679896e-03 -4.40895207e-03 9.99983186e-01 -5.77823100e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.43327356 meters 0.14561974509243836 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99993432e-01 1.68414437e-04 -3.62034161e-03 1.42926187e-02] [-1.51657712e-04 9.99989278e-01 4.62826893e-03 -6.14443899e-02] [ 3.62108226e-03 -4.62768948e-03 9.99982736e-01 -5.32741523e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.46327356 meters 0.14339256657564114 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99993674e-01 2.14520984e-04 -3.55058825e-03 1.41498669e-02] [-1.97437298e-04 9.99988407e-01 4.81115997e-03 -6.22602982e-02] [ 3.55157918e-03 -4.81042851e-03 9.99982123e-01 -5.33229913e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.49327356 meters 0.14371540183143475 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99993665e-01 3.41953968e-04 -3.54313672e-03 1.42658853e-02] [-3.24026688e-04 9.99987150e-01 5.05905936e-03 -6.31647233e-02] [ 3.54482116e-03 -5.05787924e-03 9.99980926e-01 -5.47019636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.52327356 meters 0.1426049355752389 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.01 [[ 9.99995143e-01 -7.11944387e-04 -3.03423916e-03 1.56921656e-02] [ 7.21154402e-04 9.99995133e-01 3.03534961e-03 -6.33645072e-02] [ 3.03206339e-03 -3.03752303e-03 9.99990790e-01 -6.94116010e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.55327356 meters 0.1414112693155596 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 9.99995746e-01 -4.66807718e-04 -2.87920003e-03 1.59254529e-02] [ 4.77510769e-04 9.99992975e-01 3.71780337e-03 -6.53321865e-02] [ 2.87744430e-03 -3.71916240e-03 9.99988944e-01 -7.75768866e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.58327356 meters 0.13986310698861465 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 9.99995662e-01 -1.04071290e-04 -2.94353036e-03 1.66190098e-02] [ 1.16568266e-04 9.99990980e-01 4.24572114e-03 -6.64005635e-02] [ 2.94306195e-03 -4.24604585e-03 9.99986655e-01 -8.46326483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6132735599999999 meters 0.13954806647488668 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 9.99995901e-01 -1.27956839e-04 -2.86043359e-03 1.63872897e-02] [ 1.40361176e-04 9.99990586e-01 4.33674320e-03 -6.70358405e-02] [ 2.85985175e-03 -4.33712692e-03 9.99986505e-01 -8.35812651e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.64327356 meters 0.13595245884591284 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 9.99996571e-01 -3.56138319e-04 -2.59425499e-03 1.54981084e-02] [ 3.67563721e-04 9.99990231e-01 4.40497231e-03 -6.79770403e-02] [ 2.59266087e-03 -4.40591076e-03 9.99986933e-01 -7.90103877e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.67327356 meters 0.13622915396071741 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 9.99996810e-01 -4.66755763e-04 -2.48247880e-03 1.50321521e-02] [ 4.77552212e-04 9.99990424e-01 4.35024683e-03 -6.84741056e-02] [ 2.48042452e-03 -4.35141846e-03 9.99987456e-01 -7.51039772e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.70327356 meters 0.13107339851894895 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99997004e-01 -5.70484932e-04 -2.38043065e-03 1.46020400e-02] [ 5.80786347e-04 9.99990461e-01 4.32909754e-03 -6.90120589e-02] [ 2.37793825e-03 -4.33046709e-03 9.99987796e-01 -7.17187330e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.73327356 meters 0.13433238691497928 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99997727e-01 -9.89531707e-04 -1.88851174e-03 1.33027446e-02] [ 9.97792646e-04 9.99989917e-01 4.37839416e-03 -7.04741673e-02] [ 1.88416014e-03 -4.38026855e-03 9.99988632e-01 -6.79963382e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.76327356 meters 0.13580734073842157 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.07, Z:-0.01 [[ 9.99985304e-01 -4.68926759e-03 -2.72089749e-03 1.50833511e-02] [ 4.68974075e-03 9.99988989e-01 1.67543131e-04 -6.99295581e-02] [ 2.72008188e-03 -1.80300973e-04 9.99996284e-01 -6.63141550e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.79327356 meters 0.13252766974417904 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.01 [[ 9.99986136e-01 3.67011091e-04 5.25294974e-03 4.75046659e-03] [-3.49621513e-04 9.99994458e-01 -3.31097608e-03 -7.18396823e-02] [-5.25413579e-03 3.30909363e-03 9.99980722e-01 -1.12156296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8232735599999998 meters 0.1345841763346821 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.01 [[ 9.99984820e-01 2.34554954e-04 5.50488932e-03 4.25878786e-03] [-2.18825929e-04 9.99995893e-01 -2.85771119e-03 -7.35436985e-02] [-5.50553700e-03 2.85646320e-03 9.99980765e-01 -1.13177869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8532735599999999 meters 0.1283311024183101 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.01 [[ 9.99983887e-01 1.36073989e-04 5.67520359e-03 3.86093744e-03] [-1.20675762e-04 9.99996311e-01 -2.71350091e-03 -7.41088845e-02] [-5.67555189e-03 2.71277233e-03 9.99980214e-01 -1.13271086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.88327356 meters 0.13170527566888238 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-0.01 [[ 9.99984180e-01 4.57942760e-04 5.60625966e-03 4.41498987e-03] [-4.45990385e-04 9.99997626e-01 -2.13303415e-03 -7.52392563e-02] [-5.60722316e-03 2.13050007e-03 9.99982010e-01 -1.19449514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.91327356 meters 0.1300122386566979 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-0.01 [[ 9.99982885e-01 2.63597336e-04 5.84465643e-03 3.81423740e-03] [-2.51090948e-04 9.99997678e-01 -2.14042923e-03 -7.56579304e-02] [-5.84520707e-03 2.13892506e-03 9.99980629e-01 -1.18372743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.94327356 meters 0.12929613352881633 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-0.01 [[ 9.99982273e-01 4.15657974e-04 5.93984735e-03 3.97055889e-03] [-4.06168979e-04 9.99998640e-01 -1.59863206e-03 -7.68483560e-02] [-5.94050376e-03 1.59619114e-03 9.99981081e-01 -1.24464028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.97327356 meters 0.1323533460206382 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-0.01 [[ 9.99982927e-01 6.91943058e-04 5.80237105e-03 4.64558050e-03] [-6.84530986e-04 9.99998947e-01 -1.27930981e-03 -7.71922660e-02] [-5.80325015e-03 1.27531607e-03 9.99982348e-01 -1.29788608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.00327356 meters 0.13204911865284877 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.01 [[ 9.99983898e-01 9.58083577e-04 5.59331761e-03 5.34492340e-03] [-9.52292233e-04 9.99999008e-01 -1.03797557e-03 -7.73819567e-02] [-5.59430652e-03 1.03263238e-03 9.99983819e-01 -1.33377212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0332735599999996 meters 0.1308346485491183 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.01 [[ 9.99984994e-01 9.53631305e-04 5.39471708e-03 5.64597730e-03] [-9.46768133e-04 9.99998739e-01 -1.27461323e-03 -7.65742888e-02] [-5.39592579e-03 1.26948656e-03 9.99984636e-01 -1.31429744e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.06327356 meters 0.1319233829655581 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.01 [[ 9.99985891e-01 7.89844137e-04 5.25308073e-03 5.58729651e-03] [-7.81085371e-04 9.99998302e-01 -1.66920063e-03 -7.57744614e-02] [-5.25439021e-03 1.66507397e-03 9.99984809e-01 -1.26001649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0932735599999996 meters 0.12647114478388927 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.08, Z:-0.01 [[ 9.99986914e-01 7.54810511e-04 5.05992694e-03 5.81283838e-03] [-7.45107125e-04 9.99997881e-01 -1.91930371e-03 -7.51897532e-02] [-5.06136492e-03 1.91550840e-03 9.99985357e-01 -1.23073703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.12327356 meters 0.11933651443175794 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.08, Z:-0.01 [[ 0.99997397 0.00443237 0.00569397 0.00457755] [-0.00444466 0.99998781 0.00214905 -0.07531132] [-0.00568438 -0.0021743 0.99998148 -0.01245536] [ 0. 0. 0. 1. ]] SLAMing on 2.1532735599999997 meters 0.11940372269579383 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.07, Z:-0.01 [[ 0.99997493 0.00437352 0.0055694 0.00481447] [-0.00438421 0.99998857 0.00190893 -0.07447464] [-0.00556099 -0.0019333 0.99998267 -0.01242556] [ 0. 0. 0. 1. ]] SLAMing on 2.18327356 meters 0.12284528275931028 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99997599 0.00437855 0.00537184 0.00526994] [-0.0043876 0.99998897 0.00167468 -0.07356729] [-0.00536445 -0.00169821 0.99998417 -0.01247365] [ 0. 0. 0. 1. ]] SLAMing on 2.2132735599999998 meters 0.11937143355026313 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99997797 0.0043074 0.0050498 0.00584778] [-0.00431286 0.99999013 0.00106975 -0.07159711] [-0.00504514 -0.0010915 0.99998668 -0.01235385] [ 0. 0. 0. 1. ]] SLAMing on 2.2432735599999996 meters 0.11746315795485732 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99978690e-01 4.37855586e-03 4.84238484e-03 6.47139819e-03] [-4.38257116e-03 9.99990061e-01 8.18899031e-04 -7.04438917e-02] [-4.83875111e-03 -8.40103676e-04 9.99987940e-01 -1.25718039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.27327356 meters 0.11833952775943822 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 9.99980225e-01 4.69287440e-03 4.18635601e-03 7.99945941e-03] [-4.69416844e-03 9.99988938e-01 2.99336513e-04 -6.80352976e-02] [-4.18490495e-03 -3.18982054e-04 9.99991192e-01 -1.27502248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3032735599999996 meters 0.11378876064429971 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99995145 0.00860783 0.00479623 0.00700841] [-0.00862972 0.99995236 0.00456122 -0.06824281] [-0.00475674 -0.00460239 0.9999781 -0.01311133] [ 0. 0. 0. 1. ]] SLAMing on 2.33327356 meters 0.11655214365391697 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.07, Z:-0.01 [[ 0.99995317 0.00855685 0.00452064 0.0075231 ] [-0.00857526 0.99995495 0.00406924 -0.06662967] [-0.00448562 -0.00410781 0.9999815 -0.01297637] [ 0. 0. 0. 1. ]] SLAMing on 2.3632735599999997 meters 0.11450304408135445 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.99995629 0.008291 0.00432172 0.00761314] [-0.00830545 0.99995995 0.00333585 -0.06477734] [-0.00429389 -0.00337159 0.9999851 -0.01245306] [ 0. 0. 0. 1. ]] SLAMing on 2.39327356 meters 0.11519993085410114 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.99995993 0.00802609 0.00396595 0.00808898] [-0.00803498 0.99996523 0.00223077 -0.06154885] [-0.00394791 -0.00226255 0.99998965 -0.0120437 ] [ 0. 0. 0. 1. ]] SLAMing on 2.4232735599999997 meters 0.11493839531795447 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.9999611 0.00794616 0.00382928 0.00845456] [-0.00795316 0.99996673 0.00181479 -0.06011792] [-0.00381473 -0.00184518 0.99999102 -0.01212542] [ 0. 0. 0. 1. ]] SLAMing on 2.4532735599999995 meters 0.11250986441545073 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 0.99996345 0.00769837 0.00371948 0.00847139] [-0.00770298 0.99996958 0.00122659 -0.05856034] [-0.00370993 -0.00125519 0.99999233 -0.01180794] [ 0. 0. 0. 1. ]] SLAMing on 2.4832735599999998 meters 0.10764886222289966 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99966325e-01 7.31147158e-03 3.72708784e-03 8.24154122e-03] [-7.31303557e-03 9.99973177e-01 4.06173003e-04 -5.63102535e-02] [-3.72401814e-03 -4.33415651e-04 9.99992972e-01 -1.14727263e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5132735599999996 meters 0.10480094694414735 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.06, Z:-0.01 [[ 9.99967355e-01 7.21665430e-03 3.63443381e-03 8.35216727e-03] [-7.21691831e-03 9.99973956e-01 5.95315284e-05 -5.54411101e-02] [-3.63390954e-03 -8.57589969e-05 9.99993394e-01 -1.12696303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.54327356 meters 0.10775030459689565 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99968769e-01 7.02164911e-03 3.62735381e-03 8.19967754e-03] [-7.02063033e-03 9.99975312e-01 -2.93517842e-04 -5.45695844e-02] [-3.62932524e-03 2.68042365e-04 9.99993378e-01 -1.10411397e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5732735599999996 meters 0.10226170044263477 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 9.99969779e-01 6.90145575e-03 3.57917457e-03 8.17865642e-03] [-6.89940576e-03 9.99976028e-01 -5.84787302e-04 -5.38303750e-02] [-3.58312465e-03 5.60075452e-04 9.99993424e-01 -1.08355774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.60327356 meters 0.10501569466841067 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997199 0.00656386 0.0035955 0.00785943] [-0.0065598 0.99997784 -0.00113872 -0.05245055] [-0.0036029 0.0011151 0.99999289 -0.01042471] [ 0. 0. 0. 1. ]] SLAMing on 2.6332735599999997 meters 0.10828474800309192 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997323 0.00642489 0.00350043 0.00790109] [-0.0064197 0.99997828 -0.00149229 -0.051563 ] [-0.00350995 0.00146978 0.99999276 -0.01016227] [ 0. 0. 0. 1. ]] SLAMing on 2.6632735599999995 meters 0.10052714058373015 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997389 0.00633304 0.00348144 0.00792873] [-0.00632729 0.99997861 -0.00165951 -0.05101196] [-0.00349187 0.00163744 0.99999256 -0.01016106] [ 0. 0. 0. 1. ]] SLAMing on 2.6932735599999997 meters 0.10534625055622737 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997351 0.00647965 0.00331524 0.00849848] [-0.00647428 0.99997771 -0.00163041 -0.05076998] [-0.00332573 0.0016089 0.99999318 -0.01047401] [ 0. 0. 0. 1. ]] SLAMing on 2.7232735599999995 meters 0.10534625055622737 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997351 0.00647965 0.00331524 0.00849848] [-0.00647428 0.99997771 -0.00163041 -0.05076998] [-0.00332573 0.0016089 0.99999318 -0.01047401] [ 0. 0. 0. 1. ]] SLAMing on 2.75327356 meters 0.10149919197445283 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997146 0.00685632 0.00317421 0.00948763] [-0.00685228 0.9999757 -0.00128259 -0.05080249] [-0.00318293 0.0012608 0.99999414 -0.01149788] [ 0. 0. 0. 1. ]] SLAMing on 2.7832735599999996 meters 0.10479634393787418 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997288 0.00664506 0.0031743 0.00931426] [-0.00663993 0.99997664 -0.001621 -0.050024 ] [-0.003185 0.00159988 0.99999365 -0.01125784] [ 0. 0. 0. 1. ]] SLAMing on 2.81327356 meters 0.10407550061715859 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997288 0.00675193 0.00294054 0.00994532] [-0.00674673 0.99997567 -0.001775 -0.04911701] [-0.00295245 0.00175511 0.9999941 -0.01143646] [ 0. 0. 0. 1. ]] SLAMing on 2.8432735599999996 meters 0.10442802655850673 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.999974 0.00656681 0.00297954 0.00972676] [-0.00656063 0.99997631 -0.00208082 -0.04844305] [-0.00299314 0.00206122 0.9999934 -0.01122986] [ 0. 0. 0. 1. ]] SLAMing on 2.87327356 meters 0.10359389162222463 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997538 0.00629197 0.00310723 0.00930067] [-0.00628444 0.99997731 -0.00242716 -0.04765692] [-0.00312243 0.00240757 0.99999223 -0.01101257] [ 0. 0. 0. 1. ]] SLAMing on 2.9032735599999997 meters 0.10351919736008683 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997528 0.0063961 0.00291982 0.00974591] [-0.00638894 0.99997658 -0.00245208 -0.04740703] [-0.00293544 0.00243337 0.99999273 -0.01106068] [ 0. 0. 0. 1. ]] SLAMing on 2.9332735599999995 meters 0.10151478713179878 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997619 0.00626422 0.00289541 0.00967417] [-0.00625643 0.99997681 -0.00269138 -0.04682284] [-0.0029122 0.0026732 0.99999219 -0.01088247] [ 0. 0. 0. 1. ]] SLAMing on 2.9632735599999998 meters 0.10204168350610593 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.9999769 0.00613467 0.00292787 0.00953426] [-0.00612615 0.999977 -0.00291118 -0.04627312] [-0.00294566 0.00289318 0.99999148 -0.01078272] [ 0. 0. 0. 1. ]] SLAMing on 2.9932735599999996 meters 0.10290981119555885 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997567 0.00642156 0.00272395 0.01027322] [-0.00641426 0.99997584 -0.00268024 -0.04648499] [-0.00274109 0.00266271 0.9999927 -0.01119527] [ 0. 0. 0. 1. ]] SLAMing on 3.02327356 meters 0.1069664824262369 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997364 0.00679656 0.00255502 0.01112191] [-0.0067907 0.99997431 -0.00229482 -0.04707886] [-0.00257055 0.00227741 0.9999941 -0.01186577] [ 0. 0. 0. 1. ]] SLAMing on 3.0532735599999996 meters 0.1052998220671081 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997393 0.00672675 0.00262313 0.01088916] [-0.00672069 0.99997474 -0.00231547 -0.04724314] [-0.00263864 0.00229778 0.99999388 -0.01174165] [ 0. 0. 0. 1. ]] SLAMing on 3.08327356 meters 0.10687646290765186 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997402 0.0066566 0.00276738 0.01053478] [-0.00665044 0.9999754 -0.00222985 -0.04764813] [-0.00278216 0.00221139 0.99999368 -0.01173336] [ 0. 0. 0. 1. ]] SLAMing on 3.1132735599999997 meters 0.10892378734679181 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997371 0.00656482 0.00307988 0.00990834] [-0.00655866 0.99997648 -0.00200777 -0.04855966] [-0.00309299 0.00198752 0.99999324 -0.01186401] [ 0. 0. 0. 1. ]] SLAMing on 3.14327356 meters 0.11038105856332835 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99997244 0.00676817 0.00305102 0.01019417] [-0.00676288 0.99997561 -0.00174161 -0.04929474] [-0.00306273 0.00172093 0.99999383 -0.01214699] [ 0. 0. 0. 1. ]] SLAMing on 3.1732735599999997 meters 0.11069784776093781 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 9.99980095e-01 -3.12805665e-04 -6.30176005e-03 2.19844571e-02] [ 3.13526643e-04 9.99999944e-01 1.13421445e-04 -4.79133389e-02] [ 6.30172422e-03 -1.15394957e-04 9.99980137e-01 -7.48323112e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2032735599999995 meters 0.1119322689770105 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 9.99980815e-01 -4.69178315e-04 -6.17654308e-03 2.14384351e-02] [ 4.69366547e-04 9.99999889e-01 2.90258174e-05 -4.82859593e-02] [ 6.17652878e-03 -3.19243232e-05 9.99980925e-01 -7.09264050e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2332735599999998 meters 0.1129534103244942 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 9.99980556e-01 -2.59565789e-04 -6.23058708e-03 2.18111981e-02] [ 2.61717014e-04 9.99999906e-01 3.44455554e-04 -4.88164364e-02] [ 6.23049709e-03 -3.46079507e-04 9.99980530e-01 -7.47323235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2632735599999996 meters 0.11318735561873816 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 9.99980696e-01 -1.50541100e-04 -6.21165477e-03 2.18051666e-02] [ 1.54112154e-04 9.99999823e-01 5.74421205e-04 -4.95887361e-02] [ 6.21156720e-03 -5.75367408e-04 9.99980543e-01 -7.52909543e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.29327356 meters 0.1155483482860932 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 9.99981315e-01 1.29277647e-04 -6.11171624e-03 2.18122299e-02] [-1.22037080e-04 9.99999290e-01 1.18506078e-03 -5.14044502e-02] [ 6.11186511e-03 -1.18429278e-03 9.99980621e-01 -7.85825513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3232735599999996 meters 0.11598941671553514 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 0.99996875 -0.00350453 -0.00708643 0.02401213] [ 0.00348368 0.99998957 -0.00295215 -0.05094606] [ 0.00709671 0.00292737 0.99997053 -0.00782305] [ 0. 0. 0. 1. ]] SLAMing on 3.35327356 meters 0.11665122284754716 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 9.99980206e-01 5.73965483e-04 -6.26564941e-03 2.24914835e-02] [-5.61920058e-04 9.99997991e-01 1.92404543e-03 -5.32022661e-02] [ 6.26674116e-03 -1.92048655e-03 9.99978520e-01 -8.34393229e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3832735599999997 meters 0.11750812418582314 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 9.99979735e-01 8.29472462e-04 -6.31201473e-03 2.29433374e-02] [-8.14809342e-04 9.99996965e-01 2.32526616e-03 -5.38813931e-02] [ 6.31392431e-03 -2.32007595e-03 9.99977376e-01 -8.87024705e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4132735599999995 meters 0.11889201068452503 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.01 [[ 0.9999781 0.00141179 -0.00646554 0.02388739] [-0.00139141 0.99999405 0.00315611 -0.05561445] [ 0.00646996 -0.00314705 0.99997412 -0.00973014] [ 0. 0. 0. 1. ]] SLAMing on 3.4432735599999997 meters 0.11870626790291224 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.01 [[ 0.99997732 0.00159047 -0.00654377 0.02418417] [-0.00156831 0.99999303 0.00338942 -0.05630246] [ 0.00654912 -0.00337908 0.99997285 -0.00988638] [ 0. 0. 0. 1. ]] SLAMing on 3.4732735599999995 meters 0.12001332196980923 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99969624e-01 -1.98209547e-03 -7.53811387e-03 2.65219552e-02] [ 1.97657195e-03 9.99997773e-01 -7.40124887e-04 -5.58772771e-02] [ 7.53956408e-03 7.25202780e-04 9.99971314e-01 -9.99434427e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.50327356 meters 0.1188675834859281 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99969806e-01 -1.83482636e-03 -7.55122551e-03 2.66893873e-02] [ 1.83107061e-03 9.99998196e-01 -5.04253190e-04 -5.65156234e-02] [ 7.55213710e-03 4.90411137e-04 9.99971362e-01 -1.01883374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5332735599999996 meters 0.12020373289965582 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99969385e-01 -1.23523891e-03 -7.72684209e-03 2.77315059e-02] [ 1.23755499e-03 9.99999191e-01 2.94970446e-04 -5.79969359e-02] [ 7.72647147e-03 -3.04523808e-04 9.99970104e-01 -1.11297609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.56327356 meters 0.11973722075081678 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99969370e-01 -1.14180208e-03 -7.74309282e-03 2.78539743e-02] [ 1.14538095e-03 9.99999239e-01 4.57783309e-04 -5.83902295e-02] [ 7.74256423e-03 -4.66638078e-04 9.99969917e-01 -1.12583281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5932735599999996 meters 0.11973306009759756 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99969137e-01 -1.09184504e-03 -7.78025315e-03 2.78733044e-02] [ 1.09588039e-03 9.99999267e-01 5.14420739e-04 -5.87542187e-02] [ 7.77968579e-03 -5.22931089e-04 9.99969601e-01 -1.11391598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6232735599999994 meters 0.11995354504112238 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99967766e-01 -5.62818872e-04 -8.00934377e-03 2.86276051e-02] [ 5.72203549e-04 9.99999152e-01 1.16947288e-03 -6.03737008e-02] [ 8.00867878e-03 -1.17401815e-03 9.99967241e-01 -1.14521886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6532735599999997 meters 0.1197227848515795 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99967478e-01 -4.71106224e-04 -8.05119707e-03 2.86391752e-02] [ 4.81530105e-04 9.99999048e-01 1.29281012e-03 -6.09569092e-02] [ 8.05058036e-03 -1.29664497e-03 9.99966753e-01 -1.13044803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6832735599999995 meters 0.12052247641810697 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99967237e-01 -6.11536280e-05 -8.09450793e-03 2.90210311e-02] [ 7.68322116e-05 9.99998122e-01 1.93664412e-03 -6.27150613e-02] [ 8.09437429e-03 -1.93720259e-03 9.99965364e-01 -1.16887542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7132735599999998 meters 0.11979852957459271 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99967371e-01 1.50566569e-04 -8.07683057e-03 2.91849955e-02] [-1.31883021e-04 9.99997315e-01 2.31371036e-03 -6.37173125e-02] [ 8.07715725e-03 -2.31256967e-03 9.99964705e-01 -1.19858890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7432735599999996 meters 0.12016574027405752 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.01 [[ 9.99967024e-01 3.09341621e-04 -8.11511021e-03 2.93120389e-02] [-2.88851832e-04 9.99996768e-01 2.52594397e-03 -6.45666434e-02] [ 8.11586536e-03 -2.52351661e-03 9.99963882e-01 -1.19964432e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.77327356 meters 0.12067725815679771 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 9.99966403e-01 8.21473905e-04 -8.15583826e-03 2.99102705e-02] [-7.94281102e-04 9.99994117e-01 3.33683128e-03 -6.66541591e-02] [ 8.15853140e-03 -3.33024115e-03 9.99961173e-01 -1.26919536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8032735599999996 meters 0.11951243783423485 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 0.99996582 0.00103112 -0.00820293 0.03013467] [-0.00100151 0.99999297 0.00361356 -0.06755907] [ 0.0082066 -0.00360522 0.99995983 -0.01281813] [ 0. 0. 0. 1. ]] SLAMing on 3.83327356 meters 0.12084115886475637 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 0.99996408 0.00133475 -0.00837004 0.03068214] [-0.00130196 0.99999146 0.0039213 -0.0684271 ] [ 0.0083752 -0.00391026 0.99995728 -0.01298896] [ 0. 0. 0. 1. ]] SLAMing on 3.8632735599999997 meters 0.11842209993095464 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 0.99996156 0.00166031 -0.00860985 0.03129033] [-0.00162433 0.99998992 0.00418479 -0.06921941] [ 0.00861671 -0.00417064 0.99995418 -0.01303341] [ 0. 0. 0. 1. ]] SLAMing on 3.8932735599999995 meters 0.11708417960299411 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 0.99996092 0.00168323 -0.00867918 0.03128532] [-0.00164728 0.99999004 0.00414763 -0.06944379] [ 0.00868608 -0.00413317 0.99995373 -0.01276249] [ 0. 0. 0. 1. ]] SLAMing on 3.9232735599999997 meters 0.10027103879394529 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 0.99995968 0.0017589 -0.00880562 0.03134795] [-0.00172252 0.99998996 0.00413714 -0.06988809] [ 0.00881281 -0.0041218 0.99995267 -0.01237446] [ 0. 0. 0. 1. ]] SLAMing on 3.9532735599999995 meters 0.10043443571672941 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 0.9999583 0.00191588 -0.00892884 0.03151853] [-0.00187795 0.99998919 0.0042542 -0.07057096] [ 0.00893689 -0.00423726 0.99995109 -0.01215931] [ 0. 0. 0. 1. ]] SLAMing on 3.9832735599999998 meters 0.09983548200814739 Centerline is valid? [False, True] Translation: X:0.03, Y:-0.07, Z:-0.01 [[ 0.99995665 0.00218994 -0.00904985 0.03160396] [-0.00214831 0.99998708 0.004608 -0.07209018] [ 0.00905983 -0.00458836 0.99994843 -0.01184997] [ 0. 0. 0. 1. ]] SLAMing on 4.01327356 meters 0.09981454525436989 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.07, Z:-0.01 [[ 9.99949367e-01 2.87800103e-03 -9.64267561e-03 6.07909979e-02] [-2.87079255e-03 9.99995589e-01 7.61318380e-04 -7.38896861e-02] [ 9.64482416e-03 -7.33597711e-04 9.99953219e-01 -1.05368946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.043273559999999 meters 0.09989032003697462 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.08, Z:-0.01 [[ 9.99943924e-01 3.29679171e-03 -1.00637752e-02 8.93576738e-02] [-3.28896693e-03 9.99994276e-01 7.93970706e-04 -7.71438750e-02] [ 1.00663352e-02 -7.60826760e-04 9.99949044e-01 -1.01586659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.07327356 meters 0.09954033904712466 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.08, Z:-0.01 [[ 9.99933644e-01 4.50323742e-03 -1.06032652e-02 1.17051421e-01] [-4.49462689e-03 9.99989550e-01 8.35754141e-04 -8.03210813e-02] [ 1.06069180e-02 -7.88040962e-04 9.99943435e-01 -1.13123470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.10327356 meters 0.09872358024752281 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.08, Z:-0.01 [[ 9.99924308e-01 5.62751241e-03 -1.09411629e-02 1.46334633e-01] [-5.61841663e-03 9.99983845e-01 8.61895163e-04 -8.22834823e-02] [ 1.09458364e-02 -8.00357914e-04 9.99939772e-01 -1.11676425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.133273559999999 meters 0.09926926892951736 Centerline is valid? [True, True] Translation: X:0.17, Y:-0.09, Z:-0.01 [[ 9.99913903e-01 5.94708077e-03 -1.16969629e-02 1.74267166e-01] [-5.93671638e-03 9.99981954e-01 9.20598306e-04 -8.64525772e-02] [ 1.17022266e-02 -8.51077495e-04 9.99931164e-01 -1.15850035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1632735599999995 meters 0.09952189954477 Centerline is valid? [True, True] Translation: X:0.20, Y:-0.09, Z:-0.01 [[ 9.99897826e-01 6.67186231e-03 -1.26421455e-02 2.02201453e-01] [-6.65982198e-03 9.99977329e-01 9.94256392e-04 -9.19521561e-02] [ 1.26484924e-02 -9.09960366e-04 9.99919591e-01 -1.32407900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.19327356 meters 0.09949071868893992 Centerline is valid? [True, True] Translation: X:0.23, Y:-0.10, Z:-0.01 [[ 9.99897379e-01 6.93469311e-03 -1.25356018e-02 2.29533883e-01] [-6.92288651e-03 9.99975551e-01 9.84993757e-04 -9.54055449e-02] [ 1.25421260e-02 -8.98110127e-04 9.99920941e-01 -1.34012867e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.22327356 meters 0.09967216697504044 Centerline is valid? [True, True] Translation: X:0.26, Y:-0.10, Z:-0.01 [[ 9.99893995e-01 7.57839834e-03 -1.24324648e-02 2.57850852e-01] [-7.56684348e-03 9.99970895e-01 9.76186818e-04 -9.92841587e-02] [ 1.24395009e-02 -8.82008822e-04 9.99922237e-01 -1.40392965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.253273559999999 meters 0.0997521848971119 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.10, Z:-0.01 [[ 9.99883323e-01 8.36742889e-03 -1.27799271e-02 2.85217177e-01] [-8.35529455e-03 9.99964591e-01 1.00258283e-03 -1.03721055e-01] [ 1.27878637e-02 -8.95685797e-04 9.99917831e-01 -1.42524938e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.28327356 meters 0.09950480601680863 Centerline is valid? [True, True] Translation: X:0.31, Y:-0.11, Z:-0.01 [[ 9.99882693e-01 8.74626568e-03 -1.25738985e-02 3.13850657e-01] [-8.73455804e-03 9.99961367e-01 9.85721677e-04 -1.06395431e-01] [ 1.25820341e-02 -8.75778598e-04 9.99920460e-01 -1.39809352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.31327356 meters 0.09987254782283296 Centerline is valid? [True, True] Translation: X:0.34, Y:-0.11, Z:-0.01 [[ 9.99885037e-01 9.36058524e-03 -1.19286452e-02 3.41393356e-01] [-9.35010162e-03 9.99955850e-01 9.34328395e-04 -1.11198415e-01] [ 1.19368645e-02 -8.22686937e-04 9.99928415e-01 -1.35509982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.34327356 meters 0.10001475963953171 Centerline is valid? [True, False] Translation: X:0.34, Y:-0.11, Z:-0.02 [[ 0.99996333 0.00731013 0.00446113 0.33878964] [-0.00732202 0.99996967 0.00265344 -0.1129586 ] [-0.00444159 -0.002686 0.99998653 -0.01994086] [ 0. 0. 0. 1. ]] SLAMing on 4.3732735599999994 meters 0.10074589070053075 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.11, Z:-0.02 [[ 0.99996295 0.00731016 0.00454596 0.33847008] [-0.00732277 0.99996937 0.00276422 -0.11369314] [-0.00452561 -0.00279741 0.99998585 -0.01972807] [ 0. 0. 0. 1. ]] SLAMing on 4.40327356 meters 0.10036033759931377 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.11, Z:-0.02 [[ 0.99996247 0.00739148 0.00451872 0.33841791] [-0.00740465 0.99996837 0.00290488 -0.11440306] [-0.00449711 -0.00293823 0.99998557 -0.01956498] [ 0. 0. 0. 1. ]] SLAMing on 4.43327356 meters 0.10059550885499335 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.11, Z:-0.02 [[ 0.99998732 0.00336516 0.00374662 0.33954591] [-0.0033585 0.99999277 -0.00178118 -0.11332766] [-0.00375258 0.00176857 0.9999914 -0.01877714] [ 0. 0. 0. 1. ]] SLAMing on 4.463273559999999 meters 0.1016942494057132 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.11, Z:-0.02 [[ 0.9999866 0.00359845 0.00372096 0.33950768] [-0.00359336 0.9999926 -0.00137402 -0.11499466] [-0.00372587 0.00136063 0.99999213 -0.01861189] [ 0. 0. 0. 1. ]] SLAMing on 4.4932735599999996 meters 0.10206830753246252 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.12, Z:-0.02 [[ 0.99998615 0.00368098 0.00376205 0.33939784] [-0.00367667 0.99999258 -0.00115306 -0.11584196] [-0.00376626 0.00113921 0.99999226 -0.01859899] [ 0. 0. 0. 1. ]] SLAMing on 4.52327356 meters 0.10234790624096107 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.12, Z:-0.02 [[ 9.99985382e-01 3.82256815e-03 3.82417820e-03 3.39373462e-01] [-3.81939648e-03 9.99992356e-01 -8.36332533e-04 -1.16855027e-01] [-3.82734591e-03 8.21714254e-04 9.99992338e-01 -1.87589390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.55327356 meters 0.10403947799283425 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.12, Z:-0.02 [[ 9.99984347e-01 4.18918231e-03 3.70891780e-03 3.39940593e-01] [-4.18805314e-03 9.99991181e-01 -3.12162647e-04 -1.18053929e-01] [-3.71019280e-03 2.96624616e-04 9.99993073e-01 -1.92034631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.583273559999999 meters 0.10545250605492945 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.12, Z:-0.02 [[ 9.99983080e-01 4.31583506e-03 3.90033333e-03 3.39579493e-01] [-4.31664931e-03 9.99990663e-01 2.00369636e-04 -1.19889622e-01] [-3.89943216e-03 -2.17202618e-04 9.99992374e-01 -1.93319989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.61327356 meters 0.10545250605492945 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.12, Z:-0.02 [[ 9.99983080e-01 4.31583506e-03 3.90033333e-03 3.39579493e-01] [-4.31664931e-03 9.99990663e-01 2.00369636e-04 -1.19889622e-01] [-3.89943216e-03 -2.17202618e-04 9.99992374e-01 -1.93319989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.64327356 meters 0.10599222076325557 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.12, Z:-0.02 [[ 9.99982505e-01 4.33710846e-03 4.02237207e-03 3.39350165e-01] [-4.33876895e-03 9.99990506e-01 4.04177112e-04 -1.20643856e-01] [-4.02058092e-03 -4.21622184e-04 9.99991829e-01 -1.94106006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.673273559999999 meters 0.10720993924864729 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.12, Z:-0.02 [[ 9.99981756e-01 4.40120104e-03 4.13727581e-03 3.39061941e-01] [-4.40416888e-03 9.99990051e-01 7.08505452e-04 -1.21914255e-01] [-4.13411637e-03 -7.26713788e-04 9.99991190e-01 -1.93505809e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7032735599999995 meters 0.10749037569834796 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.12, Z:-0.02 [[ 9.99981933e-01 4.34913050e-03 4.14944676e-03 3.38869828e-01] [-4.35179197e-03 9.99990331e-01 6.32588657e-04 -1.22099722e-01] [-4.14665543e-03 -6.50634757e-04 9.99991191e-01 -1.90743906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.73327356 meters 0.08518751598960263 Centerline is valid? [False, True] Translation: X:0.34, Y:-0.12, Z:-0.02 [[ 9.99982328e-01 4.29025946e-03 4.11550856e-03 3.38644749e-01] [-4.29227253e-03 9.99990673e-01 4.80435785e-04 -1.22305014e-01] [-4.11340898e-03 -4.98092179e-04 9.99991416e-01 -1.85623759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.76327356 meters 0.08463842831219068 Centerline is valid? [True, True] Translation: X:0.37, Y:-0.12, Z:-0.02 [[ 9.99977167e-01 4.86555623e-03 4.68946703e-03 3.69092669e-01] [-4.86394775e-03 9.99988108e-01 -3.54341368e-04 -1.23405978e-01] [-4.69113533e-03 3.31523954e-04 9.99988942e-01 -1.82354477e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.793273559999999 meters 0.0849814112616553 Centerline is valid? [True, True] Translation: X:0.40, Y:-0.13, Z:-0.02 [[ 9.99978202e-01 4.82778286e-03 4.50429818e-03 3.98520111e-01] [-4.82629762e-03 9.99988295e-01 -3.40548928e-04 -1.26708153e-01] [-4.50588955e-03 3.18802421e-04 9.99989798e-01 -1.83895564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.82327356 meters 0.08525868584375433 Centerline is valid? [True, True] Translation: X:0.43, Y:-0.13, Z:-0.02 [[ 9.99973160e-01 5.44042422e-03 4.90731781e-03 4.28014760e-01] [-5.43867167e-03 9.99985142e-01 -3.70403619e-04 -1.30047410e-01] [-4.90926004e-03 3.43704387e-04 9.99987890e-01 -1.88642231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.85327356 meters 0.0857054629241047 Centerline is valid? [True, True] Translation: X:0.46, Y:-0.13, Z:-0.02 [[ 9.99976136e-01 5.57904279e-03 4.07450302e-03 4.58676041e-01] [-5.57783424e-03 9.99984396e-01 -3.07917722e-04 -1.33107477e-01] [-4.07615732e-03 2.85183471e-04 9.99991652e-01 -2.04968476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.883273559999999 meters 0.0889583039136012 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.14, Z:-0.02 [[ 9.99976337e-01 5.75997705e-03 3.76126802e-03 4.87996305e-01] [-5.75894768e-03 9.99983377e-01 -2.84451167e-04 -1.42188442e-01] [-3.76284393e-03 2.62783491e-04 9.99992886e-01 -2.23512030e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9132735599999995 meters 0.08365806328667204 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.13, Z:-0.02 [[ 9.99976454e-01 6.15097701e-03 3.04242817e-03 5.18755851e-01] [-6.15030459e-03 9.99981060e-01 -2.30322259e-04 -1.33570407e-01] [-3.04378725e-03 2.11604976e-04 9.99995345e-01 -2.13499967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.94327356 meters 0.08394534448503735 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.14, Z:-0.02 [[ 9.99973422e-01 6.86988034e-03 2.44123797e-03 5.47518938e-01] [-6.86944893e-03 9.99976388e-01 -1.85061336e-04 -1.36325672e-01] [-2.44245167e-03 1.68286458e-04 9.99997003e-01 -2.30846757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.97327356 meters 0.08508850161216665 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.14, Z:-0.02 [[ 9.99976553e-01 6.53801279e-03 2.03686863e-03 5.75337616e-01] [-6.53771122e-03 9.99978617e-01 -1.54675157e-04 -1.40751222e-01] [-2.03783634e-03 1.41355071e-04 9.99997914e-01 -2.41816374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.003273559999999 meters 0.08390948453395795 Centerline is valid? [True, True] Translation: X:0.60, Y:-0.14, Z:-0.02 [[ 9.99977197e-01 6.54315563e-03 1.67137763e-03 6.04658849e-01] [-6.54295242e-03 9.99978587e-01 -1.27019137e-04 -1.39951217e-01] [-1.67217295e-03 1.16080496e-04 9.99998595e-01 -2.39146708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.03327356 meters 0.08671178130490113 Centerline is valid? [True, True] Translation: X:0.63, Y:-0.15, Z:-0.03 [[ 9.99979900e-01 6.08106978e-03 1.79473629e-03 6.31740539e-01] [-6.08083442e-03 9.99981502e-01 -1.36569287e-04 -1.48287118e-01] [-1.79553358e-03 1.25653048e-04 9.99998380e-01 -2.65836924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.06327356 meters 0.08033204381282069 Centerline is valid? [True, True] Translation: X:0.66, Y:-0.14, Z:-0.02 [[ 9.99982089e-01 5.78695005e-03 1.52740620e-03 6.61933440e-01] [-5.78677958e-03 9.99983250e-01 -1.15998471e-04 -1.36518995e-01] [-1.52805189e-03 1.07157630e-04 9.99998827e-01 -2.39978598e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.093273559999999 meters 0.08194915134231831 Centerline is valid? [True, True] Translation: X:0.69, Y:-0.14, Z:-0.03 [[ 9.99984598e-01 5.24785159e-03 1.80667261e-03 6.89110545e-01] [-5.24761240e-03 9.99986222e-01 -1.37111893e-04 -1.42987957e-01] [-1.80736726e-03 1.27629063e-04 9.99998359e-01 -2.60830145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1232735599999994 meters 0.0847883019091783 Centerline is valid? [True, True] Translation: X:0.72, Y:-0.15, Z:-0.03 [[ 9.99993511e-01 2.81262278e-03 2.25122213e-03 7.17906523e-01] [-2.81224874e-03 9.99996031e-01 -1.69298754e-04 -1.52515576e-01] [-2.25168937e-03 1.62966658e-04 9.99997452e-01 -2.70286656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.15327356 meters 0.08221934368649574 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.15, Z:-0.03 [[ 9.99992026e-01 2.42523742e-03 3.17260662e-03 7.48685381e-01] [-2.42449385e-03 9.99997033e-01 -2.38195608e-04 -1.49581155e-01] [-3.17317489e-03 2.30501743e-04 9.99994939e-01 -2.60389975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.18327356 meters 0.08247324331105008 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.15, Z:-0.03 [[ 9.99992399e-01 1.93826127e-03 3.38317172e-03 7.79353792e-01] [-1.93741296e-03 9.99998091e-01 -2.54004590e-04 -1.53096890e-01] [-3.38365759e-03 2.47448059e-04 9.99994245e-01 -2.63091216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.213273559999999 meters 0.08512653460191812 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.16, Z:-0.03 [[ 9.99988683e-01 8.79337598e-04 4.67543270e-03 8.08552651e-01] [-8.77705939e-04 9.99999553e-01 -3.51026038e-04 -1.62112646e-01] [-4.67573928e-03 3.46918411e-04 9.99989008e-01 -2.64410522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2432735599999996 meters 0.08372420241088906 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.16, Z:-0.03 [[ 9.99990658e-01 -6.95989119e-05 4.32201341e-03 8.39931262e-01] [ 7.10002193e-05 9.99999945e-01 -3.24073013e-04 -1.62031987e-01] [-4.32199061e-03 3.24376850e-04 9.99990608e-01 -2.61161116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.27327356 meters 0.08421716548395296 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.17, Z:-0.03 [[ 9.99987504e-01 -5.22474397e-04 4.97172968e-03 8.71642629e-01] [ 5.24323694e-04 9.99999794e-01 -3.70666294e-04 -1.66564613e-01] [-4.97153499e-03 3.73268457e-04 9.99987572e-01 -2.60954343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.303273559999999 meters 0.08851433718045558 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.18, Z:-0.03 [[ 9.99984809e-01 -2.13178998e-03 5.08301627e-03 9.00980652e-01] [ 2.13376226e-03 9.99997650e-01 -3.82622660e-04 -1.80191071e-01] [-5.08218865e-03 3.93462796e-04 9.99987008e-01 -2.77152295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.333273559999999 meters 0.08654323881636462 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.18, Z:-0.03 [[ 9.99989099e-01 -3.17730364e-03 3.42156687e-03 9.33076326e-01] [ 3.17819479e-03 9.99994917e-01 -2.55047364e-04 -1.79127626e-01] [-3.42073912e-03 2.65918989e-04 9.99994114e-01 -2.81909879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.36327356 meters 0.08784610262867981 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.19, Z:-0.03 [[ 9.99988031e-01 -3.94334034e-03 2.89627767e-03 9.63466255e-01] [ 3.94398964e-03 9.99992199e-01 -2.18509289e-04 -1.85344767e-01] [-2.89539341e-03 2.29929563e-04 9.99995782e-01 -2.96767968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.39327356 meters 0.08503242322303253 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.18, Z:-0.03 [[ 9.99984560e-01 -5.33326105e-03 1.56051970e-03 9.94416555e-01] [ 5.33345129e-03 9.99985770e-01 -1.17769812e-04 -1.83601863e-01] [-1.55986940e-03 1.26090949e-04 9.99998775e-01 -3.08232272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.423273559999999 meters 0.08698710340809768 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.19, Z:-0.03 [[ 9.99984983e-01 -5.35755142e-03 1.15318566e-03 1.02539254e+00] [ 5.35765464e-03 9.99985644e-01 -8.64350859e-05 -1.91203509e-01] [-1.15270602e-03 9.26121584e-05 9.99999331e-01 -3.20090769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4532735599999995 meters 0.08797394039739131 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.20, Z:-0.03 [[ 9.99984226e-01 -5.47646867e-03 1.24775680e-03 1.05584634e+00] [ 5.47658980e-03 9.99984999e-01 -9.36812672e-05 -1.96388202e-01] [-1.24722504e-03 1.00513242e-04 9.99999217e-01 -3.34094428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.48327356 meters 0.08878889712339695 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.20, Z:-0.03 [[ 9.99986660e-01 -4.85155091e-03 1.77243278e-03 1.08718213e+00] [ 4.85179472e-03 9.99988221e-01 -1.33285244e-04 -2.01907291e-01] [-1.77176527e-03 1.41882946e-04 9.99998420e-01 -3.39836301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.51327356 meters 0.08793483010639572 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.20, Z:-0.03 [[ 9.99990470e-01 -4.07603565e-03 1.56384087e-03 1.11964828e+00] [ 4.07622446e-03 9.99991685e-01 -1.17564293e-04 -2.03682294e-01] [-1.56334867e-03 1.23937739e-04 9.99998770e-01 -3.44105562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.543273559999999 meters 0.08849087194234066 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.21, Z:-0.03 [[ 9.99988521e-01 -4.37548155e-03 1.95252519e-03 1.15075783e+00] [ 4.37577774e-03 9.99990415e-01 -1.47447945e-04 -2.08055661e-01] [-1.95186132e-03 1.55990069e-04 9.99998083e-01 -3.43696492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.57327356 meters 0.0869516729622053 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.21, Z:-0.03 [[ 9.99988301e-01 -4.13403919e-03 2.51139690e-03 1.18337081e+00] [ 4.13452874e-03 9.99991435e-01 -1.89771034e-04 -2.09515191e-01] [-2.51059087e-03 2.00152256e-04 9.99996828e-01 -3.36860947e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.60327356 meters 0.08676568995662406 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.21, Z:-0.03 [[ 9.99987685e-01 -4.35534428e-03 2.37942052e-03 1.21569722e+00] [ 4.35578458e-03 9.99990497e-01 -1.79894192e-04 -2.12037000e-01] [-2.37861441e-03 1.90256220e-04 9.99997153e-01 -3.36806445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.633273559999999 meters 0.08652399432462667 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.22, Z:-0.03 [[ 9.99989238e-01 -4.10095059e-03 2.16920910e-03 1.24780926e+00] [ 4.10131603e-03 9.99991576e-01 -1.64046180e-04 -2.15132262e-01] [-2.16851808e-03 1.72941026e-04 9.99997634e-01 -3.43226732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6632735599999995 meters 0.08617571444669492 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.22, Z:-0.04 [[ 9.99992695e-01 -3.80494669e-03 3.63198629e-04 1.27966685e+00] [ 3.80495658e-03 9.99992761e-01 -2.65468934e-05 -2.17294381e-01] [-3.63094990e-04 2.79286545e-05 9.99999934e-01 -3.55138228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.69327356 meters 0.08505917352199292 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.22, Z:-0.04 [[ 9.99995828e-01 -2.88076022e-03 -2.14512061e-04 1.31081389e+00] [ 2.88076392e-03 9.99995850e-01 1.69327739e-05 -2.17504401e-01] [ 2.14462392e-04 -1.75506618e-05 9.99999977e-01 -3.51995217e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.72327356 meters 0.08566277471690847 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.22, Z:-0.04 [[ 9.99997505e-01 -2.17764207e-03 -4.97267339e-04 1.34139836e+00] [ 2.17766149e-03 9.99997628e-01 3.85024480e-05 -2.21621531e-01] [ 4.97182315e-04 -3.95852318e-05 9.99999876e-01 -3.69307131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.753273559999999 meters 0.08618888152186284 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.23, Z:-0.04 [[ 9.99997539e-01 -1.81348570e-03 -1.27833861e-03 1.37297409e+00] [ 1.81361260e-03 9.99998351e-01 9.81170873e-05 -2.25213440e-01] [ 1.27815857e-03 -1.00435257e-04 9.99999178e-01 -3.78058485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.78327356 meters 0.08556085503016198 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.23, Z:-0.04 [[ 9.99999550e-01 6.66917372e-05 -9.46335288e-04 1.40366814e+00] [-6.66231421e-05 9.99999995e-01 7.25163749e-05 -2.26935061e-01] [ 9.46340120e-04 -7.24532944e-05 9.99999550e-01 -3.88720533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.81327356 meters 0.08692572544178767 Centerline is valid? [True, True] Translation: X:1.43, Y:-0.23, Z:-0.04 [[ 9.99997513e-01 5.61051179e-04 -2.15862409e-03 1.43302737e+00] [-5.60697460e-04 9.99999829e-01 1.64464977e-04 -2.32223694e-01] [ 2.15871600e-03 -1.63254233e-04 9.99997657e-01 -4.06354725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.843273559999999 meters 0.08298576188735951 Centerline is valid? [True, True] Translation: X:1.46, Y:-0.23, Z:-0.04 [[ 9.99995583e-01 2.07440472e-03 -2.12858579e-03 1.46386871e+00] [-2.07406429e-03 9.99997836e-01 1.62128375e-04 -2.26670979e-01] [ 2.12891750e-03 -1.57712835e-04 9.99997721e-01 -3.95580139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8732735599999994 meters 0.08347173347042573 Centerline is valid? [True, True] Translation: X:1.49, Y:-0.23, Z:-0.04 [[ 9.99992397e-01 2.94364881e-03 -2.55745612e-03 1.49234574e+00] [-2.94316182e-03 9.99995650e-01 1.94162113e-04 -2.29673405e-01] [ 2.55801654e-03 -1.86633629e-04 9.99996711e-01 -4.04593551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.90327356 meters 0.08524286133260416 Centerline is valid? [True, True] Translation: X:1.52, Y:-0.24, Z:-0.04 [[ 9.99989747e-01 3.86835028e-03 -2.35419644e-03 1.51977140e+00] [-3.86794183e-03 9.99992504e-01 1.78025346e-04 -2.35708792e-01] [ 2.35486746e-03 -1.68917625e-04 9.99997213e-01 -4.21443370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.93327356 meters 0.08472006200065259 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.24, Z:-0.04 [[ 9.99983923e-01 5.03860737e-03 -2.60126794e-03 1.54838045e+00] [-5.03811214e-03 9.99987289e-01 1.96894867e-04 -2.36794078e-01] [ 2.60222696e-03 -1.83786222e-04 9.99996597e-01 -4.28116439e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.963273559999999 meters 0.08257600463486933 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.23, Z:-0.04 [[ 9.99977588e-01 6.43529838e-03 -1.84656271e-03 1.57890971e+00] [-6.43505035e-03 9.99979285e-01 1.40228692e-04 -2.34314625e-01] [ 1.84742687e-03 -1.28342825e-04 9.99998285e-01 -4.19602659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9932735599999996 meters 0.08289176069203795 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.24, Z:-0.04 [[ 9.99968676e-01 7.75564358e-03 -1.58016879e-03 1.60644992e+00] [-7.75546532e-03 9.99969919e-01 1.18910603e-04 -2.36556540e-01] [ 1.58104348e-03 -1.06651934e-04 9.99998744e-01 -4.26930040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.02327356 meters 0.08133902127519167 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.23, Z:-0.04 [[ 9.99956314e-01 9.20807064e-03 -1.60684386e-03 1.63555531e+00] [-9.20788816e-03 9.99957599e-01 1.20923727e-04 -2.34693427e-01] [ 1.60788920e-03 -1.06122806e-04 9.99998702e-01 -4.20949241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.053273559999999 meters 0.07969712523741895 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.23, Z:-0.04 [[ 9.99945841e-01 1.03467470e-02 -1.12253939e-03 1.66498277e+00] [-1.03466588e-02 9.99946468e-01 8.43443681e-05 -2.32176603e-01] [ 1.12335198e-03 -7.27252680e-05 9.99999366e-01 -4.16129715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.083273559999999 meters 0.07990090059736477 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.23, Z:-0.04 [[ 9.99918832e-01 1.25158970e-02 -2.38382092e-03 1.69399583e+00] [-1.25155026e-02 9.99921662e-01 1.80285153e-04 -2.34071192e-01] [ 2.38589060e-03 -1.50435802e-04 9.99997142e-01 -4.30805838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.11327356 meters 0.08136482263324087 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.24, Z:-0.05 [[ 9.99898286e-01 1.40560100e-02 -2.41769422e-03 1.72179532e+00] [-1.40556106e-02 9.99901198e-01 1.82141680e-04 -2.40037727e-01] [ 2.42001554e-03 -1.48140985e-04 9.99997061e-01 -4.51076197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.14327356 meters 0.08005748454906124 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.24, Z:-0.05 [[ 9.99878416e-01 1.53430888e-02 -2.78254996e-03 1.75070776e+00] [-1.53425646e-02 9.99882274e-01 2.09637953e-04 -2.38147884e-01] [ 2.78543888e-03 -1.66921012e-04 9.99996107e-01 -4.53225229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.173273559999999 meters 0.07876620285054511 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.24, Z:-0.05 [[ 9.99813683e-01 1.90470017e-02 -3.13240621e-03 1.78113171e+00] [-1.90463526e-02 9.99818574e-01 2.36909889e-04 -2.35675904e-01] [ 3.13635033e-03 -1.77204835e-04 9.99995066e-01 -4.64818205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2032735599999995 meters 0.07728246648510405 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.23, Z:-0.05 [[ 9.99787700e-01 2.03036271e-02 -3.50955392e-03 1.81075508e+00] [-2.03028226e-02 9.99793841e-01 2.64705085e-04 -2.32302074e-01] [ 3.51420487e-03 -1.93395038e-04 9.99993806e-01 -4.55312229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.23327356 meters 0.07741361553016549 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.23, Z:-0.05 [[ 9.99732370e-01 2.28825795e-02 -3.40241749e-03 1.83951204e+00] [-2.28818378e-02 9.99738143e-01 2.56771831e-04 -2.34214920e-01] [ 3.40740215e-03 -1.78849546e-04 9.99994179e-01 -4.69994968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.26327356 meters 0.07502505138007333 Centerline is valid? [True, True] Translation: X:1.87, Y:-0.23, Z:-0.05 [[ 9.99613293e-01 2.75868084e-02 -3.49738752e-03 1.87049096e+00] [-2.75860517e-02 9.99619397e-01 2.64430678e-04 -2.26210356e-01] [ 3.50335121e-03 -1.67849308e-04 9.99993849e-01 -4.57726905e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.293273559999999 meters 0.07485323816196797 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.23, Z:-0.05 [[ 9.99549907e-01 2.98678867e-02 -2.80924692e-03 1.89901229e+00] [-2.98674100e-02 9.99553847e-01 2.11471707e-04 -2.27041726e-01] [ 2.81430978e-03 -1.27471596e-04 9.99996032e-01 -4.64180291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.32327356 meters 0.0754213451027607 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.23, Z:-0.05 [[ 9.99508698e-01 3.11771459e-02 -3.21674099e-03 1.92671163e+00] [-3.11765300e-02 9.99513865e-01 2.41454056e-04 -2.29741455e-01] [ 3.22270507e-03 -1.41048608e-04 9.99994797e-01 -4.79872651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.35327356 meters 0.07485642566991332 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.23, Z:-0.05 [[ 9.99400903e-01 3.45083085e-02 -2.64786838e-03 1.95668927e+00] [-3.45079019e-02 9.99404405e-01 1.99130146e-04 -2.28259793e-01] [ 2.65316297e-03 -1.07638465e-04 9.99996475e-01 -4.81787344e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.383273559999999 meters 0.07371709899675803 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.22, Z:-0.05 [[ 9.99346591e-01 3.60852603e-02 -2.06021766e-03 1.98557987e+00] [-3.60850190e-02 9.99348712e-01 1.54186876e-04 -2.24697254e-01] [ 2.06443974e-03 -7.97431350e-05 9.99997866e-01 -4.72998707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4132735599999995 meters 0.07359619329107736 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.23, Z:-0.05 [[ 9.99293260e-01 3.75407791e-02 -1.91604313e-03 2.01333832e+00] [-3.75405740e-02 9.99295094e-01 1.42887073e-04 -2.25974039e-01] [ 1.92005659e-03 -7.08567299e-05 9.99998154e-01 -4.87715299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.44327356 meters 0.07336902031529287 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.23, Z:-0.05 [[ 9.99241919e-01 3.87975330e-02 -3.21554458e-03 2.04269171e+00] [-3.87969683e-02 9.99247086e-01 2.37824943e-04 -2.25082380e-01] [ 3.22235057e-03 -1.12891271e-04 9.99994802e-01 -4.98630309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.47327356 meters 0.07319203448310688 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.23, Z:-0.05 [[ 9.99208419e-01 3.96690751e-02 -2.98342778e-03 2.07128657e+00] [-3.96685967e-02 9.99212867e-01 2.19376489e-04 -2.25563605e-01] [ 2.98978188e-03 -1.00854441e-04 9.99995526e-01 -5.00873590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.503273559999999 meters 0.07319300883595523 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.23, Z:-0.05 [[ 9.99124738e-01 4.17616626e-02 -2.39192801e-03 2.09949568e+00] [-4.17613566e-02 9.99127598e-01 1.77763192e-04 -2.26678220e-01] [ 2.39726497e-03 -7.77174444e-05 9.99997124e-01 -5.13995913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.53327356 meters 0.07319300883595523 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.23, Z:-0.05 [[ 9.99135595e-01 4.15010840e-02 -2.39221563e-03 2.12679550e+00] [-4.15007864e-02 9.99138456e-01 1.73908316e-04 -2.28602883e-01] [ 2.39737201e-03 -7.44791588e-05 9.99997124e-01 -5.18561211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.56327356 meters 0.0724763156936358 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.23, Z:-0.05 [[ 9.99088957e-01 4.25796202e-02 -2.86929217e-03 2.15598327e+00] [-4.25791948e-02 9.99093073e-01 2.09228152e-04 -2.26568204e-01] [ 2.87559879e-03 -8.68653860e-05 9.99995862e-01 -5.14098055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.593273559999999 meters 0.07238942105711571 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.23, Z:-0.05 [[ 9.98924061e-01 4.62351656e-02 -3.60963207e-03 2.18449346e+00] [-4.62345032e-02 9.98930578e-01 2.66788434e-04 -2.25345972e-01] [ 3.61810686e-03 -9.96118406e-05 9.99993450e-01 -5.29196543e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6232735599999994 meters 0.0722620879720956 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.23, Z:-0.05 [[ 9.98837225e-01 4.81023375e-02 -3.21917019e-03 2.21206845e+00] [-4.81018248e-02 9.98842409e-01 2.36564563e-04 -2.25514242e-01] [ 3.22682302e-03 -8.14415312e-05 9.99994790e-01 -5.41094971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.65327356 meters 0.07182560194047477 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.22, Z:-0.05 [[ 9.98780572e-01 4.92858150e-02 -2.87722484e-03 2.24106407e+00] [-4.92854182e-02 9.98784714e-01 2.08708295e-04 -2.23791152e-01] [ 2.88401454e-03 -6.66485607e-05 9.99995839e-01 -5.39258803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.68327356 meters 0.07156432733177684 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.22, Z:-0.06 [[ 9.98604424e-01 5.27975363e-02 -1.27463022e-03 2.27021505e+00] [-5.27974598e-02 9.98605237e-01 9.35709342e-05 -2.22326696e-01] [ 1.27779273e-03 -2.61431110e-05 9.99999183e-01 -5.52369313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.713273559999999 meters 0.07121853674636412 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.22, Z:-0.06 [[ 9.98533292e-01 5.41285762e-02 -1.16684832e-03 2.29934569e+00] [-5.41285171e-02 9.98533974e-01 8.21547561e-05 -2.21560248e-01] [ 1.16958461e-03 -1.88744898e-05 9.99999316e-01 -5.52663857e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7432735599999996 meters 0.07120467316665749 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.22, Z:-0.06 [[ 9.98498908e-01 5.47695797e-02 -4.73112910e-04 2.32783148e+00] [-5.47695711e-02 9.98499020e-01 3.09682213e-05 -2.21447119e-01] [ 4.74098894e-04 -5.00954398e-06 9.99999888e-01 -5.56550737e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.77327356 meters 0.07076865806175593 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.22, Z:-0.05 [[ 9.98399612e-01 5.65506606e-02 -4.87674356e-04 2.35677039e+00] [-5.65506518e-02 9.98399731e-01 3.18013942e-05 -2.18632958e-01] [ 4.88692336e-04 -4.17219693e-06 9.99999881e-01 -5.48788017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.803273559999999 meters 0.07069662765881102 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.22, Z:-0.06 [[ 9.98405883e-01 5.64375539e-02 -7.03754217e-04 2.38464019e+00] [-5.64375348e-02 9.98406131e-01 4.68937853e-05 -2.19143887e-01] [ 7.05279096e-04 -7.10087801e-06 9.99999751e-01 -5.55669992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.833273559999999 meters 0.0706366614065685 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.22, Z:-0.06 [[ 9.98405392e-01 5.64382223e-02 -1.18314537e-03 2.41231002e+00] [-5.64381654e-02 9.98406093e-01 8.14950572e-05 -2.19772126e-01] [ 1.18585898e-03 -1.45905508e-05 9.99999297e-01 -5.60607368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.86327356 meters 0.07076049077150384 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.22, Z:-0.06 [[ 9.98401732e-01 5.65035848e-02 -1.15197845e-03 2.43878007e+00] [-5.65035296e-02 9.98402396e-01 8.04318592e-05 -2.21570392e-01] [ 1.15468273e-03 -1.52124592e-05 9.99999333e-01 -5.90087958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.89327356 meters 0.07062626324830487 Centerline is valid? [True, True] Translation: X:2.47, Y:-0.22, Z:-0.06 [[ 9.98355183e-01 5.72850954e-02 -2.31234433e-03 2.46663396e+00] [-5.72848727e-02 9.98357860e-01 1.62463743e-04 -2.19204430e-01] [ 2.31785389e-03 -2.97341693e-05 9.99997313e-01 -5.82421676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.923273559999999 meters 0.07071849830882175 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.22, Z:-0.06 [[ 9.98349530e-01 5.73809381e-02 -2.37560272e-03 2.49332119e+00] [-5.73806978e-02 9.98352356e-01 1.69258890e-04 -2.20352126e-01] [ 2.38140080e-03 -3.26657922e-05 9.99997164e-01 -6.09252244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9532735599999995 meters 0.07065810706192413 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.22, Z:-0.06 [[ 9.98303596e-01 5.81834011e-02 -2.14975050e-03 2.52156149e+00] [-5.81832056e-02 9.98305911e-01 1.53397859e-04 -2.21098613e-01] [ 2.15503384e-03 -2.80582586e-05 9.99997678e-01 -6.20335312e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.98327356 meters 0.07058373186728077 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.22, Z:-0.06 [[ 9.98305278e-01 5.81188060e-02 -2.96258369e-03 2.55076078e+00] [-5.81184367e-02 9.98309673e-01 2.10679172e-04 -2.19841829e-01] [ 2.96982038e-03 -3.81413969e-05 9.99995589e-01 -6.10087333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.013273559999999 meters 0.07031083622160707 Centerline is valid? [True, True] Translation: X:2.58, Y:-0.22, Z:-0.06 [[ 9.98228717e-01 5.94521134e-02 -2.20801739e-03 2.57967663e+00] [-5.94519177e-02 9.98231158e-01 1.54247267e-04 -2.16994286e-01] [ 2.21328208e-03 -2.27031837e-05 9.99997550e-01 -6.10484876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.043273559999999 meters 0.07030506232002659 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.22, Z:-0.06 [[ 9.98258968e-01 5.89770247e-02 -8.61839014e-04 2.60730125e+00] [-5.89769946e-02 9.98259340e-01 6.02784516e-05 -2.18397313e-01] [ 8.63893889e-04 -9.34483004e-06 9.99999627e-01 -6.17039437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.07327356 meters 0.0704432767221897 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.22, Z:-0.06 [[ 9.98339116e-01 5.76038091e-02 -9.00051367e-04 2.63626871e+00] [-5.76037781e-02 9.98339522e-01 6.04144181e-05 -2.19450358e-01] [ 9.02036952e-04 -8.46771761e-06 9.99999593e-01 -6.20435619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.10327356 meters 0.07035948681612715 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.22, Z:-0.06 [[ 9.98445868e-01 5.57163407e-02 1.24036610e-03 2.66502027e+00] [-5.57162693e-02 9.98446638e-01 -9.20211914e-05 -2.19478271e-01] [-1.24356645e-03 2.27696066e-05 9.99999227e-01 -6.10677357e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.133273559999999 meters 0.07057269923503719 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.22, Z:-0.06 [[ 9.98516278e-01 5.44277817e-02 1.69103487e-03 2.69308261e+00] [-5.44276541e-02 9.98517709e-01 -1.21412036e-04 -2.22174288e-01] [-1.69513645e-03 2.91928339e-05 9.99998563e-01 -6.23921862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1632735599999995 meters 0.07065045776810962 Centerline is valid? [True, True] Translation: X:2.72, Y:-0.22, Z:-0.06 [[ 9.98564213e-01 5.35593353e-02 9.54256373e-04 2.72148305e+00] [-5.35592917e-02 9.98564669e-01 -7.12610733e-05 -2.23677336e-01] [-9.56703395e-04 2.00494621e-05 9.99999542e-01 -6.37077745e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.19327356 meters 0.07093067513796092 Centerline is valid? [True, True] Translation: X:2.75, Y:-0.22, Z:-0.06 [[ 9.98713026e-01 5.07171428e-02 -2.52486410e-04 2.75041557e+00] [-5.07171408e-02 9.98713058e-01 1.39592410e-05 -2.23548014e-01] [ 2.52869448e-04 -1.13588699e-06 9.99999968e-01 -6.47427490e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.223273559999999 meters 0.07111752621791315 Centerline is valid? [True, True] Translation: X:2.78, Y:-0.23, Z:-0.07 [[ 9.98778946e-01 4.93730426e-02 -1.70898592e-03 2.77921964e+00] [-4.93729158e-02 9.98780407e-01 1.16329747e-04 -2.25185526e-01] [ 1.71264520e-03 -3.18100841e-05 9.99998533e-01 -6.66675555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.253273559999999 meters 0.0714005892623291 Centerline is valid? [True, True] Translation: X:2.81, Y:-0.23, Z:-0.07 [[ 9.98834328e-01 4.82355238e-02 -1.82188687e-03 2.80730496e+00] [-4.82353732e-02 9.98835989e-01 1.26574226e-04 -2.26940413e-01] [ 1.82587154e-03 -3.85472894e-05 9.99998332e-01 -6.88596140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.28327356 meters 0.07142581243829699 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.23, Z:-0.07 [[ 9.98902352e-01 4.67863383e-02 -2.26484234e-03 2.83550738e+00] [-4.67861032e-02 9.98904918e-01 1.56692537e-04 -2.27776484e-01] [ 2.26969322e-03 -5.05573963e-05 9.99997423e-01 -6.91771534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.31327356 meters 0.07159881717818245 Centerline is valid? [True, True] Translation: X:2.86, Y:-0.23, Z:-0.07 [[ 9.98991542e-01 4.48406687e-02 -2.28330297e-03 2.86430069e+00] [-4.48404301e-02 9.98994150e-01 1.55628045e-04 -2.29315083e-01] [ 2.28798477e-03 -5.30868130e-05 9.99997381e-01 -6.98948856e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.343273559999999 meters 0.07211687396326119 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.23, Z:-0.07 [[ 9.99126167e-01 4.17792367e-02 -1.18214712e-03 2.89157085e+00] [-4.17791713e-02 9.99126866e-01 7.99893652e-05 -2.31072250e-01] [ 1.18445684e-03 -3.05303410e-05 9.99999298e-01 -6.93460607e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3732735599999994 meters 0.07245688640049562 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.23, Z:-0.07 [[ 9.99207182e-01 3.98098399e-02 -4.28396925e-04 2.91873450e+00] [-3.98098318e-02 9.99207274e-01 2.74118978e-05 -2.33225886e-01] [ 4.29148587e-04 -1.03357557e-05 9.99999908e-01 -7.01248434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.40327356 meters 0.07241591430935346 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.23, Z:-0.07 [[ 9.99275743e-01 3.80518477e-02 2.16080805e-04 2.94765626e+00] [-3.80518445e-02 9.99275766e-01 -1.89109243e-05 -2.33711419e-01] [-2.16643907e-04 1.06749547e-05 9.99999976e-01 -6.95863898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.43327356 meters 0.07324814843539063 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.24, Z:-0.07 [[ 9.99418006e-01 3.41069405e-02 6.04329683e-04 2.97716599e+00] [-3.41069211e-02 9.99418189e-01 -4.24407846e-05 -2.37301790e-01] [-6.05425603e-04 2.18042596e-05 9.99999816e-01 -7.08589473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.463273559999999 meters 0.07398796434177016 Centerline is valid? [True, True] Translation: X:3.00, Y:-0.24, Z:-0.07 [[ 9.99483794e-01 3.20699097e-02 1.91455618e-03 3.00496008e+00] [-3.20697119e-02 9.99485626e-01 -1.33915301e-04 -2.40111580e-01] [-1.91786603e-03 7.24469076e-05 9.99998158e-01 -7.16041481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4932735599999996 meters 0.07409989210023604 Centerline is valid? [True, True] Translation: X:3.03, Y:-0.24, Z:-0.07 [[ 9.99552899e-01 2.98738589e-02 1.24708610e-03 3.03469818e+00] [-2.98737741e-02 9.99553675e-01 -8.65875905e-05 -2.41360807e-01] [-1.24911620e-03 4.92937088e-05 9.99999219e-01 -7.08992705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.52327356 meters 0.07587891276403728 Centerline is valid? [True, True] Translation: X:3.06, Y:-0.25, Z:-0.07 [[ 9.99679322e-01 2.53170874e-02 5.46954172e-04 3.06400126e+00] [-2.53170704e-02 9.99679471e-01 -3.81284257e-05 -2.46695288e-01] [-5.47744158e-04 2.42689214e-05 9.99999850e-01 -7.28825652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.553273559999999 meters 0.07651394165831113 Centerline is valid? [True, True] Translation: X:3.09, Y:-0.25, Z:-0.07 [[ 9.99735129e-01 2.29957850e-02 9.30757876e-04 3.09374388e+00] [-2.29957345e-02 9.99735561e-01 -6.49300977e-05 -2.49114460e-01] [-9.32004866e-04 4.35094386e-05 9.99999565e-01 -7.35095758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.583273559999999 meters 0.07766130510414304 Centerline is valid? [True, True] Translation: X:3.12, Y:-0.25, Z:-0.07 [[ 9.99794122e-01 2.02578172e-02 1.15539692e-03 3.12328486e+00] [-2.02577378e-02 9.99794788e-01 -8.04210888e-05 -2.53469323e-01] [-1.15678897e-03 5.69988041e-05 9.99999329e-01 -7.42344676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.61327356 meters 0.07888586332340916 Centerline is valid? [True, True] Translation: X:3.15, Y:-0.26, Z:-0.07 [[ 9.99846482e-01 1.74931000e-02 1.00162670e-03 3.15104753e+00] [-1.74930382e-02 9.99846983e-01 -7.04212402e-05 -2.57784188e-01] [-1.00270532e-03 5.28889352e-05 9.99999496e-01 -7.48281040e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.64327356 meters 0.079501603377729 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.26, Z:-0.08 [[ 9.99887421e-01 1.49911231e-02 6.40866640e-04 3.18006997e+00] [-1.49910974e-02 9.99887626e-01 -4.47934102e-05 -2.60577106e-01] [-6.41466127e-04 3.51810731e-05 9.99999794e-01 -7.59102585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.673273559999999 meters 0.08125443799124604 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.27, Z:-0.08 [[ 9.99952840e-01 9.69226665e-03 6.14784485e-04 3.20974225e+00] [-9.69224221e-03 9.99953028e-01 -4.27085718e-05 -2.65324392e-01] [-6.15169550e-04 3.67479176e-05 9.99999810e-01 -7.67816326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7032735599999995 meters 0.08284296502128351 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.27, Z:-0.08 [[ 9.99972780e-01 7.37535738e-03 2.08693025e-04 3.23790099e+00] [-7.37535437e-03 9.99972802e-01 -1.51990334e-05 -2.70155967e-01] [-2.08799447e-04 1.36594347e-05 9.99999978e-01 -7.77947191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.73327356 meters 0.08337817422133763 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.27, Z:-0.08 [[ 9.99993586e-01 3.52354198e-03 -6.42711447e-04 3.26862542e+00] [-3.52351430e-03 9.99993791e-01 4.42055321e-05 -2.70906982e-01] [ 6.42863217e-04 -4.19406456e-05 9.99999792e-01 -7.88531220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.763273559999999 meters 0.08387949718412575 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.27, Z:-0.08 [[ 9.99996751e-01 1.75785987e-03 -1.84591160e-03 3.29823301e+00] [-1.75762919e-03 9.99998447e-01 1.26584725e-04 -2.73004862e-01] [ 1.84613126e-03 -1.23339885e-04 9.99998288e-01 -7.97109028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.793273559999999 meters 0.08550035892713194 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.28, Z:-0.08 [[ 9.99999182e-01 3.14033674e-04 -1.23981932e-03 3.32650204e+00] [-3.13929182e-04 9.99999947e-01 8.44735011e-05 -2.77427355e-01] [ 1.23984578e-03 -8.40842165e-05 9.99999228e-01 -8.11005906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.82327356 meters 0.08620849937071602 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.28, Z:-0.08 [[ 9.99999279e-01 -8.22764569e-04 -8.74127530e-04 3.35592135e+00] [ 8.22816948e-04 9.99999660e-01 5.95643841e-05 -2.79971149e-01] [ 8.74078225e-04 -6.02835881e-05 9.99999616e-01 -8.08254643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.85327356 meters 0.08720542722210595 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.28, Z:-0.08 [[ 9.99998251e-01 -1.80129953e-03 5.03356457e-04 3.38592118e+00] [ 1.80131664e-03 9.99998377e-01 -3.35377507e-05 -2.82189336e-01] [-5.03295228e-04 3.44443964e-05 9.99999873e-01 -8.07876789e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.883273559999999 meters 0.08821941867418995 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.29, Z:-0.08 [[ 9.99997177e-01 -2.30204356e-03 5.88793387e-04 3.41660753e+00] [ 2.30206735e-03 9.99997349e-01 -3.97184914e-05 -2.85301834e-01] [-5.88700393e-04 4.10738214e-05 9.99999826e-01 -8.07998900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9132735599999995 meters 0.08817396099659247 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.29, Z:-0.08 [[ 9.99995845e-01 -2.61138560e-03 1.22085811e-03 3.44802972e+00] [ 2.61148963e-03 9.99996587e-01 -8.36187936e-05 -2.86242018e-01] [-1.22063558e-03 8.68067044e-05 9.99999251e-01 -8.15841886e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.94327356 meters 0.09349237548084854 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.30, Z:-0.08 [[ 9.99990304e-01 -4.38985591e-03 3.47324273e-04 3.47731352e+00] [ 4.38986404e-03 9.99990364e-01 -2.26255774e-05 -2.97205768e-01] [-3.47221604e-04 2.41500644e-05 9.99999939e-01 -8.46760028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.973273559999999 meters 0.09193379454234951 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.30, Z:-0.08 [[ 9.99982354e-01 -5.92521095e-03 -4.29419657e-04 3.50858435e+00] [ 5.92522435e-03 9.99982445e-01 2.99418667e-05 -2.95349469e-01] [ 4.29234707e-04 -3.24857461e-05 9.99999907e-01 -8.45755572e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.00327356 meters 0.09275893579924394 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.30, Z:-0.09 [[ 9.99975891e-01 -6.82442825e-03 -1.28224619e-03 3.53954469e+00] [ 6.82454943e-03 9.99976708e-01 9.01556698e-05 -2.98248190e-01] [ 1.28160106e-03 -9.89042487e-05 9.99999174e-01 -8.56570413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.03327356 meters 0.09374388500117425 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.30, Z:-0.09 [[ 9.99974607e-01 -6.98510529e-03 -1.41217657e-03 3.57062775e+00] [ 6.98525141e-03 9.99975598e-01 9.85695141e-05 -3.00870862e-01] [ 1.41145360e-03 -1.08431420e-04 9.99998998e-01 -8.73490453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.063273559999999 meters 0.09440066691651174 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.30, Z:-0.09 [[ 9.99969898e-01 -7.50022894e-03 -1.98736242e-03 3.60280305e+00] [ 7.50051948e-03 9.99971861e-01 1.38779711e-04 -3.03052247e-01] [ 1.98626561e-03 -1.53681784e-04 9.99998016e-01 -8.81441406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.09327356 meters 0.09454002255304207 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.30, Z:-0.09 [[ 9.99970032e-01 -7.32134454e-03 -2.51667829e-03 3.63449194e+00] [ 7.32180955e-03 9.99973180e-01 1.75611423e-04 -3.04733778e-01] [ 2.51532508e-03 -1.94032799e-04 9.99996818e-01 -8.92770413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.12327356 meters 0.09465382182174222 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.31, Z:-0.09 [[ 9.99982430e-01 -5.75004020e-03 -1.44135889e-03 3.66519371e+00] [ 5.75019106e-03 9.99983462e-01 1.00540514e-04 -3.05931821e-01] [ 1.44075695e-03 -1.08826837e-04 9.99998956e-01 -9.01835615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.153273559999999 meters 0.08911774076827883 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.30, Z:-0.09 [[ 9.99983305e-01 -5.44725872e-03 -1.92809862e-03 3.69813603e+00] [ 5.44752923e-03 9.99985153e-01 1.35072385e-04 -2.96212497e-01] [ 1.92733422e-03 -1.45573504e-04 9.99998132e-01 -8.81712278e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.18327356 meters 0.09548955334698693 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.31, Z:-0.09 [[ 9.99983312e-01 -5.38909411e-03 -2.08178083e-03 3.72852971e+00] [ 5.38940875e-03 9.99985466e-01 1.45558233e-04 -3.09540831e-01] [ 2.08096615e-03 -1.56775371e-04 9.99997822e-01 -9.14660025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.21327356 meters 0.09196917160143975 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.30, Z:-0.09 [[ 9.99986917e-01 -4.96358026e-03 -1.23606200e-03 3.76103467e+00] [ 4.96369172e-03 9.99987677e-01 8.71156524e-05 -3.04338242e-01] [ 1.23561436e-03 -9.32499434e-05 9.99999232e-01 -8.93269100e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.243273559999999 meters 0.09092260136522602 Centerline is valid? [True, True] Translation: X:3.79, Y:-0.30, Z:-0.09 [[ 9.99985621e-01 -5.15455513e-03 -1.47960310e-03 3.79365045e+00] [ 5.15471488e-03 9.99986709e-01 1.04175606e-04 -3.04085168e-01] [ 1.47904646e-03 -1.11801041e-04 9.99998900e-01 -8.95921382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.27327356 meters 0.09012739168028211 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.30, Z:-0.09 [[ 9.99979512e-01 -6.26051818e-03 -1.33485347e-03 3.82604084e+00] [ 6.26064949e-03 9.99980398e-01 9.42091112e-05 -3.04972167e-01] [ 1.33423750e-03 -1.02564231e-04 9.99999105e-01 -8.91506926e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.30327356 meters 0.09144927130511389 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.31, Z:-0.09 [[ 9.99976914e-01 -6.67278326e-03 -1.28290260e-03 3.85679671e+00] [ 6.67290589e-03 9.99977732e-01 9.13288238e-05 -3.10125758e-01] [ 1.28226461e-03 -9.98874036e-05 9.99999173e-01 -9.00884467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.33327356 meters 0.09169618175107713 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.31, Z:-0.09 [[ 9.99971759e-01 -7.37043687e-03 -1.46889003e-03 3.88900777e+00] [ 7.37059726e-03 9.99972831e-01 1.03809818e-04 -3.13302120e-01] [ 1.46808500e-03 -1.14633484e-04 9.99998916e-01 -9.07388201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.36327356 meters 0.09176676777516703 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.32, Z:-0.09 [[ 9.99964610e-01 -8.18100696e-03 -1.96207174e-03 3.92089464e+00] [ 8.18129421e-03 9.99966523e-01 1.38421541e-04 -3.16081771e-01] [ 1.96087363e-03 -1.54468928e-04 9.99998066e-01 -9.16750437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.393273559999999 meters 0.09204279240270377 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.32, Z:-0.09 [[ 9.99961437e-01 -8.50846163e-03 -2.17497972e-03 3.95287834e+00] [ 8.50881543e-03 9.99963788e-01 1.53465222e-04 -3.20109758e-01] [ 2.17359521e-03 -1.71965805e-04 9.99997623e-01 -9.27800381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.42327356 meters 0.09204279240270377 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.32, Z:-0.09 [[ 9.99962031e-01 -8.43836284e-03 -2.17496919e-03 3.98460214e+00] [ 8.43871680e-03 9.99964382e-01 1.53615047e-04 -3.22420638e-01] [ 2.17359546e-03 -1.71963164e-04 9.99997623e-01 -9.33093534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.45327356 meters 0.09232703112109569 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.33, Z:-0.09 [[ 9.99956776e-01 -8.84269014e-03 -2.87268835e-03 4.01684416e+00] [ 8.84330877e-03 9.99960877e-01 2.02719173e-04 -3.26301548e-01] [ 2.87078337e-03 -2.28114481e-04 9.99995853e-01 -9.38942213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.483273559999999 meters 0.09345746307408338 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.33, Z:-0.09 [[ 9.99936462e-01 -1.07795762e-02 -3.29730047e-03 4.04783176e+00] [ 1.07803996e-02 9.99941863e-01 2.32040725e-04 -3.32339244e-01] [ 3.29460747e-03 -2.67572198e-04 9.99994537e-01 -9.46276769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.51327356 meters 0.09306499344672582 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.33, Z:-0.10 [[ 9.99933787e-01 -1.09983710e-02 -3.38485707e-03 4.07995488e+00] [ 1.09992427e-02 9.99939478e-01 2.39029319e-04 -3.34771454e-01] [ 3.38202327e-03 -2.76244357e-04 9.99994243e-01 -9.53373547e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.54327356 meters 0.09350764640831669 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.34, Z:-0.10 [[ 9.99926652e-01 -1.17595205e-02 -2.89917221e-03 4.11185773e+00] [ 1.17601643e-02 9.99930826e-01 2.05109785e-04 -3.38511379e-01] [ 2.89655967e-03 -2.39189482e-04 9.99995776e-01 -9.56610252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.573273559999999 meters 0.09632966330361349 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.35, Z:-0.10 [[ 9.99908180e-01 -1.33905430e-02 -2.07975264e-03 4.14189226e+00] [ 1.33908781e-02 9.99910327e-01 1.47266806e-04 -3.48205518e-01] [ 2.07759416e-03 -1.75102998e-04 9.99997826e-01 -9.58470262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.60327356 meters 0.09619307221415063 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.35, Z:-0.10 [[ 9.99895753e-01 -1.43974477e-02 -1.09421095e-03 4.17395125e+00] [ 1.43975419e-02 9.99896347e-01 7.82619549e-05 -3.51824787e-01] [ 1.09297076e-03 -9.40077443e-05 9.99999398e-01 -9.58162326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.63327356 meters 0.09770849200294611 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.36, Z:-0.10 [[ 9.99882329e-01 -1.52913656e-02 -1.22593318e-03 4.20441246e+00] [ 1.52914836e-02 9.99883075e-01 8.70028256e-05 -3.58440854e-01] [ 1.22445945e-03 -1.05738925e-04 9.99999245e-01 -9.65309560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.66327356 meters 0.09644235916291004 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.36, Z:-0.10 [[ 9.99838199e-01 -1.79634624e-02 -9.43005592e-04 4.23486007e+00] [ 1.79635332e-02 9.99838640e-01 6.67091719e-05 -3.60796302e-01] [ 9.41655102e-04 -8.36380906e-05 9.99999553e-01 -9.58328993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.69327356 meters 0.09847425352578823 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.37, Z:-0.10 [[ 9.99817587e-01 -1.90493629e-02 -1.38383218e-03 4.26549087e+00] [ 1.90495174e-02 9.99818537e-01 9.85272347e-05 -3.67958684e-01] [ 1.38170418e-03 -1.24870597e-04 9.99999038e-01 -9.69290205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.723273559999999 meters 0.09804952560554546 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.37, Z:-0.10 [[ 9.99785727e-01 -2.06704991e-02 -1.10966106e-03 4.29626588e+00] [ 2.06705990e-02 9.99786337e-01 7.86142202e-05 -3.70366632e-01] [ 1.10779897e-03 -1.01534734e-04 9.99999381e-01 -9.70069663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.75327356 meters 0.09865461283384291 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.38, Z:-0.10 [[ 9.99755679e-01 -2.20368351e-02 -1.72064903e-03 4.32727609e+00] [ 2.20370776e-02 9.99757147e-01 1.22094153e-04 -3.75287380e-01] [ 1.71754059e-03 -1.59982399e-04 9.99998512e-01 -9.74636243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.78327356 meters 0.1039932136549802 Centerline is valid? [True, False] Translation: X:4.33, Y:-0.38, Z:-0.10 [[ 9.99766470e-01 -2.15604785e-02 -1.46637983e-03 4.32717639e+00] [ 2.15624802e-02 9.99766573e-01 1.36329617e-03 -3.78793606e-01] [ 1.43664422e-03 -1.39459658e-03 9.99997996e-01 -9.81879208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.813273559999999 meters 0.1023188242665614 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.38, Z:-0.10 [[ 9.99847664e-01 -1.59528699e-02 7.08197582e-03 4.31756839e+00] [ 1.59514444e-02 9.99872734e-01 2.57719385e-04 -3.82475589e-01] [-7.08518589e-03 -1.44712382e-04 9.99974889e-01 -1.04070977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.84327356 meters 0.10114533757890848 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.38, Z:-0.10 [[ 9.99854850e-01 -1.55358582e-02 6.99405274e-03 4.31813494e+00] [ 1.55298701e-02 9.99878990e-01 9.09677061e-04 -3.83868054e-01] [-7.00733900e-03 -8.00928291e-04 9.99975128e-01 -1.04667317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.87327356 meters 0.10089919008761845 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.39, Z:-0.11 [[ 9.99861223e-01 -1.51501285e-02 6.92884088e-03 4.31861465e+00] [ 1.51400392e-02 9.99884248e-01 1.50627673e-03 -3.85223602e-01] [-6.95085914e-03 -1.40116477e-03 9.99974861e-01 -1.05165786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.903273559999999 meters 0.10477955159700705 Centerline is valid? [False, False] Translation: X:4.32, Y:-0.39, Z:-0.11 [[ 9.99872687e-01 -1.44320332e-02 6.80636988e-03 4.31940907e+00] [ 1.44141398e-02 9.99892544e-01 2.67069393e-03 -3.88006034e-01] [-6.84418204e-03 -2.57224595e-03 9.99973270e-01 -1.05968042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.93327356 meters 0.10176866832391716 Centerline is valid? [False, False] Translation: X:4.31, Y:-0.39, Z:-0.10 [[ 9.99944879e-01 -1.04354091e-02 1.15851201e-03 4.30992533e+00] [ 1.04415050e-02 9.99930977e-01 -5.38675534e-03 -3.87719459e-01] [-1.10221905e-03 5.39855502e-03 9.99984820e-01 -1.02129505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.96327356 meters 0.09833646225375532 Centerline is valid? [False, True] Translation: X:4.31, Y:-0.39, Z:-0.10 [[ 9.99949019e-01 -1.00356948e-02 1.11588706e-03 4.31036198e+00] [ 1.00408662e-02 9.99938404e-01 -4.72952802e-03 -3.89245363e-01] [-1.06835423e-03 4.74049137e-03 9.99988193e-01 -1.02655494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.993273559999999 meters 0.10124111006928516 Centerline is valid? [True, False] Translation: X:4.31, Y:-0.39, Z:-0.10 [[ 9.99956352e-01 -9.29139909e-03 9.81936904e-04 4.31109933e+00] [ 9.29484981e-03 9.99950429e-01 -3.57008395e-03 -3.92241723e-01] [-9.48717153e-04 3.57905507e-03 9.99993145e-01 -1.03327950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.02327356 meters 0.09983649982110511 Centerline is valid? [False, True] Translation: X:4.31, Y:-0.39, Z:-0.10 [[ 9.99961317e-01 -8.75405965e-03 8.54869322e-04 4.31190076e+00] [ 8.75639618e-03 9.99957829e-01 -2.76881326e-03 -3.93844783e-01] [-8.30594914e-04 2.77619173e-03 9.99995801e-01 -1.04125777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.05327356 meters 0.09540779342282275 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.39, Z:-0.10 [[ 9.99965430e-01 -8.25440742e-03 1.00172474e-03 4.34424657e+00] [ 8.25449647e-03 9.99965927e-01 -8.47956573e-05 -3.92609807e-01] [-1.00099067e-03 9.30614592e-05 9.99999495e-01 -1.04075712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.08327356 meters 0.09768590402878248 Centerline is valid? [True, True] Translation: X:4.37, Y:-0.40, Z:-0.11 [[ 9.99972176e-01 -7.35816504e-03 1.22668939e-03 4.37488949e+00] [ 7.35829881e-03 9.99972922e-01 -1.04569887e-04 -4.01186177e-01] [-1.22588674e-03 1.13593325e-04 9.99999242e-01 -1.06738364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.11327356 meters 0.09857066431436852 Centerline is valid? [True, True] Translation: X:4.41, Y:-0.41, Z:-0.11 [[ 9.99974520e-01 -7.11846452e-03 5.36467720e-04 4.40600896e+00] [ 7.11848979e-03 9.99974662e-01 -4.52154124e-05 -4.08675936e-01] [-5.36132263e-04 4.90331003e-05 9.99999855e-01 -1.06957116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.143273559999999 meters 0.09857066431436852 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.41, Z:-0.11 [[ 9.99975015e-01 -7.04851976e-03 5.36491666e-04 4.43772640e+00] [ 7.04854487e-03 9.99975158e-01 -4.49378342e-05 -4.11495357e-01] [-5.36161593e-04 4.87181971e-05 9.99999855e-01 -1.07544683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.17327356 meters 0.09705496285923894 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.41, Z:-0.11 [[ 9.99976598e-01 -6.75091940e-03 1.10841016e-03 4.47019780e+00] [ 6.75102803e-03 9.99977207e-01 -9.42888021e-05 -4.13318732e-01] [-1.10774836e-03 1.01769504e-04 9.99999381e-01 -1.06949539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.20327356 meters 0.09705595342128699 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.42, Z:-0.11 [[ 9.99981566e-01 -5.82586429e-03 1.71100474e-03 4.50069866e+00] [ 5.82612424e-03 9.99983017e-01 -1.46984027e-04 -4.19188491e-01] [-1.71011937e-03 1.56949843e-04 9.99998525e-01 -1.06771881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.233273559999999 meters 0.09622504172474222 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.42, Z:-0.11 [[ 9.99987583e-01 -4.81458128e-03 1.28588819e-03 4.53255689e+00] [ 4.81472635e-03 9.99988403e-01 -1.09749283e-04 -4.22012663e-01] [-1.28534488e-03 1.15939120e-04 9.99999167e-01 -1.07003121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.26327356 meters 0.09627039179704774 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.43, Z:-0.11 [[ 9.99993024e-01 -3.39316392e-03 1.56184261e-03 4.56377830e+00] [ 3.39337775e-03 9.99994233e-01 -1.34280008e-04 -4.26261001e-01] [-1.56137797e-03 1.39578993e-04 9.99998771e-01 -1.07757074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.29327356 meters 0.09326595186836895 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.43, Z:-0.11 [[ 9.99999774e-01 -4.38254097e-04 5.10086036e-04 4.59416233e+00] [ 4.38276688e-04 9.99999903e-01 -4.41775378e-05 -4.25837822e-01] [-5.10066625e-04 4.44010867e-05 9.99999869e-01 -1.07989934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.323273559999999 meters 0.09287821871715057 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.43, Z:-0.11 [[ 9.99999387e-01 1.02063237e-03 4.29271537e-04 4.62517767e+00] [-1.02061668e-03 9.99999478e-01 -3.67683799e-05 -4.28493673e-01] [-4.29308841e-04 3.63302357e-05 9.99999907e-01 -1.08873699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.35327356 meters 0.09357183852838248 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.43, Z:-0.11 [[ 9.99995199e-01 3.07972366e-03 -3.41065523e-04 4.65497413e+00] [-3.07971379e-03 9.99995257e-01 2.94687510e-05 -4.33619880e-01] [ 3.41154661e-04 -2.84182253e-05 9.99999941e-01 -1.10222494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.38327356 meters 0.08894091882512237 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.43, Z:-0.11 [[ 9.99985117e-01 5.45537961e-03 -7.06215474e-05 4.68556751e+00] [-5.45537925e-03 9.99985119e-01 5.34815382e-06 -4.28239481e-01] [ 7.06496727e-05 -4.96280690e-06 9.99999997e-01 -1.08943722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.413273559999999 meters 0.089725983478959 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.43, Z:-0.11 [[ 9.99949910e-01 1.00057699e-02 -2.50901562e-04 4.71378163e+00] [-1.00057650e-02 9.99949941e-01 2.08438633e-05 -4.33669650e-01] [ 2.51097561e-04 -1.83323572e-05 9.99999968e-01 -1.11115754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.44327356 meters 0.08896060661412968 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.44, Z:-0.11 [[ 9.99926494e-01 1.21140136e-02 -5.07591894e-04 4.74247815e+00] [-1.21139934e-02 9.99926622e-01 4.28648398e-05 -4.35469647e-01] [ 5.08073913e-04 -3.67127241e-05 9.99999870e-01 -1.12181678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.473273559999999 meters 0.0862446062495808 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.43, Z:-0.11 [[ 9.99903992e-01 1.38466644e-02 -5.26723787e-04 4.77253017e+00] [-1.38466427e-02 9.99904130e-01 4.47982189e-05 -4.33866935e-01] [ 5.27293596e-04 -3.75005618e-05 9.99999860e-01 -1.11184886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.50327356 meters 0.08530534995087986 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.44, Z:-0.11 [[ 9.99877324e-01 1.56563689e-02 -4.64423912e-04 4.80259866e+00] [-1.56563522e-02 9.99877431e-01 3.97305915e-05 -4.35313526e-01] [ 4.64989025e-04 -3.24545332e-05 9.99999891e-01 -1.11959959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.53327356 meters 0.08392317567009816 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.44, Z:-0.11 [[ 9.99828359e-01 1.85151144e-02 -6.65247400e-04 4.83244363e+00] [-1.85150805e-02 9.99828580e-01 5.70346546e-05 -4.37765251e-01] [ 6.66189367e-04 -4.47077559e-05 9.99999777e-01 -1.12030107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.563273559999999 meters 0.08241938365834668 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.44, Z:-0.11 [[ 9.99800034e-01 1.99862581e-02 -6.64051676e-04 4.86161035e+00] [-1.99862259e-02 9.99800254e-01 5.51213176e-05 -4.37796466e-01] [ 6.65020703e-04 -4.18384085e-05 9.99999778e-01 -1.12267586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.59327356 meters 0.08005630573198846 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.44, Z:-0.11 [[ 9.99776626e-01 2.11056533e-02 -1.11811749e-03 4.89121146e+00] [-2.11055599e-02 9.99777248e-01 9.52315879e-05 -4.36126792e-01] [ 1.11987836e-03 -7.16118198e-05 9.99999370e-01 -1.10672556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.62327356 meters 0.07982479287416097 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.44, Z:-0.11 [[ 9.99701602e-01 2.44002317e-02 -1.15535996e-03 4.92037118e+00] [-2.44001339e-02 9.99702268e-01 9.87300778e-05 -4.39915063e-01] [ 1.15742501e-03 -7.05096792e-05 9.99999328e-01 -1.11967795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.653273559999999 meters 0.07999415998302095 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.44, Z:-0.11 [[ 9.99643450e-01 2.66539756e-02 -1.59315805e-03 4.94852295e+00] [-2.66537926e-02 9.99644715e-01 1.35998870e-04 -4.43329959e-01] [ 1.59621693e-03 -9.34866750e-05 9.99998722e-01 -1.12957717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.68327356 meters 0.07682781368149447 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.44, Z:-0.11 [[ 9.99557232e-01 2.97189908e-02 -1.45677846e-03 4.97907356e+00] [-2.97188403e-02 9.99558290e-01 1.24864961e-04 -4.38512201e-01] [ 1.45984585e-03 -8.15159085e-05 9.99998931e-01 -1.11587880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.71327356 meters 0.0779240735227168 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.44, Z:-0.11 [[ 9.99489691e-01 3.18844077e-02 -1.93449522e-03 5.00705592e+00] [-3.18841481e-02 9.99491558e-01 1.64864152e-04 -4.44791137e-01] [ 1.93876824e-03 -1.03100288e-04 9.99998115e-01 -1.14422413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.743273559999999 meters 0.07523340814640359 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.44, Z:-0.11 [[ 9.99329602e-01 3.65876885e-02 -1.29903061e-03 5.03817955e+00] [-3.65875744e-02 9.99330444e-01 1.11474477e-04 -4.42299358e-01] [ 1.30223943e-03 -6.38713656e-05 9.99999150e-01 -1.13355970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.77327356 meters 0.07474194282405243 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.44, Z:-0.11 [[ 9.99312682e-01 3.70436929e-02 -1.38899655e-03 5.06733343e+00] [-3.70435690e-02 9.99313645e-01 1.14873581e-04 -4.44036924e-01] [ 1.39229855e-03 -6.33412368e-05 9.99999029e-01 -1.12400604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.80327356 meters 0.07485425087391433 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.45, Z:-0.11 [[ 9.99266113e-01 3.82962452e-02 -7.95024086e-04 5.09537741e+00] [-3.82962042e-02 9.99266429e-01 6.67806988e-05 -4.48168168e-01] [ 7.96998329e-04 -3.62852847e-05 9.99999682e-01 -1.13262721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.83327356 meters 0.07503787988387893 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.45, Z:-0.11 [[ 9.99241048e-01 3.89419668e-02 -9.22436659e-04 5.12296866e+00] [-3.89419120e-02 9.99241473e-01 7.73063776e-05 -4.54495457e-01] [ 9.24747428e-04 -4.13262585e-05 9.99999572e-01 -1.13799465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.86327356 meters 0.07513511713660022 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.46, Z:-0.11 [[ 9.99235298e-01 3.90995095e-02 -2.19500089e-04 5.15011006e+00] [-3.90995068e-02 9.99235322e-01 1.65012692e-05 -4.59007296e-01] [ 2.19977433e-04 -7.90630539e-06 9.99999976e-01 -1.14228802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.893273559999999 meters 0.07515496762220833 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.46, Z:-0.12 [[ 9.99248581e-01 3.87502294e-02 -8.32038740e-04 5.17846057e+00] [-3.87501873e-02 9.99248927e-01 6.66246193e-05 -4.63614618e-01] [ 8.33995537e-04 -3.43328992e-05 9.99999652e-01 -1.15034911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.92327356 meters 0.07463435247631924 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.47, Z:-0.11 [[ 9.99282295e-01 3.78637651e-02 -1.10944788e-03 5.20665705e+00] [-3.78636863e-02 9.99282909e-01 9.20033036e-05 -4.65951707e-01] [ 1.11213590e-03 -4.99294858e-05 9.99999380e-01 -1.14118651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.95327356 meters 0.07476089126602699 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.47, Z:-0.11 [[ 9.99333518e-01 3.64233222e-02 -2.42088601e-03 5.23602962e+00] [-3.64229320e-02 9.99336444e-01 2.05099143e-04 -4.72863120e-01] [ 2.42675001e-03 -1.16786681e-04 9.99997049e-01 -1.14406195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.983273559999999 meters 0.07507924242497498 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.48, Z:-0.12 [[ 9.99369051e-01 3.54378889e-02 -2.37808631e-03 5.26415736e+00] [-3.54375198e-02 9.99371874e-01 1.97164271e-04 -4.78357243e-01] [ 2.38357966e-03 -1.12766390e-04 9.99997153e-01 -1.15243028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.01327356 meters 0.07552804228416293 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.48, Z:-0.12 [[ 9.99412166e-01 3.42063242e-02 -2.29120171e-03 5.29250483e+00] [-3.42059799e-02 9.99414786e-01 1.89288156e-04 -4.84280991e-01] [ 2.29633572e-03 -1.10804087e-04 9.99997357e-01 -1.16215124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.04327356 meters 0.07646640588874254 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.49, Z:-0.12 [[ 9.99440993e-01 3.33214431e-02 -2.71726011e-03 5.31986949e+00] [-3.33209488e-02 9.99444677e-01 2.26987055e-04 -4.91070776e-01] [ 2.72331469e-03 -1.36318483e-04 9.99996282e-01 -1.17733341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.073273559999999 meters 0.07686590632406871 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.50, Z:-0.12 [[ 9.99460250e-01 3.26583758e-02 -3.55506341e-03 5.34823900e+00] [-3.26575199e-02 9.99466556e-01 2.98547287e-04 -4.97844170e-01] [ 3.56291705e-03 -1.82286592e-04 9.99993636e-01 -1.18799441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.10327356 meters 0.07566043828546694 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.50, Z:-0.12 [[ 9.99462749e-01 3.25977476e-02 -3.40578695e-03 5.37687665e+00] [-3.25969628e-02 9.99468537e-01 2.85686750e-04 -4.97801706e-01] [ 3.41328965e-03 -1.74514954e-04 9.99994159e-01 -1.16940404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.13327356 meters 0.07602249483624873 Centerline is valid? [True, True] Translation: X:5.40, Y:-0.50, Z:-0.12 [[ 9.99452624e-01 3.29599607e-02 -2.84492310e-03 5.40476564e+00] [-3.29594157e-02 9.99456662e-01 2.38251550e-04 -5.03452506e-01] [ 2.85123011e-03 -1.44354133e-04 9.99995925e-01 -1.16960943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.163273559999999 meters 0.0763415619940423 Centerline is valid? [True, True] Translation: X:5.43, Y:-0.51, Z:-0.12 [[ 9.99433725e-01 3.35964623e-02 -1.87288157e-03 5.43252181e+00] [-3.35962303e-02 9.99435475e-01 1.55205277e-04 -5.07931154e-01] [ 1.87703863e-03 -9.21956270e-05 9.99998234e-01 -1.18066550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.19327356 meters 0.07619474278423766 Centerline is valid? [True, True] Translation: X:5.46, Y:-0.51, Z:-0.12 [[ 9.99437399e-01 3.35163807e-02 -1.23982364e-03 5.46087551e+00] [-3.35162787e-02 9.99438166e-01 1.02933156e-04 -5.11070876e-01] [ 1.24257701e-03 -6.13209713e-05 9.99999226e-01 -1.17337948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.223273559999999 meters 0.07509808872895837 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.51, Z:-0.12 [[ 9.99432619e-01 3.36623646e-02 -1.13369545e-03 5.48990222e+00] [-3.36622796e-02 9.99433260e-01 9.39128731e-05 -5.11435088e-01] [ 1.13621426e-03 -5.56968157e-05 9.99999353e-01 -1.16678963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.25327356 meters 0.07531093295411691 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.52, Z:-0.12 [[ 9.99447211e-01 3.31909504e-02 -1.90632228e-03 5.51821715e+00] [-3.31907081e-02 9.99449024e-01 1.58634809e-04 -5.16858833e-01] [ 1.91053719e-03 -9.52749309e-05 9.99998170e-01 -1.17168727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.28327356 meters 0.07690219277497663 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.52, Z:-0.12 [[ 9.99445111e-01 3.31818580e-02 -2.90413906e-03 5.54555905e+00] [-3.31812953e-02 9.99449320e-01 2.41766196e-04 -5.24973232e-01] [ 2.91056206e-03 -1.45268947e-04 9.99995754e-01 -1.19789084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.313273559999999 meters 0.07560618504689433 Centerline is valid? [True, True] Translation: X:5.57, Y:-0.52, Z:-0.12 [[ 9.99455596e-01 3.27815395e-02 -3.72599672e-03 5.57443413e+00] [-3.27806085e-02 9.99462523e-01 3.10679031e-04 -5.24072540e-01] [ 3.73417862e-03 -1.88369457e-04 9.99993010e-01 -1.18421842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.34327356 meters 0.07560618504689433 Centerline is valid? [True, True] Translation: X:5.60, Y:-0.53, Z:-0.12 [[ 9.99458837e-01 3.26825555e-02 -3.72607823e-03 5.60183222e+00] [-3.26816275e-02 9.99465765e-01 3.09704010e-04 -5.26260565e-01] [ 3.73420955e-03 -1.87762109e-04 9.99993010e-01 -1.18929995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.37327356 meters 0.07609500473364919 Centerline is valid? [True, True] Translation: X:5.63, Y:-0.53, Z:-0.12 [[ 9.99463754e-01 3.24403958e-02 -4.45252261e-03 5.62917103e+00] [-3.24390668e-02 9.99473646e-01 3.70391520e-04 -5.31254078e-01] [ 4.46219466e-03 -2.25757220e-04 9.99990019e-01 -1.20850572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.403273559999999 meters 0.07575286019913599 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.53, Z:-0.12 [[ 9.99462697e-01 3.22511965e-02 -5.84616412e-03 5.65763435e+00] [-3.22489000e-02 9.99479750e-01 4.86694219e-04 -5.34201470e-01] [ 5.85881913e-03 -2.97900355e-04 9.99982793e-01 -1.21454517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.43327356 meters 0.0762590388788146 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.54, Z:-0.12 [[ 9.99457560e-01 3.24066997e-02 -5.86446015e-03 5.68546325e+00] [-3.24043960e-02 9.99474721e-01 4.87444246e-04 -5.39096680e-01] [ 5.87717613e-03 -2.97145548e-04 9.99982685e-01 -1.23057477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.46327356 meters 0.07567587513640968 Centerline is valid? [True, True] Translation: X:5.71, Y:-0.54, Z:-0.12 [[ 9.99455825e-01 3.24825040e-02 -5.73932402e-03 5.71418770e+00] [-3.24802994e-02 9.99472262e-01 4.76937352e-04 -5.40650831e-01] [ 5.75178728e-03 -2.90262852e-04 9.99983416e-01 -1.22472269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.493273559999999 meters 0.07530181682395526 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.54, Z:-0.12 [[ 9.99441148e-01 3.31221661e-02 -4.50713875e-03 5.74271371e+00] [-3.31208156e-02 9.99451285e-01 3.73971966e-04 -5.44155988e-01] [ 4.51705238e-03 -2.24482860e-04 9.99989773e-01 -1.21373575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.52327356 meters 0.07479541716052351 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.55, Z:-0.12 [[ 9.99447698e-01 3.30116465e-02 -3.81195607e-03 5.77108346e+00] [-3.30106815e-02 9.99454949e-01 3.15828268e-04 -5.45490298e-01] [ 3.82030437e-03 -1.89818567e-04 9.99992685e-01 -1.20732758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.55327356 meters 0.07507641999532554 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.55, Z:-0.12 [[ 9.99459832e-01 3.27306746e-02 -2.95746610e-03 5.79903829e+00] [-3.27300949e-02 9.99464197e-01 2.44218587e-04 -5.49372995e-01] [ 2.96387492e-03 -1.47288522e-04 9.99995597e-01 -1.20883330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.583273559999999 meters 0.07506060161903806 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.55, Z:-0.12 [[ 9.99435049e-01 3.35223142e-02 -2.41610115e-03 5.82738709e+00] [-3.35219299e-02 9.99437962e-01 1.99388736e-04 -5.53667752e-01] [ 2.42142718e-03 -1.18283717e-04 9.99997061e-01 -1.21016500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.61327356 meters 0.07492398307219866 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.56, Z:-0.12 [[ 9.99431245e-01 3.36462137e-02 -2.26268990e-03 5.85613746e+00] [-3.36458775e-02 9.99433800e-01 1.86487122e-04 -5.55673409e-01] [ 2.26768335e-03 -1.10250870e-04 9.99997423e-01 -1.21281526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.643273559999999 meters 0.07465432700271056 Centerline is valid? [True, True] Translation: X:5.88, Y:-0.56, Z:-0.12 [[ 9.99431020e-01 3.36362824e-02 -2.49747646e-03 5.88365613e+00] [-3.36358747e-02 9.99434133e-01 2.05087202e-04 -5.57301434e-01] [ 2.50296159e-03 -1.20965706e-04 9.99996860e-01 -1.21269649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.67327356 meters 0.07512622043226201 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.56, Z:-0.12 [[ 9.99438207e-01 3.33799469e-02 -3.00825837e-03 5.91248551e+00] [-3.33793614e-02 9.99442724e-01 2.44623483e-04 -5.60786417e-01] [ 3.01474746e-03 -1.44072311e-04 9.99995445e-01 -1.22835763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.70327356 meters 0.07519372048479067 Centerline is valid? [True, True] Translation: X:5.94, Y:-0.56, Z:-0.12 [[ 9.99442359e-01 3.31838903e-02 -3.71486083e-03 5.94012051e+00] [-3.31829847e-02 9.99449247e-01 3.05167396e-04 -5.62940936e-01] [ 3.72294150e-03 -1.81727052e-04 9.99993053e-01 -1.23621746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.733273559999999 meters 0.07534135373654333 Centerline is valid? [True, True] Translation: X:5.97, Y:-0.57, Z:-0.13 [[ 9.99435529e-01 3.34151765e-02 -3.47135862e-03 5.96922965e+00] [-3.34143871e-02 9.99441543e-01 2.85157941e-04 -5.65471331e-01] [ 3.47894862e-03 -1.69003657e-04 9.99993934e-01 -1.25193930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.76327356 meters 0.07671371059618778 Centerline is valid? [True, True] Translation: X:6.00, Y:-0.57, Z:-0.13 [[ 9.99450851e-01 3.29783293e-02 -3.22897240e-03 5.99678243e+00] [-3.29776462e-02 9.99456054e-01 2.64607852e-04 -5.71830346e-01] [ 3.23594234e-03 -1.57978633e-04 9.99994752e-01 -1.27214602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.79327356 meters 0.07491401619048009 Centerline is valid? [True, True] Translation: X:6.03, Y:-0.57, Z:-0.13 [[ 9.99453116e-01 3.28989284e-02 -3.33595768e-03 6.02524581e+00] [-3.28982008e-02 9.99458670e-01 2.72756703e-04 -5.67741319e-01] [ 3.34312523e-03 -1.62860531e-04 9.99994398e-01 -1.25046090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.823273559999999 meters 0.07497112210810213 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.57, Z:-0.13 [[ 9.99452526e-01 3.29524685e-02 -2.96355422e-03 6.05362565e+00] [-3.29518939e-02 9.99456909e-01 2.42520239e-04 -5.69475560e-01] [ 2.96993638e-03 -1.44732742e-04 9.99995579e-01 -1.25900661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.85327356 meters 0.07570982254846027 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.57, Z:-0.13 [[ 9.99440738e-01 3.33846208e-02 -1.91777353e-03 6.08090124e+00] [-3.33843827e-02 9.99442574e-01 1.56048937e-04 -5.72960833e-01] [ 1.92191414e-03 -9.19379796e-05 9.99998149e-01 -1.27104153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.88327356 meters 0.07450548049260222 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.57, Z:-0.13 [[ 9.99438917e-01 3.34626275e-02 -1.45032716e-03 6.10969554e+00] [-3.34624916e-02 9.99439967e-01 1.17826791e-04 -5.69998482e-01] [ 1.45345772e-03 -6.92291205e-05 9.99998941e-01 -1.25771754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.913273559999999 meters 0.0744661914110728 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.57, Z:-0.13 [[ 9.99410385e-01 3.43286944e-02 -6.50343482e-04 6.13749071e+00] [-3.43286680e-02 9.99410596e-01 5.18001418e-05 -5.72000231e-01] [ 6.51738399e-04 -2.94441742e-05 9.99999787e-01 -1.26281573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.94327356 meters 0.07441035312252856 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.57, Z:-0.13 [[ 9.99409415e-01 3.43521729e-02 -8.65741881e-04 6.16527919e+00] [-3.43521260e-02 9.99409789e-01 6.90665598e-05 -5.72903107e-01] [ 8.67603497e-04 -3.92856960e-05 9.99999623e-01 -1.26487283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.973273559999999 meters 0.07408697621676827 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.57, Z:-0.13 [[ 9.99365560e-01 3.56054085e-02 8.55512993e-04 6.19422507e+00] [-3.56053605e-02 9.99365926e-01 -7.12519307e-05 -5.72887298e-01] [-8.57507488e-04 4.07458771e-05 9.99999632e-01 -1.26225236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.00327356 meters 0.07401667579504165 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.57, Z:-0.13 [[ 9.99369763e-01 3.54905449e-02 7.05287291e-04 6.22340533e+00] [-3.54905121e-02 9.99370012e-01 -5.89168380e-05 -5.73303348e-01] [-7.06933958e-04 3.38486994e-05 9.99999750e-01 -1.26422758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.03327356 meters 0.07405651020621283 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.58, Z:-0.13 [[ 9.99377764e-01 3.52617015e-02 8.34640700e-04 6.25177139e+00] [-3.52616558e-02 9.99378112e-01 -6.94375024e-05 -5.75097476e-01] [-8.36570132e-04 3.99634828e-05 9.99999649e-01 -1.27496128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.063273559999999 meters 0.0744698167721823 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.58, Z:-0.13 [[ 9.99422680e-01 3.39665172e-02 7.62664167e-04 6.28063225e+00] [-3.39664786e-02 9.99422971e-01 -6.35003710e-05 -5.76684262e-01] [-7.64380974e-04 3.75586949e-05 9.99999707e-01 -1.28855158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.09327356 meters 0.07542853781880675 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.58, Z:-0.13 [[ 9.99448737e-01 3.31764728e-02 1.24286308e-03 6.30846445e+00] [-3.31763704e-02 9.99449507e-01 -1.02897902e-04 -5.81105908e-01] [-1.24559268e-03 6.16074917e-05 9.99999222e-01 -1.30672533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.12327356 meters 0.0756182691131462 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.58, Z:-0.13 [[ 9.99479044e-01 3.22422478e-02 1.44139055e-03 6.33696646e+00] [-3.22421101e-02 9.99480081e-01 -1.18677034e-04 -5.83781570e-01] [-1.44446756e-03 7.21417362e-05 9.99998954e-01 -1.31415983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.153273559999999 meters 0.07572501145801049 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.59, Z:-0.13 [[ 9.99505057e-01 3.14060166e-02 1.81729402e-03 6.36559413e+00] [-3.14057971e-02 9.99506705e-01 -1.49203694e-04 -5.85788794e-01] [-1.82108345e-03 9.20562797e-05 9.99998338e-01 -1.31628136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.18327356 meters 0.07765587589438154 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.59, Z:-0.13 [[ 9.99584005e-01 2.87744645e-02 1.96150099e-03 6.39359806e+00] [-2.87742047e-02 9.99585924e-01 -1.60535837e-04 -5.92331506e-01] [-1.96530812e-03 1.04028424e-04 9.99998063e-01 -1.33771151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.21327356 meters 0.07760657950767941 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.59, Z:-0.13 [[ 9.99619651e-01 2.75017035e-02 2.05191766e-03 6.42213971e+00] [-2.75014163e-02 9.99621750e-01 -1.68054453e-04 -5.93731508e-01] [-2.05576331e-03 1.11559892e-04 9.99997881e-01 -1.34044367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.243273559999999 meters 0.07686722689664152 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.59, Z:-0.13 [[ 9.99657547e-01 2.61031363e-02 1.84792620e-03 6.45145424e+00] [-2.61029009e-02 9.99659250e-01 -1.51378896e-04 -5.92740372e-01] [-1.85124799e-03 1.03090821e-04 9.99998281e-01 -1.33767386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.27327356 meters 0.07924869293707226 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.60, Z:-0.14 [[ 9.99694060e-01 2.46581028e-02 1.94043302e-03 6.47843526e+00] [-2.46578404e-02 9.99695937e-01 -1.59033867e-04 -6.01111178e-01] [-1.94376448e-03 1.11138324e-04 9.99998105e-01 -1.35711317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.30327356 meters 0.07788574328999008 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.60, Z:-0.14 [[ 9.99733312e-01 2.29879045e-02 2.20472334e-03 6.50861326e+00] [-2.29875643e-02 9.99735735e-01 -1.79485202e-04 -5.98976259e-01] [-2.20826670e-03 1.28756116e-04 9.99997553e-01 -1.35040497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.333273559999999 meters 0.07905356769206721 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.60, Z:-0.14 [[ 9.99741299e-01 2.25668856e-02 2.84089083e-03 6.53618523e+00] [-2.25663177e-02 9.99745321e-01 -2.31777337e-04 -6.03356855e-01] [-2.84539781e-03 1.67608930e-04 9.99995938e-01 -1.36941764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.36327356 meters 0.07805285770819492 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.60, Z:-0.14 [[ 9.99763390e-01 2.15873839e-02 2.67382339e-03 6.56492549e+00] [-2.15868777e-02 9.99766952e-01 -2.18029748e-04 -6.00490396e-01] [-2.67790695e-03 1.60258662e-04 9.99996402e-01 -1.36054943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.393273559999999 meters 0.07889850570911872 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.60, Z:-0.14 [[ 9.99775000e-01 2.09955405e-02 3.02264193e-03 6.59266898e+00] [-2.09948923e-02 9.99779553e-01 -2.46007258e-04 -6.04093092e-01] [-3.02714065e-03 1.82491865e-04 9.99995402e-01 -1.37406546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.42327356 meters 0.07823844901786257 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.60, Z:-0.14 [[ 9.99778510e-01 2.08613986e-02 2.78069762e-03 6.62151083e+00] [-2.08608505e-02 9.99782363e-01 -2.25960335e-04 -6.02988484e-01] [-2.78480629e-03 1.67902569e-04 9.99996108e-01 -1.37336817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.45327356 meters 0.0786960451209328 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.61, Z:-0.14 [[ 9.99780380e-01 2.07474849e-02 2.95521707e-03 6.64794683e+00] [-2.07468639e-02 9.99784732e-01 -2.40643650e-04 -6.05559452e-01] [-2.95957365e-03 1.79279314e-04 9.99995604e-01 -1.38451060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.483273559999999 meters 0.079662960949261 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.61, Z:-0.14 [[ 9.99782994e-01 2.06119120e-02 3.01894599e-03 6.67488710e+00] [-2.06112647e-02 9.99787535e-01 -2.45389321e-04 -6.08612354e-01] [-3.02336252e-03 1.83111775e-04 9.99995413e-01 -1.39892215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.51327356 meters 0.08047682207142078 Centerline is valid? [True, True] Translation: X:6.70, Y:-0.61, Z:-0.14 [[ 9.99809637e-01 1.92550660e-02 3.15148293e-03 6.70446569e+00] [-1.92543594e-02 9.99814585e-01 -2.54421159e-04 -6.11018963e-01] [-3.15579750e-03 1.93692942e-04 9.99995002e-01 -1.40715971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.54327356 meters 0.08036525590158416 Centerline is valid? [True, True] Translation: X:6.73, Y:-0.61, Z:-0.14 [[ 9.99823303e-01 1.85826737e-02 2.83674396e-03 6.73276627e+00] [-1.85820963e-02 9.99827312e-01 -2.29757426e-04 -6.12238842e-01] [-2.84052360e-03 1.77004180e-04 9.99995950e-01 -1.41227229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.573273559999999 meters 0.08143835999142965 Centerline is valid? [True, True] Translation: X:6.76, Y:-0.62, Z:-0.14 [[ 9.99822302e-01 1.84526331e-02 3.85537983e-03 6.76030943e+00] [-1.84515691e-02 9.99829707e-01 -3.11384802e-04 -6.16241274e-01] [-3.86046916e-03 2.40191662e-04 9.99992520e-01 -1.42092351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.60327356 meters 0.08076706399071114 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.61, Z:-0.14 [[ 9.99834722e-01 1.77221874e-02 4.05621907e-03 6.78918499e+00] [-1.77210062e-02 9.99842917e-01 -3.26968025e-04 -6.13944925e-01] [-4.06137650e-03 2.55033701e-04 9.99991720e-01 -1.42573439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.63327356 meters 0.07969023479222567 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.61, Z:-0.14 [[ 9.99826851e-01 1.80501813e-02 4.52318009e-03 6.81781827e+00] [-1.80487177e-02 9.99837042e-01 -3.64183897e-04 -6.12916129e-01] [-4.52901659e-03 2.82483238e-04 9.99989704e-01 -1.41740072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.663273559999999 meters 0.08026031748447687 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.62, Z:-0.14 [[ 9.99840238e-01 1.72987525e-02 4.50008678e-03 6.84608028e+00] [-1.72972965e-02 9.99850325e-01 -3.62255900e-04 -6.15145440e-01] [-4.50567981e-03 2.84358690e-04 9.99989809e-01 -1.42204488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.69327356 meters 0.08003262158543807 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.62, Z:-0.14 [[ 9.99835853e-01 1.74907384e-02 4.72655003e-03 6.87470017e+00] [-1.74891377e-02 9.99846981e-01 -3.79791110e-04 -6.15086728e-01] [-4.73246961e-03 2.97065484e-04 9.99988758e-01 -1.42721889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.723273559999999 meters 0.0823475071025207 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.62, Z:-0.14 [[ 9.99828955e-01 1.78086836e-02 4.99124459e-03 6.90167631e+00] [-1.78069035e-02 9.99841364e-01 -4.00870674e-04 -6.21939198e-01] [-4.99759178e-03 3.11923496e-04 9.99987463e-01 -1.44802670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.75327356 meters 0.08163944657870828 Centerline is valid? [True, True] Translation: X:6.93, Y:-0.62, Z:-0.15 [[ 9.99827053e-01 1.77823451e-02 5.44541578e-03 6.93096128e+00] [-1.77802304e-02 9.99841824e-01 -4.36505459e-04 -6.21508271e-01] [-5.45231654e-03 3.39609220e-04 9.99985078e-01 -1.45175858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.78327356 meters 0.08195244170170843 Centerline is valid? [True, True] Translation: X:6.96, Y:-0.62, Z:-0.15 [[ 9.99836531e-01 1.75075780e-02 4.51617353e-03 6.95950784e+00] [-1.75061211e-02 9.99846691e-01 -3.61925018e-04 -6.23517852e-01] [-4.52181759e-03 2.82805174e-04 9.99989737e-01 -1.46035973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.813273559999999 meters 0.08213686927326162 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.62, Z:-0.15 [[ 9.99857909e-01 1.62536878e-02 4.46977499e-03 6.98801877e+00] [-1.62522494e-02 9.99867859e-01 -3.57931011e-04 -6.24297493e-01] [-4.47500205e-03 2.85236254e-04 9.99989946e-01 -1.46633589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.84327356 meters 0.08287128457374561 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.63, Z:-0.15 [[ 9.99867878e-01 1.59473708e-02 3.14776392e-03 7.01510196e+00] [-1.59466550e-02 9.99872812e-01 -2.52368442e-04 -6.27520196e-01] [-3.15138817e-03 2.02138793e-04 9.99995014e-01 -1.48066082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.87327356 meters 0.08192772399329531 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.63, Z:-0.15 [[ 9.99863246e-01 1.62659510e-02 2.98477831e-03 7.04407503e+00] [-1.62653097e-02 9.99867683e-01 -2.39017760e-04 -6.26740184e-01] [-2.98827122e-03 1.90436730e-04 9.99995517e-01 -1.49219741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.903273559999999 meters 0.08229981353558267 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.63, Z:-0.15 [[ 9.99861356e-01 1.64717260e-02 2.43960115e-03 7.07176383e+00] [-1.64712974e-02 9.99864320e-01 -1.95679846e-04 -6.29261222e-01] [-2.44249333e-03 1.55469320e-04 9.99997005e-01 -1.49966863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.93327356 meters 0.08087533264989165 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.63, Z:-0.15 [[ 9.99850263e-01 1.69779882e-02 3.34649509e-03 7.10135646e+00] [-1.69771890e-02 9.99855841e-01 -2.67088030e-04 -6.26929140e-01] [-3.35054728e-03 2.10233957e-04 9.99994365e-01 -1.49859706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.96327356 meters 0.08090598399819589 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.63, Z:-0.15 [[ 9.99846880e-01 1.70701396e-02 3.85059158e-03 7.12980549e+00] [-1.70690825e-02 9.99854265e-01 -3.07232798e-04 -6.28111488e-01] [-3.85527492e-03 2.41459689e-04 9.99992539e-01 -1.49623965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.993273559999999 meters 0.08077899351936454 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.63, Z:-0.15 [[ 9.99829736e-01 1.79553845e-02 4.25468415e-03 7.15909525e+00] [-1.79541012e-02 9.99838754e-01 -3.39622254e-04 -6.29696156e-01] [-4.26009615e-03 2.63175398e-04 9.99990891e-01 -1.50128129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.02327356 meters 0.07943685582173565 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.63, Z:-0.15 [[ 9.99801479e-01 1.93130364e-02 4.89995979e-03 7.18857477e+00] [-1.93113544e-02 9.99813442e-01 -3.90347332e-04 -6.27037195e-01] [-4.90658445e-03 2.95644980e-04 9.99987919e-01 -1.49194191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.05327356 meters 0.0798918749533865 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.63, Z:-0.15 [[ 9.99783860e-01 2.00821424e-02 5.37964392e-03 7.21663765e+00] [-2.00801334e-02 9.99798283e-01 -4.27208482e-04 -6.30355813e-01] [-5.38713801e-03 3.19092178e-04 9.99985438e-01 -1.50476231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.083273559999999 meters 0.08079038552366968 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.63, Z:-0.15 [[ 9.99765123e-01 2.07773944e-02 6.16426018e-03 7.24391255e+00] [-2.07747722e-02 9.99784061e-01 -4.89118531e-04 -6.34187241e-01] [-6.17309169e-03 3.60942548e-04 9.99980881e-01 -1.51099528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.11327356 meters 0.0777741193602164 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.63, Z:-0.15 [[ 9.99736815e-01 2.23407300e-02 5.21460250e-03 7.27388390e+00] [-2.23388779e-02 9.99750371e-01 -4.13161763e-04 -6.26496213e-01] [-5.22253112e-03 2.96564656e-04 9.99986319e-01 -1.49710571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.143273559999999 meters 0.0772679907406763 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.63, Z:-0.15 [[ 9.99686416e-01 2.44297144e-02 5.50070348e-03 7.30353388e+00] [-2.44276881e-02 9.99701505e-01 -4.35268037e-04 -6.26955637e-01] [-5.50969502e-03 3.00762075e-04 9.99984776e-01 -1.50191024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.17327356 meters 0.0772960280944426 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.63, Z:-0.15 [[ 9.99656507e-01 2.56097159e-02 5.56862806e-03 7.33156714e+00] [-2.56076550e-02 9.99671973e-01 -4.41091820e-04 -6.28430295e-01] [-5.57809763e-03 2.98340802e-04 9.99984398e-01 -1.51555911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.20327356 meters 0.07674785281366053 Centerline is valid? [True, True] Translation: X:7.36, Y:-0.63, Z:-0.15 [[ 9.99553612e-01 2.93882833e-02 5.37645538e-03 7.36052666e+00] [-2.93864225e-02 9.99568036e-01 -4.24801713e-04 -6.28421417e-01] [-5.38661713e-03 2.66617298e-04 9.99985457e-01 -1.53495311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.233273559999999 meters 0.07674785281366053 Centerline is valid? [True, True] Translation: X:7.39, Y:-0.63, Z:-0.15 [[ 9.99556499e-01 2.92899292e-02 5.37640288e-03 7.38792624e+00] [-2.92880634e-02 9.99570922e-01 -4.25467890e-04 -6.30469975e-01] [-5.38655791e-03 2.67814766e-04 9.99985457e-01 -1.54003030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.26327356 meters 0.07666846326913584 Centerline is valid? [True, True] Translation: X:7.42, Y:-0.63, Z:-0.16 [[ 9.99516302e-01 3.06971671e-02 4.98453009e-03 7.41625177e+00] [-3.06955849e-02 9.99528702e-01 -3.93646133e-04 -6.31973536e-01] [-4.99426471e-03 2.40452661e-04 9.99987500e-01 -1.55615267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.29327356 meters 0.07525640079042499 Centerline is valid? [True, True] Translation: X:7.45, Y:-0.63, Z:-0.16 [[ 9.99414785e-01 3.39795787e-02 3.93399156e-03 7.44695006e+00] [-3.39786198e-02 9.99422512e-01 -3.10363358e-04 -6.28510757e-01] [-3.94226574e-03 1.76510125e-04 9.99992214e-01 -1.55897230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.323273559999999 meters 0.07462949583885362 Centerline is valid? [True, True] Translation: X:7.48, Y:-0.63, Z:-0.16 [[ 9.99363295e-01 3.54621396e-02 3.92953569e-03 7.47563406e+00] [-3.54611935e-02 9.99371006e-01 -3.10186017e-04 -6.27435418e-01] [-3.93806389e-03 1.70642494e-04 9.99992231e-01 -1.56225446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.35327356 meters 0.07384776916299085 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.63, Z:-0.16 [[ 9.99312987e-01 3.68651540e-02 3.80970143e-03 7.50439710e+00] [-3.68642757e-02 9.99320236e-01 -3.00518809e-04 -6.26268472e-01] [-3.81819040e-03 1.59870465e-04 9.99992698e-01 -1.56447427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.38327356 meters 0.07428870344266886 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.63, Z:-0.16 [[ 9.99251493e-01 3.84817152e-02 3.95104836e-03 7.53204116e+00] [-3.84807835e-02 9.99259292e-01 -3.11585609e-04 -6.29973301e-01] [-3.96011214e-03 1.59312948e-04 9.99992146e-01 -1.57425245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.413273559999999 meters 0.07408056754661804 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.63, Z:-0.16 [[ 9.99198792e-01 3.97520063e-02 4.64244426e-03 7.56081438e+00] [-3.97507380e-02 9.99209560e-01 -3.65185052e-04 -6.31240742e-01] [-4.65329153e-03 1.80351877e-04 9.99989157e-01 -1.57401972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.44327356 meters 0.07316664589841454 Centerline is valid? [True, True] Translation: X:7.59, Y:-0.63, Z:-0.16 [[ 9.99122254e-01 4.15013768e-02 5.68841038e-03 7.58989768e+00] [-4.14995045e-02 9.99138425e-01 -4.46836534e-04 -6.29683616e-01] [-5.70205372e-03 2.10378112e-04 9.99983721e-01 -1.56858794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.473273559999999 meters 0.0731663889575418 Centerline is valid? [True, True] Translation: X:7.62, Y:-0.63, Z:-0.16 [[ 9.99104365e-01 4.19231618e-02 5.73733147e-03 7.61909249e+00] [-4.19212665e-02 9.99120816e-01 -4.50274400e-04 -6.31371987e-01] [-5.75116423e-03 2.09354917e-04 9.99983440e-01 -1.57011439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.50327356 meters 0.07307597011231456 Centerline is valid? [True, True] Translation: X:7.65, Y:-0.63, Z:-0.16 [[ 9.99046131e-01 4.32928810e-02 5.70569243e-03 7.64765339e+00] [-4.32910310e-02 9.99062404e-01 -4.47405021e-04 -6.33204528e-01] [-5.71971224e-03 1.99972947e-04 9.99983622e-01 -1.58141400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.53327356 meters 0.07350972340967403 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.64, Z:-0.16 [[ 9.99055187e-01 4.31643482e-02 5.05701028e-03 7.67499419e+00] [-4.31628932e-02 9.99067969e-01 -3.96559865e-04 -6.36587812e-01] [-5.06941424e-03 1.77909995e-04 9.99987135e-01 -1.59471258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.563273559999999 meters 0.07380455389041349 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.64, Z:-0.16 [[ 9.99075299e-01 4.27973516e-02 4.11515305e-03 7.70218655e+00] [-4.27963853e-02 9.99083763e-01 -3.22627049e-04 -6.40159980e-01] [-4.12519018e-03 1.46215040e-04 9.99991481e-01 -1.60983403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.59327356 meters 0.07365290576686775 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.64, Z:-0.16 [[ 9.99122928e-01 4.17621096e-02 3.04974327e-03 7.73127120e+00] [-4.17615666e-02 9.99127576e-01 -2.41540035e-04 -6.41250671e-01] [-3.05716983e-03 1.13966130e-04 9.99995320e-01 -1.61064302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.62327356 meters 0.07376417444480482 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.65, Z:-0.16 [[ 9.99130287e-01 4.15583350e-02 3.40222108e-03 7.75753024e+00] [-4.15576684e-02 9.99136071e-01 -2.66425220e-04 -6.45159276e-01] [-3.41035399e-03 1.24805131e-04 9.99994177e-01 -1.62293679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.653273559999999 meters 0.07339267353013247 Centerline is valid? [True, True] Translation: X:7.79, Y:-0.65, Z:-0.16 [[ 9.99165691e-01 4.07163378e-02 3.17837664e-03 7.78641893e+00] [-4.07157466e-02 9.99170739e-01 -2.50519220e-04 -6.45800408e-01] [-3.18594116e-03 1.20900231e-04 9.99994918e-01 -1.62326891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.68327356 meters 0.07366243590452398 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.65, Z:-0.16 [[ 9.99229557e-01 3.91475030e-02 2.78669310e-03 7.81456404e+00] [-3.91470427e-02 9.99233437e-01 -2.19541197e-04 -6.50916862e-01] [-2.79315141e-03 1.10281259e-04 9.99996093e-01 -1.63550998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.71327356 meters 0.07457357364999137 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.66, Z:-0.17 [[ 9.99256025e-01 3.84776581e-02 2.62032582e-03 7.84139419e+00] [-3.84772555e-02 9.99259455e-01 -2.03932952e-04 -6.57118037e-01] [-2.62623221e-03 1.02958285e-04 9.99996546e-01 -1.65317125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.743273559999999 meters 0.07424902322938193 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.66, Z:-0.17 [[ 9.99275511e-01 3.79869453e-02 2.33364682e-03 7.86969223e+00] [-3.79866253e-02 9.99278231e-01 -1.81307389e-04 -6.58731162e-01] [-2.33884978e-03 9.25286666e-05 9.99997261e-01 -1.65016468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.77327356 meters 0.07395965416817346 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.66, Z:-0.16 [[ 9.99283153e-01 3.77546402e-02 2.78705063e-03 7.89756661e+00] [-3.77541836e-02 9.99287033e-01 -2.16279303e-04 -6.60753861e-01] [-2.79322910e-03 1.10901443e-04 9.99996093e-01 -1.64791464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.80327356 meters 0.07399851005184488 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.66, Z:-0.17 [[ 9.99260714e-01 3.83403575e-02 2.83582718e-03 7.92553138e+00] [-3.83398889e-02 9.99264732e-01 -2.19471219e-04 -6.63360000e-01] [-2.84215670e-03 1.10583668e-04 9.99995955e-01 -1.65205373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.833273559999999 meters 0.07389859983666318 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.67, Z:-0.17 [[ 9.99212870e-01 3.95336322e-02 3.27611982e-03 7.95333877e+00] [-3.95330148e-02 9.99218233e-01 -2.53010814e-04 -6.65818528e-01] [-3.28356110e-03 1.23296768e-04 9.99994601e-01 -1.65688150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.86327356 meters 0.07298106405365533 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.67, Z:-0.17 [[ 9.99155684e-01 4.09048660e-02 3.83547479e-03 7.98198503e+00] [-4.09040329e-02 9.99163036e-01 -2.95429574e-04 -6.65241266e-01] [-3.84434915e-03 1.38293751e-04 9.99992601e-01 -1.65332846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.893273559999999 meters 0.07329503246116989 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.67, Z:-0.17 [[ 9.99158592e-01 4.08190373e-02 3.98934213e-03 8.00841875e+00] [-4.08181337e-02 9.99166545e-01 -3.07678576e-04 -6.68243548e-01] [-3.99857634e-03 1.44582192e-04 9.99991995e-01 -1.66242516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.92327356 meters 0.07329225702254721 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.67, Z:-0.17 [[ 9.99145377e-01 4.11661955e-02 3.72295071e-03 8.03702460e+00] [-4.11654149e-02 9.99152304e-01 -2.86098866e-04 -6.70739520e-01] [-3.73157239e-03 1.32597548e-04 9.99993029e-01 -1.66876802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.95327356 meters 0.07302503327116738 Centerline is valid? [True, True] Translation: X:8.07, Y:-0.67, Z:-0.17 [[ 9.99144332e-01 4.12751560e-02 2.63904935e-03 8.06594766e+00] [-4.12747636e-02 9.99147813e-01 -2.02999895e-04 -6.72448464e-01] [-2.64517923e-03 9.39000569e-05 9.99996497e-01 -1.67151691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.983273559999999 meters 0.07289246729517687 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.67, Z:-0.17 [[ 9.99139598e-01 4.13457963e-02 3.25394893e-03 8.09455212e+00] [-4.13451934e-02 9.99144890e-01 -2.52372350e-04 -6.74125824e-01] [-3.26160098e-03 1.17620061e-04 9.99994674e-01 -1.67694457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.01327356 meters 0.07296637464576107 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.68, Z:-0.17 [[ 9.99127502e-01 4.16621518e-02 2.91536287e-03 8.12289905e+00] [-4.16616699e-02 9.99131750e-01 -2.25844444e-04 -6.77341803e-01] [-2.92224077e-03 1.04188510e-04 9.99995725e-01 -1.68221916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.04327356 meters 0.07292898155559784 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.68, Z:-0.17 [[ 9.99044394e-01 4.36105718e-02 2.90105722e-03 8.15104602e+00] [-4.36101052e-02 9.99048602e-01 -2.23935552e-04 -6.80061302e-01] [-2.90806312e-03 9.72061469e-05 9.99995767e-01 -1.69524874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.073273559999999 meters 0.07292464787351274 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.68, Z:-0.17 [[ 9.98963080e-01 4.54496200e-02 2.66390854e-03 8.17860285e+00] [-4.54492382e-02 9.98966629e-01 -2.03704688e-04 -6.82248919e-01] [-2.67041404e-03 8.24208490e-05 9.99996431e-01 -1.70370242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.10327356 meters 0.07230446558439256 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.68, Z:-0.17 [[ 9.98908277e-01 4.66580757e-02 2.29739944e-03 8.20728132e+00] [-4.66577907e-02 9.98910916e-01 -1.77516088e-04 -6.81155449e-01] [-2.30317994e-03 7.01307074e-05 9.99997345e-01 -1.70168181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.13327356 meters 0.07223836665671068 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.68, Z:-0.17 [[ 9.98817835e-01 4.85648872e-02 2.09389462e-03 8.23477847e+00] [-4.85646601e-02 9.98820028e-01 -1.59227474e-04 -6.83100129e-01] [-2.09915674e-03 5.73499609e-05 9.99997795e-01 -1.71314375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.163273559999999 meters 0.07182331506760552 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.68, Z:-0.17 [[ 9.98645380e-01 5.20089850e-02 1.57150141e-03 8.26408461e+00] [-5.20088574e-02 9.98646616e-01 -1.22018826e-04 -6.82490926e-01] [-1.57572064e-03 4.01215439e-05 9.99998758e-01 -1.71616502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.19327356 meters 0.07178672508497747 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.69, Z:-0.17 [[ 9.98536687e-01 5.40430799e-02 1.95715718e-03 8.29171748e+00] [-5.40428929e-02 9.98538604e-01 -1.48345731e-04 -6.85022194e-01] [-1.96231406e-03 4.23582182e-05 9.99998074e-01 -1.73456859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.223273559999999 meters 0.07125384554222544 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.68, Z:-0.17 [[ 9.98264024e-01 5.88498594e-02 2.37312581e-03 8.32041310e+00] [-5.88495999e-02 9.98266844e-01 -1.79090816e-04 -6.84011577e-01] [-2.37955228e-03 3.91224142e-05 9.99997168e-01 -1.73563791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.253273559999998 meters 0.07126771718708602 Centerline is valid? [True, True] Translation: X:8.35, Y:-0.69, Z:-0.17 [[ 9.98162413e-01 6.05715022e-02 1.70022939e-03 8.34860066e+00] [-6.05713664e-02 9.98163860e-01 -1.31256485e-04 -6.85313419e-01] [-1.70505794e-03 2.80300720e-05 9.99998546e-01 -1.74280943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.28327356 meters 0.07107239804702142 Centerline is valid? [True, True] Translation: X:8.38, Y:-0.69, Z:-0.17 [[ 9.98033956e-01 6.26209671e-02 2.61486394e-03 8.37642714e+00] [-6.26206667e-02 9.98037381e-01 -1.96659374e-04 -6.87014303e-01] [-2.62204695e-03 3.25282095e-05 9.99996562e-01 -1.74787974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.313273559999999 meters 0.07093347945124316 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.69, Z:-0.17 [[ 9.97918265e-01 6.44234075e-02 2.96000990e-03 8.40529884e+00] [-6.44230250e-02 9.97922654e-01 -2.24472452e-04 -6.87604437e-01] [-2.96832222e-03 3.33123681e-05 9.99995594e-01 -1.74386150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.34327356 meters 0.07081019576515658 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.69, Z:-0.17 [[ 9.97716948e-01 6.74857074e-02 2.56343349e-03 8.43406205e+00] [-6.74854308e-02 9.97720241e-01 -1.94370799e-04 -6.89139584e-01] [-2.57070673e-03 2.09326270e-05 9.99996696e-01 -1.74570708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.37327356 meters 0.07077995596540211 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.69, Z:-0.18 [[ 9.97633024e-01 6.87079515e-02 2.75067597e-03 8.46292418e+00] [-6.87076401e-02 9.97636816e-01 -2.07669222e-04 -6.91027415e-01] [-2.75844414e-03 1.81852194e-05 9.99996195e-01 -1.75266758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.403273559999999 meters 0.07084177402061952 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.69, Z:-0.18 [[ 9.97553498e-01 6.98472324e-02 2.89528893e-03 8.49010753e+00] [-6.98469014e-02 9.97557700e-01 -2.15405747e-04 -6.93745937e-01] [-2.90326326e-03 1.26517957e-05 9.99995785e-01 -1.76417552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.43327356 meters 0.07073098861532688 Centerline is valid? [True, True] Translation: X:8.52, Y:-0.70, Z:-0.18 [[ 9.97509291e-01 7.04651767e-02 3.14207659e-03 8.51808257e+00] [-7.04647827e-02 9.97514240e-01 -2.36056922e-04 -6.96221292e-01] [-3.15089993e-03 1.40632292e-05 9.99995036e-01 -1.77017588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.46327356 meters 0.07079057771668802 Centerline is valid? [True, True] Translation: X:8.55, Y:-0.70, Z:-0.18 [[ 9.97407786e-01 7.18861119e-02 3.17739792e-03 8.54562146e+00] [-7.18857187e-02 9.97412847e-01 -2.37908341e-04 -6.99517164e-01] [-3.18627981e-03 8.88209853e-06 9.99994924e-01 -1.76724474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.493273559999999 meters 0.07091222997166297 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.70, Z:-0.18 [[ 9.97362665e-01 7.25154582e-02 3.03692904e-03 8.57222574e+00] [-7.25151106e-02 9.97367289e-01 -2.24544165e-04 -7.02330883e-01] [-3.04521660e-03 3.72872136e-06 9.99995363e-01 -1.78501437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.52327356 meters 0.0709438233443628 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.71, Z:-0.18 [[ 9.97369517e-01 7.24529923e-02 2.14733518e-03 8.60062602e+00] [-7.24528134e-02 9.97371828e-01 -1.61049009e-04 -7.05623389e-01] [-2.15336010e-03 5.04489693e-06 9.99997682e-01 -1.77761538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.55327356 meters 0.07115528900969686 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.71, Z:-0.18 [[ 9.97356189e-01 7.26252854e-02 2.49005176e-03 8.62798870e+00] [-7.26250545e-02 9.97359297e-01 -1.83132013e-04 -7.10341790e-01] [-2.49677629e-03 1.80770166e-06 9.99996883e-01 -1.80125462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.583273559999999 meters 0.07116829048780672 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.71, Z:-0.18 [[ 9.97437479e-01 7.15243663e-02 1.65566048e-03 8.65661920e+00] [-7.15242580e-02 9.97438853e-01 -1.24588580e-04 -7.14311458e-01] [-1.66033120e-03 5.84943226e-06 9.99998622e-01 -1.79586138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.61327356 meters 0.07106626920507463 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.72, Z:-0.18 [[ 9.97533151e-01 7.01713837e-02 1.89447802e-03 8.68468549e+00] [-7.01712405e-02 9.97534950e-01 -1.42057637e-04 -7.18814451e-01] [-1.89977642e-03 8.76932988e-06 9.99998195e-01 -1.79971852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.643273559999999 meters 0.07131925402668961 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.72, Z:-0.18 [[ 9.97685709e-01 6.79859980e-02 1.06341405e-03 8.71292423e+00] [-6.79859503e-02 9.97686275e-01 -8.09798926e-05 -7.23793091e-01] [-1.06645910e-03 8.49526681e-06 9.99999431e-01 -1.80682229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.67327356 meters 0.07154362585400913 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.73, Z:-0.18 [[ 9.97926375e-01 6.43424082e-02 1.73315406e-03 8.74011241e+00] [-6.43422855e-02 9.97927880e-01 -1.26519815e-04 -7.32247116e-01] [-1.73770335e-03 1.47423673e-05 9.99998490e-01 -1.81726619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.70327356 meters 0.07166130755517874 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.74, Z:-0.18 [[ 9.98085962e-01 6.18225016e-02 1.54606932e-03 8.76812827e+00] [-6.18224009e-02 9.98087160e-01 -1.12883405e-04 -7.37720875e-01] [-1.55009067e-03 1.70856252e-05 9.99998798e-01 -1.82411128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.733273559999999 meters 0.0720681872365314 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.75, Z:-0.18 [[ 9.98376088e-01 5.69244988e-02 2.18824527e-03 8.79557950e+00] [-5.69242857e-02 9.98378485e-01 -1.59621601e-04 -7.47906212e-01] [-2.19378337e-03 3.47980910e-05 9.99997593e-01 -1.84165685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.76327356 meters 0.07245915829359906 Centerline is valid? [True, True] Translation: X:8.82, Y:-0.75, Z:-0.18 [[ 9.98536578e-01 5.40404936e-02 2.08029344e-03 8.82433679e+00] [-5.40402917e-02 9.98538744e-01 -1.53215351e-04 -7.53834292e-01] [-2.08553343e-03 4.05714682e-05 9.99997824e-01 -1.84591403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.79327356 meters 0.07253714507160433 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.76, Z:-0.18 [[ 9.98699306e-01 5.09360147e-02 2.28456463e-03 8.85284552e+00] [-5.09357647e-02 9.98701917e-01 -1.67528403e-04 -7.58014874e-01] [-2.29013231e-03 5.09444531e-05 9.99997376e-01 -1.83440433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.823273559999999 meters 0.07317383540882699 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.77, Z:-0.18 [[ 9.98984435e-01 4.50066790e-02 2.12093834e-03 8.88189577e+00] [-4.50064573e-02 9.98986684e-01 -1.52186073e-04 -7.67324816e-01] [-2.12563855e-03 5.65755971e-05 9.99997739e-01 -1.84046425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.85327356 meters 0.0735186326887413 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.77, Z:-0.18 [[ 9.99106176e-01 4.22377645e-02 1.67944812e-03 8.91082165e+00] [-4.22376210e-02 9.99107586e-01 -1.20856802e-04 -7.72278929e-01] [-1.68305408e-03 4.98128838e-05 9.99998582e-01 -1.84355862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.88327356 meters 0.0736368443169422 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.78, Z:-0.18 [[ 9.99215508e-01 3.95830992e-02 1.24397896e-03 8.93974230e+00] [-3.95830181e-02 9.99216281e-01 -8.97099918e-05 -7.75981472e-01] [-1.24655503e-03 4.03991733e-05 9.99999222e-01 -1.83233880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.913273559999999 meters 0.07493194914185967 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.79, Z:-0.19 [[ 9.99404118e-01 3.45152768e-02 3.23785938e-04 8.96863705e+00] [-3.45152710e-02 9.99404170e-01 -2.34092977e-05 -7.86076260e-01] [-3.24400995e-04 1.22197891e-05 9.99999947e-01 -1.86187148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.94327356 meters 0.07463352376327534 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.79, Z:-0.19 [[ 9.99472822e-01 3.24665067e-02 6.34434303e-05 8.99859050e+00] [-3.24665065e-02 9.99472824e-01 -5.14389460e-06 -7.88070305e-01] [-6.35769887e-05 3.08139631e-06 9.99999998e-01 -1.85752648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.973273559999999 meters 0.07518791742607744 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.79, Z:-0.19 [[ 9.99537194e-01 3.04144438e-02 -5.99565560e-04 9.02662426e+00] [-3.04144242e-02 9.99537374e-01 4.18101655e-05 -7.93173784e-01] [ 6.00559818e-04 -2.35553742e-05 9.99999819e-01 -1.87526468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.003273559999998 meters 0.0757437064919364 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.80, Z:-0.19 [[ 9.99622318e-01 2.74798539e-02 -2.82301988e-04 9.05545814e+00] [-2.74798496e-02 9.99622357e-01 1.91911107e-05 -7.99337017e-01] [ 2.82722748e-04 -1.14262463e-05 9.99999960e-01 -1.87747261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.03327356 meters 0.07607065226567436 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.80, Z:-0.19 [[ 9.99661039e-01 2.60334389e-02 -2.58874757e-04 9.08401513e+00] [-2.60334353e-02 9.99661073e-01 1.72001409e-05 -8.02475521e-01] [ 2.59234796e-04 -1.04549115e-05 9.99999966e-01 -1.88100544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.063273559999999 meters 0.07664367642896538 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.81, Z:-0.19 [[ 9.99699500e-01 2.45134135e-02 4.60742543e-05 9.11178572e+00] [-2.45134133e-02 9.99699501e-01 -4.78967027e-06 -8.07086805e-01] [-4.61778202e-05 3.65879374e-06 9.99999999e-01 -1.88850660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.09327356 meters 0.08352601134757939 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.83, Z:-0.19 [[ 9.99744834e-01 2.21736988e-02 4.31216036e-03 9.13812285e+00] [-2.21725777e-02 9.99754111e-01 -3.07639674e-04 -8.30463465e-01] [-4.31792155e-03 2.11949464e-04 9.99990655e-01 -1.93644338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.12327356 meters 0.07662369575343604 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.81, Z:-0.19 [[ 9.99785212e-01 2.06999073e-02 1.02158280e-03 9.16912572e+00] [-2.06998434e-02 9.99785733e-01 -7.31115506e-05 -8.12449146e-01] [-1.02287731e-03 5.19492432e-05 9.99999476e-01 -1.88874070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.153273559999999 meters 0.07662369575343604 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.81, Z:-0.19 [[ 9.99787282e-01 2.05996778e-02 1.02150281e-03 9.19654649e+00] [-2.05996126e-02 9.99787803e-01 -7.42399512e-05 -8.14295901e-01] [-1.02281537e-03 5.31815968e-05 9.99999476e-01 -1.89381884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.18327356 meters 0.07777902646457843 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.82, Z:-0.19 [[ 9.99848412e-01 1.73757294e-02 1.11206917e-03 9.22506885e+00] [-1.73756519e-02 9.99849029e-01 -7.93789762e-05 -8.20523286e-01] [-1.11328055e-03 6.00440166e-05 9.99999379e-01 -1.89840944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.21327356 meters 0.07839279722896648 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.82, Z:-0.19 [[ 9.99876571e-01 1.56955761e-02 7.01538394e-04 9.25468804e+00] [-1.56955447e-02 9.99876816e-01 -5.02771068e-05 -8.24374477e-01] [-7.02241104e-04 3.92598739e-05 9.99999753e-01 -1.90550173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.243273559999999 meters 0.07822248358463849 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.83, Z:-0.19 [[ 9.99893267e-01 1.46094950e-02 1.30739896e-04 9.28291998e+00] [-1.46094937e-02 9.99893276e-01 -1.07897736e-05 -8.25742196e-01] [-1.30883576e-04 8.87857831e-06 9.99999991e-01 -1.90504559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.27327356 meters 0.07998218279999379 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.83, Z:-0.19 [[ 9.99898605e-01 1.42395066e-02 -1.29352210e-04 9.30991963e+00] [-1.42395058e-02 9.99898613e-01 7.60243542e-06 -8.33506420e-01] [ 1.29447350e-04 -5.75975303e-06 9.99999992e-01 -1.93275925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.30327356 meters 0.07875982592245725 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.83, Z:-0.19 [[ 9.99918071e-01 1.26606505e-02 -1.88654758e-03 9.33990627e+00] [-1.26604228e-02 9.99919845e-01 1.32562932e-04 -8.31083054e-01] [ 1.88807469e-03 -1.08667581e-04 9.99998212e-01 -1.93216408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.333273559999999 meters 0.07930186900678576 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.83, Z:-0.19 [[ 9.99914177e-01 1.29162441e-02 -2.19304344e-03 9.36789231e+00] [-1.29159393e-02 9.99916574e-01 1.53106753e-04 -8.34663975e-01] [ 2.19483805e-03 -1.24768397e-04 9.99997584e-01 -1.94442309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.36327356 meters 0.08010454378165213 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.84, Z:-0.20 [[ 9.99917966e-01 1.26756313e-02 -1.84129059e-03 9.39527730e+00] [-1.26754167e-02 9.99919655e-01 1.28166635e-04 -8.38537725e-01] [ 1.84276725e-03 -1.04816995e-04 9.99998297e-01 -1.95398571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.393273559999999 meters 0.07886543147890404 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.84, Z:-0.19 [[ 9.99924535e-01 1.21747513e-02 -1.64329719e-03 9.42474586e+00] [-1.21745797e-02 9.99925881e-01 1.14391216e-04 -8.35975884e-01] [ 1.64456807e-03 -9.43761309e-05 9.99998643e-01 -1.94144840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.423273559999998 meters 0.07935509499720685 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.84, Z:-0.20 [[ 9.99928144e-01 1.19750746e-02 -5.52400665e-04 9.45235245e+00] [-1.19750558e-02 9.99928296e-01 3.72930145e-05 -8.39393614e-01] [ 5.52807642e-04 -3.06753060e-05 9.99999847e-01 -1.95133974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.45327356 meters 0.0808359894828377 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.85, Z:-0.20 [[ 9.99933635e-01 1.15169586e-02 2.92203963e-04 9.48011308e+00] [-1.15169526e-02 9.99933677e-01 -2.21565764e-05 -8.45262556e-01] [-2.92439759e-04 1.87898068e-05 9.99999957e-01 -1.95577264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.483273559999999 meters 0.08079263174366126 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.85, Z:-0.20 [[ 9.99929423e-01 1.18562745e-02 7.60764118e-04 9.50899330e+00] [-1.18562364e-02 9.99929711e-01 -5.45254338e-05 -8.46666593e-01] [-7.61357113e-04 4.55017863e-05 9.99999709e-01 -1.95984860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.51327356 meters 0.07971225029746666 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.85, Z:-0.20 [[ 9.99935505e-01 1.13275111e-02 8.20389796e-04 9.53839149e+00] [-1.13274668e-02 9.99935840e-01 -5.86832331e-05 -8.45080599e-01] [-8.21001895e-04 4.93865102e-05 9.99999662e-01 -1.95780583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.54327356 meters 0.08124002977641417 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.85, Z:-0.20 [[ 9.99940140e-01 1.09223318e-02 6.46996739e-04 9.56618083e+00] [-1.09223038e-02 9.99940349e-01 -4.67711637e-05 -8.51400942e-01] [-6.47468995e-04 3.97016691e-05 9.99999790e-01 -1.97507977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.573273559999999 meters 0.08182989586697156 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.85, Z:-0.20 [[ 9.99954135e-01 9.57548743e-03 -1.94607620e-04 9.59553160e+00] [-9.57548507e-03 9.99954154e-01 1.30267562e-05 -8.54335409e-01] [ 1.94723436e-04 -1.11626963e-05 9.99999981e-01 -1.99168614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.60327356 meters 0.07992884622945139 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.85, Z:-0.20 [[ 9.99957722e-01 9.15469195e-03 -8.63462460e-04 9.62449270e+00] [-9.15464431e-03 9.99958094e-01 5.91137535e-05 -8.51402091e-01] [ 8.63967443e-04 -5.12065626e-05 9.99999625e-01 -1.98179058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.63327356 meters 0.082303464006744 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.86, Z:-0.20 [[ 9.99959936e-01 8.89804260e-03 -9.75693266e-04 9.65192040e+00] [-8.89798186e-03 9.99960410e-01 6.65823559e-05 -8.59816681e-01] [ 9.76247091e-04 -5.78979874e-05 9.99999522e-01 -2.01478158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.663273559999999 meters 0.08101487591197291 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.86, Z:-0.20 [[ 9.99966310e-01 8.05743777e-03 -1.56707878e-03 9.68049712e+00] [-8.05727877e-03 9.99967534e-01 1.07751374e-04 -8.57367579e-01] [ 1.56789611e-03 -9.51213532e-05 9.99998766e-01 -2.01571186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.69327356 meters 0.08176063618221528 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.86, Z:-0.20 [[ 9.99967740e-01 7.63254684e-03 -2.50251507e-03 9.70789414e+00] [-7.63213826e-03 9.99970860e-01 1.72777370e-04 -8.60878679e-01] [ 2.50376088e-03 -1.53672255e-04 9.99996854e-01 -2.02810183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.723273559999999 meters 0.0823988056985533 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.86, Z:-0.20 [[ 9.99973070e-01 7.03760127e-03 -2.08107153e-03 9.73544949e+00] [-7.03731831e-03 9.99975228e-01 1.43263326e-04 -8.63786515e-01] [ 2.08202821e-03 -1.28614305e-04 9.99997824e-01 -2.03867459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.753273559999998 meters 0.08135610111085766 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.86, Z:-0.20 [[ 9.99981808e-01 5.18112819e-03 -3.08862371e-03 9.76538345e+00] [-5.18049147e-03 9.99986558e-01 2.14116418e-04 -8.61815119e-01] [ 3.08969156e-03 -1.98111934e-04 9.99995207e-01 -2.03133918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.78327356 meters 0.08198058560830196 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.87, Z:-0.20 [[ 9.99985167e-01 4.73018470e-03 -2.70036566e-03 9.79323400e+00] [-4.72969962e-03 9.99988798e-01 1.85993449e-04 -8.66062936e-01] [ 2.70121519e-03 -1.73218772e-04 9.99996337e-01 -2.04205139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.813273559999999 meters 0.08432941403093774 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.87, Z:-0.21 [[ 9.99990252e-01 3.84477942e-03 -2.17126511e-03 9.82001639e+00] [-3.84446452e-03 9.99992599e-01 1.49187049e-04 -8.73756831e-01] [ 2.17182263e-03 -1.40838243e-04 9.99997632e-01 -2.05811575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.84327356 meters 0.08229910627973812 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.87, Z:-0.20 [[ 9.99996161e-01 2.54899101e-03 -1.08638786e-03 9.84941757e+00] [-2.54891163e-03 9.99996749e-01 7.44543940e-05 -8.70688066e-01] [ 1.08657411e-03 -7.16850016e-05 9.99999407e-01 -2.03540525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.87327356 meters 0.0816048715741902 Centerline is valid? [True, True] Translation: X:9.88, Y:-0.87, Z:-0.20 [[ 9.99997262e-01 2.00030880e-03 -1.21461068e-03 9.87844702e+00] [-2.00020961e-03 9.99997996e-01 8.28751901e-05 -8.70615068e-01] [ 1.21477403e-03 -8.04454872e-05 9.99999259e-01 -2.03148908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.903273559999999 meters 0.08419752054537721 Centerline is valid? [True, True] Translation: X:9.91, Y:-0.88, Z:-0.21 [[ 9.99997418e-01 1.99691852e-03 -1.08500490e-03 9.90626837e+00] [-1.99683922e-03 9.99998004e-01 7.41643387e-05 -8.79130237e-01] [ 1.08515083e-03 -7.19975668e-05 9.99999409e-01 -2.05496843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.93327356 meters 0.08410464543084684 Centerline is valid? [True, True] Translation: X:9.94, Y:-0.88, Z:-0.21 [[ 9.99996205e-01 2.06136409e-03 -1.82785186e-03 9.93616601e+00] [-2.06113751e-03 9.99997868e-01 1.25832568e-04 -8.80196137e-01] [ 1.82810735e-03 -1.22064636e-04 9.99998322e-01 -2.06338855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.96327356 meters 0.08278724783616698 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.88, Z:-0.21 [[ 9.99996062e-01 2.17273771e-03 -1.77620802e-03 9.96483650e+00] [-2.17252528e-03 9.99997633e-01 1.21519726e-04 -8.78220871e-01] [ 1.77646784e-03 -1.17660391e-04 9.99998415e-01 -2.06244831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.993273559999999 meters 0.08176363549840371 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.88, Z:-0.21 [[ 9.99993053e-01 2.11989036e-03 -3.06604629e-03 9.99391858e+00] [-2.11925513e-03 9.99997732e-01 2.10415626e-04 -8.77114174e-01] [ 3.06648539e-03 -2.03916430e-04 9.99995278e-01 -2.06496865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.02327356 meters 0.0836745111074886 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.88, Z:-0.21 [[ 9.99994730e-01 2.11508742e-03 -2.46308294e-03 1.00214192e+01] [-2.11467929e-03 9.99997750e-01 1.68289871e-04 -8.84041846e-01] [ 2.46343334e-03 -1.63080354e-04 9.99996952e-01 -2.08577785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.05327356 meters 0.08331741237392 Centerline is valid? [True, True] Translation: X:10.05, Y:-0.88, Z:-0.21 [[ 9.99992844e-01 2.50855953e-03 -2.83189652e-03 1.00506528e+01] [-2.50802052e-03 9.99996836e-01 1.93871012e-04 -8.84898946e-01] [ 2.83237390e-03 -1.86767170e-04 9.99995971e-01 -2.08721531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.083273559999999 meters 0.08382703220949558 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.89, Z:-0.21 [[ 9.99992480e-01 2.71328441e-03 -2.77103868e-03 1.00785639e+01] [-2.71277058e-03 9.99996303e-01 1.89168279e-04 -8.87889040e-01] [ 2.77154170e-03 -1.81649665e-04 9.99996143e-01 -2.10048915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.11327356 meters 0.08069835586212 Centerline is valid? [True, True] Translation: X:10.11, Y:-0.88, Z:-0.21 [[ 9.99991743e-01 3.39820353e-03 -2.22829853e-03 1.01080724e+01] [-3.39787344e-03 9.99994216e-01 1.51904492e-04 -8.81945224e-01] [ 2.22880184e-03 -1.44331761e-04 9.99997506e-01 -2.08010763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.143273559999999 meters 0.08141136394170724 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.89, Z:-0.21 [[ 9.99990410e-01 3.87891408e-03 -2.03329617e-03 1.01361201e+01] [-3.87864071e-03 9.99992468e-01 1.38374634e-04 -8.85843160e-01] [ 2.03381760e-03 -1.30486882e-04 9.99997923e-01 -2.08850744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.173273559999998 meters 0.08146254897106575 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.89, Z:-0.21 [[ 9.99989489e-01 4.13354554e-03 -1.98385661e-03 1.01644273e+01] [-4.13328609e-03 9.99991449e-01 1.34862855e-04 -8.88121333e-01] [ 1.98439710e-03 -1.26661591e-04 9.99998023e-01 -2.09506565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.20327356 meters 0.08099747511481262 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.89, Z:-0.21 [[ 9.99985489e-01 4.99310238e-03 -2.02272187e-03 1.01934479e+01] [-4.99283465e-03 9.99987526e-01 1.37389148e-04 -8.89404992e-01] [ 2.02338264e-03 -1.27288039e-04 9.99997945e-01 -2.10037122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.233273559999999 meters 0.0812847346418625 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.89, Z:-0.21 [[ 9.99972901e-01 7.04888045e-03 -2.12374910e-03 1.02222433e+01] [-7.04858862e-03 9.99975148e-01 1.44866990e-04 -8.92066604e-01] [ 2.12471748e-03 -1.29893631e-04 9.99997734e-01 -2.11384883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.26327356 meters 0.0806778142685018 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.89, Z:-0.21 [[ 9.99961713e-01 8.58147760e-03 -1.71212033e-03 1.02511827e+01] [-8.58129159e-03 9.99963173e-01 1.15959372e-04 -8.92700895e-01] [ 1.71305238e-03 -1.01262729e-04 9.99998528e-01 -2.11972955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.29327356 meters 0.08016433315074194 Centerline is valid? [True, True] Translation: X:10.28, Y:-0.89, Z:-0.21 [[ 9.99948933e-01 9.99997416e-03 -1.46013678e-03 1.02804289e+01] [-9.99984173e-03 9.99949996e-01 9.79660067e-05 -8.92645008e-01] [ 1.46104342e-03 -8.33598672e-05 9.99998929e-01 -2.11813967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.323273559999999 meters 0.0800665896422573 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.89, Z:-0.21 [[ 9.99916904e-01 1.28842055e-02 -4.27231254e-04 1.03098227e+01] [-1.28841945e-02 9.99916995e-01 2.85834693e-05 -8.94554754e-01] [ 4.27564067e-04 -2.30765635e-05 9.99999908e-01 -2.12251715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.35327356 meters 0.07836321152766741 Centerline is valid? [True, True] Translation: X:10.34, Y:-0.89, Z:-0.21 [[ 9.99896839e-01 1.43472866e-02 -6.83564323e-04 1.03387700e+01] [-1.43472589e-02 9.99897072e-01 4.54292769e-05 -8.91602058e-01] [ 6.84145751e-04 -3.56173160e-05 9.99999765e-01 -2.11219968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.38327356 meters 0.07725794172736289 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.89, Z:-0.21 [[ 9.99851341e-01 1.71797119e-02 -1.46750736e-03 1.03692812e+01] [-1.71795838e-02 9.99852415e-01 9.98057361e-05 -8.89127193e-01] [ 1.46900541e-03 -7.45797334e-05 9.99998918e-01 -2.10527185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.413273559999999 meters 0.07770757257022685 Centerline is valid? [True, True] Translation: X:10.40, Y:-0.89, Z:-0.21 [[ 9.99825289e-01 1.86131752e-02 -1.71473664e-03 1.03974105e+01] [-1.86130042e-02 9.99826756e-01 1.15641173e-04 -8.92585391e-01] [ 1.71659202e-03 -8.37045686e-05 9.99998523e-01 -2.12373639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.44327356 meters 0.07708316216686315 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.89, Z:-0.21 [[ 9.99798553e-01 1.99997737e-02 -1.69202720e-03 1.04265695e+01] [-1.99996093e-02 9.99799981e-01 1.13991925e-04 -8.92291458e-01] [ 1.69396857e-03 -8.01290791e-05 9.99998562e-01 -2.12954133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.473273559999999 meters 0.07666773876536728 Centerline is valid? [True, True] Translation: X:10.46, Y:-0.89, Z:-0.21 [[ 9.99742107e-01 2.24683061e-02 -3.30069998e-03 1.04558070e+01] [-2.24676899e-02 9.99747545e-01 2.23662394e-04 -8.92220987e-01] [ 3.30489202e-03 -1.49445609e-04 9.99994528e-01 -2.13350239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.503273559999998 meters 0.07640220467594634 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.89, Z:-0.21 [[ 9.99714575e-01 2.35931541e-02 -3.75921124e-03 1.04841701e+01] [-2.35923643e-02 9.99721629e-01 2.54303288e-04 -8.93111161e-01] [ 3.76416460e-03 -1.65542022e-04 9.99992902e-01 -2.14289121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.53327356 meters 0.07766746107270378 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.90, Z:-0.22 [[ 9.99692322e-01 2.45787306e-02 -3.33888396e-03 1.05119358e+01] [-2.45781142e-02 9.99697887e-01 2.25522825e-04 -8.99353221e-01] [ 3.34341830e-03 -1.43389965e-04 9.99994400e-01 -2.17776588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.563273559999999 meters 0.07717415826190475 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.90, Z:-0.22 [[ 9.99670668e-01 2.53426484e-02 -4.03801730e-03 1.05407665e+01] [-2.53417529e-02 9.99678809e-01 2.72787282e-04 -9.00038361e-01] [ 4.04363347e-03 -1.70367008e-04 9.99991810e-01 -2.17868671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.59327356 meters 0.07592742157771108 Centerline is valid? [True, True] Translation: X:10.57, Y:-0.90, Z:-0.22 [[ 9.99637523e-01 2.67697520e-02 -2.86425881e-03 1.05698290e+01] [-2.67693089e-02 9.99641619e-01 1.92906291e-04 -8.97284995e-01] [ 2.86839636e-03 -1.16162138e-04 9.99995879e-01 -2.16226618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.62327356 meters 0.07547081425578575 Centerline is valid? [True, True] Translation: X:10.60, Y:-0.90, Z:-0.22 [[ 9.99643013e-01 2.65828069e-02 -2.68347689e-03 1.05981716e+01] [-2.65824201e-02 9.99646609e-01 1.79716074e-04 -8.97930938e-01] [ 2.68730593e-03 -1.08318608e-04 9.99996383e-01 -2.15550233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.653273559999999 meters 0.07604055457930783 Centerline is valid? [True, True] Translation: X:10.63, Y:-0.90, Z:-0.22 [[ 9.99635763e-01 2.68722457e-02 -2.49491893e-03 1.06260236e+01] [-2.68719145e-02 9.99638871e-01 1.66189077e-04 -9.02733965e-01] [ 2.49848382e-03 -9.90852969e-05 9.99996874e-01 -2.17355703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.68327356 meters 0.07581783550441741 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.91, Z:-0.22 [[ 9.99634376e-01 2.69611708e-02 -2.05176884e-03 1.06548571e+01] [-2.69609459e-02 9.99636478e-01 1.37241332e-04 -9.05136133e-01] [ 2.05472316e-03 -8.18735249e-05 9.99997886e-01 -2.17567189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.71327356 meters 0.0762209166792774 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.91, Z:-0.22 [[ 9.99644447e-01 2.66084641e-02 -1.72328702e-03 1.06822771e+01] [-2.66083060e-02 9.99645930e-01 1.14641054e-04 -9.09018634e-01] [ 1.72572728e-03 -6.87465447e-05 9.99998509e-01 -2.18561504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.743273559999999 meters 0.07654971055328522 Centerline is valid? [True, True] Translation: X:10.71, Y:-0.91, Z:-0.22 [[ 9.99667567e-01 2.56877571e-02 -2.21246823e-03 1.07108979e+01] [-2.56874928e-02 9.99670011e-01 1.47783586e-04 -9.12142756e-01] [ 2.21553437e-03 -9.09016963e-05 9.99997542e-01 -2.19315785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.77327356 meters 0.07663561780903266 Centerline is valid? [True, True] Translation: X:10.74, Y:-0.92, Z:-0.22 [[ 9.99697104e-01 2.44318268e-02 -2.96419602e-03 1.07396624e+01] [-2.44313463e-02 9.99701490e-01 1.98204757e-04 -9.15278854e-01] [ 2.96815368e-03 -1.25725422e-04 9.99995587e-01 -2.20832667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.80327356 meters 0.07753001486012492 Centerline is valid? [True, True] Translation: X:10.77, Y:-0.92, Z:-0.22 [[ 9.99730970e-01 2.29135913e-02 -3.59939738e-03 1.07673224e+01] [-2.29128727e-02 9.99737437e-01 2.40736790e-04 -9.21088913e-01] [ 3.60396845e-03 -1.58199490e-04 9.99993493e-01 -2.22281888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.833273559999999 meters 0.07728675388390728 Centerline is valid? [True, True] Translation: X:10.80, Y:-0.92, Z:-0.22 [[ 9.99747194e-01 2.21247165e-02 -4.00563739e-03 1.07958250e+01] [-2.21238210e-02 9.99755202e-01 2.67750897e-04 -9.22609186e-01] [ 4.01058073e-03 -1.79063203e-04 9.99991942e-01 -2.22062217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.86327356 meters 0.07805263876248979 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.93, Z:-0.22 [[ 9.99784176e-01 2.04446957e-02 -3.69003134e-03 1.08235449e+01] [-2.04439268e-02 9.99790971e-01 2.45975573e-04 -9.27485857e-01] [ 3.69428891e-03 -1.70483755e-04 9.99993162e-01 -2.24024613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.893273559999999 meters 0.07829317602616082 Centerline is valid? [True, True] Translation: X:10.85, Y:-0.93, Z:-0.22 [[ 9.99797311e-01 1.97964970e-02 -3.66542244e-03 1.08518703e+01] [-1.97957337e-02 9.99804015e-01 2.44399127e-04 -9.30654688e-01] [ 3.66954232e-03 -1.71789863e-04 9.99993252e-01 -2.24361984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.923273559999998 meters 0.07861985452737383 Centerline is valid? [True, True] Translation: X:10.88, Y:-0.93, Z:-0.22 [[ 9.99817947e-01 1.87386919e-02 -3.59652362e-03 1.08800168e+01] [-1.87379525e-02 9.99824401e-01 2.39202357e-04 -9.33524085e-01] [ 3.60037441e-03 -1.71767321e-04 9.99993504e-01 -2.24995275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.95327356 meters 0.07918423696853764 Centerline is valid? [True, True] Translation: X:10.91, Y:-0.94, Z:-0.23 [[ 9.99833579e-01 1.77962223e-02 -4.01351825e-03 1.09070887e+01] [-1.77952975e-02 9.99841616e-01 2.66022852e-04 -9.36894355e-01] [ 4.01761677e-03 -1.94556829e-04 9.99991910e-01 -2.26484830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.983273559999999 meters 0.07962615840728174 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.94, Z:-0.23 [[ 9.99844074e-01 1.73310075e-02 -3.38579845e-03 1.09346285e+01] [-1.73303465e-02 9.99849793e-01 2.24472756e-04 -9.40379711e-01] [ 3.38918022e-03 -1.65760695e-04 9.99994243e-01 -2.27261670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.013273560000002 meters 0.07970167599714331 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.94, Z:-0.23 [[ 9.99849042e-01 1.69362321e-02 -3.88038369e-03 1.09630472e+01] [-1.69353599e-02 9.99856553e-01 2.57517989e-04 -9.41865052e-01] [ 3.88418844e-03 -1.91763420e-04 9.99992438e-01 -2.27735128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.04327356 meters 0.07970167599714331 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.94, Z:-0.23 [[ 9.99850626e-01 1.68424145e-02 -3.88044621e-03 1.09904820e+01] [-1.68415453e-02 9.99858138e-01 2.56578612e-04 -9.43586658e-01] [ 3.88421713e-03 -1.91187575e-04 9.99992438e-01 -2.28243284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.07327356 meters 0.07814722530251071 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.94, Z:-0.23 [[ 9.99864868e-01 1.61739729e-02 -2.94090280e-03 1.10198280e+01] [-1.61734711e-02 9.99869182e-01 1.94351241e-04 -9.39175320e-01] [ 2.94366151e-03 -1.46760372e-04 9.99995657e-01 -2.25196336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.103273559999998 meters 0.08088447392282044 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.95, Z:-0.23 [[ 9.99876073e-01 1.53320428e-02 -3.57317408e-03 1.10472222e+01] [-1.53312978e-02 9.99882441e-01 2.35806376e-04 -9.48855619e-01] [ 3.57636942e-03 -1.80995757e-04 9.99993588e-01 -2.29002613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.13327356 meters 0.08077541823203238 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.95, Z:-0.23 [[ 9.99879242e-01 1.53035027e-02 -2.70272714e-03 1.10761787e+01] [-1.53030768e-02 9.99882885e-01 1.78214905e-04 -9.50511607e-01] [ 2.70513792e-03 -1.36833343e-04 9.99996332e-01 -2.28896419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.16327356 meters 0.07930391771189656 Centerline is valid? [True, True] Translation: X:11.10, Y:-0.95, Z:-0.23 [[ 9.99878319e-01 1.53240048e-02 -2.91936902e-03 1.11040016e+01] [-1.53235103e-02 9.99882570e-01 1.91663150e-04 -9.47383634e-01] [ 2.92196325e-03 -1.46904846e-04 9.99995720e-01 -2.27365675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.193273559999998 meters 0.07913045328504209 Centerline is valid? [True, True] Translation: X:11.13, Y:-0.95, Z:-0.23 [[ 9.99872866e-01 1.55681673e-02 -3.44728231e-03 1.11330948e+01] [-1.55674769e-02 9.99878794e-01 2.27006245e-04 -9.47856991e-01] [ 3.45039854e-03 -1.73311897e-04 9.99994032e-01 -2.28227923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.22327356 meters 0.07826828734650172 Centerline is valid? [True, True] Translation: X:11.16, Y:-0.95, Z:-0.23 [[ 9.99875735e-01 1.52767802e-02 -3.89034311e-03 1.11619136e+01] [-1.52758993e-02 9.99883284e-01 2.56035898e-04 -9.45900497e-01] [ 3.89380045e-03 -1.96575592e-04 9.99992400e-01 -2.27585687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.25327356 meters 0.07877953989877269 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.95, Z:-0.23 [[ 9.99882922e-01 1.47089153e-02 -4.21788336e-03 1.11899823e+01] [-1.47078805e-02 9.99891795e-01 2.76269754e-04 -9.48686292e-01] [ 4.22149060e-03 -2.14201285e-04 9.99991067e-01 -2.29046140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.283273559999998 meters 0.08083013570010461 Centerline is valid? [True, True] Translation: X:11.22, Y:-0.96, Z:-0.23 [[ 9.99872038e-01 1.50460949e-02 -5.43351987e-03 1.12167732e+01] [-1.50443877e-02 9.99886764e-01 3.54931184e-04 -9.55654458e-01] [ 5.43824492e-03 -2.73141787e-04 9.99985175e-01 -2.33676915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.31327356 meters 0.07896501125161158 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.95, Z:-0.23 [[ 9.99875579e-01 1.45716746e-02 -6.04091972e-03 1.12456579e+01] [-1.45695461e-02 9.99893780e-01 3.96213272e-04 -9.50844871e-01] [ 6.04605155e-03 -3.08150516e-04 9.99981675e-01 -2.31763388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.34327356 meters 0.07993687724438303 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.96, Z:-0.23 [[ 9.99881277e-01 1.42313336e-02 -5.90774316e-03 1.12734586e+01] [-1.42292967e-02 9.99898684e-01 3.86675348e-04 -9.55437834e-01] [ 5.91264751e-03 -3.02566411e-04 9.99982474e-01 -2.33608727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.373273559999998 meters 0.07959082861680283 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.96, Z:-0.23 [[ 9.99879386e-01 1.46545874e-02 -5.14366474e-03 1.13020264e+01] [-1.46530500e-02 9.99892582e-01 3.36458391e-04 -9.56448662e-01] [ 5.14804287e-03 -2.61047433e-04 9.99986715e-01 -2.33754929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.40327356 meters 0.07859549546325505 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.95, Z:-0.23 [[ 9.99873305e-01 1.51592954e-02 -4.85486992e-03 1.13308753e+01] [-1.51579337e-02 9.99885062e-01 3.17145268e-04 -9.54931952e-01] [ 4.85911961e-03 -2.43515291e-04 9.99988165e-01 -2.32305796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.43327356 meters 0.07932047028149693 Centerline is valid? [True, True] Translation: X:11.36, Y:-0.96, Z:-0.23 [[ 9.99861328e-01 1.62785955e-02 -3.51161443e-03 1.13588433e+01] [-1.62778919e-02 9.99867480e-01 2.28836710e-04 -9.58821112e-01] [ 3.51487421e-03 -1.71643297e-04 9.99993808e-01 -2.34338120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.463273559999998 meters 0.079382359076469 Centerline is valid? [True, True] Translation: X:11.39, Y:-0.96, Z:-0.23 [[ 9.99820504e-01 1.86105703e-02 -3.55059685e-03 1.13878736e+01] [-1.86098639e-02 9.99826795e-01 2.31904459e-04 -9.60300229e-01] [ 3.55429775e-03 -1.65786709e-04 9.99993670e-01 -2.34557435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.49327356 meters 0.07914193860202517 Centerline is valid? [True, True] Translation: X:11.42, Y:-0.96, Z:-0.24 [[ 9.99800831e-01 1.96933175e-02 -3.23600388e-03 1.14168508e+01] [-1.96927391e-02 9.99806057e-01 2.10528994e-04 -9.60437469e-01] [ 3.23952229e-03 -1.46761283e-04 9.99994742e-01 -2.35430345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.52327356 meters 0.07798455173935212 Centerline is valid? [True, True] Translation: X:11.45, Y:-0.96, Z:-0.23 [[ 9.99768200e-01 2.13857244e-02 -2.48956352e-03 1.14464795e+01] [-2.13853876e-02 9.99771293e-01 1.61845304e-04 -9.58513766e-01] [ 2.49245532e-03 -1.08567508e-04 9.99996888e-01 -2.34499850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.55327356 meters 0.0775706481893463 Centerline is valid? [True, True] Translation: X:11.48, Y:-0.96, Z:-0.24 [[ 9.99688801e-01 2.46865031e-02 -3.58860800e-03 1.14753353e+01] [-2.46858236e-02 9.99695231e-01 2.33522099e-04 -9.58557258e-01] [ 3.59327914e-03 -1.44861683e-04 9.99993534e-01 -2.36300820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.58327356 meters 0.07666160488949848 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.96, Z:-0.24 [[ 9.99627316e-01 2.69739912e-02 -4.19914519e-03 1.15043587e+01] [-2.69730829e-02 9.99636123e-01 2.72802923e-04 -9.56659072e-01] [ 4.20497580e-03 -1.59437363e-04 9.99991146e-01 -2.35354884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.61327356 meters 0.07635284225866037 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.96, Z:-0.24 [[ 9.99553605e-01 2.94559061e-02 -4.99407358e-03 1.15328738e+01] [-2.94546527e-02 9.99566065e-01 3.24349538e-04 -9.56386420e-01] [ 5.00146048e-03 -1.77106047e-04 9.99987477e-01 -2.36052674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.64327356 meters 0.07597553256531933 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.96, Z:-0.24 [[ 9.99482403e-01 3.18091647e-02 -4.80657577e-03 1.15616375e+01] [-3.18080327e-02 9.99493948e-01 3.11809921e-04 -9.55872761e-01] [ 4.81406181e-03 -1.58760810e-04 9.99988400e-01 -2.36438689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.67327356 meters 0.0753813927919064 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.95, Z:-0.24 [[ 9.99264304e-01 3.80515835e-02 -4.78833060e-03 1.15910185e+01] [-3.80505294e-02 9.99275768e-01 3.11074662e-04 -9.53774128e-01] [ 4.79669962e-03 -1.28647292e-04 9.99988487e-01 -2.37375603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.70327356 meters 0.0750302923919865 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.95, Z:-0.24 [[ 9.99151431e-01 4.09625287e-02 -4.29999908e-03 1.16202338e+01] [-4.09617238e-02 9.99160679e-01 2.75124922e-04 -9.53446507e-01] [ 4.30765982e-03 -9.87560845e-05 9.99990717e-01 -2.38410204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.73327356 meters 0.07457250071996803 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.95, Z:-0.24 [[ 9.99020422e-01 4.40801194e-02 -3.89082526e-03 1.16488429e+01] [-4.40794762e-02 9.99027996e-01 2.50954049e-04 -9.52029227e-01] [ 3.89810544e-03 -7.92026813e-05 9.99992399e-01 -2.37412850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.76327356 meters 0.07431977957029949 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.95, Z:-0.24 [[ 9.98718293e-01 5.04815291e-02 -3.65883287e-03 1.16778035e+01] [-5.04810030e-02 9.98724993e-01 2.36050372e-04 -9.51003025e-01] [ 3.66608402e-03 -5.10462715e-05 9.99993279e-01 -2.39174279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.79327356 meters 0.07424758585064166 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.95, Z:-0.24 [[ 9.98596756e-01 5.28493168e-02 -3.38641475e-03 1.17057473e+01] [-5.28488830e-02 9.98602498e-01 2.17540764e-04 -9.52472284e-01] [ 3.39317911e-03 -3.82672643e-05 9.99994242e-01 -2.41906416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.82327356 meters 0.07410201894392011 Centerline is valid? [True, True] Translation: X:11.73, Y:-0.95, Z:-0.24 [[ 9.98323208e-01 5.77528713e-02 -3.92144303e-03 1.17345914e+01] [-5.77523404e-02 9.98330910e-01 2.48595440e-04 -9.50678140e-01] [ 3.92925488e-03 -2.17060846e-05 9.99992280e-01 -2.40322693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.853273559999998 meters 0.0740162468872864 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.95, Z:-0.24 [[ 9.98227773e-01 5.94252467e-02 -3.15503809e-03 1.17631930e+01] [-5.94249161e-02 9.98232758e-01 1.98502470e-04 -9.51672282e-01] [ 3.16125844e-03 -1.06628042e-05 9.99995003e-01 -2.41372148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.88327356 meters 0.07411878184170206 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.95, Z:-0.24 [[ 9.98154341e-01 6.06073885e-02 -3.82831814e-03 1.17915883e+01] [-6.06069109e-02 9.98161682e-01 2.40757945e-04 -9.53624132e-01] [ 3.83587219e-03 -8.29105176e-06 9.99992643e-01 -2.40112773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.91327356 meters 0.0740367520193768 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.96, Z:-0.24 [[ 9.98134258e-01 6.09434111e-02 -3.72877370e-03 1.18192620e+01] [-6.09429667e-02 9.98141223e-01 2.32785519e-04 -9.57293908e-01] [ 3.73602949e-03 -5.10866924e-06 9.99993021e-01 -2.40705293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.943273559999998 meters 0.07412094827820694 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.96, Z:-0.24 [[ 9.98161812e-01 6.04933744e-02 -3.68089075e-03 1.18459034e+01] [-6.04929299e-02 9.98168599e-01 2.32070541e-04 -9.61008824e-01] [ 3.68818829e-03 -8.97608580e-06 9.99993199e-01 -2.43575106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.97327356 meters 0.07413221145426792 Centerline is valid? [True, True] Translation: X:11.87, Y:-0.96, Z:-0.24 [[ 9.98213693e-01 5.96081775e-02 -4.03589742e-03 1.18742144e+01] [-5.96076474e-02 9.98221852e-01 2.51601364e-04 -9.64534539e-01] [ 4.04371849e-03 -1.05815765e-05 9.99991824e-01 -2.42857628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.00327356 meters 0.07427827935361114 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.97, Z:-0.24 [[ 9.98273048e-01 5.85811584e-02 -4.37840249e-03 1.19030447e+01] [-5.85805276e-02 9.98282649e-01 2.72293741e-04 -9.68715735e-01] [ 4.38683452e-03 -1.53343748e-05 9.99990378e-01 -2.43315684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.033273559999998 meters 0.07428684060066405 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.98, Z:-0.25 [[ 9.98454925e-01 5.53175817e-02 -5.26575810e-03 1.19301730e+01] [-5.53166071e-02 9.98468810e-01 3.30656221e-04 -9.75997873e-01] [ 5.27598632e-03 -3.88614602e-05 9.99986081e-01 -2.45165269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.06327356 meters 0.07444231632238368 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.98, Z:-0.25 [[ 9.98535172e-01 5.38487491e-02 -5.27472694e-03 1.19583215e+01] [-5.38477708e-02 9.98549103e-01 3.27397588e-04 -9.80664185e-01] [ 5.28470380e-03 -4.28857193e-05 9.99986035e-01 -2.45960685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.09327356 meters 0.07454642329355704 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.99, Z:-0.25 [[ 9.98635475e-01 5.19415653e-02 -5.40941295e-03 1.19860127e+01] [-5.19404958e-02 9.98650124e-01 3.38105421e-04 -9.86112561e-01] [ 5.41967264e-03 -5.66764767e-05 9.99985312e-01 -2.48384044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.123273559999998 meters 0.07467281300893161 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.99, Z:-0.25 [[ 9.98843004e-01 4.77174056e-02 -5.97518485e-03 1.20146881e+01] [-4.77160491e-02 9.98860872e-01 3.69453729e-04 -9.92556821e-01] [ 5.98600772e-03 -8.39140586e-05 9.99982080e-01 -2.46386191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.15327356 meters 0.07476176284717319 Centerline is valid? [True, True] Translation: X:12.04, Y:-1.00, Z:-0.25 [[ 9.98958429e-01 4.53044949e-02 -5.43692313e-03 1.20434033e+01] [-4.53033451e-02 9.98973220e-01 3.34499415e-04 -9.97315845e-01] [ 5.44649494e-03 -8.78402047e-05 9.99985164e-01 -2.46635703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.18327356 meters 0.07497611450089743 Centerline is valid? [True, True] Translation: X:12.07, Y:-1.00, Z:-0.25 [[ 9.99072596e-01 4.26784319e-02 -5.70083031e-03 1.20718455e+01] [-4.26771312e-02 9.99088855e-01 3.49656526e-04 -1.00244823e+00] [ 5.71055882e-03 -1.06037170e-04 9.99983689e-01 -2.47209849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.213273559999998 meters 0.07537115766521817 Centerline is valid? [True, True] Translation: X:12.10, Y:-1.01, Z:-0.25 [[ 9.99284635e-01 3.75261983e-02 -4.69064745e-03 1.21011968e+01] [-3.75252481e-02 9.99295638e-01 2.90436615e-04 -1.01084415e+00] [ 4.69824252e-03 -1.14211137e-04 9.99988957e-01 -2.46861281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.24327356 meters 0.07561097123585668 Centerline is valid? [True, True] Translation: X:12.13, Y:-1.02, Z:-0.25 [[ 9.99387530e-01 3.47091460e-02 -4.45417283e-03 1.21295564e+01] [-3.47082823e-02 9.99397449e-01 2.71085645e-04 -1.01571610e+00] [ 4.46089811e-03 -1.16322926e-04 9.99990043e-01 -2.47764972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.27327356 meters 0.07576285872212621 Centerline is valid? [True, True] Translation: X:12.16, Y:-1.02, Z:-0.25 [[ 9.99483379e-01 3.17535946e-02 -4.96827009e-03 1.21590370e+01] [-3.17524638e-02 9.99495716e-01 3.06333726e-04 -1.02003792e+00] [ 4.97549187e-03 -1.48420651e-04 9.99987611e-01 -2.47191565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.30327356 meters 0.07670280074949229 Centerline is valid? [True, True] Translation: X:12.19, Y:-1.03, Z:-0.25 [[ 9.99647041e-01 2.59813998e-02 -5.54611067e-03 1.21877928e+01] [-2.59799025e-02 9.99662407e-01 3.41853121e-04 -1.02927032e+00] [ 5.55312016e-03 -1.97645047e-04 9.99984562e-01 -2.47649587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.33327356 meters 0.07769492925625242 Centerline is valid? [True, True] Translation: X:12.22, Y:-1.04, Z:-0.25 [[ 9.99717712e-01 2.31704310e-02 -5.25624480e-03 1.22157677e+01] [-2.31690505e-02 9.99731509e-01 3.23392726e-04 -1.03689402e+00] [ 5.26232670e-03 -2.01519235e-04 9.99986134e-01 -2.49816385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.36327356 meters 0.07720743093087083 Centerline is valid? [True, True] Translation: X:12.25, Y:-1.04, Z:-0.25 [[ 9.99767087e-01 2.07758953e-02 -5.84250001e-03 1.22452914e+01] [-2.07741477e-02 9.99784129e-01 3.59655410e-04 -1.03787291e+00] [ 5.84871095e-03 -2.38198683e-04 9.99982868e-01 -2.48140701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.39327356 meters 0.07790696077360716 Centerline is valid? [True, True] Translation: X:12.27, Y:-1.04, Z:-0.25 [[ 9.99808749e-01 1.85578776e-02 -6.17020585e-03 1.22734492e+01] [-1.85558899e-02 9.99827753e-01 3.79241604e-04 -1.04372084e+00] [ 6.17618097e-03 -2.64675414e-04 9.99980892e-01 -2.50059048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.42327356 meters 0.07900478361169302 Centerline is valid? [True, True] Translation: X:12.30, Y:-1.05, Z:-0.25 [[ 9.99858844e-01 1.49219174e-02 -7.72197486e-03 1.23025985e+01] [-1.49186902e-02 9.99888597e-01 4.75356680e-04 -1.05112006e+00] [ 7.72820785e-03 -3.60087830e-04 9.99970072e-01 -2.52393061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.45327356 meters 0.0785467673577921 Centerline is valid? [True, True] Translation: X:12.33, Y:-1.05, Z:-0.25 [[ 9.99874417e-01 1.37996673e-02 -7.79230834e-03 1.23314388e+01] [-1.37963584e-02 9.99904711e-01 4.78223457e-04 -1.05251294e+00] [ 7.79816515e-03 -3.70657921e-04 9.99969525e-01 -2.52134457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.48327356 meters 0.07907271950477066 Centerline is valid? [True, True] Translation: X:12.36, Y:-1.06, Z:-0.25 [[ 9.99898565e-01 1.21155633e-02 -7.48816397e-03 1.23593192e+01] [-1.21124680e-02 9.99926536e-01 4.58579954e-04 -1.05656616e+00] [ 7.49316982e-03 -3.67833291e-04 9.99971858e-01 -2.53712089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.51327356 meters 0.07933759684140079 Centerline is valid? [True, True] Translation: X:12.39, Y:-1.06, Z:-0.25 [[ 9.99912805e-01 1.07574015e-02 -7.65907667e-03 1.23882865e+01] [-1.07541248e-02 9.99942063e-01 4.68881752e-04 -1.05934629e+00] [ 7.66367688e-03 -3.86474202e-04 9.99970559e-01 -2.53627772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.54327356 meters 0.07916685377260968 Centerline is valid? [True, True] Translation: X:12.42, Y:-1.06, Z:-0.25 [[ 9.99924853e-01 1.00946891e-02 -6.95597723e-03 1.24166699e+01] [-1.00919745e-02 9.99948984e-01 4.25244670e-04 -1.06063656e+00] [ 6.95991508e-03 -3.55013169e-04 9.99975716e-01 -2.54073568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.57327356 meters 0.08028511039604135 Centerline is valid? [True, True] Translation: X:12.44, Y:-1.07, Z:-0.26 [[ 9.99943144e-01 8.47133233e-03 -6.47650850e-03 1.24444232e+01] [-8.46895112e-03 9.99964060e-01 3.95006321e-04 -1.06688111e+00] [ 6.47962196e-03 -3.40134629e-04 9.99978949e-01 -2.55076946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.603273559999998 meters 0.07964303070090023 Centerline is valid? [True, True] Translation: X:12.47, Y:-1.07, Z:-0.25 [[ 9.99943279e-01 7.96440613e-03 -7.07154837e-03 1.24736150e+01] [-7.96155481e-03 9.99968213e-01 4.31269703e-04 -1.06645171e+00] [ 7.07475840e-03 -3.74944721e-04 9.99974903e-01 -2.54195482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.63327356 meters 0.08022711284259182 Centerline is valid? [True, True] Translation: X:12.50, Y:-1.07, Z:-0.25 [[ 9.99953095e-01 7.15820644e-03 -6.52445388e-03 1.25015541e+01] [-7.15577172e-03 9.99974319e-01 3.96435890e-04 -1.06996879e+00] [ 6.52712409e-03 -3.49729793e-04 9.99978637e-01 -2.54649356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.66327356 meters 0.08036275882552722 Centerline is valid? [True, True] Translation: X:12.53, Y:-1.07, Z:-0.26 [[ 9.99955402e-01 7.08033675e-03 -6.25003599e-03 1.25305847e+01] [-7.07809966e-03 9.99974878e-01 3.79978699e-04 -1.07237184e+00] [ 6.25256935e-03 -3.35723375e-04 9.99980396e-01 -2.55874009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.693273559999998 meters 0.08070347257011626 Centerline is valid? [True, True] Translation: X:12.56, Y:-1.07, Z:-0.26 [[ 9.99956807e-01 6.38808661e-03 -6.75097729e-03 1.25597294e+01] [-6.38546312e-03 9.99979529e-01 4.10093224e-04 -1.07427083e+00] [ 6.75345879e-03 -3.66967394e-04 9.99977128e-01 -2.56421484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.72327356 meters 0.08109181963015283 Centerline is valid? [True, True] Translation: X:12.59, Y:-1.08, Z:-0.26 [[ 9.99956588e-01 5.90405640e-03 -7.20857578e-03 1.25881247e+01] [-5.90105539e-03 9.99982493e-01 4.37509025e-04 -1.07658171e+00] [ 7.21103266e-03 -3.94951827e-04 9.99973922e-01 -2.57533253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.75327356 meters 0.08095146210749671 Centerline is valid? [True, True] Translation: X:12.62, Y:-1.08, Z:-0.26 [[ 9.99954933e-01 5.34089218e-03 -7.84904272e-03 1.26166560e+01] [-5.33732019e-03 9.99985643e-01 4.75962161e-04 -1.07749154e+00] [ 7.85147209e-03 -4.34047857e-04 9.99969083e-01 -2.58561894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.783273559999998 meters 0.08136310362095715 Centerline is valid? [True, True] Translation: X:12.64, Y:-1.08, Z:-0.26 [[ 9.99957385e-01 5.04773639e-03 -7.72975439e-03 1.26448328e+01] [-5.04427071e-03 9.99987168e-01 4.67786005e-04 -1.08014601e+00] [ 7.73201646e-03 -4.28775096e-04 9.99970016e-01 -2.59325366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.81327356 meters 0.080938838581126 Centerline is valid? [True, True] Translation: X:12.67, Y:-1.08, Z:-0.26 [[ 9.99962025e-01 4.62417566e-03 -7.38684127e-03 1.26736739e+01] [-4.62100115e-03 9.99989223e-01 4.46761073e-04 -1.08006220e+00] [ 7.38882757e-03 -4.12609505e-04 9.99972617e-01 -2.59128900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.84327356 meters 0.08090569864797856 Centerline is valid? [True, True] Translation: X:12.70, Y:-1.08, Z:-0.26 [[ 9.99968480e-01 3.82255955e-03 -6.95891074e-03 1.27022739e+01] [-3.81972660e-03 9.99992616e-01 4.20341842e-04 -1.08134662e+00] [ 6.96046614e-03 -3.93747457e-04 9.99975698e-01 -2.59430104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.873273559999998 meters 0.08150872053557494 Centerline is valid? [True, True] Translation: X:12.73, Y:-1.08, Z:-0.26 [[ 9.99977535e-01 2.52566451e-03 -6.20896148e-03 1.27298984e+01] [-2.52339018e-03 9.99996746e-01 3.74104494e-04 -1.08443082e+00] [ 6.20988614e-03 -3.58428458e-04 9.99980654e-01 -2.59084149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.90327356 meters 0.08128104515687991 Centerline is valid? [True, True] Translation: X:12.76, Y:-1.09, Z:-0.26 [[ 9.99982835e-01 1.54418955e-03 -5.65208656e-03 1.27585230e+01] [-1.54229050e-03 9.99998753e-01 3.40333488e-04 -1.08557339e+00] [ 5.65260505e-03 -3.31610487e-04 9.99983969e-01 -2.58516018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.93327356 meters 0.08171955655097966 Centerline is valid? [True, True] Translation: X:12.79, Y:-1.09, Z:-0.26 [[ 9.99984915e-01 5.01371812e-04 -5.46969137e-03 1.27875148e+01] [-4.99579988e-04 9.99999821e-01 3.28952925e-04 -1.08839505e+00] [ 5.46985532e-03 -3.26215415e-04 9.99984987e-01 -2.59353933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.963273559999998 meters 0.08171955655097966 Centerline is valid? [True, True] Translation: X:12.81, Y:-1.09, Z:-0.26 [[ 9.99984960e-01 4.02296250e-04 -5.46976074e-03 1.28149772e+01] [-4.00509223e-04 9.99999866e-01 3.27801860e-04 -1.08995084e+00] [ 5.46989188e-03 -3.25606240e-04 9.99984987e-01 -2.59862399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.99327356 meters 0.08290604025691874 Centerline is valid? [True, True] Translation: X:12.84, Y:-1.10, Z:-0.26 [[ 9.99981361e-01 -1.10618609e-03 -6.00445216e-03 1.28433414e+01] [ 1.10837151e-03 9.99999321e-01 3.60651235e-04 -1.09558926e+00] [ 6.00404914e-03 -3.67299677e-04 9.99981908e-01 -2.61426653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.02327356 meters 0.08199263903804996 Centerline is valid? [True, True] Translation: X:12.87, Y:-1.09, Z:-0.26 [[ 9.99979329e-01 -2.30839711e-03 -6.00110775e-03 1.28729855e+01] [ 2.31060221e-03 9.99997266e-01 3.60541911e-04 -1.09453732e+00] [ 6.00025907e-03 -3.74400631e-04 9.99981928e-01 -2.61227942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.053273559999997 meters 0.08254476348476324 Centerline is valid? [True, True] Translation: X:12.90, Y:-1.10, Z:-0.26 [[ 9.99975487e-01 -2.76275685e-03 -6.43370119e-03 1.29014227e+01] [ 2.76529698e-03 9.99996102e-01 3.85953295e-04 -1.09742231e+00] [ 6.43260981e-03 -4.03734929e-04 9.99979229e-01 -2.62893455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.08327356 meters 0.08276850137633697 Centerline is valid? [True, True] Translation: X:12.93, Y:-1.10, Z:-0.26 [[ 9.99967759e-01 -3.10867668e-03 -7.40388008e-03 1.29301806e+01] [ 3.11201367e-03 9.99995061e-01 4.39230399e-04 -1.09935323e+00] [ 7.40247809e-03 -4.62257214e-04 9.99972494e-01 -2.64366104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.11327356 meters 0.08288144998141153 Centerline is valid? [True, True] Translation: X:12.96, Y:-1.10, Z:-0.27 [[ 9.99964644e-01 -3.57688300e-03 -7.61034514e-03 1.29587347e+01] [ 3.58040972e-03 9.99993489e-01 4.49836978e-04 -1.10003094e+00] [ 7.60868658e-03 -4.77069228e-04 9.99970940e-01 -2.65565242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.14327356 meters 0.08323938290444043 Centerline is valid? [True, True] Translation: X:12.99, Y:-1.10, Z:-0.27 [[ 9.99965651e-01 -3.55319367e-03 -7.48812877e-03 1.29868360e+01] [ 3.55662923e-03 9.99993576e-01 4.45535299e-04 -1.10219517e+00] [ 7.48649759e-03 -4.72152493e-04 9.99971864e-01 -2.66364317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.17327356 meters 0.08204442572405021 Centerline is valid? [True, True] Translation: X:13.02, Y:-1.10, Z:-0.27 [[ 9.99970976e-01 -3.79647696e-03 -6.60567270e-03 1.30158312e+01] [ 3.79912214e-03 9.99992708e-01 3.87938672e-04 -1.10017145e+00] [ 6.60415174e-03 -4.13023169e-04 9.99978107e-01 -2.65286917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.20327356 meters 0.083699394433974 Centerline is valid? [True, True] Translation: X:13.04, Y:-1.11, Z:-0.27 [[ 9.99980434e-01 -4.29056694e-03 -4.55230764e-03 1.30444895e+01] [ 4.29183667e-03 9.99990754e-01 2.69187602e-04 -1.10604596e+00] [ 4.55111058e-03 -2.88720095e-04 9.99989602e-01 -2.66110826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.23327356 meters 0.08288956991589112 Centerline is valid? [True, True] Translation: X:13.08, Y:-1.11, Z:-0.27 [[ 9.99981573e-01 -4.43827900e-03 -4.14178177e-03 1.30750256e+01] [ 4.43933478e-03 9.99990116e-01 2.45750746e-04 -1.10544291e+00] [ 4.14065012e-03 -2.64132974e-04 9.99991393e-01 -2.65613058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.26327356 meters 0.08186468220218128 Centerline is valid? [True, True] Translation: X:13.11, Y:-1.10, Z:-0.26 [[ 9.99979512e-01 -5.05589083e-03 -3.92594169e-03 1.31058552e+01] [ 5.05684417e-03 9.99987187e-01 2.32943973e-04 -1.10412704e+00] [ 3.92471365e-03 -2.52792076e-04 9.99992266e-01 -2.64842839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.29327356 meters 0.0830590782368071 Centerline is valid? [True, True] Translation: X:13.14, Y:-1.11, Z:-0.27 [[ 9.99979218e-01 -5.31985966e-03 -3.64188246e-03 1.31356365e+01] [ 5.32068312e-03 9.99985822e-01 2.16458679e-04 -1.10883719e+00] [ 3.64067930e-03 -2.35831483e-04 9.99993345e-01 -2.67077523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.32327356 meters 0.08282460158259755 Centerline is valid? [True, True] Translation: X:13.17, Y:-1.11, Z:-0.27 [[ 9.99980052e-01 -5.19353979e-03 -3.59468385e-03 1.31673572e+01] [ 5.19434276e-03 9.99986486e-01 2.14076240e-04 -1.10968218e+00] [ 3.59352346e-03 -2.32743989e-04 9.99993516e-01 -2.68044677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.353273559999998 meters 0.08248912936282604 Centerline is valid? [True, True] Translation: X:13.20, Y:-1.11, Z:-0.27 [[ 9.99978278e-01 -5.62315016e-03 -3.43842801e-03 1.31987545e+01] [ 5.62388787e-03 9.99984165e-01 2.04917683e-04 -1.10989917e+00] [ 3.43722128e-03 -2.24250565e-04 9.99994068e-01 -2.68340636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.38327356 meters 0.08279669898590895 Centerline is valid? [True, True] Translation: X:13.23, Y:-1.11, Z:-0.27 [[ 9.99978058e-01 -5.18299112e-03 -4.12558595e-03 1.32286365e+01] [ 5.18404793e-03 9.99986533e-01 2.45505808e-04 -1.11120127e+00] [ 4.12425793e-03 -2.66887656e-04 9.99991460e-01 -2.70893060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.41327356 meters 0.0827305042780832 Centerline is valid? [True, True] Translation: X:13.26, Y:-1.11, Z:-0.27 [[ 9.99975555e-01 -5.30465925e-03 -4.55514906e-03 1.32593044e+01] [ 5.30594731e-03 9.99985887e-01 2.70731592e-04 -1.11253222e+00] [ 4.55364864e-03 -2.94894355e-04 9.99989589e-01 -2.71405828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.443273559999998 meters 0.08372677349053632 Centerline is valid? [True, True] Translation: X:13.29, Y:-1.12, Z:-0.27 [[ 9.99972095e-01 -5.49742019e-03 -5.05847550e-03 1.32893991e+01] [ 5.49901304e-03 9.99984835e-01 3.01032433e-04 -1.11597779e+00] [ 5.05674389e-03 -3.28840655e-04 9.99987161e-01 -2.73092016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.47327356 meters 0.08301535578313136 Centerline is valid? [True, True] Translation: X:13.32, Y:-1.12, Z:-0.27 [[ 9.99971998e-01 -6.37792980e-03 -3.91487232e-03 1.33197606e+01] [ 6.37888965e-03 9.99979628e-01 2.32741614e-04 -1.11506981e+00] [ 3.91330816e-03 -2.57707636e-04 9.99992310e-01 -2.72466908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.50327356 meters 0.0835756457773932 Centerline is valid? [True, True] Translation: X:13.35, Y:-1.12, Z:-0.27 [[ 9.99972172e-01 -6.64074439e-03 -3.39943837e-03 1.33503948e+01] [ 6.64147086e-03 9.99977925e-01 2.02458148e-04 -1.11838738e+00] [ 3.39801885e-03 -2.25029784e-04 9.99994201e-01 -2.72870253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.533273559999998 meters 0.08328560473750961 Centerline is valid? [True, True] Translation: X:13.38, Y:-1.12, Z:-0.27 [[ 9.99964621e-01 -7.93583199e-03 -2.78919316e-03 1.33817816e+01] [ 7.93632733e-03 9.99968493e-01 1.66568165e-04 -1.11925183e+00] [ 2.78778342e-03 -1.88698222e-04 9.99996096e-01 -2.73419286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.56327356 meters 0.08362605006882438 Centerline is valid? [True, True] Translation: X:13.41, Y:-1.12, Z:-0.27 [[ 9.99961415e-01 -8.37299521e-03 -2.65731184e-03 1.34137506e+01] [ 8.37344851e-03 9.99964929e-01 1.59505799e-04 -1.12206874e+00] [ 2.65588310e-03 -1.81750508e-04 9.99996457e-01 -2.74269427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.59327356 meters 0.08503175680602534 Centerline is valid? [True, True] Translation: X:13.44, Y:-1.13, Z:-0.28 [[ 9.99952948e-01 -9.09191881e-03 -3.38200936e-03 1.34441744e+01] [ 9.09266038e-03 9.99958640e-01 2.03958453e-04 -1.12733537e+00] [ 3.38001511e-03 -2.34700319e-04 9.99994260e-01 -2.76219300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.623273559999998 meters 0.08294149617570867 Centerline is valid? [True, True] Translation: X:13.48, Y:-1.12, Z:-0.27 [[ 9.99946621e-01 -1.00368807e-02 -2.45288225e-03 1.34766227e+01] [ 1.00372733e-02 9.99949614e-01 1.47806521e-04 -1.12371106e+00] [ 2.45127515e-03 -1.72418880e-04 9.99996981e-01 -2.74661260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.65327356 meters 0.08721516763996931 Centerline is valid? [True, True] Translation: X:13.51, Y:-1.14, Z:-0.28 [[ 9.99936384e-01 -1.09480739e-02 -2.71440879e-03 1.35072817e+01] [ 1.09485572e-02 9.99940049e-01 1.63252625e-04 -1.13640057e+00] [ 2.71245876e-03 -1.92961099e-04 9.99996303e-01 -2.77976530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.68327356 meters 0.083861711163362 Centerline is valid? [True, True] Translation: X:13.54, Y:-1.13, Z:-0.28 [[ 9.99927616e-01 -1.17300291e-02 -2.67752504e-03 1.35394549e+01] [ 1.17305026e-02 9.99931182e-01 1.61180114e-04 -1.13032014e+00] [ 2.67545013e-03 -1.92577161e-04 9.99996402e-01 -2.76154730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.713273559999998 meters 0.08377763931759866 Centerline is valid? [True, True] Translation: X:13.57, Y:-1.13, Z:-0.28 [[ 9.99920049e-01 -1.23596081e-02 -2.67124353e-03 1.35711977e+01] [ 1.23600820e-02 9.99923598e-01 1.60941836e-04 -1.13206308e+00] [ 2.66905027e-03 -1.93945758e-04 9.99996419e-01 -2.76396573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.74327356 meters 0.08495923393316424 Centerline is valid? [True, True] Translation: X:13.60, Y:-1.14, Z:-0.28 [[ 9.99908173e-01 -1.33733685e-02 -2.19044600e-03 1.36024041e+01] [ 1.33736921e-02 9.99910559e-01 1.33137268e-04 -1.13688159e+00] [ 2.18846959e-03 -1.62419393e-04 9.99997592e-01 -2.76946488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.77327356 meters 0.08501823096763167 Centerline is valid? [True, True] Translation: X:13.63, Y:-1.14, Z:-0.28 [[ 9.99906780e-01 -1.35400244e-02 -1.76026916e-03 1.36344895e+01] [ 1.35402335e-02 9.99908321e-01 1.06950245e-04 -1.13863723e+00] [ 1.75865968e-03 -1.30774731e-04 9.99998445e-01 -2.77695641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.803273559999997 meters 0.08465968513011152 Centerline is valid? [True, True] Translation: X:13.67, Y:-1.14, Z:-0.28 [[ 9.99908034e-01 -1.34097347e-02 -2.02525122e-03 1.36670388e+01] [ 1.34100112e-02 9.99910074e-01 1.23007475e-04 -1.13965467e+00] [ 2.02341960e-03 -1.50154804e-04 9.99997942e-01 -2.77991559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.83327356 meters 0.08486301236421229 Centerline is valid? [True, True] Translation: X:13.70, Y:-1.14, Z:-0.28 [[ 9.99917192e-01 -1.25353913e-02 -2.91073167e-03 1.36984880e+01] [ 1.25359567e-02 9.99921406e-01 1.76080002e-04 -1.14180472e+00] [ 2.90829567e-03 -2.12554227e-04 9.99995748e-01 -2.79225459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.86327356 meters 0.08676415266775542 Centerline is valid? [True, True] Translation: X:13.73, Y:-1.15, Z:-0.28 [[ 9.99927217e-01 -1.16088037e-02 -3.28563721e-03 1.37296129e+01] [ 1.16095192e-02 9.99932588e-01 1.98791272e-04 -1.14749901e+00] [ 3.28310798e-03 -2.36921472e-04 9.99994583e-01 -2.81615591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.89327356 meters 0.0834869011631987 Centerline is valid? [True, True] Translation: X:13.76, Y:-1.14, Z:-0.28 [[ 9.99936946e-01 -1.06701810e-02 -3.50009120e-03 1.37612438e+01] [ 1.06709865e-02 9.99943041e-01 2.11532906e-04 -1.14081321e+00] [ 3.49763475e-03 -2.48868994e-04 9.99993852e-01 -2.79831683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.92327356 meters 0.0834645053469868 Centerline is valid? [True, True] Translation: X:13.79, Y:-1.14, Z:-0.28 [[ 9.99942494e-01 -9.37244661e-03 -5.21215375e-03 1.37937568e+01] [ 9.37421868e-03 9.99956011e-01 3.15662002e-04 -1.14075409e+00] [ 5.20896595e-03 -3.64503718e-04 9.99986367e-01 -2.81217072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.95327356 meters 0.08341657141527578 Centerline is valid? [True, True] Translation: X:13.82, Y:-1.14, Z:-0.28 [[ 9.99959449e-01 -7.74477690e-03 -4.59542278e-03 1.38249194e+01] [ 7.74613586e-03 9.99969960e-01 2.77995540e-04 -1.14236781e+00] [ 4.59313172e-03 -3.13581036e-04 9.99989402e-01 -2.81579331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.98327356 meters 0.08323668190872437 Centerline is valid? [True, True] Translation: X:13.86, Y:-1.14, Z:-0.28 [[ 9.99966213e-01 -6.92138147e-03 -4.43480872e-03 1.38564063e+01] [ 6.92263975e-03 9.99976002e-01 2.68441818e-04 -1.14328389e+00] [ 4.43284430e-03 -2.99133331e-04 9.99990130e-01 -2.81772880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.01327356 meters 0.08313182012108403 Centerline is valid? [True, True] Translation: X:13.89, Y:-1.14, Z:-0.28 [[ 9.99976574e-01 -5.56632901e-03 -3.98338561e-03 1.38872526e+01] [ 5.56733274e-03 9.99984473e-01 2.40936416e-04 -1.14381642e+00] [ 3.98198263e-03 -2.63107605e-04 9.99992037e-01 -2.81963154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.04327356 meters 0.08286246155589871 Centerline is valid? [True, True] Translation: X:13.92, Y:-1.14, Z:-0.28 [[ 9.99980293e-01 -4.66042866e-03 -4.20654003e-03 1.39186782e+01] [ 4.66154180e-03 9.99989102e-01 2.54856496e-04 -1.14471771e+00] [ 4.20530644e-03 -2.74460436e-04 9.99991120e-01 -2.82245984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.07327356 meters 0.08184934440382714 Centerline is valid? [True, True] Translation: X:13.95, Y:-1.14, Z:-0.28 [[ 9.99980323e-01 -3.78139424e-03 -5.00554396e-03 1.39498566e+01] [ 3.78295781e-03 9.99992799e-01 3.02937125e-04 -1.14275298e+00] [ 5.00436239e-03 -3.21866925e-04 9.99987426e-01 -2.82242966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.103273559999998 meters 0.08207878214869413 Centerline is valid? [True, True] Translation: X:13.98, Y:-1.14, Z:-0.28 [[ 9.99980596e-01 -3.37823560e-03 -5.23410358e-03 1.39796704e+01] [ 3.37993395e-03 9.99994238e-01 3.15666503e-04 -1.14446174e+00] [ 5.23300703e-03 -3.33351302e-04 9.99986252e-01 -2.83474292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.13327356 meters 0.081693655422396 Centerline is valid? [True, True] Translation: X:14.01, Y:-1.15, Z:-0.28 [[ 9.99982054e-01 -2.85388528e-03 -5.26755577e-03 1.40097426e+01] [ 2.85559932e-03 9.99995872e-01 3.17904068e-04 -1.14541781e+00] [ 5.26662677e-03 -3.32940391e-04 9.99986076e-01 -2.84272517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.16327356 meters 0.08188776981767017 Centerline is valid? [True, True] Translation: X:14.04, Y:-1.15, Z:-0.29 [[ 9.99981978e-01 -2.63481238e-03 -5.39460484e-03 1.40395995e+01] [ 2.63660437e-03 9.99996471e-01 3.25097973e-04 -1.14780852e+00] [ 5.39372924e-03 -3.39315552e-04 9.99985396e-01 -2.85531793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.193273559999998 meters 0.08252902349392348 Centerline is valid? [True, True] Translation: X:14.07, Y:-1.15, Z:-0.29 [[ 9.99979391e-01 -2.95518092e-03 -5.69953100e-03 1.40676667e+01] [ 2.95718331e-03 9.99995569e-01 3.42930870e-04 -1.15161440e+00] [ 5.69849232e-03 -3.59778360e-04 9.99983699e-01 -2.86725256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.22327356 meters 0.08126135939266911 Centerline is valid? [True, True] Translation: X:14.10, Y:-1.15, Z:-0.29 [[ 9.99977423e-01 -3.07740845e-03 -5.97357283e-03 1.40972338e+01] [ 3.07961099e-03 9.99995193e-01 3.59551638e-04 -1.15019424e+00] [ 5.97243763e-03 -3.77939801e-04 9.99982093e-01 -2.86665663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.25327356 meters 0.0812060361202193 Centerline is valid? [True, True] Translation: X:14.13, Y:-1.15, Z:-0.29 [[ 9.99975618e-01 -3.53311684e-03 -6.02331953e-03 1.41268898e+01] [ 3.53536325e-03 9.99993685e-01 3.62345012e-04 -1.15170362e+00] [ 6.02200128e-03 -3.83630800e-04 9.99981794e-01 -2.87202449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.283273559999998 meters 0.08343637247757639 Centerline is valid? [True, True] Translation: X:14.15, Y:-1.16, Z:-0.29 [[ 9.99980213e-01 -4.48364514e-03 -4.41243620e-03 1.41548361e+01] [ 4.48485681e-03 9.99989908e-01 2.64746935e-04 -1.15945855e+00] [ 4.41120464e-03 -2.84530841e-04 9.99990230e-01 -2.88751477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.31327356 meters 0.08416037764175154 Centerline is valid? [True, True] Translation: X:14.18, Y:-1.16, Z:-0.29 [[ 9.99980175e-01 -4.32397186e-03 -4.57752511e-03 1.41843293e+01] [ 4.32527694e-03 9.99990608e-01 2.75244353e-04 -1.16329335e+00] [ 4.57629197e-03 -2.95037960e-04 9.99989485e-01 -2.89749876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.34327356 meters 0.08258361814868292 Centerline is valid? [True, True] Translation: X:14.22, Y:-1.16, Z:-0.29 [[ 9.99979011e-01 -4.77828719e-03 -4.37554566e-03 1.42153858e+01] [ 4.77948520e-03 9.99988544e-01 2.63380916e-04 -1.16081647e+00] [ 4.37423703e-03 -2.84288244e-04 9.99990393e-01 -2.88627435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.373273559999998 meters 0.08343298563881413 Centerline is valid? [True, True] Translation: X:14.25, Y:-1.16, Z:-0.29 [[ 9.99975961e-01 -5.46680429e-03 -4.26511931e-03 1.42451922e+01] [ 5.46795040e-03 9.99985018e-01 2.57102346e-04 -1.16462933e+00] [ 4.26364988e-03 -2.80417626e-04 9.99990871e-01 -2.89171624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.40327356 meters 0.08304287277631221 Centerline is valid? [True, True] Translation: X:14.28, Y:-1.17, Z:-0.29 [[ 9.99971970e-01 -5.89517365e-03 -4.61589425e-03 1.42758364e+01] [ 5.89651908e-03 9.99982577e-01 2.77923366e-04 -1.16507445e+00] [ 4.61417542e-03 -3.05133284e-04 9.99989308e-01 -2.89699801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.43327356 meters 0.0838446646841977 Centerline is valid? [True, True] Translation: X:14.31, Y:-1.17, Z:-0.29 [[ 9.99975700e-01 -5.65339658e-03 -4.07910904e-03 1.43060808e+01] [ 5.65444677e-03 9.99983983e-01 2.45970558e-04 -1.16866493e+00] [ 4.07765313e-03 -2.69029686e-04 9.99991650e-01 -2.91262296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.463273559999998 meters 0.0840418681491787 Centerline is valid? [True, True] Translation: X:14.34, Y:-1.17, Z:-0.29 [[ 9.99972367e-01 -5.47452994e-03 -5.02947149e-03 1.43378382e+01] [ 5.47612617e-03 9.99984960e-01 3.03658522e-04 -1.16979539e+00] [ 5.02773346e-03 -3.31192151e-04 9.99987306e-01 -2.92568212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.49327356 meters 0.08384218517507132 Centerline is valid? [True, True] Translation: X:14.37, Y:-1.17, Z:-0.29 [[ 9.99973042e-01 -4.83268368e-03 -5.52808679e-03 1.43679490e+01] [ 4.83459874e-03 9.99988258e-01 3.33113862e-04 -1.17069715e+00] [ 5.52641204e-03 -3.59830964e-04 9.99984665e-01 -2.93222284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.52327356 meters 0.08438988539175575 Centerline is valid? [True, True] Translation: X:14.40, Y:-1.17, Z:-0.29 [[ 9.99976248e-01 -4.66246070e-03 -5.07585168e-03 1.43971221e+01] [ 4.66407117e-03 9.99989076e-01 3.05489238e-04 -1.17293519e+00] [ 5.07437190e-03 -3.29156115e-04 9.99987071e-01 -2.94763317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.553273559999997 meters 0.08325032437005403 Centerline is valid? [True, True] Translation: X:14.43, Y:-1.17, Z:-0.29 [[ 9.99977550e-01 -4.16088298e-03 -5.25221950e-03 1.44280756e+01] [ 4.16260201e-03 9.99991286e-01 3.16407027e-04 -1.17134619e+00] [ 5.25085720e-03 -3.38262823e-04 9.99986157e-01 -2.93899018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.58327356 meters 0.08172206003488793 Centerline is valid? [True, True] Translation: X:14.46, Y:-1.17, Z:-0.29 [[ 9.99981244e-01 -4.02381473e-03 -4.61741913e-03 1.44584655e+01] [ 4.02514012e-03 9.99991861e-01 2.77784016e-04 -1.16872648e+00] [ 4.61626379e-03 -2.96364565e-04 9.99989301e-01 -2.93485367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.61327356 meters 0.0848271250994961 Centerline is valid? [True, True] Translation: X:14.49, Y:-1.18, Z:-0.30 [[ 9.99981382e-01 -3.78124975e-03 -4.78939865e-03 1.44874782e+01] [ 3.78267263e-03 9.99992804e-01 2.88064626e-04 -1.17848920e+00] [ 4.78827494e-03 -3.06175990e-04 9.99988489e-01 -2.96513252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.64327356 meters 0.08458433996319017 Centerline is valid? [True, True] Translation: X:14.52, Y:-1.18, Z:-0.30 [[ 9.99978099e-01 -5.07601116e-03 -4.24673720e-03 1.45182006e+01] [ 5.07714263e-03 9.99987079e-01 2.55694177e-04 -1.17895880e+00] [ 4.24538442e-03 -2.77249867e-04 9.99990950e-01 -2.95118416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.67327356 meters 0.0845006147755027 Centerline is valid? [True, True] Translation: X:14.55, Y:-1.18, Z:-0.29 [[ 9.99973129e-01 -6.04007671e-03 -4.15439128e-03 1.45489920e+01] [ 6.04116928e-03 9.99981721e-01 2.50492579e-04 -1.17992371e+00] [ 4.15280234e-03 -2.75583229e-04 9.99991339e-01 -2.94809173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.70327356 meters 0.08294480372831586 Centerline is valid? [True, True] Translation: X:14.58, Y:-1.18, Z:-0.29 [[ 9.99963784e-01 -7.13845453e-03 -4.63387312e-03 1.45800557e+01] [ 7.13982812e-03 9.99974472e-01 2.79948556e-04 -1.17774634e+00] [ 4.63175643e-03 -3.13023475e-04 9.99989224e-01 -2.93647733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.73327356 meters 0.08487061385206796 Centerline is valid? [True, True] Translation: X:14.61, Y:-1.18, Z:-0.30 [[ 9.99954510e-01 -8.13407648e-03 -4.98142569e-03 1.46102157e+01] [ 8.13567432e-03 9.99966860e-01 3.00579213e-04 -1.18454572e+00] [ 4.97881567e-03 -3.41092797e-04 9.99987547e-01 -2.96431267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.76327356 meters 0.08428539400103215 Centerline is valid? [True, True] Translation: X:14.64, Y:-1.19, Z:-0.30 [[ 9.99941815e-01 -9.31763466e-03 -5.43576902e-03 1.46411669e+01] [ 9.31955501e-03 9.99956518e-01 3.28055672e-04 -1.18502715e+00] [ 5.43247596e-03 -3.78695532e-04 9.99985172e-01 -2.96027126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.79327356 meters 0.0843119378472151 Centerline is valid? [True, True] Translation: X:14.67, Y:-1.19, Z:-0.30 [[ 9.99926635e-01 -1.06972907e-02 -5.68274048e-03 1.46723797e+01] [ 1.06994144e-02 9.99942701e-01 3.43441505e-04 -1.18700409e+00] [ 5.67874096e-03 -4.04218304e-04 9.99983794e-01 -2.97173428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.82327356 meters 0.08461443214753105 Centerline is valid? [True, True] Translation: X:14.70, Y:-1.19, Z:-0.30 [[ 9.99911861e-01 -1.18359385e-02 -6.01505409e-03 1.47041293e+01] [ 1.18383416e-02 9.99929858e-01 3.64065701e-04 -1.18962788e+00] [ 6.01032312e-03 -4.35241878e-04 9.99981843e-01 -2.97510812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.853273559999998 meters 0.08461443214753105 Centerline is valid? [True, True] Translation: X:14.74, Y:-1.19, Z:-0.30 [[ 9.99912634e-01 -1.17705086e-02 -6.01501117e-03 1.47358530e+01] [ 1.17729147e-02 9.99930630e-01 3.64775655e-04 -1.19161266e+00] [ 6.01030032e-03 -4.35557999e-04 9.99981843e-01 -2.98097429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.88327356 meters 0.08567818328026866 Centerline is valid? [True, True] Translation: X:14.77, Y:-1.20, Z:-0.30 [[ 9.99909703e-01 -1.22260098e-02 -5.57762028e-03 1.47669592e+01] [ 1.22280883e-02 9.99925177e-01 3.38694237e-04 -1.19585668e+00] [ 5.57306206e-03 -4.06867287e-04 9.99984388e-01 -2.99520450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.91327356 meters 0.08754175529332475 Centerline is valid? [True, True] Translation: X:14.80, Y:-1.20, Z:-0.30 [[ 9.99909085e-01 -1.23185890e-02 -5.48407586e-03 1.47978863e+01] [ 1.23206072e-02 9.99924043e-01 3.34378079e-04 -1.20145337e+00] [ 5.47954024e-03 -4.01914823e-04 9.99984906e-01 -3.01197341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.943273559999998 meters 0.08700109341422697 Centerline is valid? [True, True] Translation: X:14.83, Y:-1.20, Z:-0.30 [[ 9.99901985e-01 -1.24953659e-02 -6.31558385e-03 1.48304715e+01] [ 1.24980417e-02 9.99921823e-01 3.84398957e-04 -1.20166523e+00] [ 6.31028691e-03 -4.63293710e-04 9.99979983e-01 -3.01448101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.97327356 meters 0.08690900583212885 Centerline is valid? [True, True] Translation: X:14.86, Y:-1.20, Z:-0.30 [[ 9.99893104e-01 -1.33531459e-02 -5.95600666e-03 1.48618515e+01] [ 1.33555388e-02 9.99910745e-01 3.62183571e-04 -1.20252888e+00] [ 5.95063877e-03 -4.41690533e-04 9.99982197e-01 -3.01776874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.00327356 meters 0.08888721121570178 Centerline is valid? [True, True] Translation: X:14.89, Y:-1.21, Z:-0.30 [[ 9.99877468e-01 -1.44453982e-02 -6.03145843e-03 1.48921516e+01] [ 1.44478731e-02 9.99895557e-01 3.66960474e-04 -1.20850805e+00] [ 6.02552759e-03 -4.54057256e-04 9.99981743e-01 -3.03042112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.033273559999998 meters 0.08963341420860224 Centerline is valid? [True, True] Translation: X:14.92, Y:-1.21, Z:-0.30 [[ 9.99869126e-01 -1.52366696e-02 -5.43829861e-03 1.49240834e+01] [ 1.52386986e-02 9.99883829e-01 3.31847884e-04 -1.21195020e+00] [ 5.43261058e-03 -4.14677047e-04 9.99985157e-01 -3.03532883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.06327356 meters 0.09097942866050716 Centerline is valid? [True, True] Translation: X:14.95, Y:-1.22, Z:-0.30 [[ 9.99852963e-01 -1.62810497e-02 -5.38334497e-03 1.49549893e+01] [ 1.62830528e-02 9.99867368e-01 3.28464518e-04 -1.21635103e+00] [ 5.37728322e-03 -4.16073512e-04 9.99985456e-01 -3.03845729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.09327356 meters 0.09188058698162496 Centerline is valid? [True, True] Translation: X:14.99, Y:-1.22, Z:-0.30 [[ 9.99846983e-01 -1.67765641e-02 -4.95564838e-03 1.49859496e+01] [ 1.67782691e-02 9.99859189e-01 3.02662154e-04 -1.21971106e+00] [ 4.94987294e-03 -3.85763044e-04 9.99987675e-01 -3.04758705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.123273559999998 meters 0.08768510166275674 Centerline is valid? [True, True] Translation: X:15.02, Y:-1.21, Z:-0.30 [[ 9.99830606e-01 -1.78789785e-02 -4.37053958e-03 1.50186414e+01] [ 1.78803183e-02 9.99840099e-01 2.67671821e-04 -1.21152147e+00] [ 4.36505502e-03 -3.45773118e-04 9.99990413e-01 -3.02222778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.15327356 meters 0.09178163856984131 Centerline is valid? [True, True] Translation: X:15.05, Y:-1.22, Z:-0.31 [[ 9.99820961e-01 -1.80464779e-02 -5.68947973e-03 1.50492547e+01] [ 1.80487489e-02 9.99837047e-01 3.48057367e-04 -1.22164333e+00] [ 5.68227140e-03 -4.50683042e-04 9.99983754e-01 -3.05192296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.18327356 meters 0.08606968715703558 Centerline is valid? [True, True] Translation: X:15.08, Y:-1.21, Z:-0.30 [[ 9.99810608e-01 -1.84258847e-02 -6.26381006e-03 1.50822789e+01] [ 1.84286490e-02 9.99830104e-01 3.83879813e-04 -1.21154292e+00] [ 6.25567254e-03 -4.99240666e-04 9.99980308e-01 -3.01612461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.213273559999998 meters 0.09143519069170135 Centerline is valid? [True, True] Translation: X:15.11, Y:-1.22, Z:-0.31 [[ 9.99777681e-01 -1.95256097e-02 -7.95853706e-03 1.51111871e+01] [ 1.95301112e-02 9.99809150e-01 4.88289183e-04 -1.22363257e+00] [ 7.94748403e-03 -6.43611741e-04 9.99968211e-01 -3.05914789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.24327356 meters 0.08834292540206483 Centerline is valid? [True, True] Translation: X:15.14, Y:-1.22, Z:-0.30 [[ 9.99763674e-01 -2.01399950e-02 -8.18389729e-03 1.51436883e+01] [ 2.01447773e-02 9.99796947e-01 5.02335977e-04 -1.21899438e+00] [ 8.17211848e-03 -6.67080050e-04 9.99966385e-01 -3.04493957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.27327356 meters 0.08731071517745216 Centerline is valid? [True, True] Translation: X:15.18, Y:-1.22, Z:-0.30 [[ 9.99762499e-01 -2.01446676e-02 -8.31497934e-03 1.51763287e+01] [ 2.01496092e-02 9.99796845e-01 5.10950204e-04 -1.21817683e+00] [ 8.30299719e-03 -6.78372437e-04 9.99965299e-01 -3.03932600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.303273559999997 meters 0.08892207741890329 Centerline is valid? [True, True] Translation: X:15.21, Y:-1.22, Z:-0.30 [[ 9.99746993e-01 -2.07541396e-02 -8.67267247e-03 1.52072610e+01] [ 2.07595390e-02 9.99784355e-01 5.33001626e-04 -1.22250991e+00] [ 8.65974026e-03 -7.12907455e-04 9.99962250e-01 -3.04769654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.33327356 meters 0.08846481925291914 Centerline is valid? [True, True] Translation: X:15.24, Y:-1.22, Z:-0.30 [[ 9.99737579e-01 -2.10323228e-02 -9.07823510e-03 1.52396131e+01] [ 2.10382583e-02 9.99778515e-01 5.58800812e-04 -1.22318338e+00] [ 9.06447153e-03 -7.49644426e-04 9.99958636e-01 -3.04478199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.36327356 meters 0.08883965657863695 Centerline is valid? [True, True] Translation: X:15.27, Y:-1.23, Z:-0.31 [[ 9.99724893e-01 -2.14709702e-02 -9.44115042e-03 1.52718626e+01] [ 2.14774146e-02 9.99769164e-01 5.81722770e-04 -1.22563043e+00] [ 9.42648092e-03 -7.84334237e-04 9.99955262e-01 -3.05079344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.39327356 meters 0.09034889002189371 Centerline is valid? [True, True] Translation: X:15.30, Y:-1.23, Z:-0.31 [[ 9.99707754e-01 -2.23243841e-02 -9.27516748e-03 1.53025099e+01] [ 2.23306590e-02 9.99750475e-01 5.73505099e-04 -1.23037507e+00] [ 9.26004994e-03 -7.80458097e-04 9.99956820e-01 -3.06235039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.42327356 meters 0.08910015723146478 Centerline is valid? [True, True] Translation: X:15.33, Y:-1.23, Z:-0.31 [[ 9.99694507e-01 -2.28429756e-02 -9.43882473e-03 1.53349468e+01] [ 2.28494941e-02 9.99738746e-01 5.83331079e-04 -1.22950891e+00] [ 9.42303379e-03 -7.98825245e-04 9.99955283e-01 -3.05328917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.45327356 meters 0.0896853666192079 Centerline is valid? [True, True] Translation: X:15.37, Y:-1.23, Z:-0.31 [[ 9.99629180e-01 -2.51538487e-02 -1.04300304e-02 1.53652074e+01] [ 2.51619202e-02 9.99683182e-01 6.43341888e-04 -1.23231752e+00] [ 1.04105435e-02 -9.05542917e-04 9.99945399e-01 -3.06015793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.48327356 meters 0.09084264200044771 Centerline is valid? [True, True] Translation: X:15.40, Y:-1.24, Z:-0.31 [[ 9.99585634e-01 -2.63634441e-02 -1.15555199e-02 1.53956423e+01] [ 2.63734365e-02 9.99651906e-01 7.13172420e-04 -1.23697458e+00] [ 1.15326958e-02 -1.01763567e-03 9.99932978e-01 -3.07184120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.51327356 meters 0.09221147687886634 Centerline is valid? [True, True] Translation: X:15.43, Y:-1.24, Z:-0.31 [[ 9.99569195e-01 -2.72686679e-02 -1.08555950e-02 1.54263254e+01] [ 2.72775522e-02 9.99627673e-01 6.71159593e-04 -1.24202351e+00] [ 1.08332515e-02 -9.66984512e-04 9.99940851e-01 -3.08187045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.54327356 meters 0.0922424296430538 Centerline is valid? [True, True] Translation: X:15.46, Y:-1.24, Z:-0.31 [[ 9.99559952e-01 -2.79339145e-02 -9.97988481e-03 1.54579501e+01] [ 2.79414618e-02 9.99609370e-01 6.17599152e-04 -1.24441071e+00] [ 9.95873441e-03 -8.96179950e-04 9.99950009e-01 -3.08587639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.57327356 meters 0.09177830141698774 Centerline is valid? [True, True] Translation: X:15.49, Y:-1.25, Z:-0.31 [[ 9.99465819e-01 -3.08428089e-02 -1.08072697e-02 1.54886964e+01] [ 3.08518183e-02 9.99523746e-01 6.67877595e-04 -1.24590214e+00] [ 1.07815235e-02 -1.00094475e-03 9.99941377e-01 -3.07629271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.603273559999998 meters 0.09173635489026341 Centerline is valid? [True, True] Translation: X:15.52, Y:-1.25, Z:-0.31 [[ 9.99438202e-01 -3.16702318e-02 -1.09671081e-02 1.55210270e+01] [ 3.16795807e-02 9.99497845e-01 6.79736388e-04 -1.24803174e+00] [ 1.09400735e-02 -1.02678790e-03 9.99939628e-01 -3.07384913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.63327356 meters 0.0986177928360893 Centerline is valid? [True, True] Translation: X:15.55, Y:-1.26, Z:-0.31 [[ 9.99377510e-01 -3.33128897e-02 -1.16122062e-02 1.55501085e+01] [ 3.33234651e-02 9.99444361e-01 7.18368963e-04 -1.26358756e+00] [ 1.15818231e-02 -1.10488073e-03 9.99932318e-01 -3.11151633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.66327356 meters 0.0941835559950598 Centerline is valid? [True, True] Translation: X:15.58, Y:-1.26, Z:-0.31 [[ 9.99379907e-01 -3.32500449e-02 -1.15860185e-02 1.55832801e+01] [ 3.32606039e-02 9.99446454e-01 7.19810655e-04 -1.25772863e+00] [ 1.15556713e-02 -1.10472228e-03 9.99932621e-01 -3.09326383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.693273559999998 meters 0.09600927023802418 Centerline is valid? [True, True] Translation: X:15.61, Y:-1.26, Z:-0.31 [[ 9.99382069e-01 -3.31545051e-02 -1.16729822e-02 1.56146728e+01] [ 3.31652328e-02 9.99449618e-01 7.26597632e-04 -1.26313690e+00] [ 1.16424677e-02 -1.11328582e-03 9.99931604e-01 -3.10657576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.72327356 meters 0.09965021453462451 Centerline is valid? [True, True] Translation: X:15.65, Y:-1.27, Z:-0.31 [[ 9.99367045e-01 -3.35935186e-02 -1.17040126e-02 1.56456121e+01] [ 3.36043272e-02 9.99434950e-01 7.28014708e-04 -1.27196167e+00] [ 1.16729427e-02 -1.12085938e-03 9.99931241e-01 -3.12661378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.75327356 meters 0.09686352115518726 Centerline is valid? [True, True] Translation: X:15.68, Y:-1.27, Z:-0.31 [[ 9.99355872e-01 -3.40433317e-02 -1.13530948e-02 1.56781920e+01] [ 3.40535430e-02 9.99419760e-01 7.07270039e-04 -1.26941036e+00] [ 1.13224295e-02 -1.09342757e-03 9.99935301e-01 -3.11178264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.783273559999998 meters 0.09782533552140324 Centerline is valid? [True, True] Translation: X:15.71, Y:-1.27, Z:-0.31 [[ 9.99328114e-01 -3.48372810e-02 -1.13879011e-02 1.57099733e+01] [ 3.48476145e-02 9.99392385e-01 7.10183870e-04 -1.27361298e+00] [ 1.13562408e-02 -1.10654789e-03 9.99934904e-01 -3.11635492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.81327356 meters 0.09865553884610058 Centerline is valid? [True, True] Translation: X:15.74, Y:-1.28, Z:-0.31 [[ 9.99306764e-01 -3.55944136e-02 -1.09100902e-02 1.57420190e+01] [ 3.56039510e-02 9.99365746e-01 6.81148873e-04 -1.27790068e+00] [ 1.08789254e-02 -1.06911899e-03 9.99940251e-01 -3.12345525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.84327356 meters 0.10047725700346388 Centerline is valid? [True, False] Translation: X:15.74, Y:-1.28, Z:-0.31 [[ 9.99306642e-01 -3.57131924e-02 -1.05263491e-02 1.57410031e+01] [ 3.57267914e-02 9.99360982e-01 1.10664632e-03 -1.27991132e+00] [ 1.04801007e-02 -1.48195170e-03 9.99943984e-01 -3.12007810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.873273559999998 meters 0.10174950362603455 Centerline is valid? [False, False] Translation: X:15.74, Y:-1.28, Z:-0.31 [[ 9.99308837e-01 -3.56855289e-02 -1.04111012e-02 1.57407072e+01] [ 3.57011081e-02 9.99361648e-01 1.31434800e-03 -1.28079256e+00] [ 1.03575521e-02 -1.68512742e-03 9.99944939e-01 -3.11905925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.90327356 meters 0.10358215894884362 Centerline is valid? [False, False] Translation: X:15.74, Y:-1.28, Z:-0.31 [[ 9.99309228e-01 -3.57367332e-02 -1.01957276e-02 1.57400391e+01] [ 3.57543986e-02 9.99359396e-01 1.55559531e-03 -1.28206511e+00] [ 1.01336043e-02 -1.91906286e-03 9.99946812e-01 -3.11556762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.93327356 meters 0.09750781044697754 Centerline is valid? [False, True] Translation: X:15.74, Y:-1.28, Z:-0.31 [[ 9.99310446e-01 -3.57258321e-02 -1.01141766e-02 1.57398588e+01] [ 3.57448784e-02 9.99359487e-01 1.70860883e-03 -1.28260850e+00] [ 1.00466569e-02 -2.06896066e-03 9.99947391e-01 -3.11540053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.963273559999998 meters 0.09800100235051178 Centerline is valid? [True, True] Translation: X:15.77, Y:-1.29, Z:-0.31 [[ 9.99299471e-01 -3.58381661e-02 -1.07792821e-02 1.57718731e+01] [ 3.58480948e-02 9.99356984e-01 7.29230995e-04 -1.28568324e+00] [ 1.07462166e-02 -1.11513687e-03 9.99941636e-01 -3.12174249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.99327356 meters 0.09857347341365809 Centerline is valid? [True, True] Translation: X:15.80, Y:-1.29, Z:-0.31 [[ 9.99269635e-01 -3.63893999e-02 -1.16622827e-02 1.58035463e+01] [ 3.64010608e-02 9.99336950e-01 7.89113178e-04 -1.28922709e+00] [ 1.16258347e-02 -1.21305630e-03 9.99931682e-01 -3.13301934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.02327356 meters 0.09616686378360358 Centerline is valid? [True, True] Translation: X:15.84, Y:-1.29, Z:-0.31 [[ 9.99250641e-01 -3.68434238e-02 -1.18625151e-02 1.58356453e+01] [ 3.68555343e-02 9.99320281e-01 8.03849704e-04 -1.28819615e+00] [ 1.18248354e-02 -1.24044666e-03 9.99929315e-01 -3.12531082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.053273559999997 meters 0.09744014666766662 Centerline is valid? [True, True] Translation: X:15.87, Y:-1.29, Z:-0.31 [[ 9.99241168e-01 -3.72070927e-02 -1.15204623e-02 1.58661295e+01] [ 3.72185669e-02 9.99306842e-01 7.83127655e-04 -1.29382318e+00] [ 1.14833389e-02 -1.21130849e-03 9.99933331e-01 -3.13867148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.08327356 meters 0.10237249790856498 Centerline is valid? [True, False] Translation: X:15.86, Y:-1.30, Z:-0.32 [[ 9.99420639e-01 -3.26279435e-02 9.68518402e-03 1.58556170e+01] [ 3.26233205e-02 9.99467516e-01 6.34969909e-04 -1.29806770e+00] [-9.70074458e-03 -3.18639170e-04 9.99952896e-01 -3.22094349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.11327356 meters 0.09686365188028595 Centerline is valid? [False, True] Translation: X:15.86, Y:-1.30, Z:-0.32 [[ 9.99418016e-01 -3.26986500e-02 9.71736762e-03 1.58553364e+01] [ 3.26943078e-02 9.99465215e-01 6.05403539e-04 -1.29837141e+00] [-9.73196679e-03 -2.87348596e-04 9.99952602e-01 -3.21769699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.143273559999997 meters 0.0981855048218729 Centerline is valid? [True, True] Translation: X:15.89, Y:-1.30, Z:-0.32 [[ 9.99438301e-01 -3.19359007e-02 1.01577606e-02 1.58855642e+01] [ 3.19450800e-02 9.99489350e-01 -7.42665344e-04 -1.30351738e+00] [-1.01288558e-02 1.06673866e-03 9.99948133e-01 -3.22402475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.17327356 meters 0.10174977847050398 Centerline is valid? [True, False] Translation: X:15.88, Y:-1.31, Z:-0.33 [[ 9.99487373e-01 -2.67394616e-02 1.76065866e-02 1.58763820e+01] [ 2.67952307e-02 9.99636622e-01 -2.93921988e-03 -1.30596821e+00] [-1.75215956e-02 3.40948571e-03 9.99840672e-01 -3.26906328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.20327356 meters 0.09547896303040287 Centerline is valid? [False, True] Translation: X:15.87, Y:-1.31, Z:-0.32 [[ 9.99710506e-01 -2.14101145e-02 1.09777598e-02 1.58703190e+01] [ 2.15261701e-02 9.99712461e-01 -1.05650105e-02 -1.30599544e+00] [-1.07484052e-02 1.07982612e-02 9.99883928e-01 -3.24077206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.23327356 meters 0.09872562277057444 Centerline is valid? [True, True] Translation: X:15.90, Y:-1.32, Z:-0.33 [[ 9.99714590e-01 -2.13266465e-02 1.07662360e-02 1.59002861e+01] [ 2.13373507e-02 9.99771945e-01 -8.80339606e-04 -1.31987631e+00] [-1.07450061e-02 1.10981130e-03 9.99941655e-01 -3.31689842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.26327356 meters 0.09590968781872414 Centerline is valid? [True, True] Translation: X:15.93, Y:-1.32, Z:-0.33 [[ 9.99734519e-01 -2.07634541e-02 9.98848780e-03 1.59328090e+01] [ 2.07726381e-02 9.99783892e-01 -8.16584752e-04 -1.31961642e+00] [-9.96937409e-03 1.02385521e-03 9.99949780e-01 -3.32386607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.29327356 meters 0.09569898537536616 Centerline is valid? [True, True] Translation: X:15.97, Y:-1.32, Z:-0.33 [[ 9.99743626e-01 -2.03548654e-02 9.91770290e-03 1.59653311e+01] [ 2.03639014e-02 9.99792305e-01 -8.10957995e-04 -1.32282827e+00] [-9.89913611e-03 1.01271321e-03 9.99950490e-01 -3.34219641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.32327356 meters 0.09564547019667341 Centerline is valid? [True, True] Translation: X:16.00, Y:-1.33, Z:-0.34 [[ 9.99776368e-01 -1.89786378e-02 9.32878529e-03 1.59965782e+01] [ 1.89865935e-02 9.99819446e-01 -7.64987598e-04 -1.32744632e+00] [-9.31258251e-03 9.41938376e-04 9.99956193e-01 -3.36140990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.353273559999998 meters 0.09573241207242102 Centerline is valid? [True, True] Translation: X:16.03, Y:-1.33, Z:-0.34 [[ 9.99767315e-01 -1.87729359e-02 1.06250819e-02 1.60292105e+01] [ 1.87832348e-02 9.99823201e-01 -8.70326022e-04 -1.33065006e+00] [-1.06068648e-02 1.06969692e-03 9.99943173e-01 -3.37062074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.38327356 meters 0.09522495645328727 Centerline is valid? [True, True] Translation: X:16.06, Y:-1.33, Z:-0.34 [[ 9.99778921e-01 -1.79623196e-02 1.09299919e-02 1.60603481e+01] [ 1.79731976e-02 9.99838066e-01 -8.97825806e-04 -1.33345721e+00] [-1.09120950e-02 1.09407422e-03 9.99939863e-01 -3.38029681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.41327356 meters 0.09632017132410808 Centerline is valid? [True, True] Translation: X:16.09, Y:-1.34, Z:-0.34 [[ 9.99780702e-01 -1.76469034e-02 1.12754359e-02 1.60916316e+01] [ 1.76584319e-02 9.99843651e-01 -9.23699719e-04 -1.33866102e+00] [-1.12573725e-02 1.12260367e-03 9.99936004e-01 -3.39895899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.443273559999998 meters 0.09660143236663904 Centerline is valid? [True, True] Translation: X:16.12, Y:-1.34, Z:-0.34 [[ 9.99786037e-01 -1.68379962e-02 1.20151172e-02 1.61225742e+01] [ 1.68510253e-02 9.99857527e-01 -9.83970789e-04 -1.34396705e+00] [-1.19968373e-02 1.18622730e-03 9.99927332e-01 -3.41769942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.47327356 meters 0.09713224805555763 Centerline is valid? [True, True] Translation: X:16.15, Y:-1.35, Z:-0.34 [[ 9.99783663e-01 -1.66641163e-02 1.24472423e-02 1.61540982e+01] [ 1.66781754e-02 9.99860383e-01 -1.02653862e-03 -1.34866091e+00] [-1.24283981e-02 1.23391383e-03 9.99922003e-01 -3.43054042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.50327356 meters 0.09813861192482821 Centerline is valid? [True, True] Translation: X:16.19, Y:-1.35, Z:-0.34 [[ 9.99773847e-01 -1.69199531e-02 1.28829433e-02 1.61853418e+01] [ 1.69350529e-02 9.99856026e-01 -1.06387984e-03 -1.35424243e+00] [-1.28630877e-02 1.28181257e-03 9.99916445e-01 -3.44761913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.533273559999998 meters 0.09571443709003037 Centerline is valid? [True, True] Translation: X:16.22, Y:-1.35, Z:-0.34 [[ 9.99769673e-01 -1.71998137e-02 1.28361803e-02 1.62172674e+01] [ 1.72148086e-02 9.99851254e-01 -1.05859505e-03 -1.35429199e+00] [-1.28160634e-02 1.27932362e-03 9.99917052e-01 -3.44503369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.56327356 meters 0.0934723917362691 Centerline is valid? [True, True] Translation: X:16.25, Y:-1.35, Z:-0.34 [[ 9.99754990e-01 -1.75705126e-02 1.34624446e-02 1.62498424e+01] [ 1.75870856e-02 9.99844715e-01 -1.11364789e-03 -1.35316250e+00] [-1.34407867e-02 1.35014020e-03 9.99908757e-01 -3.44243791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.59327356 meters 0.09417281355525708 Centerline is valid? [True, True] Translation: X:16.28, Y:-1.36, Z:-0.35 [[ 9.99754768e-01 -1.77208290e-02 1.32806415e-02 1.62805574e+01] [ 1.77369272e-02 9.99842088e-01 -1.09534576e-03 -1.35789972e+00] [-1.32591339e-02 1.33063492e-03 9.99911208e-01 -3.45177324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.623273559999998 meters 0.09636860891460279 Centerline is valid? [True, True] Translation: X:16.31, Y:-1.37, Z:-0.35 [[ 9.99711498e-01 -1.89806335e-02 1.47192529e-02 1.63110804e+01] [ 1.90006704e-02 9.99818723e-01 -1.22261049e-03 -1.36585034e+00] [-1.46933787e-02 1.50193344e-03 9.99890918e-01 -3.47406142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.65327356 meters 0.09698243289838755 Centerline is valid? [True, True] Translation: X:16.34, Y:-1.37, Z:-0.35 [[ 9.99699277e-01 -1.94298010e-02 1.49612487e-02 1.63426454e+01] [ 1.94505003e-02 9.99810053e-01 -1.23924863e-03 -1.37012656e+00] [-1.49343285e-02 1.52987973e-03 9.99887306e-01 -3.49495450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.68327356 meters 0.09342571836195163 Centerline is valid? [True, True] Translation: X:16.38, Y:-1.37, Z:-0.35 [[ 9.99693844e-01 -1.97492152e-02 1.49059233e-02 1.63751217e+01] [ 1.97699010e-02 9.99803785e-01 -1.24166961e-03 -1.36706200e+00] [-1.48784766e-02 1.53597809e-03 9.99888130e-01 -3.48758201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.713273559999998 meters 0.09701698590080142 Centerline is valid? [True, True] Translation: X:16.41, Y:-1.38, Z:-0.35 [[ 9.99673947e-01 -2.03681000e-02 1.53993862e-02 1.64056127e+01] [ 2.03902485e-02 9.99791275e-01 -1.28261812e-03 -1.37689589e+00] [-1.53700475e-02 1.59619723e-03 9.99880600e-01 -3.52303451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.74327356 meters 0.09550887037926589 Centerline is valid? [True, True] Translation: X:16.44, Y:-1.38, Z:-0.35 [[ 9.99673172e-01 -2.06231735e-02 1.51074356e-02 1.64378490e+01] [ 2.06445657e-02 9.99786082e-01 -1.26141122e-03 -1.37699798e+00] [-1.50781896e-02 1.57288540e-03 9.99885081e-01 -3.53487004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.77327356 meters 0.09550887037926589 Centerline is valid? [True, True] Translation: X:16.47, Y:-1.38, Z:-0.35 [[ 9.99675269e-01 -2.05212449e-02 1.51074214e-02 1.64704321e+01] [ 2.05426282e-02 9.99788182e-01 -1.26158235e-03 -1.37983049e+00] [-1.50783322e-02 1.57151882e-03 9.99885081e-01 -3.54813039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.803273559999997 meters 0.0993268581007604 Centerline is valid? [True, True] Translation: X:16.50, Y:-1.39, Z:-0.36 [[ 9.99630931e-01 -2.11041723e-02 1.71059977e-02 1.65009359e+01] [ 2.11317020e-02 9.99775678e-01 -1.43018296e-03 -1.38994934e+00] [-1.70719776e-02 1.79113397e-03 9.99852659e-01 -3.57577259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.83327356 meters 0.0989225098442454 Centerline is valid? [True, True] Translation: X:16.53, Y:-1.39, Z:-0.36 [[ 9.99612955e-01 -2.14438840e-02 1.77228840e-02 1.65328390e+01] [ 2.14735563e-02 9.99768313e-01 -1.48561553e-03 -1.39215442e+00] [-1.76869204e-02 1.86561388e-03 9.99841834e-01 -3.58412873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.86327356 meters 0.09565971896417053 Centerline is valid? [True, True] Translation: X:16.56, Y:-1.39, Z:-0.36 [[ 9.99601927e-01 -2.18585400e-02 1.78379420e-02 1.65649225e+01] [ 2.18886229e-02 9.99759301e-01 -1.49293761e-03 -1.38906919e+00] [-1.78010150e-02 1.88279130e-03 9.99839777e-01 -3.58322337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.893273559999997 meters 0.09641230227409592 Centerline is valid? [True, True] Translation: X:16.60, Y:-1.39, Z:-0.36 [[ 9.99581411e-01 -2.22298184e-02 1.85158923e-02 1.65972665e+01] [ 2.22623714e-02 9.99750955e-01 -1.55382622e-03 -1.39336339e+00] [-1.84767397e-02 1.96538348e-03 9.99827359e-01 -3.60351849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.92327356 meters 0.09838900887827001 Centerline is valid? [True, True] Translation: X:16.63, Y:-1.40, Z:-0.36 [[ 9.99572658e-01 -2.26334062e-02 1.84994427e-02 1.66278880e+01] [ 2.26660589e-02 9.99741879e-01 -1.55727707e-03 -1.39972538e+00] [-1.84594211e-02 1.97592103e-03 9.99827658e-01 -3.61776743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.95327356 meters 0.10056930337374731 Centerline is valid? [True, False] Translation: X:16.62, Y:-1.40, Z:-0.36 [[ 9.99776749e-01 -1.75304412e-02 1.17955611e-02 1.66219564e+01] [ 1.76411659e-02 9.99800670e-01 -9.34932685e-03 -1.39915910e+00] [-1.16293121e-02 9.55532706e-03 9.99886721e-01 -3.59104054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.98327356 meters 0.09958109834428293 Centerline is valid? [False, True] Translation: X:16.62, Y:-1.40, Z:-0.36 [[ 9.99830294e-01 -1.35089469e-02 1.25255961e-02 1.66206378e+01] [ 1.35660389e-02 9.99897922e-01 -4.48431997e-03 -1.40143130e+00] [-1.24637391e-02 4.65348168e-03 9.99911496e-01 -3.59401232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.01327356 meters 0.09923993969305123 Centerline is valid? [True, True] Translation: X:16.65, Y:-1.41, Z:-0.36 [[ 9.99817269e-01 -1.40607685e-02 1.29507923e-02 1.66519908e+01] [ 1.40779977e-02 9.99900131e-01 -1.24015336e-03 -1.40564886e+00] [-1.29320614e-02 1.42224797e-03 9.99915366e-01 -3.61943029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.04327356 meters 0.09953717085991289 Centerline is valid? [True, True] Translation: X:16.68, Y:-1.41, Z:-0.36 [[ 9.99799374e-01 -1.49199030e-02 1.33644228e-02 1.66842796e+01] [ 1.49383317e-02 9.99887597e-01 -1.28016861e-03 -1.40978978e+00] [-1.33438206e-02 1.47955395e-03 9.99909873e-01 -3.62632218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.07327356 meters 0.09897314393886518 Centerline is valid? [True, True] Translation: X:16.72, Y:-1.41, Z:-0.36 [[ 9.99774355e-01 -1.68992698e-02 1.28706271e-02 1.67152864e+01] [ 1.69165459e-02 9.99856143e-01 -1.23459510e-03 -1.41256177e+00] [-1.28479118e-02 1.45204308e-03 9.99916408e-01 -3.63939997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.103273559999998 meters 0.10032059336661285 Centerline is valid? [True, False] Translation: X:16.72, Y:-1.41, Z:-0.36 [[ 9.99780046e-01 -1.65934795e-02 1.28264068e-02 1.67157697e+01] [ 1.66044079e-02 9.99861859e-01 -7.45993989e-04 -1.41337283e+00] [-1.28122563e-02 9.58804796e-04 9.99917460e-01 -3.64549803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.13327356 meters 0.10289370710419662 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.41, Z:-0.37 [[ 9.99787362e-01 -1.62082149e-02 1.27485505e-02 1.67164043e+01] [ 1.62113838e-02 9.99868576e-01 -1.45258011e-04 -1.41431547e+00] [-1.27445207e-02 3.51898768e-04 9.99918723e-01 -3.65286747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.16327356 meters 0.10096934385201127 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.41, Z:-0.36 [[ 9.99918504e-01 -1.13244601e-02 5.89425589e-03 1.67100168e+01] [ 1.13703973e-02 9.99904782e-01 -7.81928485e-03 -1.41363719e+00] [-5.80514547e-03 7.88566764e-03 9.99952057e-01 -3.62449567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.193273559999998 meters 0.10395222200530996 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.36 [[ 9.99953411e-01 -7.12980664e-03 6.50697395e-03 1.67089975e+01] [ 7.14900787e-03 9.99970146e-01 -2.93239500e-03 -1.41565342e+00] [-6.48587228e-03 2.97877680e-03 9.99974530e-01 -3.62835962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.22327356 meters 0.10130418983864556 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.36 [[ 9.99955013e-01 -6.96262729e-03 6.44161646e-03 1.67093250e+01] [ 6.98023428e-03 9.99971952e-01 -2.71488525e-03 -1.41592442e+00] [-6.42253305e-03 2.75972711e-03 9.99975567e-01 -3.63129726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.25327356 meters 0.10213482660431103 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.36 [[ 9.99957765e-01 -6.61933552e-03 6.37591558e-03 1.67099133e+01] [ 6.63350991e-03 9.99975568e-01 -2.20453831e-03 -1.41664078e+00] [-6.36116722e-03 2.24673990e-03 9.99977244e-01 -3.63821583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.283273559999998 meters 0.10240580599275806 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.36 [[ 9.99958965e-01 -6.41313857e-03 6.39848087e-03 1.67100657e+01] [ 6.42495607e-03 9.99977689e-01 -1.82808053e-03 -1.41744881e+00] [-6.38661438e-03 1.86911547e-03 9.99977859e-01 -3.64118456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.31327356 meters 0.10389688171074252 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.36 [[ 9.99960726e-01 -6.18535445e-03 6.34721324e-03 1.67104029e+01] [ 6.19492310e-03 9.99979703e-01 -1.48898363e-03 -1.41807291e+00] [-6.33787452e-03 1.52824565e-03 9.99978748e-01 -3.64458150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.34327356 meters 0.10394260349463498 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.36 [[ 9.99962669e-01 -5.90550699e-03 6.30754458e-03 1.67107897e+01] [ 5.91235234e-03 9.99981952e-01 -1.06716853e-03 -1.41883013e+00] [-6.30112857e-03 1.10442112e-03 9.99979538e-01 -3.64893918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.373273559999998 meters 0.10278321583836401 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.37 [[ 9.99964671e-01 -5.67040760e-03 6.20516149e-03 1.67110723e+01] [ 5.67501403e-03 9.99983634e-01 -7.24997607e-04 -1.41962082e+00] [-6.20094891e-03 7.60186372e-04 9.99980485e-01 -3.65015717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.40327356 meters 0.10331397008243424 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.37 [[ 9.99966936e-01 -5.41885037e-03 6.06321464e-03 1.67115229e+01] [ 5.42149971e-03 9.99985215e-01 -4.20601294e-04 -1.42020606e+00] [-6.06084582e-03 4.53459103e-04 9.99981530e-01 -3.65249926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.43327356 meters 0.10445984612785769 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.37 [[ 9.99969051e-01 -5.22102079e-03 5.88543141e-03 1.67119352e+01] [ 5.22223464e-03 9.99986346e-01 -1.90896724e-04 -1.42067250e+00] [-5.88435437e-03 2.21625920e-04 9.99982662e-01 -3.65337051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.463273559999998 meters 0.1055945700615827 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.37 [[ 9.99970692e-01 -4.99487579e-03 5.80219564e-03 1.67123531e+01] [ 4.99422111e-03 9.99987521e-01 1.27316036e-04 -1.42112554e+00] [-5.80275916e-03 -9.83348563e-05 9.99983159e-01 -3.65706255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.49327356 meters 0.10595978806549386 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.37 [[ 9.99972758e-01 -4.66561144e-03 5.71981193e-03 1.67129060e+01] [ 4.66239172e-03 9.99988965e-01 5.76112346e-04 -1.42182966e+00] [-5.72243673e-03 -5.49428647e-04 9.99983476e-01 -3.66243238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.52327356 meters 0.10582524939229768 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.37 [[ 9.99974165e-01 -4.49016858e-03 5.61322104e-03 1.67132526e+01] [ 4.48588368e-03 9.99989638e-01 7.75715527e-04 -1.42213484e+00] [-5.61664597e-03 -7.50515230e-04 9.99983945e-01 -3.66445373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.553273559999997 meters 0.11188977281144856 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.37 [[ 9.99975807e-01 -4.18160740e-03 5.55882007e-03 1.67136829e+01] [ 4.17493632e-03 9.99990551e-01 1.21115153e-03 -1.42291459e+00] [-5.56383210e-03 -1.18791450e-03 9.99983816e-01 -3.66892885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.58327356 meters 0.10313525390565124 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.37 [[ 9.99976795e-01 -4.03400417e-03 5.48970825e-03 1.67138991e+01] [ 4.02635847e-03 9.99990910e-01 1.40307411e-03 -1.42337302e+00] [-5.49531836e-03 -1.38093802e-03 9.99983947e-01 -3.66995597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.61327356 meters 0.1025888031470541 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.42, Z:-0.37 [[ 9.99977442e-01 -3.93003225e-03 5.44702495e-03 1.67139577e+01] [ 3.92157092e-03 9.99991089e-01 1.56319710e-03 -1.42391938e+00] [-5.45311982e-03 -1.54180094e-03 9.99983943e-01 -3.66950707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.643273559999997 meters 0.10435200440476829 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.43, Z:-0.37 [[ 9.99977751e-01 -3.69815780e-03 5.55159592e-03 1.67137630e+01] [ 3.68658702e-03 9.99991014e-01 2.09301418e-03 -1.42551710e+00] [-5.55928633e-03 -2.07250117e-03 9.99982399e-01 -3.66957200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.67327356 meters 0.10807923594941682 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.43, Z:-0.37 [[ 9.99978005e-01 -3.61798017e-03 5.55877334e-03 1.67136422e+01] [ 3.60535259e-03 9.99990901e-01 2.27999254e-03 -1.42628778e+00] [-5.56697174e-03 -2.25990106e-03 9.99981951e-01 -3.66795347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.70327356 meters 0.10307112955051846 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.43, Z:-0.37 [[ 9.99979235e-01 -3.35469941e-03 5.50238247e-03 1.67138931e+01] [ 3.33986771e-03 9.99990771e-01 2.70248193e-03 -1.42724615e+00] [-5.51139771e-03 -2.68404859e-03 9.99981210e-01 -3.66988807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.73327356 meters 0.10707984158294247 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.43, Z:-0.37 [[ 9.99978455e-01 -3.37782596e-03 5.62850017e-03 1.67134016e+01] [ 3.36174118e-03 9.99990246e-01 2.86475156e-03 -1.42819274e+00] [-5.63812191e-03 -2.84576828e-03 9.99980056e-01 -3.66648866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.76327356 meters 0.1080546504562393 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.43, Z:-0.37 [[ 9.99979443e-01 -3.18809311e-03 5.56319812e-03 1.67137244e+01] [ 3.17064864e-03 9.99990038e-01 3.14169788e-03 -1.42865064e+00] [-5.57315873e-03 -3.12399435e-03 9.99979590e-01 -3.66941833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.79327356 meters 0.1073074207225993 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.43, Z:-0.37 [[ 9.99980013e-01 -3.13055408e-03 5.49307540e-03 1.67137755e+01] [ 3.11281853e-03 9.99989925e-01 3.23429633e-03 -1.42913429e+00] [-5.50314520e-03 -3.21713274e-03 9.99979683e-01 -3.66810148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.82327356 meters 0.10810163001381186 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.43, Z:-0.37 [[ 9.99981114e-01 -2.87017304e-03 5.43442273e-03 1.67142590e+01] [ 2.85075207e-03 9.99989535e-01 3.57807444e-03 -1.42961733e+00] [-5.44463555e-03 -3.56251468e-03 9.99978832e-01 -3.67320955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.853273559999998 meters 0.10629326255856059 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.43, Z:-0.37 [[ 9.99981971e-01 -2.83067286e-03 5.29573030e-03 1.67144296e+01] [ 2.81185007e-03 9.99989716e-01 3.55840916e-03 -1.42973068e+00] [-5.30574853e-03 -3.54345420e-03 9.99979646e-01 -3.67171127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.88327356 meters 0.10862013455663237 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99983366e-01 -2.55255415e-03 5.17215679e-03 1.67150588e+01] [ 2.53255669e-03 9.99989308e-01 3.86923632e-03 -1.43007426e+00] [-5.18197792e-03 -3.85607318e-03 9.99979139e-01 -3.67695442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.91327356 meters 0.10855285174485316 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99983443e-01 -2.61871596e-03 5.12401496e-03 1.67150575e+01] [ 2.59957532e-03 9.99989633e-01 3.73857869e-03 -1.42989161e+00] [-5.13375212e-03 -3.72519652e-03 9.99979884e-01 -3.67565940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.943273559999998 meters 0.1095662459466947 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99983515e-01 -2.69962830e-03 5.06761772e-03 1.67150254e+01] [ 2.68152320e-03 9.99990010e-01 3.57610413e-03 -1.42967318e+00] [-5.07722125e-03 -3.56245624e-03 9.99980765e-01 -3.67351919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.97327356 meters 0.10856612696432597 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99984763e-01 -2.43904085e-03 4.95234749e-03 1.67155057e+01] [ 2.41996403e-03 9.99989644e-01 3.85442144e-03 -1.43002599e+00] [-4.96169730e-03 -3.84237821e-03 9.99980309e-01 -3.67675912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.00327356 meters 0.10890559674734754 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99984585e-01 -2.53958303e-03 4.93759895e-03 1.67153104e+01] [ 2.52127204e-03 9.99989935e-01 3.71117590e-03 -1.42990150e+00] [-4.94697410e-03 -3.69866966e-03 9.99980923e-01 -3.67356662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.033273559999998 meters 0.1134973124427986 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99985006e-01 -2.31534429e-03 4.96262623e-03 1.67152468e+01] [ 2.29502934e-03 9.99988980e-01 4.09538026e-03 -1.43106132e+00] [-4.97205375e-03 -4.08392948e-03 9.99979300e-01 -3.67312860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.06327356 meters 0.10815102638968267 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.43, Z:-0.37 [[ 9.99984171e-01 -2.45983209e-03 5.06032597e-03 1.67147069e+01] [ 2.43975504e-03 9.99989144e-01 3.96989638e-03 -1.43132407e+00] [-5.07003631e-03 -3.95748758e-03 9.99979316e-01 -3.66823548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.09327356 meters 0.11348430479372923 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99985120e-01 -2.20816637e-03 4.98836588e-03 1.67150064e+01] [ 2.18650185e-03 9.99988173e-01 4.34429506e-03 -1.43211570e+00] [-4.99789981e-03 -4.33332335e-03 9.99978121e-01 -3.67053145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.123273559999998 meters 0.10708710156313801 Centerline is valid? [False, False] Translation: X:16.71, Y:-1.43, Z:-0.37 [[ 9.99984724e-01 -2.31445325e-03 5.01942753e-03 1.67146642e+01] [ 2.29324101e-03 9.99988434e-01 4.22767455e-03 -1.43229682e+00] [-5.02915423e-03 -4.21609921e-03 9.99978466e-01 -3.66648641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.15327356 meters 0.10797556873199435 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99986220e-01 -2.15987399e-03 4.78482189e-03 1.67151462e+01] [ 2.13912648e-03 9.99988307e-01 4.33699164e-03 -1.43252082e+00] [-4.79413329e-03 -4.32669654e-03 9.99979148e-01 -3.66658766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.18327356 meters 0.10794901302980187 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99986580e-01 -2.21647726e-03 4.68264875e-03 1.67152281e+01] [ 2.19682673e-03 9.99988778e-01 4.19744052e-03 -1.43225020e+00] [-4.69189973e-03 -4.18709722e-03 9.99980227e-01 -3.66510723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.213273559999998 meters 0.10739359828224698 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99987874e-01 -1.99569896e-03 4.50203646e-03 1.67158299e+01] [ 1.97579912e-03 9.99988278e-01 4.42031261e-03 -1.43246129e+00] [-4.51080530e-03 -4.41136389e-03 9.99980096e-01 -3.66840340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.24327356 meters 0.10519922676253662 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99987875e-01 -2.02364779e-03 4.48935644e-03 1.67158109e+01] [ 2.00405826e-03 9.99988471e-01 4.36376572e-03 -1.43242773e+00] [-4.49813541e-03 -4.35471588e-03 9.99980401e-01 -3.66793302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.27327356 meters 0.10522324475776887 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99989198e-01 -1.94288072e-03 4.22251116e-03 1.67161832e+01] [ 1.92483005e-03 9.99989011e-01 4.27473261e-03 -1.43230171e+00] [-4.23077006e-03 -4.26655882e-03 9.99981948e-01 -3.66551027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.303273559999997 meters 0.10581422400697217 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99989762e-01 -1.94858824e-03 4.08407919e-03 1.67163434e+01] [ 1.93155069e-03 9.99989434e-01 4.17149878e-03 -1.43206626e+00] [-4.09216457e-03 -4.16356747e-03 9.99982959e-01 -3.66395052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.33327356 meters 0.10897309858843936 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99990104e-01 -1.97939735e-03 3.98422467e-03 1.67163650e+01] [ 1.96318913e-03 9.99989799e-01 4.06790755e-03 -1.43195242e+00] [-3.99223603e-03 -4.06004551e-03 9.99983789e-01 -3.66138132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.36327356 meters 0.10484496022876252 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99990952e-01 -1.94875974e-03 3.78140913e-03 1.67164987e+01] [ 1.93382002e-03 9.99990327e-01 3.95047697e-03 -1.43181325e+00] [-3.78907108e-03 -3.94312866e-03 9.99985047e-01 -3.65730664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.393273559999997 meters 0.10432548182703033 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99990711e-01 -2.09052974e-03 3.76924605e-03 1.67162413e+01] [ 2.07648862e-03 9.99990905e-01 3.72525300e-03 -1.43160825e+00] [-3.77699952e-03 -3.71739160e-03 9.99985958e-01 -3.65322243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.42327356 meters 0.1060420842155235 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99991733e-01 -1.80272162e-03 3.64486324e-03 1.67167919e+01] [ 1.78784886e-03 9.99990080e-01 4.07962061e-03 -1.43212182e+00] [-3.65218150e-03 -4.07307042e-03 9.99985036e-01 -3.65754931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.45327356 meters 0.10454063816157087 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99992116e-01 -1.74890575e-03 3.56499851e-03 1.67168601e+01] [ 1.73424046e-03 9.99990039e-01 4.11263652e-03 -1.43244274e+00] [-3.57215562e-03 -4.10642154e-03 9.99985188e-01 -3.65626316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.48327356 meters 0.10494706057374556 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99992503e-01 -1.64665186e-03 3.50455508e-03 1.67170639e+01] [ 1.63180702e-03 9.99989703e-01 4.23452234e-03 -1.43274454e+00] [-3.51149177e-03 -4.22877184e-03 9.99984893e-01 -3.65737871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.51327356 meters 0.10489249676329089 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99992597e-01 -1.64799818e-03 3.47701576e-03 1.67170590e+01] [ 1.63336547e-03 9.99989816e-01 4.20706190e-03 -1.43287720e+00] [-3.48391358e-03 -4.20135152e-03 9.99985105e-01 -3.65640405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.54327356 meters 0.10223502647031014 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99992724e-01 -1.49435939e-03 3.50969641e-03 1.67169151e+01] [ 1.47851219e-03 9.99988721e-01 4.51352457e-03 -1.43399882e+00] [-3.51640165e-03 -4.50830260e-03 9.99983655e-01 -3.65515266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.57327356 meters 0.10276964554570886 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.37 [[ 9.99992631e-01 -1.50418379e-03 3.53197648e-03 1.67166236e+01] [ 1.48810513e-03 9.99988539e-01 4.55053750e-03 -1.43451730e+00] [-3.53878084e-03 -4.54524802e-03 9.99983409e-01 -3.65145053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.603273559999998 meters 0.10320286185904166 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.43, Z:-0.36 [[ 9.99992641e-01 -1.53263042e-03 3.51698087e-03 1.67163538e+01] [ 1.51660414e-03 9.99988476e-01 4.55498292e-03 -1.43498823e+00] [-3.52392144e-03 -4.54961553e-03 9.99983441e-01 -3.64702941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.63327356 meters 0.10019776383184541 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.36 [[ 9.99993032e-01 -1.42122748e-03 3.45192198e-03 1.67164704e+01] [ 1.40501258e-03 9.99987990e-01 4.69524494e-03 -1.43541713e+00] [-3.45855354e-03 -4.69036223e-03 9.99983019e-01 -3.64675520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.66327356 meters 0.10019776383184541 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.36 [[ 9.99993032e-01 -1.42122748e-03 3.45192198e-03 1.67164704e+01] [ 1.40501258e-03 9.99987990e-01 4.69524494e-03 -1.43541713e+00] [-3.45855354e-03 -4.69036223e-03 9.99983019e-01 -3.64675520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.693273559999998 meters 0.1023869357331212 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.36 [[ 9.99993009e-01 -1.44899938e-03 3.44718391e-03 1.67161482e+01] [ 1.43275583e-03 9.99987882e-01 4.70993402e-03 -1.43593227e+00] [-3.45396683e-03 -4.70496212e-03 9.99982967e-01 -3.64195106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.72327356 meters 0.10055024509830651 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.36 [[ 9.99993484e-01 -1.32218894e-03 3.35908858e-03 1.67163171e+01] [ 1.30579372e-03 9.99987248e-01 4.87836831e-03 -1.43644640e+00] [-3.36549587e-03 -4.87395025e-03 9.99982459e-01 -3.64183697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.75327356 meters 0.10163876042954575 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.36 [[ 9.99993789e-01 -1.20981768e-03 3.31034098e-03 1.67164534e+01] [ 1.19316470e-03 9.99986648e-01 5.02795027e-03 -1.43695576e+00] [-3.31637969e-03 -5.02396926e-03 9.99981881e-01 -3.64240380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.783273559999998 meters 0.10079271815215295 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.36 [[ 9.99993810e-01 -1.07731806e-03 3.34965117e-03 1.67163221e+01] [ 1.05971124e-03 9.99985638e-01 5.25365342e-03 -1.43799001e+00] [-3.35526291e-03 -5.25007124e-03 9.99980589e-01 -3.64125746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.81327356 meters 0.10107581996928731 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.36 [[ 9.99993926e-01 -1.03158434e-03 3.32924860e-03 1.67162791e+01] [ 1.01370623e-03 9.99985082e-01 5.36723956e-03 -1.43848165e+00] [-3.33473570e-03 -5.36383208e-03 9.99980054e-01 -3.64010225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.84327356 meters 0.10218156518910597 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.36 [[ 9.99987110e-01 -4.44030216e-03 2.46234595e-03 1.67186184e+01] [ 4.43623098e-03 9.99988788e-01 1.65638246e-03 -1.43795171e+00] [-2.46967318e-03 -1.64543757e-03 9.99995597e-01 -3.64975875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.873273559999998 meters 0.10314543915198915 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99988660e-01 -4.16091850e-03 2.31659618e-03 1.67190857e+01] [ 4.15628479e-03 9.99989360e-01 2.00145665e-03 -1.43866381e+00] [-2.32489943e-03 -1.99180552e-03 9.99995314e-01 -3.65237162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.90327356 meters 0.10216498269616138 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99990383e-01 -3.79136241e-03 2.20419754e-03 1.67195146e+01] [ 3.78576441e-03 9.99989612e-01 2.53834909e-03 -1.43991526e+00] [-2.21379845e-03 -2.52998011e-03 9.99994349e-01 -3.65524432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.93327356 meters 0.10313964809804309 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99990749e-01 -3.72266022e-03 2.15510760e-03 1.67195673e+01] [ 3.71694550e-03 9.99989582e-01 2.64967167e-03 -1.44036434e+00] [-2.16494898e-03 -2.64163674e-03 9.99994167e-01 -3.65479395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.963273559999998 meters 0.10401552209281914 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99991331e-01 -3.60687903e-03 2.08050235e-03 1.67197517e+01] [ 3.60107951e-03 9.99989639e-01 2.78459937e-03 -1.44071897e+00] [-2.09052451e-03 -2.77708317e-03 9.99993959e-01 -3.65530506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.99327356 meters 0.10169094023453093 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99991432e-01 -3.56870226e-03 2.09787451e-03 1.67195748e+01] [ 3.56258219e-03 9.99989409e-01 2.91380517e-03 -1.44138464e+00] [-2.10825079e-03 -2.90630636e-03 9.99993554e-01 -3.65309566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.02327356 meters 0.10546799279222499 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99992619e-01 -3.26839743e-03 2.01957219e-03 1.67200912e+01] [ 3.26168953e-03 9.99989183e-01 3.31586095e-03 -1.44194435e+00] [-2.03038790e-03 -3.30924926e-03 9.99992463e-01 -3.65827580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.053273559999997 meters 0.09929664865149188 Centerline is valid? [False, True] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99992528e-01 -3.29155461e-03 2.02704454e-03 1.67198522e+01] [ 3.28483938e-03 9.99989136e-01 3.30728839e-03 -1.44232990e+00] [-2.03790864e-03 -3.30060516e-03 9.99992476e-01 -3.65496208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.08327356 meters 0.10119291567503264 Centerline is valid? [True, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99992723e-01 -3.26123954e-03 1.97947549e-03 1.67198826e+01] [ 3.25462465e-03 9.99989140e-01 3.33581248e-03 -1.44260555e+00] [-1.99033288e-03 -3.32934576e-03 9.99992477e-01 -3.65405997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.11327356 meters 0.10077561392882539 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99992943e-01 -3.21066062e-03 1.95054808e-03 1.67198501e+01] [ 3.20395349e-03 9.99988978e-01 3.43203310e-03 -1.44305890e+00] [-1.96154567e-03 -3.42575941e-03 9.99992208e-01 -3.65281195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.143273559999997 meters 0.10032129718430649 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99992788e-01 -3.26024143e-03 1.94789369e-03 1.67197932e+01] [ 3.25365568e-03 9.99989013e-01 3.37461579e-03 -1.44314237e+00] [-1.95887435e-03 -3.36825368e-03 9.99992409e-01 -3.65203912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.17327356 meters 0.10262510674875425 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99993986e-01 -2.88943269e-03 1.91825116e-03 1.67202940e+01] [ 2.88182483e-03 9.99988018e-01 3.95702675e-03 -1.44417068e+00] [-1.92966174e-03 -3.95147489e-03 9.99990331e-01 -3.65837047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.20327356 meters 0.10100303761840909 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99993872e-01 -2.93334826e-03 1.91063738e-03 1.67203134e+01] [ 2.92594516e-03 9.99988246e-01 3.86601648e-03 -1.44399707e+00] [-1.92195529e-03 -3.86040237e-03 9.99990702e-01 -3.65838807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.23327356 meters 0.10107676936306591 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99993652e-01 -3.06813900e-03 1.81180273e-03 1.67203608e+01] [ 3.06168853e-03 9.99989003e-01 3.55235206e-03 -1.44332462e+00] [-1.82268192e-03 -3.54678234e-03 9.99992049e-01 -3.65630796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.26327356 meters 0.1005997449333986 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99992857e-01 -3.34597345e-03 1.75803710e-03 1.67201654e+01] [ 3.34061363e-03 9.99989790e-01 3.04289304e-03 -1.44231762e+00] [-1.76820059e-03 -3.03699838e-03 9.99993825e-01 -3.65216335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.29327356 meters 0.1022583328039793 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99993595e-01 -3.21766131e-03 1.56739459e-03 1.67207702e+01] [ 3.21285595e-03 9.99990161e-01 3.05875300e-03 -1.44182980e+00] [-1.57722120e-03 -3.05369760e-03 9.99994094e-01 -3.65557031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.32327356 meters 0.10118985895502665 Centerline is valid? [False, False] Translation: X:16.72, Y:-1.44, Z:-0.36 [[ 9.99992637e-01 -3.58648675e-03 1.36506519e-03 1.67207615e+01] [ 3.58347199e-03 9.99991149e-01 2.20458163e-03 -1.43967605e+00] [-1.37295981e-03 -2.19967373e-03 9.99996638e-01 -3.64983837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.353273559999998 meters 0.0994251294650973 Centerline is valid? [False, True] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99993327e-01 -3.47387431e-03 1.13035951e-03 1.67214070e+01] [ 3.47144881e-03 9.99991683e-01 2.14071137e-03 -1.43888873e+00] [-1.13778667e-03 -2.13677310e-03 9.99997070e-01 -3.65273139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.38327356 meters 0.10090727271022117 Centerline is valid? [True, False] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99993787e-01 -3.39529370e-03 9.47125508e-04 1.67219651e+01] [ 3.39334442e-03 9.99992137e-01 2.05216480e-03 -1.43815211e+00] [-9.54085763e-04 -2.04893813e-03 9.99997446e-01 -3.65557806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.41327356 meters 0.09772522764126577 Centerline is valid? [False, True] Translation: X:16.72, Y:-1.44, Z:-0.37 [[ 9.99993240e-01 -3.58770564e-03 8.05804674e-04 1.67221009e+01] [ 3.58646511e-03 9.99992389e-01 1.53569294e-03 -1.43677875e+00] [-8.11308156e-04 -1.53279257e-03 9.99998496e-01 -3.65376649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.443273559999998 meters 0.09751739405782162 Centerline is valid? [True, True] Translation: X:16.75, Y:-1.44, Z:-0.37 [[ 9.99995808e-01 -2.86270713e-03 4.34056746e-04 1.67536408e+01] [ 2.86272719e-03 9.99995901e-01 -4.55958508e-05 -1.43857508e+00] [-4.33924439e-04 4.68382457e-05 9.99999905e-01 -3.65769729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.47327356 meters 0.09657216185910708 Centerline is valid? [True, True] Translation: X:16.79, Y:-1.44, Z:-0.37 [[ 9.99995779e-01 -2.88056148e-03 3.79883652e-04 1.67851265e+01] [ 2.88057681e-03 9.99995850e-01 -3.98124140e-05 -1.43962281e+00] [-3.79767394e-04 4.09065300e-05 9.99999927e-01 -3.65897484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.50327356 meters 0.09774963245114525 Centerline is valid? [True, True] Translation: X:16.82, Y:-1.45, Z:-0.37 [[ 9.99996305e-01 -2.65612917e-03 -5.78266777e-04 1.68156451e+01] [ 2.65616604e-03 9.99996470e-01 6.30070340e-05 -1.44506132e+00] [ 5.78097382e-04 -6.45427738e-05 9.99999831e-01 -3.67493804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.533273559999998 meters 0.09558079595044915 Centerline is valid? [True, True] Translation: X:16.85, Y:-1.44, Z:-0.37 [[ 9.99998556e-01 -1.61091694e-03 -5.41121749e-04 1.68468533e+01] [ 1.61094870e-03 9.99998701e-01 5.82597016e-05 -1.44363413e+00] [ 5.41027194e-04 -5.91313368e-05 9.99999852e-01 -3.67651729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.56327356 meters 0.09627782810788495 Centerline is valid? [True, True] Translation: X:16.88, Y:-1.45, Z:-0.37 [[ 9.99999670e-01 -7.44360377e-04 -3.26937337e-04 1.68767458e+01] [ 7.44371976e-04 9.99999722e-01 3.53569201e-05 -1.44783354e+00] [ 3.26910928e-04 -3.56002714e-05 9.99999946e-01 -3.68591203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.59327356 meters 0.09609792145657059 Centerline is valid? [True, True] Translation: X:16.91, Y:-1.45, Z:-0.37 [[ 9.99999655e-01 -7.81238225e-04 2.83430137e-04 1.69069334e+01] [ 7.81246848e-04 9.99999694e-01 -3.03144382e-05 -1.44996415e+00] [-2.83406367e-04 3.05358566e-05 9.99999959e-01 -3.68787991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.623273559999998 meters 0.0938967714797307 Centerline is valid? [True, True] Translation: X:16.94, Y:-1.45, Z:-0.37 [[ 9.99999330e-01 -1.09020037e-03 3.90418833e-04 1.69379432e+01] [ 1.09021675e-03 9.99999405e-01 -4.17574775e-05 -1.44865513e+00] [-3.90373076e-04 4.21830907e-05 9.99999923e-01 -3.68455887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.65327356 meters 0.09516890699020454 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.45, Z:-0.37 [[ 9.99998446e-01 -1.62602480e-03 6.81717278e-04 1.69673611e+01] [ 1.62607357e-03 9.99998675e-01 -7.09964839e-05 -1.45462613e+00] [-6.81600933e-04 7.21048960e-05 9.99999765e-01 -3.69128475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.68327356 meters 0.0989121360156253 Centerline is valid? [True, True] Translation: X:17.00, Y:-1.47, Z:-0.37 [[ 9.99996884e-01 -2.36986688e-03 7.84750035e-04 1.69968893e+01] [ 2.36993323e-03 9.99997188e-01 -8.36246432e-05 -1.46501386e+00] [-7.84549649e-04 8.54841878e-05 9.99999689e-01 -3.71032733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.713273559999998 meters 0.097774211233233 Centerline is valid? [True, True] Translation: X:17.03, Y:-1.47, Z:-0.37 [[ 9.99991579e-01 -4.06661621e-03 5.51835159e-04 1.70282804e+01] [ 4.06664901e-03 9.99991729e-01 -5.83209423e-05 -1.46638792e+00] [-5.51593426e-04 6.05645711e-05 9.99999846e-01 -3.71577042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.74327356 meters 0.09765386365289301 Centerline is valid? [True, True] Translation: X:17.06, Y:-1.47, Z:-0.37 [[ 9.99989270e-01 -4.63215827e-03 5.40744395e-05 1.70597947e+01] [ 4.63215848e-03 9.99989271e-01 -3.77489004e-06 -1.46995952e+00] [-5.40563735e-05 4.02533090e-06 9.99999999e-01 -3.72480382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.77327356 meters 0.09773325366358498 Centerline is valid? [True, True] Translation: X:17.09, Y:-1.47, Z:-0.37 [[ 9.99987416e-01 -4.94438767e-03 8.48890199e-04 1.70918340e+01] [ 4.94446539e-03 9.99987772e-01 -8.94714520e-05 -1.47355380e+00] [-8.48437437e-04 9.36676343e-05 9.99999636e-01 -3.73093502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.803273559999997 meters 0.0980564627838524 Centerline is valid? [True, True] Translation: X:17.12, Y:-1.48, Z:-0.37 [[ 9.99983945e-01 -5.65145698e-03 4.12817438e-04 1.71232329e+01] [ 5.65147495e-03 9.99984029e-01 -4.23859483e-05 -1.47746026e+00] [-4.12571303e-04 4.47182953e-05 9.99999914e-01 -3.73620739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.83327356 meters 0.09333023563952433 Centerline is valid? [True, True] Translation: X:17.16, Y:-1.47, Z:-0.37 [[ 9.99983879e-01 -5.67433004e-03 -2.11080109e-04 1.71560822e+01] [ 5.67433529e-03 9.99983901e-01 2.42981542e-05 -1.47200483e+00] [ 2.10938835e-04 -2.54955018e-05 9.99999977e-01 -3.73424851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.86327356 meters 0.09814128841051803 Centerline is valid? [True, True] Translation: X:17.19, Y:-1.48, Z:-0.38 [[ 9.99985747e-01 -5.33334449e-03 -2.48316752e-04 1.71862472e+01] [ 5.33335158e-03 9.99985777e-01 2.78961203e-05 -1.48372174e+00] [ 2.48164441e-04 -2.92200833e-05 9.99999969e-01 -3.75031342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.893273559999997 meters 0.0991469962493267 Centerline is valid? [True, True] Translation: X:17.22, Y:-1.49, Z:-0.38 [[ 9.99987037e-01 -5.08998734e-03 -1.36750806e-04 1.72166579e+01] [ 5.08998956e-03 9.99987046e-01 1.58803179e-05 -1.48859120e+00] [ 1.36668204e-04 -1.65761722e-05 9.99999991e-01 -3.76429724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.92327356 meters 0.09962505448515196 Centerline is valid? [True, True] Translation: X:17.25, Y:-1.49, Z:-0.38 [[ 9.99986689e-01 -5.15955026e-03 1.17987720e-05 1.72485629e+01] [ 5.15955025e-03 9.99986689e-01 2.84585476e-07 -1.49273744e+00] [-1.18000833e-05 -2.23705332e-07 1.00000000e+00 -3.76929060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.95327356 meters 0.09807901267896625 Centerline is valid? [True, True] Translation: X:17.28, Y:-1.49, Z:-0.38 [[ 9.99986673e-01 -5.11928001e-03 -6.68207557e-04 1.72813301e+01] [ 5.11933025e-03 9.99986893e-01 7.34997677e-05 -1.49324371e+00] [ 6.67822533e-04 -7.69195634e-05 9.99999774e-01 -3.77411371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.98327356 meters 0.09917516054641255 Centerline is valid? [True, True] Translation: X:17.31, Y:-1.50, Z:-0.38 [[ 9.99988224e-01 -4.85080256e-03 1.49337172e-04 1.73119911e+01] [ 4.85080490e-03 9.99988235e-01 -1.53063817e-05 -1.49921526e+00] [-1.49261167e-04 1.60306070e-05 9.99999989e-01 -3.78336899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.01327356 meters 0.09661908248043911 Centerline is valid? [True, True] Translation: X:17.34, Y:-1.50, Z:-0.38 [[ 9.99986937e-01 -5.09543839e-03 4.02183222e-04 1.73440356e+01] [ 5.09545528e-03 9.99987017e-01 -4.09887233e-05 -1.49828265e+00] [-4.01969145e-04 4.30374945e-05 9.99999918e-01 -3.78083724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.04327356 meters 0.09998591361509952 Centerline is valid? [True, True] Translation: X:17.37, Y:-1.51, Z:-0.38 [[ 9.99985701e-01 -5.21922873e-03 1.16508358e-03 1.73743733e+01] [ 5.21937723e-03 9.99986371e-01 -1.24451480e-04 -1.50748726e+00] [-1.16441816e-03 1.30530711e-04 9.99999314e-01 -3.80008679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.07327356 meters 0.0991884321154897 Centerline is valid? [True, True] Translation: X:17.41, Y:-1.51, Z:-0.38 [[ 9.99983825e-01 -5.60498312e-03 9.66685192e-04 1.74064346e+01] [ 5.60508503e-03 9.99984286e-01 -1.02750409e-04 -1.50944678e+00] [-9.66094087e-04 1.08167100e-04 9.99999527e-01 -3.79939058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.103273559999998 meters 0.10027264303960265 Centerline is valid? [True, False] Translation: X:17.41, Y:-1.51, Z:-0.38 [[ 9.99985136e-01 -5.37543365e-03 9.12601293e-04 1.74067765e+01] [ 5.37525039e-03 9.99985533e-01 2.03143839e-04 -1.51014071e+00] [-9.13680076e-04 -1.98235359e-04 9.99999563e-01 -3.80248276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.13327356 meters 0.0996119153526903 Centerline is valid? [False, True] Translation: X:17.41, Y:-1.51, Z:-0.38 [[ 9.99986781e-01 -5.07079225e-03 8.51753514e-04 1.74072934e+01] [ 5.07025356e-03 9.99986946e-01 6.33414813e-04 -1.51082844e+00] [-8.54954309e-04 -6.29087834e-04 9.99999437e-01 -3.80802548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.16327356 meters 0.09885756424934919 Centerline is valid? [True, True] Translation: X:17.44, Y:-1.51, Z:-0.38 [[ 9.99987020e-01 -5.01873966e-03 8.78813420e-04 1.74392707e+01] [ 5.01882470e-03 9.99987401e-01 -9.45797128e-05 -1.51306573e+00] [-8.78327677e-04 9.89890956e-05 9.99999609e-01 -3.81400297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.193273559999998 meters 0.09859380006838478 Centerline is valid? [True, True] Translation: X:17.47, Y:-1.52, Z:-0.38 [[ 9.99983708e-01 -5.70189303e-03 2.69673157e-04 1.74710254e+01] [ 5.70190088e-03 9.99983744e-01 -2.83408006e-05 -1.51565574e+00] [-2.69507177e-04 2.98779885e-05 9.99999963e-01 -3.82397646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.22327356 meters 0.10154661153635948 Centerline is valid? [True, False] Translation: X:17.47, Y:-1.52, Z:-0.38 [[ 9.99984529e-01 -5.55993685e-03 1.68784439e-04 1.74714808e+01] [ 5.55991446e-03 9.99984535e-01 1.32827693e-04 -1.51558487e+00] [-1.69520342e-04 -1.31887211e-04 9.99999977e-01 -3.82761041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.25327356 meters 0.10063499441428854 Centerline is valid? [False, False] Translation: X:17.47, Y:-1.52, Z:-0.38 [[ 9.99985275e-01 -5.42587944e-03 9.51755797e-05 1.74719149e+01] [ 5.42585247e-03 9.99985240e-01 2.81340721e-04 -1.51551783e+00] [-9.67006958e-05 -2.80820170e-04 9.99999956e-01 -3.83165567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.283273559999998 meters 0.09883088434320837 Centerline is valid? [False, True] Translation: X:17.47, Y:-1.52, Z:-0.38 [[ 9.99986591e-01 -5.17836731e-03 -5.20239314e-05 1.74725932e+01] [ 5.17839549e-03 9.99986437e-01 5.56834919e-04 -1.51568774e+00] [ 4.91397301e-05 -5.57096853e-04 9.99999844e-01 -3.83714034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.31327356 meters 0.09860006597504763 Centerline is valid? [True, True] Translation: X:17.50, Y:-1.52, Z:-0.38 [[ 9.99989125e-01 -4.66075962e-03 1.67745810e-04 1.75043907e+01] [ 4.66076257e-03 9.99989138e-01 -1.71969829e-05 -1.51874881e+00] [-1.67663837e-04 1.79786192e-05 9.99999986e-01 -3.84392094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.34327356 meters 0.10040800175176892 Centerline is valid? [True, False] Translation: X:17.51, Y:-1.52, Z:-0.39 [[ 9.99990827e-01 -4.28269260e-03 -5.97450222e-05 1.75053873e+01] [ 4.28271340e-03 9.99990767e-01 3.52585071e-04 -1.51886938e+00] [ 5.82344571e-05 -3.52837708e-04 9.99999936e-01 -3.85170564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.373273559999998 meters 0.09937217144628549 Centerline is valid? [False, True] Translation: X:17.51, Y:-1.52, Z:-0.38 [[ 9.99990175e-01 -4.43074782e-03 -1.34667043e-04 1.75053557e+01] [ 4.43075910e-03 9.99990181e-01 8.35832775e-05 -1.51826432e+00] [ 1.34295384e-04 -8.41791335e-05 9.99999987e-01 -3.84945508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.40327356 meters 0.09654403202331806 Centerline is valid? [True, True] Translation: X:17.54, Y:-1.52, Z:-0.38 [[ 9.99994340e-01 -3.35715818e-03 2.24515818e-04 1.75376175e+01] [ 3.35716342e-03 9.99994364e-01 -2.29712574e-05 -1.51603974e+00] [-2.24437434e-04 2.37248637e-05 9.99999975e-01 -3.84809884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.43327356 meters 0.09485300113140283 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.52, Z:-0.39 [[ 9.99997403e-01 -2.27706816e-03 9.21875558e-05 1.75692117e+01] [ 2.27706902e-03 9.99997407e-01 -9.14778560e-06 -1.51608675e+00] [-9.21664867e-05 9.35767927e-06 9.99999996e-01 -3.85200256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.463273559999998 meters 0.09499703221896985 Centerline is valid? [True, True] Translation: X:17.60, Y:-1.52, Z:-0.39 [[ 9.99999275e-01 6.07812470e-05 1.20229080e-03 1.76000408e+01] [-6.06259349e-05 9.99999990e-01 -1.29216162e-04 -1.51886899e+00] [-1.20229864e-03 1.29143179e-04 9.99999269e-01 -3.86452193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.49327356 meters 0.09631481250545162 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.52, Z:-0.39 [[ 9.99999420e-01 7.75175564e-04 7.47161804e-04 1.76298404e+01] [-7.75116188e-04 9.99999696e-01 -7.97545771e-05 -1.52438916e+00] [-7.47223401e-04 7.91753937e-05 9.99999718e-01 -3.87028582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.52327356 meters 0.0958624096843502 Centerline is valid? [True, True] Translation: X:17.66, Y:-1.53, Z:-0.39 [[ 9.99998619e-01 1.48118792e-03 7.54113246e-04 1.76604002e+01] [-1.48112736e-03 9.99998900e-01 -8.08610406e-05 -1.52701045e+00] [-7.54232187e-04 7.97439911e-05 9.99999712e-01 -3.87857940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.553273559999997 meters 0.09644030795755472 Centerline is valid? [True, True] Translation: X:17.69, Y:-1.53, Z:-0.39 [[ 9.99997125e-01 2.28915463e-03 7.13465226e-04 1.76904865e+01] [-2.28910062e-03 9.99997377e-01 -7.65024894e-05 -1.53107530e+00] [-7.13638481e-04 7.48690758e-05 9.99999743e-01 -3.88740369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.58327356 meters 0.09644030795755472 Centerline is valid? [True, True] Translation: X:17.72, Y:-1.53, Z:-0.39 [[ 9.99997125e-01 2.28915463e-03 7.13465226e-04 1.77204788e+01] [-2.28910062e-03 9.99997377e-01 -7.65024894e-05 -1.53429127e+00] [-7.13638481e-04 7.48690758e-05 9.99999743e-01 -3.89383828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.61327356 meters 0.09530211808453262 Centerline is valid? [True, True] Translation: X:17.75, Y:-1.54, Z:-0.39 [[ 9.99997797e-01 1.99296515e-03 6.58648067e-04 1.77511603e+01] [-1.99291906e-03 9.99998012e-01 -7.06246288e-05 -1.53545859e+00] [-6.58787510e-04 6.93118410e-05 9.99999781e-01 -3.89973657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.643273559999997 meters 0.09635685901080303 Centerline is valid? [True, True] Translation: X:17.78, Y:-1.54, Z:-0.39 [[ 9.99998052e-01 1.89636831e-03 5.47594606e-04 1.77808512e+01] [-1.89633644e-03 9.99998200e-01 -5.87167377e-05 -1.54050770e+00] [-5.47704969e-04 5.76781997e-05 9.99999848e-01 -3.91117286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.67327356 meters 0.09467065834068081 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.54, Z:-0.39 [[ 9.99996843e-01 2.44932923e-03 5.61291885e-04 1.78118651e+01] [-2.44929583e-03 9.99996999e-01 -6.01854510e-05 -1.54074023e+00] [-5.61437614e-04 5.88104912e-05 9.99999841e-01 -3.91772150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.70327356 meters 0.09370226475528429 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.54, Z:-0.39 [[ 9.99995521e-01 2.88826582e-03 7.84478694e-04 1.78419270e+01] [-2.88820016e-03 9.99995826e-01 -8.48158459e-05 -1.54203818e+00] [-7.84720390e-04 8.25497346e-05 9.99999689e-01 -3.91860615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.733273559999997 meters 0.0937594652535256 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.54, Z:-0.39 [[ 9.99991275e-01 4.09146391e-03 8.42454418e-04 1.78712413e+01] [-4.09138868e-03 9.99991626e-01 -9.09994280e-05 -1.54428728e+00] [-8.42819684e-04 8.75518256e-05 9.99999641e-01 -3.93318722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.76327356 meters 0.09543586503648718 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.55, Z:-0.39 [[ 9.99987994e-01 4.79569040e-03 1.00674701e-03 1.78996667e+01] [-4.79558316e-03 9.99988495e-01 -1.08906278e-04 -1.54948251e+00] [-1.00725771e-03 1.04077031e-04 9.99999487e-01 -3.94395891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.79327356 meters 0.09543586503648718 Centerline is valid? [True, True] Translation: X:17.93, Y:-1.55, Z:-0.40 [[ 9.99988152e-01 4.76262902e-03 1.00678947e-03 1.79288081e+01] [-4.76252216e-03 9.99988653e-01 -1.08509918e-04 -1.55256876e+00] [-1.00729484e-03 1.03713775e-04 9.99999487e-01 -3.95021390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.82327356 meters 0.0959922628004861 Centerline is valid? [True, True] Translation: X:17.96, Y:-1.56, Z:-0.40 [[ 9.99988515e-01 4.67362659e-03 1.06169766e-03 1.79583628e+01] [-4.67350779e-03 9.99989073e-01 -1.14348926e-04 -1.55655309e+00] [-1.06222049e-03 1.09385760e-04 9.99999430e-01 -3.95486506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.853273559999998 meters 0.09441200367313109 Centerline is valid? [True, True] Translation: X:17.99, Y:-1.56, Z:-0.40 [[ 9.99987725e-01 4.71544453e-03 1.52119208e-03 1.79883562e+01] [-4.71520122e-03 9.99988870e-01 -1.63493633e-04 -1.55644041e+00] [-1.52194609e-03 1.56318899e-04 9.99998830e-01 -3.96104220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.88327356 meters 0.09647400665574624 Centerline is valid? [True, True] Translation: X:18.02, Y:-1.56, Z:-0.40 [[ 9.99988849e-01 4.43947453e-03 1.61049011e-03 1.80174178e+01] [-4.43920216e-03 9.99990132e-01 -1.72662366e-04 -1.56343526e+00] [-1.61124075e-03 1.65511149e-04 9.99998688e-01 -3.97233507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.91327356 meters 0.09557277675708896 Centerline is valid? [True, True] Translation: X:18.05, Y:-1.56, Z:-0.40 [[ 9.99988700e-01 3.54337694e-03 3.16924608e-03 1.80470099e+01] [-3.54231799e-03 9.99993668e-01 -3.39683467e-04 -1.56480525e+00] [-3.17042964e-03 3.28453152e-04 9.99994920e-01 -3.96736767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.943273559999998 meters 0.09560735780468556 Centerline is valid? [True, True] Translation: X:18.08, Y:-1.57, Z:-0.40 [[ 9.99989527e-01 2.94516535e-03 3.50300537e-03 1.80777171e+01] [-2.94387178e-03 9.99995597e-01 -3.74373391e-04 -1.56883075e+00] [-3.50409254e-03 3.64057072e-04 9.99993794e-01 -3.97042050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.97327356 meters 0.09583922354184127 Centerline is valid? [True, True] Translation: X:18.11, Y:-1.57, Z:-0.40 [[ 9.99993668e-01 2.07244192e-03 2.89277835e-03 1.81083797e+01] [-2.07155807e-03 9.99997807e-01 -3.08498765e-04 -1.57283334e+00] [-2.89341135e-03 3.02504253e-04 9.99995768e-01 -3.97541565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.00327356 meters 0.09720001024169839 Centerline is valid? [True, True] Translation: X:18.14, Y:-1.58, Z:-0.40 [[ 9.99996320e-01 6.10400809e-04 2.64320067e-03 1.81388856e+01] [-6.09656199e-04 9.99999774e-01 -2.82504334e-04 -1.57962557e+00] [-2.64337252e-03 2.80891850e-04 9.99996467e-01 -3.99147275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.033273559999998 meters 0.09845492476170437 Centerline is valid? [True, True] Translation: X:18.17, Y:-1.59, Z:-0.40 [[ 9.99998479e-01 -4.90230761e-04 1.67399017e-03 1.81697416e+01] [ 4.90530323e-04 9.99999864e-01 -1.78545140e-04 -1.58514139e+00] [-1.67390242e-03 1.79366012e-04 9.99998583e-01 -4.00677484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.06327356 meters 0.09917654063419433 Centerline is valid? [True, True] Translation: X:18.20, Y:-1.59, Z:-0.40 [[ 9.99998727e-01 -5.91575727e-04 1.48175726e-03 1.82005481e+01] [ 5.91810508e-04 9.99999812e-01 -1.58014525e-04 -1.59040816e+00] [-1.48166351e-03 1.58891243e-04 9.99998890e-01 -4.01605788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.09327356 meters 0.09509535011084431 Centerline is valid? [True, True] Translation: X:18.23, Y:-1.59, Z:-0.40 [[ 9.99998378e-01 -1.66011680e-03 6.98862982e-04 1.82325613e+01] [ 1.66016902e-03 9.99998619e-01 -7.41511311e-05 -1.58647344e+00] [-6.98738918e-04 7.53112415e-05 9.99999753e-01 -4.01315992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.123273559999998 meters 0.09577335858706722 Centerline is valid? [True, True] Translation: X:18.26, Y:-1.59, Z:-0.40 [[ 9.99997648e-01 -1.31237780e-03 1.72676326e-03 1.82636090e+01] [ 1.31269806e-03 9.99999121e-01 -1.84350441e-04 -1.59158522e+00] [-1.72651980e-03 1.86616726e-04 9.99998492e-01 -4.02126166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.15327356 meters 0.09633521862707256 Centerline is valid? [True, True] Translation: X:18.30, Y:-1.60, Z:-0.40 [[ 9.99997807e-01 -1.29469619e-03 1.64628646e-03 1.82950672e+01] [ 1.29498732e-03 9.99999146e-01 -1.75785552e-04 -1.59607402e+00] [-1.64605746e-03 1.77917087e-04 9.99998629e-01 -4.02329178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.18327356 meters 0.09613811072645898 Centerline is valid? [True, True] Translation: X:18.33, Y:-1.60, Z:-0.40 [[ 9.99997000e-01 -8.95892870e-04 2.27981127e-03 1.83261025e+01] [ 8.96450966e-04 9.99999568e-01 -2.43789222e-04 -1.59945772e+00] [-2.27959188e-03 2.45832230e-04 9.99997372e-01 -4.03303042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.213273559999998 meters 0.10350485666758895 Centerline is valid? [True, False] Translation: X:18.33, Y:-1.60, Z:-0.40 [[ 9.99998102e-01 -4.90788126e-04 1.88547403e-03 1.83272382e+01] [ 4.90667005e-04 9.99999878e-01 6.47006927e-05 -1.59946246e+00] [-1.88550556e-03 -6.37754300e-05 9.99998220e-01 -4.03836046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.24327356 meters 0.09798139219671338 Centerline is valid? [False, True] Translation: X:18.33, Y:-1.60, Z:-0.40 [[ 9.99998596e-01 -4.58182191e-04 1.61216086e-03 1.83277042e+01] [ 4.58327621e-04 9.99999891e-01 -8.98398355e-05 -1.59893507e+00] [-1.61211953e-03 9.05786071e-05 9.99998696e-01 -4.03713786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.27327356 meters 0.09887563284765494 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.60, Z:-0.41 [[ 9.99997930e-01 1.29500313e-03 1.56956897e-03 1.83568059e+01] [-1.29474435e-03 9.99999148e-01 -1.65873744e-04 -1.60257608e+00] [-1.56978244e-03 1.63841210e-04 9.99998754e-01 -4.05180241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.303273559999997 meters 0.09887563284765494 Centerline is valid? [True, True] Translation: X:18.39, Y:-1.61, Z:-0.41 [[ 9.99997930e-01 1.29499539e-03 1.56960612e-03 1.83868008e+01] [-1.29473717e-03 9.99999148e-01 -1.65521426e-04 -1.60573933e+00] [-1.56981913e-03 1.63488856e-04 9.99998754e-01 -4.05839063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.33327356 meters 0.09954608772594713 Centerline is valid? [True, True] Translation: X:18.42, Y:-1.61, Z:-0.41 [[ 9.99996144e-01 2.76530271e-03 2.54010853e-04 1.84162956e+01] [-2.76529600e-03 9.99996176e-01 -2.67864899e-05 -1.60977222e+00] [-2.54083954e-04 2.60839714e-05 9.99999967e-01 -4.07363843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.36327356 meters 0.10024090096244595 Centerline is valid? [True, False] Translation: X:18.42, Y:-1.61, Z:-0.41 [[ 9.99995561e-01 2.97798126e-03 1.01217610e-04 1.84169710e+01] [-2.97799971e-03 9.99995549e-01 1.82690493e-04 -1.60980318e+00] [-1.00673111e-04 -1.82991108e-04 9.99999978e-01 -4.07879294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.393273559999997 meters 0.10049349026567402 Centerline is valid? [False, False] Translation: X:18.42, Y:-1.61, Z:-0.41 [[ 9.99996055e-01 2.80625939e-03 1.23113665e-04 1.84168074e+01] [-2.80624868e-03 9.99996059e-01 -8.70434521e-05 -1.60929102e+00] [-1.23357446e-04 8.66976211e-05 9.99999989e-01 -4.07718525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.42327356 meters 0.10188398603128403 Centerline is valid? [False, False] Translation: X:18.42, Y:-1.61, Z:-0.41 [[ 9.99995688e-01 2.93590084e-03 6.28405204e-05 1.84172140e+01] [-2.93590462e-03 9.99995688e-01 6.01314397e-05 -1.60926378e+00] [-6.26637095e-05 -6.03156742e-05 9.99999996e-01 -4.08095409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.45327356 meters 0.1023750691315837 Centerline is valid? [False, False] Translation: X:18.42, Y:-1.61, Z:-0.41 [[ 9.99995813e-01 2.89369298e-03 2.39712453e-05 1.84172224e+01] [-2.89369287e-03 9.99995813e-01 -4.28673793e-06 -1.60920258e+00] [-2.39835494e-05 4.21735456e-06 1.00000000e+00 -4.08005254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.483273559999997 meters 0.10279573551713124 Centerline is valid? [False, False] Translation: X:18.42, Y:-1.61, Z:-0.41 [[ 9.99996277e-01 2.72757077e-03 8.44076487e-05 1.84170371e+01] [-2.72755094e-03 9.99996253e-01 -2.34118492e-04 -1.60875716e+00] [-8.50459072e-05 2.33887394e-04 9.99999969e-01 -4.07903419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.51327356 meters 0.10015123257283429 Centerline is valid? [False, False] Translation: X:18.42, Y:-1.61, Z:-0.41 [[ 9.99996389e-01 2.68475285e-03 1.16729174e-04 1.84170187e+01] [-2.68471650e-03 9.99996348e-01 -3.10414520e-04 -1.60858636e+00] [-1.17562134e-04 3.10100014e-04 9.99999945e-01 -4.07957154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.54327356 meters 0.10497372187434373 Centerline is valid? [False, False] Translation: X:18.42, Y:-1.61, Z:-0.41 [[ 9.99996366e-01 2.69485311e-03 7.24669459e-05 1.84170871e+01] [-2.69483101e-03 9.99996323e-01 -3.03368535e-04 -1.60856963e+00] [-7.32842130e-05 3.03172146e-04 9.99999951e-01 -4.07923118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.57327356 meters 0.10143838338196394 Centerline is valid? [False, False] Translation: X:18.42, Y:-1.61, Z:-0.41 [[ 9.99997033e-01 2.43178995e-03 1.44584080e-04 1.84165996e+01] [-2.43169369e-03 9.99996824e-01 -6.62309898e-04 -1.60813379e+00] [-1.46194220e-04 6.61956349e-04 9.99999770e-01 -4.07409995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.603273559999998 meters 0.10835458931514134 Centerline is valid? [False, False] Translation: X:18.42, Y:-1.61, Z:-0.41 [[ 9.99996815e-01 2.51969714e-03 1.46876471e-04 1.84167878e+01] [-2.51962276e-03 9.99996699e-01 -5.04410348e-04 -1.60818910e+00] [-1.48146947e-04 5.04038668e-04 9.99999862e-01 -4.07690937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.63327356 meters 0.10946949100574853 Centerline is valid? [False, False] Translation: X:18.42, Y:-1.61, Z:-0.41 [[ 9.99996966e-01 2.45768152e-03 1.64892216e-04 1.84166923e+01] [-2.45759136e-03 9.99996832e-01 -5.44737613e-04 -1.60822405e+00] [-1.66230485e-04 5.44330723e-04 9.99999838e-01 -4.07627504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.66327356 meters 0.09499556571648368 Centerline is valid? [False, True] Translation: X:18.42, Y:-1.61, Z:-0.41 [[ 9.99996905e-01 2.47926072e-03 2.10241405e-04 1.84167155e+01] [-2.47916223e-03 9.99996818e-01 -4.67417414e-04 -1.60832383e+00] [-2.11399586e-04 4.66894745e-04 9.99999869e-01 -4.07799669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.693273559999998 meters 0.09588502420919827 Centerline is valid? [True, True] Translation: X:18.45, Y:-1.61, Z:-0.41 [[ 9.99996731e-01 2.51884000e-03 4.38885208e-04 1.84460900e+01] [-2.51881947e-03 9.99996827e-01 -4.73161611e-05 -1.61342335e+00] [-4.39002997e-04 4.62105338e-05 9.99999903e-01 -4.09796945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.72327356 meters 0.0968549175683416 Centerline is valid? [True, True] Translation: X:18.48, Y:-1.62, Z:-0.41 [[ 9.99997765e-01 2.08388533e-03 -3.55570769e-04 1.84750663e+01] [-2.08387229e-03 9.99997828e-01 3.70455453e-05 -1.61787993e+00] [ 3.55647196e-04 -3.63044984e-05 9.99999936e-01 -4.11211020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.75327356 meters 0.09514259571771787 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.62, Z:-0.41 [[ 9.99998704e-01 1.40320873e-03 -7.89594395e-04 1.85053839e+01] [-1.40314326e-03 9.99999012e-01 8.34544847e-05 -1.61703240e+00] [ 7.89710719e-04 -8.23464624e-05 9.99999685e-01 -4.11941295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.783273559999998 meters 0.09637049938819665 Centerline is valid? [True, True] Translation: X:18.53, Y:-1.62, Z:-0.41 [[ 9.99998257e-01 1.21934578e-03 -1.41369100e-03 1.85342953e+01] [-1.21913454e-03 9.99999246e-01 1.50278325e-04 -1.62216477e+00] [ 1.41387318e-03 -1.48554584e-04 9.99998989e-01 -4.12979594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.81327356 meters 0.09663762515018302 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.62, Z:-0.41 [[ 9.99999178e-01 8.80327760e-04 -9.32555752e-04 1.85634568e+01] [-8.80236511e-04 9.99999608e-01 9.82541257e-05 -1.62493181e+00] [ 9.32641882e-04 -9.74331753e-05 9.99999560e-01 -4.13868951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.84327356 meters 0.09748358051276491 Centerline is valid? [True, True] Translation: X:18.59, Y:-1.63, Z:-0.41 [[ 9.99999431e-01 4.89010865e-04 -9.48121033e-04 1.85930446e+01] [-4.88916385e-04 9.99999875e-01 9.98787539e-05 -1.62913764e+00] [ 9.48169757e-04 -9.94151452e-05 9.99999546e-01 -4.14596211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.873273559999998 meters 0.09621128113197158 Centerline is valid? [True, True] Translation: X:18.62, Y:-1.63, Z:-0.41 [[ 9.99999578e-01 1.97144880e-04 -8.97061848e-04 1.86232350e+01] [-1.97060255e-04 9.99999976e-01 9.44230811e-05 -1.62895086e+00] [ 8.97080442e-04 -9.42462660e-05 9.99999593e-01 -4.14816736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.90327356 meters 0.09747875520056591 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.63, Z:-0.42 [[ 9.99999993e-01 -5.25853339e-05 -1.06216993e-04 1.86536694e+01] [ 5.25865307e-05 9.99999999e-01 1.12649960e-05 -1.63396195e+00] [ 1.06216401e-04 -1.12705816e-05 9.99999994e-01 -4.15023948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.93327356 meters 0.09623462975129601 Centerline is valid? [True, True] Translation: X:18.68, Y:-1.63, Z:-0.42 [[ 9.99999923e-01 -1.45128005e-04 3.65309012e-04 1.86845162e+01] [ 1.45142168e-04 9.99999989e-01 -3.87433728e-05 -1.63420976e+00] [-3.65303385e-04 3.87963916e-05 9.99999933e-01 -4.15313020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.963273559999998 meters 0.09553522051352364 Centerline is valid? [True, True] Translation: X:18.72, Y:-1.64, Z:-0.41 [[ 9.99999715e-01 -5.44483257e-04 -5.22316946e-04 1.87152223e+01] [ 5.44512264e-04 9.99999850e-01 5.53950751e-05 -1.63513667e+00] [ 5.22286706e-04 -5.56794674e-05 9.99999862e-01 -4.14716314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.99327356 meters 0.09740307616691027 Centerline is valid? [True, True] Translation: X:18.74, Y:-1.64, Z:-0.42 [[ 9.99999897e-01 -4.27608971e-04 -1.52092220e-04 1.87439184e+01] [ 4.27611453e-04 9.99999908e-01 1.62874253e-05 -1.64034888e+00] [ 1.52085242e-04 -1.63524600e-05 9.99999988e-01 -4.16567877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.02327356 meters 0.09778801334215577 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.64, Z:-0.42 [[ 9.99999438e-01 -1.05986957e-03 -5.50375877e-06 1.87741178e+01] [ 1.05986958e-03 9.99999438e-01 5.83749628e-07 -1.64391992e+00] [ 5.50313698e-06 -5.89582567e-07 1.00000000e+00 -4.17640543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.053273559999997 meters 0.0984791351338428 Centerline is valid? [True, True] Translation: X:18.80, Y:-1.65, Z:-0.42 [[ 9.99994026e-01 -3.27813467e-03 -1.09593304e-03 1.88041620e+01] [ 3.27826408e-03 9.99994620e-01 1.16310691e-04 -1.64741508e+00] [ 1.09554587e-03 -1.19902754e-04 9.99999393e-01 -4.17893718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.08327356 meters 0.09785002485266454 Centerline is valid? [True, True] Translation: X:18.84, Y:-1.65, Z:-0.42 [[ 9.99990365e-01 -4.17353403e-03 -1.36073565e-03 1.88355843e+01] [ 4.17373529e-03 9.99991279e-01 1.45095782e-04 -1.64911856e+00] [ 1.36011822e-03 -1.50773734e-04 9.99999064e-01 -4.18548030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.11327356 meters 0.09874763153029557 Centerline is valid? [True, True] Translation: X:18.87, Y:-1.65, Z:-0.42 [[ 9.99983903e-01 -4.82197875e-03 -2.99044394e-03 1.88661730e+01] [ 4.82295013e-03 9.99988319e-01 3.17701507e-04 -1.65336027e+00] [ 2.98887706e-03 -3.32119155e-04 9.99995478e-01 -4.20723788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.143273559999997 meters 0.1043532159278616 Centerline is valid? [True, False] Translation: X:18.87, Y:-1.65, Z:-0.42 [[ 9.99984784e-01 -4.59021837e-03 -3.05979037e-03 1.88667985e+01] [ 4.59203945e-03 9.99989283e-01 5.88404456e-04 -1.65341050e+00] [ 3.05705667e-03 -6.02446181e-04 9.99995146e-01 -4.21411098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.17327356 meters 0.09977926684273025 Centerline is valid? [False, True] Translation: X:18.87, Y:-1.65, Z:-0.42 [[ 9.99985470e-01 -4.37774768e-03 -3.14564158e-03 1.88674150e+01] [ 4.38045029e-03 9.99990042e-01 8.52782318e-04 -1.65347311e+00] [ 3.14187699e-03 -8.66549253e-04 9.99994689e-01 -4.22044649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.20327356 meters 0.10100326923678346 Centerline is valid? [True, False] Translation: X:18.87, Y:-1.65, Z:-0.42 [[ 9.99985922e-01 -4.34734371e-03 -3.04239644e-03 1.88674061e+01] [ 4.35034734e-03 9.99990056e-01 9.81337862e-04 -1.65353105e+00] [ 3.03809997e-03 -9.94559528e-04 9.99994890e-01 -4.22342843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.233273559999997 meters 0.09995953019860628 Centerline is valid? [False, True] Translation: X:18.87, Y:-1.65, Z:-0.42 [[ 9.99986393e-01 -4.24861564e-03 -3.02702745e-03 1.88674424e+01] [ 4.25221869e-03 9.99990257e-01 1.18485295e-03 -1.65394937e+00] [ 3.02196398e-03 -1.19770841e-03 9.99994717e-01 -4.22461002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.26327356 meters 0.10187604065961453 Centerline is valid? [True, False] Translation: X:18.87, Y:-1.65, Z:-0.42 [[ 9.99986871e-01 -4.16608308e-03 -2.98350859e-03 1.88673429e+01] [ 4.17027750e-03 9.99990323e-01 1.40102997e-03 -1.65462853e+00] [ 2.97764291e-03 -1.41345364e-03 9.99994568e-01 -4.22411276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.29327356 meters 0.10116985235816056 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99987873e-01 -3.90768756e-03 -2.99718943e-03 1.88676191e+01] [ 3.91321886e-03 9.99990647e-01 1.84185696e-03 -1.65553116e+00] [ 2.98996400e-03 -1.85356328e-03 9.99993812e-01 -4.22763306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.32327356 meters 0.10896601214677298 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99989191e-01 -3.80635647e-03 -2.67005223e-03 1.88672588e+01] [ 3.81251058e-03 9.99990079e-01 2.30357600e-03 -1.65696606e+00] [ 2.66125751e-03 -2.31373070e-03 9.99993782e-01 -4.23114718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.353273559999998 meters 0.1013504668977846 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99989092e-01 -3.90007221e-03 -2.57015243e-03 1.88669061e+01] [ 3.90592046e-03 9.99989785e-01 2.27437012e-03 -1.65723117e+00] [ 2.56125596e-03 -2.28438412e-03 9.99994111e-01 -4.22904140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.38327356 meters 0.10469869571953473 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99989871e-01 -3.67210803e-03 -2.60260656e-03 1.88673066e+01] [ 3.67890631e-03 9.99989821e-01 2.61214724e-03 -1.65771595e+00] [ 2.59298798e-03 -2.62169553e-03 9.99993202e-01 -4.23377094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.41327356 meters 0.10474950282106033 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99989917e-01 -3.65194912e-03 -2.61328968e-03 1.88673615e+01] [ 3.65882560e-03 9.99989844e-01 2.63142549e-03 -1.65782265e+00] [ 2.60365331e-03 -2.64096053e-03 9.99993123e-01 -4.23392427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.443273559999998 meters 0.10606806298374777 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99990439e-01 -3.44076876e-03 -2.69886180e-03 1.88678982e+01] [ 3.44860311e-03 9.99989838e-01 2.90357546e-03 -1.65803812e+00] [ 2.68884384e-03 -2.91285500e-03 9.99992143e-01 -4.23907646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.47327356 meters 0.10606806298374777 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99990439e-01 -3.44076876e-03 -2.69886180e-03 1.88678982e+01] [ 3.44860311e-03 9.99989838e-01 2.90357546e-03 -1.65803812e+00] [ 2.68884384e-03 -2.91285500e-03 9.99992143e-01 -4.23907646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.50327356 meters 0.10577112934414665 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99990407e-01 -3.44230091e-03 -2.70866771e-03 1.88679014e+01] [ 3.45019114e-03 9.99989803e-01 2.91369562e-03 -1.65818567e+00] [ 2.69861027e-03 -2.92301309e-03 9.99992087e-01 -4.23885342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.533273559999998 meters 0.10551150409237157 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99991079e-01 -3.28310424e-03 -2.65750441e-03 1.88680574e+01] [ 3.29155814e-03 9.99989517e-01 3.18304641e-03 -1.65878468e+00] [ 2.64702628e-03 -3.19176535e-03 9.99991403e-01 -4.24201167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.56327356 meters 0.10808689375097477 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99991542e-01 -3.11894796e-03 -2.68121411e-03 1.88683084e+01] [ 3.12805735e-03 9.99989327e-01 3.40003507e-03 -1.65928733e+00] [ 2.67058096e-03 -3.40839330e-03 9.99990625e-01 -4.24449524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.59327356 meters 0.10391305745307998 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99991807e-01 -3.09973294e-03 -2.60331944e-03 1.88680896e+01] [ 3.10888590e-03 9.99988975e-01 3.51922138e-03 -1.65985030e+00] [ 2.59238209e-03 -3.52728597e-03 9.99990419e-01 -4.24370648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.623273559999998 meters 0.10473394720061345 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99992077e-01 -3.10301140e-03 -2.49332759e-03 1.88678054e+01] [ 3.11205714e-03 9.99988561e-01 3.63232557e-03 -1.66057428e+00] [ 2.48202792e-03 -3.64005617e-03 9.99990295e-01 -4.24263070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.65327356 meters 0.10609147789061561 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99992652e-01 -2.86551432e-03 -2.54648344e-03 1.88682143e+01] [ 2.87562308e-03 9.99987965e-01 3.97493836e-03 -1.66106458e+00] [ 2.53506255e-03 -3.98223188e-03 9.99988858e-01 -4.24705168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.68327356 meters 0.10463842557018953 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99992200e-01 -3.02283675e-03 -2.54205329e-03 1.88679187e+01] [ 3.03235770e-03 9.99988371e-01 3.74990235e-03 -1.66091360e+00] [ 2.53068839e-03 -3.75758152e-03 9.99989738e-01 -4.24281545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.713273559999998 meters 0.10562330495279355 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99992582e-01 -2.85412186e-03 -2.58636178e-03 1.88681833e+01] [ 2.86437438e-03 9.99988021e-01 3.96907733e-03 -1.66137656e+00] [ 2.57500256e-03 -3.97645620e-03 9.99988779e-01 -4.24503137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.74327356 meters 0.10613698296237396 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99993062e-01 -2.78739269e-03 -2.47109165e-03 1.88677700e+01] [ 2.79778428e-03 9.99987216e-01 4.21182901e-03 -1.66258286e+00] [ 2.45932004e-03 -4.21871337e-03 9.99988077e-01 -4.24240576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.77327356 meters 0.10666736111371856 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99993394e-01 -2.58918980e-03 -2.55090763e-03 1.88680840e+01] [ 2.60055726e-03 9.99986659e-01 4.46304541e-03 -1.66311560e+00] [ 2.53931792e-03 -4.46964971e-03 9.99986787e-01 -4.24451540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.803273559999997 meters 0.1060192432800397 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99993069e-01 -2.48908544e-03 -2.76872446e-03 1.88684942e+01] [ 2.50134345e-03 9.99987047e-01 4.43269807e-03 -1.66321396e+00] [ 2.75765523e-03 -4.43959288e-03 9.99986343e-01 -4.24365066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.83327356 meters 0.10362236562254092 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99992356e-01 -2.66362846e-03 -2.86231813e-03 1.88684217e+01] [ 2.67529237e-03 9.99988103e-01 4.07891301e-03 -1.66261683e+00] [ 2.85141936e-03 -4.08653937e-03 9.99987585e-01 -4.23974930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.86327356 meters 0.10492616791932124 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99992071e-01 -2.58051683e-03 -3.03305089e-03 1.88689534e+01] [ 2.59284313e-03 9.99988368e-01 4.06711292e-03 -1.66224078e+00] [ 3.02252036e-03 -4.07494489e-03 9.99987130e-01 -4.24240845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.893273559999997 meters 0.10105277598946147 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99991482e-01 -2.60720901e-03 -3.19986454e-03 1.88692682e+01] [ 2.61948529e-03 9.99989203e-01 3.83832449e-03 -1.66150317e+00] [ 3.18982268e-03 -3.84667379e-03 9.99987514e-01 -4.24210925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.92327356 meters 0.10245533074979644 Centerline is valid? [False, False] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99991210e-01 -2.52921462e-03 -3.34419857e-03 1.88696448e+01] [ 2.54199682e-03 9.99989460e-01 3.82349011e-03 -1.66127153e+00] [ 3.33449290e-03 -3.83195745e-03 9.99987099e-01 -4.24301013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.95327356 meters 0.09974396823223425 Centerline is valid? [False, True] Translation: X:18.87, Y:-1.66, Z:-0.42 [[ 9.99990549e-01 -2.63090771e-03 -3.46137282e-03 1.88698303e+01] [ 2.64309053e-03 9.99990313e-01 3.51979400e-03 -1.66044460e+00] [ 3.45207904e-03 -3.52890945e-03 9.99987815e-01 -4.24225252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.983273559999997 meters 0.09919099058901541 Centerline is valid? [True, True] Translation: X:18.90, Y:-1.66, Z:-0.42 [[ 9.99992744e-01 -1.65416689e-03 -3.43145313e-03 1.89000338e+01] [ 1.65550388e-03 9.99998555e-01 3.86823328e-04 -1.66107808e+00] [ 3.43080830e-03 -3.92501306e-04 9.99994038e-01 -4.23798143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.01327356 meters 0.10020331621394948 Centerline is valid? [True, False] Translation: X:18.90, Y:-1.66, Z:-0.42 [[ 9.99992574e-01 -1.62318089e-03 -3.49536205e-03 1.89002270e+01] [ 1.62441575e-03 9.99998619e-01 3.50476000e-04 -1.66084440e+00] [ 3.49478833e-03 -3.56151319e-04 9.99993830e-01 -4.23854194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.04327356 meters 0.10113426702956192 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.66, Z:-0.42 [[ 9.99992491e-01 -1.62324257e-03 -3.51883252e-03 1.89002367e+01] [ 1.62457902e-03 9.99998609e-01 3.76972843e-04 -1.66081828e+00] [ 3.51821571e-03 -3.82686634e-04 9.99993738e-01 -4.23804906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.07327356 meters 0.10178095082990542 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.66, Z:-0.42 [[ 9.99992865e-01 -1.53456714e-03 -3.45190745e-03 1.88999577e+01] [ 1.53678776e-03 9.99998614e-01 6.40743698e-04 -1.66172695e+00] [ 3.45091940e-03 -6.46043975e-04 9.99993837e-01 -4.23573371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.103273559999998 meters 0.10400293573453585 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.66, Z:-0.42 [[ 9.99993357e-01 -1.36694762e-03 -3.37905991e-03 1.88999454e+01] [ 1.37034260e-03 9.99998558e-01 1.00259993e-03 -1.66263105e+00] [ 3.37768454e-03 -1.00722374e-03 9.99993788e-01 -4.23756844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.13327356 meters 0.11017868936116415 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.66, Z:-0.42 [[ 9.99993771e-01 -1.06387005e-03 -3.36551075e-03 1.89001981e+01] [ 1.06901195e-03 9.99998264e-01 1.52639178e-03 -1.66382578e+00] [ 3.36388103e-03 -1.52998004e-03 9.99993172e-01 -4.24145506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.16327356 meters 0.10825081080824456 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99994783e-01 -9.99654006e-04 -3.07147157e-03 1.88995167e+01] [ 1.00579101e-03 9.99997500e-01 1.99717233e-03 -1.66581531e+00] [ 3.06946741e-03 -2.00025117e-03 9.99993289e-01 -4.23996847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.193273559999998 meters 0.10335812733855039 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99995370e-01 -9.60634483e-04 -2.88746885e-03 1.88991941e+01] [ 9.67036893e-04 9.99997075e-01 2.21673098e-03 -1.66672285e+00] [ 2.88533094e-03 -2.21951300e-03 9.99993374e-01 -4.24034276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.22327356 meters 0.10311559265228089 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99995945e-01 -9.15011767e-04 -2.69693380e-03 1.88986783e+01] [ 9.21837852e-04 9.99996372e-01 2.53089842e-03 -1.66816148e+00] [ 2.69460822e-03 -2.53337429e-03 9.99993161e-01 -4.23786083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.25327356 meters 0.1052660191988377 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99996004e-01 -8.85407386e-04 -2.68483605e-03 1.88986653e+01] [ 8.92386258e-04 9.99996224e-01 2.59928348e-03 -1.66846309e+00] [ 2.68252449e-03 -2.60166900e-03 9.99993018e-01 -4.23790529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.283273559999998 meters 0.11275988467640337 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99995894e-01 -9.19294046e-04 -2.71411355e-03 1.88985970e+01] [ 9.26210629e-04 9.99996324e-01 2.54822020e-03 -1.66859611e+00] [ 2.71176101e-03 -2.55072358e-03 9.99993070e-01 -4.23601240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.31327356 meters 0.11291534182720822 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99995862e-01 -8.81885673e-04 -2.73838044e-03 1.88985096e+01] [ 8.89067372e-04 9.99996166e-01 2.62249916e-03 -1.66910219e+00] [ 2.73605720e-03 -2.62492292e-03 9.99992812e-01 -4.23396816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.34327356 meters 0.10411035492555987 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99995846e-01 -7.07461540e-04 -2.79408749e-03 1.88988087e+01] [ 7.15369740e-04 9.99995739e-01 2.83034933e-03 -1.66949061e+00] [ 2.79207323e-03 -2.83233638e-03 9.99992091e-01 -4.23627184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.373273559999998 meters 0.10385017145208006 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99995832e-01 -6.54742230e-04 -2.81213022e-03 1.88987144e+01] [ 6.62992870e-04 9.99995476e-01 2.93401721e-03 -1.67003851e+00] [ 2.81019647e-03 -2.93586940e-03 9.99991742e-01 -4.23417493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.40327356 meters 0.10226216458530991 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99995644e-01 -6.28990932e-04 -2.88367212e-03 1.88988422e+01] [ 6.37506313e-04 9.99995437e-01 2.95299695e-03 -1.67002771e+00] [ 2.88180155e-03 -2.95482245e-03 9.99991482e-01 -4.23402824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.43327356 meters 0.10143990323021229 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99995346e-01 -6.27370462e-04 -2.98569746e-03 1.88989971e+01] [ 6.36053602e-04 9.99995569e-01 2.90818469e-03 -1.66992972e+00] [ 2.98385972e-03 -2.91007022e-03 9.99991314e-01 -4.23338516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.463273559999998 meters 0.10288190655695051 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99995125e-01 -5.29657638e-04 -3.07713451e-03 1.88993706e+01] [ 5.38741767e-04 9.99995498e-01 2.95206086e-03 -1.66983721e+00] [ 3.07555707e-03 -2.95370425e-03 9.99990908e-01 -4.23559256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.49327356 meters 0.10222637621398864 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99994161e-01 -3.99636235e-04 -3.39388853e-03 1.89000563e+01] [ 4.09329912e-04 9.99995838e-01 2.85600132e-03 -1.66929652e+00] [ 3.39273304e-03 -2.85737386e-03 9.99990162e-01 -4.23652910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.52327356 meters 0.10029928115063506 Centerline is valid? [False, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99994016e-01 -5.74026174e-04 -3.41141218e-03 1.88999592e+01] [ 5.82560512e-04 9.99996702e-01 2.50123552e-03 -1.66856923e+00] [ 3.40996516e-03 -2.50320791e-03 9.99991053e-01 -4.23417106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.553273559999997 meters 0.09998901022448499 Centerline is valid? [False, True] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99992999e-01 -6.22487769e-04 -3.68990872e-03 1.89003904e+01] [ 6.30296925e-04 9.99997564e-01 2.11556978e-03 -1.66735005e+00] [ 3.68858281e-03 -2.11788071e-03 9.99990954e-01 -4.23248293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.58327356 meters 0.10023850145965667 Centerline is valid? [True, False] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99992414e-01 -6.83050657e-04 -3.83483928e-03 1.89006415e+01] [ 6.90277786e-04 9.99997988e-01 1.88359040e-03 -1.66663289e+00] [ 3.83354498e-03 -1.88622322e-03 9.99990873e-01 -4.23175054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.61327356 meters 0.09885474560074095 Centerline is valid? [False, True] Translation: X:18.90, Y:-1.67, Z:-0.42 [[ 9.99991684e-01 -5.10161611e-04 -4.04627123e-03 1.89013360e+01] [ 5.18021204e-04 9.99997981e-01 1.94161849e-03 -1.66624606e+00] [ 4.04527252e-03 -1.94369839e-03 9.99989929e-01 -4.23562673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.643273559999997 meters 0.09819278460883353 Centerline is valid? [True, True] Translation: X:18.93, Y:-1.67, Z:-0.42 [[ 9.99987178e-01 1.78685967e-03 -4.73817703e-03 1.89317862e+01] [-1.78441087e-03 9.99998272e-01 5.21000781e-04 -1.66686043e+00] [ 4.73909980e-03 -5.12539246e-04 9.99988639e-01 -4.23898507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.67327356 meters 0.09859826953774559 Centerline is valid? [True, True] Translation: X:18.96, Y:-1.67, Z:-0.42 [[ 9.99984498e-01 2.85601125e-03 -4.77982825e-03 1.89615245e+01] [-2.85353622e-03 9.99995791e-01 5.24547548e-04 -1.67034414e+00] [ 4.78130625e-03 -5.10900004e-04 9.99988439e-01 -4.24303007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.70327356 meters 0.09497601263202504 Centerline is valid? [True, True] Translation: X:18.99, Y:-1.67, Z:-0.42 [[ 9.99979360e-01 4.07504954e-03 -4.96725218e-03 1.89920818e+01] [-4.07239067e-03 9.99991559e-01 5.45277138e-04 -1.66583474e+00] [ 4.96943228e-03 -5.25037292e-04 9.99987514e-01 -4.23397450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.733273559999997 meters 0.09654317124578925 Centerline is valid? [True, True] Translation: X:19.02, Y:-1.67, Z:-0.42 [[ 9.99973912e-01 4.14275547e-03 -5.91715877e-03 1.90195895e+01] [-4.13899158e-03 9.99991224e-01 6.48202026e-04 -1.67184765e+00] [ 5.91979219e-03 -6.23694045e-04 9.99982283e-01 -4.24414081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.76327356 meters 0.09631374950044001 Centerline is valid? [True, True] Translation: X:19.05, Y:-1.67, Z:-0.43 [[ 9.99969778e-01 4.14196764e-03 -6.57934109e-03 1.90480710e+01] [-4.13731363e-03 9.99991181e-01 7.20819908e-04 -1.67422843e+00] [ 6.58226869e-03 -6.93577326e-04 9.99978096e-01 -4.25547062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.79327356 meters 0.09724182470362303 Centerline is valid? [True, True] Translation: X:19.08, Y:-1.68, Z:-0.43 [[ 9.99969463e-01 4.52382222e-03 -6.37252226e-03 1.90767430e+01] [-4.51946679e-03 9.99989544e-01 6.97704812e-04 -1.67939952e+00] [ 6.37561192e-03 -6.68883103e-04 9.99979452e-01 -4.26335195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.823273559999997 meters 0.09386648217937708 Centerline is valid? [True, True] Translation: X:19.11, Y:-1.68, Z:-0.43 [[ 9.99962205e-01 3.89502421e-03 -7.77281023e-03 1.91068001e+01] [-3.88852052e-03 9.99992077e-01 8.51661032e-04 -1.67656838e+00] [ 7.77606589e-03 -8.21404112e-04 9.99969429e-01 -4.25766187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.853273559999998 meters 0.09672475578657604 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.69, Z:-0.43 [[ 9.99966033e-01 3.53321362e-03 -7.44640720e-03 1.91337468e+01] [-3.52724716e-03 9.99993448e-01 8.14234024e-04 -1.68523596e+00] [ 7.44923527e-03 -7.87941048e-04 9.99971944e-01 -4.28068427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.88327356 meters 0.09525180189232627 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.69, Z:-0.43 [[ 9.99967515e-01 3.19311329e-03 -7.40085456e-03 1.91621103e+01] [-3.18721507e-03 9.99994594e-01 8.08621346e-04 -1.68591724e+00] [ 7.40339657e-03 -7.85006963e-04 9.99972286e-01 -4.27818086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.91327356 meters 0.09511599252131385 Centerline is valid? [True, True] Translation: X:19.19, Y:-1.69, Z:-0.43 [[ 9.99968527e-01 2.59116243e-03 -7.49878753e-03 1.91906478e+01] [-2.58509160e-03 9.99996323e-01 8.19154799e-04 -1.68924585e+00] [ 7.50088252e-03 -7.99743965e-04 9.99971548e-01 -4.27701690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.943273559999998 meters 0.0954558477076457 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.69, Z:-0.43 [[ 9.99961562e-01 2.66560564e-03 -8.35276531e-03 1.92190350e+01] [-2.65807938e-03 9.99996051e-01 9.12021418e-04 -1.69299792e+00] [ 8.35516342e-03 -8.89784048e-04 9.99964699e-01 -4.28979191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.97327356 meters 0.09463001275701849 Centerline is valid? [True, True] Translation: X:19.25, Y:-1.69, Z:-0.43 [[ 9.99953333e-01 2.39135656e-03 -9.36022580e-03 1.92479412e+01] [-2.38189787e-03 9.99996642e-01 1.02153636e-03 -1.69425451e+00] [ 9.36263722e-03 -9.99193587e-04 9.99955670e-01 -4.29262705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.00327356 meters 0.09487949640661088 Centerline is valid? [True, True] Translation: X:19.28, Y:-1.70, Z:-0.43 [[ 9.99955869e-01 1.78575078e-03 -9.22345199e-03 1.92760961e+01] [-1.77655169e-03 9.99997916e-01 1.00545553e-03 -1.69771699e+00] [ 9.22522827e-03 -9.89025220e-04 9.99956958e-01 -4.30234027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.033273559999998 meters 0.09713919650632663 Centerline is valid? [True, True] Translation: X:19.31, Y:-1.71, Z:-0.43 [[ 9.99958640e-01 1.41016670e-04 -9.09388612e-03 1.93050127e+01] [-1.31996418e-04 9.99999499e-01 9.92495434e-04 -1.70534398e+00] [ 9.09402152e-03 -9.91254023e-04 9.99958157e-01 -4.30858232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.06327356 meters 0.09745279455754287 Centerline is valid? [True, True] Translation: X:19.33, Y:-1.71, Z:-0.43 [[ 9.99962075e-01 -3.32993187e-04 -8.70277206e-03 1.93332597e+01] [ 3.41258006e-04 9.99999492e-01 9.48208852e-04 -1.70904506e+00] [ 8.70245189e-03 -9.51142782e-04 9.99961681e-01 -4.31727005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.09327356 meters 0.09629468197073476 Centerline is valid? [True, True] Translation: X:19.36, Y:-1.71, Z:-0.43 [[ 9.99971906e-01 -8.43959084e-04 -7.44817035e-03 1.93616528e+01] [ 8.50021288e-04 9.99999310e-01 8.10790519e-04 -1.71010635e+00] [ 7.44748093e-03 -8.17098844e-04 9.99971933e-01 -4.31544308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.123273559999998 meters 0.10032037172853657 Centerline is valid? [True, False] Translation: X:19.36, Y:-1.71, Z:-0.43 [[ 9.99972390e-01 -8.33112707e-04 -7.38416879e-03 1.93618720e+01] [ 8.39196658e-04 9.99999311e-01 8.20858176e-04 -1.70967173e+00] [ 7.38347984e-03 -8.27032282e-04 9.99972400e-01 -4.32029474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.15327356 meters 0.09788919465972364 Centerline is valid? [False, True] Translation: X:19.36, Y:-1.71, Z:-0.43 [[ 9.99972322e-01 -6.73586420e-04 -7.40949694e-03 1.93623130e+01] [ 6.81211664e-04 9.99999241e-01 1.02664214e-03 -1.70967134e+00] [ 7.40879978e-03 -1.03166116e-03 9.99972022e-01 -4.32586471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.18327356 meters 0.09792788222405921 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.71, Z:-0.43 [[ 9.99966411e-01 -1.46109845e-03 -8.06483576e-03 1.93919419e+01] [ 1.46824065e-03 9.99998535e-01 8.79748956e-04 -1.71183484e+00] [ 8.06353855e-03 -8.91560526e-04 9.99967092e-01 -4.33133071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.213273559999998 meters 0.097867629946593 Centerline is valid? [True, True] Translation: X:19.42, Y:-1.71, Z:-0.43 [[ 9.99967411e-01 -1.60133204e-03 -7.91279730e-03 1.94207727e+01] [ 1.60816666e-03 9.99998339e-01 8.57455660e-04 -1.71439955e+00] [ 7.91141109e-03 -8.70152813e-04 9.99968326e-01 -4.33106538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.24327356 meters 0.09849587014814802 Centerline is valid? [True, True] Translation: X:19.45, Y:-1.72, Z:-0.43 [[ 9.99972020e-01 -7.02907828e-04 -7.44749150e-03 1.94495924e+01] [ 7.08962215e-04 9.99999420e-01 8.10334313e-04 -1.71797268e+00] [ 7.44691759e-03 -8.15591630e-04 9.99971939e-01 -4.34567783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.27327356 meters 0.0972384484022989 Centerline is valid? [True, True] Translation: X:19.48, Y:-1.72, Z:-0.43 [[ 9.99969740e-01 -2.08527419e-04 -7.77660376e-03 1.94782329e+01] [ 2.15070901e-04 9.99999624e-01 8.40605075e-04 -1.71819921e+00] [ 7.77642555e-03 -8.42252159e-04 9.99969408e-01 -4.34395365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.303273559999997 meters 0.09504409590790851 Centerline is valid? [True, True] Translation: X:19.51, Y:-1.72, Z:-0.43 [[ 9.99975690e-01 1.02878653e-03 -6.89638439e-03 1.95082163e+01] [-1.02364895e-03 9.99999196e-01 7.48455164e-04 -1.71677908e+00] [ 6.89714885e-03 -7.41377493e-04 9.99975940e-01 -4.34249261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.33327356 meters 0.09533380092795275 Centerline is valid? [True, True] Translation: X:19.54, Y:-1.72, Z:-0.44 [[ 9.99968478e-01 1.59360017e-03 -7.77833816e-03 1.95366273e+01] [-1.58708978e-03 9.99998385e-01 8.43089883e-04 -1.71907906e+00] [ 7.77966914e-03 -8.30718387e-04 9.99969393e-01 -4.35608444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.36327356 meters 0.09611917523338472 Centerline is valid? [True, True] Translation: X:19.57, Y:-1.72, Z:-0.44 [[ 9.99970578e-01 2.70067299e-03 -7.17973104e-03 1.95650948e+01] [-2.69515534e-03 9.99996065e-01 7.78067685e-04 -1.72268883e+00] [ 7.18180410e-03 -7.58694302e-04 9.99973923e-01 -4.35976179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.393273559999997 meters 0.09611917523338472 Centerline is valid? [True, True] Translation: X:19.59, Y:-1.73, Z:-0.44 [[ 9.99970756e-01 2.63372681e-03 -7.17981659e-03 1.95934044e+01] [-2.62821306e-03 9.99996244e-01 7.77278652e-04 -1.72569006e+00] [ 7.18183676e-03 -7.58385834e-04 9.99973923e-01 -4.36508435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.42327356 meters 0.09533731463080022 Centerline is valid? [True, True] Translation: X:19.62, Y:-1.73, Z:-0.44 [[ 9.99963039e-01 3.18553812e-03 -7.98584561e-03 1.96224484e+01] [-3.17873756e-03 9.99994574e-01 8.64125512e-04 -1.72749602e+00] [ 7.98855498e-03 -8.38708665e-04 9.99967739e-01 -4.36983718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.45327356 meters 0.09686231752911172 Centerline is valid? [True, True] Translation: X:19.65, Y:-1.73, Z:-0.44 [[ 9.99958285e-01 2.90292757e-03 -8.66029846e-03 1.96494158e+01] [-2.89493116e-03 9.99995372e-01 9.35734387e-04 -1.73342003e+00] [ 8.66297475e-03 -9.10624385e-04 9.99962061e-01 -4.38529859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.483273559999997 meters 0.0966611179136268 Centerline is valid? [True, True] Translation: X:19.68, Y:-1.74, Z:-0.44 [[ 9.99962303e-01 2.53518009e-03 -8.30460224e-03 1.96782317e+01] [-2.52781469e-03 9.99996403e-01 8.97282263e-04 -1.73650979e+00] [ 8.30684714e-03 -8.76255943e-04 9.99965114e-01 -4.38436720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.51327356 meters 0.0972314592950307 Centerline is valid? [True, True] Translation: X:19.71, Y:-1.74, Z:-0.44 [[ 9.99961235e-01 2.38554801e-03 -8.47575962e-03 1.97063701e+01] [-2.37787511e-03 9.99996754e-01 9.15238022e-04 -1.74120497e+00] [ 8.47791545e-03 -8.95048245e-04 9.99963661e-01 -4.39148981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.54327356 meters 0.09527242335505992 Centerline is valid? [True, True] Translation: X:19.73, Y:-1.74, Z:-0.44 [[ 9.99962551e-01 1.90904058e-03 -8.44105249e-03 1.97348932e+01] [-1.90142267e-03 9.99997778e-01 9.10415994e-04 -1.74037812e+00] [ 8.44277176e-03 -8.94331892e-04 9.99963959e-01 -4.38581684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.573273559999997 meters 0.09682705424500608 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.75, Z:-0.44 [[ 9.99963321e-01 1.10247849e-03 -8.49360830e-03 1.97615657e+01] [-1.09474654e-03 9.99998982e-01 9.14920904e-04 -1.74642720e+00] [ 8.49460834e-03 -9.05588997e-04 9.99963510e-01 -4.39010436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.603273559999998 meters 0.0975711037969685 Centerline is valid? [True, True] Translation: X:19.79, Y:-1.75, Z:-0.44 [[ 9.99963809e-01 1.20889963e-03 -8.42130890e-03 1.97891318e+01] [-1.20130578e-03 9.99998867e-01 9.06742018e-04 -1.75077078e+00] [ 8.42239552e-03 -8.96592635e-04 9.99964129e-01 -4.40023272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.63327356 meters 0.09845148704300688 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.76, Z:-0.44 [[ 9.99957530e-01 2.87151768e-04 -9.21170972e-03 1.98186237e+01] [-2.78019618e-04 9.99999469e-01 9.92628420e-04 -1.75549028e+00] [ 9.21198986e-03 -9.90025227e-04 9.99957079e-01 -4.40868371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.66327356 meters 0.0948404401792341 Centerline is valid? [True, True] Translation: X:19.85, Y:-1.75, Z:-0.44 [[ 9.99956206e-01 5.47149473e-04 -9.34277307e-03 1.98479379e+01] [-5.37824151e-04 9.99999355e-01 1.00061539e-03 -1.75232211e+00] [ 9.34331452e-03 -9.95546800e-04 9.99955855e-01 -4.40548225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.693273559999998 meters 0.09546903837230247 Centerline is valid? [True, True] Translation: X:19.88, Y:-1.76, Z:-0.44 [[ 9.99947973e-01 2.18160870e-04 -1.01982677e-02 1.98765218e+01] [-2.07002651e-04 9.99999379e-01 1.09517160e-03 -1.75631456e+00] [ 1.01985003e-02 -1.09300356e-03 9.99947397e-01 -4.40999995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.72327356 meters 0.0960284660345342 Centerline is valid? [True, True] Translation: X:19.90, Y:-1.76, Z:-0.44 [[ 9.99951816e-01 2.56463050e-04 -9.81328675e-03 1.99042100e+01] [-2.46144935e-04 9.99999416e-01 1.05263669e-03 -1.76036349e+00] [ 9.81355098e-03 -1.05017047e-03 9.99951294e-01 -4.41694135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.75327356 meters 0.09648546205676692 Centerline is valid? [True, True] Translation: X:19.93, Y:-1.76, Z:-0.44 [[ 9.99952801e-01 4.99971271e-05 -9.71563889e-03 1.99330043e+01] [-3.98770210e-05 9.99999457e-01 1.04182146e-03 -1.76383100e+00] [ 9.71568570e-03 -1.04138486e-03 9.99952259e-01 -4.41509364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.783273559999998 meters 0.09630150910699169 Centerline is valid? [True, True] Translation: X:19.96, Y:-1.77, Z:-0.44 [[ 9.99953464e-01 9.12967836e-05 -9.64686003e-03 1.99616140e+01] [-8.13278021e-05 9.99999462e-01 1.03377856e-03 -1.76667262e+00] [ 9.64694922e-03 -1.03294590e-03 9.99952934e-01 -4.41567180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.81327356 meters 0.09506600810468595 Centerline is valid? [True, True] Translation: X:19.99, Y:-1.77, Z:-0.44 [[ 9.99949219e-01 6.75541097e-05 -1.00774453e-02 1.99908479e+01] [-5.66806220e-05 9.99999416e-01 1.07927419e-03 -1.76786205e+00] [ 1.00775123e-02 -1.07864818e-03 9.99948639e-01 -4.41170103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.84327356 meters 0.09515345989128175 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.77, Z:-0.44 [[ 9.99950679e-01 -1.83454896e-04 -9.93001323e-03 2.00189902e+01] [ 1.94017868e-04 9.99999416e-01 1.06278917e-03 -1.77125233e+00] [ 9.92981246e-03 -1.06466336e-03 9.99950131e-01 -4.41506234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.873273559999998 meters 0.09702979552272954 Centerline is valid? [True, True] Translation: X:20.05, Y:-1.78, Z:-0.44 [[ 9.99949179e-01 -8.75986211e-05 -1.00812175e-02 2.00457717e+01] [ 9.84694677e-05 9.99999414e-01 1.07783546e-03 -1.77761665e+00] [ 1.00811172e-02 -1.07877337e-03 9.99948602e-01 -4.42541704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.90327356 meters 0.09641966520763069 Centerline is valid? [True, True] Translation: X:20.07, Y:-1.78, Z:-0.44 [[ 9.99940053e-01 -2.94328158e-04 -1.09454630e-02 2.00748337e+01] [ 3.07152042e-04 9.99999268e-01 1.16995384e-03 -1.77930887e+00] [ 1.09451106e-02 -1.17324563e-03 9.99939412e-01 -4.42593464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.93327356 meters 0.09779046439122531 Centerline is valid? [True, True] Translation: X:20.10, Y:-1.78, Z:-0.44 [[ 9.99936857e-01 1.61870184e-04 -1.12363597e-02 2.01022528e+01] [-1.48408681e-04 9.99999270e-01 1.19885406e-03 -1.78440709e+00] [ 1.12365456e-02 -1.19711078e-03 9.99936151e-01 -4.44245949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.963273559999998 meters 0.09612103539698774 Centerline is valid? [True, True] Translation: X:20.13, Y:-1.78, Z:-0.44 [[ 9.99935164e-01 2.41537829e-04 -1.13846215e-02 2.01317058e+01] [-2.27721876e-04 9.99999236e-01 1.21484344e-03 -1.78426642e+00] [ 1.13849063e-02 -1.21217215e-03 9.99934455e-01 -4.43439784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.99327356 meters 0.09040920391807632 Centerline is valid? [True, True] Translation: X:20.16, Y:-1.78, Z:-0.44 [[ 9.99931531e-01 1.02477521e-03 -1.16568700e-02 2.01620027e+01] [-1.01040946e-03 9.99998723e-01 1.23820745e-03 -1.77661699e+00] [ 1.16581240e-02 -1.22634446e-03 9.99931290e-01 -4.41346981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.02327356 meters 0.09481342787245865 Centerline is valid? [True, True] Translation: X:20.19, Y:-1.79, Z:-0.44 [[ 9.99938314e-01 1.26127500e-03 -1.10352696e-02 2.01887633e+01] [-1.24839881e-03 9.99998532e-01 1.17363164e-03 -1.78792636e+00] [ 1.10367337e-02 -1.15978283e-03 9.99938421e-01 -4.43241362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.053273559999997 meters 0.09868031574928735 Centerline is valid? [True, True] Translation: X:20.22, Y:-1.80, Z:-0.45 [[ 9.99937408e-01 1.77223014e-03 -1.10471376e-02 2.02160559e+01] [-1.75936122e-03 9.99997763e-01 1.17451982e-03 -1.79761545e+00] [ 1.10491944e-02 -1.15501040e-03 9.99938289e-01 -4.46054124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.08327356 meters 0.09290759437650666 Centerline is valid? [True, True] Translation: X:20.25, Y:-1.79, Z:-0.44 [[ 9.99936763e-01 2.25976026e-03 -1.10165283e-02 2.02460291e+01] [-2.24700038e-03 9.99996790e-01 1.17048870e-03 -1.78928609e+00] [ 1.10191379e-02 -1.14566054e-03 9.99938631e-01 -4.43060872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.11327356 meters 0.09547989461253105 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.80, Z:-0.44 [[ 9.99935676e-01 2.65846459e-03 -1.10261880e-02 2.02736375e+01] [-2.64571437e-03 9.99995815e-01 1.17078362e-03 -1.79704799e+00] [ 1.10292543e-02 -1.14153617e-03 9.99938524e-01 -4.44966868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.143273559999997 meters 0.09481612187337558 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.80, Z:-0.45 [[ 9.99932043e-01 2.93356158e-03 -1.12829058e-02 2.03030158e+01] [-2.92023049e-03 9.99995019e-01 1.19782316e-03 -1.79813356e+00] [ 1.12863635e-02 -1.16479308e-03 9.99935629e-01 -4.45274661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.17327356 meters 0.09381908535745304 Centerline is valid? [True, True] Translation: X:20.33, Y:-1.80, Z:-0.45 [[ 9.99925007e-01 3.71080429e-03 -1.16709406e-02 2.03324735e+01] [-3.69659936e-03 9.99992401e-01 1.23845574e-03 -1.79902519e+00] [ 1.16754475e-02 -1.19522008e-03 9.99931125e-01 -4.46115987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.20327356 meters 0.0931825360150904 Centerline is valid? [True, True] Translation: X:20.36, Y:-1.80, Z:-0.45 [[ 9.99921943e-01 4.97584340e-03 -1.14607527e-02 2.03624131e+01] [-4.96222300e-03 9.99986948e-01 1.21656817e-03 -1.79999242e+00] [ 1.14666565e-02 -1.15960240e-03 9.99933583e-01 -4.46182979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.233273559999997 meters 0.09318644885058815 Centerline is valid? [True, True] Translation: X:20.39, Y:-1.80, Z:-0.45 [[ 9.99921032e-01 5.65168471e-03 -1.12244274e-02 2.03910312e+01] [-5.63868144e-03 9.99983395e-01 1.18978843e-03 -1.80294359e+00] [ 1.12309654e-02 -1.12640351e-03 9.99936296e-01 -4.46351779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.26327356 meters 0.09143977141222585 Centerline is valid? [True, True] Translation: X:20.42, Y:-1.80, Z:-0.45 [[ 9.99921869e-01 5.97262845e-03 -1.09810388e-02 2.04205476e+01] [-5.96021094e-03 9.99981561e-01 1.16319153e-03 -1.80168130e+00] [ 1.09877837e-02 -1.09765134e-03 9.99939030e-01 -4.45385808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.29327356 meters 0.09358181156122318 Centerline is valid? [True, True] Translation: X:20.45, Y:-1.81, Z:-0.45 [[ 9.99933256e-01 5.78098812e-03 -1.00032130e-02 2.04478626e+01] [-5.77068698e-03 9.99982789e-01 1.05834040e-03 -1.80756666e+00] [ 1.00091591e-02 -1.00054435e-03 9.99949407e-01 -4.45758767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.323273559999997 meters 0.09180777901418667 Centerline is valid? [True, True] Translation: X:20.48, Y:-1.81, Z:-0.45 [[ 9.99927137e-01 6.25167066e-03 -1.03265152e-02 2.04766237e+01] [-6.24072115e-03 9.99979930e-01 1.09221309e-03 -1.80741341e+00] [ 1.03331361e-02 -1.02768861e-03 9.99946084e-01 -4.45266114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.353273559999998 meters 0.09326342857985043 Centerline is valid? [True, True] Translation: X:20.50, Y:-1.81, Z:-0.45 [[ 9.99926496e-01 5.64423899e-03 -1.07305292e-02 2.05034460e+01] [-5.63240053e-03 9.99983496e-01 1.13315054e-03 -1.81246681e+00] [ 1.07367479e-02 -1.07262861e-03 9.99941784e-01 -4.47016380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.38327356 meters 0.0950355029748269 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.82, Z:-0.45 [[ 9.99928801e-01 4.79566939e-03 -1.09267697e-02 2.05314956e+01] [-4.78333795e-03 9.99987893e-01 1.15440792e-03 -1.81826746e+00] [ 1.09321735e-02 -1.10205930e-03 9.99939635e-01 -4.49175568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.41327356 meters 0.09291931522616112 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.82, Z:-0.45 [[ 9.99920704e-01 4.68443890e-03 -1.16894060e-02 2.05602847e+01] [-4.67033087e-03 9.99988333e-01 1.23391366e-03 -1.81732699e+00] [ 1.16950498e-02 -1.17922242e-03 9.99930915e-01 -4.49064260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.443273559999998 meters 0.09641166222926661 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.83, Z:-0.45 [[ 9.99929635e-01 4.28753969e-03 -1.10608647e-02 2.05876611e+01] [-4.27489867e-03 9.99990183e-01 1.16624982e-03 -1.82629932e+00] [ 1.10657564e-02 -1.11888368e-03 9.99938147e-01 -4.51205509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.47327356 meters 0.09707054447629786 Centerline is valid? [True, True] Translation: X:20.61, Y:-1.83, Z:-0.45 [[ 9.99934001e-01 3.98425338e-03 -1.07758768e-02 2.06148966e+01] [-3.97224729e-03 9.99991466e-01 1.13533749e-03 -1.82983988e+00] [ 1.07803083e-02 -1.09245811e-03 9.99941294e-01 -4.51669465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.50327356 meters 0.09351139538145194 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.83, Z:-0.45 [[ 9.99937940e-01 2.88769393e-03 -1.07599721e-02 2.06450931e+01] [-2.87565481e-03 9.99995222e-01 1.13418317e-03 -1.82564560e+00] [ 1.07631958e-02 -1.10317082e-03 9.99941467e-01 -4.49869996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.533273559999998 meters 0.09299708037890199 Centerline is valid? [True, True] Translation: X:20.67, Y:-1.83, Z:-0.45 [[ 9.99941460e-01 2.27674809e-03 -1.05779529e-02 2.06738238e+01] [-2.26509360e-03 9.99996815e-01 1.11362185e-03 -1.82760828e+00] [ 1.05804546e-02 -1.08959661e-03 9.99943432e-01 -4.49670034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.56327356 meters 0.09475442309506563 Centerline is valid? [True, True] Translation: X:20.70, Y:-1.83, Z:-0.45 [[ 9.99949583e-01 9.72227479e-04 -9.99432608e-03 2.07016445e+01] [-9.61766510e-04 9.99998985e-01 1.05144376e-03 -1.83363015e+00] [ 9.99533818e-03 -1.04177854e-03 9.99949503e-01 -4.50441276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.59327356 meters 0.09600399166352021 Centerline is valid? [True, True] Translation: X:20.73, Y:-1.84, Z:-0.45 [[ 9.99958695e-01 -2.41767272e-03 -8.76141449e-03 2.07318814e+01] [ 2.42585027e-03 9.99996632e-01 9.22853067e-04 -1.83934520e+00] [ 8.75915382e-03 -9.44068828e-04 9.99961192e-01 -4.49990672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.623273559999998 meters 0.09573303297079239 Centerline is valid? [True, True] Translation: X:20.76, Y:-1.84, Z:-0.45 [[ 9.99953062e-01 -3.58228493e-03 -9.00229617e-03 2.07610095e+01] [ 3.59095212e-03 9.99993104e-01 9.46795805e-04 -1.84254249e+00] [ 8.99884241e-03 -9.79078179e-04 9.99959030e-01 -4.50444998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.65327356 meters 0.098347267141799 Centerline is valid? [True, True] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99951143e-01 -5.30619393e-03 -8.34005731e-03 2.07898670e+01] [ 5.31369561e-03 9.99985497e-01 8.77574532e-04 -1.85037368e+00] [ 8.33527977e-03 -9.21848182e-04 9.99964836e-01 -4.51904639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.68327356 meters 0.10099513504566154 Centerline is valid? [True, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99953851e-01 -5.35450832e-03 -7.97654268e-03 2.07894835e+01] [ 5.36411715e-03 9.99984912e-01 1.18372948e-03 -1.85104747e+00] [ 7.97008405e-03 -1.22646196e-03 9.99967486e-01 -4.52430087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.713273559999998 meters 0.10064283378294918 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99955389e-01 -5.16565399e-03 -7.90797919e-03 2.07897580e+01] [ 5.17800666e-03 9.99985405e-01 1.54237443e-03 -1.85157198e+00] [ 7.89989640e-03 -1.58325319e-03 9.99967542e-01 -4.53017588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.74327356 meters 0.10102134671703827 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99956437e-01 -5.09411257e-03 -7.82139994e-03 2.07898138e+01] [ 5.10788647e-03 9.99985437e-01 1.74208828e-03 -1.85185163e+00] [ 7.81241164e-03 -1.78196321e-03 9.99967895e-01 -4.53351310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.77327356 meters 0.10392526226572246 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99958578e-01 -4.94668708e-03 -7.64015790e-03 2.07897378e+01] [ 4.96349576e-03 9.99985300e-01 2.18265182e-03 -1.85281752e+00] [ 7.62924869e-03 -2.22048330e-03 9.99968432e-01 -4.53791836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.803273559999997 meters 0.10492968537357503 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99959502e-01 -4.84904470e-03 -7.58159881e-03 2.07897574e+01] [ 4.86741364e-03 9.99985259e-01 2.40626095e-03 -1.85327083e+00] [ 7.56981898e-03 -2.44306628e-03 9.99968364e-01 -4.53972476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.83327356 meters 0.10761409332337053 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99960293e-01 -4.97076855e-03 -7.39615526e-03 2.07893198e+01] [ 4.98839866e-03 9.99984756e-01 2.36715083e-03 -1.85343271e+00] [ 7.38427596e-03 -2.40395181e-03 9.99969846e-01 -4.53885132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.86327356 meters 0.10941857824415305 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99961250e-01 -5.00176097e-03 -7.24431985e-03 2.07889006e+01] [ 5.01999512e-03 9.99984272e-01 2.50103461e-03 -1.85401347e+00] [ 7.23169633e-03 -2.53730414e-03 9.99970632e-01 -4.53724446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.893273559999997 meters 0.1087329569310808 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99961466e-01 -4.99807307e-03 -7.21706602e-03 2.07888805e+01] [ 5.01648564e-03 9.99984203e-01 2.53540908e-03 -1.85414994e+00] [ 7.20427985e-03 -2.57151569e-03 9.99970742e-01 -4.53762045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.92327356 meters 0.10098718768330735 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99961512e-01 -5.00072740e-03 -7.20881899e-03 2.07888726e+01] [ 5.01924164e-03 9.99984146e-01 2.55247639e-03 -1.85425415e+00] [ 7.19594046e-03 -2.58856096e-03 9.99970758e-01 -4.53764879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.95327356 meters 0.10169594268303697 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99961310e-01 -4.88513107e-03 -7.31536599e-03 2.07892747e+01] [ 4.90462423e-03 9.99984463e-01 2.64912286e-03 -1.85425226e+00] [ 7.30231103e-03 -2.68489948e-03 9.99969733e-01 -4.53991669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.983273559999997 meters 0.1036723960174221 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99961572e-01 -4.63044359e-03 -7.44398819e-03 2.07899157e+01] [ 4.65242054e-03 9.99984862e-01 2.93770802e-03 -1.85449186e+00] [ 7.43027261e-03 -2.97222770e-03 9.99967978e-01 -4.54503120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.01327356 meters 0.11508803850668653 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99961243e-01 -4.52249332e-03 -7.55376099e-03 2.07902511e+01] [ 4.54541216e-03 9.99985110e-01 3.01968910e-03 -1.85451971e+00] [ 7.53999200e-03 -3.05390702e-03 9.99966911e-01 -4.54642412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.04327356 meters 0.10272851717482459 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99960382e-01 -4.57448096e-03 -7.63597698e-03 2.07903343e+01] [ 4.59662383e-03 9.99985274e-01 2.88478211e-03 -1.85422482e+00] [ 7.62266815e-03 -2.91976754e-03 9.99966684e-01 -4.54519605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.073273559999997 meters 0.10269010733976733 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99959452e-01 -4.29480867e-03 -7.91507918e-03 2.07912053e+01] [ 4.31884723e-03 9.99986106e-01 3.02247299e-03 -1.85395523e+00] [ 7.90198827e-03 -3.05653445e-03 9.99964107e-01 -4.54935073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.103273559999998 meters 0.10230768575094204 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.45 [[ 9.99958670e-01 -4.30923173e-03 -8.00557738e-03 2.07912863e+01] [ 4.33292536e-03 9.99986277e-01 2.94465778e-03 -1.85378869e+00] [ 7.99277831e-03 -2.97922364e-03 9.99963619e-01 -4.54775050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.13327356 meters 0.10333940148644709 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.46 [[ 9.99959031e-01 -4.02716052e-03 -8.10666354e-03 2.07919419e+01] [ 4.05345273e-03 9.99986570e-01 3.22947040e-03 -1.85400802e+00] [ 8.09354907e-03 -3.26219807e-03 9.99961926e-01 -4.55376601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.16327356 meters 0.10390572053562078 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.46 [[ 9.99958994e-01 -4.02680220e-03 -8.11144821e-03 2.07919249e+01] [ 4.05314026e-03 9.99986559e-01 3.23320515e-03 -1.85416955e+00] [ 8.09831971e-03 -3.26594940e-03 9.99961875e-01 -4.55337836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.193273559999998 meters 0.10495551540557516 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.85, Z:-0.46 [[ 9.99959537e-01 -4.01341243e-03 -8.05084763e-03 2.07918495e+01] [ 4.04008948e-03 9.99986394e-01 3.30004891e-03 -1.85445522e+00] [ 8.03749363e-03 -3.33244153e-03 9.99962146e-01 -4.55399807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.22327356 meters 0.1062423975364972 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.46 [[ 9.99961085e-01 -3.95205382e-03 -7.88726077e-03 2.07913458e+01] [ 3.98053201e-03 9.99985604e-01 3.59823093e-03 -1.85576114e+00] [ 7.87292682e-03 -3.62948640e-03 9.99962421e-01 -4.55155381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.25327356 meters 0.10791962120782732 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.46 [[ 9.99962528e-01 -3.85435056e-03 -7.75152529e-03 2.07912096e+01] [ 3.88437747e-03 9.99984997e-01 3.86235975e-03 -1.85652596e+00] [ 7.73652211e-03 -3.89232487e-03 9.99962497e-01 -4.55344336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.283273559999998 meters 0.10791962120782732 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.46 [[ 9.99962528e-01 -3.85435056e-03 -7.75152529e-03 2.07912096e+01] [ 3.88437747e-03 9.99984997e-01 3.86235975e-03 -1.85652596e+00] [ 7.73652211e-03 -3.89232487e-03 9.99962497e-01 -4.55344336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.31327356 meters 0.10843781716268706 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.46 [[ 9.99963696e-01 -3.88706325e-03 -7.58265068e-03 2.07908019e+01] [ 3.91738831e-03 9.99984373e-01 3.98852456e-03 -1.85718635e+00] [ 7.56702854e-03 -4.01808395e-03 9.99963297e-01 -4.55266979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.34327356 meters 0.11106043917892389 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.46 [[ 9.99965525e-01 -3.78336580e-03 -7.39151851e-03 2.07904653e+01] [ 3.81579315e-03 9.99983137e-01 4.37793750e-03 -1.85858208e+00] [ 7.37483053e-03 -4.40599108e-03 9.99963099e-01 -4.55322998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.373273559999998 meters 0.11330617422056155 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.46 [[ 9.99967587e-01 -3.69953350e-03 -7.15116912e-03 2.07900858e+01] [ 3.73363916e-03 9.99981692e-01 4.76179010e-03 -1.85997722e+00] [ 7.13342180e-03 -4.78833564e-03 9.99963092e-01 -4.55464215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.40327356 meters 0.10652641174385458 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.46 [[ 9.99968003e-01 -3.66555935e-03 -7.11025924e-03 2.07900385e+01] [ 3.70010032e-03 9.99981389e-01 4.85084975e-03 -1.86039648e+00] [ 7.09234584e-03 -4.87700321e-03 9.99962956e-01 -4.55498510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.43327356 meters 0.10096868846845024 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.46 [[ 9.99967966e-01 -3.73823530e-03 -7.07767730e-03 2.07896361e+01] [ 3.77232072e-03 9.99981323e-01 4.80869665e-03 -1.86084099e+00] [ 7.05956907e-03 -4.83524188e-03 9.99963391e-01 -4.55012016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.463273559999998 meters 0.10096868846845024 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.46 [[ 9.99967966e-01 -3.73823530e-03 -7.07767730e-03 2.07896361e+01] [ 3.77232072e-03 9.99981323e-01 4.80869665e-03 -1.86084099e+00] [ 7.05956907e-03 -4.83524188e-03 9.99963391e-01 -4.55012016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.49327356 meters 0.10250136806678224 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.45 [[ 9.99968366e-01 -3.77394331e-03 -7.00167046e-03 2.07894236e+01] [ 3.80770582e-03 9.99981158e-01 4.81501765e-03 -1.86113251e+00] [ 6.98336693e-03 -4.84152564e-03 9.99963895e-01 -4.54894694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.52327356 meters 0.10134488653986957 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.45 [[ 9.99968355e-01 -3.74058416e-03 -7.02112565e-03 2.07892426e+01] [ 3.77508591e-03 9.99980834e-01 4.90718737e-03 -1.86178625e+00] [ 7.00263533e-03 -4.93353744e-03 9.99963311e-01 -4.54579639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.553273559999997 meters 0.10126097561416836 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.45 [[ 9.99968465e-01 -3.45293665e-03 -7.15170754e-03 2.07897355e+01] [ 3.49052422e-03 9.99980127e-01 5.24995094e-03 -1.86250018e+00] [ 7.13343767e-03 -5.27474859e-03 9.99960645e-01 -4.54872265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.58327356 meters 0.1009509262561401 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.45 [[ 9.99968454e-01 -3.38971604e-03 -7.18341309e-03 2.07896654e+01] [ 3.42825960e-03 9.99979758e-01 5.36012961e-03 -1.86309018e+00] [ 7.16509836e-03 -5.38458712e-03 9.99959833e-01 -4.54686170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.61327356 meters 0.1044308438181185 Centerline is valid? [False, False] Translation: X:20.79, Y:-1.86, Z:-0.45 [[ 9.99968485e-01 -3.38072338e-03 -7.18327625e-03 2.07896385e+01] [ 3.41941257e-03 9.99979678e-01 5.38057112e-03 -1.86329934e+00] [ 7.16494005e-03 -5.40496414e-03 9.99959724e-01 -4.54631395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.643273559999997 meters 0.09959749739066887 Centerline is valid? [False, True] Translation: X:20.79, Y:-1.86, Z:-0.45 [[ 9.99968664e-01 -3.47519360e-03 -7.11296650e-03 2.07892097e+01] [ 3.51300028e-03 9.99979733e-01 5.30960267e-03 -1.86365744e+00] [ 7.09437045e-03 -5.33442414e-03 9.99960606e-01 -4.54209074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.67327356 meters 0.09936474192811123 Centerline is valid? [True, True] Translation: X:20.82, Y:-1.87, Z:-0.45 [[ 9.99965970e-01 -3.39528358e-03 -7.51866416e-03 2.08176512e+01] [ 3.40168659e-03 9.99993862e-01 8.38990910e-04 -1.86549612e+00] [ 7.51576940e-03 -8.64538499e-04 9.99971382e-01 -4.52901243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.70327356 meters 0.0999319266877361 Centerline is valid? [True, True] Translation: X:20.85, Y:-1.87, Z:-0.45 [[ 9.99959113e-01 -3.83365131e-03 -8.18993623e-03 2.08453538e+01] [ 3.84128250e-03 9.99992202e-01 9.16250215e-04 -1.87137351e+00] [ 8.18635979e-03 -9.47672611e-04 9.99966042e-01 -4.53616922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.733273559999997 meters 0.10018214632136423 Centerline is valid? [True, False] Translation: X:20.85, Y:-1.87, Z:-0.45 [[ 9.99959800e-01 -3.65379254e-03 -8.18833087e-03 2.08453888e+01] [ 3.66404763e-03 9.99992521e-01 1.23775089e-03 -1.87233162e+00] [ 8.18374715e-03 -1.26770357e-03 9.99965709e-01 -4.53678028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.76327356 meters 0.0997960144015583 Centerline is valid? [False, True] Translation: X:20.85, Y:-1.87, Z:-0.45 [[ 9.99960507e-01 -3.51997339e-03 -8.16050507e-03 2.08454036e+01] [ 3.53241120e-03 9.99992621e-01 1.51023548e-03 -1.87309691e+00] [ 8.15512886e-03 -1.53900210e-03 9.99965562e-01 -4.53774363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.79327356 meters 0.10416861914462994 Centerline is valid? [True, False] Translation: X:20.85, Y:-1.87, Z:-0.45 [[ 9.99961640e-01 -3.43567742e-03 -8.05691284e-03 2.08452603e+01] [ 3.44989726e-03 9.99992515e-01 1.75169072e-03 -1.87380168e+00] [ 8.05083429e-03 -1.77941905e-03 9.99966008e-01 -4.53853992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.823273559999997 meters 0.1012052991015593 Centerline is valid? [False, False] Translation: X:20.85, Y:-1.87, Z:-0.45 [[ 9.99962500e-01 -3.33904267e-03 -7.99053835e-03 2.08451481e+01] [ 3.35516324e-03 9.99992362e-01 2.00490275e-03 -1.87457312e+00] [ 7.98378285e-03 -2.03163713e-03 9.99966065e-01 -4.53884705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.853273559999998 meters 0.09467563216376952 Centerline is valid? [False, True] Translation: X:20.85, Y:-1.88, Z:-0.45 [[ 9.99964198e-01 -2.96845850e-03 -7.92403568e-03 2.08451391e+01] [ 2.99027400e-03 9.99991768e-01 2.74265226e-03 -1.87671412e+00] [ 7.91582900e-03 -2.76624910e-03 9.99964843e-01 -4.54034744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.88327356 meters 0.1018945998064481 Centerline is valid? [True, False] Translation: X:20.84, Y:-1.88, Z:-0.45 [[ 9.99965039e-01 -2.93967443e-03 -7.82814564e-03 2.08447848e+01] [ 2.96264278e-03 9.99991336e-01 2.92409411e-03 -1.87762908e+00] [ 7.81948194e-03 -2.94718388e-03 9.99965084e-01 -4.53803581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.91327356 meters 0.10067475545577292 Centerline is valid? [False, False] Translation: X:20.84, Y:-1.88, Z:-0.45 [[ 9.99966722e-01 -2.65145597e-03 -7.71524048e-03 2.08445773e+01] [ 2.67897557e-03 9.99990079e-01 3.55876924e-03 -1.87960194e+00] [ 7.70572801e-03 -3.57931976e-03 9.99963904e-01 -4.53795014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.943273559999998 meters 0.1007171380384768 Centerline is valid? [False, False] Translation: X:20.84, Y:-1.88, Z:-0.45 [[ 9.99966861e-01 -2.66754660e-03 -7.69161819e-03 2.08442219e+01] [ 2.69549507e-03 9.99989795e-01 3.62555262e-03 -1.88024801e+00] [ 7.68186836e-03 -3.64616519e-03 9.99963847e-01 -4.53357282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.97327356 meters 0.09766643461460042 Centerline is valid? [False, True] Translation: X:20.84, Y:-1.88, Z:-0.45 [[ 9.99968133e-01 -2.39996717e-03 -7.61404496e-03 2.08441882e+01] [ 2.43182193e-03 9.99988319e-01 4.17718832e-03 -1.88182782e+00] [ 7.60393090e-03 -4.19557120e-03 9.99962288e-01 -4.53514481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.003273560000004 meters 0.09910460550809437 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.89, Z:-0.45 [[ 9.99958060e-01 -2.93609375e-03 -8.67510213e-03 2.08721069e+01] [ 2.94490246e-03 9.99995161e-01 1.00280127e-03 -1.88685500e+00] [ 8.67211584e-03 -1.02830654e-03 9.99961868e-01 -4.53757583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.03327356 meters 0.10067593501805083 Centerline is valid? [True, False] Translation: X:20.87, Y:-1.89, Z:-0.45 [[ 9.99959072e-01 -2.68989838e-03 -8.63823268e-03 2.08721861e+01] [ 2.70277332e-03 9.99995254e-01 1.47913174e-03 -1.88807970e+00] [ 8.63421297e-03 -1.50241839e-03 9.99961596e-01 -4.54001016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06327356 meters 0.10089248790707013 Centerline is valid? [False, False] Translation: X:20.87, Y:-1.89, Z:-0.45 [[ 9.99961332e-01 -2.39757702e-03 -8.46082914e-03 2.08719316e+01] [ 2.41645167e-03 9.99994613e-01 2.22131035e-03 -1.89024642e+00] [ 8.45545780e-03 -2.24166965e-03 9.99961739e-01 -4.54171427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09327356 meters 0.0989329419146615 Centerline is valid? [False, True] Translation: X:20.87, Y:-1.89, Z:-0.45 [[ 9.99962125e-01 -2.40904171e-03 -8.36328706e-03 2.08714966e+01] [ 2.42893763e-03 9.99994243e-01 2.36961778e-03 -1.89110788e+00] [ 8.35753040e-03 -2.38984193e-03 9.99962219e-01 -4.53824583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12327356 meters 0.09930746827449637 Centerline is valid? [True, True] Translation: X:20.90, Y:-1.90, Z:-0.45 [[ 9.99959945e-01 -3.10683258e-03 -8.39382585e-03 2.09000123e+01] [ 3.11524964e-03 9.99994658e-01 9.89878977e-04 -1.89550536e+00] [ 8.39070562e-03 -1.01598819e-03 9.99964281e-01 -4.53946274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.153273559999995 meters 0.10024156686096908 Centerline is valid? [True, False] Translation: X:20.90, Y:-1.90, Z:-0.45 [[ 9.99962221e-01 -2.70187047e-03 -8.26180759e-03 2.08998908e+01] [ 2.71742972e-03 9.99994554e-01 1.87262891e-03 -1.89790034e+00] [ 8.25670300e-03 -1.89500905e-03 9.99964117e-01 -4.54132616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.183273559999996 meters 0.1013377624534808 Centerline is valid? [False, False] Translation: X:20.90, Y:-1.90, Z:-0.45 [[ 9.99962789e-01 -2.60575425e-03 -8.22384211e-03 2.08996848e+01] [ 2.62337117e-03 9.99994286e-01 2.13211613e-03 -1.89888499e+00] [ 8.21823934e-03 -2.15361098e-03 9.99963911e-01 -4.53941945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.21327356 meters 0.10013750748300156 Centerline is valid? [False, False] Translation: X:20.90, Y:-1.90, Z:-0.45 [[ 9.99963908e-01 -2.54345157e-03 -8.10640050e-03 2.08993037e+01] [ 2.56294642e-03 9.99993847e-01 2.39539004e-03 -1.89995314e+00] [ 8.10025806e-03 -2.41607985e-03 9.99964274e-01 -4.53733279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24327356 meters 0.10301949355566128 Centerline is valid? [False, False] Translation: X:20.90, Y:-1.90, Z:-0.45 [[ 9.99966568e-01 -2.30842737e-03 -7.84432967e-03 2.08988210e+01] [ 2.33292809e-03 9.99992425e-01 3.11565381e-03 -1.90224615e+00] [ 7.83707799e-03 -3.13384991e-03 9.99964379e-01 -4.53747534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27327356 meters 0.10241670667518209 Centerline is valid? [False, False] Translation: X:20.90, Y:-1.90, Z:-0.45 [[ 9.99968070e-01 -2.17475915e-03 -7.68959129e-03 2.08985244e+01] [ 2.20164504e-03 9.99991487e-01 3.48966524e-03 -1.90349452e+00] [ 7.68193665e-03 -3.50648357e-03 9.99964346e-01 -4.53763691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30327356 meters 0.10268813265148535 Centerline is valid? [False, False] Translation: X:20.90, Y:-1.90, Z:-0.45 [[ 9.99969485e-01 -2.04120843e-03 -7.54073460e-03 2.08982854e+01] [ 2.07049906e-03 9.99990335e-01 3.87855843e-03 -1.90478922e+00] [ 7.53274477e-03 -3.89405316e-03 9.99964046e-01 -4.53828099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.33327356 meters 0.1004952715894354 Centerline is valid? [False, False] Translation: X:20.90, Y:-1.91, Z:-0.45 [[ 9.99971081e-01 -1.75026792e-03 -7.40089883e-03 2.08980372e+01] [ 1.78450007e-03 9.99987729e-01 4.62133329e-03 -1.90707835e+00] [ 7.39271944e-03 -4.63440655e-03 9.99961934e-01 -4.53859922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.363273559999996 meters 0.09929736206281521 Centerline is valid? [False, True] Translation: X:20.90, Y:-1.91, Z:-0.45 [[ 9.99971264e-01 -1.72435279e-03 -7.38226800e-03 2.08978285e+01] [ 1.75939377e-03 9.99987205e-01 4.74278030e-03 -1.90772841e+00] [ 7.37399532e-03 -4.75563233e-03 9.99961503e-01 -4.53618984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.39327356 meters 0.10385855957769187 Centerline is valid? [True, False] Translation: X:20.90, Y:-1.91, Z:-0.45 [[ 9.99971804e-01 -1.61427701e-03 -7.33386720e-03 2.08977335e+01] [ 1.65088098e-03 9.99986198e-01 4.98777761e-03 -1.90852148e+00] [ 7.32571432e-03 -4.99974431e-03 9.99960667e-01 -4.53608033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.42327356 meters 0.10042030874491888 Centerline is valid? [False, False] Translation: X:20.90, Y:-1.91, Z:-0.45 [[ 9.99971754e-01 -1.39891502e-03 -7.38473651e-03 2.08976065e+01] [ 1.43911581e-03 9.99984161e-01 5.44126387e-03 -1.91011430e+00] [ 7.37700768e-03 -5.45173767e-03 9.99957928e-01 -4.53299193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.45327356 meters 0.1069109620130392 Centerline is valid? [False, False] Translation: X:20.90, Y:-1.91, Z:-0.45 [[ 9.99972187e-01 -1.31614567e-03 -7.34118256e-03 2.08974250e+01] [ 1.35759347e-03 9.99983152e-01 5.64380700e-03 -1.91092041e+00] [ 7.33363081e-03 -5.65361637e-03 9.99957126e-01 -4.53162736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48327356 meters 0.10142925278369422 Centerline is valid? [False, False] Translation: X:20.90, Y:-1.91, Z:-0.45 [[ 9.99972681e-01 -1.26229668e-03 -7.28311545e-03 2.08973502e+01] [ 1.30427508e-03 9.99982549e-01 5.76192891e-03 -1.91142692e+00] [ 7.27571509e-03 -5.77127069e-03 9.99956877e-01 -4.53178197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.51327356 meters 0.10243442821728468 Centerline is valid? [False, False] Translation: X:20.90, Y:-1.91, Z:-0.45 [[ 9.99973058e-01 -1.18790023e-03 -7.24370541e-03 2.08972952e+01] [ 1.23067082e-03 9.99981820e-01 5.90292231e-03 -1.91201243e+00] [ 7.23656164e-03 -5.91167789e-03 9.99956341e-01 -4.53190350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.543273559999996 meters 0.10328659440073727 Centerline is valid? [False, False] Translation: X:20.90, Y:-1.91, Z:-0.45 [[ 9.99973398e-01 -1.04378155e-03 -7.21900198e-03 2.08970299e+01] [ 1.08898927e-03 9.99979805e-01 6.26123058e-03 -1.91343407e+00] [ 7.21232084e-03 -6.26892543e-03 9.99954340e-01 -4.52884265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.57327356 meters 0.10112454197633618 Centerline is valid? [False, False] Translation: X:20.90, Y:-1.91, Z:-0.45 [[ 9.99973292e-01 -9.82490531e-04 -7.24217166e-03 2.08968459e+01] [ 1.02882954e-03 9.99979006e-01 6.39754983e-03 -1.91412395e+00] [ 7.23573409e-03 -6.40482993e-03 9.99953310e-01 -4.52553597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.60327356 meters 0.09644391884827519 Centerline is valid? [False, True] Translation: X:20.90, Y:-1.91, Z:-0.45 [[ 9.99973655e-01 -9.73008526e-04 -7.19318451e-03 2.08965532e+01] [ 1.01965221e-03 9.99978461e-01 6.48360715e-03 -1.91469081e+00] [ 7.18672098e-03 -6.49077089e-03 9.99953109e-01 -4.52269128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.63327356 meters 0.0995733409510742 Centerline is valid? [True, True] Translation: X:20.92, Y:-1.92, Z:-0.45 [[ 9.99975250e-01 5.97388818e-04 -7.01012493e-03 2.09243983e+01] [-5.91342438e-04 9.99999451e-01 8.64562051e-04 -1.92286100e+00] [ 7.01063756e-03 -8.60395269e-04 9.99975055e-01 -4.52009235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66327356 meters 0.10092871501078865 Centerline is valid? [True, False] Translation: X:20.92, Y:-1.92, Z:-0.45 [[ 9.99974002e-01 8.63157308e-04 -7.15895839e-03 2.09248080e+01] [-8.54459373e-04 9.99998893e-01 1.21794173e-03 -1.92353850e+00] [ 7.16000175e-03 -1.21179302e-03 9.99973633e-01 -4.52176433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.69327356 meters 0.09776978171421645 Centerline is valid? [False, True] Translation: X:20.92, Y:-1.92, Z:-0.45 [[ 9.99973299e-01 8.91141463e-04 -7.25303699e-03 2.09249134e+01] [-8.82349222e-04 9.99998872e-01 1.21532465e-03 -1.92363735e+00] [ 7.25411184e-03 -1.20889249e-03 9.99972958e-01 -4.52073547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.723273559999996 meters 0.09993678574261117 Centerline is valid? [True, True] Translation: X:20.95, Y:-1.93, Z:-0.45 [[ 9.99962348e-01 3.09318079e-03 -8.10764395e-03 2.09537707e+01] [-3.08532021e-03 9.99994758e-01 9.81854712e-04 -1.93166982e+00] [ 8.11063851e-03 -9.56803066e-04 9.99966650e-01 -4.54005456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.75327356 meters 0.09604670707057271 Centerline is valid? [True, True] Translation: X:20.98, Y:-1.93, Z:-0.45 [[ 9.99952587e-01 4.03764189e-03 -8.86118014e-03 2.09834329e+01] [-4.02830306e-03 9.99991312e-01 1.07149926e-03 -1.92841450e+00] [ 8.86542949e-03 -1.03575294e-03 9.99960165e-01 -4.53336414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.78327356 meters 0.09632078594319114 Centerline is valid? [True, True] Translation: X:21.01, Y:-1.93, Z:-0.46 [[ 9.99931849e-01 7.05780058e-03 -9.29974418e-03 2.10117176e+01] [-7.04764102e-03 9.99974532e-01 1.12477503e-03 -1.93316101e+00] [ 9.30744577e-03 -1.05915712e-03 9.99956124e-01 -4.55428960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.81327356 meters 0.09772334118655947 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.94, Z:-0.46 [[ 9.99922704e-01 8.34902277e-03 -9.21297734e-03 2.10401711e+01] [-8.33910721e-03 9.99964608e-01 1.11415107e-03 -1.93960092e+00] [ 9.22195335e-03 -1.03723695e-03 9.99956939e-01 -4.57122558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84327356 meters 0.09430002027126184 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.94, Z:-0.46 [[ 9.99919257e-01 8.99009567e-03 -8.98090761e-03 2.10694570e+01] [-8.98071142e-03 9.99959084e-01 1.08469424e-03 -1.93749036e+00] [ 8.99029166e-03 -1.00395172e-03 9.99959083e-01 -4.55630742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.87327356 meters 0.09450590237918619 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.94, Z:-0.46 [[ 9.99901767e-01 1.13358196e-02 -8.24354423e-03 2.10986349e+01] [-1.13279857e-02 9.99935340e-01 9.96387825e-04 -1.94248005e+00] [ 8.25430607e-03 -9.02907195e-04 9.99965525e-01 -4.56363931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.903273559999995 meters 0.09658108275074342 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.95, Z:-0.46 [[ 9.99900812e-01 1.18617048e-02 -7.59384665e-03 2.11257812e+01] [-1.18550876e-02 9.99929307e-01 9.15810253e-04 -1.95004715e+00] [ 7.60417289e-03 -8.25693698e-04 9.99970747e-01 -4.57238909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.933273559999996 meters 0.09267852083695091 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.95, Z:-0.46 [[ 9.99897746e-01 1.16601703e-02 -8.27875458e-03 2.11550154e+01] [-1.16522995e-02 9.99931611e-01 9.98329638e-04 -1.94639193e+00] [ 8.28982910e-03 -9.01761027e-04 9.99965232e-01 -4.55596001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.96327356 meters 0.09292498362804257 Centerline is valid? [True, True] Translation: X:21.18, Y:-1.95, Z:-0.46 [[ 9.99892886e-01 1.24487292e-02 -7.69717613e-03 2.11838091e+01] [-1.24419493e-02 9.99922165e-01 9.28080756e-04 -1.95112488e+00] [ 7.70813045e-03 -8.32213469e-04 9.99969946e-01 -4.56802002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.99327356 meters 0.09543329132961847 Centerline is valid? [True, True] Translation: X:21.21, Y:-1.96, Z:-0.46 [[ 9.99887548e-01 1.29013187e-02 -7.64508215e-03 2.12112665e+01] [-1.28946503e-02 9.99916436e-01 9.20905632e-04 -1.95950870e+00] [ 7.65632419e-03 -8.22221414e-04 9.99970352e-01 -4.59229313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02327356 meters 0.09439629352582182 Centerline is valid? [True, True] Translation: X:21.24, Y:-1.96, Z:-0.46 [[ 9.99877260e-01 1.33516953e-02 -8.19737125e-03 2.12401571e+01] [-1.33440471e-02 9.99910477e-01 9.86992531e-04 -1.96172908e+00] [ 8.20981542e-03 -8.77485280e-04 9.99965914e-01 -4.60210989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.05327356 meters 0.09230708481995724 Centerline is valid? [True, True] Translation: X:21.27, Y:-1.96, Z:-0.46 [[ 9.99871911e-01 1.33716264e-02 -8.79546795e-03 2.12688157e+01] [-1.33628269e-02 9.99910153e-01 1.05847531e-03 -1.96174701e+00] [ 8.80883125e-03 -9.40807417e-04 9.99960759e-01 -4.59626618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08327356 meters 0.09519828791199056 Centerline is valid? [True, True] Translation: X:21.30, Y:-1.97, Z:-0.46 [[ 9.99880088e-01 1.27020326e-02 -8.85825642e-03 2.12957533e+01] [-1.26930908e-02 9.99918872e-01 1.06492355e-03 -1.97029181e+00] [ 8.87106447e-03 -9.52357202e-04 9.99960198e-01 -4.61932557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.113273559999996 meters 0.09288165258365137 Centerline is valid? [True, True] Translation: X:21.33, Y:-1.97, Z:-0.46 [[ 9.99868405e-01 1.32289337e-02 -9.38975048e-03 2.13253057e+01] [-1.32189063e-02 9.99911989e-01 1.12917866e-03 -1.97016097e+00] [ 9.40386191e-03 -1.00490783e-03 9.99955278e-01 -4.61616279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.14327356 meters 0.0942250247589538 Centerline is valid? [True, True] Translation: X:21.35, Y:-1.98, Z:-0.46 [[ 9.99865507e-01 1.35408610e-02 -9.25269333e-03 2.13523707e+01] [-1.35311515e-02 9.99907832e-01 1.11116914e-03 -1.97576750e+00] [ 9.26688672e-03 -9.85820101e-04 9.99956576e-01 -4.62732331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.17327356 meters 0.0950552351906127 Centerline is valid? [True, True] Translation: X:21.38, Y:-1.98, Z:-0.46 [[ 9.99867046e-01 1.40103570e-02 -8.34263709e-03 2.13800771e+01] [-1.40024869e-02 9.99901459e-01 1.00102304e-03 -1.98019316e+00] [ 8.35583969e-03 -8.84072283e-04 9.99964699e-01 -4.63276116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20327356 meters 0.0950552351906127 Centerline is valid? [True, True] Translation: X:21.41, Y:-1.98, Z:-0.46 [[ 9.99868435e-01 1.39108273e-02 -8.34277931e-03 2.14075171e+01] [-1.39029635e-02 9.99902849e-01 9.99838632e-04 -1.98338482e+00] [ 8.35587739e-03 -8.83717732e-04 9.99964699e-01 -4.63870965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.23327356 meters 0.09326284241915359 Centerline is valid? [True, True] Translation: X:21.44, Y:-1.98, Z:-0.46 [[ 9.99845791e-01 1.55098246e-02 -8.23642946e-03 2.14380822e+01] [-1.55022003e-02 9.99879345e-01 9.88719654e-04 -1.98294425e+00] [ 8.25077056e-03 -8.60884405e-04 9.99965591e-01 -4.63191733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.26327356 meters 0.09412579890543764 Centerline is valid? [True, True] Translation: X:21.47, Y:-1.99, Z:-0.46 [[ 9.99841255e-01 1.59118651e-02 -8.01726099e-03 2.14658376e+01] [-1.59046710e-02 9.99873052e-01 9.60294564e-04 -1.98727397e+00] [ 8.03152329e-03 -8.32630225e-04 9.99967400e-01 -4.64977217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.293273559999996 meters 0.09229947897050625 Centerline is valid? [True, True] Translation: X:21.50, Y:-1.99, Z:-0.46 [[ 9.99824637e-01 1.65548691e-02 -8.75393612e-03 2.14950997e+01] [-1.65463172e-02 9.99862551e-01 1.04844246e-03 -1.98652943e+00] [ 8.77008973e-03 -9.03413196e-04 9.99961134e-01 -4.64246705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.32327356 meters 0.09318674586006821 Centerline is valid? [True, True] Translation: X:21.52, Y:-1.99, Z:-0.47 [[ 9.99816747e-01 1.71467712e-02 -8.51237736e-03 2.15220932e+01] [-1.71387155e-02 9.99852603e-01 1.01840503e-03 -1.99146481e+00] [ 8.52858502e-03 -8.72327187e-04 9.99963250e-01 -4.65709946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.35327356 meters 0.09132137884791794 Centerline is valid? [True, True] Translation: X:21.55, Y:-1.99, Z:-0.46 [[ 9.99814508e-01 1.73205890e-02 -8.42300211e-03 2.15510381e+01] [-1.73127098e-02 9.99849616e-01 1.00745597e-03 -1.99142341e+00] [ 8.43918515e-03 -8.61444099e-04 9.99964018e-01 -4.64921889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.38327356 meters 0.09390685384567364 Centerline is valid? [True, True] Translation: X:21.58, Y:-2.00, Z:-0.47 [[ 9.99820383e-01 1.70957534e-02 -8.18151505e-03 2.15777508e+01] [-1.70883211e-02 9.99853506e-01 9.77478655e-04 -1.99930609e+00] [ 8.19702724e-03 -8.37494727e-04 9.99966053e-01 -4.67229467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.41327356 meters 0.08992625303219165 Centerline is valid? [True, True] Translation: X:21.61, Y:-2.00, Z:-0.47 [[ 9.99831038e-01 1.61180353e-02 -8.83772069e-03 2.16080716e+01] [-1.61093170e-02 9.99869678e-01 1.05679185e-03 -1.99511027e+00] [ 8.85360235e-03 -9.14243645e-04 9.99960388e-01 -4.65157438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44327356 meters 0.08942156605985768 Centerline is valid? [True, True] Translation: X:21.64, Y:-2.00, Z:-0.47 [[ 9.99843844e-01 1.53082574e-02 -8.82861158e-03 2.16366383e+01] [-1.52995380e-02 9.99882399e-01 1.05433042e-03 -1.99729685e+00] [ 8.84371329e-03 -9.19092102e-04 9.99960471e-01 -4.65400407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.473273559999996 meters 0.09437076907465188 Centerline is valid? [True, True] Translation: X:21.66, Y:-2.01, Z:-0.47 [[ 9.99858648e-01 1.43513949e-02 -8.75906245e-03 2.16633877e+01] [-1.43427804e-02 9.99896590e-01 1.04552869e-03 -2.00914049e+00] [ 8.77316148e-03 -9.19751591e-04 9.99961092e-01 -4.68106595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.50327356 meters 0.09421812721680467 Centerline is valid? [True, True] Translation: X:21.69, Y:-2.01, Z:-0.47 [[ 9.99864630e-01 1.33702060e-02 -9.58951991e-03 2.16922577e+01] [-1.33598361e-02 9.99910098e-01 1.14462590e-03 -2.01222535e+00] [ 9.60396167e-03 -1.01635654e-03 9.99953364e-01 -4.68457325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.53327356 meters 0.09211953054603002 Centerline is valid? [True, True] Translation: X:21.72, Y:-2.01, Z:-0.47 [[ 9.99885596e-01 1.19653682e-02 -9.25340493e-03 2.17217836e+01] [-1.19556580e-02 9.99927919e-01 1.10396353e-03 -2.01180815e+00] [ 9.26594727e-03 -9.93206683e-04 9.99956577e-01 -4.67543155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56327356 meters 0.09244317451106289 Centerline is valid? [True, True] Translation: X:21.75, Y:-2.02, Z:-0.47 [[ 9.99901761e-01 1.08876567e-02 -8.82762005e-03 2.17505564e+01] [-1.08787827e-02 9.99940270e-01 1.05265655e-03 -2.01581874e+00] [ 8.83855374e-03 -9.56519375e-04 9.99960482e-01 -4.67807519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.59327356 meters 0.0928706559734925 Centerline is valid? [True, True] Translation: X:21.78, Y:-2.02, Z:-0.47 [[ 9.99917467e-01 8.83739936e-03 -9.32523584e-03 2.17807005e+01] [-8.82740066e-03 9.99960419e-01 1.11283553e-03 -2.01968325e+00] [ 9.33470130e-03 -1.03042609e-03 9.99955900e-01 -4.68144007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62327356 meters 0.09400910582019936 Centerline is valid? [True, True] Translation: X:21.81, Y:-2.02, Z:-0.47 [[ 9.99927294e-01 8.02167535e-03 -9.00325352e-03 2.18085342e+01] [-8.01235085e-03 9.99967327e-01 1.07127380e-03 -2.02436895e+00] [ 9.01155277e-03 -9.99058689e-04 9.99958896e-01 -4.69135551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.653273559999995 meters 0.09344408733263805 Centerline is valid? [True, True] Translation: X:21.84, Y:-2.03, Z:-0.47 [[ 9.99929471e-01 7.90959661e-03 -8.85949280e-03 2.18367914e+01] [-7.90057041e-03 9.99968235e-01 1.05335253e-03 -2.02621390e+00] [ 8.86754297e-03 -9.83283197e-04 9.99960199e-01 -4.68948235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.683273559999996 meters 0.09399951276519175 Centerline is valid? [True, True] Translation: X:21.87, Y:-2.03, Z:-0.47 [[ 9.99926512e-01 7.87204808e-03 -9.21960842e-03 2.18654561e+01] [-7.86226969e-03 9.99968491e-01 1.09637282e-03 -2.02940882e+00] [ 9.22794862e-03 -1.02380520e-03 9.99956897e-01 -4.69593680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.71327356 meters 0.09544271553059124 Centerline is valid? [True, True] Translation: X:21.89, Y:-2.03, Z:-0.47 [[ 9.99935601e-01 7.91405786e-03 -8.13400715e-03 2.18929027e+01] [-7.90645809e-03 9.99968277e-01 9.66052982e-04 -2.03479359e+00] [ 8.14139451e-03 -9.01679583e-04 9.99966452e-01 -4.70878425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74327356 meters 0.09474482783681495 Centerline is valid? [True, True] Translation: X:21.92, Y:-2.04, Z:-0.47 [[ 9.99929199e-01 8.15194706e-03 -8.66852529e-03 2.19217581e+01] [-8.14332539e-03 9.99966313e-01 1.02942666e-03 -2.03556267e+00] [ 8.67662510e-03 -9.58763156e-04 9.99961898e-01 -4.71180854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.77327356 meters 0.09820552009591581 Centerline is valid? [True, True] Translation: X:21.95, Y:-2.04, Z:-0.47 [[ 9.99932534e-01 7.51179044e-03 -8.86009906e-03 2.19484467e+01] [-7.50276817e-03 9.99971301e-01 1.05110369e-03 -2.04436171e+00] [ 8.86774046e-03 -9.84557509e-04 9.99960196e-01 -4.73651098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80327356 meters 0.09596188873228631 Centerline is valid? [True, True] Translation: X:21.98, Y:-2.04, Z:-0.47 [[ 9.99931070e-01 6.76940525e-03 -9.59320339e-03 2.19779297e+01] [-6.75879067e-03 9.99976511e-01 1.13845757e-03 -2.04364269e+00] [ 9.60068474e-03 -1.07354064e-03 9.99953336e-01 -4.73682150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.83327356 meters 0.09970633446861578 Centerline is valid? [True, True] Translation: X:22.00, Y:-2.05, Z:-0.48 [[ 9.99940419e-01 6.18225763e-03 -8.99652535e-03 2.20043264e+01] [-6.17290863e-03 9.99980379e-01 1.06657622e-03 -2.05297307e+00] [ 9.00294268e-03 -1.01097795e-03 9.99958962e-01 -4.76384772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.863273559999996 meters 0.0997572691263672 Centerline is valid? [True, True] Translation: X:22.03, Y:-2.06, Z:-0.48 [[ 9.99939802e-01 4.89597016e-03 -9.81949946e-03 2.20348065e+01] [-4.88475538e-03 9.99987390e-01 1.16575145e-03 -2.05625777e+00] [ 9.82508312e-03 -1.11771542e-03 9.99951108e-01 -4.77183951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.89327356 meters 0.10059181194248397 Centerline is valid? [True, False] Translation: X:22.03, Y:-2.06, Z:-0.48 [[ 9.99941857e-01 4.65789617e-03 -9.72552179e-03 2.20344974e+01] [-4.65001788e-03 9.99988842e-01 8.32519052e-04 -2.05569607e+00] [ 9.72929106e-03 -7.87246797e-04 9.99952359e-01 -4.76977525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92327356 meters 0.09553772526163198 Centerline is valid? [False, True] Translation: X:22.03, Y:-2.06, Z:-0.48 [[ 9.99944093e-01 4.43856715e-03 -9.59734450e-03 2.20340569e+01] [-4.43314937e-03 9.99990002e-01 5.85707960e-04 -2.05532921e+00] [ 9.59984825e-03 -5.43128753e-04 9.99953773e-01 -4.76672806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95327356 meters 0.09587656316225932 Centerline is valid? [True, True] Translation: X:22.06, Y:-2.06, Z:-0.48 [[ 9.99949754e-01 4.20939347e-03 -9.09784501e-03 2.20615502e+01] [-4.19968715e-03 9.99990592e-01 1.08572274e-03 -2.05912222e+00] [ 9.10232965e-03 -1.04746008e-03 9.99958024e-01 -4.76299274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98327356 meters 0.10500881333683616 Centerline is valid? [True, False] Translation: X:22.06, Y:-2.06, Z:-0.48 [[ 9.99949962e-01 4.15727090e-03 -9.09896826e-03 2.20615379e+01] [-4.14825961e-03 9.99990887e-01 1.00901352e-03 -2.05891625e+00] [ 9.10308009e-03 -9.71218146e-04 9.99958094e-01 -4.76267816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.01327356 meters 0.09322370518002653 Centerline is valid? [False, True] Translation: X:22.06, Y:-2.06, Z:-0.48 [[ 9.99951769e-01 3.77924605e-03 -9.06518055e-03 2.20611645e+01] [-3.77551407e-03 9.99992781e-01 4.28760582e-04 -2.05775533e+00] [ 9.06673550e-03 -3.94514186e-04 9.99958818e-01 -4.75803145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.043273559999996 meters 0.09892324570058332 Centerline is valid? [True, True] Translation: X:22.09, Y:-2.07, Z:-0.48 [[ 9.99953304e-01 3.61998396e-03 -8.96021560e-03 2.20878546e+01] [-3.61056154e-03 9.99992912e-01 1.06753635e-03 -2.07065566e+00] [ 8.96401655e-03 -1.03513509e-03 9.99959287e-01 -4.79182784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.07327356 meters 0.0961719806229664 Centerline is valid? [True, True] Translation: X:22.12, Y:-2.07, Z:-0.48 [[ 9.99952170e-01 2.82327143e-03 -9.36414137e-03 2.21178666e+01] [-2.81293483e-03 9.99995420e-01 1.11683577e-03 -2.06893844e+00] [ 9.36725161e-03 -1.09044163e-03 9.99955532e-01 -4.79005252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.10327356 meters 0.0961719806229664 Centerline is valid? [True, True] Translation: X:22.15, Y:-2.07, Z:-0.48 [[ 9.99952450e-01 2.72116773e-03 -9.36442858e-03 2.21453397e+01] [-2.71084896e-03 9.99995705e-01 1.11442788e-03 -2.07211306e+00] [ 9.36742090e-03 -1.08898934e-03 9.99955532e-01 -4.79599498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.13327356 meters 0.09828233081891237 Centerline is valid? [True, True] Translation: X:22.17, Y:-2.08, Z:-0.48 [[ 9.99947326e-01 1.65746759e-03 -1.01290844e-02 2.21735617e+01] [-1.64533965e-03 9.99997920e-01 1.20555431e-03 -2.07859000e+00] [ 1.01310615e-02 -1.18882502e-03 9.99947973e-01 -4.81829860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16327356 meters 0.09755051472674355 Centerline is valid? [True, True] Translation: X:22.20, Y:-2.08, Z:-0.48 [[ 9.99949085e-01 1.52452014e-03 -9.97514623e-03 2.22023258e+01] [-1.51275785e-03 9.99998152e-01 1.18659776e-03 -2.08034920e+00] [ 9.97693678e-03 -1.17144736e-03 9.99949543e-01 -4.81851672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19327356 meters 0.0991499122083634 Centerline is valid? [True, True] Translation: X:22.23, Y:-2.09, Z:-0.48 [[ 9.99944342e-01 1.52840332e-03 -1.04392288e-02 2.22292968e+01] [-1.51553350e-03 9.99998082e-01 1.24063121e-03 -2.08578522e+00] [ 1.04411049e-02 -1.22474116e-03 9.99944740e-01 -4.83216013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.223273559999996 meters 0.09856610513845523 Centerline is valid? [True, True] Translation: X:22.26, Y:-2.09, Z:-0.48 [[ 9.99944515e-01 1.69636669e-03 -1.03966207e-02 2.22586514e+01] [-1.68360872e-03 9.99997819e-01 1.23575623e-03 -2.08706223e+00] [ 1.03986944e-02 -1.21818383e-03 9.99945190e-01 -4.83612794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.25327356 meters 0.09788658838687937 Centerline is valid? [True, True] Translation: X:22.29, Y:-2.09, Z:-0.48 [[ 9.99944146e-01 1.59450267e-03 -1.04480769e-02 2.22874645e+01] [-1.58162386e-03 9.99997979e-01 1.24079636e-03 -2.08892685e+00] [ 1.04500343e-02 -1.22420213e-03 9.99944648e-01 -4.83524618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.28327356 meters 0.1019170788592433 Centerline is valid? [True, False] Translation: X:22.29, Y:-2.09, Z:-0.48 [[ 9.99945404e-01 1.31045442e-03 -1.03669007e-02 2.22871523e+01] [-1.30209993e-03 9.99998822e-01 8.12590112e-04 -2.08805728e+00] [ 1.03679533e-02 -7.99047007e-04 9.99945932e-01 -4.83257345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.31327356 meters 0.09918623474821804 Centerline is valid? [False, True] Translation: X:22.29, Y:-2.09, Z:-0.48 [[ 9.99945924e-01 9.77855749e-04 -1.03534220e-02 2.22870683e+01] [-9.75477213e-04 9.99999497e-01 2.34781722e-04 -2.08650608e+00] [ 1.03536463e-02 -2.24669499e-04 9.99946374e-01 -4.83118258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34327356 meters 0.09734621000502737 Centerline is valid? [True, True] Translation: X:22.32, Y:-2.09, Z:-0.48 [[ 9.99954934e-01 8.23020246e-04 -9.45789054e-03 2.23165086e+01] [-8.12551762e-04 9.99999053e-01 1.11064124e-03 -2.08617546e+00] [ 9.45879566e-03 -1.10290617e-03 9.99954656e-01 -4.83155885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.37327356 meters 0.09725548344591395 Centerline is valid? [True, True] Translation: X:22.35, Y:-2.09, Z:-0.48 [[ 9.99949832e-01 7.57855922e-04 -9.98791692e-03 2.23456660e+01] [-7.46183981e-04 9.99999034e-01 1.17228080e-03 -2.08879280e+00] [ 9.98879570e-03 -1.16476916e-03 9.99949432e-01 -4.83283939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.403273559999995 meters 0.0981624997500574 Centerline is valid? [True, True] Translation: X:22.37, Y:-2.09, Z:-0.48 [[ 9.99948423e-01 5.98154708e-04 -1.01387268e-02 2.23743569e+01] [-5.86126166e-04 9.99999121e-01 1.18932551e-03 -2.09209177e+00] [ 1.01394293e-02 -1.18332159e-03 9.99947895e-01 -4.84096420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.433273559999996 meters 0.09731403967901092 Centerline is valid? [True, True] Translation: X:22.40, Y:-2.09, Z:-0.48 [[ 9.99951146e-01 5.97083761e-04 -9.86653095e-03 2.24033954e+01] [-5.85699512e-04 9.99999160e-01 1.15667416e-03 -2.09320211e+00] [ 9.86721329e-03 -1.15083883e-03 9.99950656e-01 -4.84497401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.46327356 meters 0.09790759656085783 Centerline is valid? [True, True] Translation: X:22.43, Y:-2.10, Z:-0.49 [[ 9.99952326e-01 1.02697895e-04 -9.76399350e-03 2.24323001e+01] [-9.15323876e-05 9.99999341e-01 1.14397901e-03 -2.09575742e+00] [ 9.76410455e-03 -1.14303075e-03 9.99951677e-01 -4.85222177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.49327356 meters 0.09771370044392504 Centerline is valid? [True, True] Translation: X:22.46, Y:-2.10, Z:-0.49 [[ 9.99945047e-01 1.42556724e-04 -1.04824860e-02 2.24610352e+01] [-1.29695989e-04 9.99999238e-01 1.22754793e-03 -2.09797332e+00] [ 1.04826530e-02 -1.22612093e-03 9.99944304e-01 -4.85771278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.52327356 meters 0.10512039829318164 Centerline is valid? [True, False] Translation: X:22.46, Y:-2.10, Z:-0.49 [[ 9.99945321e-01 -8.69035266e-05 -1.04569233e-02 2.24609999e+01] [ 9.55273758e-05 9.99999656e-01 8.24205697e-04 -2.09693827e+00] [ 1.04568481e-02 -8.25159553e-04 9.99944985e-01 -4.85745457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.55327356 meters 0.09515920807092998 Centerline is valid? [False, True] Translation: X:22.46, Y:-2.09, Z:-0.49 [[ 9.99942350e-01 -1.86464531e-04 -1.07359853e-02 2.24618224e+01] [ 1.89693976e-04 9.99999937e-01 2.99788103e-04 -2.09492604e+00] [ 1.07359287e-02 -3.01807373e-04 9.99942323e-01 -4.86114401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.58327356 meters 0.09538837817951729 Centerline is valid? [True, True] Translation: X:22.49, Y:-2.10, Z:-0.49 [[ 9.99940671e-01 -1.42715659e-05 -1.08928151e-02 2.24903119e+01] [ 2.78098877e-05 9.99999227e-01 1.24271667e-03 -2.09770195e+00] [ 1.08927890e-02 -1.24294586e-03 9.99939899e-01 -4.87236236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.613273559999996 meters 0.0990273780300559 Centerline is valid? [True, True] Translation: X:22.52, Y:-2.11, Z:-0.49 [[ 9.99946817e-01 2.03742404e-04 -1.03112814e-02 2.25173979e+01] [-1.91600574e-04 9.99999287e-01 1.17850289e-03 -2.10597246e+00] [ 1.03115142e-02 -1.17646457e-03 9.99946143e-01 -4.89499242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.64327356 meters 0.09734957229441782 Centerline is valid? [True, True] Translation: X:22.55, Y:-2.11, Z:-0.49 [[ 9.99947018e-01 3.44790192e-04 -1.02879726e-02 2.25466913e+01] [-3.32713933e-04 9.99999254e-01 1.17551140e-03 -2.10566738e+00] [ 1.02883702e-02 -1.17202617e-03 9.99946386e-01 -4.89271796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.67327356 meters 0.09767053637870247 Centerline is valid? [True, True] Translation: X:22.58, Y:-2.11, Z:-0.49 [[ 9.99959059e-01 -5.24105000e-04 -9.03356586e-03 2.25754335e+01] [ 5.33443629e-04 9.99999326e-01 1.03139145e-03 -2.10840027e+00] [ 9.03301921e-03 -1.03616812e-03 9.99958665e-01 -4.89099178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70327356 meters 0.09654166269252905 Centerline is valid? [True, True] Translation: X:22.60, Y:-2.11, Z:-0.49 [[ 9.99962198e-01 -1.01811153e-03 -8.63516581e-03 2.26038874e+01] [ 1.02665253e-03 9.99998988e-01 9.84719730e-04 -2.10897182e+00] [ 8.63415451e-03 -9.93547821e-04 9.99962231e-01 -4.88984746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73327356 meters 0.09719253171272017 Centerline is valid? [True, True] Translation: X:22.63, Y:-2.11, Z:-0.49 [[ 9.99972539e-01 -1.25648438e-03 -7.30352859e-03 2.26326140e+01] [ 1.26259752e-03 9.99998856e-01 8.32460898e-04 -2.11308122e+00] [ 7.30247427e-03 -8.41659455e-04 9.99972982e-01 -4.89353744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76327356 meters 0.09826817766416103 Centerline is valid? [True, True] Translation: X:22.66, Y:-2.12, Z:-0.49 [[ 9.99969385e-01 -1.73548953e-03 -7.62995876e-03 2.26608959e+01] [ 1.74217176e-03 9.99998105e-01 8.69228371e-04 -2.11677318e+00] [ 7.62843576e-03 -8.82494459e-04 9.99970514e-01 -4.91291560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.793273559999996 meters 0.09788449431061816 Centerline is valid? [True, True] Translation: X:22.69, Y:-2.12, Z:-0.49 [[ 9.99971034e-01 -1.94935072e-03 -7.35742080e-03 2.26897056e+01] [ 1.95553007e-03 9.99997741e-01 8.32780072e-04 -2.11878075e+00] [ 7.35578080e-03 -8.47143607e-04 9.99972587e-01 -4.91532301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.82327356 meters 0.09407843376332838 Centerline is valid? [True, True] Translation: X:22.72, Y:-2.11, Z:-0.49 [[ 9.99969577e-01 -2.49757392e-03 -7.38966564e-03 2.27186968e+01] [ 2.50380799e-03 9.99996517e-01 8.34488925e-04 -2.11470078e+00] [ 7.38755570e-03 -8.52965841e-04 9.99972348e-01 -4.90875740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.85327356 meters 0.09596177094080584 Centerline is valid? [True, True] Translation: X:22.75, Y:-2.12, Z:-0.49 [[ 9.99973437e-01 -2.26592445e-03 -6.92758769e-03 2.27464144e+01] [ 2.27138430e-03 9.99997116e-01 7.80364820e-04 -2.12035252e+00] [ 6.92579947e-03 -7.96079304e-04 9.99975699e-01 -4.92584101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88327356 meters 0.09492363430918305 Centerline is valid? [True, True] Translation: X:22.78, Y:-2.12, Z:-0.49 [[ 9.99981338e-01 -2.39536756e-03 -5.62010369e-03 2.27750850e+01] [ 2.39894972e-03 9.99996924e-01 6.30727770e-04 -2.12087243e+00] [ 5.61857558e-03 -6.44198346e-04 9.99984008e-01 -4.92178580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.91327356 meters 0.09480535039746732 Centerline is valid? [True, True] Translation: X:22.80, Y:-2.12, Z:-0.49 [[ 9.99981830e-01 -2.84836822e-03 -5.31285884e-03 2.28041588e+01] [ 2.85156727e-03 9.99995757e-01 5.94655823e-04 -2.12347202e+00] [ 5.31114250e-03 -6.09794992e-04 9.99985710e-01 -4.93142818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94327356 meters 0.09896649853678023 Centerline is valid? [True, True] Translation: X:22.83, Y:-2.13, Z:-0.50 [[ 9.99981775e-01 -3.06150696e-03 -5.20359714e-03 2.28321500e+01] [ 3.06460010e-03 9.99995132e-01 5.86554648e-04 -2.13362059e+00] [ 5.20177607e-03 -6.02490902e-04 9.99986289e-01 -4.95196380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.973273559999996 meters 0.09876994398087625 Centerline is valid? [True, True] Translation: X:22.86, Y:-2.14, Z:-0.50 [[ 9.99986888e-01 -3.25789698e-03 -3.95105044e-03 2.28617635e+01] [ 3.25968058e-03 9.99994588e-01 4.45069850e-04 -2.13576008e+00] [ 3.94957907e-03 -4.57943176e-04 9.99992096e-01 -4.95708245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.00327356 meters 0.09802560612147057 Centerline is valid? [True, True] Translation: X:22.89, Y:-2.14, Z:-0.50 [[ 9.99989354e-01 -3.46456855e-03 -3.04766023e-03 2.28913202e+01] [ 3.46562989e-03 9.99993936e-01 3.43037314e-04 -2.13684653e+00] [ 3.04645327e-03 -3.53595724e-04 9.99995297e-01 -4.95969908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.03327356 meters 0.10078221360070021 Centerline is valid? [True, False] Translation: X:22.89, Y:-2.14, Z:-0.50 [[ 9.99989361e-01 -3.32388081e-03 -3.19835582e-03 2.28918439e+01] [ 3.32533399e-03 9.99994370e-01 4.49139294e-04 -2.13666512e+00] [ 3.19684493e-03 -4.59770117e-04 9.99994784e-01 -4.96284302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06327356 meters 0.09851250273236141 Centerline is valid? [False, True] Translation: X:22.89, Y:-2.14, Z:-0.50 [[ 9.99989635e-01 -3.13659155e-03 -3.30022002e-03 2.28924187e+01] [ 3.13872762e-03 9.99994868e-01 6.42272273e-04 -2.13656466e+00] [ 3.29818853e-03 -6.52624107e-04 9.99994348e-01 -4.96814962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.09327356 meters 0.09851250273236141 Centerline is valid? [True, True] Translation: X:22.92, Y:-2.14, Z:-0.50 [[ 9.99989552e-01 -3.13124459e-03 -3.33034773e-03 2.29224461e+01] [ 3.13250715e-03 9.99995024e-01 3.73958887e-04 -2.13982162e+00] [ 3.32916020e-03 -3.84387318e-04 9.99994384e-01 -4.97321183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12327356 meters 0.10063966121664918 Centerline is valid? [True, False] Translation: X:22.92, Y:-2.14, Z:-0.50 [[ 9.99988989e-01 -3.30617140e-03 -3.33042448e-03 2.29224780e+01] [ 3.30646461e-03 9.99994530e-01 8.25372466e-05 -2.13883213e+00] [ 3.33013338e-03 -9.35482684e-05 9.99994451e-01 -4.97418552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.153273559999995 meters 0.09718414629111215 Centerline is valid? [False, True] Translation: X:22.92, Y:-2.14, Z:-0.50 [[ 9.99989516e-01 -3.11288415e-03 -3.35811734e-03 2.29229208e+01] [ 3.11405262e-03 9.99995093e-01 3.42781851e-04 -2.13907150e+00] [ 3.35703382e-03 -3.53235611e-04 9.99994303e-01 -4.97973923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.183273559999996 meters 0.09740285189188141 Centerline is valid? [True, True] Translation: X:22.95, Y:-2.14, Z:-0.50 [[ 9.99987214e-01 -3.76038843e-03 -3.38088507e-03 2.29532257e+01] [ 3.76169893e-03 9.99992852e-01 3.81342600e-04 -2.14275451e+00] [ 3.37942691e-03 -3.94055596e-04 9.99994212e-01 -4.99189324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.21327356 meters 0.0986753020564988 Centerline is valid? [True, True] Translation: X:22.98, Y:-2.15, Z:-0.50 [[ 9.99986146e-01 -4.47598663e-03 -2.76990616e-03 2.29832776e+01] [ 4.47686897e-03 9.99989930e-01 3.12428017e-04 -2.14819356e+00] [ 2.76847984e-03 -3.24824196e-04 9.99996115e-01 -5.00504470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24327356 meters 0.10408051335762919 Centerline is valid? [True, False] Translation: X:22.98, Y:-2.15, Z:-0.50 [[ 9.99986466e-01 -4.42904724e-03 -2.72980595e-03 2.29833918e+01] [ 4.43020589e-03 9.99990099e-01 4.18543280e-04 -2.14814979e+00] [ 2.72792517e-03 -4.30631217e-04 9.99996186e-01 -5.00785489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27327356 meters 0.09945154426727182 Centerline is valid? [False, True] Translation: X:22.98, Y:-2.15, Z:-0.50 [[ 9.99986512e-01 -4.42130138e-03 -2.72541396e-03 2.29833780e+01] [ 4.42255173e-03 9.99990118e-01 4.52918975e-04 -2.14813728e+00] [ 2.72338454e-03 -4.64966150e-04 9.99996183e-01 -5.00776293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30327356 meters 0.10208650293761795 Centerline is valid? [True, False] Translation: X:22.98, Y:-2.15, Z:-0.50 [[ 9.99986885e-01 -4.24543143e-03 -2.86472809e-03 2.29838304e+01] [ 4.24731171e-03 9.99990768e-01 6.50590863e-04 -2.14825494e+00] [ 2.86193961e-03 -6.62749724e-04 9.99995685e-01 -5.01024005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.333273559999995 meters 0.103034985463647 Centerline is valid? [False, False] Translation: X:22.98, Y:-2.15, Z:-0.50 [[ 9.99986981e-01 -4.18097426e-03 -2.92530382e-03 2.29840903e+01] [ 4.18315805e-03 9.99990976e-01 7.40798830e-04 -2.14812625e+00] [ 2.92218016e-03 -7.53026194e-04 9.99995447e-01 -5.01256255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.363273559999996 meters 0.10437413722126662 Centerline is valid? [False, False] Translation: X:22.98, Y:-2.15, Z:-0.50 [[ 9.99987576e-01 -3.97957729e-03 -3.00189367e-03 2.29846494e+01] [ 3.98256696e-03 9.99991579e-01 9.90609349e-04 -2.14822172e+00] [ 2.99792619e-03 -1.00255228e-03 9.99995004e-01 -5.01840617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.39327356 meters 0.10171880399903926 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99988149e-01 -3.78189746e-03 -3.06577277e-03 2.29851792e+01] [ 3.78578427e-03 9.99992036e-01 1.26299890e-03 -2.14840149e+00] [ 3.06097183e-03 -1.27459029e-03 9.99994503e-01 -5.02425988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42327356 meters 0.10700031353255396 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99988798e-01 -3.59927519e-03 -3.07385879e-03 2.29855349e+01] [ 3.60398040e-03 9.99992340e-01 1.52655381e-03 -2.14874618e+00] [ 3.06834076e-03 -1.53761484e-03 9.99994110e-01 -5.02897315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45327356 meters 0.10019971274653679 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99989327e-01 -3.54330409e-03 -2.96483709e-03 2.29855654e+01] [ 3.54838931e-03 9.99992240e-01 1.71167577e-03 -2.14909894e+00] [ 2.95874909e-03 -1.72217789e-03 9.99994140e-01 -5.03248381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48327356 meters 0.10181346346862645 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99990194e-01 -3.26914107e-03 -2.98742424e-03 2.29860316e+01] [ 3.27551479e-03 9.99992365e-01 2.13112157e-03 -2.14970164e+00] [ 2.98043449e-03 -2.14088602e-03 9.99993267e-01 -5.03843679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51327356 meters 0.10293507413645446 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99990089e-01 -3.38619972e-03 -2.89060153e-03 2.29857188e+01] [ 3.39215956e-03 9.99992126e-01 2.05939378e-03 -2.14975457e+00] [ 2.88360525e-03 -2.06917875e-03 9.99993702e-01 -5.03686895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.543273559999996 meters 0.10482778960326658 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99990508e-01 -3.23021709e-03 -2.92409821e-03 2.29859705e+01] [ 3.23696920e-03 9.99992099e-01 2.30734501e-03 -2.15007037e+00] [ 2.91662188e-03 -2.31678833e-03 9.99993063e-01 -5.03953879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.57327356 meters 0.10593825168543128 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99989931e-01 -3.44399613e-03 -2.87710489e-03 2.29854905e+01] [ 3.44980907e-03 9.99992013e-01 2.01789867e-03 -2.14983389e+00] [ 2.87013228e-03 -2.02780381e-03 9.99993825e-01 -5.03383283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.60327356 meters 0.10272141856320241 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99990191e-01 -3.26429597e-03 -2.99381037e-03 2.29859555e+01] [ 3.27085282e-03 9.99992257e-01 2.18785954e-03 -2.14993850e+00] [ 2.98664537e-03 -2.19763040e-03 9.99993125e-01 -5.03685080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.63327356 meters 0.11224863273157624 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99990077e-01 -3.11005638e-03 -3.18950006e-03 2.29864504e+01] [ 3.11728728e-03 9.99992577e-01 2.26463523e-03 -2.14978326e+00] [ 3.18243324e-03 -2.27455535e-03 9.99992349e-01 -5.03833696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.66327356 meters 0.10170262141505874 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99990065e-01 -2.91821740e-03 -3.36958008e-03 2.29871886e+01] [ 2.92631828e-03 9.99992834e-01 2.40169790e-03 -2.14956745e+00] [ 3.36254726e-03 -2.41153450e-03 9.99991439e-01 -5.04346985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69327356 meters 0.10140133494780898 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99989842e-01 -2.93860191e-03 -3.41764532e-03 2.29874005e+01] [ 2.94649061e-03 9.99993001e-01 2.30548575e-03 -2.14915543e+00] [ 3.41084650e-03 -2.31553239e-03 9.99991502e-01 -5.04490826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.723273559999996 meters 0.11430533204352097 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99989553e-01 -3.00828339e-03 -3.44146414e-03 2.29874704e+01] [ 3.01578835e-03 9.99993081e-01 2.17764065e-03 -2.14882689e+00] [ 3.43488937e-03 -2.18799663e-03 9.99991707e-01 -5.04526718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.75327356 meters 0.09936222065033547 Centerline is valid? [False, True] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99989777e-01 -2.81339999e-03 -3.53990995e-03 2.29882607e+01] [ 2.82153200e-03 9.99993387e-01 2.29434104e-03 -2.14837048e+00] [ 3.53343164e-03 -2.30430555e-03 9.99991102e-01 -5.05356638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.78327356 meters 0.10110369770880871 Centerline is valid? [True, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99989567e-01 -2.89121541e-03 -3.53645241e-03 2.29882495e+01] [ 2.89884861e-03 9.99993476e-01 2.15521582e-03 -2.14810462e+00] [ 3.53019814e-03 -2.16544497e-03 9.99991424e-01 -5.05329310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.81327356 meters 0.1011673067659642 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99989880e-01 -2.64744682e-03 -3.63729739e-03 2.29887835e+01] [ 2.65640399e-03 9.99993446e-01 2.45996761e-03 -2.14839189e+00] [ 3.63076091e-03 -2.46960485e-03 9.99990359e-01 -5.05818808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84327356 meters 0.10348545562288905 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99990471e-01 -2.58972205e-03 -3.51430466e-03 2.29885459e+01] [ 2.59894978e-03 9.99993181e-01 2.62374292e-03 -2.14909315e+00] [ 3.50748593e-03 -2.63285142e-03 9.99990383e-01 -5.05799876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.87327356 meters 0.10362857476606338 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99990500e-01 -2.72051514e-03 -3.40563560e-03 2.29880099e+01] [ 2.72917690e-03 9.99993047e-01 2.54130144e-03 -2.14938293e+00] [ 3.39869827e-03 -2.55057188e-03 9.99990972e-01 -5.05336889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.903273559999995 meters 0.10465539380251129 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99990606e-01 -2.89377812e-03 -3.22705260e-03 2.29874591e+01] [ 2.90165578e-03 9.99992815e-01 2.43912847e-03 -2.14950202e+00] [ 3.21997112e-03 -2.44846935e-03 9.99991818e-01 -5.05052726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.933273559999996 meters 0.1065715238986871 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.50 [[ 9.99991221e-01 -2.81462000e-03 -3.10403216e-03 2.29871691e+01] [ 2.82308954e-03 9.99992295e-01 2.72756329e-03 -2.15059959e+00] [ 3.09633119e-03 -2.73630231e-03 9.99991463e-01 -5.04950735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.96327356 meters 0.10365927104725485 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99991811e-01 -2.58268068e-03 -3.11577316e-03 2.29874711e+01] [ 2.59229749e-03 9.99991877e-01 3.08641286e-03 -2.15125141e+00] [ 3.10777663e-03 -3.09446460e-03 9.99990383e-01 -5.05324333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.99327356 meters 0.10376320542389043 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99992130e-01 -2.50240025e-03 -3.07854632e-03 2.29876201e+01] [ 2.51227282e-03 9.99991701e-01 3.20721488e-03 -2.15144988e+00] [ 3.07049504e-03 -3.21492379e-03 9.99990118e-01 -5.05593735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02327356 meters 0.10378336958018958 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99992077e-01 -2.54263080e-03 -3.06289154e-03 2.29875939e+01] [ 2.55227950e-03 9.99991780e-01 3.15041284e-03 -2.15153250e+00] [ 3.05485603e-03 -3.15820523e-03 9.99990347e-01 -5.05573992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05327356 meters 0.10226031058597765 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99992057e-01 -2.53583442e-03 -3.07504645e-03 2.29876617e+01] [ 2.54554673e-03 9.99991772e-01 3.15863578e-03 -2.15165799e+00] [ 3.06701137e-03 -3.16643836e-03 9.99990284e-01 -5.05634458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.083273559999995 meters 0.10371508164066978 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99992536e-01 -2.38562686e-03 -3.03911699e-03 2.29878982e+01] [ 2.39583930e-03 9.99991481e-01 3.36113239e-03 -2.15215689e+00] [ 3.03107270e-03 -3.36838854e-03 9.99989733e-01 -5.06055418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.113273559999996 meters 0.110313244047978 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99992612e-01 -2.33452719e-03 -3.05384184e-03 2.29880319e+01] [ 2.34488364e-03 9.99991498e-01 3.39211361e-03 -2.15218789e+00] [ 3.04589689e-03 -3.39924946e-03 9.99989584e-01 -5.06182580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.14327356 meters 0.10118952425780883 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99992340e-01 -2.37394801e-03 -3.11197769e-03 2.29880919e+01] [ 2.38416786e-03 9.99991764e-01 3.28445207e-03 -2.15200973e+00] [ 3.10415494e-03 -3.29184639e-03 9.99989764e-01 -5.06088607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.17327356 meters 0.10020203954081047 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99991578e-01 -2.49167253e-03 -3.26123347e-03 2.29881873e+01] [ 2.50111095e-03 9.99992687e-01 2.89325660e-03 -2.15103692e+00] [ 3.25400057e-03 -2.90138894e-03 9.99990497e-01 -5.05765370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20327356 meters 0.10174172669104227 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99990808e-01 -2.73529132e-03 -3.30186570e-03 2.29878935e+01] [ 2.74348611e-03 9.99993162e-01 2.47989275e-03 -2.15039635e+00] [ 3.29505989e-03 -2.48892858e-03 9.99991474e-01 -5.05212879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.23327356 meters 0.10058922975980142 Centerline is valid? [False, False] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99990966e-01 -2.46105855e-03 -3.46576955e-03 2.29886187e+01] [ 2.47056286e-03 9.99993192e-01 2.74073129e-03 -2.15041773e+00] [ 3.45900086e-03 -2.74926893e-03 9.99990238e-01 -5.05756113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26327356 meters 0.09655486636149886 Centerline is valid? [False, True] Translation: X:22.99, Y:-2.15, Z:-0.51 [[ 9.99990229e-01 -2.68162604e-03 -3.51448010e-03 2.29883301e+01] [ 2.68999250e-03 9.99993554e-01 2.37800757e-03 -2.14990824e+00] [ 3.50808052e-03 -2.38743826e-03 9.99990997e-01 -5.05212410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.293273559999996 meters 0.09718886196152948 Centerline is valid? [True, True] Translation: X:23.02, Y:-2.15, Z:-0.51 [[ 9.99991873e-01 -1.47968806e-03 -3.75031300e-03 2.30170409e+01] [ 1.48128627e-03 9.99998813e-01 4.23413390e-04 -2.15410745e+00] [ 3.74968203e-03 -4.28965236e-04 9.99992878e-01 -5.05178647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.32327356 meters 0.09665315231778379 Centerline is valid? [True, True] Translation: X:23.05, Y:-2.16, Z:-0.51 [[ 9.99992802e-01 -9.21421430e-04 -3.68052836e-03 2.30463522e+01] [ 9.22956514e-04 9.99999488e-01 4.15405928e-04 -2.15650517e+00] [ 3.68014371e-03 -4.18799905e-04 9.99993141e-01 -5.06088519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.35327356 meters 0.09764807294941984 Centerline is valid? [True, True] Translation: X:23.07, Y:-2.16, Z:-0.51 [[ 9.99991484e-01 -7.71909446e-04 -4.05417773e-03 2.30741531e+01] [ 7.73769035e-04 9.99999596e-01 4.57136216e-04 -2.16177560e+00] [ 4.05382322e-03 -4.60269320e-04 9.99991677e-01 -5.06949337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38327356 meters 0.0985969583476891 Centerline is valid? [True, True] Translation: X:23.10, Y:-2.17, Z:-0.51 [[ 9.99994082e-01 2.72689177e-05 -3.44020206e-03 2.31033993e+01] [-2.59344021e-05 9.99999924e-01 3.87961785e-04 -2.16687985e+00] [ 3.44021238e-03 -3.87870269e-04 9.99994007e-01 -5.08165352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41327356 meters 0.09651548814412726 Centerline is valid? [True, True] Translation: X:23.13, Y:-2.17, Z:-0.51 [[ 9.99991326e-01 2.86571888e-04 -4.15517129e-03 2.31329247e+01] [-2.84627361e-04 9.99999850e-01 4.68561398e-04 -2.16658052e+00] [ 4.15530495e-03 -4.67374658e-04 9.99991257e-01 -5.08519955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44327356 meters 0.09951731269349136 Centerline is valid? [True, True] Translation: X:23.16, Y:-2.18, Z:-0.51 [[ 9.99989929e-01 1.70249239e-04 -4.48472109e-03 2.31610449e+01] [-1.67985023e-04 9.99999858e-01 5.05245276e-04 -2.17511227e+00] [ 4.48480648e-03 -5.04486822e-04 9.99989816e-01 -5.11027091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.473273559999996 meters 0.09717664345831477 Centerline is valid? [True, True] Translation: X:23.19, Y:-2.17, Z:-0.51 [[ 9.99989528e-01 4.29329034e-04 -4.55617183e-03 2.31901408e+01] [-4.27014717e-04 9.99999779e-01 5.08912577e-04 -2.17469971e+00] [ 4.55638932e-03 -5.06961695e-04 9.99989491e-01 -5.10575944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.50327356 meters 0.09654970942937749 Centerline is valid? [True, True] Translation: X:23.22, Y:-2.18, Z:-0.51 [[ 9.99990579e-01 4.57684111e-04 -4.31645301e-03 2.32187755e+01] [-4.55596384e-04 9.99999779e-01 4.84638110e-04 -2.17735118e+00] [ 4.31667387e-03 -4.82666984e-04 9.99990567e-01 -5.11250923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.53327356 meters 0.09687676282004826 Centerline is valid? [True, True] Translation: X:23.25, Y:-2.18, Z:-0.51 [[ 9.99989876e-01 6.09011126e-04 -4.45840023e-03 2.32475802e+01] [-6.06786451e-04 9.99999691e-01 5.00320792e-04 -2.18112592e+00] [ 4.45870355e-03 -4.97610430e-04 9.99989936e-01 -5.11675411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56327356 meters 0.09618490275570295 Centerline is valid? [True, True] Translation: X:23.28, Y:-2.18, Z:-0.51 [[ 9.99991331e-01 8.99456609e-04 -4.06559101e-03 2.32760303e+01] [-8.97610618e-04 9.99999493e-01 4.55853958e-04 -2.18281022e+00] [ 4.06599897e-03 -4.52200688e-04 9.99991632e-01 -5.11326360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.59327356 meters 0.09714917856414905 Centerline is valid? [True, True] Translation: X:23.30, Y:-2.19, Z:-0.51 [[ 9.99992287e-01 1.10771043e-03 -3.76804128e-03 2.33039284e+01] [-1.10612748e-03 9.99999299e-01 4.22157096e-04 -2.18716901e+00] [ 3.76850627e-03 -4.17985906e-04 9.99992812e-01 -5.11869416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62327356 meters 0.09665105521843814 Centerline is valid? [True, True] Translation: X:23.33, Y:-2.19, Z:-0.51 [[ 9.99993712e-01 8.97273659e-04 -3.43082836e-03 2.33323798e+01] [-8.95961307e-04 9.99999525e-01 3.84035299e-04 -2.18906481e+00] [ 3.43117131e-03 -3.80958995e-04 9.99994041e-01 -5.11092935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.653273559999995 meters 0.09744451128335814 Centerline is valid? [True, True] Translation: X:23.36, Y:-2.19, Z:-0.51 [[ 9.99995506e-01 9.76686467e-04 -2.83444174e-03 2.33602035e+01] [-9.75791154e-04 9.99999474e-01 3.17234917e-04 -2.19389222e+00] [ 2.83475008e-03 -3.14467668e-04 9.99995933e-01 -5.11867426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.683273559999996 meters 0.09587313433129942 Centerline is valid? [True, True] Translation: X:23.39, Y:-2.19, Z:-0.51 [[ 9.99994993e-01 8.22676547e-04 -3.05575150e-03 2.33890445e+01] [-8.21636634e-04 9.99999604e-01 3.41553227e-04 -2.19375071e+00] [ 3.05603127e-03 -3.39040799e-04 9.99995273e-01 -5.12150248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.71327356 meters 0.09705980731197976 Centerline is valid? [True, True] Translation: X:23.42, Y:-2.20, Z:-0.51 [[ 9.99994269e-01 1.60060648e-03 -2.98330899e-03 2.34177016e+01] [-1.59961728e-03 9.99998665e-01 3.33935782e-04 -2.19881066e+00] [ 2.98383951e-03 -3.29161715e-04 9.99995494e-01 -5.13435864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74327356 meters 0.09586406967711501 Centerline is valid? [True, True] Translation: X:23.45, Y:-2.20, Z:-0.51 [[ 9.99993194e-01 1.81722218e-03 -3.21093476e-03 2.34471462e+01] [-1.81607873e-03 9.99998286e-01 3.58991959e-04 -2.19945833e+00] [ 3.21158163e-03 -3.53158206e-04 9.99994780e-01 -5.13874999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.77327356 meters 0.09615225790734094 Centerline is valid? [True, True] Translation: X:23.48, Y:-2.20, Z:-0.51 [[ 9.99990188e-01 2.63527851e-03 -3.56070870e-03 2.34761668e+01] [-2.63387776e-03 9.99996452e-01 3.98021641e-04 -2.20251213e+00] [ 3.56174496e-03 -3.88639264e-04 9.99993581e-01 -5.14980753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.80327356 meters 0.09284664098526695 Centerline is valid? [True, True] Translation: X:23.51, Y:-2.20, Z:-0.51 [[ 9.99987319e-01 2.48016705e-03 -4.38309793e-03 2.35059872e+01] [-2.47804496e-03 9.99996810e-01 4.89518123e-04 -2.19902924e+00] [ 4.38429804e-03 -4.78650401e-04 9.99990274e-01 -5.13975643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.833273559999995 meters 0.09283691097117144 Centerline is valid? [True, True] Translation: X:23.53, Y:-2.20, Z:-0.51 [[ 9.99986396e-01 3.06243745e-03 -4.22247318e-03 2.35346848e+01] [-3.06047457e-03 9.99995206e-01 4.71247597e-04 -2.20172589e+00] [ 4.22389611e-03 -4.58318414e-04 9.99990974e-01 -5.14860216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.863273559999996 meters 0.09342943467330286 Centerline is valid? [True, True] Translation: X:23.56, Y:-2.21, Z:-0.52 [[ 9.99987989e-01 3.30756531e-03 -3.61691100e-03 2.35628165e+01] [-3.30612815e-03 9.99994453e-01 4.03249445e-04 -2.20583251e+00] [ 3.61822471e-03 -3.91286630e-04 9.99993378e-01 -5.15991791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.89327356 meters 0.09376858699970422 Centerline is valid? [True, True] Translation: X:23.59, Y:-2.21, Z:-0.52 [[ 9.99987718e-01 3.23229971e-03 -3.75707751e-03 2.35912832e+01] [-3.23074925e-03 9.99994693e-01 4.18672548e-04 -2.20973768e+00] [ 3.75841084e-03 -4.06529231e-04 9.99992855e-01 -5.16877611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.92327356 meters 0.0951330565745326 Centerline is valid? [True, True] Translation: X:23.62, Y:-2.21, Z:-0.52 [[ 9.99990712e-01 2.68346316e-03 -3.37254283e-03 2.36183874e+01] [-2.68221313e-03 9.99996333e-01 3.75120052e-04 -2.21479070e+00] [ 3.37353708e-03 -3.66070690e-04 9.99994243e-01 -5.17885321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.95327356 meters 0.09588551621703954 Centerline is valid? [True, True] Translation: X:23.65, Y:-2.22, Z:-0.52 [[ 9.99993411e-01 2.70241671e-03 -2.42385919e-03 2.36465843e+01] [-2.70177176e-03 9.99996314e-01 2.69318379e-04 -2.21876762e+00] [ 2.42457806e-03 -2.62767890e-04 9.99997026e-01 -5.18564314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.98327356 meters 0.09419078650887812 Centerline is valid? [True, True] Translation: X:23.68, Y:-2.22, Z:-0.52 [[ 9.99995034e-01 2.26368095e-03 -2.19279526e-03 2.36760476e+01] [-2.26315268e-03 9.99997409e-01 2.43360639e-04 -2.21823178e+00] [ 2.19334047e-03 -2.38396800e-04 9.99997566e-01 -5.18682095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.01327356 meters 0.09509789629153499 Centerline is valid? [True, True] Translation: X:23.70, Y:-2.22, Z:-0.52 [[ 9.99997609e-01 1.77461273e-03 -1.27781976e-03 2.37045382e+01] [-1.77443370e-03 9.99998416e-01 1.41227140e-04 -2.22185519e+00] [ 1.27806836e-03 -1.38959396e-04 9.99999174e-01 -5.19636520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.043273559999996 meters 0.09509789629153499 Centerline is valid? [True, True] Translation: X:23.73, Y:-2.23, Z:-0.52 [[ 9.99997668e-01 1.74099554e-03 -1.27775783e-03 2.37336901e+01] [-1.74081578e-03 9.99998475e-01 1.41782578e-04 -2.22507012e+00] [ 1.27800273e-03 -1.39557906e-04 9.99999174e-01 -5.20163451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.07327356 meters 0.09495514777815958 Centerline is valid? [True, True] Translation: X:23.76, Y:-2.23, Z:-0.52 [[ 9.99997119e-01 9.30237520e-04 -2.21302122e-03 2.37627919e+01] [-9.29696285e-04 9.99999538e-01 2.45584172e-04 -2.22730022e+00] [ 2.21324865e-03 -2.43526026e-04 9.99997521e-01 -5.20863382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10327356 meters 0.09358577709882174 Centerline is valid? [True, True] Translation: X:23.79, Y:-2.23, Z:-0.52 [[ 9.99998819e-01 7.05409668e-04 -1.36506621e-03 2.37921702e+01] [-7.05203667e-04 9.99999740e-01 1.51384428e-04 -2.22771134e+00] [ 1.36517264e-03 -1.50421600e-04 9.99999057e-01 -5.21380626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.13327356 meters 0.09450197509849126 Centerline is valid? [True, True] Translation: X:23.82, Y:-2.23, Z:-0.52 [[ 9.99999206e-01 5.02846804e-04 -1.15569567e-03 2.38219447e+01] [-5.02699165e-04 9.99999865e-01 1.28036501e-04 -2.23210348e+00] [ 1.15575990e-03 -1.27455432e-04 9.99999324e-01 -5.22238889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.16327356 meters 0.09508648723411438 Centerline is valid? [True, True] Translation: X:23.85, Y:-2.24, Z:-0.52 [[ 9.99999655e-01 7.50082929e-05 -8.27150166e-04 2.38517367e+01] [-7.49324221e-05 9.99999993e-01 9.17561030e-05 -2.23552596e+00] [ 8.27157043e-04 -9.16940910e-05 9.99999654e-01 -5.22938947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.19327356 meters 0.09646602004786461 Centerline is valid? [True, True] Translation: X:23.88, Y:-2.24, Z:-0.52 [[ 9.99999652e-01 -5.17447146e-04 -6.54010159e-04 2.38812907e+01] [ 5.17494655e-04 9.99999863e-01 7.24761136e-05 -2.24041239e+00] [ 6.53972568e-04 -7.28145352e-05 9.99999784e-01 -5.24528054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.223273559999996 meters 0.09717223807528932 Centerline is valid? [True, True] Translation: X:23.91, Y:-2.24, Z:-0.53 [[ 9.99999499e-01 -8.18160984e-04 -5.76131347e-04 2.39113209e+01] [ 8.18198056e-04 9.99999663e-01 6.41133902e-05 -2.24418185e+00] [ 5.76078698e-04 -6.45847476e-05 9.99999832e-01 -5.25527824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.25327356 meters 0.09577399200974009 Centerline is valid? [True, True] Translation: X:23.94, Y:-2.24, Z:-0.53 [[ 9.99999004e-01 -1.38551426e-03 -2.68655130e-04 2.39420509e+01] [ 1.38552234e-03 9.99999040e-01 2.98966395e-05 -2.24452881e+00] [ 2.68613449e-04 -3.02688374e-05 9.99999963e-01 -5.26060904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.28327356 meters 0.0983691803209524 Centerline is valid? [True, True] Translation: X:23.97, Y:-2.25, Z:-0.53 [[ 9.99998858e-01 -1.50394167e-03 1.50290656e-04 2.39721524e+01] [ 1.50394415e-03 9.99998869e-01 -1.64232677e-05 -2.25213934e+00] [-1.50265786e-04 1.66492777e-05 9.99999989e-01 -5.28223972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.31327356 meters 0.09852729679635602 Centerline is valid? [True, True] Translation: X:24.00, Y:-2.25, Z:-0.53 [[ 9.99997540e-01 -2.09454256e-03 7.29508491e-04 2.40036552e+01] [ 2.09460192e-03 9.99997803e-01 -8.06139666e-05 -2.25468411e+00] [-7.29338039e-04 8.21417982e-05 9.99999731e-01 -5.28883094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.34327356 meters 0.09728435556530571 Centerline is valid? [True, True] Translation: X:24.03, Y:-2.26, Z:-0.53 [[ 9.99996785e-01 -2.16327613e-03 1.32291613e-03 2.40347878e+01] [ 2.16347210e-03 9.99997649e-01 -1.46717455e-04 -2.25554346e+00] [-1.32259562e-03 1.49579075e-04 9.99999114e-01 -5.28743085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.37327356 meters 0.09943307460554744 Centerline is valid? [True, True] Translation: X:24.07, Y:-2.26, Z:-0.53 [[ 9.99997086e-01 -1.94317885e-03 1.43249313e-03 2.40655394e+01] [ 1.94340658e-03 9.99998099e-01 -1.57601039e-04 -2.26216233e+00] [-1.43218416e-03 1.60384496e-04 9.99998962e-01 -5.29971056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.403273559999995 meters 0.09813819925454131 Centerline is valid? [True, True] Translation: X:24.10, Y:-2.26, Z:-0.53 [[ 9.99997422e-01 -1.96409600e-03 1.13937172e-03 2.40965795e+01] [ 1.96424134e-03 9.99998063e-01 -1.26452107e-04 -2.26266393e+00] [-1.13912115e-03 1.28689782e-04 9.99999343e-01 -5.30195572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.433273559999996 meters 0.0993356189295213 Centerline is valid? [True, True] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99993428e-01 -2.05153955e-03 2.98905248e-03 2.41272383e+01] [ 2.05254347e-03 9.99997838e-01 -3.32837219e-04 -2.26737721e+00] [-2.98836319e-03 3.38970192e-04 9.99995477e-01 -5.30968737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.46327356 meters 0.10255241499222639 Centerline is valid? [True, False] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99994126e-01 -1.85334646e-03 2.88323928e-03 2.41277497e+01] [ 1.85363394e-03 9.99998277e-01 -9.70398346e-05 -2.26750618e+00] [-2.88305447e-03 1.02383735e-04 9.99995839e-01 -5.31413401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.49327356 meters 0.09969943210124949 Centerline is valid? [False, True] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99994717e-01 -1.64800647e-03 2.80187565e-03 2.41282119e+01] [ 1.64758792e-03 9.99998631e-01 1.51685175e-04 -2.26771536e+00] [-2.80212180e-03 -1.47068037e-04 9.99996063e-01 -5.31832464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.52327356 meters 0.1019200311072053 Centerline is valid? [True, False] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99994477e-01 -1.81134226e-03 2.78641195e-03 2.41281530e+01] [ 1.81148216e-03 9.99998358e-01 -4.76850331e-05 -2.26716714e+00] [-2.78632100e-03 5.27323053e-05 9.99996117e-01 -5.31722701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.55327356 meters 0.10172917470792531 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99995019e-01 -1.61396869e-03 2.71229792e-03 2.41287019e+01] [ 1.61333682e-03 9.99998671e-01 2.35138288e-04 -2.26727610e+00] [-2.71267382e-03 -2.30761267e-04 9.99996294e-01 -5.32329265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.583273559999995 meters 0.10223937361067081 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99995443e-01 -1.41689754e-03 2.66559420e-03 2.41291959e+01] [ 1.41550163e-03 9.99998860e-01 5.25492773e-04 -2.26745120e+00] [-2.66633573e-03 -5.21717226e-04 9.99996309e-01 -5.32918133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.613273559999996 meters 0.10211878543027697 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99995544e-01 -1.35761097e-03 2.65883206e-03 2.41293377e+01] [ 1.35595240e-03 9.99998885e-01 6.25499063e-04 -2.26759139e+00] [-2.65967828e-03 -6.21891026e-04 9.99996270e-01 -5.33117887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.64327356 meters 0.10571006175495945 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99995567e-01 -1.28834392e-03 2.68454378e-03 2.41294976e+01] [ 1.28639446e-03 9.99998908e-01 7.27779767e-04 -2.26771674e+00] [-2.68547848e-03 -7.24323158e-04 9.99996132e-01 -5.33411610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.67327356 meters 0.10337547246399906 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99995774e-01 -1.21341171e-03 2.64183850e-03 2.41297026e+01] [ 1.21118773e-03 9.99998911e-01 8.43267107e-04 -2.26776185e+00] [-2.64285885e-03 -8.40063781e-04 9.99996155e-01 -5.33604928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.70327356 meters 0.1044249281245595 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99995891e-01 -1.21487276e-03 2.59642651e-03 2.41298563e+01] [ 1.21278246e-03 9.99998939e-01 8.06492557e-04 -2.26753660e+00] [-2.59740354e-03 -8.03340342e-04 9.99996304e-01 -5.33699742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.73327356 meters 0.10375231437089827 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99996423e-01 -1.09174876e-03 2.44159587e-03 2.41304380e+01] [ 1.08957068e-03 9.99999007e-01 8.93222752e-04 -2.26724403e+00] [-2.44256863e-03 -8.90559266e-04 9.99996620e-01 -5.34091173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76327356 meters 0.09953440528803151 Centerline is valid? [False, True] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99996908e-01 -1.03841636e-03 2.25977819e-03 2.41310152e+01] [ 1.03666475e-03 9.99999161e-01 7.76157470e-04 -2.26638877e+00] [-2.26058227e-03 -7.73812437e-04 9.99997145e-01 -5.34383913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.793273559999996 meters 0.10224800026222478 Centerline is valid? [True, False] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99997532e-01 -8.20094917e-04 2.06459632e-03 2.41317687e+01] [ 8.18103056e-04 9.99999199e-01 9.65429901e-04 -2.26624274e+00] [-2.06538641e-03 -9.63738466e-04 9.99997403e-01 -5.34901943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.82327356 meters 0.10063764533026896 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.27, Z:-0.53 [[ 9.99997420e-01 -1.08878999e-03 1.99350027e-03 2.41316002e+01] [ 1.08782627e-03 9.99999291e-01 4.84449686e-04 -2.26534800e+00] [-1.99402632e-03 -4.82279854e-04 9.99997896e-01 -5.34443248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.85327356 meters 0.10043304150223699 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.26, Z:-0.53 [[ 9.99997828e-01 -1.02261987e-03 1.81628970e-03 2.41323198e+01] [ 1.02192854e-03 9.99999405e-01 3.81516522e-04 -2.26425065e+00] [-1.81667877e-03 -3.79659575e-04 9.99998278e-01 -5.34977851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88327356 meters 0.10119019160113872 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.26, Z:-0.54 [[ 9.99998238e-01 -8.99960795e-04 1.64763755e-03 2.41329327e+01] [ 8.99248048e-04 9.99999502e-01 4.33276883e-04 -2.26390107e+00] [-1.64802666e-03 -4.31794485e-04 9.99998549e-01 -5.35361796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91327356 meters 0.10086141418669342 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.26, Z:-0.54 [[ 9.99998335e-01 -9.23205340e-04 1.57433682e-03 2.41331276e+01] [ 9.22699824e-04 9.99999523e-01 3.21794007e-04 -2.26349107e+00] [-1.57463315e-03 -3.20340831e-04 9.99998709e-01 -5.35425181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94327356 meters 0.10213331275944149 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.26, Z:-0.54 [[ 9.99998597e-01 -7.93225355e-04 1.47567777e-03 2.41336437e+01] [ 7.92622202e-04 9.99999602e-01 4.09269233e-04 -2.26319203e+00] [-1.47600182e-03 -4.08099004e-04 9.99998827e-01 -5.35885921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.973273559999996 meters 0.10243271684078958 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.26, Z:-0.54 [[ 9.99998979e-01 -6.49562500e-04 1.27270057e-03 2.41342171e+01] [ 6.48953018e-04 9.99999675e-01 4.79243870e-04 -2.26302279e+00] [-1.27301145e-03 -4.78417458e-04 9.99999075e-01 -5.36127720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.00327356 meters 0.10328716503499108 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.26, Z:-0.54 [[ 9.99999193e-01 -4.45090345e-04 1.19019439e-03 2.41347025e+01] [ 4.44254552e-04 9.99999655e-01 7.02405022e-04 -2.26321140e+00] [-1.19050661e-03 -7.01875705e-04 9.99999045e-01 -5.36562423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.03327356 meters 0.10229354023644478 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.26, Z:-0.54 [[ 9.99999337e-01 -3.59883738e-04 1.09358552e-03 2.41349333e+01] [ 3.59055888e-04 9.99999649e-01 7.57107662e-04 -2.26321989e+00] [-1.09385761e-03 -7.56714502e-04 9.99999115e-01 -5.36591301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.06327356 meters 0.10300061441349746 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999442e-01 -2.60801816e-04 1.02377171e-03 2.41351793e+01] [ 2.59938316e-04 9.99999610e-01 8.43491842e-04 -2.26329553e+00] [-1.02399129e-03 -8.43225254e-04 9.99999120e-01 -5.36711145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.09327356 meters 0.1008804936778568 Centerline is valid? [False, False] Translation: X:24.13, Y:-2.26, Z:-0.54 [[ 9.99999346e-01 -4.26592012e-04 1.06147097e-03 2.41349502e+01] [ 4.25859616e-04 9.99999671e-01 6.90112873e-04 -2.26295868e+00] [-1.06176502e-03 -6.89660383e-04 9.99999199e-01 -5.36533492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.12327356 meters 0.10286708516359863 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999414e-01 -4.02014584e-04 1.00516581e-03 2.41350163e+01] [ 4.01292400e-04 9.99999661e-01 7.18570954e-04 -2.26314977e+00] [-1.00545435e-03 -7.18167168e-04 9.99999237e-01 -5.36478778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.153273559999995 meters 0.10281753981030833 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999561e-01 -1.58750863e-04 9.23120437e-04 2.41355324e+01] [ 1.57793232e-04 9.99999449e-01 1.03736545e-03 -2.26352516e+00] [-9.23284612e-04 -1.03721933e-03 9.99999036e-01 -5.36975736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.183273559999996 meters 0.10330363696723491 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999417e-01 -3.33381838e-04 1.02710510e-03 2.41351603e+01] [ 3.32479068e-04 9.99999558e-01 8.78990962e-04 -2.26351778e+00] [-1.02739768e-03 -8.78648958e-04 9.99999086e-01 -5.36736538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.21327356 meters 0.10260704561725086 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999525e-01 -2.51244506e-04 9.42003978e-04 2.41353479e+01] [ 2.50354821e-04 9.99999523e-01 9.44459297e-04 -2.26369551e+00] [-9.42240818e-04 -9.44223013e-04 9.99999110e-01 -5.36742252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24327356 meters 0.10377764268626509 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999589e-01 -2.29203954e-04 8.77684627e-04 2.41353911e+01] [ 2.28355549e-04 9.99999507e-01 9.66617687e-04 -2.26382171e+00] [-8.77905747e-04 -9.66416865e-04 9.99999148e-01 -5.36625914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27327356 meters 0.10463888786044807 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999706e-01 -8.98957522e-05 7.61585443e-04 2.41357851e+01] [ 8.90899823e-05 9.99999436e-01 1.05798427e-03 -2.26385484e+00] [-7.61680122e-04 -1.05791611e-03 9.99999150e-01 -5.36814415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.30327356 meters 0.10434879422129999 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999686e-01 -2.28911975e-04 7.58294508e-04 2.41356538e+01] [ 2.28286097e-04 9.99999633e-01 8.25359300e-04 -2.26348268e+00] [-7.58483165e-04 -8.25185933e-04 9.99999372e-01 -5.36613299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.333273559999995 meters 0.1022601014740919 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999789e-01 -1.73940471e-04 6.25765118e-04 2.41359873e+01] [ 1.73461660e-04 9.99999692e-01 7.65133135e-04 -2.26324810e+00] [-6.25898013e-04 -7.65024427e-04 9.99999511e-01 -5.36660604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.363273559999996 meters 0.10471441830949323 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999803e-01 -2.96435645e-04 5.53857650e-04 2.41359264e+01] [ 2.96149060e-04 9.99999822e-01 5.17444751e-04 -2.26287651e+00] [-5.54010940e-04 -5.17280624e-04 9.99999713e-01 -5.36364842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.39327356 meters 0.10257161613778654 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999941e-01 -1.44780438e-04 3.12497501e-04 2.41366904e+01] [ 1.44622439e-04 9.99999862e-01 5.05565198e-04 -2.26224320e+00] [-3.12570654e-04 -5.05519974e-04 9.99999823e-01 -5.36745328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42327356 meters 0.10450717372860058 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999945e-01 -2.27858794e-04 2.41736285e-04 2.41366181e+01] [ 2.27785087e-04 9.99999928e-01 3.04890795e-04 -2.26207135e+00] [-2.41805740e-04 -3.04835715e-04 9.99999924e-01 -5.36405540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.45327356 meters 0.10334925106038749 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999939e-01 -3.18709157e-04 1.39615913e-04 2.41366262e+01] [ 3.18690777e-04 9.99999941e-01 1.31645406e-04 -2.26179431e+00] [-1.39657861e-04 -1.31600904e-04 9.99999982e-01 -5.36126620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48327356 meters 0.103934872098985 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999999e-01 -2.03487288e-05 2.49659624e-05 2.41372406e+01] [ 2.03366888e-05 9.99999884e-01 4.82163309e-04 -2.26224977e+00] [-2.49757709e-05 -4.82162801e-04 9.99999883e-01 -5.36627000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51327356 meters 0.10253130069689755 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999995e-01 -6.58962577e-05 7.57014690e-05 2.41370696e+01] [ 6.58614044e-05 9.99999892e-01 4.60315320e-04 -2.26239391e+00] [-7.57317938e-05 -4.60310332e-04 9.99999891e-01 -5.36525946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.543273559999996 meters 0.10123922675297525 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999989e-01 1.45344174e-04 -4.58635443e-07 2.41375694e+01] [-1.45343802e-04 9.99999724e-01 7.28120466e-04 -2.26257176e+00] [ 5.64463385e-07 -7.28120392e-04 9.99999735e-01 -5.37015584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.57327356 meters 0.10232153248977077 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999998e-01 -5.11569970e-05 -2.38926013e-05 2.41374145e+01] [ 5.11665226e-05 9.99999919e-01 3.98852630e-04 -2.26197025e+00] [ 2.38721953e-05 -3.98853852e-04 9.99999920e-01 -5.36730199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60327356 meters 0.10251408670747432 Centerline is valid? [False, False] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999986e-01 3.75031753e-05 -1.60007199e-04 2.41378539e+01] [-3.74428948e-05 9.99999928e-01 3.76722628e-04 -2.26173777e+00] [ 1.60021316e-04 -3.76716632e-04 9.99999916e-01 -5.36900396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.63327356 meters 0.09967618204937267 Centerline is valid? [False, True] Translation: X:24.14, Y:-2.26, Z:-0.54 [[ 9.99999959e-01 1.35267200e-04 -2.50976759e-04 2.41383041e+01] [-1.35165282e-04 9.99999908e-01 4.06057244e-04 -2.26146966e+00] [ 2.51031663e-04 -4.06023304e-04 9.99999886e-01 -5.37246348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.66327356 meters 0.09966687851142857 Centerline is valid? [True, True] Translation: X:24.17, Y:-2.26, Z:-0.54 [[ 9.99999970e-01 2.24216109e-04 -9.43758059e-05 2.41687824e+01] [-2.24215040e-04 9.99999975e-01 1.13357798e-05 -2.26488277e+00] [ 9.43783452e-05 -1.13146190e-05 9.99999995e-01 -5.39363838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.69327356 meters 0.10275079979413237 Centerline is valid? [True, False] Translation: X:24.17, Y:-2.27, Z:-0.54 [[ 9.99999837e-01 5.35297329e-04 -2.00972133e-04 2.41694339e+01] [-5.35215035e-04 9.99999773e-01 4.09309796e-04 -2.26539643e+00] [ 2.01191190e-04 -4.09202166e-04 9.99999896e-01 -5.39970392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.723273559999996 meters 0.10214367028021923 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.27, Z:-0.54 [[ 9.99999923e-01 3.72296479e-04 -1.22732442e-04 2.41690915e+01] [-3.72268278e-04 9.99999904e-01 2.29717028e-04 -2.26526838e+00] [ 1.22817953e-04 -2.29671321e-04 9.99999966e-01 -5.39702790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.75327356 meters 0.10294366546159722 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.27, Z:-0.54 [[ 9.99999807e-01 5.89311332e-04 -1.94553387e-04 2.41694923e+01] [-5.89208582e-04 9.99999687e-01 5.27767494e-04 -2.26567903e+00] [ 1.94864346e-04 -5.27652760e-04 9.99999842e-01 -5.40058627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.78327356 meters 0.09906205455212166 Centerline is valid? [False, True] Translation: X:24.17, Y:-2.27, Z:-0.54 [[ 9.99999947e-01 3.22736119e-04 -3.10150224e-05 2.41689668e+01] [-3.22727242e-04 9.99999907e-01 2.85799199e-04 -2.26542910e+00] [ 3.11072572e-05 -2.85789174e-04 9.99999959e-01 -5.39782139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.81327356 meters 0.1050204409572141 Centerline is valid? [True, False] Translation: X:24.17, Y:-2.27, Z:-0.54 [[ 9.99999841e-01 5.52849823e-04 -1.07165781e-04 2.41694891e+01] [-5.52785850e-04 9.99999670e-01 5.96058587e-04 -2.26567750e+00] [ 1.07495277e-04 -5.95999253e-04 9.99999817e-01 -5.40305722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84327356 meters 0.10302725410271306 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.27, Z:-0.54 [[ 9.99999953e-01 2.92271009e-04 -9.07293891e-05 2.41691621e+01] [-2.92251545e-04 9.99999934e-01 2.14471808e-04 -2.26510092e+00] [ 9.07920671e-05 -2.14445282e-04 9.99999973e-01 -5.39878028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87327356 meters 0.10416203656056343 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.26, Z:-0.54 [[ 9.99999431e-01 -9.34046539e-04 -5.15437197e-04 2.41722304e+01] [ 9.33381895e-04 9.99998735e-01 -1.28821317e-03 -2.26492693e+00] [ 5.16639795e-04 1.28773134e-03 9.99999037e-01 -5.42448049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.903273559999995 meters 0.10416203656056343 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.26, Z:-0.54 [[ 9.99999431e-01 -9.34046539e-04 -5.15437197e-04 2.41722304e+01] [ 9.33381895e-04 9.99998735e-01 -1.28821317e-03 -2.26492693e+00] [ 5.16639795e-04 1.28773134e-03 9.99999037e-01 -5.42448049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.933273559999996 meters 0.10338413194460742 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.26, Z:-0.54 [[ 9.99999403e-01 -1.00231382e-03 -4.35778185e-04 2.41721558e+01] [ 1.00173437e-03 9.99998617e-01 -1.32788771e-03 -2.26474047e+00] [ 4.37108543e-04 1.32745038e-03 9.99999023e-01 -5.42601447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.96327356 meters 0.10301641320760543 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.26, Z:-0.54 [[ 9.99999566e-01 -7.59799049e-04 -5.39530197e-04 2.41727815e+01] [ 7.59232090e-04 9.99999160e-01 -1.05026794e-03 -2.26492154e+00] [ 5.40327737e-04 1.04985786e-03 9.99999303e-01 -5.43183424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.99327356 meters 0.10533953138887767 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.26, Z:-0.54 [[ 9.99999626e-01 -5.60362064e-04 -6.58210256e-04 2.41733571e+01] [ 5.59819682e-04 9.99999504e-01 -8.23920711e-04 -2.26494939e+00] [ 6.58671624e-04 8.23551924e-04 9.99999444e-01 -5.43672292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02327356 meters 0.10479986587202848 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.26, Z:-0.54 [[ 9.99999499e-01 -4.58500387e-04 -8.89467374e-04 2.41741180e+01] [ 4.57663758e-04 9.99999453e-01 -9.40571467e-04 -2.26384807e+00] [ 8.89898139e-04 9.40163919e-04 9.99999162e-01 -5.44111728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05327356 meters 0.10567623444098559 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.26, Z:-0.54 [[ 9.99999398e-01 -4.13275648e-04 -1.01625181e-03 2.41745699e+01] [ 4.12287244e-04 9.99999442e-01 -9.72614762e-04 -2.26318110e+00] [ 1.01665320e-03 9.72195189e-04 9.99999011e-01 -5.44405392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.083273559999995 meters 0.10344683148771879 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.26, Z:-0.54 [[ 9.99999116e-01 -2.66596207e-04 -1.30273034e-03 2.41753188e+01] [ 2.65242240e-04 9.99999425e-01 -1.03939248e-03 -2.26234021e+00] [ 1.30300669e-03 1.03904602e-03 9.99998611e-01 -5.44632515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.113273559999996 meters 0.10261665014248562 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.26, Z:-0.54 [[ 9.99998942e-01 -3.09601994e-04 -1.42118047e-03 2.41754541e+01] [ 3.07889259e-04 9.99999226e-01 -1.20520994e-03 -2.26196004e+00] [ 1.42155250e-03 1.20477110e-03 9.99998264e-01 -5.44471463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.14327356 meters 0.10409951596941826 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.26, Z:-0.54 [[ 9.99998716e-01 -6.41855486e-05 -1.60141218e-03 2.41761946e+01] [ 6.25701890e-05 9.99999489e-01 -1.00873917e-03 -2.26186002e+00] [ 1.60147611e-03 1.00863767e-03 9.99998209e-01 -5.44997210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.17327356 meters 0.1010212185905593 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.26, Z:-0.55 [[ 9.99998813e-01 -8.89311903e-05 -1.53845453e-03 2.41762399e+01] [ 8.73323979e-05 9.99999456e-01 -1.03925579e-03 -2.26158128e+00] [ 1.53854611e-03 1.03912020e-03 9.99998277e-01 -5.45223329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20327356 meters 0.09834347142111213 Centerline is valid? [False, True] Translation: X:24.18, Y:-2.26, Z:-0.55 [[ 9.99998686e-01 3.37818010e-05 -1.62086062e-03 2.41766575e+01] [-3.52741403e-05 9.99999576e-01 -9.20688263e-04 -2.26152033e+00] [ 1.62082882e-03 9.20744228e-04 9.99998263e-01 -5.45594100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23327356 meters 0.1013017883203087 Centerline is valid? [True, False] Translation: X:24.18, Y:-2.26, Z:-0.55 [[ 9.99998698e-01 1.39941573e-05 -1.61352992e-03 2.41766618e+01] [-1.55346299e-05 9.99999544e-01 -9.54713471e-04 -2.26157304e+00] [ 1.61351583e-03 9.54737294e-04 9.99998243e-01 -5.45603531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26327356 meters 0.10147541323098906 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.26, Z:-0.55 [[ 9.99998753e-01 7.27053901e-05 -1.57767902e-03 2.41767013e+01] [-7.40061086e-05 9.99999657e-01 -8.24407941e-04 -2.26172787e+00] [ 1.57761854e-03 8.24523671e-04 9.99998416e-01 -5.45777312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.293273559999996 meters 0.099683151417129 Centerline is valid? [False, True] Translation: X:24.18, Y:-2.26, Z:-0.55 [[ 9.99998627e-01 3.25255700e-04 -1.62513414e-03 2.41771477e+01] [-3.26017023e-04 9.99999837e-01 -4.68224800e-04 -2.26225468e+00] [ 1.62498158e-03 4.68753978e-04 9.99998570e-01 -5.46246743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.32327356 meters 0.1004204665525444 Centerline is valid? [True, False] Translation: X:24.18, Y:-2.26, Z:-0.55 [[ 9.99998403e-01 7.08325428e-04 -1.64059707e-03 2.41775434e+01] [-7.08051531e-04 9.99999735e-01 1.67524705e-04 -2.26360483e+00] [ 1.64071530e-03 -1.66362810e-04 9.99998640e-01 -5.46764047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.35327356 meters 0.1006530976121481 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.26, Z:-0.55 [[ 9.99998828e-01 5.29786554e-04 -1.43652163e-03 2.41769087e+01] [-5.29663211e-04 9.99999856e-01 8.62415090e-05 -2.26394634e+00] [ 1.43656711e-03 -8.54805352e-05 9.99998964e-01 -5.46438941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.38327356 meters 0.10440855179634285 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.27, Z:-0.55 [[ 9.99999389e-01 2.94516489e-04 -1.06567869e-03 2.41757387e+01] [-2.94344505e-04 9.99999944e-01 1.61537919e-04 -2.26525954e+00] [ 1.06572621e-03 -1.61224144e-04 9.99999419e-01 -5.45818455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.41327356 meters 0.1027479148286731 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.27, Z:-0.55 [[ 9.99999285e-01 5.91887674e-04 -1.03927353e-03 2.41759792e+01] [-5.91198603e-04 9.99999605e-01 6.63213555e-04 -2.26636283e+00] [ 1.03966567e-03 -6.62598663e-04 9.99999240e-01 -5.46219284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.44327356 meters 0.10586690334499081 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.27, Z:-0.55 [[ 9.99999422e-01 5.44130338e-04 -9.27282433e-04 2.41755522e+01] [-5.43446326e-04 9.99999580e-01 7.37744385e-04 -2.26699822e+00] [ 9.27683473e-04 -7.37240031e-04 9.99999298e-01 -5.45944728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.473273559999996 meters 0.10461106316373013 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.27, Z:-0.55 [[ 9.99999575e-01 4.61306757e-04 -7.97649369e-04 2.41750899e+01] [-4.60701398e-04 9.99999606e-01 7.58945584e-04 -2.26756877e+00] [ 7.97999161e-04 -7.58577783e-04 9.99999394e-01 -5.45634450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.50327356 meters 0.1025954793288193 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.27, Z:-0.55 [[ 9.99999818e-01 3.40142745e-04 -4.98305833e-04 2.41742436e+01] [-3.39680449e-04 9.99999512e-01 9.27527071e-04 -2.26871909e+00] [ 4.98621081e-04 -9.27357637e-04 9.99999446e-01 -5.45267085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.53327356 meters 0.10471274807011567 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.27, Z:-0.55 [[ 9.99999756e-01 4.76573090e-04 -5.11225554e-04 2.41742212e+01] [-4.75975687e-04 9.99999205e-01 1.16805662e-03 -2.26967615e+00] [ 5.11781811e-04 -1.16781300e-03 9.99999187e-01 -5.45152202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56327356 meters 0.10536155256454137 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.27, Z:-0.55 [[ 9.99999768e-01 5.41295969e-04 -4.14715890e-04 2.41741071e+01] [-5.40745379e-04 9.99998974e-01 1.32659417e-03 -2.27023352e+00] [ 4.15433545e-04 -1.32636960e-03 9.99999034e-01 -5.45242152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59327356 meters 0.10570419616591188 Centerline is valid? [False, False] Translation: X:24.17, Y:-2.27, Z:-0.55 [[ 9.99999628e-01 7.06000010e-04 -4.95764152e-04 2.41742329e+01] [-7.05216983e-04 9.99998507e-01 1.57783671e-03 -2.27115053e+00] [ 4.96877365e-04 -1.57748650e-03 9.99998632e-01 -5.45188726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62327356 meters 0.10567453788160067 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.27, Z:-0.55 [[ 9.99999447e-01 -3.84817118e-04 -9.78839219e-04 2.41775268e+01] [ 3.84979548e-04 9.99999912e-01 1.65758059e-04 -2.27138127e+00] [ 9.78775347e-04 -1.66134801e-04 9.99999507e-01 -5.47801123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.653273559999995 meters 0.10216137700551611 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.27, Z:-0.55 [[ 9.99999424e-01 -4.77287912e-04 -9.61061754e-04 2.41772734e+01] [ 4.77347089e-04 9.99999884e-01 6.13467335e-05 -2.27147125e+00] [ 9.61032363e-04 -6.18054582e-05 9.99999536e-01 -5.47498167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.683273559999996 meters 0.10720576677631062 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.27, Z:-0.55 [[ 9.99999356e-01 1.63568931e-05 -1.13514861e-03 2.41777726e+01] [-1.55528945e-05 9.99999749e-01 7.08281229e-04 -2.27314579e+00] [ 1.13515991e-03 -7.08263118e-04 9.99999105e-01 -5.47660990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.71327356 meters 0.10243180494799996 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.27, Z:-0.55 [[ 9.99999372e-01 1.53388222e-04 -1.11059449e-03 2.41777631e+01] [-1.52306625e-04 9.99999514e-01 9.73909365e-04 -2.27397970e+00] [ 1.11074333e-03 -9.73739602e-04 9.99998909e-01 -5.47716060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74327356 meters 0.10363132275005324 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.28, Z:-0.55 [[ 9.99999303e-01 3.86433250e-04 -1.11520975e-03 2.41778439e+01] [-3.84917349e-04 9.99999002e-01 1.35919207e-03 -2.27516886e+00] [ 1.11573387e-03 -1.35876186e-03 9.99998454e-01 -5.47792794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77327356 meters 0.10261798741794059 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.28, Z:-0.55 [[ 9.99999302e-01 6.34174959e-04 -9.97133271e-04 2.41774698e+01] [-6.32231365e-04 9.99997902e-01 1.94828959e-03 -2.27731338e+00] [ 9.98366736e-04 -1.94765781e-03 9.99997605e-01 -5.47601547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80327356 meters 0.10363952047419271 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.28, Z:-0.55 [[ 9.99999262e-01 7.41894368e-04 -9.62452935e-04 2.41773781e+01] [-7.39797905e-04 9.99997357e-01 2.17678030e-03 -2.27818370e+00] [ 9.64065333e-04 -2.17606668e-03 9.99997168e-01 -5.47554025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.833273559999995 meters 0.10414377556240598 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.28, Z:-0.55 [[ 9.99999201e-01 8.23399125e-04 -9.58911763e-04 2.41772528e+01] [-8.21138585e-04 9.99996889e-01 2.35541387e-03 -2.27898300e+00] [ 9.60848225e-04 -2.35462459e-03 9.99996766e-01 -5.47385146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.863273559999996 meters 0.10004166066679888 Centerline is valid? [False, False] Translation: X:24.18, Y:-2.28, Z:-0.55 [[ 9.99999047e-01 9.97131585e-04 -9.55359556e-04 2.41769697e+01] [-9.94559072e-04 9.99995889e-01 2.68941849e-03 -2.28045138e+00] [ 9.58037333e-04 -2.68846576e-03 9.99995927e-01 -5.46971410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.89327356 meters 0.09951315103467918 Centerline is valid? [False, True] Translation: X:24.18, Y:-2.28, Z:-0.55 [[ 9.99998715e-01 1.18495232e-03 -1.07975628e-03 2.41772571e+01] [-1.18179244e-03 9.99995031e-01 2.92243558e-03 -2.28111367e+00] [ 1.08321386e-03 -2.92115578e-03 9.99995147e-01 -5.47002437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.92327356 meters 0.10049500483425276 Centerline is valid? [True, False] Translation: X:24.18, Y:-2.28, Z:-0.55 [[ 9.99998498e-01 1.27310693e-03 -1.17567758e-03 2.41773367e+01] [-1.26955315e-03 9.99994638e-01 3.01856404e-03 -2.28160783e+00] [ 1.17951423e-03 -3.01706692e-03 9.99994753e-01 -5.46842925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95327356 meters 0.09864148563053357 Centerline is valid? [False, True] Translation: X:24.18, Y:-2.28, Z:-0.55 [[ 9.99998183e-01 1.42687724e-03 -1.26396972e-03 2.41775972e+01] [-1.42280363e-03 9.99993810e-01 3.21792738e-03 -2.28204059e+00] [ 1.26855348e-03 -3.21612315e-03 9.99994024e-01 -5.46957919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98327356 meters 0.09898884236659315 Centerline is valid? [True, True] Translation: X:24.21, Y:-2.29, Z:-0.55 [[ 9.99993640e-01 2.98054580e-03 -1.95876982e-03 2.42065464e+01] [-2.98009620e-03 9.99995532e-01 2.32409066e-04 -2.28664607e+00] [ 1.95945378e-03 -2.26570266e-04 9.99998055e-01 -5.46999996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.01327356 meters 0.09894529417334211 Centerline is valid? [True, True] Translation: X:24.24, Y:-2.29, Z:-0.55 [[ 9.99991970e-01 3.47162581e-03 -2.00187512e-03 2.42352868e+01] [-3.47115871e-03 9.99993947e-01 2.36760491e-04 -2.29058401e+00] [ 2.00268494e-03 -2.29809763e-04 9.99997968e-01 -5.48002575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.043273559999996 meters 0.0984677680392128 Centerline is valid? [True, True] Translation: X:24.26, Y:-2.29, Z:-0.55 [[ 9.99988730e-01 4.06943053e-03 -2.44534048e-03 2.42640072e+01] [-4.06873502e-03 9.99991681e-01 2.89328514e-04 -2.29389021e+00] [ 2.44649754e-03 -2.79375811e-04 9.99996968e-01 -5.48389347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.07327356 meters 0.09685520405288343 Centerline is valid? [True, True] Translation: X:24.29, Y:-2.30, Z:-0.55 [[ 9.99971896e-01 6.92433373e-03 -2.87413761e-03 2.42939709e+01] [-6.92338039e-03 9.99975975e-01 3.41515923e-04 -2.29622170e+00] [ 2.87643333e-03 -3.21607578e-04 9.99995811e-01 -5.49001835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10327356 meters 0.09739547511503642 Centerline is valid? [True, True] Translation: X:24.32, Y:-2.30, Z:-0.55 [[ 9.99961471e-01 8.30582410e-03 -2.84088138e-03 2.43225882e+01] [-8.30490012e-03 9.99965457e-01 3.36886607e-04 -2.30165179e+00] [ 2.84358137e-03 -3.13280391e-04 9.99995908e-01 -5.50023917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.13327356 meters 0.09601465691998749 Centerline is valid? [True, True] Translation: X:24.35, Y:-2.30, Z:-0.55 [[ 9.99949990e-01 9.64933331e-03 -2.62834934e-03 2.43525166e+01] [-9.64854640e-03 9.99953403e-01 3.11908923e-04 -2.30295579e+00] [ 2.63123658e-03 -2.86533573e-04 9.99996497e-01 -5.50467569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16327356 meters 0.09456312299538937 Centerline is valid? [True, True] Translation: X:24.38, Y:-2.30, Z:-0.55 [[ 9.99941557e-01 1.04048672e-02 -2.93619344e-03 2.43819578e+01] [-1.04038934e-02 9.99945818e-01 3.46726387e-04 -2.30370653e+00] [ 2.93964199e-03 -3.16158279e-04 9.99995629e-01 -5.50336540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.19327356 meters 0.09354968337932786 Centerline is valid? [True, True] Translation: X:24.41, Y:-2.31, Z:-0.55 [[ 9.99908962e-01 1.32687576e-02 -2.45093739e-03 2.44119814e+01] [-1.32680840e-02 9.99911933e-01 2.90928586e-04 -2.30629830e+00] [ 2.45458180e-03 -2.58382858e-04 9.99996954e-01 -5.50740646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.223273559999996 meters 0.09342815676823614 Centerline is valid? [True, True] Translation: X:24.44, Y:-2.31, Z:-0.55 [[ 9.99892849e-01 1.44222801e-02 -2.50776397e-03 2.44415251e+01] [-1.44215802e-02 9.99895960e-01 2.96937050e-04 -2.30970155e+00] [ 2.51178557e-03 -2.60739313e-04 9.99996811e-01 -5.51608751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.25327356 meters 0.08969132576200696 Centerline is valid? [True, True] Translation: X:24.47, Y:-2.31, Z:-0.55 [[ 9.99870407e-01 1.58377935e-02 -2.88677971e-03 2.44716816e+01] [-1.58368720e-02 9.99874530e-01 3.41789761e-04 -2.30652247e+00] [ 2.89183070e-03 -2.96027907e-04 9.99995775e-01 -5.51073065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28327356 meters 0.09201817262129565 Centerline is valid? [True, True] Translation: X:24.50, Y:-2.32, Z:-0.55 [[ 9.99834947e-01 1.79158511e-02 -3.01667043e-03 2.44998273e+01] [-1.79148544e-02 9.99839452e-01 3.57100330e-04 -2.31582535e+00] [ 3.02258387e-03 -3.02998178e-04 9.99995386e-01 -5.52887041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.31327356 meters 0.09113866591199787 Centerline is valid? [True, True] Translation: X:24.53, Y:-2.32, Z:-0.55 [[ 9.99828133e-01 1.82731357e-02 -3.12988887e-03 2.45284225e+01] [-1.82720671e-02 9.99832984e-01 3.69669894e-04 -2.31812185e+00] [ 3.13612115e-03 -3.12416821e-04 9.99995034e-01 -5.52929185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34327356 meters 0.09210655801374792 Centerline is valid? [True, True] Translation: X:24.56, Y:-2.32, Z:-0.55 [[ 9.99815313e-01 1.88103297e-02 -3.93846714e-03 2.45561832e+01] [-1.88086415e-02 9.99822994e-01 4.65250178e-04 -2.32374572e+00] [ 3.94652151e-03 -3.91087036e-04 9.99992136e-01 -5.54089695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.37327356 meters 0.09091248920625156 Centerline is valid? [True, True] Translation: X:24.59, Y:-2.33, Z:-0.56 [[ 9.99772874e-01 2.05365340e-02 -5.69664599e-03 2.45861017e+01] [-2.05330215e-02 9.99788948e-01 6.74391289e-04 -2.32546487e+00] [ 5.70929336e-03 -5.57268762e-04 9.99983547e-01 -5.55153979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.403273559999995 meters 0.0906126014206223 Centerline is valid? [True, True] Translation: X:24.61, Y:-2.33, Z:-0.56 [[ 9.99753074e-01 2.13376897e-02 -6.20427771e-03 2.46144283e+01] [-2.13335471e-02 9.99772145e-01 7.33125221e-04 -2.32837530e+00] [ 6.21850724e-03 -6.00584943e-04 9.99980485e-01 -5.55630618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.433273559999996 meters 0.09077757921592772 Centerline is valid? [True, True] Translation: X:24.64, Y:-2.33, Z:-0.56 [[ 9.99733426e-01 2.22079942e-02 -6.31517011e-03 2.46426617e+01] [-2.22037219e-02 9.99753189e-01 7.45831935e-04 -2.33282539e+00] [ 6.33017489e-03 -6.05412834e-04 9.99979781e-01 -5.56675823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46327356 meters 0.09123008601367025 Centerline is valid? [True, True] Translation: X:24.67, Y:-2.34, Z:-0.56 [[ 9.99736554e-01 2.20261832e-02 -6.45526399e-03 2.46708355e+01] [-2.20217180e-02 9.99757202e-01 7.61975841e-04 -2.33745415e+00] [ 6.47048009e-03 -6.19619098e-04 9.99978874e-01 -5.57597200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.49327356 meters 0.09163421176078172 Centerline is valid? [True, True] Translation: X:24.70, Y:-2.34, Z:-0.56 [[ 9.99733068e-01 2.21643451e-02 -6.52183267e-03 2.46989220e+01] [-2.21597930e-02 9.99754146e-01 7.69415515e-04 -2.34188825e+00] [ 6.53728284e-03 -6.24687672e-04 9.99978437e-01 -5.58957470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.52327356 meters 0.08894220887184418 Centerline is valid? [True, True] Translation: X:24.73, Y:-2.34, Z:-0.56 [[ 9.99727074e-01 2.23804536e-02 -6.70022572e-03 2.47279305e+01] [-2.23756571e-02 9.99749322e-01 7.89994513e-04 -2.33978319e+00] [ 6.71622655e-03 -6.39856950e-04 9.99977241e-01 -5.57491100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.55327356 meters 0.08960119389084828 Centerline is valid? [True, True] Translation: X:24.76, Y:-2.35, Z:-0.56 [[ 9.99756977e-01 2.10869727e-02 -6.42854306e-03 2.47566948e+01] [-2.10825311e-02 9.99777451e-01 7.57907792e-04 -2.34528650e+00] [ 6.44309438e-03 -6.22193644e-04 9.99979049e-01 -5.58389001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.583273559999995 meters 0.09218040146013208 Centerline is valid? [True, True] Translation: X:24.78, Y:-2.35, Z:-0.56 [[ 9.99759889e-01 2.06880724e-02 -7.22267961e-03 2.47830762e+01] [-2.06824667e-02 9.99785734e-01 8.49952330e-04 -2.35413434e+00] [ 7.23871591e-03 -7.00365417e-04 9.99973555e-01 -5.60152961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.613273559999996 meters 0.092500906525857 Centerline is valid? [True, True] Translation: X:24.81, Y:-2.36, Z:-0.56 [[ 9.99776606e-01 1.99478265e-02 -6.98728015e-03 2.48109878e+01] [-1.99425645e-02 9.99800789e-01 8.21950219e-04 -2.35830038e+00] [ 7.00228433e-03 -6.82422315e-04 9.99975251e-01 -5.60390142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.64327356 meters 0.08771561397980053 Centerline is valid? [True, True] Translation: X:24.84, Y:-2.35, Z:-0.56 [[ 9.99785453e-01 1.95517870e-02 -6.83932878e-03 2.48405097e+01] [-1.95467382e-02 9.99808621e-01 8.04275526e-04 -2.35208726e+00] [ 6.85374490e-03 -6.70416402e-04 9.99976288e-01 -5.58501887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.67327356 meters 0.0909865992836444 Centerline is valid? [True, True] Translation: X:24.87, Y:-2.36, Z:-0.56 [[ 9.99801178e-01 1.85884326e-02 -7.21628862e-03 2.48682222e+01] [-1.85827868e-02 9.99826965e-01 8.48641146e-04 -2.36261374e+00] [ 7.23081486e-03 -7.14373665e-04 9.99973602e-01 -5.60766516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70327356 meters 0.09302235303876329 Centerline is valid? [True, True] Translation: X:24.89, Y:-2.37, Z:-0.56 [[ 9.99804811e-01 1.83127630e-02 -7.41499552e-03 2.48947849e+01] [-1.83068107e-02 9.99832038e-01 8.69820294e-04 -2.36986407e+00] [ 7.42967889e-03 -7.33905596e-04 9.99972130e-01 -5.62269894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73327356 meters 0.09081151326180624 Centerline is valid? [True, True] Translation: X:24.92, Y:-2.37, Z:-0.56 [[ 9.99813293e-01 1.73638937e-02 -8.47787721e-03 2.49247235e+01] [-1.73560644e-02 9.99848876e-01 9.96201290e-04 -2.36913899e+00] [ 8.49389393e-03 -8.48872709e-04 9.99963566e-01 -5.61569432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76327356 meters 0.09253853111563515 Centerline is valid? [True, True] Translation: X:24.95, Y:-2.38, Z:-0.56 [[ 9.99825969e-01 1.65817335e-02 -8.54853199e-03 2.49516000e+01] [-1.65737594e-02 9.99862143e-01 1.00280803e-03 -2.37599628e+00] [ 8.56398181e-03 -8.60952200e-04 9.99962958e-01 -5.63042443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.793273559999996 meters 0.09309461605611154 Centerline is valid? [True, True] Translation: X:24.98, Y:-2.38, Z:-0.56 [[ 9.99828718e-01 1.65325917e-02 -8.31911953e-03 2.49788358e+01] [-1.65250442e-02 9.99862977e-01 9.75169286e-04 -2.38087013e+00] [ 8.33410169e-03 -8.37528439e-04 9.99964920e-01 -5.63402702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.82327356 meters 0.09309461605611154 Centerline is valid? [True, True] Translation: X:25.01, Y:-2.38, Z:-0.56 [[ 9.99830359e-01 1.64329724e-02 -8.31925289e-03 2.50062652e+01] [-1.64254308e-02 9.99864619e-01 9.74032299e-04 -2.38398593e+00] [ 8.33413287e-03 -8.37219750e-04 9.99964920e-01 -5.63930368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.85327356 meters 0.0921185103678767 Centerline is valid? [True, True] Translation: X:25.03, Y:-2.39, Z:-0.56 [[ 9.99835297e-01 1.61407400e-02 -8.29786269e-03 2.50349553e+01] [-1.61332268e-02 9.99869379e-01 9.71580735e-04 -2.38500483e+00] [ 8.31246085e-03 -8.37549412e-04 9.99965100e-01 -5.63878899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88327356 meters 0.0934272824414282 Centerline is valid? [True, True] Translation: X:25.06, Y:-2.39, Z:-0.57 [[ 9.99816904e-01 1.72435333e-02 -8.29570739e-03 2.50634911e+01] [-1.72360586e-02 9.99850976e-01 9.71697488e-04 -2.39028337e+00] [ 8.31122662e-03 -8.28534275e-04 9.99965118e-01 -5.65143725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91327356 meters 0.09188622726216161 Centerline is valid? [True, True] Translation: X:25.09, Y:-2.39, Z:-0.57 [[ 9.99809943e-01 1.74877296e-02 -8.61725668e-03 2.50921005e+01] [-1.74796836e-02 9.99846710e-01 1.00815382e-03 -2.38984923e+00] [ 8.63356606e-03 -8.57335292e-04 9.99962363e-01 -5.65052317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94327356 meters 0.09298556015756518 Centerline is valid? [True, True] Translation: X:25.12, Y:-2.39, Z:-0.57 [[ 9.99801234e-01 1.71685009e-02 -1.01357969e-02 2.51189156e+01] [-1.71573758e-02 9.99852101e-01 1.18355046e-03 -2.39463562e+00] [ 1.01546176e-02 -1.00941153e-03 9.99947931e-01 -5.66754047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.973273559999996 meters 0.09348061586557087 Centerline is valid? [True, True] Translation: X:25.15, Y:-2.40, Z:-0.57 [[ 9.99800327e-01 1.77264436e-02 -9.22386907e-03 2.51467020e+01] [-1.77172506e-02 9.99842457e-01 1.07742223e-03 -2.39893395e+00] [ 9.24151477e-03 -9.13785500e-04 9.99956879e-01 -5.67547378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.00327356 meters 0.09329147132395134 Centerline is valid? [True, True] Translation: X:25.18, Y:-2.40, Z:-0.57 [[ 9.99800756e-01 1.78726962e-02 -8.88903387e-03 2.51758960e+01] [-1.78641658e-02 9.99839884e-01 1.03813567e-03 -2.40176196e+00] [ 8.90616488e-03 -8.79133658e-04 9.99959953e-01 -5.67841789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.03327356 meters 0.0956666426069601 Centerline is valid? [True, True] Translation: X:25.20, Y:-2.41, Z:-0.57 [[ 9.99802698e-01 1.75261876e-02 -9.34868893e-03 2.52028511e+01] [-1.75167498e-02 9.99845975e-01 1.09047057e-03 -2.40881345e+00] [ 9.36636080e-03 -9.26496772e-04 9.99955705e-01 -5.70025234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06327356 meters 0.09166274928933982 Centerline is valid? [True, True] Translation: X:25.23, Y:-2.40, Z:-0.57 [[ 9.99802471e-01 1.75749485e-02 -9.28115900e-03 2.52323815e+01] [-1.75656519e-02 9.99845126e-01 1.08223392e-03 -2.40342894e+00] [ 9.29874180e-03 -9.18990536e-04 9.99956343e-01 -5.67979627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.09327356 meters 0.09137040797044364 Centerline is valid? [True, True] Translation: X:25.26, Y:-2.41, Z:-0.57 [[ 9.99799505e-01 1.77375413e-02 -9.29134682e-03 2.52607370e+01] [-1.77282371e-02 9.99842256e-01 1.08278822e-03 -2.40521328e+00] [ 9.30908717e-03 -9.17851925e-04 9.99956248e-01 -5.69278690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12327356 meters 0.09284392359177102 Centerline is valid? [True, True] Translation: X:25.29, Y:-2.41, Z:-0.57 [[ 9.99799220e-01 1.79532858e-02 -8.89937374e-03 2.52879736e+01] [-1.79447686e-02 9.99838443e-01 1.03599395e-03 -2.41049136e+00] [ 8.91653548e-03 -8.76088740e-04 9.99959863e-01 -5.70219083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.153273559999995 meters 0.091739998698759 Centerline is valid? [True, True] Translation: X:25.32, Y:-2.41, Z:-0.57 [[ 9.99785896e-01 1.89728645e-02 -8.25793835e-03 2.53185468e+01] [-1.89655568e-02 9.99819675e-01 9.62348882e-04 -2.41037680e+00] [ 8.27470775e-03 -8.05526440e-04 9.99965440e-01 -5.70432821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.183273559999996 meters 0.0905516247546635 Centerline is valid? [True, True] Translation: X:25.35, Y:-2.41, Z:-0.57 [[ 9.99775227e-01 1.94605576e-02 -8.41325503e-03 2.53478389e+01] [-1.94530025e-02 9.99810293e-01 9.78907769e-04 -2.41047547e+00] [ 8.43070907e-03 -8.15024665e-04 9.99964129e-01 -5.70001114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.21327356 meters 0.09074920149306497 Centerline is valid? [True, True] Translation: X:25.38, Y:-2.41, Z:-0.57 [[ 9.99766018e-01 2.00454365e-02 -8.12954537e-03 2.53770487e+01] [-2.00384026e-02 9.99798764e-01 9.45769937e-04 -2.41368098e+00] [ 8.14686778e-03 -7.82645541e-04 9.99966507e-01 -5.70615575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24327356 meters 0.08867905020004713 Centerline is valid? [True, True] Translation: X:25.41, Y:-2.41, Z:-0.57 [[ 9.99747239e-01 2.13272784e-02 -7.11377120e-03 2.54071892e+01] [-2.13219250e-02 9.99772319e-01 8.27541808e-04 -2.41108222e+00] [ 7.12980074e-03 -6.75653342e-04 9.99974354e-01 -5.69559571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27327356 meters 0.08870968013395439 Centerline is valid? [True, True] Translation: X:25.44, Y:-2.41, Z:-0.57 [[ 9.99745429e-01 2.14695082e-02 -6.93804970e-03 2.54358839e+01] [-2.14644274e-02 9.99769288e-01 8.05955999e-04 -2.41388103e+00] [ 6.95375249e-03 -6.56829562e-04 9.99975607e-01 -5.70216660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30327356 meters 0.09154216862820692 Centerline is valid? [True, True] Translation: X:25.46, Y:-2.42, Z:-0.57 [[ 9.99738399e-01 2.19212536e-02 -6.52630232e-03 2.54627601e+01] [-2.19167736e-02 9.99759512e-01 7.57178411e-04 -2.42225473e+00] [ 6.54133112e-03 -6.13944841e-04 9.99978417e-01 -5.71999005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.333273559999995 meters 0.08877785131346363 Centerline is valid? [True, True] Translation: X:25.49, Y:-2.42, Z:-0.57 [[ 9.99736788e-01 2.19438459e-02 -6.69489967e-03 2.54918118e+01] [-2.19391328e-02 9.99759007e-01 7.76636142e-04 -2.41971874e+00] [ 6.71032863e-03 -6.29551429e-04 9.99977287e-01 -5.71286784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.363273559999996 meters 0.09087175322229243 Centerline is valid? [True, True] Translation: X:25.52, Y:-2.43, Z:-0.57 [[ 9.99760885e-01 2.06810806e-02 -7.10387704e-03 2.55200040e+01] [-2.06757461e-02 9.99785895e-01 8.23566923e-04 -2.42667186e+00] [ 7.11938832e-03 -6.76492038e-04 9.99974428e-01 -5.73105626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39327356 meters 0.08976993661873826 Centerline is valid? [True, True] Translation: X:25.55, Y:-2.43, Z:-0.57 [[ 9.99768232e-01 2.02552760e-02 -7.29430423e-03 2.55487680e+01] [-2.02496431e-02 9.99794598e-01 8.45265846e-04 -2.42783993e+00] [ 7.30992706e-03 -6.97362883e-04 9.99973039e-01 -5.74243245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42327356 meters 0.08994709007971223 Centerline is valid? [True, True] Translation: X:25.58, Y:-2.43, Z:-0.57 [[ 9.99772575e-01 1.99458537e-02 -7.54724080e-03 2.55771082e+01] [-1.99398183e-02 9.99800800e-01 8.74106021e-04 -2.43087160e+00] [ 7.56317218e-03 -7.23416617e-04 9.99971137e-01 -5.74648641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.45327356 meters 0.09075765174630365 Centerline is valid? [True, True] Translation: X:25.60, Y:-2.43, Z:-0.58 [[ 9.99761987e-01 2.04190962e-02 -7.68306839e-03 2.56042602e+01] [-2.04128626e-02 9.99791241e-01 8.88897854e-04 -2.43420687e+00] [ 7.69961497e-03 -7.31852866e-04 9.99970090e-01 -5.75641308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.48327356 meters 0.09041661674870384 Centerline is valid? [True, True] Translation: X:25.63, Y:-2.44, Z:-0.58 [[ 9.99745049e-01 2.10689017e-02 -8.12030628e-03 2.56334002e+01] [-2.10619607e-02 9.99777731e-01 9.39352942e-04 -2.43563711e+00] [ 8.13829252e-03 -7.68083881e-04 9.99966589e-01 -5.75803428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51327356 meters 0.09269057781137781 Centerline is valid? [True, True] Translation: X:25.66, Y:-2.44, Z:-0.58 [[ 9.99738092e-01 2.18436961e-02 -6.82644660e-03 2.56618778e+01] [-2.18388072e-02 9.99761193e-01 7.89893269e-04 -2.44198163e+00] [ 6.84207058e-03 -6.40604939e-04 9.99976388e-01 -5.77199153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.543273559999996 meters 0.09006042107132782 Centerline is valid? [True, True] Translation: X:25.69, Y:-2.44, Z:-0.58 [[ 9.99710061e-01 2.32235619e-02 -6.36088793e-03 2.56924774e+01] [-2.32193481e-02 9.99730124e-01 7.35522641e-04 -2.43903474e+00] [ 6.37625274e-03 -5.87613713e-04 9.99979499e-01 -5.76150360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.57327356 meters 0.08848997717331411 Centerline is valid? [True, True] Translation: X:25.72, Y:-2.44, Z:-0.57 [[ 9.99638155e-01 2.63138247e-02 -5.58052470e-03 2.57237179e+01] [-2.63106254e-02 9.99653607e-01 6.45937895e-04 -2.43696206e+00] [ 5.59558874e-03 -4.98877070e-04 9.99984220e-01 -5.74811992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60327356 meters 0.08688244358147632 Centerline is valid? [True, True] Translation: X:25.75, Y:-2.44, Z:-0.57 [[ 9.99593852e-01 2.79499298e-02 -5.56178378e-03 2.57535757e+01] [-2.79467815e-02 9.99609206e-01 6.42985392e-04 -2.43575043e+00] [ 5.57758166e-03 -4.87290288e-04 9.99984326e-01 -5.74903378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.63327356 meters 0.08747613112571641 Centerline is valid? [True, True] Translation: X:25.78, Y:-2.44, Z:-0.58 [[ 9.99505518e-01 3.08758247e-02 -5.95010549e-03 2.57828745e+01] [-3.08722719e-02 9.99523101e-01 6.88048456e-04 -2.43769361e+00] [ 5.96851195e-03 -5.04014953e-04 9.99982061e-01 -5.76506195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.66327356 meters 0.08640423345516317 Centerline is valid? [True, True] Translation: X:25.81, Y:-2.44, Z:-0.58 [[ 9.99466891e-01 3.19314476e-02 -6.80556820e-03 2.58118102e+01] [-3.19268327e-02 9.99489900e-01 7.85696604e-04 -2.43788341e+00] [ 6.82718511e-03 -5.67997505e-04 9.99976533e-01 -5.76883246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.69327356 meters 0.08599200249751483 Centerline is valid? [True, True] Translation: X:25.84, Y:-2.44, Z:-0.58 [[ 9.99408878e-01 3.36097336e-02 -7.23054169e-03 2.58420566e+01] [-3.36045614e-02 9.99434858e-01 8.35672733e-04 -2.43973019e+00] [ 7.25454215e-03 -5.92199566e-04 9.99973510e-01 -5.78254276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.723273559999996 meters 0.0865613152739302 Centerline is valid? [True, True] Translation: X:25.87, Y:-2.44, Z:-0.58 [[ 9.99345357e-01 3.54212529e-02 -7.36148111e-03 2.58705865e+01] [-3.54159478e-02 9.99372297e-01 8.49819636e-04 -2.44238811e+00] [ 7.38696196e-03 -5.88549478e-04 9.99972543e-01 -5.79986800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.75327356 meters 0.08520914250588386 Centerline is valid? [True, True] Translation: X:25.90, Y:-2.44, Z:-0.58 [[ 9.99323174e-01 3.61492515e-02 -6.81369059e-03 2.58994884e+01] [-3.61447291e-02 9.99346257e-01 7.85737302e-04 -2.44180110e+00] [ 6.83764001e-03 -5.38926494e-04 9.99976478e-01 -5.79068316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78327356 meters 0.08443875320800788 Centerline is valid? [True, True] Translation: X:25.93, Y:-2.44, Z:-0.58 [[ 9.99316912e-01 3.61487679e-02 -7.67964152e-03 2.59287027e+01] [-3.61430258e-02 9.99346235e-01 8.85224461e-04 -2.44232092e+00] [ 7.70662062e-03 -6.07054293e-04 9.99970119e-01 -5.79159789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.81327356 meters 0.08578431854004395 Centerline is valid? [True, True] Translation: X:25.96, Y:-2.45, Z:-0.58 [[ 9.99308436e-01 3.65812280e-02 -6.66803410e-03 2.59562624e+01] [-3.65769155e-02 9.99330546e-01 7.67583882e-04 -2.44806246e+00] [ 6.69164932e-03 -5.23156929e-04 9.99977474e-01 -5.80663039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84327356 meters 0.08870172736275132 Centerline is valid? [True, True] Translation: X:25.98, Y:-2.46, Z:-0.58 [[ 9.99301901e-01 3.68415244e-02 -6.19776845e-03 2.59829179e+01] [-3.68378074e-02 9.99321003e-01 7.12858426e-04 -2.45703701e+00] [ 6.21982298e-03 -4.84048580e-04 9.99980540e-01 -5.83296618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.87327356 meters 0.08666652526062435 Centerline is valid? [True, True] Translation: X:26.01, Y:-2.46, Z:-0.58 [[ 9.99318633e-01 3.64409813e-02 -5.85877609e-03 2.60121998e+01] [-3.64376538e-02 9.99335701e-01 6.73722302e-04 -2.45533723e+00] [ 5.87943521e-03 -4.59783195e-04 9.99982610e-01 -5.82396076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.903273559999995 meters 0.08404885148929547 Centerline is valid? [True, True] Translation: X:26.04, Y:-2.45, Z:-0.58 [[ 9.99301303e-01 3.69453757e-02 -5.65196770e-03 2.60411945e+01] [-3.69422897e-02 9.99317190e-01 6.49470266e-04 -2.45215595e+00] [ 5.67210340e-03 -4.40219855e-04 9.99983817e-01 -5.81281610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.933273559999996 meters 0.083004850769378 Centerline is valid? [True, True] Translation: X:26.07, Y:-2.45, Z:-0.58 [[ 9.99281013e-01 3.74674863e-02 -5.80037665e-03 2.60705857e+01] [-3.74642692e-02 9.99297748e-01 6.62334243e-04 -2.45219423e+00] [ 5.82111932e-03 -4.44551161e-04 9.99982958e-01 -5.81144534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96327356 meters 0.08334405931025053 Centerline is valid? [True, True] Translation: X:26.10, Y:-2.46, Z:-0.58 [[ 9.99249971e-01 3.83828842e-02 -5.12342585e-03 2.60979372e+01] [-3.83803775e-02 9.99263030e-01 5.86717092e-04 -2.45551176e+00] [ 5.14216993e-03 -3.89638018e-04 9.99986703e-01 -5.82946624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.99327356 meters 0.0834402459330084 Centerline is valid? [True, True] Translation: X:26.13, Y:-2.46, Z:-0.58 [[ 9.99196285e-01 3.97896578e-02 -4.85464801e-03 2.61269529e+01] [-3.97874202e-02 9.99208012e-01 5.56661114e-04 -2.45851413e+00] [ 4.87295254e-03 -3.63059797e-04 9.99988061e-01 -5.83352079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02327356 meters 0.0830030292499976 Centerline is valid? [True, True] Translation: X:26.16, Y:-2.46, Z:-0.58 [[ 9.99127499e-01 4.14956726e-02 -4.72753681e-03 2.61571470e+01] [-4.14935686e-02 9.99138624e-01 5.42308338e-04 -2.45963479e+00] [ 4.74596808e-03 -3.45672801e-04 9.99988678e-01 -5.83577589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.05327356 meters 0.08098036956072033 Centerline is valid? [True, True] Translation: X:26.19, Y:-2.46, Z:-0.58 [[ 9.98951132e-01 4.56552245e-02 -3.49799407e-03 2.61880024e+01] [-4.56541003e-02 9.98957228e-01 4.00626463e-04 -2.45679584e+00] [ 3.51263715e-03 -2.40508487e-04 9.99993802e-01 -5.83197457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.083273559999995 meters 0.08076499187077822 Centerline is valid? [True, True] Translation: X:26.22, Y:-2.46, Z:-0.58 [[ 9.98862022e-01 4.75861157e-02 -3.19742060e-03 2.62182329e+01] [-4.75851852e-02 9.98867116e-01 3.66500910e-04 -2.45848683e+00] [ 3.21123865e-03 -2.13933989e-04 9.99994821e-01 -5.83659167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.113273559999996 meters 0.08010745996813026 Centerline is valid? [True, True] Translation: X:26.25, Y:-2.46, Z:-0.58 [[ 9.98726231e-01 5.03240111e-02 -3.66175280e-03 2.62477856e+01] [-5.03228105e-02 9.98732917e-01 4.19330832e-04 -2.45980979e+00] [ 3.67821546e-03 -2.34527009e-04 9.99993208e-01 -5.84326931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14327356 meters 0.07854077295419103 Centerline is valid? [True, True] Translation: X:26.28, Y:-2.46, Z:-0.58 [[ 9.98398295e-01 5.63855685e-02 -4.63805786e-03 2.62787468e+01] [-5.63837078e-02 9.98409032e-01 5.31064537e-04 -2.45608827e+00] [ 4.66062324e-03 -2.68703029e-04 9.99989103e-01 -5.84676696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.17327356 meters 0.0781052377898515 Centerline is valid? [True, True] Translation: X:26.31, Y:-2.46, Z:-0.59 [[ 9.98213991e-01 5.95756269e-02 -4.42415573e-03 2.63088159e+01] [-5.95739639e-02 9.98223765e-01 5.06850606e-04 -2.45683883e+00] [ 4.44649334e-03 -2.42380872e-04 9.99990085e-01 -5.85674386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20327356 meters 0.07709001612980314 Centerline is valid? [True, True] Translation: X:26.34, Y:-2.46, Z:-0.59 [[ 9.97814644e-01 6.58256835e-02 -5.73729576e-03 2.63383649e+01] [-6.58229906e-02 9.97831099e-01 6.57140772e-04 -2.45517207e+00] [ 5.76810887e-03 -2.78058720e-04 9.99983326e-01 -5.87264558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.23327356 meters 0.07676993525430656 Centerline is valid? [True, True] Translation: X:26.37, Y:-2.46, Z:-0.59 [[ 9.97620907e-01 6.87364004e-02 -5.27565027e-03 2.63678024e+01] [-6.87341662e-02 9.97634828e-01 6.03859541e-04 -2.45663350e+00] [ 5.30467958e-03 -2.39805481e-04 9.99985901e-01 -5.88001647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.263273559999995 meters 0.07623652495193424 Centerline is valid? [True, True] Translation: X:26.40, Y:-2.46, Z:-0.59 [[ 9.97442667e-01 7.12606446e-02 -5.48152137e-03 2.63971848e+01] [-7.12582715e-02 9.97457701e-01 6.27268955e-04 -2.45789397e+00] [ 5.51228529e-03 -2.35061081e-04 9.99984780e-01 -5.88919207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.293273559999996 meters 0.07556088023230557 Centerline is valid? [True, True] Translation: X:26.43, Y:-2.46, Z:-0.59 [[ 9.97111759e-01 7.58587831e-02 -3.68583980e-03 2.64269338e+01] [-7.58577419e-02 9.97118561e-01 4.21661209e-04 -2.45861874e+00] [ 3.70720599e-03 -1.40843865e-04 9.99993118e-01 -5.88462748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32327356 meters 0.07539603569799518 Centerline is valid? [True, True] Translation: X:26.46, Y:-2.46, Z:-0.59 [[ 9.97003572e-01 7.73125283e-02 -2.57898710e-03 2.64558557e+01] [-7.73120263e-02 9.97006903e-01 2.93954984e-04 -2.46087557e+00] [ 2.59399434e-03 -9.36874510e-05 9.99996631e-01 -5.89166011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.35327356 meters 0.07495837766258762 Centerline is valid? [True, True] Translation: X:26.48, Y:-2.46, Z:-0.59 [[ 9.96949499e-01 7.79658231e-02 -3.60915871e-03 2.64833824e+01] [-7.79648595e-02 9.96956025e-01 4.07127432e-04 -2.46158580e+00] [ 3.62991454e-03 -1.24497937e-04 9.99993404e-01 -5.88824137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38327356 meters 0.07511071001765132 Centerline is valid? [True, True] Translation: X:26.51, Y:-2.47, Z:-0.59 [[ 9.96860922e-01 7.90939061e-02 -3.52938428e-03 2.65110455e+01] [-7.90929808e-02 9.96867162e-01 4.01191070e-04 -2.46578601e+00] [ 3.55005906e-03 -1.20782177e-04 9.99993691e-01 -5.90569697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.41327356 meters 0.07470970651970077 Centerline is valid? [True, True] Translation: X:26.54, Y:-2.47, Z:-0.59 [[ 9.96881100e-01 7.88355862e-02 -3.60877409e-03 2.65385602e+01] [-7.88346334e-02 9.96887625e-01 4.05727625e-04 -2.46692585e+00] [ 3.62952800e-03 -1.19965819e-04 9.99993406e-01 -5.89785754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.44327356 meters 0.07482332807354822 Centerline is valid? [True, True] Translation: X:26.57, Y:-2.47, Z:-0.59 [[ 9.96919512e-01 7.83477442e-02 -3.62178338e-03 2.65673175e+01] [-7.83467819e-02 9.96926084e-01 4.07037870e-04 -2.47160367e+00] [ 3.64254082e-03 -1.22028923e-04 9.99993358e-01 -5.90855404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.473273559999996 meters 0.07486067622116455 Centerline is valid? [True, True] Translation: X:26.60, Y:-2.48, Z:-0.59 [[ 9.97003741e-01 7.72459695e-02 -4.07440672e-03 2.65962484e+01] [-7.72447443e-02 9.97012056e-01 4.57431775e-04 -2.47503849e+00] [ 4.09756738e-03 -1.41334685e-04 9.99991595e-01 -5.91058343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.50327356 meters 0.07522348387069343 Centerline is valid? [True, True] Translation: X:26.63, Y:-2.48, Z:-0.59 [[ 9.97203357e-01 7.45875611e-02 -4.70750269e-03 2.66254307e+01] [-7.45858753e-02 9.97214452e-01 5.32897240e-04 -2.48146064e+00] [ 4.73413722e-03 -1.80293708e-04 9.99988778e-01 -5.92117574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.53327356 meters 0.07556900738735393 Centerline is valid? [True, True] Translation: X:26.65, Y:-2.49, Z:-0.59 [[ 9.97310156e-01 7.31810291e-02 -4.12175158e-03 2.66534500e+01] [-7.31797450e-02 9.97318661e-01 4.61695924e-04 -2.48716686e+00] [ 4.14448715e-03 -1.58825305e-04 9.99991399e-01 -5.93522015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.56327356 meters 0.07621361235391641 Centerline is valid? [True, True] Translation: X:26.68, Y:-2.49, Z:-0.59 [[ 9.97458222e-01 7.11473842e-02 -3.89178281e-03 2.66809816e+01] [-7.11462149e-02 9.97465801e-01 4.38256216e-04 -2.49396484e+00] [ 3.91310104e-03 -1.60256650e-04 9.99992331e-01 -5.94555439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.59327356 meters 0.07672160056776875 Centerline is valid? [True, True] Translation: X:26.71, Y:-2.50, Z:-0.59 [[ 9.97750593e-01 6.69641560e-02 -3.09130295e-03 2.67105225e+01] [-6.69633955e-02 9.97755372e-01 3.49003891e-04 -2.50086240e+00] [ 3.10773488e-03 -1.41214697e-04 9.99995161e-01 -5.94010994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62327356 meters 0.07695998018044253 Centerline is valid? [True, True] Translation: X:26.74, Y:-2.51, Z:-0.59 [[ 9.97896037e-01 6.47874927e-02 -2.46561880e-03 2.67395136e+01] [-6.47870033e-02 9.97899077e-01 2.77895246e-04 -2.50613792e+00] [ 2.47844286e-03 -1.17570511e-04 9.99996922e-01 -5.93878922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.653273559999995 meters 0.07697301340401855 Centerline is valid? [True, True] Translation: X:26.77, Y:-2.51, Z:-0.59 [[ 9.98172038e-01 6.03599190e-02 -3.04333400e-03 2.67697232e+01] [-6.03591504e-02 9.98176665e-01 3.43839929e-04 -2.51138474e+00] [ 3.05853913e-03 -1.59518348e-04 9.99995310e-01 -5.93852080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.683273559999996 meters 0.07880514396702656 Centerline is valid? [True, True] Translation: X:26.80, Y:-2.52, Z:-0.60 [[ 9.98300672e-01 5.81747157e-02 -3.38674200e-03 2.67972866e+01] [-5.81737555e-02 9.98306400e-01 3.81438088e-04 -2.52133705e+00] [ 3.40319627e-03 -1.83770399e-04 9.99994192e-01 -5.96460723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.71327356 meters 0.07880514396702656 Centerline is valid? [True, True] Translation: X:26.82, Y:-2.52, Z:-0.60 [[ 9.98316027e-01 5.79105957e-02 -3.38729935e-03 2.68245455e+01] [-5.79096507e-02 9.98321757e-01 3.76495202e-04 -2.52430990e+00] [ 3.40341770e-03 -1.79703872e-04 9.99994192e-01 -5.96984713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74327356 meters 0.07881360197160173 Centerline is valid? [True, True] Translation: X:26.85, Y:-2.53, Z:-0.60 [[ 9.98401894e-01 5.63921476e-02 -3.68569449e-03 2.68538767e+01] [-5.63910008e-02 9.98408675e-01 4.14424927e-04 -2.52816004e+00] [ 3.70319967e-03 -2.05922631e-04 9.99993122e-01 -5.97971537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.77327356 meters 0.08020846350652776 Centerline is valid? [True, True] Translation: X:26.88, Y:-2.54, Z:-0.60 [[ 9.98580094e-01 5.30690894e-02 -4.63327230e-03 2.68823395e+01] [-5.30672414e-02 9.98590805e-01 5.20986251e-04 -2.53678680e+00] [ 4.65439138e-03 -2.74371520e-04 9.99989131e-01 -5.99990585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.80327356 meters 0.0802676732676769 Centerline is valid? [True, True] Translation: X:26.91, Y:-2.54, Z:-0.60 [[ 9.98654783e-01 5.16254546e-02 -4.84114759e-03 2.69111828e+01] [-5.16234227e-02 9.98666474e-01 5.43825706e-04 -2.54055715e+00] [ 4.86276704e-03 -2.93177534e-04 9.99988134e-01 -6.00035728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.833273559999995 meters 0.08204281444239662 Centerline is valid? [True, True] Translation: X:26.94, Y:-2.55, Z:-0.60 [[ 9.98730433e-01 5.01567262e-02 -4.67168382e-03 2.69384532e+01] [-5.01548211e-02 9.98741317e-01 5.24132842e-04 -2.54947647e+00] [ 4.69209244e-03 -2.89159954e-04 9.99988950e-01 -6.02582148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.863273559999996 meters 0.08104533011747875 Centerline is valid? [True, True] Translation: X:26.97, Y:-2.55, Z:-0.60 [[ 9.98787350e-01 4.89558176e-02 -5.21125361e-03 2.69676467e+01] [-4.89534298e-02 9.98800891e-01 5.84867625e-04 -2.55024145e+00] [ 5.23363742e-03 -3.29049648e-04 9.99986250e-01 -6.01835733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.89327356 meters 0.08121294458128354 Centerline is valid? [True, True] Translation: X:27.00, Y:-2.55, Z:-0.60 [[ 9.98887672e-01 4.68793671e-02 -5.07388925e-03 2.69969459e+01] [-4.68770762e-02 9.98900503e-01 5.69563484e-04 -2.55433006e+00] [ 5.09501130e-03 -3.31080849e-04 9.99986966e-01 -6.02147455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92327356 meters 0.08182469156243341 Centerline is valid? [True, True] Translation: X:27.02, Y:-2.56, Z:-0.60 [[ 9.98929471e-01 4.59827738e-02 -5.04948171e-03 2.70240417e+01] [-4.59805056e-02 9.98942178e-01 5.64426271e-04 -2.55955649e+00] [ 5.07009414e-03 -3.31644314e-04 9.99987092e-01 -6.02669560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.95327356 meters 0.08257281225251763 Centerline is valid? [True, True] Translation: X:27.05, Y:-2.56, Z:-0.60 [[ 9.98971943e-01 4.50173911e-02 -5.33766730e-03 2.70520559e+01] [-4.50148401e-02 9.98986140e-01 5.97147672e-04 -2.56428878e+00] [ 5.35913768e-03 -3.56259530e-04 9.99985576e-01 -6.03885903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98327356 meters 0.08275836090071872 Centerline is valid? [True, True] Translation: X:27.08, Y:-2.57, Z:-0.61 [[ 9.99031055e-01 4.35027126e-02 -6.66817310e-03 2.70808916e+01] [-4.34986933e-02 9.99053205e-01 7.46685441e-04 -2.56822718e+00] [ 6.69434255e-03 -4.55905128e-04 9.99977489e-01 -6.05034726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.013273559999995 meters 0.0821903745984837 Centerline is valid? [True, True] Translation: X:27.11, Y:-2.57, Z:-0.61 [[ 9.99056685e-01 4.28644952e-02 -6.95525708e-03 2.71093470e+01] [-4.28601432e-02 9.99080782e-01 7.73630721e-04 -2.56930210e+00] [ 6.98202497e-03 -4.74797629e-04 9.99975513e-01 -6.05222225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.043273559999996 meters 0.08280933580701567 Centerline is valid? [True, True] Translation: X:27.14, Y:-2.57, Z:-0.61 [[ 9.99037019e-01 4.32445393e-02 -7.41239865e-03 2.71365391e+01] [-4.32395956e-02 9.99064390e-01 8.25984854e-04 -2.57420868e+00] [ 7.44118287e-03 -5.04680326e-04 9.99972187e-01 -6.06336197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.07327356 meters 0.08191587257682414 Centerline is valid? [True, True] Translation: X:27.17, Y:-2.57, Z:-0.61 [[ 9.99035745e-01 4.30822147e-02 -8.45599870e-03 2.71658589e+01] [-4.30758078e-02 9.99071366e-01 9.38428055e-04 -2.57367422e+00] [ 8.48857573e-03 -5.73274196e-04 9.99963807e-01 -6.05871843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10327356 meters 0.0824103917767627 Centerline is valid? [True, True] Translation: X:27.19, Y:-2.58, Z:-0.61 [[ 9.99033233e-01 4.32565897e-02 -7.84006217e-03 2.71934299e+01] [-4.32510723e-02 9.99063854e-01 8.72014726e-04 -2.57751972e+00] [ 7.87044311e-03 -5.32080595e-04 9.99968886e-01 -6.07010465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.13327356 meters 0.08234363643073023 Centerline is valid? [True, True] Translation: X:27.22, Y:-2.58, Z:-0.61 [[ 9.99017897e-01 4.37447193e-02 -7.04568835e-03 2.72220386e+01] [-4.37403083e-02 9.99042631e-01 7.79008522e-04 -2.58008169e+00] [ 7.07302053e-03 -4.70062874e-04 9.99974875e-01 -6.07816453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16327356 meters 0.08296474315529055 Centerline is valid? [True, True] Translation: X:27.25, Y:-2.58, Z:-0.61 [[ 9.99002998e-01 4.41531820e-02 -6.59600532e-03 2.72492016e+01] [-4.41493116e-02 9.99024676e-01 7.31310082e-04 -2.58478290e+00] [ 6.62186174e-03 -4.39371870e-04 9.99977979e-01 -6.08767382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19327356 meters 0.08249757215457522 Centerline is valid? [True, True] Translation: X:27.28, Y:-2.59, Z:-0.61 [[ 9.99002694e-01 4.40990422e-02 -6.99223592e-03 2.72773949e+01] [-4.40947285e-02 9.99027058e-01 7.69961597e-04 -2.58576791e+00] [ 7.01938745e-03 -4.60872965e-04 9.99975258e-01 -6.08621846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.223273559999996 meters 0.08294502975361734 Centerline is valid? [True, True] Translation: X:27.30, Y:-2.59, Z:-0.61 [[ 9.98985417e-01 4.44812044e-02 -7.03983607e-03 2.73046371e+01] [-4.44768204e-02 9.99010114e-01 7.78166356e-04 -2.58939145e+00] [ 7.06748121e-03 -4.64267317e-04 9.99974917e-01 -6.09516625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.25327356 meters 0.08115708093719227 Centerline is valid? [True, True] Translation: X:27.33, Y:-2.59, Z:-0.61 [[ 9.98923145e-01 4.58203387e-02 -7.28339749e-03 2.73342315e+01] [-4.58156826e-02 9.98949586e-01 8.04926338e-04 -2.58668593e+00] [ 7.31262891e-03 -4.70365721e-04 9.99973152e-01 -6.08664821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28327356 meters 0.08167222066734736 Centerline is valid? [True, True] Translation: X:27.36, Y:-2.59, Z:-0.61 [[ 9.98902428e-01 4.63551156e-02 -6.71876758e-03 2.73615550e+01] [-4.63511790e-02 9.98924932e-01 7.40522668e-04 -2.59097233e+00] [ 6.74587146e-03 -4.28287093e-04 9.99977155e-01 -6.10462851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.31327356 meters 0.08148079074310285 Centerline is valid? [True, True] Translation: X:27.39, Y:-2.59, Z:-0.61 [[ 9.98888580e-01 4.66519424e-02 -6.72322299e-03 2.73901779e+01] [-4.66480321e-02 9.98911116e-01 7.37353901e-04 -2.59311687e+00] [ 6.75030117e-03 -4.22909269e-04 9.99977127e-01 -6.10639757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34327356 meters 0.08134478390199075 Centerline is valid? [True, True] Translation: X:27.42, Y:-2.60, Z:-0.61 [[ 9.98825173e-01 4.81213029e-02 -5.71091795e-03 2.74201340e+01] [-4.81184905e-02 9.98841437e-01 6.28925238e-04 -2.59507783e+00] [ 5.73456619e-03 -3.53385608e-04 9.99983495e-01 -6.11249224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.37327356 meters 0.08117158830755941 Centerline is valid? [True, True] Translation: X:27.45, Y:-2.60, Z:-0.61 [[ 9.98791768e-01 4.88365419e-02 -5.47680294e-03 2.74493243e+01] [-4.88339903e-02 9.98806730e-01 5.98737935e-04 -2.59680100e+00] [ 5.49950792e-03 -3.30560379e-04 9.99984823e-01 -6.11736727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.403273559999995 meters 0.08070582541062964 Centerline is valid? [True, True] Translation: X:27.48, Y:-2.60, Z:-0.61 [[ 9.98765286e-01 4.93348378e-02 -5.82900666e-03 2.74780549e+01] [-4.93319644e-02 9.98782235e-01 6.35788486e-04 -2.59734213e+00] [ 5.85327482e-03 -3.47447120e-04 9.99982809e-01 -6.11569120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.433273559999996 meters 0.08203479278807149 Centerline is valid? [True, True] Translation: X:27.51, Y:-2.60, Z:-0.61 [[ 9.98660348e-01 5.14452423e-02 -5.55851067e-03 2.75065348e+01] [-5.14426429e-02 9.98675765e-01 6.09710111e-04 -2.60317275e+00] [ 5.58251658e-03 -3.22948832e-04 9.99984365e-01 -6.14721226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46327356 meters 0.08006533255882875 Centerline is valid? [True, True] Translation: X:27.54, Y:-2.60, Z:-0.61 [[ 9.98651067e-01 5.16077242e-02 -5.71752587e-03 2.75357991e+01] [-5.16050059e-02 9.98667380e-01 6.22037491e-04 -2.59985931e+00] [ 5.74200852e-03 -3.26145448e-04 9.99983461e-01 -6.13350341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.49327356 meters 0.07987815609953776 Centerline is valid? [True, True] Translation: X:27.56, Y:-2.60, Z:-0.61 [[ 9.98609455e-01 5.23895341e-02 -5.87306309e-03 2.75641225e+01] [-5.23866867e-02 9.98626671e-01 6.37715101e-04 -2.60146664e+00] [ 5.89840704e-03 -3.29158014e-04 9.99982550e-01 -6.14112373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52327356 meters 0.07916565350898569 Centerline is valid? [True, True] Translation: X:27.59, Y:-2.60, Z:-0.61 [[ 9.98518253e-01 5.40561073e-02 -6.26376153e-03 2.75929096e+01] [-5.40528822e-02 9.98537841e-01 6.83158903e-04 -2.60083563e+00] [ 6.29153183e-03 -3.43572270e-04 9.99980149e-01 -6.13987897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55327356 meters 0.0790391329522732 Centerline is valid? [True, True] Translation: X:27.62, Y:-2.60, Z:-0.61 [[ 9.98456414e-01 5.52416354e-02 -5.75763321e-03 2.76219276e+01] [-5.52389329e-02 9.98472967e-01 6.27471836e-04 -2.60301225e+00] [ 5.78350368e-03 -3.08457765e-04 9.99983228e-01 -6.14503972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.583273559999995 meters 0.07872582445065064 Centerline is valid? [True, True] Translation: X:27.65, Y:-2.60, Z:-0.61 [[ 9.98411185e-01 5.61236666e-02 -5.02388642e-03 2.76510692e+01] [-5.61216410e-02 9.98423791e-01 5.43379661e-04 -2.60444022e+00] [ 5.04646419e-03 -2.60567581e-04 9.99987233e-01 -6.14797802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.613273559999996 meters 0.07888600550563586 Centerline is valid? [True, True] Translation: X:27.68, Y:-2.61, Z:-0.61 [[ 9.98395143e-01 5.63809079e-02 -5.32270190e-03 2.76782794e+01] [-5.63786251e-02 9.98409293e-01 5.78067297e-04 -2.60766067e+00] [ 5.34682700e-03 -2.77052967e-04 9.99985667e-01 -6.14973259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64327356 meters 0.07895465998004578 Centerline is valid? [True, True] Translation: X:27.71, Y:-2.61, Z:-0.62 [[ 9.98387932e-01 5.65417051e-02 -4.95707651e-03 2.77072012e+01] [-5.65397474e-02 9.98400206e-01 5.34293359e-04 -2.61054642e+00] [ 4.97935607e-03 -2.53160188e-04 9.99987571e-01 -6.15507692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.67327356 meters 0.07891392466143599 Centerline is valid? [True, True] Translation: X:27.74, Y:-2.61, Z:-0.62 [[ 9.98396456e-01 5.64427084e-02 -4.32866941e-03 2.77359827e+01] [-5.64412215e-02 9.98405815e-01 4.65004978e-04 -2.61342785e+00] [ 4.34801486e-03 -2.19943933e-04 9.99990523e-01 -6.16059696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70327356 meters 0.0789787967352149 Centerline is valid? [True, True] Translation: X:27.76, Y:-2.62, Z:-0.62 [[ 9.98420210e-01 5.59554327e-02 -5.10628900e-03 2.77648827e+01] [-5.59533591e-02 9.98433233e-01 5.48150435e-04 -2.61641913e+00] [ 5.12896063e-03 -2.61570450e-04 9.99986813e-01 -6.16734778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73327356 meters 0.07886141499606253 Centerline is valid? [True, True] Translation: X:27.79, Y:-2.62, Z:-0.62 [[ 9.98437858e-01 5.55849628e-02 -5.67058282e-03 2.77933366e+01] [-5.55824046e-02 9.98453918e-01 6.07852925e-04 -2.61873191e+00] [ 5.69560312e-03 -2.91718744e-04 9.99983737e-01 -6.17631989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.763273559999995 meters 0.07949866695739091 Centerline is valid? [True, True] Translation: X:27.82, Y:-2.62, Z:-0.62 [[ 9.98456477e-01 5.52176190e-02 -5.97313637e-03 2.78205520e+01] [-5.52147584e-02 9.98474295e-01 6.42877617e-04 -2.62342130e+00] [ 5.99952130e-03 -3.12080039e-04 9.99981954e-01 -6.18927695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.793273559999996 meters 0.07839420023046932 Centerline is valid? [True, True] Translation: X:27.85, Y:-2.62, Z:-0.62 [[ 9.98490158e-01 5.44715662e-02 -7.08894628e-03 2.78497295e+01] [-5.44675489e-02 9.98515253e-01 7.58674426e-04 -2.62306091e+00] [ 7.11974717e-03 -3.71411419e-04 9.99974585e-01 -6.18597504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82327356 meters 0.07874466107188266 Centerline is valid? [True, True] Translation: X:27.88, Y:-2.63, Z:-0.62 [[ 9.98538963e-01 5.35905936e-02 -6.92730818e-03 2.78784423e+01] [-5.35867483e-02 9.98562924e-01 7.39648030e-04 -2.62699973e+00] [ 6.95699129e-03 -3.67355457e-04 9.99975732e-01 -6.19029184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.85327356 meters 0.07892102398852105 Centerline is valid? [True, True] Translation: X:27.91, Y:-2.63, Z:-0.62 [[ 9.98581864e-01 5.28796543e-02 -6.16470819e-03 2.79062364e+01] [-5.28766128e-02 9.98600838e-01 6.55435567e-04 -2.63042535e+00] [ 6.19074197e-03 -3.28537182e-04 9.99980783e-01 -6.19650429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88327356 meters 0.079052470689886 Centerline is valid? [True, True] Translation: X:27.93, Y:-2.63, Z:-0.62 [[ 9.98546091e-01 5.35109512e-02 -6.50244332e-03 2.79335372e+01] [-5.35075593e-02 9.98567203e-01 6.94613216e-04 -2.63368380e+00] [ 6.53029605e-03 -3.45673440e-04 9.99978618e-01 -6.20104402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91327356 meters 0.07844764394490639 Centerline is valid? [True, True] Translation: X:27.96, Y:-2.63, Z:-0.62 [[ 9.98553733e-01 5.33942979e-02 -6.28428593e-03 2.79621666e+01] [-5.33911556e-02 9.98573452e-01 6.66858978e-04 -2.63437718e+00] [ 6.31092757e-03 -3.30369233e-04 9.99980031e-01 -6.19736434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94327356 meters 0.07815789784576781 Centerline is valid? [True, True] Translation: X:27.99, Y:-2.64, Z:-0.62 [[ 9.98535585e-01 5.37272131e-02 -6.33024800e-03 2.79910276e+01] [-5.37240407e-02 9.98555596e-01 6.70257573e-04 -2.63684189e+00] [ 6.35711564e-03 -3.29189537e-04 9.99979739e-01 -6.19555954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.973273559999996 meters 0.07846726695605584 Centerline is valid? [True, True] Translation: X:28.02, Y:-2.64, Z:-0.62 [[ 9.98468276e-01 5.49477432e-02 -6.46890462e-03 2.80189739e+01] [-5.49444637e-02 9.98489178e-01 6.83729788e-04 -2.64073755e+00] [ 6.49670066e-03 -3.27252008e-04 9.99978843e-01 -6.21519344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00327356 meters 0.07818792689173622 Centerline is valid? [True, True] Translation: X:28.05, Y:-2.64, Z:-0.62 [[ 9.98425998e-01 5.56644120e-02 -6.85569197e-03 2.80472891e+01] [-5.56607552e-02 9.98449477e-01 7.23191414e-04 -2.64272113e+00] [ 6.88531809e-03 -3.40460116e-04 9.99976238e-01 -6.21988669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.03327356 meters 0.0779793783928288 Centerline is valid? [True, True] Translation: X:28.08, Y:-2.65, Z:-0.62 [[ 9.98353501e-01 5.69759795e-02 -6.63511606e-03 2.80762521e+01] [-5.69725660e-02 9.98375497e-01 7.02504706e-04 -2.64513347e+00] [ 6.66436319e-03 -3.23328445e-04 9.99977741e-01 -6.22978038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06327356 meters 0.0773783571955294 Centerline is valid? [True, True] Translation: X:28.11, Y:-2.65, Z:-0.62 [[ 9.98232229e-01 5.89626878e-02 -7.47123148e-03 2.81054667e+01] [-5.89584475e-02 9.98260128e-01 7.86728550e-04 -2.64532798e+00] [ 7.50462012e-03 -3.44845584e-04 9.99971780e-01 -6.23351392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.09327356 meters 0.07722609892882236 Centerline is valid? [True, True] Translation: X:28.13, Y:-2.65, Z:-0.62 [[ 9.98181413e-01 5.98118753e-02 -7.51039851e-03 2.81342583e+01] [-5.98076297e-02 9.98209610e-01 7.88833434e-04 -2.64762960e+00] [ 7.54413358e-03 -3.38219739e-04 9.99971485e-01 -6.23062101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12327356 meters 0.07778026607242984 Centerline is valid? [True, True] Translation: X:28.16, Y:-2.65, Z:-0.63 [[ 9.98064213e-01 6.16561236e-02 -8.14555807e-03 2.81614278e+01] [-6.16511699e-02 9.98097388e-01 8.58091392e-04 -2.65272241e+00] [ 8.18296683e-03 -3.54247125e-04 9.99966456e-01 -6.26181815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.153273559999995 meters 0.07660377217795088 Centerline is valid? [True, True] Translation: X:28.19, Y:-2.65, Z:-0.63 [[ 9.97878593e-01 6.45801413e-02 -8.22910803e-03 2.81912111e+01] [-6.45751790e-02 9.97912468e-01 8.67579847e-04 -2.65078362e+00] [ 8.26795793e-03 -3.34343233e-04 9.99965764e-01 -6.26127045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.183273559999996 meters 0.07542891521091481 Centerline is valid? [True, True] Translation: X:28.22, Y:-2.65, Z:-0.62 [[ 9.97775137e-01 6.61208159e-02 -8.53308559e-03 2.82203665e+01] [-6.61155873e-02 9.97811571e-01 8.93697429e-04 -2.64904737e+00] [ 8.57350353e-03 -3.27539110e-04 9.99963193e-01 -6.24409001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.21327356 meters 0.07524464797269105 Centerline is valid? [True, True] Translation: X:28.25, Y:-2.65, Z:-0.62 [[ 9.97624589e-01 6.83512213e-02 -8.56099572e-03 2.82490322e+01] [-6.83460174e-02 9.97661272e-01 8.99300139e-04 -2.65083026e+00] [ 8.60244214e-03 -3.12053969e-04 9.99962950e-01 -6.24744030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24327356 meters 0.07477498020628531 Centerline is valid? [True, True] Translation: X:28.28, Y:-2.65, Z:-0.63 [[ 9.97297887e-01 7.30572861e-02 -7.71729944e-03 2.82779667e+01] [-7.30531960e-02 9.97327716e-01 8.10935107e-04 -2.65155291e+00] [ 7.75592134e-03 -2.44970480e-04 9.99969892e-01 -6.25141450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.27327356 meters 0.07503247112818433 Centerline is valid? [True, True] Translation: X:28.31, Y:-2.66, Z:-0.63 [[ 9.97129150e-01 7.53732733e-02 -7.23378963e-03 2.83055246e+01] [-7.53697585e-02 9.97155367e-01 7.57661829e-04 -2.65656702e+00] [ 7.27031960e-03 -2.10277718e-04 9.99973549e-01 -6.28310271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30327356 meters 0.07382746955710962 Centerline is valid? [True, True] Translation: X:28.34, Y:-2.65, Z:-0.63 [[ 9.96879031e-01 7.85846762e-02 -7.52641120e-03 2.83351633e+01] [-7.85809893e-02 9.96907424e-01 7.84793284e-04 -2.65321358e+00] [ 7.56480793e-03 -1.90911130e-04 9.99971368e-01 -6.25067344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.333273559999995 meters 0.0731476271920406 Centerline is valid? [True, True] Translation: X:28.36, Y:-2.65, Z:-0.63 [[ 9.96352090e-01 8.49320354e-02 -8.31030962e-03 2.83644995e+01] [-8.49277302e-02 9.96386734e-01 8.70225610e-04 -2.65323667e+00] [ 8.35419229e-03 -1.61275373e-04 9.99965090e-01 -6.25542512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.363273559999996 meters 0.07296955628792486 Centerline is valid? [True, True] Translation: X:28.39, Y:-2.65, Z:-0.63 [[ 9.96087950e-01 8.79316495e-02 -8.76472534e-03 2.83929922e+01] [-8.79270275e-02 9.96126501e-01 9.12034063e-04 -2.65421400e+00] [ 8.81097184e-03 -1.37809895e-04 9.99961173e-01 -6.26056871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39327356 meters 0.07273689014332388 Centerline is valid? [True, True] Translation: X:28.42, Y:-2.65, Z:-0.63 [[ 9.95726345e-01 9.18705238e-02 -9.42613677e-03 2.84223484e+01] [-9.18653431e-02 9.95770955e-01 9.82042117e-04 -2.65464559e+00] [ 9.47649394e-03 -1.11909919e-04 9.99955091e-01 -6.25694601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.42327356 meters 0.07229414088488692 Centerline is valid? [True, True] Translation: X:28.45, Y:-2.65, Z:-0.63 [[ 9.95016965e-01 9.92438937e-02 -9.58583283e-03 2.84507512e+01] [-9.92389190e-02 9.95063138e-01 9.94410134e-04 -2.65360840e+00] [ 9.63719803e-03 -3.81672656e-05 9.99953560e-01 -6.26443801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.45327356 meters 0.072259824146166 Centerline is valid? [True, True] Translation: X:28.48, Y:-2.65, Z:-0.63 [[ 9.94691899e-01 1.02449350e-01 -9.59986264e-03 2.84784039e+01] [-1.02444540e-01 9.94738222e-01 9.92760273e-04 -2.65454467e+00] [ 9.65105794e-03 -4.03708542e-06 9.99953427e-01 -6.26936302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48327356 meters 0.07227067771744791 Centerline is valid? [True, True] Translation: X:28.51, Y:-2.66, Z:-0.63 [[ 9.94295017e-01 1.06135325e-01 -1.06165641e-02 2.85073118e+01] [-1.06129667e-01 9.94351694e-01 1.09655389e-03 -2.65608240e+00] [ 1.06729816e-02 3.64343340e-05 9.99943041e-01 -6.27076591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.513273559999995 meters 0.0723781023727128 Centerline is valid? [True, True] Translation: X:28.54, Y:-2.66, Z:-0.63 [[ 9.93959588e-01 1.09215146e-01 -1.07884294e-02 2.85356183e+01] [-1.09209512e-01 9.94018132e-01 1.11169963e-03 -2.65783455e+00] [ 1.08453088e-02 7.32146017e-05 9.99941185e-01 -6.26120739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.543273559999996 meters 0.07255346997855618 Centerline is valid? [True, True] Translation: X:28.56, Y:-2.66, Z:-0.63 [[ 9.93224481e-01 1.15740457e-01 -1.04535983e-02 2.85634578e+01] [-1.15735522e-01 9.93279481e-01 1.07785108e-03 -2.65890012e+00] [ 1.05080956e-02 1.39304568e-04 9.99944779e-01 -6.27541599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.57327356 meters 0.0728765383171193 Centerline is valid? [True, True] Translation: X:28.59, Y:-2.66, Z:-0.63 [[ 9.92792844e-01 1.19305861e-01 -1.13349332e-02 2.85917125e+01] [-1.19300286e-01 9.92857530e-01 1.16916282e-03 -2.66059281e+00] [ 1.13934617e-02 1.91524292e-04 9.99935074e-01 -6.28249260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60327356 meters 0.07270325798832578 Centerline is valid? [True, True] Translation: X:28.62, Y:-2.66, Z:-0.63 [[ 9.92501975e-01 1.21664696e-01 -1.17274161e-02 2.86204722e+01] [-1.21658963e-01 9.92571231e-01 1.20365909e-03 -2.66426954e+00] [ 1.17867386e-02 2.32111251e-04 9.99930507e-01 -6.26582127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.63327356 meters 0.07270325798832578 Centerline is valid? [True, True] Translation: X:28.65, Y:-2.67, Z:-0.63 [[ 9.92535068e-01 1.21394387e-01 -1.17278107e-02 2.86477107e+01] [-1.21388681e-01 9.92604326e-01 1.19981759e-03 -2.66699618e+00] [ 1.17867267e-02 2.32762436e-04 9.99930507e-01 -6.27106892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66327356 meters 0.07320152649580679 Centerline is valid? [True, True] Translation: X:28.68, Y:-2.67, Z:-0.63 [[ 9.91834812e-01 1.27016646e-01 -1.14226242e-02 2.86763320e+01] [-1.27011565e-01 9.91900544e-01 1.17212948e-03 -2.66945891e+00] [ 1.14789871e-02 2.88246549e-04 9.99934073e-01 -6.28237177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.69327356 meters 0.07340868874071249 Centerline is valid? [True, True] Translation: X:28.70, Y:-2.67, Z:-0.63 [[ 9.91528332e-01 1.29404903e-01 -1.12222042e-02 2.87036548e+01] [-1.29400170e-01 9.91591788e-01 1.14996733e-03 -2.67198519e+00] [ 1.12766570e-02 3.11929943e-04 9.99936368e-01 -6.29784071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.723273559999996 meters 0.07782379945218468 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.66, Z:-0.64 [[ 9.91004330e-01 1.33721756e-01 -5.37677957e-03 2.87326763e+01] [-1.33720740e-01 9.91018901e-01 5.49715385e-04 -2.66002870e+00] [ 5.40199909e-03 1.74216614e-04 9.99985394e-01 -6.41440901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75327356 meters 0.07406725764552542 Centerline is valid? [True, True] Translation: X:28.76, Y:-2.68, Z:-0.63 [[ 9.90899457e-01 1.34065909e-01 -1.20249190e-02 2.87610189e+01] [-1.34060814e-01 9.90972340e-01 1.23241961e-03 -2.68208936e+00] [ 1.20815876e-02 3.90866501e-04 9.99926939e-01 -6.31382664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78327356 meters 0.07412538830718292 Centerline is valid? [True, True] Translation: X:28.79, Y:-2.69, Z:-0.63 [[ 9.90799611e-01 1.34749744e-01 -1.25950941e-02 2.87889375e+01] [-1.34744256e-01 9.90879573e-01 1.28719429e-03 -2.68735699e+00] [ 1.26536706e-02 4.21764984e-04 9.99919850e-01 -6.32134510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.81327356 meters 0.07436187858189278 Centerline is valid? [True, True] Translation: X:28.82, Y:-2.70, Z:-0.63 [[ 9.90797218e-01 1.34808488e-01 -1.21467475e-02 2.88154094e+01] [-1.34803429e-01 9.90871587e-01 1.23797786e-03 -2.69544655e+00] [ 1.22027569e-02 4.10838209e-04 9.99925459e-01 -6.33240285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84327356 meters 0.0745078774884774 Centerline is valid? [True, True] Translation: X:28.84, Y:-2.70, Z:-0.63 [[ 9.90938152e-01 1.33706826e-01 -1.28087002e-02 2.88426073e+01] [-1.33701096e-01 9.91020842e-01 1.30647749e-03 -2.70104253e+00] [ 1.28683738e-02 4.17898867e-04 9.99917112e-01 -6.34472353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.87327356 meters 0.07388591082083328 Centerline is valid? [True, True] Translation: X:28.87, Y:-2.71, Z:-0.63 [[ 9.91139788e-01 1.32195391e-01 -1.28957028e-02 2.88703250e+01] [-1.32189534e-01 9.91223594e-01 1.30926514e-03 -2.71027214e+00] [ 1.29556037e-02 4.07012173e-04 9.99915990e-01 -6.33077754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.903273559999995 meters 0.07439920144124249 Centerline is valid? [True, True] Translation: X:28.90, Y:-2.71, Z:-0.64 [[ 9.91408909e-01 1.30124002e-01 -1.32710231e-02 2.88976245e+01] [-1.30117588e-01 9.91497651e-01 1.34932365e-03 -2.71457124e+00] [ 1.33337677e-02 3.89062030e-04 9.99911026e-01 -6.36586841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.933273559999996 meters 0.07422813019988268 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.73, Z:-0.64 [[ 9.91787781e-01 1.27200587e-01 -1.33044667e-02 2.89252140e+01] [-1.27193884e-01 9.91876952e-01 1.35221178e-03 -2.72649264e+00] [ 1.33683960e-02 3.51139674e-04 9.99910577e-01 -6.37214742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.96327356 meters 0.07392445444744347 Centerline is valid? [True, True] Translation: X:28.95, Y:-2.73, Z:-0.64 [[ 9.92103934e-01 1.24661432e-01 -1.37590275e-02 2.89536248e+01] [-1.24654107e-01 9.92199282e-01 1.39205259e-03 -2.73424853e+00] [ 1.38252325e-02 3.34058441e-04 9.99904371e-01 -6.37665858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.99327356 meters 0.07387366425018752 Centerline is valid? [True, True] Translation: X:28.98, Y:-2.74, Z:-0.64 [[ 9.92324344e-01 1.22869960e-01 -1.39774657e-02 2.89814680e+01] [-1.22862269e-01 9.92422729e-01 1.41087804e-03 -2.74189942e+00] [ 1.40449092e-02 3.17254527e-04 9.99901315e-01 -6.37350937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02327356 meters 0.074033709376274 Centerline is valid? [True, True] Translation: X:29.01, Y:-2.75, Z:-0.64 [[ 9.92461626e-01 1.21770959e-01 -1.38475060e-02 2.90093046e+01] [-1.21763349e-01 9.92558181e-01 1.39447614e-03 -2.74821941e+00] [ 1.39142621e-02 3.02154662e-04 9.99903146e-01 -6.38285454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.05327356 meters 0.07399857205647777 Centerline is valid? [True, True] Translation: X:29.04, Y:-2.76, Z:-0.64 [[ 9.92843887e-01 1.18596586e-01 -1.39951752e-02 2.90365806e+01] [-1.18588542e-01 9.92942486e-01 1.40616676e-03 -2.75841684e+00] [ 1.40631707e-02 2.63563359e-04 9.99901074e-01 -6.40103492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.083273559999995 meters 0.0739368002936116 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.77, Z:-0.64 [[ 9.92992551e-01 1.17196013e-01 -1.51949861e-02 2.90643626e+01] [-1.17186416e-01 9.93108767e-01 1.52354776e-03 -2.76573230e+00] [ 1.52688276e-02 2.67774379e-04 9.99883389e-01 -6.39310071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.113273559999996 meters 0.0740336201792623 Centerline is valid? [True, True] Translation: X:29.09, Y:-2.78, Z:-0.64 [[ 9.93223185e-01 1.15330925e-01 -1.43694961e-02 2.90909777e+01] [-1.15322126e-01 9.93327100e-01 1.44221327e-03 -2.77613079e+00] [ 1.44399417e-02 2.24681185e-04 9.99895713e-01 -6.41398538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.14327356 meters 0.07412635194505016 Centerline is valid? [True, True] Translation: X:29.12, Y:-2.78, Z:-0.64 [[ 9.93369932e-01 1.14115527e-01 -1.39221004e-02 2.91188188e+01] [-1.14107232e-01 9.93467465e-01 1.39131702e-03 -2.78241328e+00] [ 1.39899247e-02 2.06519850e-04 9.99902115e-01 -6.42476638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.17327356 meters 0.0739726991541373 Centerline is valid? [True, True] Translation: X:29.15, Y:-2.79, Z:-0.64 [[ 9.93444823e-01 1.13513608e-01 -1.34924080e-02 2.91469828e+01] [-1.13505807e-01 9.93536422e-01 1.34502160e-03 -2.78957281e+00] [ 1.35578770e-02 1.95261913e-04 9.99908069e-01 -6.41700256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20327356 meters 0.07409357953859076 Centerline is valid? [True, True] Translation: X:29.17, Y:-2.80, Z:-0.64 [[ 9.93541167e-01 1.12650732e-01 -1.36294253e-02 2.91737174e+01] [-1.12642748e-01 9.93634629e-01 1.35446157e-03 -2.79863608e+00] [ 1.36952500e-02 1.89542586e-04 9.99906198e-01 -6.42092914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.23327356 meters 0.0741455911559352 Centerline is valid? [True, True] Translation: X:29.20, Y:-2.81, Z:-0.64 [[ 9.93536404e-01 1.12686282e-01 -1.36826893e-02 2.92008797e+01] [-1.12678293e-01 9.93630597e-01 1.35584609e-03 -2.80501334e+00] [ 1.37483240e-02 1.94659623e-04 9.99905468e-01 -6.40521878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.263273559999995 meters 0.07422851478031448 Centerline is valid? [True, True] Translation: X:29.23, Y:-2.81, Z:-0.64 [[ 9.93507079e-01 1.12919264e-01 -1.38897049e-02 2.92280808e+01] [-1.12911019e-01 9.93604147e-01 1.37886166e-03 -2.81063446e+00] [ 1.39565684e-02 1.98391920e-04 9.99902583e-01 -6.41484959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.293273559999996 meters 0.07440063049422788 Centerline is valid? [True, True] Translation: X:29.26, Y:-2.82, Z:-0.64 [[ 9.93448218e-01 1.13568462e-01 -1.27609490e-02 2.92550946e+01] [-1.13561572e-01 9.93530154e-01 1.26561589e-03 -2.81879976e+00] [ 1.28221217e-02 1.91829577e-04 9.99917775e-01 -6.42455696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32327356 meters 0.07417192479690421 Centerline is valid? [True, True] Translation: X:29.28, Y:-2.83, Z:-0.64 [[ 9.93309254e-01 1.14719962e-01 -1.32685896e-02 2.92836247e+01] [-1.14712697e-01 9.93397846e-01 1.30986207e-03 -2.82537333e+00] [ 1.33312557e-02 2.20977579e-04 9.99911110e-01 -6.41356704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.35327356 meters 0.0744665982114455 Centerline is valid? [True, True] Translation: X:29.31, Y:-2.83, Z:-0.64 [[ 9.93203721e-01 1.15574850e-01 -1.37412673e-02 2.93105578e+01] [-1.15567120e-01 9.93298745e-01 1.35791277e-03 -2.83001294e+00] [ 1.38061241e-02 2.39354681e-04 9.99904662e-01 -6.44064852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.38327356 meters 0.07486486918324203 Centerline is valid? [True, True] Translation: X:29.34, Y:-2.84, Z:-0.65 [[ 9.92836041e-01 1.18584571e-01 -1.46388030e-02 2.93398151e+01] [-1.18576112e-01 9.92943911e-01 1.44756237e-03 -2.83827673e+00] [ 1.47071688e-02 2.98620247e-04 9.99891799e-01 -6.45616711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.41327356 meters 0.0746021270619439 Centerline is valid? [True, True] Translation: X:29.37, Y:-2.85, Z:-0.64 [[ 9.92634333e-01 1.20194036e-01 -1.51813629e-02 2.93676571e+01] [-1.20185161e-01 9.92750362e-01 1.49890532e-03 -2.84570898e+00] [ 1.52514630e-02 3.36709665e-04 9.99883633e-01 -6.43222861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.44327356 meters 0.07461285580537778 Centerline is valid? [True, True] Translation: X:29.40, Y:-2.85, Z:-0.64 [[ 9.92446727e-01 1.21762098e-01 -1.49494120e-02 2.93959719e+01] [-1.21753770e-01 9.92559248e-01 1.46933273e-03 -2.85165091e+00] [ 1.50170862e-02 3.61912814e-04 9.99887172e-01 -6.43429077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.473273559999996 meters 0.07557857054395352 Centerline is valid? [True, True] Translation: X:29.42, Y:-2.85, Z:-0.65 [[ 9.92183048e-01 1.23888254e-01 -1.49833296e-02 2.94233493e+01] [-1.23880127e-01 9.92296097e-01 1.47289954e-03 -2.85344773e+00] [ 1.50503744e-02 3.94750827e-04 9.99886659e-01 -6.47851150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.50327356 meters 0.07618705581000693 Centerline is valid? [True, True] Translation: X:29.45, Y:-2.86, Z:-0.65 [[ 9.91621743e-01 1.28207466e-01 -1.57849711e-02 2.94521626e+01] [-1.28198961e-01 9.91747252e-01 1.55366974e-03 -2.86030712e+00] [ 1.58538938e-02 4.82964201e-04 9.99874202e-01 -6.49131219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.53327356 meters 0.07542602850129418 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.87, Z:-0.64 [[ 9.91373010e-01 1.30167124e-01 -1.53647552e-02 2.94797975e+01] [-1.30159425e-01 9.91491937e-01 1.50430175e-03 -2.87038502e+00] [ 1.54298415e-02 5.08543546e-04 9.99880824e-01 -6.44916606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.56327356 meters 0.0758362181062202 Centerline is valid? [True, True] Translation: X:29.51, Y:-2.88, Z:-0.65 [[ 9.91126366e-01 1.32008359e-01 -1.55666329e-02 2.95072135e+01] [-1.32000656e-01 9.91248455e-01 1.52577252e-03 -2.87526665e+00] [ 1.56318155e-02 5.42572377e-04 9.99877668e-01 -6.46665185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.59327356 meters 0.07632934003812492 Centerline is valid? [True, True] Translation: X:29.54, Y:-2.88, Z:-0.65 [[ 9.90632452e-01 1.35613223e-01 -1.60124576e-02 2.95350377e+01] [-1.35605544e-01 9.90761663e-01 1.56938028e-03 -2.88408322e+00] [ 1.60773578e-02 6.16698988e-04 9.99870561e-01 -6.47851872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.62327356 meters 0.07620845338791181 Centerline is valid? [True, True] Translation: X:29.56, Y:-2.89, Z:-0.65 [[ 9.90414721e-01 1.37313604e-01 -1.49550685e-02 2.95635879e+01] [-1.37307208e-01 9.90527437e-01 1.45857326e-03 -2.89133118e+00] [ 1.50136876e-02 6.08846264e-04 9.99887103e-01 -6.47185429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.653273559999995 meters 0.07653785471927176 Centerline is valid? [True, True] Translation: X:29.59, Y:-2.90, Z:-0.65 [[ 9.90265492e-01 1.38396380e-01 -1.48558752e-02 2.95911490e+01] [-1.38390165e-01 9.90376725e-01 1.45053194e-03 -2.89703282e+00] [ 1.49136614e-02 6.19495292e-04 9.99888593e-01 -6.48147729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.683273559999996 meters 0.07722522830300295 Centerline is valid? [True, True] Translation: X:29.62, Y:-2.91, Z:-0.65 [[ 9.90084741e-01 1.39807450e-01 -1.36411959e-02 2.96176500e+01] [-1.39802368e-01 9.90178534e-01 1.33013991e-03 -2.90631710e+00] [ 1.36931828e-02 5.90120263e-04 9.99906070e-01 -6.50286951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.71327356 meters 0.07624423743332985 Centerline is valid? [True, True] Translation: X:29.65, Y:-2.92, Z:-0.65 [[ 9.90092047e-01 1.39740548e-01 -1.37955762e-02 2.96459016e+01] [-1.39735425e-01 9.90187971e-01 1.33935935e-03 -2.91734271e+00] [ 1.38473764e-02 6.01641655e-04 9.99903939e-01 -6.48589434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74327356 meters 0.07619974059010277 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.93, Z:-0.65 [[ 9.90105275e-01 1.39802403e-01 -1.21174211e-02 2.96740504e+01] [-1.39798496e-01 9.90179279e-01 1.17305834e-03 -2.92581553e+00] [ 1.21624157e-02 5.32546000e-04 9.99925893e-01 -6.49237730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.77327356 meters 0.076312404162006 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.93, Z:-0.65 [[ 9.90255401e-01 1.38734439e-01 -1.21241757e-02 2.97022441e+01] [-1.38730482e-01 9.90329482e-01 1.17091937e-03 -2.93364114e+00] [ 1.21693755e-02 5.22483498e-04 9.99925814e-01 -6.50588339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80327356 meters 0.07625771156055326 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.94, Z:-0.65 [[ 9.90281461e-01 1.38535737e-01 -1.22669500e-02 2.97293820e+01] [-1.38531718e-01 9.90357293e-01 1.18087112e-03 -2.94230895e+00] [ 1.23122562e-02 5.29966867e-04 9.99924061e-01 -6.51295902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.833273559999995 meters 0.0760957386718669 Centerline is valid? [True, True] Translation: X:29.76, Y:-2.96, Z:-0.65 [[ 9.90413468e-01 1.37576658e-01 -1.24026535e-02 2.97558879e+01] [-1.37572443e-01 9.90490985e-01 1.19645792e-03 -2.95678572e+00] [ 1.24493212e-02 5.21275300e-04 9.99922368e-01 -6.53089462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.863273559999996 meters 0.07603665579159692 Centerline is valid? [True, True] Translation: X:29.78, Y:-2.97, Z:-0.65 [[ 9.90552802e-01 1.36573225e-01 -1.23652850e-02 2.97826793e+01] [-1.36568985e-01 9.90629848e-01 1.19064394e-03 -2.96526208e+00] [ 1.24120305e-02 5.09318730e-04 9.99922838e-01 -6.54585754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.89327356 meters 0.07442646020358012 Centerline is valid? [True, True] Translation: X:29.81, Y:-2.98, Z:-0.65 [[ 9.90717983e-01 1.35441878e-01 -1.15488775e-02 2.98100918e+01] [-1.35438163e-01 9.90785183e-01 1.10682226e-03 -2.97940511e+00] [ 1.15923668e-02 4.67610031e-04 9.99932697e-01 -6.52286314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92327356 meters 0.07431091076855309 Centerline is valid? [True, True] Translation: X:29.84, Y:-2.99, Z:-0.66 [[ 9.90990352e-01 1.33572503e-01 -9.82389808e-03 2.98370682e+01] [-1.33569699e-01 9.91038972e-01 9.43918143e-04 -2.99461244e+00] [ 9.86194737e-03 3.76761336e-04 9.99951299e-01 -6.55510876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.95327356 meters 0.07494434780405582 Centerline is valid? [True, True] Translation: X:29.86, Y:-3.00, Z:-0.66 [[ 9.91174641e-01 1.32188097e-01 -9.95676622e-03 2.98647297e+01] [-1.32185204e-01 9.91224580e-01 9.50995017e-04 -3.00095499e+00] [ 9.99510163e-03 3.73535027e-04 9.99949978e-01 -6.59233561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98327356 meters 0.07430853547872418 Centerline is valid? [True, True] Translation: X:29.89, Y:-3.02, Z:-0.66 [[ 9.91602320e-01 1.29047848e-01 -8.45525860e-03 2.98920969e+01] [-1.29045624e-01 9.91638326e-01 8.10443954e-04 -3.01752943e+00] [ 8.48914453e-03 2.87476013e-04 9.99963925e-01 -6.60915538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.013273559999995 meters 0.07270668366495235 Centerline is valid? [True, True] Translation: X:29.92, Y:-3.03, Z:-0.66 [[ 9.91706006e-01 1.28306874e-01 -7.51953394e-03 2.99195931e+01] [-1.28305137e-01 9.91734481e-01 7.14954906e-04 -3.03302620e+00] [ 7.54911472e-03 2.55769761e-04 9.99971472e-01 -6.56843094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.043273559999996 meters 0.07248523104117964 Centerline is valid? [True, True] Translation: X:29.95, Y:-3.04, Z:-0.66 [[ 9.91854182e-01 1.27180445e-01 -7.10042325e-03 2.99465114e+01] [-1.27178860e-01 9.91879569e-01 6.76131737e-04 -3.04236195e+00] [ 7.12875549e-03 2.32399647e-04 9.99974563e-01 -6.58432761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.07327356 meters 0.07335483490667817 Centerline is valid? [True, True] Translation: X:29.97, Y:-3.05, Z:-0.66 [[ 9.92266552e-01 1.23928457e-01 -6.98766172e-03 2.99738551e+01] [-1.23926837e-01 9.92291134e-01 6.65985393e-04 -3.05261591e+00] [ 7.01632931e-03 2.05123787e-04 9.99975364e-01 -6.64837502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10327356 meters 0.07298756713865423 Centerline is valid? [True, True] Translation: X:30.00, Y:-3.06, Z:-0.66 [[ 9.92522746e-01 1.21888384e-01 -6.46688156e-03 3.00023511e+01] [-1.21886979e-01 9.92543797e-01 6.12459409e-04 -3.06251212e+00] [ 6.49331487e-03 1.80348760e-04 9.99978902e-01 -6.64678738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.13327356 meters 0.07164278252124033 Centerline is valid? [True, True] Translation: X:30.03, Y:-3.08, Z:-0.66 [[ 9.92758630e-01 1.19980447e-01 -5.91562812e-03 3.00303195e+01] [-1.19979252e-01 9.92776243e-01 5.57898941e-04 -3.07651872e+00] [ 5.93983202e-03 1.55893646e-04 9.99982347e-01 -6.60965408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16327356 meters 0.07126120894788457 Centerline is valid? [True, True] Translation: X:30.06, Y:-3.09, Z:-0.66 [[ 9.93114460e-01 1.17030141e-01 -5.25503334e-03 3.00576841e+01] [-1.17029144e-01 9.93128356e-01 4.97899661e-04 -3.09246232e+00] [ 5.27719189e-03 1.20520698e-04 9.99986068e-01 -6.60879955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19327356 meters 0.07132434400795504 Centerline is valid? [True, True] Translation: X:30.08, Y:-3.10, Z:-0.66 [[ 9.93274294e-01 1.15637672e-01 -5.83995011e-03 3.00849678e+01] [-1.15636421e-01 9.93291454e-01 5.52661985e-04 -3.10000294e+00] [ 5.86468109e-03 1.26365986e-04 9.99982795e-01 -6.62209149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.223273559999996 meters 0.07105173803975579 Centerline is valid? [True, True] Translation: X:30.11, Y:-3.11, Z:-0.66 [[ 9.93394545e-01 1.14563547e-01 -6.51708365e-03 3.01119511e+01] [-1.14561971e-01 9.93415913e-01 6.15875103e-04 -3.10995822e+00] [ 6.54473143e-03 1.34802982e-04 9.99978574e-01 -6.60688221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.25327356 meters 0.07141456726938228 Centerline is valid? [True, True] Translation: X:30.14, Y:-3.12, Z:-0.66 [[ 9.93551713e-01 1.13195177e-01 -6.46877117e-03 3.01391783e+01] [-1.13193597e-01 9.93572763e-01 6.11081565e-04 -3.11575136e+00] [ 6.49636633e-03 1.25082342e-04 9.99978891e-01 -6.64427316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.28327356 meters 0.07112057989583462 Centerline is valid? [True, True] Translation: X:30.17, Y:-3.13, Z:-0.66 [[ 9.93762009e-01 1.11263462e-01 -7.58361609e-03 3.01671117e+01] [-1.11261233e-01 9.93790936e-01 7.16476531e-04 -3.13002359e+00] [ 7.61624659e-03 1.31755317e-04 9.99970987e-01 -6.62435720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.31327356 meters 0.07100754766923385 Centerline is valid? [True, True] Translation: X:30.19, Y:-3.14, Z:-0.66 [[ 9.93871004e-01 1.10227462e-01 -8.38649169e-03 3.01945631e+01] [-1.10224716e-01 9.93906378e-01 7.90245659e-04 -3.13689282e+00] [ 8.42249435e-03 1.38996421e-04 9.99964521e-01 -6.63344091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.34327356 meters 0.07092736950416983 Centerline is valid? [True, True] Translation: X:30.22, Y:-3.14, Z:-0.66 [[ 9.94030259e-01 1.08729598e-01 -9.03988213e-03 3.02216773e+01] [-1.08726349e-01 9.94071354e-01 8.51544714e-04 -3.14436174e+00] [ 9.07887598e-03 1.36412164e-04 9.99958777e-01 -6.62595906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.37327356 meters 0.07086940556375604 Centerline is valid? [True, True] Translation: X:30.25, Y:-3.15, Z:-0.66 [[ 9.94224539e-01 1.07067575e-01 -7.35531644e-03 3.02487995e+01] [-1.07065384e-01 9.94251741e-01 6.92204028e-04 -3.15458376e+00] [ 7.38714878e-03 9.92935459e-05 9.99972710e-01 -6.63567415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.403273559999995 meters 0.07049333503137634 Centerline is valid? [True, True] Translation: X:30.28, Y:-3.16, Z:-0.66 [[ 9.94348353e-01 1.05842558e-01 -8.28894700e-03 3.02775146e+01] [-1.05839732e-01 9.94382895e-01 7.80029942e-04 -3.16200014e+00] [ 8.32494748e-03 1.01678443e-04 9.99965342e-01 -6.62359740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.433273559999996 meters 0.07056119307423586 Centerline is valid? [True, True] Translation: X:30.31, Y:-3.17, Z:-0.66 [[ 9.94436536e-01 1.05077664e-01 -7.39327519e-03 3.03054513e+01] [-1.05075399e-01 9.94464015e-01 6.95105802e-04 -3.16812543e+00] [ 7.42538623e-03 8.56127383e-05 9.99972428e-01 -6.62640397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.46327356 meters 0.07043553372590348 Centerline is valid? [True, True] Translation: X:30.33, Y:-3.18, Z:-0.66 [[ 9.94678321e-01 1.02725264e-01 -7.90935629e-03 3.03321338e+01] [-1.02722606e-01 9.94709764e-01 7.42735569e-04 -3.17781611e+00] [ 7.94381163e-03 7.36867188e-05 9.99968445e-01 -6.63851159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.49327356 meters 0.0702453447274683 Centerline is valid? [True, True] Translation: X:30.36, Y:-3.18, Z:-0.66 [[ 9.94789773e-01 1.01601139e-01 -8.39743117e-03 3.03609397e+01] [-1.01598103e-01 9.94825213e-01 7.88437781e-04 -3.18362867e+00] [ 8.43408243e-03 6.88332385e-05 9.99964430e-01 -6.64208457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.52327356 meters 0.0702453447274683 Centerline is valid? [True, True] Translation: X:30.39, Y:-3.19, Z:-0.66 [[ 9.94799884e-01 1.01502076e-01 -8.39756876e-03 3.03883188e+01] [-1.01499048e-01 9.94835325e-01 7.86973254e-04 -3.18610735e+00] [ 8.43407747e-03 6.94643370e-05 9.99964430e-01 -6.64733529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.55327356 meters 0.07010222124141807 Centerline is valid? [True, True] Translation: X:30.42, Y:-3.19, Z:-0.66 [[ 9.94925032e-01 1.00209829e-01 -9.06480855e-03 3.04167693e+01] [-1.00206247e-01 9.94966324e-01 8.49613255e-04 -3.19264485e+00] [ 9.10431884e-03 6.30489480e-05 9.99958553e-01 -6.63213820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.583273559999995 meters 0.07007801812040122 Centerline is valid? [True, True] Translation: X:30.44, Y:-3.20, Z:-0.67 [[ 9.95208469e-01 9.74086125e-02 -8.46548871e-03 3.04439429e+01] [-9.74053969e-02 9.95244473e-01 7.92303529e-04 -3.20085703e+00] [ 8.50240804e-03 3.60771054e-05 9.99963853e-01 -6.65642521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.613273559999996 meters 0.07006356411801834 Centerline is valid? [True, True] Translation: X:30.47, Y:-3.21, Z:-0.67 [[ 9.95378655e-01 9.54947902e-02 -1.01033363e-02 3.04718523e+01] [-9.54901268e-02 9.95429929e-01 9.44068935e-04 -3.20692236e+00] [ 1.01473170e-02 2.50627973e-05 9.99948514e-01 -6.65850110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64327356 meters 0.069896983900158 Centerline is valid? [True, True] Translation: X:30.50, Y:-3.21, Z:-0.67 [[ 9.95560162e-01 9.35407543e-02 -1.04924286e-02 3.04999513e+01] [-9.35356125e-02 9.95615451e-01 9.80782895e-04 -3.21282723e+00] [ 1.05381673e-02 4.98736209e-06 9.99944472e-01 -6.65096395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.67327356 meters 0.0698423078658464 Centerline is valid? [True, True] Translation: X:30.53, Y:-3.22, Z:-0.67 [[ 9.95970637e-01 8.91811017e-02 -9.44567392e-03 3.05283148e+01] [-8.91767458e-02 9.96015426e-01 8.82173805e-04 -3.22202259e+00] [ 9.48671016e-03 -3.62847456e-05 9.99954999e-01 -6.65221720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70327356 meters 0.06978599326751468 Centerline is valid? [True, True] Translation: X:30.56, Y:-3.23, Z:-0.66 [[ 9.96195275e-01 8.67153865e-02 -8.68419318e-03 3.05567760e+01] [-8.67116174e-02 9.96233125e-01 8.10312331e-04 -3.22759981e+00] [ 8.72174745e-03 -5.42088796e-05 9.99961963e-01 -6.64487065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.73327356 meters 0.06966350273465996 Centerline is valid? [True, True] Translation: X:30.58, Y:-3.23, Z:-0.66 [[ 9.96415908e-01 8.41119838e-02 -8.97283340e-03 3.05849182e+01] [-8.41078597e-02 9.96456305e-01 8.36654507e-04 -3.23304384e+00] [ 9.01140909e-03 -7.89700484e-05 9.99959393e-01 -6.64187560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.763273559999995 meters 0.06998144981787588 Centerline is valid? [True, True] Translation: X:30.61, Y:-3.24, Z:-0.67 [[ 9.96858595e-01 7.87093232e-02 -8.81952456e-03 3.06114320e+01] [-7.87051396e-02 9.96897601e-01 8.20977888e-04 -3.24214676e+00] [ 8.85678149e-03 -1.24256952e-04 9.99960770e-01 -6.66265535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.793273559999996 meters 0.06990314293290788 Centerline is valid? [True, True] Translation: X:30.64, Y:-3.25, Z:-0.67 [[ 9.96994771e-01 7.70252522e-02 -8.27869397e-03 3.06402769e+01] [-7.70215091e-02 9.97029134e-01 7.70492242e-04 -3.24723176e+00] [ 8.31344644e-03 -1.30539233e-04 9.99965434e-01 -6.65808488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82327356 meters 0.06992161889651426 Centerline is valid? [True, True] Translation: X:30.67, Y:-3.25, Z:-0.67 [[ 9.97170646e-01 7.46950910e-02 -8.44665416e-03 3.06683024e+01] [-7.46911195e-02 9.97206408e-01 7.85106985e-04 -3.25242647e+00] [ 8.48170130e-03 -1.51995584e-04 9.99964018e-01 -6.65667340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.85327356 meters 0.07010572054718466 Centerline is valid? [True, True] Translation: X:30.70, Y:-3.26, Z:-0.67 [[ 9.97285533e-01 7.32710886e-02 -7.27420821e-03 3.06965825e+01] [-7.32681081e-02 9.97312051e-01 6.75740524e-04 -3.25731300e+00] [ 7.30416776e-03 -1.40938775e-04 9.99973314e-01 -6.66607350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88327356 meters 0.06997963800025342 Centerline is valid? [True, True] Translation: X:30.73, Y:-3.26, Z:-0.67 [[ 9.97423719e-01 7.14791085e-02 -6.05486062e-03 3.07253591e+01] [-7.14770147e-02 9.97442089e-01 5.61775055e-04 -3.26081377e+00] [ 6.07952801e-03 -1.27544403e-04 9.99981511e-01 -6.65216588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.91327356 meters 0.0702433394996662 Centerline is valid? [True, True] Translation: X:30.75, Y:-3.27, Z:-0.67 [[ 9.97460540e-01 7.09522267e-02 -6.18488875e-03 3.07529450e+01] [-7.09500369e-02 9.97479706e-01 5.73017144e-04 -3.26599096e+00] [ 6.20995786e-03 -1.32743904e-04 9.99980709e-01 -6.67739211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94327356 meters 0.07023729654554335 Centerline is valid? [True, True] Translation: X:30.78, Y:-3.27, Z:-0.67 [[ 9.97449328e-01 7.11554249e-02 -5.63413090e-03 3.07821482e+01] [-7.11536120e-02 9.97465233e-01 5.21833714e-04 -3.26828389e+00] [ 5.65698099e-03 -1.19613924e-04 9.99983992e-01 -6.67139731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.973273559999996 meters 0.0698155960173415 Centerline is valid? [True, True] Translation: X:30.81, Y:-3.27, Z:-0.67 [[ 9.97339817e-01 7.26606665e-02 -5.80664694e-03 3.08110506e+01] [-7.26587688e-02 9.97356714e-01 5.37385152e-04 -3.26823991e+00] [ 5.83034507e-03 -1.14051792e-04 9.99982997e-01 -6.65314046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00327356 meters 0.07017314728931304 Centerline is valid? [True, True] Translation: X:30.84, Y:-3.27, Z:-0.67 [[ 9.97275157e-01 7.35444352e-02 -5.78597236e-03 3.08382061e+01] [-7.35425707e-02 9.97291935e-01 5.34641122e-04 -3.27122753e+00] [ 5.80962346e-03 -1.07669027e-04 9.99983118e-01 -6.67578893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.03327356 meters 0.06981982578944243 Centerline is valid? [True, True] Translation: X:30.87, Y:-3.27, Z:-0.67 [[ 9.97166168e-01 7.49751831e-02 -6.19316009e-03 3.08673875e+01] [-7.49730744e-02 9.97185394e-01 5.72274779e-04 -3.27204514e+00] [ 6.21863520e-03 -1.06332796e-04 9.99980658e-01 -6.66861181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06327356 meters 0.06996680586753859 Centerline is valid? [True, True] Translation: X:30.89, Y:-3.27, Z:-0.67 [[ 9.97097488e-01 7.58399483e-02 -6.70090778e-03 3.08949216e+01] [-7.58375046e-02 9.97119998e-01 6.18400480e-04 -3.27449852e+00] [ 6.72850861e-03 -1.08425441e-04 9.99977357e-01 -6.69550064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.09327356 meters 0.06976103467284621 Centerline is valid? [True, True] Translation: X:30.92, Y:-3.27, Z:-0.67 [[ 9.96970676e-01 7.74957350e-02 -6.62438729e-03 3.09238513e+01] [-7.74933846e-02 9.96992679e-01 6.11139646e-04 -3.27337897e+00] [ 6.65182635e-03 -9.59421139e-05 9.99977872e-01 -6.68661945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12327356 meters 0.06991772551992798 Centerline is valid? [True, True] Translation: X:30.95, Y:-3.28, Z:-0.67 [[ 9.96961898e-01 7.76427274e-02 -6.21141319e-03 3.09512890e+01] [-7.76406698e-02 9.96981243e-01 5.72076506e-04 -3.27642631e+00] [ 6.23708003e-03 -8.80801986e-05 9.99980545e-01 -6.72193695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.153273559999995 meters 0.06998070545052368 Centerline is valid? [True, True] Translation: X:30.98, Y:-3.28, Z:-0.67 [[ 9.96981128e-01 7.74217973e-02 -5.87335053e-03 3.09802506e+01] [-7.74199546e-02 9.96998424e-01 5.40784850e-04 -3.27690713e+00] [ 5.89758976e-03 -8.44377583e-05 9.99982606e-01 -6.71640155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.183273559999996 meters 0.0699811696639963 Centerline is valid? [True, True] Translation: X:31.01, Y:-3.28, Z:-0.67 [[ 9.97021554e-01 7.69139467e-02 -5.68033368e-03 3.10082998e+01] [-7.69122223e-02 9.97037731e-01 5.21720996e-04 -3.27892513e+00] [ 5.70363463e-03 -8.32799906e-05 9.99983731e-01 -6.73537587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.21327356 meters 0.06991434321957846 Centerline is valid? [True, True] Translation: X:31.04, Y:-3.28, Z:-0.67 [[ 9.97089976e-01 7.60685000e-02 -5.01618932e-03 3.10362020e+01] [-7.60671461e-02 9.97102591e-01 4.60410980e-04 -3.28163345e+00] [ 5.03667814e-03 -7.75039678e-05 9.99987313e-01 -6.74275623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24327356 meters 0.07004450877342545 Centerline is valid? [True, True] Translation: X:31.06, Y:-3.28, Z:-0.68 [[ 9.97187950e-01 7.48351869e-02 -3.98581141e-03 3.10640158e+01] [-7.48343249e-02 9.97195914e-01 3.65179804e-04 -3.28408353e+00] [ 4.00196315e-03 -6.58773946e-05 9.99991990e-01 -6.75599646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.27327356 meters 0.06998480622719915 Centerline is valid? [True, True] Translation: X:31.09, Y:-3.28, Z:-0.67 [[ 9.97309388e-01 7.32850152e-02 -1.81388381e-03 3.10928472e+01] [-7.32848355e-02 9.97311037e-01 1.65457289e-04 -3.28473874e+00] [ 1.82113189e-03 -3.20819313e-05 9.99998341e-01 -6.74199330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30327356 meters 0.0699438246991983 Centerline is valid? [True, True] Translation: X:31.12, Y:-3.29, Z:-0.68 [[ 9.97350193e-01 7.27332897e-02 -1.56861663e-03 3.11211456e+01] [-7.27331550e-02 9.97351426e-01 1.42798983e-04 -3.28672273e+00] [ 1.57484827e-03 -2.83301575e-05 9.99998760e-01 -6.75190214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.333273559999995 meters 0.0702101127613595 Centerline is valid? [True, True] Translation: X:31.15, Y:-3.29, Z:-0.68 [[ 9.97415213e-01 7.18501596e-02 -6.68831234e-04 3.11492081e+01] [-7.18501357e-02 9.97415437e-01 5.97409084e-05 -3.28976591e+00] [ 6.71394992e-04 -1.15308759e-05 9.99999775e-01 -6.76595562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.363273559999996 meters 0.07040438663099506 Centerline is valid? [True, True] Translation: X:31.18, Y:-3.29, Z:-0.68 [[ 9.97487020e-01 7.08484729e-02 3.73110411e-04 3.11769662e+01] [-7.08484644e-02 9.97487090e-01 -3.59371378e-05 -3.29087430e+00] [-3.74718910e-04 9.41252881e-06 9.99999930e-01 -6.78580775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.39327356 meters 0.07015628484480063 Centerline is valid? [True, True] Translation: X:31.21, Y:-3.29, Z:-0.68 [[ 9.97519204e-01 7.03947392e-02 1.32170842e-04 3.12059347e+01] [-7.03947381e-02 9.97519213e-01 -1.34233336e-05 -3.29084597e+00] [-1.32787886e-04 4.08590128e-06 9.99999991e-01 -6.78180124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42327356 meters 0.07011966948524999 Centerline is valid? [True, True] Translation: X:31.23, Y:-3.29, Z:-0.68 [[ 9.97566573e-01 6.97189264e-02 4.52035441e-04 3.12345083e+01] [-6.97189142e-02 9.97566675e-01 -4.27199111e-05 -3.29197965e+00] [-4.53913878e-04 1.11005352e-05 9.99999897e-01 -6.79044311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.45327356 meters 0.0705338490862719 Centerline is valid? [True, True] Translation: X:31.26, Y:-3.29, Z:-0.68 [[ 9.97682179e-01 6.80371859e-02 -1.10091218e-03 3.12623522e+01] [-6.80371180e-02 9.97682786e-01 9.90690519e-05 -3.29386934e+00] [ 1.10510151e-03 -2.39365353e-05 9.99999389e-01 -6.80655847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.48327356 meters 0.0706841702609915 Centerline is valid? [True, True] Translation: X:31.29, Y:-3.30, Z:-0.68 [[ 9.97766301e-01 6.67789764e-02 -1.72561429e-03 3.12906856e+01] [-6.67788057e-02 9.97767792e-01 1.56444710e-04 -3.29583268e+00] [ 1.73220958e-03 -4.08607981e-05 9.99998499e-01 -6.82789292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.513273559999995 meters 0.07092755648947319 Centerline is valid? [True, True] Translation: X:31.32, Y:-3.30, Z:-0.68 [[ 9.97818010e-01 6.59830941e-02 -2.33463815e-03 3.13192675e+01] [-6.59827786e-02 9.97820739e-01 2.11962789e-04 -3.29833948e+00] [ 2.34353632e-03 -5.74543763e-05 9.99997252e-01 -6.83833198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.543273559999996 meters 0.07121013652316205 Centerline is valid? [True, True] Translation: X:31.35, Y:-3.30, Z:-0.69 [[ 9.97961945e-01 6.37554502e-02 -2.68320075e-03 3.13475411e+01] [-6.37550273e-02 9.97965549e-01 2.42938326e-04 -3.29982863e+00] [ 2.69323055e-03 -7.13756667e-05 9.99996371e-01 -6.85607972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.57327356 meters 0.07105798608074398 Centerline is valid? [True, True] Translation: X:31.38, Y:-3.30, Z:-0.68 [[ 9.98064358e-01 6.21609465e-02 -1.88516320e-03 3.13764160e+01] [-6.21607351e-02 9.98066137e-01 1.70554868e-04 -3.30081710e+00] [ 1.89211941e-03 -5.30416038e-05 9.99998209e-01 -6.84593667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.60327356 meters 0.07167227672073848 Centerline is valid? [True, True] Translation: X:31.40, Y:-3.30, Z:-0.69 [[ 9.98163296e-01 6.05746789e-02 -8.61857450e-04 3.14044373e+01] [-6.05746353e-02 9.98163668e-01 7.66643948e-05 -3.30454086e+00] [ 8.64918715e-04 -2.43168843e-05 9.99999626e-01 -6.86595297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.63327356 meters 0.07136616228286359 Centerline is valid? [True, True] Translation: X:31.43, Y:-3.31, Z:-0.69 [[ 9.98254791e-01 5.90399185e-02 -1.28822911e-03 3.14336287e+01] [-5.90398180e-02 9.98255622e-01 1.15923713e-04 -3.30547551e+00] [ 1.29282607e-03 -3.96645904e-05 9.99999164e-01 -6.85771074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.66327356 meters 0.07189324604796635 Centerline is valid? [True, True] Translation: X:31.46, Y:-3.31, Z:-0.69 [[ 9.98413047e-01 5.63145898e-02 2.31917375e-04 3.14608925e+01] [-5.63145861e-02 9.98413074e-01 -2.26997054e-05 -3.30671215e+00] [-2.32827664e-04 9.60335101e-06 9.99999973e-01 -6.85692272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.69327356 meters 0.07222851998525208 Centerline is valid? [True, True] Translation: X:31.49, Y:-3.31, Z:-0.69 [[ 9.98504381e-01 5.46706018e-02 3.56493760e-04 3.14894543e+01] [-5.46705932e-02 9.98504444e-01 -3.36928924e-05 -3.30904130e+00] [-3.57802615e-04 1.41527753e-05 9.99999936e-01 -6.86800447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.723273559999996 meters 0.07273554461362192 Centerline is valid? [True, True] Translation: X:31.52, Y:-3.31, Z:-0.69 [[ 9.98589327e-01 5.30969002e-02 -2.73200607e-04 3.15179836e+01] [-5.30968956e-02 9.98589365e-01 2.38370893e-05 -3.31224219e+00] [ 2.74080896e-04 -9.29735887e-06 9.99999962e-01 -6.87674480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.75327356 meters 0.07259941399691675 Centerline is valid? [True, True] Translation: X:31.55, Y:-3.31, Z:-0.69 [[ 9.98650744e-01 5.19286881e-02 3.21704041e-04 3.15464105e+01] [-5.19286808e-02 9.98650795e-01 -3.10320701e-05 -3.31271414e+00] [-3.22881451e-04 1.42845334e-05 9.99999948e-01 -6.87967476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78327356 meters 0.07271749875439137 Centerline is valid? [True, True] Translation: X:31.58, Y:-3.31, Z:-0.69 [[ 9.98739478e-01 5.01890944e-02 -7.14519590e-04 3.15757621e+01] [-5.01890616e-02 9.98739733e-01 6.37792177e-05 -3.31320725e+00] [ 7.16820125e-04 -2.78377548e-05 9.99999743e-01 -6.89154140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.81327356 meters 0.07300919908992537 Centerline is valid? [True, True] Translation: X:31.60, Y:-3.31, Z:-0.69 [[ 9.98798957e-01 4.89743489e-02 -1.46880666e-03 3.16046254e+01] [-4.89742081e-02 9.98800035e-01 1.31732317e-04 -3.31476844e+00] [ 1.47349565e-03 -5.96404575e-05 9.99998913e-01 -6.90173771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84327356 meters 0.0731089219750726 Centerline is valid? [True, True] Translation: X:31.63, Y:-3.32, Z:-0.69 [[ 9.98798766e-01 4.89764608e-02 -1.52675698e-03 3.16337895e+01] [-4.89763087e-02 9.98799931e-01 1.36880006e-04 -3.31607344e+00] [ 1.53162867e-03 -6.19406602e-05 9.99998825e-01 -6.91147711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.87327356 meters 0.07378673066686439 Centerline is valid? [True, True] Translation: X:31.66, Y:-3.32, Z:-0.69 [[ 9.98868629e-01 4.75213284e-02 -1.78455800e-03 3.16616770e+01] [-4.75211187e-02 9.98870221e-01 1.59745283e-04 -3.31606114e+00] [ 1.79013315e-03 -7.47603589e-05 9.99998395e-01 -6.93659778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.903273559999995 meters 0.07372640007274207 Centerline is valid? [True, True] Translation: X:31.69, Y:-3.32, Z:-0.69 [[ 9.98891120e-01 4.70203552e-02 -2.36987033e-03 3.16910172e+01] [-4.70199823e-02 9.98893926e-01 2.12830307e-04 -3.31649939e+00] [ 2.37725644e-03 -1.01163043e-04 9.99997169e-01 -6.94380544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.933273559999996 meters 0.07385571227715411 Centerline is valid? [True, True] Translation: X:31.72, Y:-3.32, Z:-0.70 [[ 9.98906244e-01 4.67110723e-02 -2.09559627e-03 3.17199548e+01] [-4.67107807e-02 9.98908438e-01 1.87902389e-04 -3.31787745e+00] [ 2.10208592e-03 -8.98099314e-05 9.99997787e-01 -6.95452588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96327356 meters 0.07399999570477461 Centerline is valid? [True, True] Translation: X:31.75, Y:-3.32, Z:-0.70 [[ 9.98958335e-01 4.56046252e-02 -1.56924408e-03 3.17490434e+01] [-4.56044610e-02 9.98959565e-01 1.40264746e-04 -3.31802061e+00] [ 1.57400811e-03 -6.85541061e-05 9.99998759e-01 -6.96098693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.99327356 meters 0.07355944847180594 Centerline is valid? [True, True] Translation: X:31.78, Y:-3.32, Z:-0.70 [[ 9.98979372e-01 4.51449715e-02 -1.46511021e-03 3.17781187e+01] [-4.51448282e-02 9.98980444e-01 1.30737349e-04 -3.31767987e+00] [ 1.46951858e-03 -6.44617666e-05 9.99998918e-01 -6.95959432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02327356 meters 0.0736308604857798 Centerline is valid? [True, True] Translation: X:31.81, Y:-3.32, Z:-0.70 [[ 9.99011912e-01 4.44428532e-02 -1.78215382e-04 3.18073175e+01] [-4.44428513e-02 9.99011928e-01 1.47093374e-05 -3.31964415e+00] [ 1.78693017e-04 -6.77440359e-06 9.99999984e-01 -6.96045052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05327356 meters 0.07387165718272232 Centerline is valid? [True, True] Translation: X:31.84, Y:-3.32, Z:-0.70 [[ 9.99016149e-01 4.43477446e-02 -1.09469138e-04 3.18363591e+01] [-4.43477439e-02 9.99016155e-01 8.51848008e-06 -3.32138496e+00] [ 1.09739213e-04 -3.65538985e-06 9.99999994e-01 -6.96174191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.083273559999995 meters 0.07384234541476375 Centerline is valid? [True, True] Translation: X:31.86, Y:-3.32, Z:-0.70 [[ 9.98968753e-01 4.53955845e-02 8.19204553e-04 3.18646070e+01] [-4.53955379e-02 9.98969088e-01 -7.53237945e-05 -3.32063487e+00] [-8.21779393e-04 3.80578858e-05 9.99999662e-01 -6.97302884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.113273559999996 meters 0.07358509288721947 Centerline is valid? [True, True] Translation: X:31.89, Y:-3.32, Z:-0.70 [[ 9.98918062e-01 4.65006276e-02 6.29590837e-04 3.18936041e+01] [-4.65006003e-02 9.98918260e-01 -5.79072501e-05 -3.32011353e+00] [-6.31602507e-04 2.85682462e-05 9.99999800e-01 -6.97873229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14327356 meters 0.07387987567168866 Centerline is valid? [True, True] Translation: X:31.92, Y:-3.32, Z:-0.70 [[ 9.98855116e-01 4.78365976e-02 -3.42342312e-04 3.19217792e+01] [-4.78365904e-02 9.98855175e-01 2.94126905e-05 -3.32244795e+00] [ 3.43357393e-04 -1.30025274e-05 9.99999941e-01 -6.99159002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.17327356 meters 0.07317388138578727 Centerline is valid? [True, True] Translation: X:31.95, Y:-3.32, Z:-0.70 [[ 9.98637266e-01 5.21675898e-02 -1.46764379e-03 3.19523445e+01] [-5.21674529e-02 9.98638343e-01 1.31416771e-04 -3.31839662e+00] [ 1.47250106e-03 -5.46744465e-05 9.99998914e-01 -7.00061052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.20327356 meters 0.07268215920632015 Centerline is valid? [True, True] Translation: X:31.98, Y:-3.32, Z:-0.70 [[ 9.98504404e-01 5.46377227e-02 -1.91676924e-03 3.19816076e+01] [-5.46374958e-02 9.98506242e-01 1.70600925e-04 -3.31723218e+00] [ 1.92322730e-03 -6.56183036e-05 9.99998148e-01 -7.00767899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.23327356 meters 0.07251467547155249 Centerline is valid? [True, True] Translation: X:32.01, Y:-3.32, Z:-0.70 [[ 9.98357346e-01 5.72754128e-02 -1.46174107e-03 3.20112156e+01] [-5.72752837e-02 9.98358415e-01 1.30048835e-04 -3.31667915e+00] [ 1.46679010e-03 -4.61135749e-05 9.99998923e-01 -7.01756470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.263273559999995 meters 0.07190901473443015 Centerline is valid? [True, True] Translation: X:32.04, Y:-3.31, Z:-0.70 [[ 9.97949763e-01 6.39749606e-02 -1.86394118e-03 3.20404487e+01] [-6.39747620e-02 9.97951503e-01 1.66015569e-04 -3.31164042e+00] [ 1.87074374e-03 -4.64300044e-05 9.99998249e-01 -7.02710326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.293273559999996 meters 0.07139507470950024 Centerline is valid? [True, True] Translation: X:32.07, Y:-3.31, Z:-0.70 [[ 9.97722972e-01 6.74259045e-02 -1.61799062e-03 3.20698375e+01] [-6.74257604e-02 9.97724284e-01 1.43521676e-04 -3.30903683e+00] [ 1.62398561e-03 -3.41006250e-05 9.99998681e-01 -7.02099041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32327356 meters 0.07121176603898832 Centerline is valid? [True, True] Translation: X:32.10, Y:-3.31, Z:-0.70 [[ 9.97438714e-01 7.15231313e-02 -6.74163325e-04 3.20985140e+01] [-7.15231078e-02 9.97438941e-01 5.89908916e-05 -3.30762097e+00] [ 6.76655967e-04 -1.06215428e-05 9.99999771e-01 -7.03904578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.35327356 meters 0.07057581980322111 Centerline is valid? [True, True] Translation: X:32.13, Y:-3.30, Z:-0.70 [[ 9.96782260e-01 8.01493027e-02 -1.10236133e-03 3.21281075e+01] [-8.01492442e-02 9.96782870e-01 9.72188161e-05 -3.30107923e+00] [ 1.10660691e-03 -8.55256380e-06 9.99999388e-01 -7.03920734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38327356 meters 0.07055170032392434 Centerline is valid? [True, True] Translation: X:32.16, Y:-3.30, Z:-0.70 [[ 9.96470457e-01 8.39332265e-02 -1.35712668e-03 3.21576992e+01] [-8.39331428e-02 9.96471381e-01 1.18611458e-04 -3.29896549e+00] [ 1.36229333e-03 -4.28490689e-06 9.99999072e-01 -7.04289616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.41327356 meters 0.07046489936783272 Centerline is valid? [True, True] Translation: X:32.19, Y:-3.30, Z:-0.70 [[ 9.96164749e-01 8.74959547e-02 -5.01663693e-04 3.21867675e+01] [-8.74959439e-02 9.96164875e-01 4.34216844e-05 -3.29753781e+00] [ 5.03538971e-04 6.38387000e-07 9.99999873e-01 -7.04585732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44327356 meters 0.07037623963550013 Centerline is valid? [True, True] Translation: X:32.21, Y:-3.29, Z:-0.71 [[ 9.95575147e-01 9.39640574e-02 -9.39682622e-04 3.22147378e+01] [-9.39640218e-02 9.95575590e-01 8.20890617e-05 -3.29328947e+00] [ 9.43238503e-04 6.57052869e-06 9.99999555e-01 -7.05321695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.473273559999996 meters 0.07037623963550013 Centerline is valid? [True, True] Translation: X:32.24, Y:-3.30, Z:-0.71 [[ 9.95584664e-01 9.38631612e-02 -9.39718193e-04 3.22421173e+01] [-9.38631259e-02 9.95585108e-01 8.16886678e-05 -3.29563489e+00] [ 9.43236995e-04 6.87690220e-06 9.99999555e-01 -7.05846677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50327356 meters 0.07049485044045453 Centerline is valid? [True, True] Translation: X:32.27, Y:-3.30, Z:-0.71 [[ 9.95370681e-01 9.61011130e-02 -1.33539925e-03 3.22714830e+01] [-9.61010419e-02 9.95371577e-01 1.17456216e-04 -3.29599508e+00] [ 1.34050613e-03 1.14207861e-05 9.99999101e-01 -7.06061933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.53327356 meters 0.07056065868021022 Centerline is valid? [True, True] Translation: X:32.30, Y:-3.30, Z:-0.71 [[ 9.95189020e-01 9.79634149e-02 -1.40869471e-03 3.23002600e+01] [-9.79633377e-02 9.95190017e-01 1.23886344e-04 -3.29676737e+00] [ 1.41405524e-03 1.47101058e-05 9.99999000e-01 -7.06792360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56327356 meters 0.07064948561516154 Centerline is valid? [True, True] Translation: X:32.33, Y:-3.30, Z:-0.71 [[ 9.95073638e-01 9.91317083e-02 -1.16552578e-03 3.23280622e+01] [-9.91316570e-02 9.95074321e-01 1.01870320e-04 -3.29816893e+00] [ 1.16988336e-03 1.41720318e-05 9.99999316e-01 -7.07977364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.59327356 meters 0.07074957848405167 Centerline is valid? [True, True] Translation: X:32.36, Y:-3.30, Z:-0.71 [[ 9.94913889e-01 1.00723183e-01 -1.09221047e-03 3.23572670e+01] [-1.00723139e-01 9.94914489e-01 9.56156544e-05 -3.30011033e+00] [ 1.09628674e-03 1.48815245e-05 9.99999399e-01 -7.08601963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62327356 meters 0.07084307129611851 Centerline is valid? [True, True] Translation: X:32.38, Y:-3.30, Z:-0.71 [[ 9.94932218e-01 1.00540947e-01 -1.18297045e-03 3.23837036e+01] [-1.00540897e-01 9.94932921e-01 1.02593176e-04 -3.30201569e+00] [ 1.18729106e-03 1.68636536e-05 9.99999295e-01 -7.10746006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.653273559999995 meters 0.07075281329936493 Centerline is valid? [True, True] Translation: X:32.41, Y:-3.31, Z:-0.71 [[ 9.94911496e-01 1.00749304e-01 -8.32547501e-04 3.24125950e+01] [-1.00749279e-01 9.94911844e-01 7.24187039e-05 -3.30558507e+00] [ 8.35607504e-04 1.18283592e-05 9.99999651e-01 -7.10560594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.683273559999996 meters 0.07067431682880336 Centerline is valid? [True, True] Translation: X:32.44, Y:-3.31, Z:-0.71 [[ 9.95065934e-01 9.92102853e-02 -1.05177883e-03 3.24399157e+01] [-9.92102441e-02 9.95066490e-01 9.14289530e-05 -3.30975960e+00] [ 1.05566057e-03 1.33693984e-05 9.99999443e-01 -7.11918661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.71327356 meters 0.0706028787179806 Centerline is valid? [True, True] Translation: X:32.47, Y:-3.31, Z:-0.71 [[ 9.95098364e-01 9.88850721e-02 -9.93881695e-04 3.24684488e+01] [-9.88850350e-02 9.95098861e-01 8.65417766e-05 -3.31438912e+00] [ 9.97568232e-04 1.21624458e-05 9.99999502e-01 -7.11547475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.74327356 meters 0.07047634944821338 Centerline is valid? [True, True] Translation: X:32.50, Y:-3.32, Z:-0.71 [[ 9.95157856e-01 9.82874254e-02 -6.50182991e-04 3.24970042e+01] [-9.82874097e-02 9.95158069e-01 5.61262143e-05 -3.31839228e+00] [ 6.52551351e-04 8.05035889e-06 9.99999787e-01 -7.12166961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.77327356 meters 0.07043680400122328 Centerline is valid? [True, True] Translation: X:32.52, Y:-3.32, Z:-0.71 [[ 9.95261605e-01 9.72321663e-02 -4.93390605e-04 3.25241296e+01] [-9.72321575e-02 9.95261727e-01 4.19277251e-05 -3.32299795e+00] [ 4.95129510e-04 6.24437807e-06 9.99999877e-01 -7.14822173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.80327356 meters 0.07036440328468882 Centerline is valid? [True, True] Translation: X:32.55, Y:-3.33, Z:-0.71 [[ 9.95290461e-01 9.69363825e-02 -4.86468669e-04 3.25513733e+01] [-9.69363741e-02 9.95290580e-01 4.09572734e-05 -3.32743028e+00] [ 4.88147934e-04 6.39212544e-06 9.99999881e-01 -7.13798956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.833273559999995 meters 0.07013442874800442 Centerline is valid? [True, True] Translation: X:32.58, Y:-3.33, Z:-0.71 [[ 9.95211787e-01 9.77419123e-02 1.32798055e-04 3.25789801e+01] [-9.77419113e-02 9.95211796e-01 -1.36398460e-05 -3.33317554e+00] [-1.33495376e-04 5.94599737e-07 9.99999991e-01 -7.12947771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.863273559999996 meters 0.07017428975547697 Centerline is valid? [True, True] Translation: X:32.61, Y:-3.34, Z:-0.71 [[ 9.95193597e-01 9.79269369e-02 -1.39852970e-04 3.26062472e+01] [-9.79269364e-02 9.95193607e-01 1.06849248e-05 -3.33623274e+00] [ 1.40227124e-04 3.06180411e-06 9.99999990e-01 -7.14616738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.89327356 meters 0.07018033984785557 Centerline is valid? [True, True] Translation: X:32.63, Y:-3.34, Z:-0.71 [[ 9.95106498e-01 9.88046678e-02 -8.33510493e-04 3.26346838e+01] [-9.88046422e-02 9.95106847e-01 7.19496904e-05 -3.33955253e+00] [ 8.36540964e-04 1.07571015e-05 9.99999650e-01 -7.14689206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92327356 meters 0.07027414411982458 Centerline is valid? [True, True] Translation: X:32.66, Y:-3.34, Z:-0.72 [[ 9.94797158e-01 1.01870427e-01 -1.01485741e-03 3.26631763e+01] [-1.01870391e-01 9.94797676e-01 8.77957690e-05 -3.34398713e+00] [ 1.01852159e-03 1.60449396e-05 9.99999481e-01 -7.15319546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.95327356 meters 0.0700889169046224 Centerline is valid? [True, True] Translation: X:32.69, Y:-3.35, Z:-0.72 [[ 9.94626190e-01 1.03515718e-01 -1.79933663e-03 3.26915971e+01] [-1.03515604e-01 9.94627817e-01 1.56534677e-04 -3.34787643e+00] [ 1.80587406e-03 3.05659286e-05 9.99998369e-01 -7.15711560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98327356 meters 0.0704635722308777 Centerline is valid? [True, True] Translation: X:32.72, Y:-3.35, Z:-0.72 [[ 9.94492230e-01 1.04791079e-01 -2.00870577e-03 3.27187746e+01] [-1.04790941e-01 9.94494258e-01 1.74048861e-04 -3.34975240e+00] [ 2.01588513e-03 3.74039277e-05 9.99997967e-01 -7.18183354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.013273559999995 meters 0.07009310118027273 Centerline is valid? [True, True] Translation: X:32.75, Y:-3.36, Z:-0.72 [[ 9.94368143e-01 1.05956100e-01 -2.30217505e-03 3.27475960e+01] [-1.05955921e-01 9.94370807e-01 2.00211284e-04 -3.35566011e+00] [ 2.31042927e-03 4.48453542e-05 9.99997330e-01 -7.15965211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.043273559999996 meters 0.07037666133337654 Centerline is valid? [True, True] Translation: X:32.78, Y:-3.36, Z:-0.72 [[ 9.93948768e-01 1.09812065e-01 -2.67527891e-03 3.27759579e+01] [-1.09811836e-01 9.93952366e-01 2.32677105e-04 -3.35790683e+00] [ 2.68465056e-03 6.25081670e-05 9.99996394e-01 -7.17579351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.07327356 meters 0.07045306153379312 Centerline is valid? [True, True] Translation: X:32.80, Y:-3.36, Z:-0.72 [[ 9.93759220e-01 1.11506956e-01 -2.96828815e-03 3.28048135e+01] [-1.11506682e-01 9.93763651e-01 2.58161314e-04 -3.36114708e+00] [ 2.97856365e-03 7.44337764e-05 9.99995561e-01 -7.17494167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10327356 meters 0.07069371184908313 Centerline is valid? [True, True] Translation: X:32.83, Y:-3.36, Z:-0.72 [[ 9.93528511e-01 1.13565825e-01 -1.97500484e-03 3.28328475e+01] [-1.13565711e-01 9.93530473e-01 1.69967553e-04 -3.36333385e+00] [ 1.98153000e-03 5.54252193e-05 9.99998035e-01 -7.17911754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.13327356 meters 0.07057615475318696 Centerline is valid? [True, True] Translation: X:32.86, Y:-3.37, Z:-0.72 [[ 9.93142821e-01 1.16889886e-01 -2.02285014e-03 3.28617967e+01] [-1.16889770e-01 9.93144879e-01 1.75472640e-04 -3.36898874e+00] [ 2.02949424e-03 6.21810959e-05 9.99997939e-01 -7.17066752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16327356 meters 0.07070967389184886 Centerline is valid? [True, True] Translation: X:32.89, Y:-3.37, Z:-0.72 [[ 9.92943665e-01 1.18576508e-01 -1.57808507e-03 3.28892865e+01] [-1.18576441e-01 9.92944917e-01 1.35896133e-04 -3.37191201e+00] [ 1.58306564e-03 5.21865071e-05 9.99998746e-01 -7.18459023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.19327356 meters 0.07090851486114304 Centerline is valid? [True, True] Translation: X:32.92, Y:-3.38, Z:-0.72 [[ 9.92784181e-01 1.19900335e-01 -1.86556706e-03 3.29177090e+01] [-1.19900244e-01 9.92785931e-01 1.61157748e-04 -3.37512508e+00] [ 1.87143159e-03 6.36870823e-05 9.99998247e-01 -7.17824530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.223273559999996 meters 0.07201001044278069 Centerline is valid? [True, True] Translation: X:32.95, Y:-3.38, Z:-0.72 [[ 9.92452243e-01 1.22623180e-01 -1.44933537e-03 3.29462937e+01] [-1.22623128e-01 9.92453300e-01 1.25168432e-04 -3.37610921e+00] [ 1.45374622e-03 5.34983447e-05 9.99998942e-01 -7.19978373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.25327356 meters 0.07139500151960082 Centerline is valid? [True, True] Translation: X:32.97, Y:-3.38, Z:-0.72 [[ 9.92386019e-01 1.23148884e-01 -2.08383879e-03 3.29743551e+01] [-1.23148777e-01 9.92388203e-01 1.79931715e-04 -3.38356728e+00] [ 2.09013543e-03 7.80604814e-05 9.99997813e-01 -7.18972589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28327356 meters 0.07165464530468499 Centerline is valid? [True, True] Translation: X:33.00, Y:-3.39, Z:-0.72 [[ 9.92198607e-01 1.24650090e-01 -2.06868293e-03 3.30028278e+01] [-1.24649988e-01 9.92200760e-01 1.78475489e-04 -3.38781794e+00] [ 2.07479576e-03 8.07781713e-05 9.99997844e-01 -7.19392927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.31327356 meters 0.07755434713467804 Centerline is valid? [True, True] Translation: X:33.03, Y:-3.38, Z:-0.73 [[ 9.92103227e-01 1.25391246e-01 -2.86757011e-03 3.30312840e+01] [-1.25391067e-01 9.92107364e-01 2.42682748e-04 -3.37745148e+00] [ 2.87536771e-03 1.18801339e-04 9.99995859e-01 -7.30441982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34327356 meters 0.07728802923037846 Centerline is valid? [True, True] Translation: X:33.06, Y:-3.38, Z:-0.73 [[ 9.92100447e-01 1.25419010e-01 -2.60298464e-03 3.30593041e+01] [-1.25418857e-01 9.92103856e-01 2.22607621e-04 -3.38388571e+00] [ 2.61035032e-03 1.05614237e-04 9.99996587e-01 -7.30276769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.37327356 meters 0.07756582666368207 Centerline is valid? [True, True] Translation: X:33.09, Y:-3.39, Z:-0.73 [[ 9.92099694e-01 1.25409837e-01 -3.25101335e-03 3.30881752e+01] [-1.25409594e-01 9.92105012e-01 2.79192950e-04 -3.38919386e+00] [ 3.26036018e-03 1.30721025e-04 9.99994676e-01 -7.30941122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.403273559999995 meters 0.07712928828919353 Centerline is valid? [True, True] Translation: X:33.12, Y:-3.40, Z:-0.73 [[ 9.92071186e-01 1.25654699e-01 -2.37861380e-03 3.31150485e+01] [-1.25654574e-01 9.92074033e-01 2.02629915e-04 -3.39962275e+00] [ 2.38522238e-03 9.78604031e-05 9.99997151e-01 -7.29438418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.433273559999996 meters 0.07786609018020269 Centerline is valid? [True, True] Translation: X:33.14, Y:-3.40, Z:-0.73 [[ 9.92011989e-01 1.26132308e-01 -1.68970028e-03 3.31430589e+01] [-1.26132246e-01 9.92013425e-01 1.43466984e-04 -3.40375206e+00] [ 1.69430118e-03 7.08047235e-05 9.99998562e-01 -7.30356801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46327356 meters 0.07829777244529786 Centerline is valid? [True, True] Translation: X:33.17, Y:-3.41, Z:-0.73 [[ 9.91956145e-01 1.26562986e-01 -2.19461681e-03 3.31713108e+01] [-1.26562881e-01 9.91958569e-01 1.87230214e-04 -3.40914077e+00] [ 2.20066536e-03 9.20328643e-05 9.99997574e-01 -7.30249413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.49327356 meters 0.07860546065705114 Centerline is valid? [True, True] Translation: X:33.20, Y:-3.42, Z:-0.73 [[ 9.91892259e-01 1.27044578e-01 -3.06935349e-03 3.31994381e+01] [-1.27044374e-01 9.91897000e-01 2.62246584e-04 -3.41907772e+00] [ 3.07779953e-03 1.29823736e-04 9.99995255e-01 -7.30020700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.52327356 meters 0.07299459717212883 Centerline is valid? [True, True] Translation: X:33.23, Y:-3.44, Z:-0.72 [[ 9.91829683e-01 1.27500910e-01 -4.17103540e-03 3.32262935e+01] [-1.27500536e-01 9.91838438e-01 3.56607296e-04 -3.44188834e+00] [ 4.18246099e-03 1.78115547e-04 9.99991238e-01 -7.21741620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.55327356 meters 0.0733376144982959 Centerline is valid? [True, True] Translation: X:33.25, Y:-3.45, Z:-0.72 [[ 9.91801577e-01 1.27701647e-01 -4.68203510e-03 3.32531692e+01] [-1.27701185e-01 9.91812608e-01 3.98782451e-04 -3.44792481e+00] [ 4.69462662e-03 2.02388366e-04 9.99988960e-01 -7.22555606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.583273559999995 meters 0.07345566716677955 Centerline is valid? [True, True] Translation: X:33.28, Y:-3.45, Z:-0.72 [[ 9.91742227e-01 1.28145925e-01 -5.09668925e-03 3.32811883e+01] [-1.28145377e-01 9.91755299e-01 4.35387729e-04 -3.45409231e+00] [ 5.11046174e-03 2.21324767e-04 9.99986917e-01 -7.23231824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.613273559999996 meters 0.07246352995825282 Centerline is valid? [True, True] Translation: X:33.31, Y:-3.47, Z:-0.72 [[ 9.91643298e-01 1.28890423e-01 -5.55236232e-03 3.33089623e+01] [-1.28889786e-01 9.91658812e-01 4.73970581e-04 -3.46919081e+00] [ 5.56713929e-03 2.45633040e-04 9.99984473e-01 -7.20512556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.64327356 meters 0.07324317585742234 Centerline is valid? [True, True] Translation: X:33.34, Y:-3.47, Z:-0.72 [[ 9.91634093e-01 1.28989537e-01 -4.85018348e-03 3.33366913e+01] [-1.28989056e-01 9.91645931e-01 4.13115632e-04 -3.47310677e+00] [ 4.86295231e-03 2.15961042e-04 9.99988152e-01 -7.22256827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.67327356 meters 0.07275665701559743 Centerline is valid? [True, True] Translation: X:33.37, Y:-3.48, Z:-0.72 [[ 9.91648773e-01 1.28901711e-01 -4.13025663e-03 3.33652290e+01] [-1.28901363e-01 9.91657358e-01 3.51594738e-04 -3.48218103e+00] [ 4.14112054e-03 1.83737218e-04 9.99991409e-01 -7.21107335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70327356 meters 0.0732375048711331 Centerline is valid? [True, True] Translation: X:33.39, Y:-3.49, Z:-0.72 [[ 9.91728313e-01 1.28258831e-01 -4.96246099e-03 3.33926924e+01] [-1.28258322e-01 9.91740704e-01 4.21961526e-04 -3.49234891e+00] [ 4.97559485e-03 2.18005728e-04 9.99987598e-01 -7.21462689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.73327356 meters 0.07231703023182937 Centerline is valid? [True, True] Translation: X:33.42, Y:-3.50, Z:-0.72 [[ 9.91754246e-01 1.28064801e-01 -4.78778249e-03 3.34206940e+01] [-1.28064325e-01 9.91765780e-01 4.07008867e-04 -3.50337598e+00] [ 4.80048234e-03 2.09491362e-04 9.99988456e-01 -7.20083359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.763273559999995 meters 0.07307492557898912 Centerline is valid? [True, True] Translation: X:33.45, Y:-3.51, Z:-0.72 [[ 9.91774830e-01 1.27904578e-01 -4.80675170e-03 3.34471239e+01] [-1.27904105e-01 9.91786456e-01 4.07055099e-04 -3.50777583e+00] [ 4.81933544e-03 2.11096270e-04 9.99988365e-01 -7.21760693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.793273559999996 meters 0.07337620546856352 Centerline is valid? [True, True] Translation: X:33.47, Y:-3.52, Z:-0.72 [[ 9.91778497e-01 1.27797400e-01 -6.57551236e-03 3.34742129e+01] [-1.27796505e-01 9.91800253e-01 5.57863015e-04 -3.51866842e+00] [ 6.59288826e-03 2.87050953e-04 9.99978225e-01 -7.23758598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82327356 meters 0.07333305761707558 Centerline is valid? [True, True] Translation: X:33.50, Y:-3.53, Z:-0.72 [[ 9.91812256e-01 1.27485321e-01 -7.47946049e-03 3.35024214e+01] [-1.27484153e-01 9.91840404e-01 6.34581133e-04 -3.52599993e+00] [ 7.49933090e-03 3.24127344e-04 9.99971827e-01 -7.24549618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.85327356 meters 0.07225179465609918 Centerline is valid? [True, True] Translation: X:33.53, Y:-3.54, Z:-0.72 [[ 9.91875131e-01 1.26953737e-01 -8.15306039e-03 3.35305522e+01] [-1.26952336e-01 9.91908578e-01 6.91188706e-04 -3.53773690e+00] [ 8.17483953e-03 3.49477176e-04 9.99966524e-01 -7.23049745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88327356 meters 0.07320350193622657 Centerline is valid? [True, True] Translation: X:33.56, Y:-3.55, Z:-0.73 [[ 9.91990050e-01 1.26025326e-01 -8.56492170e-03 3.35579060e+01] [-1.26023755e-01 9.92026959e-01 7.25086328e-04 -3.54608346e+00] [ 8.58801247e-03 3.60105169e-04 9.99963058e-01 -7.26777175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.91327356 meters 0.07283565623339495 Centerline is valid? [True, True] Translation: X:33.59, Y:-3.55, Z:-0.73 [[ 9.92057326e-01 1.25497608e-01 -8.52130594e-03 3.35856957e+01] [-1.25496035e-01 9.92093859e-01 7.21179747e-04 -3.55420587e+00] [ 8.54444163e-03 3.53938458e-04 9.99963433e-01 -7.27142083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94327356 meters 0.07397228989363966 Centerline is valid? [True, True] Translation: X:33.61, Y:-3.56, Z:-0.73 [[ 9.92148872e-01 1.24746201e-01 -8.88828118e-03 3.36129986e+01] [-1.24744469e-01 9.92188618e-01 7.51221780e-04 -3.55692807e+00] [ 8.91256348e-03 3.63440074e-04 9.99960216e-01 -7.30347990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.973273559999996 meters 0.07192422507217948 Centerline is valid? [True, True] Translation: X:33.64, Y:-3.58, Z:-0.73 [[ 9.92440619e-01 1.22494475e-01 -7.53137052e-03 3.36417489e+01] [-1.22493159e-01 9.92469153e-01 6.37447044e-04 -3.57509676e+00] [ 7.55273666e-03 2.89913028e-04 9.99971436e-01 -7.25691516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00327356 meters 0.07211376297642971 Centerline is valid? [True, True] Translation: X:33.67, Y:-3.58, Z:-0.73 [[ 9.92566965e-01 1.21531604e-01 -6.39453398e-03 3.36694620e+01] [-1.21530648e-01 9.92587533e-01 5.39293483e-04 -3.58085566e+00] [ 6.41267591e-03 2.41846963e-04 9.99979409e-01 -7.27395062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.03327356 meters 0.07129853946465525 Centerline is valid? [True, True] Translation: X:33.70, Y:-3.59, Z:-0.73 [[ 9.92755631e-01 1.20036032e-01 -5.25435605e-03 3.36982297e+01] [-1.20035363e-01 9.92769517e-01 4.43629588e-04 -3.59119549e+00] [ 5.26961605e-03 1.90292766e-04 9.99986097e-01 -7.26349236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06327356 meters 0.07109063126824579 Centerline is valid? [True, True] Translation: X:33.73, Y:-3.60, Z:-0.73 [[ 9.92906659e-01 1.18723442e-01 -6.41172178e-03 3.37269759e+01] [-1.18722419e-01 9.92927336e-01 5.41267813e-04 -3.59886448e+00] [ 6.43063501e-03 2.23786705e-04 9.99979298e-01 -7.26108052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.09327356 meters 0.0714108249030865 Centerline is valid? [True, True] Translation: X:33.76, Y:-3.61, Z:-0.73 [[ 9.93183665e-01 1.16404222e-01 -6.02195162e-03 3.37554517e+01] [-1.16403279e-01 9.93201902e-01 5.08114538e-04 -3.60898971e+00] [ 6.04016048e-03 1.96323854e-04 9.99981739e-01 -7.29496836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12327356 meters 0.07154862692876056 Centerline is valid? [True, True] Translation: X:33.78, Y:-3.62, Z:-0.73 [[ 9.93256985e-01 1.15734465e-01 -6.78933080e-03 3.37849400e+01] [-1.15733242e-01 9.93280165e-01 5.74135272e-04 -3.61508846e+00] [ 6.81015486e-03 2.15487395e-04 9.99976787e-01 -7.31237683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.153273559999995 meters 0.07120916703398211 Centerline is valid? [True, True] Translation: X:33.81, Y:-3.63, Z:-0.73 [[ 9.93494738e-01 1.13575033e-01 -8.30163825e-03 3.38142238e+01] [-1.13573136e-01 9.93529391e-01 7.01097729e-04 -3.62596500e+00] [ 8.32754880e-03 2.46306189e-04 9.99965295e-01 -7.32330395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.183273559999996 meters 0.07109795467631128 Centerline is valid? [True, True] Translation: X:33.84, Y:-3.63, Z:-0.73 [[ 9.93558616e-01 1.12996652e-01 -8.54598885e-03 3.38442825e+01] [-1.12994617e-01 9.93595338e-01 7.22066652e-04 -3.63218472e+00] [ 8.57284579e-03 2.48235196e-04 9.99963222e-01 -7.32592198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.21327356 meters 0.07067971343986107 Centerline is valid? [True, True] Translation: X:33.87, Y:-3.64, Z:-0.73 [[ 9.93676907e-01 1.12021231e-01 -7.57952942e-03 3.38739538e+01] [-1.12019602e-01 9.93705791e-01 6.40408679e-04 -3.64312243e+00] [ 7.60356164e-03 2.12696553e-04 9.99971070e-01 -7.30838989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24327356 meters 0.07074508161414977 Centerline is valid? [True, True] Translation: X:33.90, Y:-3.65, Z:-0.73 [[ 9.93761210e-01 1.11274628e-01 -7.52426790e-03 3.39036388e+01] [-1.11272998e-01 9.93789674e-01 6.36198642e-04 -3.64822029e+00] [ 7.54833251e-03 2.05018312e-04 9.99971490e-01 -7.32015110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.27327356 meters 0.07062013779243706 Centerline is valid? [True, True] Translation: X:33.93, Y:-3.65, Z:-0.73 [[ 9.93846270e-01 1.10555776e-01 -6.85656576e-03 3.39348657e+01] [-1.10554402e-01 9.93869905e-01 5.80324640e-04 -3.65381706e+00] [ 6.87869260e-03 1.81270046e-04 9.99976325e-01 -7.32728051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30327356 meters 0.07048144117355885 Centerline is valid? [True, True] Translation: X:33.97, Y:-3.66, Z:-0.73 [[ 9.93875507e-01 1.10271119e-01 -7.19428792e-03 3.39654991e+01] [-1.10269597e-01 9.93901527e-01 6.09131322e-04 -3.65996319e+00] [ 7.21758334e-03 1.87910528e-04 9.99973935e-01 -7.32432718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.333273559999995 meters 0.07048144117355885 Centerline is valid? [True, True] Translation: X:34.00, Y:-3.66, Z:-0.73 [[ 9.93871735e-01 1.10305107e-01 -7.19426710e-03 3.39962355e+01] [-1.10303584e-01 9.93897755e-01 6.09377342e-04 -3.66259457e+00] [ 7.21758336e-03 1.87910528e-04 9.99973935e-01 -7.33021826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.363273559999996 meters 0.07033068264680717 Centerline is valid? [True, True] Translation: X:34.03, Y:-3.67, Z:-0.73 [[ 9.94016506e-01 1.08931656e-01 -8.06717229e-03 3.40276208e+01] [-1.08929649e-01 9.94049222e-01 6.89084063e-04 -3.67095368e+00] [ 8.09422941e-03 1.93793312e-04 9.99967222e-01 -7.34206128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.39327356 meters 0.07034013073917883 Centerline is valid? [True, True] Translation: X:34.06, Y:-3.68, Z:-0.74 [[ 9.94104687e-01 1.08136360e-01 -7.89926037e-03 3.40590576e+01] [-1.08134435e-01 9.94136053e-01 6.71649395e-04 -3.67636101e+00] [ 7.92556925e-03 1.86492246e-04 9.99968575e-01 -7.35079135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.42327356 meters 0.0701212566986277 Centerline is valid? [True, True] Translation: X:34.09, Y:-3.68, Z:-0.73 [[ 9.94188475e-01 1.07313262e-01 -8.55223221e-03 3.40904253e+01] [-1.07310926e-01 9.94225240e-01 7.32845362e-04 -3.68263105e+00] [ 8.58148915e-03 1.89161547e-04 9.99963160e-01 -7.34892866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.45327356 meters 0.07012889242704952 Centerline is valid? [True, True] Translation: X:34.12, Y:-3.69, Z:-0.74 [[ 9.94281809e-01 1.06394505e-01 -9.15934735e-03 3.41215590e+01] [-1.06391775e-01 9.94323977e-01 7.86240421e-04 -3.68767735e+00] [ 9.19101035e-03 1.92734669e-04 9.99957743e-01 -7.36933458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.48327356 meters 0.06979894097561648 Centerline is valid? [True, True] Translation: X:34.15, Y:-3.70, Z:-0.74 [[ 9.94624630e-01 1.03044657e-01 -1.01805853e-02 3.41532373e+01] [-1.03041083e-01 9.94676715e-01 8.76325933e-04 -3.69804664e+00] [ 1.02166918e-02 1.77403179e-04 9.99947793e-01 -7.35767671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.513273559999995 meters 0.06986349764484344 Centerline is valid? [True, True] Translation: X:34.18, Y:-3.70, Z:-0.74 [[ 9.94816628e-01 1.01169264e-01 -1.02301706e-02 3.41844918e+01] [-1.01165536e-01 9.94869215e-01 8.82511408e-04 -3.70267038e+00] [ 1.02669648e-02 1.57003671e-04 9.99947281e-01 -7.37937902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.543273559999996 meters 0.06959540034969787 Centerline is valid? [True, True] Translation: X:34.21, Y:-3.71, Z:-0.74 [[ 9.95198990e-01 9.73352344e-02 -1.02382733e-02 3.42147853e+01] [-9.73312762e-02 9.95251646e-01 8.85346461e-04 -3.71095336e+00] [ 1.02758337e-02 1.15408299e-04 9.99947196e-01 -7.37870461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.57327356 meters 0.069403951685427 Centerline is valid? [True, True] Translation: X:34.25, Y:-3.72, Z:-0.74 [[ 9.95398049e-01 9.53645376e-02 -9.39839122e-03 3.42465611e+01] [-9.53610844e-02 9.95442413e-01 8.15898186e-04 -3.71758477e+00] [ 9.43336498e-03 8.40973154e-05 9.99955501e-01 -7.36009325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60327356 meters 0.06926670291002109 Centerline is valid? [True, True] Translation: X:34.28, Y:-3.72, Z:-0.74 [[ 9.95625259e-01 9.30423801e-02 -8.57079590e-03 3.42773376e+01] [-9.30394050e-02 9.95662148e-01 7.46051100e-04 -3.72293779e+00] [ 8.60303142e-03 5.46344305e-05 9.99962992e-01 -7.36930601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.63327356 meters 0.06920928046679153 Centerline is valid? [True, True] Translation: X:34.31, Y:-3.73, Z:-0.74 [[ 9.96012117e-01 8.88235305e-02 -8.38108127e-03 3.43083084e+01] [-8.88205205e-02 9.96047378e-01 7.31412913e-04 -3.73136292e+00] [ 8.41292071e-03 1.59158769e-05 9.99964611e-01 -7.37898397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.66327356 meters 0.0690835193271498 Centerline is valid? [True, True] Translation: X:34.34, Y:-3.74, Z:-0.74 [[ 9.96212374e-01 8.66241078e-02 -7.56107810e-03 3.43397512e+01] [-8.66215752e-02 9.96241067e-01 6.62399757e-04 -3.73721127e+00] [ 7.59003631e-03 -4.93833913e-06 9.99971195e-01 -7.37008191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.693273559999994 meters 0.06917146312595356 Centerline is valid? [True, True] Translation: X:34.37, Y:-3.74, Z:-0.74 [[ 9.96352182e-01 8.49250702e-02 -8.37035648e-03 3.43703568e+01] [-8.49218982e-02 9.96387340e-01 7.34297633e-04 -3.74227848e+00] [ 8.40247750e-03 -2.07924885e-05 9.99964698e-01 -7.38867647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.723273559999996 meters 0.06934248519214802 Centerline is valid? [True, True] Translation: X:34.40, Y:-3.75, Z:-0.74 [[ 9.96650211e-01 8.12543985e-02 -9.27792733e-03 3.44009415e+01] [-8.12503284e-02 9.96693393e-01 8.15396281e-04 -3.74860851e+00] [ 9.31350340e-03 -5.88302329e-05 9.99956627e-01 -7.40882499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.75327356 meters 0.0694340543012182 Centerline is valid? [True, True] Translation: X:34.43, Y:-3.75, Z:-0.74 [[ 9.96775906e-01 7.95162354e-02 -1.07220277e-02 3.44314438e+01] [-7.95107134e-02 9.96833567e-01 9.40982743e-04 -3.75277205e+00] [ 1.07629005e-02 -8.54328555e-05 9.99942075e-01 -7.42352595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78327356 meters 0.06961699389350634 Centerline is valid? [True, True] Translation: X:34.46, Y:-3.76, Z:-0.74 [[ 9.96874618e-01 7.82368212e-02 -1.09542466e-02 3.44630911e+01] [-7.82309296e-02 9.96934797e-01 9.65961640e-04 -3.75693332e+00] [ 1.09962434e-02 -1.05981747e-04 9.99939534e-01 -7.44110882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.81327356 meters 0.06945627063887941 Centerline is valid? [True, True] Translation: X:34.50, Y:-3.76, Z:-0.74 [[ 9.96977484e-01 7.67909712e-02 -1.17916575e-02 3.44951091e+01] [-7.67840117e-02 9.97047205e-01 1.04247127e-03 -3.75971356e+00] [ 1.18368915e-02 -1.33909619e-04 9.99929933e-01 -7.42225456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84327356 meters 0.06935471523490093 Centerline is valid? [True, True] Translation: X:34.53, Y:-3.76, Z:-0.74 [[ 9.97013526e-01 7.63887815e-02 -1.13482714e-02 3.45276040e+01] [-7.63822770e-02 9.97078099e-01 1.00612097e-03 -3.76259978e+00] [ 1.13919692e-02 -1.36309404e-04 9.99935100e-01 -7.42438409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87327356 meters 0.06917470877041804 Centerline is valid? [True, True] Translation: X:34.56, Y:-3.76, Z:-0.74 [[ 9.97013774e-01 7.64812770e-02 -1.06840161e-02 3.45598822e+01] [-7.64754845e-02 9.97071009e-01 9.50259461e-04 -3.76430372e+00] [ 1.07253998e-02 -1.30356463e-04 9.99942473e-01 -7.40187256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.903273559999995 meters 0.06904822744661085 Centerline is valid? [True, True] Translation: X:34.59, Y:-3.77, Z:-0.74 [[ 9.97054706e-01 7.60478197e-02 -9.93191204e-03 3.45919572e+01] [-7.60427648e-02 9.97104163e-01 8.86146267e-04 -3.76667005e+00] [ 9.97054033e-03 -1.28286254e-04 9.99950285e-01 -7.40492880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.933273559999996 meters 0.06902048296430345 Centerline is valid? [True, True] Translation: X:34.62, Y:-3.77, Z:-0.74 [[ 9.97029488e-01 7.65453560e-02 -8.54448752e-03 3.46227829e+01] [-7.65416140e-02 9.97066094e-01 7.64577197e-04 -3.76798006e+00] [ 8.57794363e-03 -1.08297146e-04 9.99963203e-01 -7.41842517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96327356 meters 0.06903331087811795 Centerline is valid? [True, True] Translation: X:34.66, Y:-3.77, Z:-0.74 [[ 9.96975730e-01 7.72507379e-02 -8.46859440e-03 3.46553621e+01] [-7.72470598e-02 9.97011691e-01 7.61044407e-04 -3.76970550e+00] [ 8.50207886e-03 -1.04568785e-04 9.99963851e-01 -7.42861394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.99327356 meters 0.06901076142616668 Centerline is valid? [True, True] Translation: X:34.69, Y:-3.77, Z:-0.74 [[ 9.96948012e-01 7.75288431e-02 -9.16185962e-03 3.46874566e+01] [-7.75245400e-02 9.96990103e-01 8.24425695e-04 -3.77146177e+00] [ 9.19820014e-03 -1.11640605e-04 9.99957689e-01 -7.43657598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02327356 meters 0.06882359990921459 Centerline is valid? [True, True] Translation: X:34.72, Y:-3.77, Z:-0.74 [[ 9.96820715e-01 7.90972800e-02 -9.59591072e-03 3.47209768e+01] [-7.90926005e-02 9.96866896e-01 8.66771729e-04 -3.77036032e+00] [ 9.63440502e-03 -1.05050482e-04 9.99953583e-01 -7.43550833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05327356 meters 0.06894774408783533 Centerline is valid? [True, True] Translation: X:34.75, Y:-3.77, Z:-0.74 [[ 9.96767118e-01 7.98484506e-02 -8.91835404e-03 3.47535355e+01] [-7.98444222e-02 9.96807011e-01 8.07411242e-04 -3.77141934e+00] [ 8.95434837e-03 -9.27201517e-05 9.99959905e-01 -7.44713912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.083273559999995 meters 0.06891026918526338 Centerline is valid? [True, True] Translation: X:34.79, Y:-3.77, Z:-0.75 [[ 9.96710993e-01 8.05385321e-02 -8.98566561e-03 3.47861308e+01] [-8.05344429e-02 9.96751492e-01 8.16581697e-04 -3.77263273e+00] [ 9.02224189e-03 -9.02403802e-05 9.99959295e-01 -7.46138198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.113273559999996 meters 0.0689156322478847 Centerline is valid? [True, True] Translation: X:34.82, Y:-3.77, Z:-0.75 [[ 9.96653207e-01 8.12292257e-02 -9.17598577e-03 3.48181037e+01] [-8.12249777e-02 9.96695443e-01 8.35286636e-04 -3.77349323e+00] [ 9.21351288e-03 -8.71718647e-05 9.99957551e-01 -7.47273513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14327356 meters 0.06895767624864846 Centerline is valid? [True, True] Translation: X:34.85, Y:-3.77, Z:-0.75 [[ 9.96639199e-01 8.13340996e-02 -9.75040690e-03 3.48507848e+01] [-8.13292883e-02 9.96686889e-01 8.89597280e-04 -3.77313905e+00] [ 9.79045732e-03 -9.36138674e-05 9.99952068e-01 -7.48252869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.17327356 meters 0.06899215889279398 Centerline is valid? [True, True] Translation: X:34.88, Y:-3.77, Z:-0.75 [[ 9.96641365e-01 8.13179534e-02 -9.66330498e-03 3.48823279e+01] [-8.13132094e-02 9.96688207e-01 8.83458378e-04 -3.77470567e+00] [ 9.70314314e-03 -9.47368234e-05 9.99952919e-01 -7.49794436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20327356 meters 0.06893307550452975 Centerline is valid? [True, True] Translation: X:34.91, Y:-3.77, Z:-0.75 [[ 9.96679941e-01 8.08530127e-02 -9.58565400e-03 3.49134647e+01] [-8.08483538e-02 9.96726031e-01 8.73167435e-04 -3.77399833e+00] [ 9.62486909e-03 -9.52841211e-05 9.99953675e-01 -7.50643525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.23327356 meters 0.06892672813009261 Centerline is valid? [True, True] Translation: X:34.94, Y:-3.77, Z:-0.75 [[ 9.96689208e-01 8.08435425e-02 -8.65708663e-03 3.49448402e+01] [-8.08397391e-02 9.96726800e-01 7.88936585e-04 -3.77474241e+00] [ 8.69253068e-03 -8.64879549e-05 9.99962216e-01 -7.50927455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.263273559999995 meters 0.06885198802110852 Centerline is valid? [True, True] Translation: X:34.98, Y:-3.78, Z:-0.75 [[ 9.96703902e-01 8.05996596e-02 -9.22097979e-03 3.49766401e+01] [-8.05952824e-02 9.96746550e-01 8.45916065e-04 -3.77541304e+00] [ 9.25916034e-03 -9.99603728e-05 9.99957128e-01 -7.49989527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.293273559999996 meters 0.06892161106209041 Centerline is valid? [True, True] Translation: X:35.01, Y:-3.78, Z:-0.75 [[ 9.96736246e-01 8.02840889e-02 -8.44517124e-03 3.50078557e+01] [-8.02803875e-02 9.96772018e-01 7.76930753e-04 -3.77564100e+00] [ 8.48028556e-03 -9.64134225e-05 9.99964037e-01 -7.51390635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32327356 meters 0.06892385498010901 Centerline is valid? [True, True] Translation: X:35.04, Y:-3.78, Z:-0.75 [[ 9.96764456e-01 7.99780175e-02 -8.00848141e-03 3.50392203e+01] [-7.99747038e-02 9.96796623e-01 7.33685940e-04 -3.77695805e+00] [ 8.04150598e-03 -9.08361384e-05 9.99967662e-01 -7.51826499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.35327356 meters 0.06888467421484694 Centerline is valid? [True, True] Translation: X:35.07, Y:-3.78, Z:-0.75 [[ 9.96767477e-01 7.98059503e-02 -9.25240593e-03 3.50704128e+01] [-7.98015177e-02 9.96810413e-01 8.47866667e-04 -3.77844662e+00] [ 9.29055938e-03 -1.06769883e-04 9.99956836e-01 -7.52100000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38327356 meters 0.06906122249917544 Centerline is valid? [True, True] Translation: X:35.10, Y:-3.78, Z:-0.75 [[ 9.96751428e-01 7.98947564e-02 -1.01695305e-02 3.51003654e+01] [-7.98893883e-02 9.96803298e-01 9.33649603e-04 -3.77870179e+00] [ 1.02116152e-02 -1.18179007e-04 9.99947853e-01 -7.54349725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.41327356 meters 0.06918006482424553 Centerline is valid? [True, True] Translation: X:35.13, Y:-3.78, Z:-0.75 [[ 9.96719429e-01 8.02299680e-02 -1.06551760e-02 3.51317210e+01] [-8.02241014e-02 9.96776373e-01 9.77555395e-04 -3.78023726e+00] [ 1.06992569e-02 -1.19546538e-04 9.99942754e-01 -7.54924327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.443273559999994 meters 0.06919739617510548 Centerline is valid? [True, True] Translation: X:35.16, Y:-3.78, Z:-0.76 [[ 9.96701209e-01 8.03464061e-02 -1.14522737e-02 3.51621184e+01] [-8.03396443e-02 9.96766993e-01 1.05000396e-03 -3.78108902e+00] [ 1.14996124e-02 -1.26468626e-04 9.99933869e-01 -7.56452421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.473273559999996 meters 0.06890908985947991 Centerline is valid? [True, True] Translation: X:35.19, Y:-3.78, Z:-0.75 [[ 9.96615055e-01 8.15274880e-02 -1.05688230e-02 3.51925561e+01] [-8.15217957e-02 9.96671088e-01 9.69004619e-04 -3.78008027e+00] [ 1.06126409e-02 -1.04135159e-04 9.99943679e-01 -7.54144116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.50327356 meters 0.06907872497734445 Centerline is valid? [True, True] Translation: X:35.22, Y:-3.78, Z:-0.76 [[ 9.96577522e-01 8.20531360e-02 -1.00262426e-02 3.52224377e+01] [-8.20480347e-02 9.96627952e-01 9.19758641e-04 -3.78227609e+00] [ 1.00679027e-02 -9.39772892e-05 9.99949313e-01 -7.56768227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.53327356 meters 0.06895048967917848 Centerline is valid? [True, True] Translation: X:35.25, Y:-3.78, Z:-0.76 [[ 9.96545797e-01 8.24758368e-02 -9.70624407e-03 3.52529118e+01] [-8.24710791e-02 9.96593061e-01 8.90086278e-04 -3.78244168e+00] [ 9.74658609e-03 -8.65273163e-05 9.99952497e-01 -7.56188329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.56327356 meters 0.06912571947251837 Centerline is valid? [True, True] Translation: X:35.28, Y:-3.79, Z:-0.76 [[ 9.96523113e-01 8.28315874e-02 -8.97852379e-03 3.52833165e+01] [-8.28275266e-02 9.96563557e-01 8.23823428e-04 -3.78526366e+00] [ 9.01590820e-03 -7.72901692e-05 9.99959353e-01 -7.59519382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.59327356 meters 0.06907457330594431 Centerline is valid? [True, True] Translation: X:35.31, Y:-3.79, Z:-0.76 [[ 9.96549595e-01 8.26441992e-02 -7.67079020e-03 3.53133924e+01] [-8.26412318e-02 9.96579115e-01 7.03559267e-04 -3.78700821e+00] [ 7.70269440e-03 -6.72081518e-05 9.99970332e-01 -7.59465573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.62327356 meters 0.06879477184365325 Centerline is valid? [True, True] Translation: X:35.35, Y:-3.79, Z:-0.76 [[ 9.96509246e-01 8.31060144e-02 -7.91919904e-03 3.53451429e+01] [-8.31028591e-02 9.96540710e-01 7.27246384e-04 -3.78831530e+00] [ 7.95224278e-03 -6.65996639e-05 9.99968378e-01 -7.57506007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.653273559999995 meters 0.06906884755205697 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.79, Z:-0.76 [[ 9.96434944e-01 8.39877075e-02 -7.96662814e-03 3.53753146e+01] [-8.39845440e-02 9.96466789e-01 7.31409672e-04 -3.79042431e+00] [ 7.99990979e-03 -5.97285237e-05 9.99967998e-01 -7.61470590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.683273559999996 meters 0.06896450308131549 Centerline is valid? [True, True] Translation: X:35.41, Y:-3.79, Z:-0.76 [[ 9.96409522e-01 8.41173581e-02 -9.60912007e-03 3.54067818e+01] [-8.41127560e-02 9.96455852e-01 8.82788261e-04 -3.79152747e+00] [ 9.64932174e-03 -7.13690568e-05 9.99953442e-01 -7.59339138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.71327356 meters 0.06934016979377436 Centerline is valid? [True, True] Translation: X:35.44, Y:-3.79, Z:-0.77 [[ 9.96336991e-01 8.48697773e-02 -1.04747533e-02 3.54357911e+01] [-8.48643543e-02 9.96392049e-01 9.61921197e-04 -3.79423291e+00] [ 1.05185990e-02 -6.94644928e-05 9.99944676e-01 -7.65351849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.74327356 meters 0.06900845356531704 Centerline is valid? [True, True] Translation: X:35.47, Y:-3.79, Z:-0.76 [[ 9.96258388e-01 8.56736622e-02 -1.13687293e-02 3.54666028e+01] [-8.56673288e-02 9.96323250e-01 1.04380328e-03 -3.79389498e+00] [ 1.14163558e-02 -6.59691065e-05 9.99934829e-01 -7.60542985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.77327356 meters 0.06901845912591531 Centerline is valid? [True, True] Translation: X:35.50, Y:-3.80, Z:-0.76 [[ 9.96269258e-01 8.56812355e-02 -1.03097676e-02 3.54964107e+01] [-8.56760326e-02 9.96322600e-01 9.46078662e-04 -3.79598004e+00] [ 1.03529156e-02 -5.92491036e-05 9.99946405e-01 -7.62591074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.80327356 meters 0.06879489758296059 Centerline is valid? [True, True] Translation: X:35.53, Y:-3.80, Z:-0.76 [[ 9.96229993e-01 8.62692412e-02 -9.13337690e-03 3.55267371e+01] [-8.62651800e-02 9.96271858e-01 8.38412627e-04 -3.79816839e+00] [ 9.17165560e-03 -4.73594031e-05 9.99957938e-01 -7.60741111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.833273559999995 meters 0.0688153122719717 Centerline is valid? [True, True] Translation: X:35.56, Y:-3.80, Z:-0.76 [[ 9.96256019e-01 8.60724624e-02 -8.09172635e-03 3.55565759e+01] [-8.60692682e-02 9.96288878e-01 7.42792684e-04 -3.80064659e+00] [ 8.12563096e-03 -4.35627169e-05 9.99966986e-01 -7.61072351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.863273559999996 meters 0.06878588868270878 Centerline is valid? [True, True] Translation: X:35.59, Y:-3.80, Z:-0.76 [[ 9.96224440e-01 8.64325489e-02 -8.14118155e-03 3.55871609e+01] [-8.64293239e-02 9.96257704e-01 7.47789301e-04 -3.80309088e+00] [ 8.17534817e-03 -4.13291601e-05 9.99966580e-01 -7.62162746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.89327356 meters 0.06873887710290327 Centerline is valid? [True, True] Translation: X:35.62, Y:-3.80, Z:-0.76 [[ 9.96138281e-01 8.73931021e-02 -8.42436174e-03 3.56177102e+01] [-8.73896859e-02 9.96173903e-01 7.73469231e-04 -3.80441919e+00] [ 8.45972518e-03 -3.42799844e-05 9.99964215e-01 -7.62656110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.92327356 meters 0.06883169312738573 Centerline is valid? [True, True] Translation: X:35.65, Y:-3.81, Z:-0.76 [[ 9.96115538e-01 8.75874987e-02 -9.07005506e-03 3.56480665e+01] [-8.75835469e-02 9.96156829e-01 8.32752525e-04 -3.80657095e+00] [ 9.10813600e-03 -3.51301370e-05 9.99958519e-01 -7.63863116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.95327356 meters 0.06885034496494723 Centerline is valid? [True, True] Translation: X:35.68, Y:-3.81, Z:-0.77 [[ 9.96019470e-01 8.84624766e-02 -1.09364740e-02 3.56777784e+01] [-8.84567838e-02 9.96079509e-01 1.00411478e-03 -3.80831541e+00] [ 1.09824241e-02 -3.27125553e-05 9.99939691e-01 -7.65263622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.98327356 meters 0.06897077403999713 Centerline is valid? [True, True] Translation: X:35.71, Y:-3.81, Z:-0.77 [[ 9.95808099e-01 9.08307787e-02 -1.07702918e-02 3.57065305e+01] [-9.08254122e-02 9.95866341e-01 9.87367616e-04 -3.80833425e+00] [ 1.08154544e-02 -5.01247955e-06 9.99941511e-01 -7.67302408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.013273559999995 meters 0.06906945962892631 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.81, Z:-0.77 [[ 9.95647695e-01 9.24793723e-02 -1.15427040e-02 3.57346769e+01] [-9.24733307e-02 9.95714600e-01 1.05717956e-03 -3.80937073e+00] [ 1.15910062e-02 1.48138854e-05 9.99932822e-01 -7.68364121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.043273559999996 meters 0.06907063935337099 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.81, Z:-0.77 [[ 9.95473304e-01 9.43927600e-02 -1.10863560e-02 3.57647336e+01] [-9.43873029e-02 9.95535035e-01 1.01559900e-03 -3.81016983e+00] [ 1.11327210e-02 3.54095562e-05 9.99938029e-01 -7.68733467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.07327356 meters 0.06893401785373848 Centerline is valid? [True, True] Translation: X:35.79, Y:-3.81, Z:-0.77 [[ 9.95317063e-01 9.59146706e-02 -1.20133046e-02 3.57944039e+01] [-9.59083780e-02 9.95389558e-01 1.10014894e-03 -3.81090789e+00] [ 1.20634384e-02 5.71795469e-05 9.99927232e-01 -7.67722887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.10327356 meters 0.06897063839148691 Centerline is valid? [True, True] Translation: X:35.82, Y:-3.81, Z:-0.77 [[ 9.95152691e-01 9.77974989e-02 -1.03329675e-02 3.58229378e+01] [-9.77929546e-02 9.95206333e-01 9.45347173e-04 -3.81131034e+00] [ 1.03758872e-02 6.97266340e-05 9.99946167e-01 -7.68301875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.13327356 meters 0.06877182442994684 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.81, Z:-0.77 [[ 9.94859655e-01 1.00865169e-01 -8.97126975e-03 3.58524609e+01] [-1.00861889e-01 9.94900100e-01 8.18498781e-04 -3.81076476e+00] [ 9.00807519e-03 9.05677987e-05 9.99959422e-01 -7.67137285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.16327356 meters 0.06886513345048892 Centerline is valid? [True, True] Translation: X:35.88, Y:-3.81, Z:-0.77 [[ 9.94714729e-01 1.02299635e-01 -8.79733611e-03 3.58816007e+01] [-1.02296531e-01 9.94753625e-01 8.03289018e-04 -3.81200743e+00] [ 8.83335816e-03 1.00893550e-04 9.99960980e-01 -7.67739268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.193273559999994 meters 0.06885090263309908 Centerline is valid? [True, True] Translation: X:35.91, Y:-3.81, Z:-0.77 [[ 9.94597896e-01 1.03535787e-01 -7.44080034e-03 3.59114373e+01] [-1.03533601e-01 9.94625725e-01 6.79337390e-04 -3.81371334e+00] [ 7.47114716e-03 9.47053173e-05 9.99972086e-01 -7.67555052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.223273559999996 meters 0.0689026135337328 Centerline is valid? [True, True] Translation: X:35.94, Y:-3.82, Z:-0.77 [[ 9.94541651e-01 1.04052674e-01 -7.74241375e-03 3.59406095e+01] [-1.04050325e-01 9.94571782e-01 7.06643727e-04 -3.81583428e+00] [ 7.77391441e-03 1.02814049e-04 9.99969777e-01 -7.69153157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.25327356 meters 0.0689026135337328 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.82, Z:-0.77 [[ 9.94545132e-01 1.04019394e-01 -7.74243747e-03 3.59696652e+01] [-1.04017046e-01 9.94575264e-01 7.06383840e-04 -3.81845618e+00] [ 7.77391441e-03 1.02814864e-04 9.99969777e-01 -7.69710210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.28327356 meters 0.0689500852713651 Centerline is valid? [True, True] Translation: X:36.00, Y:-3.82, Z:-0.77 [[ 9.94514085e-01 1.04291941e-01 -8.05761701e-03 3.59977916e+01] [-1.04289413e-01 9.94546720e-01 7.34446808e-04 -3.82030670e+00] [ 8.09027345e-03 1.09906449e-04 9.99967267e-01 -7.70836680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.31327356 meters 0.0690046937398333 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.82, Z:-0.77 [[ 9.94454649e-01 1.04763539e-01 -9.19525235e-03 3.60270626e+01] [-1.04760265e-01 9.94497151e-01 8.38274667e-04 -3.82260641e+00] [ 9.23247289e-03 1.29670935e-04 9.99957371e-01 -7.71301068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.34327356 meters 0.06909555278388954 Centerline is valid? [True, True] Translation: X:36.06, Y:-3.82, Z:-0.77 [[ 9.94319547e-01 1.06088116e-01 -8.59944588e-03 3.60570735e+01] [-1.06085305e-01 9.94356724e-01 7.83624276e-04 -3.82432657e+00] [ 8.63405005e-03 1.33101906e-04 9.99962717e-01 -7.72705612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.37327356 meters 0.0690152632419115 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.83, Z:-0.77 [[ 9.94234466e-01 1.06879422e-01 -8.63809470e-03 3.60863751e+01] [-1.06876618e-01 9.94271980e-01 7.86841013e-04 -3.82702580e+00] [ 8.67271263e-03 1.40905898e-04 9.99962381e-01 -7.72150246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.403273559999995 meters 0.06893635792330852 Centerline is valid? [True, True] Translation: X:36.12, Y:-3.83, Z:-0.77 [[ 9.94076373e-01 1.08462802e-01 -6.92711529e-03 3.61159663e+01] [-1.08461041e-01 9.94100500e-01 6.30595348e-04 -3.83006538e+00] [ 6.95464492e-03 1.24462197e-04 9.99975808e-01 -7.71451612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.433273559999996 meters 0.0691351937702492 Centerline is valid? [True, True] Translation: X:36.14, Y:-3.83, Z:-0.77 [[ 9.94019619e-01 1.08905491e-01 -8.03688660e-03 3.61446141e+01] [-1.08903140e-01 9.94052097e-01 7.30974618e-04 -3.83192405e+00] [ 8.06869113e-03 1.48639072e-04 9.99967437e-01 -7.73346087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.46327356 meters 0.06968758645272004 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.83, Z:-0.78 [[ 9.93999872e-01 1.09194168e-01 -6.39443463e-03 3.61733840e+01] [-1.09192688e-01 9.94020432e-01 5.81088986e-04 -3.83219180e+00] [ 6.41965021e-03 1.20623130e-04 9.99979387e-01 -7.77873326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.49327356 meters 0.06919812878173699 Centerline is valid? [True, True] Translation: X:36.20, Y:-3.84, Z:-0.77 [[ 9.93942237e-01 1.09681498e-01 -6.98561651e-03 3.62024462e+01] [-1.09679743e-01 9.93966775e-01 6.34987845e-04 -3.83833609e+00] [ 7.01311713e-03 1.35039386e-04 9.99975399e-01 -7.74981303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.52327356 meters 0.0689687879530562 Centerline is valid? [True, True] Translation: X:36.23, Y:-3.84, Z:-0.77 [[ 9.93970293e-01 1.09436360e-01 -6.83662103e-03 3.62320296e+01] [-1.09434676e-01 9.93993796e-01 6.21176038e-04 -3.84277310e+00] [ 6.86353814e-03 1.30732877e-04 9.99976437e-01 -7.74676995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.55327356 meters 0.06894526948678899 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.85, Z:-0.78 [[ 9.94010893e-01 1.09038420e-01 -7.27790970e-03 3.62610259e+01] [-1.09036501e-01 9.94037527e-01 6.61062811e-04 -3.84635008e+00] [ 7.30659660e-03 1.36454175e-04 9.99973297e-01 -7.75162794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.583273559999995 meters 0.06904244358901564 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.85, Z:-0.78 [[ 9.94083712e-01 1.08388313e-01 -7.03899479e-03 3.62903543e+01] [-1.08386494e-01 9.94108625e-01 6.40607267e-04 -3.84956654e+00] [ 7.06695977e-03 1.26114714e-04 9.99975021e-01 -7.76775453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.613273559999996 meters 0.06877192756849922 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.86, Z:-0.78 [[ 9.94214600e-01 1.07222858e-01 -6.37089387e-03 3.63208196e+01] [-1.07221346e-01 9.94235006e-01 5.79404690e-04 -3.85593139e+00] [ 6.39629113e-03 1.07043212e-04 9.99979538e-01 -7.77022568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.64327356 meters 0.0687379441464029 Centerline is valid? [True, True] Translation: X:36.35, Y:-3.86, Z:-0.78 [[ 9.94280459e-01 1.06601094e-01 -6.52495160e-03 3.63499344e+01] [-1.06599498e-01 9.94301863e-01 5.92973117e-04 -3.85931218e+00] [ 6.55098311e-03 1.05974980e-04 9.99978536e-01 -7.77771024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.67327356 meters 0.06842348229879879 Centerline is valid? [True, True] Translation: X:36.38, Y:-3.87, Z:-0.78 [[ 9.94451214e-01 1.05077991e-01 -5.03964706e-03 3.63798840e+01] [-1.05077018e-01 9.94463981e-01 4.58246334e-04 -3.86567995e+00] [ 5.05989909e-03 7.38474624e-05 9.99987196e-01 -7.76422522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70327356 meters 0.06830579086087114 Centerline is valid? [True, True] Translation: X:36.41, Y:-3.87, Z:-0.78 [[ 9.94584063e-01 1.03847988e-01 -4.25886391e-03 3.64106550e+01] [-1.03847278e-01 9.94593179e-01 3.88065341e-04 -3.86995808e+00] [ 4.27613680e-03 5.63078219e-05 9.99990856e-01 -7.76640223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.73327356 meters 0.06830855019337599 Centerline is valid? [True, True] Translation: X:36.44, Y:-3.87, Z:-0.78 [[ 9.94720747e-01 1.02547389e-01 -3.82994290e-03 3.64406358e+01] [-1.02546806e-01 9.94728119e-01 3.48780613e-04 -3.87410947e+00] [ 3.84551844e-03 4.58090990e-05 9.99992605e-01 -7.78055229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.763273559999995 meters 0.06819187393623055 Centerline is valid? [True, True] Translation: X:36.47, Y:-3.88, Z:-0.78 [[ 9.94981623e-01 9.99662895e-02 -4.27908163e-03 3.64723674e+01] [-9.99655154e-02 9.94990824e-01 3.94933278e-04 -3.88055007e+00] [ 4.29712697e-03 3.48092459e-05 9.99990767e-01 -7.78399424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.793273559999996 meters 0.06812665207564203 Centerline is valid? [True, True] Translation: X:36.50, Y:-3.89, Z:-0.78 [[ 9.95109507e-01 9.86048267e-02 -5.84435561e-03 3.65031895e+01] [-9.86033636e-02 9.95126669e-01 5.38648819e-04 -3.88525364e+00] [ 5.86898751e-03 4.02585605e-05 9.99982777e-01 -7.79450163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.82327356 meters 0.06820236765470648 Centerline is valid? [True, True] Translation: X:36.53, Y:-3.89, Z:-0.78 [[ 9.95483068e-01 9.47510611e-02 -5.97474853e-03 3.65335820e+01] [-9.47494556e-02 9.95500998e-01 5.51845565e-04 -3.89265444e+00] [ 6.00015607e-03 1.67512541e-05 9.99981999e-01 -7.82707297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.85327356 meters 0.06815653319650108 Centerline is valid? [True, True] Translation: X:36.56, Y:-3.90, Z:-0.78 [[ 9.95665882e-01 9.27201517e-02 -7.24056217e-03 3.65649501e+01] [-9.27177704e-02 9.95692208e-01 6.64588964e-04 -3.89812902e+00] [ 7.27099213e-03 9.62022460e-06 9.99973566e-01 -7.82575312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.88327356 meters 0.068119813795345 Centerline is valid? [True, True] Translation: X:36.60, Y:-3.90, Z:-0.78 [[ 9.95896435e-01 9.01895018e-02 -7.49295218e-03 3.65963096e+01] [-9.01868781e-02 9.95924622e-01 6.87998201e-04 -3.90343885e+00] [ 7.52446579e-03 -9.40899073e-06 9.99971691e-01 -7.82868849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.91327356 meters 0.06819320422489726 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.91, Z:-0.78 [[ 9.96122388e-01 8.77490833e-02 -6.34719065e-03 3.66261671e+01] [-8.77471519e-02 9.96142609e-01 5.82673492e-04 -3.90829083e+00] [ 6.37383612e-03 -2.34662080e-05 9.99979687e-01 -7.84733611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.943273559999994 meters 0.06825238628976776 Centerline is valid? [True, True] Translation: X:36.66, Y:-3.91, Z:-0.78 [[ 9.96440912e-01 8.41216856e-02 -5.38995609e-03 3.66576048e+01] [-8.41202096e-02 9.96455488e-01 5.00357580e-04 -3.91384785e+00] [ 5.41294225e-03 -4.51725272e-05 9.99985349e-01 -7.84191181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.973273559999996 meters 0.06824902016593372 Centerline is valid? [True, True] Translation: X:36.69, Y:-3.92, Z:-0.78 [[ 9.96566686e-01 8.26187711e-02 -5.38327425e-03 3.66886394e+01] [-8.26172835e-02 9.96581224e-01 4.98503162e-04 -3.91829758e+00] [ 5.40605576e-03 -5.20401486e-05 9.99985386e-01 -7.84651112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00327356 meters 0.06829440384156178 Centerline is valid? [True, True] Translation: X:36.72, Y:-3.92, Z:-0.79 [[ 9.96717861e-01 8.07739460e-02 -5.39223241e-03 3.67198646e+01] [-8.07724116e-02 9.96732444e-01 5.02072166e-04 -3.92278215e+00] [ 5.41516734e-03 -6.48806796e-05 9.99985336e-01 -7.85960151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.03327356 meters 0.06834279479852634 Centerline is valid? [True, True] Translation: X:36.75, Y:-3.93, Z:-0.79 [[ 9.96961655e-01 7.77163660e-02 -5.25586760e-03 3.67513097e+01] [-7.77148565e-02 9.96975506e-01 4.91137095e-04 -3.92847495e+00] [ 5.27814065e-03 -8.11858550e-05 9.99986067e-01 -7.85187761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06327356 meters 0.06850715452351348 Centerline is valid? [True, True] Translation: X:36.78, Y:-3.93, Z:-0.79 [[ 9.97098291e-01 7.59825428e-02 -4.65310225e-03 3.67827610e+01] [-7.59813331e-02 9.97109145e-01 4.36440399e-04 -3.93301990e+00] [ 4.67281266e-03 -8.16250640e-05 9.99989079e-01 -7.86042896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09327356 meters 0.06852169370060683 Centerline is valid? [True, True] Translation: X:36.81, Y:-3.94, Z:-0.79 [[ 9.97270008e-01 7.35709143e-02 -6.31286985e-03 3.68141031e+01] [-7.35686423e-02 9.97289980e-01 5.91679815e-04 -3.93714709e+00] [ 6.33929227e-03 -1.25635270e-04 9.99979899e-01 -7.85598524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12327356 meters 0.06874863605633895 Centerline is valid? [True, True] Translation: X:36.85, Y:-3.94, Z:-0.79 [[ 9.97345108e-01 7.25966283e-02 -5.69783391e-03 3.68450091e+01] [-7.25947521e-02 9.97361376e-01 5.35690024e-04 -3.94157994e+00] [ 5.72168876e-03 -1.20634984e-04 9.99983624e-01 -7.87180348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.153273559999995 meters 0.06891002998904168 Centerline is valid? [True, True] Translation: X:36.88, Y:-3.95, Z:-0.79 [[ 9.97376171e-01 7.21783395e-02 -5.57325526e-03 3.68764855e+01] [-7.21765265e-02 9.97391735e-01 5.26015439e-04 -3.94546740e+00] [ 5.59668565e-03 -1.22377059e-04 9.99984331e-01 -7.89392516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.183273559999996 meters 0.06869122534329779 Centerline is valid? [True, True] Translation: X:36.91, Y:-3.95, Z:-0.79 [[ 9.97365780e-01 7.22401643e-02 -6.54665642e-03 3.69085048e+01] [-7.22376609e-02 9.97387256e-01 6.18359405e-04 -3.94713494e+00] [ 6.57422207e-03 -1.43815365e-04 9.99978379e-01 -7.88564198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.21327356 meters 0.06890147629309507 Centerline is valid? [True, True] Translation: X:36.94, Y:-3.95, Z:-0.79 [[ 9.97371624e-01 7.22334525e-02 -5.67207168e-03 3.69399726e+01] [-7.22315646e-02 9.97387744e-01 5.37254591e-04 -3.94911354e+00] [ 5.69606253e-03 -1.26139872e-04 9.99983769e-01 -7.89873498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24327356 meters 0.06885443119104907 Centerline is valid? [True, True] Translation: X:36.97, Y:-3.95, Z:-0.79 [[ 9.97310713e-01 7.31230565e-02 -4.93563812e-03 3.69723100e+01] [-7.31216281e-02 9.97322920e-01 4.69480359e-04 -3.95130550e+00] [ 4.95675486e-03 -1.07315897e-04 9.99987709e-01 -7.91008782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.27327356 meters 0.06902961336350016 Centerline is valid? [True, True] Translation: X:37.00, Y:-3.95, Z:-0.79 [[ 9.97242469e-01 7.40180638e-02 -5.36509439e-03 3.70046303e+01] [-7.40164041e-02 9.97256895e-01 5.07518597e-04 -3.95372675e+00] [ 5.38794292e-03 -1.09014104e-04 9.99985479e-01 -7.92208207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.30327356 meters 0.06888011856198377 Centerline is valid? [True, True] Translation: X:37.04, Y:-3.95, Z:-0.79 [[ 9.97078296e-01 7.61292598e-02 -6.26162803e-03 3.70358174e+01] [-7.61270179e-02 9.97097950e-01 5.95964292e-04 -3.95316754e+00] [ 6.28882680e-03 -1.17543991e-04 9.99980218e-01 -7.93665749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.333273559999995 meters 0.06857631796293129 Centerline is valid? [True, True] Translation: X:37.07, Y:-3.95, Z:-0.79 [[ 9.96984068e-01 7.73357043e-02 -6.47734629e-03 3.70671337e+01] [-7.73333527e-02 9.97005104e-01 6.13109827e-04 -3.95227363e+00] [ 6.50536259e-03 -1.10345825e-04 9.99978834e-01 -7.92168205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.363273559999996 meters 0.06875844317255048 Centerline is valid? [True, True] Translation: X:37.10, Y:-3.95, Z:-0.79 [[ 9.96851605e-01 7.90022891e-02 -6.74654090e-03 3.70982933e+01] [-7.89997415e-02 9.96874429e-01 6.43690241e-04 -3.95448420e+00] [ 6.77630710e-03 -1.08688662e-04 9.99977035e-01 -7.94957474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.39327356 meters 0.06880641335612227 Centerline is valid? [True, True] Translation: X:37.13, Y:-3.95, Z:-0.80 [[ 9.96576626e-01 8.24288243e-02 -6.36526244e-03 3.71290488e+01] [-8.24266495e-02 9.96596951e-01 6.03704275e-04 -3.95285291e+00] [ 6.39336378e-03 -7.69703139e-05 9.99979559e-01 -7.97379931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.42327356 meters 0.06853399512554856 Centerline is valid? [True, True] Translation: X:37.16, Y:-3.95, Z:-0.80 [[ 9.96399295e-01 8.45295963e-02 -6.57213191e-03 3.71607315e+01] [-8.45273200e-02 9.96420967e-01 6.23852509e-04 -3.95259947e+00] [ 6.60134403e-03 -6.60815032e-05 9.99978209e-01 -7.96237542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.45327356 meters 0.06835987981429259 Centerline is valid? [True, True] Translation: X:37.19, Y:-3.95, Z:-0.80 [[ 9.96208539e-01 8.67739560e-02 -6.23119850e-03 3.71924278e+01] [-8.67719520e-02 9.96228025e-01 5.91749027e-04 -3.95259820e+00] [ 6.25904298e-03 -4.88121761e-05 9.99980411e-01 -7.95864057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48327356 meters 0.06833299562338276 Centerline is valid? [True, True] Translation: X:37.22, Y:-3.95, Z:-0.80 [[ 9.95927602e-01 9.00280245e-02 -4.81309119e-03 3.72242991e+01] [-9.00268654e-02 9.95939232e-01 4.57387466e-04 -3.95036047e+00] [ 4.83472403e-03 -2.22172897e-05 9.99988312e-01 -7.96327969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.513273559999995 meters 0.06833191585727244 Centerline is valid? [True, True] Translation: X:37.26, Y:-3.95, Z:-0.80 [[ 9.95807344e-01 9.12956477e-02 -5.73045803e-03 3.72557791e+01] [-9.12940250e-02 9.95823832e-01 5.44657961e-04 -3.95100374e+00] [ 5.75625157e-03 -1.92178187e-05 9.99983432e-01 -7.95728340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.543273559999996 meters 0.06820068791080171 Centerline is valid? [True, True] Translation: X:37.29, Y:-3.95, Z:-0.80 [[ 9.95668127e-01 9.27768210e-02 -6.11897837e-03 3.72864109e+01] [-9.27750005e-02 9.95686929e-01 5.81314735e-04 -3.95056545e+00] [ 6.14651932e-03 -1.11083319e-05 9.99981110e-01 -7.96388948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.57327356 meters 0.06824245664062457 Centerline is valid? [True, True] Translation: X:37.32, Y:-3.95, Z:-0.80 [[ 9.95658183e-01 9.29181629e-02 -5.56762499e-03 3.73171376e+01] [-9.29166595e-02 9.95673749e-01 5.28633640e-04 -3.95175905e+00] [ 5.59265772e-03 -9.01329322e-06 9.99984361e-01 -7.97726265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.60327356 meters 0.06815109075951023 Centerline is valid? [True, True] Translation: X:37.35, Y:-3.95, Z:-0.80 [[ 9.95681978e-01 9.26564343e-02 -5.67307556e-03 3.73474795e+01] [-9.26548692e-02 9.95698140e-01 5.38645937e-04 -3.95388028e+00] [ 5.69857979e-03 -1.06819783e-05 9.99983763e-01 -7.98011431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.63327356 meters 0.06829479397034285 Centerline is valid? [True, True] Translation: X:37.38, Y:-3.96, Z:-0.80 [[ 9.95806991e-01 9.13114391e-02 -5.53690690e-03 3.73780877e+01] [-9.13099164e-02 9.95822384e-01 5.27699723e-04 -3.95625054e+00] [ 5.56196085e-03 -1.99125672e-05 9.99984532e-01 -7.99046359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66327356 meters 0.06828220223479646 Centerline is valid? [True, True] Translation: X:37.41, Y:-3.96, Z:-0.80 [[ 9.96128052e-01 8.77895470e-02 -4.67972838e-03 3.74080876e+01] [-8.77884265e-02 9.96139044e-01 4.44707963e-04 -3.95861234e+00] [ 4.70070086e-03 -3.21600858e-05 9.99988951e-01 -8.00062708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.693273559999994 meters 0.06843969051488208 Centerline is valid? [True, True] Translation: X:37.44, Y:-3.96, Z:-0.80 [[ 9.96328661e-01 8.54453121e-02 -5.31959171e-03 3.74381977e+01] [-8.54438214e-02 9.96342861e-01 5.07281649e-04 -3.96193137e+00] [ 5.34348206e-03 -5.08930023e-05 9.99985722e-01 -8.00905368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.723273559999996 meters 0.06857310223631574 Centerline is valid? [True, True] Translation: X:37.47, Y:-3.97, Z:-0.80 [[ 9.96543230e-01 8.28361609e-02 -6.30562634e-03 3.74684774e+01] [-8.28340245e-02 9.96563177e-01 5.99673245e-04 -3.96516871e+00] [ 6.33362965e-03 -7.52799052e-05 9.99979940e-01 -8.01852552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.75327356 meters 0.06873208591705192 Centerline is valid? [True, True] Translation: X:37.50, Y:-3.97, Z:-0.80 [[ 9.97009982e-01 7.69985567e-02 -6.50515710e-03 3.74985903e+01] [-7.69961586e-02 9.97031198e-01 6.18648879e-04 -3.96848630e+00] [ 6.53347965e-03 -1.15927000e-04 9.99978650e-01 -8.00410530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78327356 meters 0.06912622115922237 Centerline is valid? [True, True] Translation: X:37.53, Y:-3.97, Z:-0.80 [[ 9.97184111e-01 7.46598823e-02 -7.05337489e-03 3.75281525e+01] [-7.46569888e-02 9.97209046e-01 6.73012809e-04 -3.97299298e+00] [ 7.08393630e-03 -1.44533950e-04 9.99974898e-01 -8.02355655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.81327356 meters 0.06942248848228696 Centerline is valid? [True, True] Translation: X:37.56, Y:-3.98, Z:-0.80 [[ 9.97582800e-01 6.90910261e-02 -7.41529581e-03 3.75588430e+01] [-6.90876835e-02 9.97610341e-01 7.06286111e-04 -3.97557170e+00] [ 7.44637382e-03 -1.92273266e-04 9.99972257e-01 -8.02289663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84327356 meters 0.06974858772577266 Centerline is valid? [True, True] Translation: X:37.59, Y:-3.98, Z:-0.80 [[ 9.97776646e-01 6.61856944e-02 -7.82420001e-03 3.75888537e+01] [-6.61818899e-02 9.97807298e-01 7.44441513e-04 -3.97845926e+00] [ 7.85631525e-03 -2.24966012e-04 9.99969113e-01 -8.02448890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.87327356 meters 0.07087287293855019 Centerline is valid? [True, True] Translation: X:37.62, Y:-3.98, Z:-0.81 [[ 9.97960380e-01 6.35090488e-02 -6.45610630e-03 3.76177480e+01] [-6.35064036e-02 9.97981242e-01 6.14112852e-04 -3.98473735e+00] [ 6.48207471e-03 -2.02856203e-04 9.99978971e-01 -8.05827629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.903273559999995 meters 0.07036378876187543 Centerline is valid? [True, True] Translation: X:37.65, Y:-3.98, Z:-0.80 [[ 9.98110786e-01 6.09279121e-02 -7.91504883e-03 3.76486335e+01] [-6.09238520e-02 9.98142133e-01 7.53277255e-04 -3.98444284e+00] [ 7.94623933e-03 -2.69638890e-04 9.99968392e-01 -8.03590995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.933273559999996 meters 0.0768353472598707 Centerline is valid? [True, True] Translation: X:37.68, Y:-4.00, Z:-0.82 [[ 9.98421270e-01 5.57527648e-02 -6.82618481e-03 3.76762035e+01] [-5.57496242e-02 9.98444569e-01 6.49649783e-04 -4.00402743e+00] [ 6.85178692e-03 -2.68066923e-04 9.99976490e-01 -8.15671755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96327356 meters 0.07746664408001237 Centerline is valid? [True, True] Translation: X:37.71, Y:-4.01, Z:-0.82 [[ 9.98551663e-01 5.32910371e-02 -7.39195046e-03 3.77068625e+01] [-5.32872870e-02 9.98578975e-01 7.03493847e-04 -4.00663657e+00] [ 7.41893623e-03 -3.08577966e-04 9.99972432e-01 -8.16130001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.99327356 meters 0.07691416599282092 Centerline is valid? [True, True] Translation: X:37.74, Y:-4.01, Z:-0.81 [[ 9.98664554e-01 5.11970478e-02 -6.92614817e-03 3.77377928e+01] [-5.11937051e-02 9.98688525e-01 6.59163322e-04 -4.00628289e+00] [ 6.95081192e-03 -3.03707858e-04 9.99975797e-01 -8.14664786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02327356 meters 0.0724603922436054 Centerline is valid? [True, True] Translation: X:37.77, Y:-3.99, Z:-0.81 [[ 9.98804771e-01 4.83325457e-02 -7.27979417e-03 3.77682792e+01] [-4.83287853e-02 9.98831242e-01 6.91680040e-04 -3.99230889e+00] [ 7.30471651e-03 -3.39029714e-04 9.99973263e-01 -8.06963699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.05327356 meters 0.07241549971424428 Centerline is valid? [True, True] Translation: X:37.80, Y:-3.99, Z:-0.81 [[ 9.98892610e-01 4.65756184e-02 -6.65318171e-03 3.77983340e+01] [-4.65724396e-02 9.98914715e-01 6.32002886e-04 -3.99253021e+00] [ 6.67539704e-03 -3.21448109e-04 9.99977668e-01 -8.06998344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.083273559999995 meters 0.07359818549821781 Centerline is valid? [True, True] Translation: X:37.83, Y:-3.99, Z:-0.81 [[ 9.98988844e-01 4.42824115e-02 -7.76900911e-03 3.78270449e+01] [-4.42779973e-02 9.99018975e-01 7.39354442e-04 -3.99432568e+00] [ 7.79412791e-03 -3.94610675e-04 9.99969547e-01 -8.09384069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.113273559999996 meters 0.07336557259675484 Centerline is valid? [True, True] Translation: X:37.86, Y:-3.99, Z:-0.81 [[ 9.99018917e-01 4.35174339e-02 -8.21194398e-03 3.78567744e+01] [-4.35124875e-02 9.99052579e-01 7.80130800e-04 -3.99407355e+00] [ 8.23811309e-03 -4.22043317e-04 9.99965977e-01 -8.09628646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14327356 meters 0.07336557259675484 Centerline is valid? [True, True] Translation: X:37.89, Y:-4.00, Z:-0.81 [[ 9.99020404e-01 4.34832921e-02 -8.21197061e-03 3.78858564e+01] [-4.34783469e-02 9.99054065e-01 7.79850489e-04 -3.99680577e+00] [ 8.23811309e-03 -4.22043644e-04 9.99965977e-01 -8.10186392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.17327356 meters 0.07365701368017075 Centerline is valid? [True, True] Translation: X:37.92, Y:-4.00, Z:-0.81 [[ 9.99079844e-01 4.18488437e-02 -9.38825132e-03 3.79160808e+01] [-4.18423058e-02 9.99123829e-01 8.91814962e-04 -3.99550193e+00] [ 9.41734703e-03 -4.98168270e-04 9.99955532e-01 -8.10806725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20327356 meters 0.07425901452262917 Centerline is valid? [True, True] Translation: X:37.94, Y:-4.00, Z:-0.81 [[ 9.99116319e-01 4.10681325e-02 -8.94369194e-03 3.79448004e+01] [-4.10621781e-02 9.99156233e-01 8.48459670e-04 -3.99730066e+00] [ 8.97099020e-03 -4.80462432e-04 9.99959644e-01 -8.12542619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.23327356 meters 0.07307047356162043 Centerline is valid? [True, True] Translation: X:37.97, Y:-3.99, Z:-0.81 [[ 9.99144488e-01 4.04467977e-02 -8.62258825e-03 3.79745906e+01] [-4.04412488e-02 9.99181584e-01 8.16989332e-04 -3.99338892e+00] [ 8.64857599e-03 -4.67582151e-04 9.99962491e-01 -8.11534217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.263273559999995 meters 0.0735447009779084 Centerline is valid? [True, True] Translation: X:38.00, Y:-3.99, Z:-0.81 [[ 9.99166014e-01 3.98455547e-02 -8.92235932e-03 3.80027825e+01] [-3.98395945e-02 9.99205731e-01 8.44824663e-04 -3.99378139e+00] [ 8.94893508e-03 -4.88656913e-04 9.99959838e-01 -8.12673115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.293273559999996 meters 0.07258258268456902 Centerline is valid? [True, True] Translation: X:38.03, Y:-3.99, Z:-0.81 [[ 9.99180977e-01 3.95838203e-02 -8.39623872e-03 3.80325969e+01] [-3.95785391e-02 9.99216147e-01 7.94292636e-04 -3.98754377e+00] [ 8.42109844e-03 -4.61331230e-04 9.99964436e-01 -8.12027858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32327356 meters 0.07390261637443933 Centerline is valid? [True, True] Translation: X:38.06, Y:-3.99, Z:-0.81 [[ 9.99194655e-01 3.92498517e-02 -8.33613120e-03 3.80598797e+01] [-3.92446433e-02 9.99229322e-01 7.87521042e-04 -3.99122292e+00] [ 8.36061681e-03 -4.59738320e-04 9.99964944e-01 -8.14138338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.35327356 meters 0.07316231145315724 Centerline is valid? [True, True] Translation: X:38.09, Y:-3.99, Z:-0.81 [[ 9.99210923e-01 3.91652708e-02 -6.60393242e-03 3.80894894e+01] [-3.91620034e-02 9.99232680e-01 6.23413547e-04 -3.98837050e+00] [ 6.62328125e-03 -3.64298402e-04 9.99977999e-01 -8.12835610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38327356 meters 0.07438141226584859 Centerline is valid? [True, True] Translation: X:38.12, Y:-3.99, Z:-0.81 [[ 9.99228162e-01 3.88576013e-02 -5.75906649e-03 3.81171207e+01] [-3.88551171e-02 9.99244707e-01 5.42661957e-04 -3.98705021e+00] [ 5.77580325e-03 -3.18473908e-04 9.99983269e-01 -8.14929545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41327356 meters 0.07377064211144946 Centerline is valid? [True, True] Translation: X:38.15, Y:-3.98, Z:-0.81 [[ 9.99234934e-01 3.86539574e-02 -5.95130520e-03 3.81465959e+01] [-3.86513010e-02 9.99252602e-01 5.60765140e-04 -3.98416696e+00] [ 5.96853300e-03 -3.30310429e-04 9.99982134e-01 -8.14477558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.443273559999994 meters 0.0736324612314146 Centerline is valid? [True, True] Translation: X:38.18, Y:-3.98, Z:-0.81 [[ 9.99232875e-01 3.88781920e-02 -4.70603022e-03 3.81757302e+01] [-3.88765363e-02 9.99243924e-01 4.42819693e-04 -3.98262606e+00] [ 4.71968813e-03 -2.59525840e-04 9.99988829e-01 -8.14955782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.473273559999996 meters 0.0743059389491346 Centerline is valid? [True, True] Translation: X:38.20, Y:-3.98, Z:-0.82 [[ 9.99227964e-01 3.90143776e-02 -4.62115441e-03 3.82043850e+01] [-3.90127805e-02 9.99238617e-01 4.35286594e-04 -3.98002675e+00] [ 4.63461838e-03 -2.54666454e-04 9.99989228e-01 -8.16225735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50327356 meters 0.0729624867146986 Centerline is valid? [True, True] Translation: X:38.23, Y:-3.97, Z:-0.82 [[ 9.99234935e-01 3.88547812e-02 -4.45538323e-03 3.82336677e+01] [-3.88532996e-02 9.99244838e-01 4.18660391e-04 -3.97478451e+00] [ 4.46828565e-03 -2.45233749e-04 9.99989987e-01 -8.15162337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.53327356 meters 0.07361552383746164 Centerline is valid? [True, True] Translation: X:38.26, Y:-3.98, Z:-0.82 [[ 9.99220802e-01 3.91058718e-02 -5.34033250e-03 3.82617890e+01] [-3.91037448e-02 9.99235030e-01 5.02149293e-04 -3.97689462e+00] [ 5.35588429e-03 -2.92931020e-04 9.99985614e-01 -8.17081985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56327356 meters 0.07529056565285822 Centerline is valid? [True, True] Translation: X:38.29, Y:-3.98, Z:-0.82 [[ 9.99192509e-01 3.96886701e-02 -6.25621971e-03 3.82899869e+01] [-3.96857687e-02 9.99212037e-01 5.87274193e-04 -3.97681954e+00] [ 6.27459817e-03 -3.38517087e-04 9.99980257e-01 -8.21146807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.59327356 meters 0.07365953301834997 Centerline is valid? [True, True] Translation: X:38.32, Y:-3.97, Z:-0.82 [[ 9.99164485e-01 4.03166897e-02 -6.70050323e-03 3.83194788e+01] [-4.03133758e-02 9.99186887e-01 6.28961161e-04 -3.97148681e+00] [ 6.72041260e-03 -3.58315750e-04 9.99977354e-01 -8.20635995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62327356 meters 0.07370184412843955 Centerline is valid? [True, True] Translation: X:38.35, Y:-3.97, Z:-0.82 [[ 9.99154068e-01 4.05342290e-02 -6.93713087e-03 3.83490836e+01] [-4.05306931e-02 9.99178083e-01 6.49593418e-04 -3.96966214e+00] [ 6.95775989e-03 -3.67877184e-04 9.99975727e-01 -8.21887431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.653273559999995 meters 0.07369451239729187 Centerline is valid? [True, True] Translation: X:38.38, Y:-3.96, Z:-0.82 [[ 9.99104326e-01 4.16149357e-02 -7.66434299e-03 3.83783961e+01] [-4.16106471e-02 9.99133644e-01 7.18229743e-04 -3.96412019e+00] [ 7.68759202e-03 -3.98668172e-04 9.99970371e-01 -8.23492462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.683273559999996 meters 0.07366398531059304 Centerline is valid? [True, True] Translation: X:38.41, Y:-3.96, Z:-0.83 [[ 9.99053580e-01 4.29507886e-02 -6.86834660e-03 3.84078299e+01] [-4.29473772e-02 9.99077129e-01 6.43480306e-04 -3.96298611e+00] [ 6.88964599e-03 -3.47893831e-04 9.99976206e-01 -8.25071208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.71327356 meters 0.07360194074559565 Centerline is valid? [True, True] Translation: X:38.44, Y:-3.96, Z:-0.83 [[ 9.99011109e-01 4.39031801e-02 -7.02248649e-03 3.84375412e+01] [-4.38996428e-02 9.99035730e-01 6.57144763e-04 -3.95865902e+00] [ 7.04456566e-03 -3.48210270e-04 9.99975126e-01 -8.26105182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74327356 meters 0.07352947666697651 Centerline is valid? [True, True] Translation: X:38.47, Y:-3.96, Z:-0.83 [[ 9.98991553e-01 4.45403012e-02 -5.66025628e-03 3.84666276e+01] [-4.45380169e-02 9.99007550e-01 5.29035073e-04 -3.95733562e+00] [ 5.67820214e-03 -2.76404980e-04 9.99983841e-01 -8.26765914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.77327356 meters 0.07356862373736694 Centerline is valid? [True, True] Translation: X:38.50, Y:-3.96, Z:-0.83 [[ 9.98971838e-01 4.50398729e-02 -5.16498379e-03 3.84956752e+01] [-4.50379799e-02 9.98985159e-01 4.82291383e-04 -3.95680679e+00] [ 5.18146449e-03 -2.49175073e-04 9.99986545e-01 -8.27582889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80327356 meters 0.07338418418942415 Centerline is valid? [True, True] Translation: X:38.53, Y:-3.95, Z:-0.83 [[ 9.98873751e-01 4.72615896e-02 -4.19196320e-03 3.85253742e+01] [-4.72603611e-02 9.98882528e-01 3.91698816e-04 -3.95216435e+00] [ 4.20579110e-03 -1.93143971e-04 9.99991137e-01 -8.28923561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.833273559999995 meters 0.07338125667995173 Centerline is valid? [True, True] Translation: X:38.55, Y:-3.95, Z:-0.83 [[ 9.98849683e-01 4.77701206e-02 -4.16249028e-03 3.85548303e+01] [-4.77689210e-02 9.98858338e-01 3.87186190e-04 -3.95151048e+00] [ 4.17623406e-03 -1.87903134e-04 9.99991262e-01 -8.30092356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.863273559999996 meters 0.07295791676717227 Centerline is valid? [True, True] Translation: X:38.58, Y:-3.95, Z:-0.83 [[ 9.98802518e-01 4.88080081e-02 -3.36277583e-03 3.85839692e+01] [-4.88072308e-02 9.98808168e-01 3.12878641e-04 -3.94910494e+00] [ 3.37403895e-03 -1.48376199e-04 9.99994297e-01 -8.30271460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.89327356 meters 0.07297209485897527 Centerline is valid? [True, True] Translation: X:38.61, Y:-3.95, Z:-0.83 [[ 9.98773177e-01 4.93648680e-02 -3.90533132e-03 3.86130273e+01] [-4.93638241e-02 9.98780797e-01 3.63311702e-04 -3.94808381e+00] [ 3.91850476e-03 -1.70083894e-04 9.99992308e-01 -8.31598800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.92327356 meters 0.07309447309768656 Centerline is valid? [True, True] Translation: X:38.64, Y:-3.94, Z:-0.83 [[ 9.98656334e-01 5.15868118e-02 -4.93226145e-03 3.86418284e+01] [-5.15851736e-02 9.98668493e-01 4.58863886e-04 -3.94408041e+00] [ 4.94936543e-03 -2.03815764e-04 9.99987731e-01 -8.33887701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.95327356 meters 0.07332392856274886 Centerline is valid? [True, True] Translation: X:38.67, Y:-3.94, Z:-0.84 [[ 9.98599325e-01 5.26481289e-02 -5.24993810e-03 3.86698751e+01] [-5.26462909e-02 9.98613103e-01 4.87779693e-04 -3.94297106e+00] [ 5.26833767e-03 -2.10706704e-04 9.99986100e-01 -8.36418505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.98327356 meters 0.0718050095101785 Centerline is valid? [True, True] Translation: X:38.70, Y:-3.93, Z:-0.84 [[ 9.98397823e-01 5.61889188e-02 -6.67778422e-03 3.87001562e+01] [-5.61860197e-02 9.98420125e-01 6.21099031e-04 -3.93300472e+00] [ 6.70213303e-03 -2.44905804e-04 9.99977510e-01 -8.35618716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.013273559999995 meters 0.07260872727701853 Centerline is valid? [True, True] Translation: X:38.73, Y:-3.94, Z:-0.84 [[ 9.98287915e-01 5.81154242e-02 -6.62091582e-03 3.87283877e+01] [-5.81126217e-02 9.98309844e-01 6.15039222e-04 -3.93526942e+00] [ 6.64546871e-03 -2.29227446e-04 9.99977892e-01 -8.39795690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.043273559999996 meters 0.07096556554852432 Centerline is valid? [True, True] Translation: X:38.76, Y:-3.93, Z:-0.84 [[ 9.98067120e-01 6.17099994e-02 -7.34161152e-03 3.87589111e+01] [-6.17066619e-02 9.98094096e-01 6.80467341e-04 -3.92508407e+00] [ 7.36961075e-03 -2.26125739e-04 9.99972818e-01 -8.35965620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.07327356 meters 0.07092469199138735 Centerline is valid? [True, True] Translation: X:38.79, Y:-3.92, Z:-0.84 [[ 9.97934609e-01 6.38538850e-02 -7.01409831e-03 3.87868872e+01] [-6.38508930e-02 9.97959238e-01 6.49909381e-04 -3.92417533e+00] [ 7.04128345e-03 -2.00710624e-04 9.99975190e-01 -8.37261025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10327356 meters 0.07082945037640183 Centerline is valid? [True, True] Translation: X:38.82, Y:-3.92, Z:-0.84 [[ 9.97830470e-01 6.55789949e-02 -5.80938829e-03 3.88163927e+01] [-6.55769711e-02 9.97847369e-01 5.38372626e-04 -3.92287185e+00] [ 5.83218875e-03 -1.56242522e-04 9.99982980e-01 -8.37637274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.13327356 meters 0.0706124891774617 Centerline is valid? [True, True] Translation: X:38.85, Y:-3.92, Z:-0.84 [[ 9.97711465e-01 6.73974208e-02 -5.42406194e-03 3.88456332e+01] [-6.73956875e-02 9.97726200e-01 5.01916515e-04 -3.92179161e+00] [ 5.44555658e-03 -1.35209478e-04 9.99985164e-01 -8.37716639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16327356 meters 0.07043170376589163 Centerline is valid? [True, True] Translation: X:38.87, Y:-3.92, Z:-0.84 [[ 9.97546537e-01 6.98459745e-02 -4.73777455e-03 3.88740965e+01] [-6.98446838e-02 9.97557782e-01 4.37545095e-04 -3.91839449e+00] [ 4.75676464e-03 -1.05563229e-04 9.99988681e-01 -8.38889780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.193273559999994 meters 0.07018806561598682 Centerline is valid? [True, True] Translation: X:38.90, Y:-3.92, Z:-0.84 [[ 9.97491072e-01 7.06760896e-02 -4.05600780e-03 3.89030216e+01] [-7.06751513e-02 9.97499315e-01 3.74380252e-04 -3.91788576e+00] [ 4.07232473e-03 -8.67819940e-05 9.99991704e-01 -8.38024965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.223273559999996 meters 0.07016232001438831 Centerline is valid? [True, True] Translation: X:38.93, Y:-3.92, Z:-0.84 [[ 9.97455268e-01 7.11755214e-02 -4.12727242e-03 3.89307236e+01] [-7.11745603e-02 9.97463803e-01 3.79473452e-04 -3.91959002e+00] [ 4.14381406e-03 -8.47509943e-05 9.99991411e-01 -8.39768878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.25327356 meters 0.07033062410720517 Centerline is valid? [True, True] Translation: X:38.96, Y:-3.92, Z:-0.84 [[ 9.97421758e-01 7.16255248e-02 -4.42955337e-03 3.89579719e+01] [-7.16244277e-02 9.97431590e-01 4.06019805e-04 -3.91942342e+00] [ 4.44725785e-03 -8.77087620e-05 9.99990107e-01 -8.41610319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28327356 meters 0.07010041636426347 Centerline is valid? [True, True] Translation: X:38.99, Y:-3.92, Z:-0.84 [[ 9.97426198e-01 7.15236587e-02 -5.03439717e-03 3.89871070e+01] [-7.15222311e-02 9.97438898e-01 4.63261757e-04 -3.91922208e+00] [ 5.05463774e-03 -1.01998095e-04 9.99987220e-01 -8.40714087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.31327356 meters 0.07034192037582146 Centerline is valid? [True, True] Translation: X:39.02, Y:-3.92, Z:-0.84 [[ 9.97518242e-01 7.00410667e-02 -7.18375539e-03 3.90171165e+01] [-7.00381148e-02 9.97544096e-01 6.61977139e-04 -3.92003518e+00] [ 7.21247837e-03 -1.57197587e-04 9.99973977e-01 -8.41925126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34327356 meters 0.07043665939828068 Centerline is valid? [True, True] Translation: X:39.05, Y:-3.92, Z:-0.84 [[ 9.97558696e-01 6.94211456e-02 -7.57315710e-03 3.90455909e+01] [-6.94178557e-02 9.97587428e-01 6.96739100e-04 -3.92278137e+00] [ 7.60325474e-03 -1.69325821e-04 9.99971081e-01 -8.43559159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.37327356 meters 0.07047038295445437 Centerline is valid? [True, True] Translation: X:39.07, Y:-3.92, Z:-0.84 [[ 9.97671634e-01 6.78038345e-02 -7.34517183e-03 3.90739581e+01] [-6.78006999e-02 9.97698657e-01 6.75204519e-04 -3.92484616e+00] [ 7.37404952e-03 -1.75624604e-04 9.99972796e-01 -8.43625227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.403273559999995 meters 0.07079981456341522 Centerline is valid? [True, True] Translation: X:39.10, Y:-3.93, Z:-0.85 [[ 9.97786160e-01 6.61160110e-02 -7.17299173e-03 3.91014956e+01] [-6.61129850e-02 9.97811926e-01 6.58418566e-04 -3.92832656e+00] [ 7.20082871e-03 -1.82733038e-04 9.99974057e-01 -8.45110608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.433273559999996 meters 0.07133184900012113 Centerline is valid? [True, True] Translation: X:39.13, Y:-3.93, Z:-0.85 [[ 9.97986055e-01 6.32082536e-02 -5.34329077e-03 3.91289423e+01] [-6.32065373e-02 9.98000348e-01 4.89631302e-04 -3.93243571e+00] [ 5.36355479e-03 -1.50914304e-04 9.99985605e-01 -8.45753384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46327356 meters 0.07114790195393601 Centerline is valid? [True, True] Translation: X:39.16, Y:-3.93, Z:-0.85 [[ 9.98036645e-01 6.24237663e-02 -5.11166765e-03 3.91576036e+01] [-6.24221858e-02 9.98049724e-01 4.68305007e-04 -3.93497274e+00] [ 5.13093185e-03 -1.48304090e-04 9.99986826e-01 -8.45217695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.49327356 meters 0.07206894758020146 Centerline is valid? [True, True] Translation: X:39.18, Y:-3.94, Z:-0.85 [[ 9.98152420e-01 6.05315216e-02 -5.26135981e-03 3.91847394e+01] [-6.05298269e-02 9.98166273e-01 4.80897621e-04 -3.93893938e+00] [ 5.28082138e-03 -1.61539926e-04 9.99986043e-01 -8.47063647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52327356 meters 0.07151754786886907 Centerline is valid? [True, True] Translation: X:39.21, Y:-3.94, Z:-0.85 [[ 9.98146152e-01 6.06456474e-02 -5.13466874e-03 3.92132291e+01] [-6.06440336e-02 9.98159346e-01 4.69562859e-04 -3.93919558e+00] [ 5.15369454e-03 -1.57305337e-04 9.99986707e-01 -8.46112635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.55327356 meters 0.07199657768793975 Centerline is valid? [True, True] Translation: X:39.24, Y:-3.94, Z:-0.85 [[ 9.98134637e-01 6.07903924e-02 -5.63694983e-03 3.92402022e+01] [-6.07884626e-02 9.98150539e-01 5.13202798e-04 -3.94284699e+00] [ 5.65772231e-03 -1.69583974e-04 9.99983981e-01 -8.48627323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.583273559999995 meters 0.0716489100527145 Centerline is valid? [True, True] Translation: X:39.27, Y:-3.94, Z:-0.85 [[ 9.98097499e-01 6.12920466e-02 -6.68332836e-03 3.92690282e+01] [-6.12893340e-02 9.98119855e-01 6.10132650e-04 -3.94222178e+00] [ 6.70815901e-03 -1.99355128e-04 9.99977480e-01 -8.48203277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.613273559999996 meters 0.07155176976868148 Centerline is valid? [True, True] Translation: X:39.30, Y:-3.94, Z:-0.85 [[ 9.98048901e-01 6.21590320e-02 -5.88609979e-03 3.92969246e+01] [-6.21569486e-02 9.98066243e-01 5.36406872e-04 -3.94432298e+00] [ 5.90806004e-03 -1.69498287e-04 9.99982533e-01 -8.49332841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64327356 meters 0.07163676532209055 Centerline is valid? [True, True] Translation: X:39.32, Y:-3.95, Z:-0.85 [[ 9.98046717e-01 6.21822545e-02 -6.00989378e-03 3.93246506e+01] [-6.21800882e-02 9.98064796e-01 5.46822769e-04 -3.94638766e+00] [ 6.03226609e-03 -1.72058944e-04 9.99981791e-01 -8.49453969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.67327356 meters 0.07103169931706559 Centerline is valid? [True, True] Translation: X:39.35, Y:-3.95, Z:-0.85 [[ 9.98078865e-01 6.16461121e-02 -6.19160408e-03 3.93539597e+01] [-6.16438013e-02 9.98098053e-01 5.63548544e-04 -3.94534670e+00] [ 6.21456856e-03 -1.80791879e-04 9.99980673e-01 -8.46855026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.70327356 meters 0.07095273866470886 Centerline is valid? [True, True] Translation: X:39.38, Y:-3.95, Z:-0.85 [[ 9.98160458e-01 6.02461348e-02 -6.78998445e-03 3.93824996e+01] [-6.02433259e-02 9.98183530e-01 6.17634143e-04 -3.94677061e+00] [ 6.81486072e-03 -2.07446733e-04 9.99976757e-01 -8.46952121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.73327356 meters 0.07154103649741834 Centerline is valid? [True, True] Translation: X:39.41, Y:-3.95, Z:-0.85 [[ 9.98281481e-01 5.82548800e-02 -6.36025476e-03 3.94095638e+01] [-5.82523812e-02 9.98301721e-01 5.77579595e-04 -3.95194453e+00] [ 6.38310010e-03 -2.06087029e-04 9.99979607e-01 -8.49128445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.763273559999995 meters 0.07161646618424929 Centerline is valid? [True, True] Translation: X:39.44, Y:-3.95, Z:-0.85 [[ 9.98392332e-01 5.63477505e-02 -6.13860222e-03 3.94383820e+01] [-5.63453878e-02 9.98411181e-01 5.57301510e-04 -3.95465857e+00] [ 6.16025178e-03 -2.10523632e-04 9.99981003e-01 -8.48844448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.793273559999996 meters 0.07253181017068205 Centerline is valid? [True, True] Translation: X:39.47, Y:-3.96, Z:-0.85 [[ 9.98636250e-01 5.17735070e-02 -6.71890565e-03 3.94671266e+01] [-5.17705649e-02 9.98658818e-01 6.11191960e-04 -3.96113939e+00] [ 6.74153792e-03 -2.62516907e-04 9.99977241e-01 -8.50671982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.82327356 meters 0.0739882476225024 Centerline is valid? [True, True] Translation: X:39.49, Y:-3.97, Z:-0.85 [[ 9.98742238e-01 4.96273588e-02 -7.14611926e-03 3.94944982e+01] [-4.96239871e-02 9.98767760e-01 6.48468652e-04 -3.96894286e+00] [ 7.16949532e-03 -2.93034103e-04 9.99974256e-01 -8.54178818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.85327356 meters 0.07311866109969305 Centerline is valid? [True, True] Translation: X:39.52, Y:-3.97, Z:-0.85 [[ 9.98846054e-01 4.75063483e-02 -7.05030189e-03 3.95240783e+01] [-4.75030110e-02 9.98870890e-01 6.40155861e-04 -3.96903531e+00] [ 7.07275278e-03 -3.04506588e-04 9.99974941e-01 -8.52161133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.88327356 meters 0.07454384860644112 Centerline is valid? [True, True] Translation: X:39.55, Y:-3.98, Z:-0.85 [[ 9.99059498e-01 4.25461450e-02 -8.36329395e-03 3.95531006e+01] [-4.25412735e-02 9.99094421e-01 7.59602346e-04 -3.97516468e+00] [ 8.38803849e-03 -4.03102763e-04 9.99964739e-01 -8.53635669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.91327356 meters 0.07451122645303977 Centerline is valid? [True, True] Translation: X:39.58, Y:-3.98, Z:-0.85 [[ 9.99145367e-01 4.05631377e-02 -7.94783484e-03 3.95830103e+01] [-4.05586801e-02 9.99176898e-01 7.21301682e-04 -3.97737321e+00] [ 7.97055122e-03 -3.98331543e-04 9.99968155e-01 -8.53648634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.943273559999994 meters 0.0747040231956471 Centerline is valid? [True, True] Translation: X:39.61, Y:-3.98, Z:-0.85 [[ 9.99220477e-01 3.86410341e-02 -8.08135321e-03 3.96124618e+01] [-3.86363649e-02 9.99253068e-01 7.33146940e-04 -3.98029983e+00] [ 8.10364654e-03 -4.20341323e-04 9.99967077e-01 -8.53829707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.973273559999996 meters 0.07559177506248899 Centerline is valid? [True, True] Translation: X:39.64, Y:-3.98, Z:-0.85 [[ 9.99361830e-01 3.47495786e-02 -8.27042016e-03 3.96426943e+01] [-3.47445500e-02 9.99395944e-01 7.50971002e-04 -3.98478809e+00] [ 8.29152029e-03 -4.63139728e-04 9.99965518e-01 -8.54315927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00327356 meters 0.07623658114788769 Centerline is valid? [True, True] Translation: X:39.67, Y:-3.99, Z:-0.86 [[ 9.99410946e-01 3.31431227e-02 -8.90478901e-03 3.96721656e+01] [-3.31372380e-02 9.99450485e-01 8.07618677e-04 -3.98814044e+00] [ 8.92666269e-03 -5.12062833e-04 9.99960025e-01 -8.55286430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.03327356 meters 0.07639911393282896 Centerline is valid? [True, True] Translation: X:39.70, Y:-3.99, Z:-0.86 [[ 9.99451989e-01 3.18927727e-02 -8.86413273e-03 3.97008681e+01] [-3.18869038e-02 9.99491161e-01 8.02670809e-04 -3.99002326e+00] [ 8.88522171e-03 -5.19581189e-04 9.99960391e-01 -8.55942888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06327356 meters 0.07639911393282896 Centerline is valid? [True, True] Translation: X:39.73, Y:-3.99, Z:-0.86 [[ 9.99455226e-01 3.17911335e-02 -8.86427265e-03 3.97282984e+01] [-3.17852743e-02 9.99494399e-01 8.01126462e-04 -3.99241155e+00] [ 8.88525959e-03 -5.18936691e-04 9.99960391e-01 -8.56468825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.09327356 meters 0.07664917109005988 Centerline is valid? [True, True] Translation: X:39.76, Y:-3.99, Z:-0.86 [[ 9.99515041e-01 2.99724436e-02 -8.44603792e-03 3.97574603e+01] [-2.99670594e-02 9.99550595e-01 7.63337597e-04 -3.99379077e+00] [ 8.46512132e-03 -5.09864490e-04 9.99964040e-01 -8.56573741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.12327356 meters 0.0776931614487482 Centerline is valid? [True, True] Translation: X:39.78, Y:-4.00, Z:-0.86 [[ 9.99558039e-01 2.86160916e-02 -8.05272375e-03 3.97844624e+01] [-2.86111648e-02 9.99590353e-01 7.26380501e-04 -3.99791987e+00] [ 8.07021115e-03 -4.95661663e-04 9.99967312e-01 -8.57555630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.153273559999995 meters 0.07804670655830025 Centerline is valid? [True, True] Translation: X:39.81, Y:-4.00, Z:-0.86 [[ 9.99578354e-01 2.80495532e-02 -7.50573452e-03 3.98130308e+01] [-2.80452575e-02 9.99606425e-01 6.76981932e-04 -4.00043698e+00] [ 7.52176949e-03 -4.66196228e-04 9.99971602e-01 -8.58162104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.183273559999996 meters 0.07899342457391151 Centerline is valid? [True, True] Translation: X:39.84, Y:-4.00, Z:-0.86 [[ 9.99635676e-01 2.58962037e-02 -7.60928510e-03 3.98426938e+01] [-2.58917234e-02 9.99664517e-01 6.86728267e-04 -4.00204401e+00] [ 7.62451597e-03 -4.89460570e-04 9.99970813e-01 -8.58678489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.21327356 meters 0.07981160996451357 Centerline is valid? [True, True] Translation: X:39.87, Y:-4.01, Z:-0.86 [[ 9.99662560e-01 2.47533517e-02 -7.87645380e-03 3.98706859e+01] [-2.47485282e-02 9.99693457e-01 7.09284620e-04 -4.00506944e+00] [ 7.89159650e-03 -5.14114639e-04 9.99968729e-01 -8.59628810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24327356 meters 0.07774637005739977 Centerline is valid? [True, True] Translation: X:39.90, Y:-4.00, Z:-0.86 [[ 9.99723549e-01 2.22686847e-02 -7.54523261e-03 3.99009904e+01] [-2.22641835e-02 9.99751891e-01 6.80039905e-04 -3.99908899e+00] [ 7.55850416e-03 -5.11863464e-04 9.99971303e-01 -8.57230560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.27327356 meters 0.0819360996315598 Centerline is valid? [True, True] Translation: X:39.93, Y:-4.01, Z:-0.86 [[ 9.99745908e-01 2.08752663e-02 -8.50545544e-03 3.99285185e+01] [-2.08695023e-02 9.99781915e-01 7.65893041e-04 -4.00943962e+00] [ 8.51958875e-03 -5.88193812e-04 9.99963535e-01 -8.61281610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30327356 meters 0.07836618565210929 Centerline is valid? [True, True] Translation: X:39.96, Y:-4.00, Z:-0.86 [[ 9.99764530e-01 1.98212916e-02 -8.83183047e-03 3.99580834e+01] [-1.98150438e-02 9.99803347e-01 7.94369776e-04 -4.00184198e+00] [ 8.84583910e-03 -6.19179618e-04 9.99960683e-01 -8.57791169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.333273559999995 meters 0.07948093109071405 Centerline is valid? [True, True] Translation: X:39.99, Y:-4.00, Z:-0.86 [[ 9.99797094e-01 1.78408876e-02 -9.35270813e-03 3.99862448e+01] [-1.78337998e-02 9.99840612e-01 8.40691093e-04 -4.00465481e+00] [ 9.36621609e-03 -6.73726188e-04 9.99955909e-01 -8.59686349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.363273559999996 meters 0.0804186760635881 Centerline is valid? [True, True] Translation: X:40.02, Y:-4.01, Z:-0.86 [[ 9.99833221e-01 1.47781553e-02 -1.07301601e-02 4.00165814e+01] [-1.47686363e-02 9.99890471e-01 9.65822853e-04 -4.00524366e+00] [ 1.07432579e-02 -8.07191943e-04 9.99941964e-01 -8.60567115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39327356 meters 0.0868222621164666 Centerline is valid? [True, True] Translation: X:40.04, Y:-4.02, Z:-0.87 [[ 9.99846356e-01 1.34556108e-02 -1.12343330e-02 4.00439323e+01] [-1.34451095e-02 9.99909101e-01 1.00975875e-03 -4.01922985e+00] [ 1.12468988e-02 -8.58556771e-04 9.99936383e-01 -8.66317755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42327356 meters 0.08058604510564805 Centerline is valid? [True, True] Translation: X:40.08, Y:-4.00, Z:-0.86 [[ 9.99876194e-01 1.05799680e-02 -1.16473767e-02 4.00757619e+01] [-1.05684838e-02 9.99943604e-01 1.04710419e-03 -4.00326258e+00] [ 1.16577982e-02 -9.23879435e-04 9.99931619e-01 -8.61210013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.45327356 meters 0.08146149793858733 Centerline is valid? [True, True] Translation: X:40.10, Y:-4.01, Z:-0.86 [[ 9.99879886e-01 9.70639381e-03 -1.20830492e-02 4.01029088e+01] [-9.69400421e-03 9.99952425e-01 1.08351864e-03 -4.00519341e+00] [ 1.20929914e-02 -9.66255360e-04 9.99926410e-01 -8.61976092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48327356 meters 0.08443906434518224 Centerline is valid? [True, True] Translation: X:40.13, Y:-4.01, Z:-0.87 [[ 9.99883728e-01 9.00171336e-03 -1.23085221e-02 4.01297874e+01] [-8.98881894e-03 9.99958992e-01 1.10252271e-03 -4.01158211e+00] [ 1.23179419e-02 -9.91755438e-04 9.99923639e-01 -8.65056331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.513273559999995 meters 0.08527562281474804 Centerline is valid? [True, True] Translation: X:40.16, Y:-4.01, Z:-0.86 [[ 9.99899347e-01 6.92109900e-03 -1.23852568e-02 4.01604215e+01] [-6.90786017e-03 9.99975523e-01 1.11137910e-03 -4.01051682e+00] [ 1.23926456e-02 -1.02571161e-03 9.99922682e-01 -8.64993770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.543273559999996 meters 0.08206675549484367 Centerline is valid? [True, True] Translation: X:40.19, Y:-4.00, Z:-0.86 [[ 9.99901259e-01 5.69925629e-03 -1.28448656e-02 4.01907804e+01] [-5.68493080e-03 9.99983178e-01 1.15150686e-03 -4.00287597e+00] [ 1.28512123e-02 -1.07837099e-03 9.99916838e-01 -8.62570226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.57327356 meters 0.08290054503033764 Centerline is valid? [True, True] Translation: X:40.22, Y:-4.00, Z:-0.86 [[ 9.99912869e-01 3.54445590e-03 -1.27157798e-02 4.02212203e+01] [-3.53024261e-03 9.99993119e-01 1.14003999e-03 -4.00157014e+00] [ 1.27197332e-02 -1.09505087e-03 9.99918501e-01 -8.62742799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.60327356 meters 0.08360959571151702 Centerline is valid? [True, True] Translation: X:40.25, Y:-4.00, Z:-0.86 [[ 9.99914160e-01 2.40134120e-03 -1.28804654e-02 4.02503002e+01] [-2.38668031e-03 9.99996487e-01 1.15347772e-03 -4.00253284e+00] [ 1.28831901e-02 -1.12263715e-03 9.99916378e-01 -8.62317739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.63327356 meters 0.08360299020137067 Centerline is valid? [True, True] Translation: X:40.28, Y:-4.00, Z:-0.86 [[ 9.99924574e-01 -7.35837054e-04 -1.22598807e-02 4.02807070e+01] [ 7.49362736e-04 9.99999116e-01 1.09869019e-03 -3.99900757e+00] [ 1.22590614e-02 -1.10779442e-03 9.99924241e-01 -8.61858126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.66327356 meters 0.08375928720313422 Centerline is valid? [True, True] Translation: X:40.31, Y:-4.00, Z:-0.86 [[ 9.99904209e-01 -2.45453831e-03 -1.36215989e-02 4.03113285e+01] [ 2.47139536e-03 9.99996201e-01 1.22082832e-03 -3.99873999e+00] [ 1.36185506e-02 -1.25437573e-03 9.99906476e-01 -8.61695058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.693273559999994 meters 0.08775200159050667 Centerline is valid? [True, True] Translation: X:40.34, Y:-4.01, Z:-0.86 [[ 9.99912146e-01 -3.87369314e-03 -1.26765634e-02 4.03387963e+01] [ 3.88837700e-03 9.99991797e-01 1.13390518e-03 -4.00692898e+00] [ 1.26720670e-02 -1.18309682e-03 9.99919006e-01 -8.64848331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.723273559999996 meters 0.08617848762875527 Centerline is valid? [True, True] Translation: X:40.37, Y:-4.00, Z:-0.86 [[ 9.99911901e-01 -5.42074387e-03 -1.21163781e-02 4.03685106e+01] [ 5.43425879e-03 9.99984648e-01 1.08278133e-03 -4.00312830e+00] [ 1.21103226e-02 -1.14852947e-03 9.99926008e-01 -8.63944005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.75327356 meters 0.08775348835888194 Centerline is valid? [True, True] Translation: X:40.40, Y:-4.00, Z:-0.87 [[ 9.99887391e-01 -7.66923135e-03 -1.28991898e-02 4.03977049e+01] [ 7.68474197e-03 9.99969807e-01 1.15331297e-03 -4.00218818e+00] [ 1.28899553e-02 -1.25231004e-03 9.99916137e-01 -8.66041305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78327356 meters 0.08811713722866418 Centerline is valid? [True, True] Translation: X:40.43, Y:-4.00, Z:-0.87 [[ 9.99875649e-01 -8.52990533e-03 -1.32637583e-02 4.04267501e+01] [ 8.54628425e-03 9.99962785e-01 1.17867135e-03 -4.00216218e+00] [ 1.32532108e-02 -1.29188063e-03 9.99911338e-01 -8.66849243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.81327356 meters 0.09035212290796751 Centerline is valid? [True, True] Translation: X:40.46, Y:-4.00, Z:-0.87 [[ 9.99846427e-01 -1.05427948e-02 -1.39989882e-02 4.04560387e+01] [ 1.05612951e-02 9.99943449e-01 1.24827290e-03 -4.00156837e+00] [ 1.39850363e-02 -1.39592864e-03 9.99901230e-01 -8.68508297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84327356 meters 0.08643564994733016 Centerline is valid? [True, True] Translation: X:40.49, Y:-3.99, Z:-0.87 [[ 9.99843370e-01 -1.10245589e-02 -1.38453496e-02 4.04855342e+01] [ 1.10425930e-02 9.99938276e-01 1.22676581e-03 -3.99226087e+00] [ 1.38309704e-02 -1.37946222e-03 9.99903396e-01 -8.66422780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.87327356 meters 0.08670648830715331 Centerline is valid? [True, True] Translation: X:40.51, Y:-3.99, Z:-0.87 [[ 9.99837590e-01 -1.16448479e-02 -1.37546891e-02 4.05142822e+01] [ 1.16626576e-02 9.99931250e-01 1.21530745e-03 -3.99124184e+00] [ 1.37395914e-02 -1.37552631e-03 9.99904661e-01 -8.66164201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.903273559999995 meters 0.09268174830205374 Centerline is valid? [True, True] Translation: X:40.54, Y:-4.00, Z:-0.87 [[ 9.99857235e-01 -1.21507842e-02 -1.17416894e-02 4.05415511e+01] [ 1.21638122e-02 9.99925479e-01 1.03876849e-03 -3.99716056e+00] [ 1.17281926e-02 -1.18144390e-03 9.99930524e-01 -8.68325349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.933273559999996 meters 0.08769638329233617 Centerline is valid? [True, True] Translation: X:40.57, Y:-3.99, Z:-0.87 [[ 9.99864251e-01 -1.26047461e-02 -1.06112696e-02 4.05711135e+01] [ 1.26153503e-02 9.99919988e-01 9.32993658e-04 -3.98577682e+00] [ 1.05986605e-02 -1.06673189e-03 9.99943264e-01 -8.65435058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.96327356 meters 0.08940642527750778 Centerline is valid? [True, True] Translation: X:40.60, Y:-3.99, Z:-0.87 [[ 9.99873116e-01 -1.22624994e-02 -1.01677024e-02 4.05998382e+01] [ 1.22722471e-02 9.99924291e-01 8.96857290e-04 -3.98752553e+00] [ 1.01559349e-02 -1.02152405e-03 9.99947905e-01 -8.65945179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.99327356 meters 0.08780724643711231 Centerline is valid? [True, True] Translation: X:40.63, Y:-3.98, Z:-0.87 [[ 9.99886942e-01 -1.06576479e-02 -1.06074192e-02 4.06303744e+01] [ 1.06681683e-02 9.99942656e-01 9.35708079e-04 -3.97826226e+00] [ 1.05968385e-02 -1.04876402e-03 9.99943302e-01 -8.66351507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02327356 meters 0.08678536196414087 Centerline is valid? [True, True] Translation: X:40.66, Y:-3.97, Z:-0.87 [[ 9.99889639e-01 -1.01806388e-02 -1.08196159e-02 4.06598971e+01] [ 1.01914849e-02 9.99947616e-01 9.47779718e-04 -3.97409490e+00] [ 1.08094001e-02 -1.05794307e-03 9.99941017e-01 -8.67226445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05327356 meters 0.08617208576516479 Centerline is valid? [True, True] Translation: X:40.69, Y:-3.97, Z:-0.87 [[ 9.99902035e-01 -7.44150318e-03 -1.18551104e-02 4.06912110e+01] [ 7.45439271e-03 9.99971671e-01 1.04343759e-03 -3.96632995e+00] [ 1.18470098e-02 -1.13170802e-03 9.99929181e-01 -8.69125649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.083273559999995 meters 0.08620755026224144 Centerline is valid? [True, True] Translation: X:40.72, Y:-3.96, Z:-0.87 [[ 9.99909965e-01 -6.01474827e-03 -1.19952303e-02 4.07216644e+01] [ 6.02783734e-03 9.99981276e-01 1.05533345e-03 -3.96408131e+00] [ 1.19886581e-02 -1.12754373e-03 9.99927498e-01 -8.69890527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.113273559999996 meters 0.08634084904252105 Centerline is valid? [True, True] Translation: X:40.75, Y:-3.96, Z:-0.87 [[ 9.99912193e-01 -4.54915369e-03 -1.24463707e-02 4.07520512e+01] [ 4.56313087e-03 9.99988990e-01 1.09482512e-03 -3.96223188e+00] [ 1.24412531e-02 -1.15152341e-03 9.99921942e-01 -8.71211367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14327356 meters 0.08579864007906148 Centerline is valid? [True, True] Translation: X:40.78, Y:-3.95, Z:-0.87 [[ 9.99918637e-01 -1.47728070e-03 -1.26703091e-02 4.07837083e+01] [ 1.49152331e-03 9.99998266e-01 1.11471774e-03 -3.95423546e+00] [ 1.26686404e-02 -1.13352511e-03 9.99919107e-01 -8.71578055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.17327356 meters 0.08629157738363515 Centerline is valid? [True, True] Translation: X:40.81, Y:-3.95, Z:-0.87 [[ 9.99920068e-01 -7.26473991e-04 -1.26226218e-02 4.08115438e+01] [ 7.40517450e-04 9.99999112e-01 1.10792457e-03 -3.95264618e+00] [ 1.26218057e-02 -1.11718328e-03 9.99919718e-01 -8.72709655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.20327356 meters 0.08687432108397483 Centerline is valid? [True, True] Translation: X:40.84, Y:-3.95, Z:-0.87 [[ 9.99920515e-01 -4.58249327e-04 -1.25997676e-02 4.08394802e+01] [ 4.72191353e-04 9.99999280e-01 1.10357776e-03 -3.95188034e+00] [ 1.25992528e-02 -1.10943954e-03 9.99920011e-01 -8.73614424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23327356 meters 0.08655483571723345 Centerline is valid? [True, True] Translation: X:40.87, Y:-3.95, Z:-0.87 [[ 9.99933227e-01 7.10825323e-04 -1.15341572e-02 4.08702401e+01] [-6.99199987e-04 9.99999244e-01 1.01190630e-03 -3.94516104e+00] [ 1.15348677e-02 -1.00377405e-03 9.99932967e-01 -8.73803252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.263273559999995 meters 0.08568649968775792 Centerline is valid? [True, True] Translation: X:40.90, Y:-3.94, Z:-0.87 [[ 9.99934044e-01 7.47046262e-04 -1.14607933e-02 4.08995286e+01] [-7.35590733e-04 9.99999226e-01 1.00372347e-03 -3.94174580e+00] [ 1.14615343e-02 -9.95226818e-04 9.99933819e-01 -8.73787593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.293273559999996 meters 0.08630932659791501 Centerline is valid? [True, True] Translation: X:40.93, Y:-3.94, Z:-0.88 [[ 9.99930694e-01 6.44776636e-04 -1.17554651e-02 4.09292097e+01] [-6.32726198e-04 9.99999271e-01 1.02878267e-03 -3.93681734e+00] [ 1.17561199e-02 -1.02127337e-03 9.99930373e-01 -8.75856129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32327356 meters 0.08695933954458661 Centerline is valid? [True, True] Translation: X:40.96, Y:-3.94, Z:-0.88 [[ 9.99930436e-01 5.53590029e-04 -1.17820738e-02 4.09558457e+01] [-5.41505977e-04 9.99999324e-01 1.02879574e-03 -3.93605064e+00] [ 1.17826354e-02 -1.02234411e-03 9.99930060e-01 -8.76743050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.35327356 meters 0.08306332503536969 Centerline is valid? [True, True] Translation: X:40.99, Y:-3.93, Z:-0.88 [[ 9.99927130e-01 8.91436282e-04 -1.20390835e-02 4.09857920e+01] [-8.78842406e-04 9.99999061e-01 1.05133252e-03 -3.92627908e+00] [ 1.20400094e-02 -1.04067546e-03 9.99926975e-01 -8.75217326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.38327356 meters 0.0872731135667857 Centerline is valid? [True, True] Translation: X:41.01, Y:-3.93, Z:-0.88 [[ 9.99933396e-01 7.77478827e-04 -1.15152007e-02 4.10129140e+01] [-7.65965575e-04 9.99999202e-01 1.00420731e-03 -3.92973673e+00] [ 1.15159722e-02 -9.95320177e-04 9.99933194e-01 -8.78508718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.41327356 meters 0.08733531208190089 Centerline is valid? [True, True] Translation: X:41.04, Y:-3.93, Z:-0.88 [[ 9.99926328e-01 7.43457542e-04 -1.21155286e-02 4.10419203e+01] [-7.30713901e-04 9.99999175e-01 1.05623629e-03 -3.92853481e+00] [ 1.21163038e-02 -1.04730549e-03 9.99926046e-01 -8.79642862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.443273559999994 meters 0.0883526952540118 Centerline is valid? [True, True] Translation: X:41.07, Y:-3.93, Z:-0.88 [[ 9.99939898e-01 9.55026628e-04 -1.09218841e-02 4.10697941e+01] [-9.44697502e-04 9.99999102e-01 9.50847503e-04 -3.92583092e+00] [ 1.09227824e-02 -9.40472479e-04 9.99939902e-01 -8.81390750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.473273559999996 meters 0.08539463715149201 Centerline is valid? [True, True] Translation: X:41.10, Y:-3.92, Z:-0.88 [[ 9.99936259e-01 6.60607058e-04 -1.12713003e-02 4.10991792e+01] [-6.49592827e-04 9.99999308e-01 9.80825586e-04 -3.91840073e+00] [ 1.12719404e-02 -9.73441311e-04 9.99935996e-01 -8.79293731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50327356 meters 0.08662897205501295 Centerline is valid? [True, True] Translation: X:41.13, Y:-3.92, Z:-0.88 [[ 9.99940459e-01 -1.93940824e-04 -1.09105681e-02 4.11274811e+01] [ 2.04297906e-04 9.99999530e-01 9.48164076e-04 -3.91611490e+00] [ 1.09103791e-02 -9.50336628e-04 9.99940028e-01 -8.80422041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.53327356 meters 0.08562594464230183 Centerline is valid? [True, True] Translation: X:41.16, Y:-3.91, Z:-0.88 [[ 9.99952780e-01 -1.58025179e-04 -9.71667588e-03 4.11568650e+01] [ 1.66232792e-04 9.99999630e-01 8.43891643e-04 -3.91308242e+00] [ 9.71653893e-03 -8.45467025e-04 9.99952436e-01 -8.80167269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56327356 meters 0.08600161853819745 Centerline is valid? [True, True] Translation: X:41.19, Y:-3.91, Z:-0.88 [[ 9.99952673e-01 -3.56007529e-04 -9.72240351e-03 4.11861957e+01] [ 3.64227780e-04 9.99999578e-01 8.43738235e-04 -3.91270891e+00] [ 9.72209903e-03 -8.47239473e-04 9.99952380e-01 -8.80691589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.59327356 meters 0.08475026775944207 Centerline is valid? [True, True] Translation: X:41.22, Y:-3.91, Z:-0.88 [[ 9.99945289e-01 -9.33870419e-04 -1.04186187e-02 4.12157453e+01] [ 9.43334566e-04 9.99999147e-01 9.03510605e-04 -3.90577919e+00] [ 1.04177661e-02 -9.13289416e-04 9.99945317e-01 -8.80337022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.623273559999994 meters 0.08659155082797039 Centerline is valid? [True, True] Translation: X:41.24, Y:-3.91, Z:-0.88 [[ 9.99955569e-01 -1.14810915e-03 -9.35633425e-03 4.12430633e+01] [ 1.15573932e-03 9.99999004e-01 8.10142163e-04 -3.90896305e+00] [ 9.35539480e-03 -8.20919651e-04 9.99955900e-01 -8.81998009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.653273559999995 meters 0.08801761565743378 Centerline is valid? [True, True] Translation: X:41.27, Y:-3.91, Z:-0.88 [[ 9.99956816e-01 -1.73326262e-03 -9.13032958e-03 4.12706136e+01] [ 1.74054589e-03 9.99998173e-01 7.89814596e-04 -3.91145068e+00] [ 9.12894394e-03 -8.05672246e-04 9.99958006e-01 -8.83433123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.683273559999996 meters 0.0869028495509705 Centerline is valid? [True, True] Translation: X:41.30, Y:-3.91, Z:-0.88 [[ 9.99949933e-01 -2.55977953e-03 -9.67360335e-03 4.13010381e+01] [ 2.56800057e-03 9.99996352e-01 8.37517915e-04 -3.90611380e+00] [ 9.67142420e-03 -8.62317802e-04 9.99952859e-01 -8.82992958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.71327356 meters 0.08545719196361283 Centerline is valid? [True, True] Translation: X:41.33, Y:-3.90, Z:-0.88 [[ 9.99941778e-01 -3.02605413e-03 -1.03577741e-02 4.13297431e+01] [ 3.03547043e-03 9.99994994e-01 8.93504518e-04 -3.90271730e+00] [ 1.03550185e-02 -9.24893213e-04 9.99945958e-01 -8.82178105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74327356 meters 0.08730894581178379 Centerline is valid? [True, True] Translation: X:41.36, Y:-3.91, Z:-0.88 [[ 9.99947420e-01 -3.67045587e-03 -9.57522550e-03 4.13573312e+01] [ 3.67851850e-03 9.99992894e-01 8.24554886e-04 -3.90654656e+00] [ 9.57213097e-03 -8.59734175e-04 9.99953817e-01 -8.84166498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.77327356 meters 0.09242520264028063 Centerline is valid? [True, True] Translation: X:41.39, Y:-3.91, Z:-0.89 [[ 9.99946112e-01 -4.98038415e-03 -9.10867623e-03 4.13854658e+01] [ 4.98774314e-03 9.99987253e-01 7.85372544e-04 -3.91337718e+00] [ 9.10464867e-03 -8.30761960e-04 9.99958207e-01 -8.86637128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80327356 meters 0.08673407359506463 Centerline is valid? [True, True] Translation: X:41.42, Y:-3.90, Z:-0.88 [[ 9.99953200e-01 -5.22074541e-03 -8.14509322e-03 4.14153755e+01] [ 5.22659187e-03 9.99986099e-01 6.96667459e-04 -3.90200275e+00] [ 8.14134287e-03 -7.39205933e-04 9.99966585e-01 -8.83048394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.833273559999995 meters 0.08754053974552531 Centerline is valid? [True, True] Translation: X:41.44, Y:-3.90, Z:-0.88 [[ 9.99946239e-01 -5.66976990e-03 -8.68178457e-03 4.14439576e+01] [ 5.67645877e-03 9.99983611e-01 7.46000892e-04 -3.90309253e+00] [ 8.67741263e-03 -7.95242578e-04 9.99962034e-01 -8.84151974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.863273559999996 meters 0.08892764320230008 Centerline is valid? [True, True] Translation: X:41.47, Y:-3.90, Z:-0.89 [[ 9.99947022e-01 -6.38373517e-03 -8.07473005e-03 4.14724417e+01] [ 6.38953696e-03 9.99979347e-01 6.92917732e-04 -3.90273583e+00] [ 8.07013988e-03 -7.44474808e-04 9.99967159e-01 -8.85105482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89327356 meters 0.08776725263604815 Centerline is valid? [True, True] Translation: X:41.50, Y:-3.90, Z:-0.89 [[ 9.99946224e-01 -6.41019775e-03 -8.15224595e-03 4.15029083e+01] [ 6.41611535e-03 9.99979172e-01 6.99939604e-04 -3.90021766e+00] [ 8.14758940e-03 -7.52207714e-04 9.99966525e-01 -8.85122787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92327356 meters 0.08912553408265829 Centerline is valid? [True, True] Translation: X:41.53, Y:-3.90, Z:-0.89 [[ 9.99941789e-01 -7.13887629e-03 -8.09044630e-03 4.15320162e+01] [ 7.14472591e-03 9.99974235e-01 6.94356066e-04 -3.90039234e+00] [ 8.08528092e-03 -7.52119668e-04 9.99967031e-01 -8.87223353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.95327356 meters 0.08912553408265829 Centerline is valid? [True, True] Translation: X:41.56, Y:-3.90, Z:-0.89 [[ 9.99941547e-01 -7.17262579e-03 -8.09047016e-03 4.15611952e+01] [ 7.17847428e-03 9.99973994e-01 6.94078085e-04 -3.90286383e+00] [ 8.08528139e-03 -7.52114746e-04 9.99967031e-01 -8.87782769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98327356 meters 0.08880193768617536 Centerline is valid? [True, True] Translation: X:41.59, Y:-3.90, Z:-0.89 [[ 9.99937504e-01 -7.46332717e-03 -8.32388671e-03 4.15909497e+01] [ 7.46952578e-03 9.99971848e-01 7.13836505e-04 -3.90237128e+00] [ 8.31832478e-03 -7.75967379e-04 9.99965101e-01 -8.88033413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.013273559999995 meters 0.08813327141683393 Centerline is valid? [True, True] Translation: X:41.62, Y:-3.90, Z:-0.89 [[ 9.99935704e-01 -8.06249685e-03 -7.97394483e-03 4.16209632e+01] [ 8.06820162e-03 9.99967218e-01 6.83516603e-04 -3.90032618e+00] [ 7.96817258e-03 -7.47808050e-04 9.99967974e-01 -8.88413178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.043273559999996 meters 0.09032570208745058 Centerline is valid? [True, True] Translation: X:41.65, Y:-3.90, Z:-0.89 [[ 9.99936215e-01 -8.35737827e-03 -7.59744091e-03 4.16504618e+01] [ 8.36256674e-03 9.99964821e-01 6.51411928e-04 -3.90478882e+00] [ 7.59172954e-03 -7.14904484e-04 9.99970927e-01 -8.89707933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.07327356 meters 0.0908045117857086 Centerline is valid? [True, True] Translation: X:41.68, Y:-3.90, Z:-0.89 [[ 9.99934540e-01 -9.22069692e-03 -6.77452783e-03 4.16806732e+01] [ 9.22484090e-03 9.99957282e-01 5.80707211e-04 -3.90279460e+00] [ 6.76888391e-03 -6.43163140e-04 9.99976884e-01 -8.90020977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10327356 meters 0.09100360507288949 Centerline is valid? [True, True] Translation: X:41.71, Y:-3.90, Z:-0.89 [[ 9.99933044e-01 -9.57336382e-03 -6.50069820e-03 4.17119014e+01] [ 9.57719462e-03 9.99953982e-01 5.58415736e-04 -3.90343650e+00] [ 6.49505313e-03 -6.20636798e-04 9.99978714e-01 -8.90723200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.13327356 meters 0.09469813342655073 Centerline is valid? [True, True] Translation: X:41.74, Y:-3.91, Z:-0.89 [[ 9.99922843e-01 -1.10984867e-02 -5.57959213e-03 4.17417748e+01] [ 1.11013316e-02 9.99938264e-01 4.79151596e-04 -3.90817925e+00] [ 5.57392981e-03 -5.41055529e-04 9.99984319e-01 -8.92171011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16327356 meters 0.0943066963351824 Centerline is valid? [True, True] Translation: X:41.77, Y:-3.91, Z:-0.89 [[ 9.99924396e-01 -1.11843490e-02 -5.11013544e-03 4.17743350e+01] [ 1.11867431e-02 9.99937330e-01 4.40162890e-04 -3.90795985e+00] [ 5.10489225e-03 -4.97295384e-04 9.99986846e-01 -8.91866346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.193273559999994 meters 0.09423040293784704 Centerline is valid? [True, True] Translation: X:41.81, Y:-3.91, Z:-0.89 [[ 9.99915933e-01 -1.20495727e-02 -4.78905728e-03 4.18055594e+01] [ 1.20516834e-02 9.99927291e-01 4.12111472e-04 -3.90790444e+00] [ 4.78374330e-03 -4.69793029e-04 9.99988447e-01 -8.93181903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.223273559999996 meters 0.09680712908183693 Centerline is valid? [True, True] Translation: X:41.84, Y:-3.91, Z:-0.89 [[ 9.99911532e-01 -1.24468815e-02 -4.69078739e-03 4.18360576e+01] [ 1.24489116e-02 9.99922428e-01 4.03825455e-04 -3.91079796e+00] [ 4.68539715e-03 -4.62184926e-04 9.99988917e-01 -8.94998427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.25327356 meters 0.09774219211304079 Centerline is valid? [True, True] Translation: X:41.87, Y:-3.91, Z:-0.90 [[ 9.99897581e-01 -1.29842851e-02 -6.01963760e-03 4.18683562e+01] [ 1.29876430e-02 9.99915522e-01 5.19063851e-04 -3.91291080e+00] [ 6.01238940e-03 -5.97191593e-04 9.99981747e-01 -8.97191212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28327356 meters 0.09841158712151514 Centerline is valid? [True, True] Translation: X:41.90, Y:-3.91, Z:-0.90 [[ 9.99901807e-01 -1.29171757e-02 -5.43341694e-03 4.19006039e+01] [ 1.29199130e-02 9.99916424e-01 4.68994342e-04 -3.91496084e+00] [ 5.42690476e-03 -5.39147564e-04 9.99985129e-01 -8.98552774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.31327356 meters 0.09779994882445722 Centerline is valid? [True, True] Translation: X:41.93, Y:-3.91, Z:-0.90 [[ 9.99872825e-01 -1.47581133e-02 -6.04410189e-03 4.19317282e+01] [ 1.47615279e-02 9.99890907e-01 5.20726872e-04 -3.91250795e+00] [ 6.03575758e-03 -6.09880827e-04 9.99981599e-01 -8.99354496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.34327356 meters 0.09969295853044256 Centerline is valid? [True, True] Translation: X:41.96, Y:-3.92, Z:-0.90 [[ 9.99856128e-01 -1.58061669e-02 -6.15539568e-03 4.19618836e+01] [ 1.58097287e-02 9.99874878e-01 5.30410670e-04 -3.91622929e+00] [ 6.14624174e-03 -6.27649495e-04 9.99980915e-01 -9.00821843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.373273559999994 meters 0.10317043071251124 Centerline is valid? [True, False] Translation: X:41.96, Y:-3.91, Z:-0.90 [[ 9.99851371e-01 -1.61806041e-02 -5.95185571e-03 4.19614747e+01] [ 1.61816321e-02 9.99869061e-01 1.24603666e-04 -3.91486371e+00] [ 5.94906021e-03 -2.20895886e-04 9.99982280e-01 -9.00915925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.403273559999995 meters 0.1002461886139022 Centerline is valid? [False, False] Translation: X:41.96, Y:-3.91, Z:-0.90 [[ 9.99841870e-01 -1.68657184e-02 -5.63767269e-03 4.19609071e+01] [ 1.68618559e-02 9.99857561e-01 -7.31957724e-04 -3.91196952e+00] [ 5.64921465e-03 6.36780355e-04 9.99983840e-01 -9.01138388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.433273559999996 meters 0.09821712739880023 Centerline is valid? [False, True] Translation: X:41.96, Y:-3.91, Z:-0.90 [[ 9.99897118e-01 -1.35928828e-02 -4.58118589e-03 4.19583900e+01] [ 1.36065911e-02 9.99903002e-01 2.97454435e-03 -3.91183686e+00] [ 4.54030889e-03 -3.03657265e-03 9.99985082e-01 -9.00809566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46327356 meters 0.0985325471957671 Centerline is valid? [True, True] Translation: X:41.99, Y:-3.91, Z:-0.90 [[ 9.99880329e-01 -1.50429210e-02 -3.61092589e-03 4.19898027e+01] [ 1.50442386e-02 9.99886772e-01 3.38014822e-04 -3.91114868e+00] [ 3.60543230e-03 -3.92298001e-04 9.99993423e-01 -8.99974521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.49327356 meters 0.10031495724416523 Centerline is valid? [True, False] Translation: X:41.99, Y:-3.91, Z:-0.90 [[ 9.99933405e-01 -1.12002588e-02 -2.78212115e-03 4.19883436e+01] [ 1.12132566e-02 9.99926079e-01 4.70107434e-03 -3.91165539e+00] [ 2.72926224e-03 -4.73195791e-03 9.99985080e-01 -9.00498896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52327356 meters 0.1021366384816399 Centerline is valid? [False, False] Translation: X:41.99, Y:-3.91, Z:-0.90 [[ 9.99931764e-01 -1.13457483e-02 -2.78240997e-03 4.19885273e+01] [ 1.13580489e-02 9.99925613e-01 4.44560378e-03 -3.91042148e+00] [ 2.73176429e-03 -4.47690318e-03 9.99986247e-01 -9.00795798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55327356 meters 0.104953859321911 Centerline is valid? [False, False] Translation: X:41.99, Y:-3.91, Z:-0.90 [[ 9.99922721e-01 -1.21754258e-02 -2.51236617e-03 4.19876458e+01] [ 1.21837418e-02 9.99920258e-01 3.32173863e-03 -3.90743914e+00] [ 2.47172225e-03 -3.35209194e-03 9.99991327e-01 -9.00396564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.583273559999995 meters 0.10627286847643991 Centerline is valid? [False, False] Translation: X:41.99, Y:-3.91, Z:-0.90 [[ 9.99921421e-01 -1.22740200e-02 -2.54940126e-03 4.19878936e+01] [ 1.22819294e-02 9.99919737e-01 3.11032405e-03 -3.90643299e+00] [ 2.51102046e-03 -3.14139121e-03 9.99991913e-01 -9.00665893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.613273559999996 meters 0.10880987584340313 Centerline is valid? [False, False] Translation: X:41.99, Y:-3.91, Z:-0.90 [[ 9.99917385e-01 -1.26085122e-02 -2.49986061e-03 4.19876748e+01] [ 1.26150474e-02 9.99917005e-01 2.61590161e-03 -3.90502943e+00] [ 2.46667051e-03 -2.64722136e-03 9.99993454e-01 -9.00530225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64327356 meters 0.10626087070160857 Centerline is valid? [False, False] Translation: X:41.99, Y:-3.90, Z:-0.90 [[ 9.99914377e-01 -1.28096702e-02 -2.67429929e-03 4.19883172e+01] [ 1.28151678e-02 9.99915783e-01 2.04878345e-03 -3.90251157e+00] [ 2.64782983e-03 -2.08287962e-03 9.99994325e-01 -9.00983324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.67327356 meters 0.10651474764303308 Centerline is valid? [False, False] Translation: X:41.99, Y:-3.90, Z:-0.90 [[ 9.99959061e-01 -8.81857906e-03 -2.02689770e-03 4.19872571e+01] [ 8.83142926e-03 9.99940388e-01 6.42082474e-03 -3.90278492e+00] [ 1.97015432e-03 -6.43846228e-03 9.99977332e-01 -9.01588049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.70327356 meters 0.10846786396168487 Centerline is valid? [False, False] Translation: X:41.99, Y:-3.90, Z:-0.90 [[ 9.99957548e-01 -8.85329127e-03 -2.55373966e-03 4.19885625e+01] [ 8.86770035e-03 9.99944508e-01 5.68731350e-03 -3.89945283e+00] [ 2.50324651e-03 -5.70971786e-03 9.99980566e-01 -9.02003113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73327356 meters 0.10968523908561989 Centerline is valid? [False, False] Translation: X:41.98, Y:-3.90, Z:-0.91 [[ 9.99982841e-01 -3.18172415e-03 4.91868573e-03 4.19801125e+01] [ 3.16090527e-03 9.99986038e-01 4.23460688e-03 -3.89964187e+00] [-4.93209041e-03 -4.21898672e-03 9.99978937e-01 -9.07530190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.763273559999995 meters 0.10648879671982903 Centerline is valid? [False, False] Translation: X:41.98, Y:-3.90, Z:-0.91 [[ 9.99984984e-01 -3.08432939e-03 4.52965225e-03 4.19810531e+01] [ 3.06638370e-03 9.99987444e-01 3.96343891e-03 -3.89836833e+00] [-4.54181993e-03 -3.94948975e-03 9.99981887e-01 -9.07705815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.793273559999996 meters 0.10522896664424261 Centerline is valid? [False, False] Translation: X:41.98, Y:-3.90, Z:-0.91 [[ 9.99985835e-01 -3.20025667e-03 4.25296552e-03 4.19815068e+01] [ 3.18568708e-03 9.99989050e-01 3.42811979e-03 -3.89679429e+00] [-4.26388981e-03 -3.41452262e-03 9.99985080e-01 -9.07481723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82327356 meters 0.10347936172114391 Centerline is valid? [False, False] Translation: X:41.98, Y:-3.89, Z:-0.91 [[ 9.99989251e-01 -2.94063106e-03 3.58468168e-03 4.19831726e+01] [ 2.92981896e-03 9.99991155e-01 3.01772411e-03 -3.89433687e+00] [-3.59352399e-03 -3.00718920e-03 9.99989022e-01 -9.07921963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.85327356 meters 0.10344200399120564 Centerline is valid? [False, False] Translation: X:41.98, Y:-3.89, Z:-0.91 [[ 9.99990275e-01 -2.99796693e-03 3.23448019e-03 4.19837567e+01] [ 2.98970247e-03 9.99992262e-01 2.55692705e-03 -3.89289573e+00] [-3.24212074e-03 -2.54723205e-03 9.99991500e-01 -9.07664464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88327356 meters 0.0999283158163802 Centerline is valid? [False, True] Translation: X:41.98, Y:-3.89, Z:-0.91 [[ 9.99991955e-01 -2.88273883e-03 2.78921295e-03 4.19847009e+01] [ 2.87646814e-03 9.99993333e-01 2.24959759e-03 -3.89165245e+00] [-2.79567935e-03 -2.24155641e-03 9.99993580e-01 -9.07629302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91327356 meters 0.0993769709922782 Centerline is valid? [True, True] Translation: X:42.02, Y:-3.89, Z:-0.91 [[ 9.99994693e-01 1.31832398e-03 2.97923851e-03 4.20150372e+01] [-1.31747974e-03 9.99999091e-01 -2.85317210e-04 -3.89013280e+00] [-2.97961195e-03 2.81390610e-04 9.99995521e-01 -9.08104897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.943273559999994 meters 0.09929878904796367 Centerline is valid? [True, True] Translation: X:42.04, Y:-3.89, Z:-0.91 [[ 9.99988805e-01 4.31103129e-03 1.95055972e-03 4.20443341e+01] [-4.31067458e-03 9.99990692e-01 -1.87039846e-04 -3.89171911e+00] [-1.95134790e-03 1.78629524e-04 9.99998080e-01 -9.09833256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.973273559999996 meters 0.09320081376445334 Centerline is valid? [True, True] Translation: X:42.08, Y:-3.88, Z:-0.91 [[ 9.99951156e-01 9.66697961e-03 2.05798108e-03 4.20755892e+01] [-9.66659416e-03 9.99953258e-01 -1.97163008e-04 -3.88109966e+00] [-2.05979086e-03 1.77259710e-04 9.99997863e-01 -9.10162824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00327356 meters 0.09384146977225394 Centerline is valid? [True, True] Translation: X:42.11, Y:-3.88, Z:-0.91 [[ 9.99914026e-01 1.30274374e-02 1.49190958e-03 4.21050764e+01] [-1.30272382e-02 9.99915132e-01 -1.43173136e-04 -3.88396632e+00] [-1.49364814e-03 1.23725365e-04 9.99998877e-01 -9.12018675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.03327356 meters 0.09229969326720813 Centerline is valid? [True, True] Translation: X:42.14, Y:-3.88, Z:-0.91 [[ 9.99872876e-01 1.58300983e-02 1.90770737e-03 4.21361623e+01] [-1.58297784e-02 9.99874685e-01 -1.82652790e-04 -3.88212350e+00] [-1.91035971e-03 1.52430986e-04 9.99998164e-01 -9.12708919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06327356 meters 0.08591245669579196 Centerline is valid? [True, True] Translation: X:42.17, Y:-3.87, Z:-0.91 [[ 9.99726231e-01 2.33271432e-02 1.81839354e-03 4.21675201e+01] [-2.33268649e-02 9.99727877e-01 -1.74121033e-04 -3.86985234e+00] [-1.82196046e-03 1.31655943e-04 9.99998332e-01 -9.12285566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.09327356 meters 0.08381419069140372 Centerline is valid? [True, True] Translation: X:42.20, Y:-3.87, Z:-0.91 [[ 9.99628535e-01 2.72074370e-02 1.59588536e-03 4.21984348e+01] [-2.72072276e-02 9.99629803e-01 -1.52797263e-04 -3.86717956e+00] [-1.59945179e-03 1.09320888e-04 9.99998715e-01 -9.12634386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.123273559999994 meters 0.08316602740623565 Centerline is valid? [True, True] Translation: X:42.23, Y:-3.87, Z:-0.91 [[ 9.99527978e-01 3.06934436e-02 1.31638878e-03 4.22279879e+01] [-3.06933037e-02 9.99528842e-01 -1.26350088e-04 -3.86744855e+00] [-1.31964668e-03 8.58861272e-05 9.99999126e-01 -9.13937441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.153273559999995 meters 0.07930825804652114 Centerline is valid? [True, True] Translation: X:42.26, Y:-3.86, Z:-0.91 [[ 9.99276027e-01 3.79854500e-02 2.12787593e-03 4.22594965e+01] [-3.79851022e-02 9.99278285e-01 -2.03645828e-04 -3.85892104e+00] [-2.13407579e-03 1.22670809e-04 9.99997715e-01 -9.13184992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.183273559999996 meters 0.07777022400086338 Centerline is valid? [True, True] Translation: X:42.29, Y:-3.86, Z:-0.91 [[ 9.99135049e-01 4.15398567e-02 1.89589756e-03 4.22896437e+01] [-4.15395865e-02 9.99136842e-01 -1.81690034e-04 -3.85645213e+00] [-1.90180848e-03 1.02778080e-04 9.99998186e-01 -9.13506925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.21327356 meters 0.07628340631577266 Centerline is valid? [True, True] Translation: X:42.32, Y:-3.85, Z:-0.91 [[ 9.98873572e-01 4.73927028e-02 2.34911085e-03 4.23196468e+01] [-4.73923041e-02 9.98876328e-01 -2.25127976e-04 -3.85320903e+00] [-2.35714065e-03 1.13544610e-04 9.99997215e-01 -9.13110160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24327356 meters 0.07567089558158958 Centerline is valid? [True, True] Translation: X:42.35, Y:-3.85, Z:-0.91 [[ 9.98722300e-01 5.04407810e-02 3.08140942e-03 4.23496863e+01] [-5.04401105e-02 9.98727044e-01 -2.94975235e-04 -3.85378738e+00] [-3.09236571e-03 1.39171713e-04 9.99995209e-01 -9.14144939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.27327356 meters 0.0750926908986725 Centerline is valid? [True, True] Translation: X:42.38, Y:-3.85, Z:-0.91 [[ 9.98616055e-01 5.25153722e-02 2.84790587e-03 4.23790380e+01] [-5.25148038e-02 9.98620108e-01 -2.74060191e-04 -3.85415979e+00] [-2.85836844e-03 1.24123689e-04 9.99995907e-01 -9.14507190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30327356 meters 0.07405841976595796 Centerline is valid? [True, True] Translation: X:42.41, Y:-3.85, Z:-0.91 [[ 9.98489447e-01 5.48737648e-02 2.77395112e-03 4.24080555e+01] [-5.48732372e-02 9.98493293e-01 -2.66028381e-04 -3.85284842e+00] [-2.78436957e-03 1.13410854e-04 9.99996117e-01 -9.14584224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.333273559999995 meters 0.07284357093045751 Centerline is valid? [True, True] Translation: X:42.44, Y:-3.85, Z:-0.92 [[ 9.98231662e-01 5.93948833e-02 2.40767297e-03 4.24378367e+01] [-5.93945003e-02 9.98234562e-01 -2.30367250e-04 -3.85116233e+00] [-2.41710501e-03 8.69573494e-05 9.99997075e-01 -9.15492463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.363273559999996 meters 0.07177003885934126 Centerline is valid? [True, True] Translation: X:42.47, Y:-3.85, Z:-0.91 [[ 9.98116025e-01 6.12945156e-02 2.71732196e-03 4.24673275e+01] [-6.12940267e-02 9.98119719e-01 -2.62903928e-04 -3.84895086e+00] [-2.72832720e-03 9.58530188e-05 9.99996274e-01 -9.14749168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39327356 meters 0.07256365601272802 Centerline is valid? [True, True] Translation: X:42.50, Y:-3.86, Z:-0.92 [[ 9.97869855e-01 6.52049937e-02 2.01504526e-03 4.24952680e+01] [-6.52047374e-02 9.97871888e-01 -1.92704859e-04 -3.85535656e+00] [-2.02332233e-03 6.09038733e-05 9.99997951e-01 -9.18942475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42327356 meters 0.07197051924366718 Centerline is valid? [True, True] Translation: X:42.52, Y:-3.86, Z:-0.92 [[ 9.97783184e-01 6.65321903e-02 1.47827056e-03 4.25243085e+01] [-6.65320491e-02 9.97784278e-01 -1.44531190e-04 -3.85577732e+00] [-1.48461110e-03 4.58584216e-05 9.99998897e-01 -9.19593497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.45327356 meters 0.07125494303230723 Centerline is valid? [True, True] Translation: X:42.55, Y:-3.86, Z:-0.92 [[ 9.97699165e-01 6.77754670e-02 1.69180380e-03 4.25532740e+01] [-6.77752853e-02 9.97700598e-01 -1.64594078e-04 -3.85511953e+00] [-1.69906911e-03 4.95528890e-05 9.99998555e-01 -9.17760058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48327356 meters 0.07092967125040026 Centerline is valid? [True, True] Translation: X:42.58, Y:-3.86, Z:-0.92 [[ 9.97612600e-01 6.90228053e-02 2.22524228e-03 4.25823296e+01] [-6.90224986e-02 9.97615080e-01 -2.14389143e-04 -3.85702512e+00] [-2.23473300e-03 6.02855279e-05 9.99997501e-01 -9.17852877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.513273559999995 meters 0.07094512068765234 Centerline is valid? [True, True] Translation: X:42.61, Y:-3.86, Z:-0.92 [[ 9.97581822e-01 6.94683956e-02 2.15653846e-03 4.26094962e+01] [-6.94681143e-02 9.97584151e-01 -2.05157879e-04 -3.86065136e+00] [-2.16558058e-03 5.48511107e-05 9.99997654e-01 -9.17625902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.543273559999996 meters 0.07090938571148318 Centerline is valid? [True, True] Translation: X:42.64, Y:-3.87, Z:-0.92 [[ 9.97656007e-01 6.83513838e-02 3.25274482e-03 4.26372408e+01] [-6.83507318e-02 9.97661306e-01 -3.11329175e-04 -3.86510470e+00] [-3.26641742e-03 8.82719331e-05 9.99994661e-01 -9.17306039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.57327356 meters 0.07229488868923904 Centerline is valid? [True, True] Translation: X:42.66, Y:-3.88, Z:-0.92 [[ 9.97703316e-01 6.76435758e-02 3.52705632e-03 4.26642856e+01] [-6.76428175e-02 9.97709546e-01 -3.33973504e-04 -3.87584539e+00] [-3.54156892e-03 9.46264456e-05 9.99993724e-01 -9.21797170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60327356 meters 0.07249475504922048 Centerline is valid? [True, True] Translation: X:42.69, Y:-3.88, Z:-0.92 [[ 9.97770838e-01 6.66578894e-02 3.17506390e-03 4.26929463e+01] [-6.66572662e-02 9.97775886e-01 -3.01800911e-04 -3.88083058e+00] [-3.18811961e-03 8.94870684e-05 9.99994914e-01 -9.22778684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.63327356 meters 0.07146690285700014 Centerline is valid? [True, True] Translation: X:42.72, Y:-3.88, Z:-0.92 [[ 9.97827425e-01 6.58113802e-02 3.04841998e-03 4.27218190e+01] [-6.58108021e-02 9.97832077e-01 -2.89667205e-04 -3.88054238e+00] [-3.06087464e-03 8.84189177e-05 9.99995312e-01 -9.19856350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66327356 meters 0.07160330779590748 Centerline is valid? [True, True] Translation: X:42.75, Y:-3.88, Z:-0.92 [[ 9.97865730e-01 6.52474463e-02 2.59931662e-03 4.27502357e+01] [-6.52470240e-02 9.97869112e-01 -2.47017220e-04 -3.88462276e+00] [-2.60989501e-03 7.68923449e-05 9.99996591e-01 -9.20748421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.693273559999994 meters 0.07156404536437118 Centerline is valid? [True, True] Translation: X:42.78, Y:-3.89, Z:-0.92 [[ 9.97791211e-01 6.63879719e-02 2.31014057e-03 4.27773528e+01] [-6.63876473e-02 9.97793883e-01 -2.16996948e-04 -3.88922551e+00] [-2.31945011e-03 6.31528507e-05 9.99997308e-01 -9.21635478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.723273559999996 meters 0.07166543068710038 Centerline is valid? [True, True] Translation: X:42.81, Y:-3.89, Z:-0.92 [[ 9.97720066e-01 6.74741077e-02 1.38353883e-03 4.28050872e+01] [-6.74739916e-02 9.97721025e-01 -1.30450164e-04 -3.89306107e+00] [-1.38918779e-03 3.67998588e-05 9.99999034e-01 -9.22860528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.75327356 meters 0.07122680824160829 Centerline is valid? [True, True] Translation: X:42.83, Y:-3.89, Z:-0.92 [[ 9.97568160e-01 6.96781868e-02 1.64793551e-03 4.28336519e+01] [-6.96780217e-02 9.97569521e-01 -1.57450058e-04 -3.89426815e+00] [-1.65490107e-03 4.22422792e-05 9.99998630e-01 -9.22799974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78327356 meters 0.07065318243678066 Centerline is valid? [True, True] Translation: X:42.86, Y:-3.89, Z:-0.92 [[ 9.97386662e-01 7.22380858e-02 1.22715578e-03 4.28631209e+01] [-7.22379975e-02 9.97387416e-01 -1.16205308e-04 -3.89448810e+00] [-1.23234418e-03 2.72543488e-05 9.99999240e-01 -9.22101079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.81327356 meters 0.07007667262015359 Centerline is valid? [True, True] Translation: X:42.89, Y:-3.89, Z:-0.92 [[ 9.96903438e-01 7.86302058e-02 9.09110737e-04 4.28917840e+01] [-7.86301604e-02 9.96903852e-01 -8.55997538e-05 -3.89390520e+00] [-9.13026722e-04 1.38511657e-05 9.99999583e-01 -9.22151551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84327356 meters 0.06993639781232244 Centerline is valid? [True, True] Translation: X:42.92, Y:-3.90, Z:-0.92 [[ 9.96628897e-01 8.20403402e-02 4.73047473e-04 4.29199324e+01] [-8.20403276e-02 9.96629009e-01 -4.61448158e-05 -3.89529054e+00] [-4.75238571e-04 7.18028717e-06 9.99999887e-01 -9.22319445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.873273559999994 meters 0.06993639781232244 Centerline is valid? [True, True] Translation: X:42.95, Y:-3.90, Z:-0.92 [[ 9.96650230e-01 8.17807803e-02 4.72812227e-04 4.29471753e+01] [-8.17807664e-02 9.96650342e-01 -4.86908076e-05 -3.89771478e+00] [-4.75210440e-04 9.86075830e-06 9.99999887e-01 -9.22844598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.903273559999995 meters 0.06970132208829537 Centerline is valid? [True, True] Translation: X:42.98, Y:-3.90, Z:-0.92 [[ 9.95998248e-01 8.93649032e-02 1.18528024e-03 4.29763218e+01] [-8.93648316e-02 9.95998953e-01 -1.13356217e-04 -3.89847291e+00] [-1.19066795e-03 6.98022485e-06 9.99999291e-01 -9.22691617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.933273559999996 meters 0.06971350073173013 Centerline is valid? [True, True] Translation: X:43.00, Y:-3.90, Z:-0.92 [[ 9.95705239e-01 9.25717901e-02 1.24105984e-03 4.30030500e+01] [-9.25717168e-02 9.95706013e-01 -1.16438322e-04 -3.90077160e+00] [-1.24650964e-03 1.05120741e-06 9.99999223e-01 -9.23478038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96327356 meters 0.06966941860533131 Centerline is valid? [True, True] Translation: X:43.03, Y:-3.90, Z:-0.92 [[ 9.95449644e-01 9.52607743e-02 2.32201448e-03 4.30316288e+01] [-9.52605260e-02 9.95452352e-01 -2.17580165e-04 -3.90363865e+00] [-2.33218163e-03 -4.60622250e-06 9.99997280e-01 -9.23470620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.99327356 meters 0.069777498059601 Centerline is valid? [True, True] Translation: X:43.06, Y:-3.91, Z:-0.92 [[ 9.95146599e-01 9.83897179e-02 1.64616430e-03 4.30590772e+01] [-9.83896002e-02 9.95147961e-01 -1.52571554e-04 -3.90850082e+00] [-1.65318851e-03 -1.01343836e-05 9.99998633e-01 -9.24613100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02327356 meters 0.06976034413557082 Centerline is valid? [True, True] Translation: X:43.09, Y:-3.91, Z:-0.92 [[ 9.95116147e-01 9.86988417e-02 1.54696874e-03 4.30869684e+01] [-9.86987331e-02 9.95117349e-01 -1.46554253e-04 -3.91356730e+00] [-1.55388016e-03 -6.84535153e-06 9.99998793e-01 -9.24415158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05327356 meters 0.06980255220065232 Centerline is valid? [True, True] Translation: X:43.11, Y:-3.92, Z:-0.93 [[ 9.95157909e-01 9.82884121e-02 3.52813303e-04 4.31144211e+01] [-9.82884063e-02 9.95157971e-01 -3.38057141e-05 -3.92204186e+00] [-3.54427681e-04 -1.03543354e-06 9.99999937e-01 -9.27355782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.083273559999995 meters 0.06981475766754666 Centerline is valid? [True, True] Translation: X:43.14, Y:-3.93, Z:-0.93 [[ 9.95316600e-01 9.66632085e-02 -1.04369544e-03 4.31427026e+01] [-9.66631663e-02 9.95317147e-01 9.09344839e-05 -3.92855258e+00] [ 1.04759799e-03 1.03783046e-05 9.99999451e-01 -9.28188625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.113273559999996 meters 0.06975402248203723 Centerline is valid? [True, True] Translation: X:43.17, Y:-3.94, Z:-0.93 [[ 9.95478609e-01 9.49824701e-02 -8.18645389e-04 4.31706122e+01] [-9.49824446e-02 9.95478945e-01 7.00686756e-05 -3.93570756e+00] [ 8.21599544e-04 8.00507263e-06 9.99999662e-01 -9.27382241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14327356 meters 0.06986824608437936 Centerline is valid? [True, True] Translation: X:43.20, Y:-3.95, Z:-0.93 [[ 9.95870468e-01 9.07575728e-02 -2.25262511e-03 4.31980067e+01] [-9.07573527e-02 9.95873015e-01 1.99943758e-04 -3.94787478e+00] [ 2.26147497e-03 5.32420719e-06 9.99997443e-01 -9.28213118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.17327356 meters 0.07002892245512313 Centerline is valid? [True, True] Translation: X:43.23, Y:-3.96, Z:-0.93 [[ 9.96072564e-01 8.84946768e-02 -2.85294953e-03 4.32264567e+01] [-8.84943132e-02 9.96076650e-01 2.53710242e-04 -3.95576617e+00] [ 2.86420842e-03 -2.44002101e-07 9.99995898e-01 -9.28241782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20327356 meters 0.07021097168144902 Centerline is valid? [True, True] Translation: X:43.25, Y:-3.96, Z:-0.93 [[ 9.96277215e-01 8.61506979e-02 -3.12534066e-03 4.32532341e+01] [-8.61502404e-02 9.96282117e-01 2.80967722e-04 -3.96406616e+00] [ 3.13792658e-03 -1.06728908e-05 9.99995077e-01 -9.28718578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23327356 meters 0.07045799915742082 Centerline is valid? [True, True] Translation: X:43.28, Y:-3.98, Z:-0.93 [[ 9.96752142e-01 8.04834297e-02 -2.75415465e-03 4.32805128e+01] [-8.04830630e-02 9.96755947e-01 2.43900050e-04 -3.97796710e+00] [ 2.76484994e-03 -2.14450947e-05 9.99996178e-01 -9.27812543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.263273559999995 meters 0.07074165920232856 Centerline is valid? [True, True] Translation: X:43.31, Y:-3.99, Z:-0.93 [[ 9.97018744e-01 7.71247609e-02 -2.32291647e-03 4.33076435e+01] [-7.71244863e-02 9.97021449e-01 2.07688587e-04 -3.98700734e+00] [ 2.33201548e-03 -2.79156748e-05 9.99997280e-01 -9.28584182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.293273559999996 meters 0.07117919431563695 Centerline is valid? [True, True] Translation: X:43.34, Y:-4.00, Z:-0.93 [[ 9.97447774e-01 7.13710416e-02 -2.02806920e-03 4.33360145e+01] [-7.13708190e-02 9.97449835e-01 1.82002252e-04 -4.00056785e+00] [ 2.03588698e-03 -3.67927807e-05 9.99997927e-01 -9.27558730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32327356 meters 0.0716581132318162 Centerline is valid? [True, True] Translation: X:43.36, Y:-4.01, Z:-0.93 [[ 9.97745414e-01 6.70279185e-02 -3.36856055e-03 4.33638625e+01] [-6.70272799e-02 9.97751097e-01 3.02239550e-04 -4.00975498e+00] [ 3.38124347e-03 -7.57726742e-05 9.99994281e-01 -9.28815226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.35327356 meters 0.0721764425118613 Centerline is valid? [True, True] Translation: X:43.39, Y:-4.02, Z:-0.93 [[ 9.97933760e-01 6.41603988e-02 -3.41387414e-03 4.33917982e+01] [-6.41597405e-02 9.97939596e-01 3.02099090e-04 -4.01827083e+00] [ 3.42622298e-03 -8.24416015e-05 9.99994127e-01 -9.29332033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38327356 meters 0.07280559740379935 Centerline is valid? [True, True] Translation: X:43.42, Y:-4.03, Z:-0.93 [[ 9.98297310e-01 5.81850019e-02 -4.12135006e-03 4.34207717e+01] [-5.81839718e-02 9.98305809e-01 3.69497734e-04 -4.03132556e+00] [ 4.13586693e-03 -1.29072078e-04 9.99991439e-01 -9.30552279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41327356 meters 0.07319645192757872 Centerline is valid? [True, True] Translation: X:43.45, Y:-4.04, Z:-0.93 [[ 9.98473019e-01 5.50385816e-02 -4.73118500e-03 4.34499740e+01] [-5.50371903e-02 9.98484215e-01 4.23850890e-04 -4.03915634e+00] [ 4.74734169e-03 -1.62812549e-04 9.99988718e-01 -9.30970923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.443273559999994 meters 0.07414980338153958 Centerline is valid? [True, True] Translation: X:43.48, Y:-4.05, Z:-0.93 [[ 9.98725632e-01 5.03293906e-02 -3.75035008e-03 4.34793909e+01] [-5.03284814e-02 9.98732662e-01 3.36481750e-04 -4.05189343e+00] [ 3.76253204e-03 -1.47303524e-04 9.99992911e-01 -9.31214147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.473273559999996 meters 0.07465195335197068 Centerline is valid? [True, True] Translation: X:43.51, Y:-4.06, Z:-0.93 [[ 9.98812483e-01 4.84676792e-02 -4.95063655e-03 4.35086018e+01] [-4.84660759e-02 9.98824731e-01 4.43385676e-04 -4.05881134e+00] [ 4.96630809e-03 -2.02921222e-04 9.99987647e-01 -9.32289211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50327356 meters 0.07486525856916594 Centerline is valid? [True, True] Translation: X:43.54, Y:-4.07, Z:-0.93 [[ 9.98870033e-01 4.73034435e-02 -4.58715054e-03 4.35368236e+01] [-4.73020769e-02 9.98880548e-01 4.06011200e-04 -4.06503236e+00] [ 4.60122117e-03 -1.88570673e-04 9.99989397e-01 -9.32765225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.53327356 meters 0.07557157072863177 Centerline is valid? [True, True] Translation: X:43.56, Y:-4.07, Z:-0.93 [[ 9.98965502e-01 4.52475532e-02 -4.53697833e-03 4.35645988e+01] [-4.52461808e-02 9.98975785e-01 4.04729099e-04 -4.07435621e+00] [ 4.55064449e-03 -1.99029466e-04 9.99989626e-01 -9.34320186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56327356 meters 0.07483552655240112 Centerline is valid? [True, True] Translation: X:43.59, Y:-4.08, Z:-0.93 [[ 9.99006730e-01 4.43417117e-02 -4.40061478e-03 4.35928571e+01] [-4.43404322e-02 9.99016404e-01 3.87952162e-04 -4.07629881e+00] [ 4.41348881e-03 -1.92441660e-04 9.99990242e-01 -9.32984097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59327356 meters 0.07519741980774562 Centerline is valid? [True, True] Translation: X:43.62, Y:-4.08, Z:-0.93 [[ 9.99050924e-01 4.33511835e-02 -4.23390312e-03 4.36197538e+01] [-4.33499801e-02 9.99059877e-01 3.75624948e-04 -4.08373877e+00] [ 4.24620652e-03 -1.91728835e-04 9.99990966e-01 -9.34376369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.623273559999994 meters 0.07453981919752331 Centerline is valid? [True, True] Translation: X:43.65, Y:-4.09, Z:-0.93 [[ 9.99085932e-01 4.24796205e-02 -4.77299334e-03 4.36485358e+01] [-4.24781000e-02 9.99097310e-01 4.19526329e-04 -4.08544709e+00] [ 4.78650613e-03 -2.16395165e-04 9.99988521e-01 -9.33398628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.653273559999995 meters 0.07679330784262331 Centerline is valid? [True, True] Translation: X:43.68, Y:-4.10, Z:-0.94 [[ 9.99106983e-01 4.20114913e-02 -4.50224539e-03 4.36754751e+01] [-4.20101233e-02 9.99117106e-01 3.98037548e-04 -4.09686773e+00] [ 4.51499254e-03 -2.08542209e-04 9.99989786e-01 -9.37276432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.683273559999996 meters 0.07562484204633677 Centerline is valid? [True, True] Translation: X:43.70, Y:-4.10, Z:-0.94 [[ 9.99137492e-01 4.11245865e-02 -5.74808987e-03 4.37037799e+01] [-4.11223418e-02 9.99153990e-01 5.08197398e-04 -4.09735253e+00] [ 5.76412633e-03 -2.71384157e-04 9.99983350e-01 -9.36574862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.71327356 meters 0.07584524111356787 Centerline is valid? [True, True] Translation: X:43.73, Y:-4.10, Z:-0.94 [[ 9.99145052e-01 4.09306063e-02 -5.81808495e-03 4.37322295e+01] [-4.09283036e-02 9.99161954e-01 5.14345301e-04 -4.10146281e+00] [ 5.83426159e-03 -2.75781215e-04 9.99982943e-01 -9.36957191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74327356 meters 0.07610804885627094 Centerline is valid? [True, True] Translation: X:43.76, Y:-4.11, Z:-0.94 [[ 9.99185851e-01 3.99401928e-02 -5.69344483e-03 4.37611523e+01] [-3.99379970e-02 9.99202035e-01 4.98876239e-04 -4.10522973e+00] [ 5.70882688e-03 -2.71085297e-04 9.99983668e-01 -9.37832754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.77327356 meters 0.07644334969011067 Centerline is valid? [True, True] Translation: X:43.79, Y:-4.11, Z:-0.94 [[ 9.99219720e-01 3.89910734e-02 -6.29658970e-03 4.37891050e+01] [-3.89883515e-02 9.99239511e-01 5.54492751e-04 -4.10973214e+00] [ 6.31342148e-03 -3.08566439e-04 9.99980023e-01 -9.38819356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80327356 meters 0.07616897167051734 Centerline is valid? [True, True] Translation: X:43.82, Y:-4.11, Z:-0.94 [[ 9.99249723e-01 3.83131079e-02 -5.66533645e-03 4.38175242e+01] [-3.83108948e-02 9.99265744e-01 4.98670711e-04 -4.11206721e+00] [ 5.68028227e-03 -2.81252461e-04 9.99983828e-01 -9.39004865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.833273559999995 meters 0.07558573640701374 Centerline is valid? [True, True] Translation: X:43.85, Y:-4.11, Z:-0.94 [[ 9.99289344e-01 3.69413952e-02 -7.49265876e-03 4.38465928e+01] [-3.69374835e-02 9.99317360e-01 6.59823570e-04 -4.11252089e+00] [ 7.51191878e-03 -3.82594703e-04 9.99971712e-01 -9.38497468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.863273559999996 meters 0.07763996324792745 Centerline is valid? [True, True] Translation: X:43.87, Y:-4.12, Z:-0.94 [[ 9.99297932e-01 3.66944769e-02 -7.56029071e-03 4.38735786e+01] [-3.66904968e-02 9.99326456e-01 6.64516324e-04 -4.12120461e+00] [ 7.57958260e-03 -3.86658966e-04 9.99971200e-01 -9.42308750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89327356 meters 0.07586105935213529 Centerline is valid? [True, True] Translation: X:43.90, Y:-4.12, Z:-0.94 [[ 9.99316455e-01 3.60888459e-02 -8.01367042e-03 4.39027188e+01] [-3.60843559e-02 9.99348499e-01 7.04229368e-04 -4.11795042e+00] [ 8.03386433e-03 -4.14579860e-04 9.99967642e-01 -9.40628945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92327356 meters 0.07637390304229223 Centerline is valid? [True, True] Translation: X:43.93, Y:-4.12, Z:-0.94 [[ 9.99345707e-01 3.53357302e-02 -7.71649432e-03 4.39304921e+01] [-3.53315525e-02 9.99375416e-01 6.77101940e-04 -4.12227743e+00] [ 7.73560062e-03 -4.04023193e-04 9.99969998e-01 -9.41929319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.95327356 meters 0.07585422319605586 Centerline is valid? [True, True] Translation: X:43.96, Y:-4.12, Z:-0.94 [[ 9.99422304e-01 3.33779835e-02 -6.40073312e-03 4.39593074e+01] [-3.33750716e-02 9.99442740e-01 5.61225657e-04 -4.12307758e+00] [ 6.41589882e-03 -3.47276513e-04 9.99979358e-01 -9.39814554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.98327356 meters 0.07651078793448421 Centerline is valid? [True, True] Translation: X:43.99, Y:-4.13, Z:-0.94 [[ 9.99496982e-01 3.12539002e-02 -5.38300885e-03 4.39877065e+01] [-3.12518109e-02 9.99511431e-01 4.71839567e-04 -4.12729424e+00] [ 5.39512571e-03 -3.03373448e-04 9.99985400e-01 -9.39208249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.013273559999995 meters 0.07680948986103078 Centerline is valid? [True, True] Translation: X:44.02, Y:-4.13, Z:-0.94 [[ 9.99529355e-01 3.03535714e-02 -4.44179175e-03 4.40163609e+01] [-3.03521434e-02 9.99539192e-01 3.88549507e-04 -4.13012743e+00] [ 4.45153880e-03 -2.53548738e-04 9.99990060e-01 -9.39688495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.043273559999996 meters 0.07727837130034217 Centerline is valid? [True, True] Translation: X:44.04, Y:-4.13, Z:-0.94 [[ 9.99555570e-01 2.94204084e-02 -4.80655703e-03 4.40441489e+01] [-2.94187285e-02 9.99567087e-01 4.19846568e-04 -4.13347627e+00] [ 4.81682827e-03 -2.78257179e-04 9.99988360e-01 -9.40527423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.07327356 meters 0.07752096894862329 Centerline is valid? [True, True] Translation: X:44.07, Y:-4.14, Z:-0.94 [[ 9.99581283e-01 2.84011913e-02 -5.53456132e-03 4.40729402e+01] [-2.83989473e-02 9.99596552e-01 4.83634418e-04 -4.13647557e+00] [ 5.54606420e-03 -3.26256197e-04 9.99984567e-01 -9.41423079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10327356 meters 0.07891785736911823 Centerline is valid? [True, True] Translation: X:44.10, Y:-4.14, Z:-0.94 [[ 9.99653260e-01 2.57768585e-02 -5.37719588e-03 4.41009684e+01] [-2.57747045e-02 9.99667667e-01 4.69509130e-04 -4.14163666e+00] [ 5.38751133e-03 -3.30750697e-04 9.99985433e-01 -9.43660908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.13327356 meters 0.07902393889736159 Centerline is valid? [True, True] Translation: X:44.13, Y:-4.14, Z:-0.94 [[ 9.99740962e-01 2.19094068e-02 -6.16327600e-03 4.41314138e+01] [-2.19064957e-02 9.99759878e-01 5.39465040e-04 -4.14403223e+00] [ 6.17361542e-03 -4.04309520e-04 9.99980861e-01 -9.44035029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16327356 meters 0.08031748526389114 Centerline is valid? [True, True] Translation: X:44.16, Y:-4.15, Z:-0.95 [[ 9.99780992e-01 1.98972947e-02 -6.48578566e-03 4.41595929e+01] [-1.98940364e-02 9.99801934e-01 5.66508449e-04 -4.14957529e+00] [ 6.49577303e-03 -4.37355924e-04 9.99978807e-01 -9.46096581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.193273559999994 meters 0.0805033363753683 Centerline is valid? [True, True] Translation: X:44.19, Y:-4.15, Z:-0.95 [[ 9.99833349e-01 1.68140137e-02 -7.11078622e-03 4.41900799e+01] [-1.68100150e-02 9.99858508e-01 6.21746424e-04 -4.15144609e+00] [ 7.12023416e-03 -5.02110386e-04 9.99974525e-01 -9.46310377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.223273559999996 meters 0.08110439865331795 Centerline is valid? [True, True] Translation: X:44.22, Y:-4.15, Z:-0.95 [[ 9.99853998e-01 1.51423033e-02 -7.91795877e-03 4.42193869e+01] [-1.51372976e-02 9.99885185e-01 6.91744204e-04 -4.15465796e+00] [ 7.92752427e-03 -5.71786710e-04 9.99968413e-01 -9.47069202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.25327356 meters 0.08243711724474176 Centerline is valid? [True, True] Translation: X:44.25, Y:-4.16, Z:-0.95 [[ 9.99909727e-01 1.16502184e-02 -6.69402495e-03 4.42492274e+01] [-1.16465620e-02 9.99932005e-01 5.84939741e-04 -4.15829883e+00] [ 6.70038447e-03 -5.06924560e-04 9.99977424e-01 -9.48768305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28327356 meters 0.0856137607734609 Centerline is valid? [True, True] Translation: X:44.28, Y:-4.17, Z:-0.95 [[ 9.99929672e-01 1.00199607e-02 -6.34437639e-03 4.42774835e+01] [-1.00166499e-02 9.99949679e-01 5.53406968e-04 -4.16663689e+00] [ 6.34960225e-03 -4.89818651e-04 9.99979721e-01 -9.50873043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.31327356 meters 0.08416148177538287 Centerline is valid? [True, True] Translation: X:44.31, Y:-4.16, Z:-0.95 [[ 9.99957663e-01 7.75388280e-03 -4.95471214e-03 4.43074650e+01] [-7.75183617e-03 9.99969861e-01 4.32137506e-04 -4.16366235e+00] [ 4.95791356e-03 -3.93711094e-04 9.99987632e-01 -9.48896943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34327356 meters 0.08476650217702707 Centerline is valid? [True, True] Translation: X:44.34, Y:-4.17, Z:-0.95 [[ 9.99966078e-01 7.00383081e-03 -4.33468355e-03 4.43357889e+01] [-7.00226167e-03 9.99975413e-01 3.77068948e-04 -4.16623158e+00] [ 4.33721790e-03 -3.46703568e-04 9.99990534e-01 -9.48465214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.373273559999994 meters 0.08665564040554297 Centerline is valid? [True, True] Translation: X:44.36, Y:-4.17, Z:-0.95 [[ 9.99974867e-01 5.55414129e-03 -4.40651870e-03 4.43643370e+01] [-5.55250516e-03 9.99984511e-01 3.83443986e-04 -4.16995837e+00] [ 4.40858015e-03 -3.58967131e-04 9.99990218e-01 -9.49358863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.403273559999995 meters 0.08555668894470912 Centerline is valid? [True, True] Translation: X:44.39, Y:-4.17, Z:-0.95 [[ 9.99981701e-01 4.63830133e-03 -3.88389371e-03 4.43937638e+01] [-4.63702612e-03 9.99989192e-01 3.37273812e-04 -4.16841269e+00] [ 3.88541611e-03 -3.19257924e-04 9.99992401e-01 -9.49506615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.433273559999996 meters 0.08778419133304385 Centerline is valid? [True, True] Translation: X:44.42, Y:-4.17, Z:-0.95 [[ 9.99982573e-01 4.46890662e-03 -3.85771579e-03 4.44207457e+01] [-4.46764972e-03 9.99989964e-01 3.34372188e-04 -4.17426279e+00] [ 3.85917135e-03 -3.17131438e-04 9.99992503e-01 -9.50914744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46327356 meters 0.08876387717569423 Centerline is valid? [True, True] Translation: X:44.45, Y:-4.18, Z:-0.95 [[ 9.99984076e-01 4.09063166e-03 -3.88785226e-03 4.44488045e+01] [-4.08935320e-03 9.99991582e-01 3.36726171e-04 -4.17551252e+00] [ 3.88919695e-03 -3.20822008e-04 9.99992386e-01 -9.51812281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.49327356 meters 0.08495109141220221 Centerline is valid? [True, True] Translation: X:44.48, Y:-4.17, Z:-0.95 [[ 9.99983163e-01 3.57102243e-03 -4.57410292e-03 4.44786512e+01] [-3.56924647e-03 9.99993552e-01 3.96367722e-04 -4.16843551e+00] [ 4.57548886e-03 -3.80034948e-04 9.99989460e-01 -9.51027627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52327356 meters 0.08433122717229184 Centerline is valid? [True, True] Translation: X:44.51, Y:-4.17, Z:-0.95 [[ 9.99971720e-01 4.30413718e-03 -6.16714799e-03 4.45078506e+01] [-4.30092241e-03 9.99990608e-01 5.34439721e-04 -4.16634832e+00] [ 6.16939037e-03 -5.07900182e-04 9.99980840e-01 -9.51690174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55327356 meters 0.08945986215192016 Centerline is valid? [True, True] Translation: X:44.54, Y:-4.18, Z:-0.96 [[ 9.99967398e-01 5.03368347e-03 -6.31393130e-03 4.45352563e+01] [-5.03033070e-03 9.99987198e-01 5.46779390e-04 -4.17703400e+00] [ 6.31660278e-03 -5.15000401e-04 9.99979917e-01 -9.56329225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.583273559999995 meters 0.0849553295185528 Centerline is valid? [True, True] Translation: X:44.57, Y:-4.17, Z:-0.95 [[ 9.99962571e-01 5.83967386e-03 -6.38401300e-03 4.45651287e+01] [-5.83626513e-03 9.99982816e-01 5.52447564e-04 -4.16842305e+00] [ 6.38712941e-03 -5.15168094e-04 9.99979469e-01 -9.53738126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.613273559999996 meters 0.08491784856195854 Centerline is valid? [True, True] Translation: X:44.59, Y:-4.17, Z:-0.95 [[ 9.99955633e-01 7.96144634e-03 -5.03469806e-03 4.45942525e+01] [-7.95935194e-03 9.99968229e-01 4.35893014e-04 -4.16637056e+00] [ 5.03800845e-03 -3.95800741e-04 9.99987231e-01 -9.53719174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64327356 meters 0.08493162118388797 Centerline is valid? [True, True] Translation: X:44.62, Y:-4.17, Z:-0.95 [[ 9.99947113e-01 9.25786169e-03 -4.47916678e-03 4.46238571e+01] [-9.25621786e-03 9.99957085e-01 3.87585471e-04 -4.16693964e+00] [ 4.48256277e-03 -3.46104830e-04 9.99989893e-01 -9.53593146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.67327356 meters 0.08422173141250895 Centerline is valid? [True, True] Translation: X:44.65, Y:-4.17, Z:-0.95 [[ 9.99936124e-01 1.06812960e-02 -3.69564849e-03 4.46541534e+01] [-1.06801861e-02 9.99942914e-01 3.19927321e-04 -4.16600572e+00] [ 3.69885476e-03 -2.80436671e-04 9.99993120e-01 -9.52908498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.70327356 meters 0.08470943328388203 Centerline is valid? [True, True] Translation: X:44.68, Y:-4.16, Z:-0.95 [[ 9.99923609e-01 1.18685806e-02 -3.45162295e-03 4.46821940e+01] [-1.18676248e-02 9.99929533e-01 2.97270816e-04 -4.16485014e+00] [ 3.45490791e-03 -2.56285541e-04 9.99993999e-01 -9.53796926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73327356 meters 0.0848489252302715 Centerline is valid? [True, True] Translation: X:44.71, Y:-4.17, Z:-0.95 [[ 9.99916018e-01 1.24776056e-02 -3.50219232e-03 4.47106506e+01] [-1.24766249e-02 9.99922118e-01 3.01747967e-04 -4.16557604e+00] [ 3.50568466e-03 -2.58027086e-04 9.99993822e-01 -9.54429114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.763273559999995 meters 0.0848489252302715 Centerline is valid? [True, True] Translation: X:44.74, Y:-4.17, Z:-0.95 [[ 9.99917202e-01 1.23823813e-02 -3.50227353e-03 4.47380908e+01] [-1.23814032e-02 9.99923302e-01 3.00808126e-04 -4.16784169e+00] [ 3.50572963e-03 -2.57420159e-04 9.99993822e-01 -9.54957068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.793273559999996 meters 0.08523479861986993 Centerline is valid? [True, True] Translation: X:44.77, Y:-4.17, Z:-0.96 [[ 9.99918449e-01 1.19888438e-02 -4.40037184e-03 4.47664235e+01] [-1.19872959e-02 9.99928078e-01 3.77983422e-04 -4.16748130e+00] [ 4.40458694e-03 -3.25204038e-04 9.99990247e-01 -9.57097710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82327356 meters 0.08594735714978693 Centerline is valid? [True, True] Translation: X:44.80, Y:-4.17, Z:-0.96 [[ 9.99923657e-01 1.11828396e-02 -5.25587004e-03 4.47961877e+01] [-1.11806127e-02 9.99937392e-01 4.52895974e-04 -4.16980411e+00] [ 5.26060565e-03 -3.94097551e-04 9.99986085e-01 -9.58936969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.85327356 meters 0.08683219251341975 Centerline is valid? [True, True] Translation: X:44.82, Y:-4.17, Z:-0.96 [[ 9.99935421e-01 1.01801286e-02 -5.05165968e-03 4.48249839e+01] [-1.01780634e-02 9.99948108e-01 4.34364727e-04 -4.17243192e+00] [ 5.05581943e-03 -3.82920563e-04 9.99987146e-01 -9.60212770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88327356 meters 0.08859092337422798 Centerline is valid? [True, True] Translation: X:44.85, Y:-4.18, Z:-0.96 [[ 9.99951112e-01 8.40569937e-03 -5.20743571e-03 4.48536253e+01] [-8.40348036e-03 9.99964590e-01 4.47858390e-04 -4.17560465e+00] [ 5.21101588e-03 -4.04075911e-04 9.99986341e-01 -9.62985968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91327356 meters 0.08944732375809732 Centerline is valid? [True, True] Translation: X:44.88, Y:-4.18, Z:-0.96 [[ 9.99960340e-01 7.14040790e-03 -5.32291120e-03 4.48816980e+01] [-7.13807479e-03 9.99974419e-01 4.57183725e-04 -4.17831536e+00] [ 5.32603952e-03 -4.19170254e-04 9.99985729e-01 -9.63689286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.943273559999994 meters 0.09006774837313856 Centerline is valid? [True, True] Translation: X:44.91, Y:-4.18, Z:-0.96 [[ 9.99981882e-01 4.69710174e-03 -3.76479187e-03 4.49114490e+01] [-4.69591560e-03 9.99988922e-01 3.23838843e-04 -4.17953942e+00] [ 3.76627127e-03 -3.06153831e-04 9.99992861e-01 -9.62776363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.973273559999996 meters 0.0896907769589374 Centerline is valid? [True, True] Translation: X:44.94, Y:-4.18, Z:-0.96 [[ 9.99989702e-01 3.24460599e-03 -3.17300982e-03 4.49405401e+01] [-3.24375916e-03 9.99994702e-01 2.71995473e-04 -4.18026426e+00] [ 3.17387553e-03 -2.61700192e-04 9.99994929e-01 -9.62583312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00327356 meters 0.0902936952072689 Centerline is valid? [True, True] Translation: X:44.97, Y:-4.18, Z:-0.96 [[ 9.99996675e-01 1.74641454e-03 -1.89721915e-03 4.49696611e+01] [-1.74610986e-03 9.99998462e-01 1.62233606e-04 -4.18336575e+00] [ 1.89749956e-03 -1.58920313e-04 9.99998187e-01 -9.62751466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.03327356 meters 0.0867350618858338 Centerline is valid? [True, True] Translation: X:45.00, Y:-4.18, Z:-0.96 [[ 9.99996259e-01 -2.27733693e-03 -1.51539359e-03 4.50010725e+01] [ 2.27753758e-03 9.99997398e-01 1.30689777e-04 -4.17731308e+00] [ 1.51509202e-03 -1.34140654e-04 9.99998843e-01 -9.61035830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06327356 meters 0.08900604773550212 Centerline is valid? [True, True] Translation: X:45.03, Y:-4.18, Z:-0.96 [[ 9.99992641e-01 -3.81216678e-03 -4.30224784e-04 4.50307012e+01] [ 3.81218319e-03 9.99992733e-01 3.73397603e-05 -4.18409200e+00] [ 4.30079312e-04 -3.89795813e-05 9.99999907e-01 -9.62208675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.09327356 meters 0.10125805219806433 Centerline is valid? [True, False] Translation: X:45.03, Y:-4.18, Z:-0.96 [[ 9.99992604e-01 -3.83662235e-03 -2.68566694e-04 4.50306317e+01] [ 3.83666486e-03 9.99992628e-01 1.57947418e-04 -4.18399146e+00] [ 2.67958730e-04 -1.58976650e-04 9.99999951e-01 -9.62635653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.123273559999994 meters 0.09944997691116711 Centerline is valid? [False, True] Translation: X:45.03, Y:-4.18, Z:-0.96 [[ 9.99990871e-01 -4.27156634e-03 1.05157160e-04 4.50299250e+01] [ 4.27158098e-03 9.99990867e-01 -1.39340384e-04 -4.18301552e+00] [-1.04560998e-04 1.39788299e-04 9.99999985e-01 -9.62793249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.153273559999995 meters 0.09218367355112742 Centerline is valid? [True, True] Translation: X:45.06, Y:-4.17, Z:-0.96 [[ 9.99980855e-01 -6.08814024e-03 -1.10654783e-03 4.50622546e+01] [ 6.08825587e-03 9.99981461e-01 1.01156347e-04 -4.17159623e+00] [ 1.10591146e-03 -1.07891357e-04 9.99999383e-01 -9.61753333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.183273559999996 meters 0.09508064414705823 Centerline is valid? [True, True] Translation: X:45.09, Y:-4.18, Z:-0.96 [[ 9.99955379e-01 -9.11138730e-03 -2.49465607e-03 4.50931332e+01] [ 9.11198471e-03 9.99958459e-01 2.28213746e-04 -4.17771890e+00] [ 2.49247309e-03 -2.50934830e-04 9.99996862e-01 -9.64350253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.21327356 meters 0.0934954812514828 Centerline is valid? [True, True] Translation: X:45.12, Y:-4.18, Z:-0.96 [[ 9.99940505e-01 -1.05069575e-02 -2.93109226e-03 4.51242747e+01] [ 1.05077865e-02 9.99944756e-01 2.67592553e-04 -4.17667551e+00] [ 2.92811875e-03 -2.98375924e-04 9.99995669e-01 -9.64645716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24327356 meters 0.09613730862360861 Centerline is valid? [True, True] Translation: X:45.15, Y:-4.18, Z:-0.97 [[ 9.99927806e-01 -1.15530100e-02 -3.30304900e-03 4.51544343e+01] [ 1.15540685e-02 9.99933204e-01 3.01562990e-04 -4.18313630e+00] [ 3.29934441e-03 -3.39704873e-04 9.99994499e-01 -9.66470194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.27327356 meters 0.10054280782869882 Centerline is valid? [True, False] Translation: X:45.15, Y:-4.18, Z:-0.97 [[ 9.99924174e-01 -1.18688026e-02 -3.28287757e-03 4.51544427e+01] [ 1.18682312e-02 9.99929551e-01 -1.93489207e-04 -4.18137272e+00] [ 3.28494278e-03 1.54512585e-04 9.99994593e-01 -9.66572823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.30327356 meters 0.09896961790501939 Centerline is valid? [False, True] Translation: X:45.15, Y:-4.18, Z:-0.97 [[ 9.99965320e-01 -7.90214079e-03 -2.62953564e-03 4.51532070e+01] [ 7.91312543e-03 9.99959897e-01 4.19355907e-03 -4.18211203e+00] [ 2.59629210e-03 -4.21422148e-03 9.99987750e-01 -9.66792921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.333273559999995 meters 0.09601738460030744 Centerline is valid? [True, True] Translation: X:45.19, Y:-4.18, Z:-0.96 [[ 9.99972006e-01 -7.42119694e-03 -9.56003718e-04 4.51852337e+01] [ 7.42128947e-03 9.99972458e-01 9.32751045e-05 -4.17576216e+00] [ 9.55285175e-04 -1.00367274e-04 9.99999539e-01 -9.63108813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.363273559999996 meters 0.09854130779394966 Centerline is valid? [True, True] Translation: X:45.22, Y:-4.18, Z:-0.96 [[ 9.99972670e-01 -7.34421712e-03 -8.50009738e-04 4.52157802e+01] [ 7.34429059e-03 9.99973027e-01 8.33454073e-05 -4.18211889e+00] [ 8.49374704e-04 -8.95858479e-05 9.99999635e-01 -9.64461120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39327356 meters 0.09706713673889143 Centerline is valid? [True, True] Translation: X:45.25, Y:-4.18, Z:-0.96 [[ 9.99981883e-01 -6.01380894e-03 -2.60902764e-04 4.52473823e+01] [ 6.01381590e-03 9.99981917e-01 2.59266877e-05 -4.18040595e+00] [ 2.60742128e-04 -2.74952391e-05 9.99999966e-01 -9.64023492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42327356 meters 0.1009158285790338 Centerline is valid? [True, False] Translation: X:45.25, Y:-4.18, Z:-0.96 [[ 9.99982327e-01 -5.93155769e-03 -4.01865946e-04 4.52479531e+01] [ 5.93156261e-03 9.99982408e-01 1.10525312e-05 -4.17976700e+00] [ 4.01793317e-04 -1.34360289e-05 9.99999919e-01 -9.64433111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.45327356 meters 0.09935761562487784 Centerline is valid? [False, True] Translation: X:45.25, Y:-4.18, Z:-0.96 [[ 9.99982936e-01 -5.81684462e-03 -5.40073507e-04 4.52485929e+01] [ 5.81687759e-03 9.99983080e-01 5.94938595e-05 -4.17918064e+00] [ 5.39718302e-04 -6.26343858e-05 9.99999852e-01 -9.64972631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.48327356 meters 0.10190750434545501 Centerline is valid? [True, False] Translation: X:45.25, Y:-4.18, Z:-0.97 [[ 9.99983552e-01 -5.67651411e-03 -8.20089606e-04 4.52497076e+01] [ 5.67649702e-03 9.99983888e-01 -2.31594727e-05 -4.17782400e+00] [ 8.20207858e-04 1.85038556e-05 9.99999663e-01 -9.65772974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.513273559999995 meters 0.10364720006342228 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.18, Z:-0.97 [[ 9.99984016e-01 -5.58058355e-03 -9.08100901e-04 4.52503010e+01] [ 5.58061069e-03 9.99984428e-01 2.73490184e-05 -4.17724596e+00] [ 9.07934137e-04 -3.24163388e-05 9.99999587e-01 -9.66373412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.543273559999996 meters 0.10330458925254501 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.18, Z:-0.97 [[ 9.99984809e-01 -5.42078210e-03 -9.98347561e-04 4.52509043e+01] [ 5.42097810e-03 9.99985288e-01 1.93728246e-04 -4.17694937e+00] [ 9.97282715e-04 -1.99137323e-04 9.99999483e-01 -9.66994939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.57327356 meters 0.10478953698913558 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.18, Z:-0.97 [[ 9.99983874e-01 -5.59575230e-03 -9.69534127e-04 4.52509943e+01] [ 5.59566698e-03 9.99984340e-01 -9.06844223e-05 -4.17564892e+00] [ 9.70026392e-04 8.52577698e-05 9.99999526e-01 -9.67238578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.60327356 meters 0.10404245219104034 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.18, Z:-0.97 [[ 9.99983729e-01 -5.60536672e-03 -1.05867843e-03 4.52512743e+01] [ 5.60517466e-03 9.99984274e-01 -1.84298759e-04 -4.17508127e+00] [ 1.05969484e-03 1.78361683e-04 9.99999423e-01 -9.67369144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.63327356 meters 0.1023640724428557 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.97 [[ 9.99982809e-01 -5.76504160e-03 -1.07006230e-03 4.52513952e+01] [ 5.76454049e-03 9.99983274e-01 -4.70799723e-04 -4.17385481e+00] [ 1.07275858e-03 4.64623213e-04 9.99999317e-01 -9.67523892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.66327356 meters 0.10544138548153645 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.97 [[ 9.99982693e-01 -5.78244048e-03 -1.08510496e-03 4.52517197e+01] [ 5.78186497e-03 9.99983143e-01 -5.32762005e-04 -4.17306190e+00] [ 1.08816733e-03 5.26478854e-04 9.99999269e-01 -9.67968884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.693273559999994 meters 0.10311605903142312 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.97 [[ 9.99982931e-01 -5.71638517e-03 -1.20841429e-03 4.52522413e+01] [ 5.71575058e-03 9.99983526e-01 -5.27944896e-04 -4.17242367e+00] [ 1.21141232e-03 5.21028890e-04 9.99999131e-01 -9.68374825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.723273559999996 meters 0.10256820798707028 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.97 [[ 9.99981889e-01 -5.88270226e-03 -1.27131999e-03 4.52526714e+01] [ 5.88156487e-03 9.99982302e-01 -8.96552638e-04 -4.17047595e+00] [ 1.27657164e-03 8.89059049e-04 9.99998790e-01 -9.68847872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.75327356 meters 0.10252207534078149 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.97 [[ 9.99982363e-01 -5.77128342e-03 -1.40232347e-03 4.52533133e+01] [ 5.77011319e-03 9.99983002e-01 -8.37117675e-04 -4.16983073e+00] [ 1.40713087e-03 8.29011345e-04 9.99998666e-01 -9.69392633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78327356 meters 0.10253393577623839 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.17, Z:-0.97 [[ 9.99971105e-01 1.51962163e-03 7.44842189e-03 4.52418032e+01] [-1.50756562e-03 9.99997545e-01 -1.62394687e-03 -4.17079834e+00] [-7.45087139e-03 1.61267097e-03 9.99970941e-01 -9.73937394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.81327356 meters 0.09939956849636043 Centerline is valid? [False, True] Translation: X:45.24, Y:-4.17, Z:-0.97 [[ 9.99972939e-01 1.29477121e-03 7.24183754e-03 4.52423187e+01] [-1.27846781e-03 9.99996639e-01 -2.25545606e-03 -4.16839158e+00] [-7.24473350e-03 2.24613657e-03 9.99971234e-01 -9.74064156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.84327356 meters 0.10342070952017116 Centerline is valid? [True, False] Translation: X:45.24, Y:-4.17, Z:-0.97 [[ 9.99973956e-01 1.33753220e-03 7.09213526e-03 4.52428398e+01] [-1.32103216e-03 9.99996411e-01 -2.33070135e-03 -4.16752057e+00] [-7.09522720e-03 2.32127171e-03 9.99972134e-01 -9.74396510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.873273559999994 meters 0.1032951500785131 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.17, Z:-0.98 [[ 9.99974577e-01 1.32137439e-03 7.00702151e-03 4.52434833e+01] [-1.30375556e-03 9.99995979e-01 -2.51842523e-03 -4.16599586e+00] [-7.01032112e-03 2.50922576e-03 9.99972279e-01 -9.75108806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.903273559999995 meters 0.10400965227076708 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.17, Z:-0.98 [[ 9.99975456e-01 1.41347948e-03 6.86215835e-03 4.52440597e+01] [-1.39640581e-03 9.99995919e-01 -2.49224423e-03 -4.16554454e+00] [-6.86565309e-03 2.48260070e-03 9.99973349e-01 -9.75504508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.933273559999996 meters 0.10353241614520209 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.17, Z:-0.98 [[ 9.99975899e-01 1.49105324e-03 6.78070878e-03 4.52445645e+01] [-1.47438902e-03 9.99995883e-01 -2.46192744e-03 -4.16506549e+00] [-6.78435173e-03 2.45187070e-03 9.99973980e-01 -9.75994624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96327356 meters 0.10662670231506974 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.16, Z:-0.98 [[ 9.99976338e-01 1.39918038e-03 6.73542401e-03 4.52448672e+01] [-1.38134066e-03 9.99995528e-01 -2.65256483e-03 -4.16390695e+00] [-6.73910530e-03 2.64319815e-03 9.99973799e-01 -9.76326492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.99327356 meters 0.1074498183024804 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.16, Z:-0.98 [[ 9.99976262e-01 1.43540047e-03 6.73911082e-03 4.52450958e+01] [-1.41808474e-03 9.99995683e-01 -2.57351432e-03 -4.16361336e+00] [-6.74277575e-03 2.56389660e-03 9.99973980e-01 -9.76709427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02327356 meters 0.108389720806744 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.16, Z:-0.98 [[ 9.99976283e-01 1.25397493e-03 6.77204523e-03 4.52448589e+01] [-1.23499133e-03 9.99995299e-01 -2.80668494e-03 -4.16312745e+00] [-6.77553290e-03 2.79825496e-03 9.99973131e-01 -9.76486843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.05327356 meters 0.11042146357588611 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.16, Z:-0.98 [[ 9.99975597e-01 1.10925193e-03 6.89751035e-03 4.52446876e+01] [-1.08924362e-03 9.99995190e-01 -2.90388227e-03 -4.16258684e+00] [-6.90069831e-03 2.89629834e-03 9.99971996e-01 -9.76659646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.083273559999995 meters 0.11061800156409062 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.16, Z:-0.98 [[ 9.99975344e-01 1.25982938e-03 6.90833855e-03 4.52449590e+01] [-1.24159447e-03 9.99995736e-01 -2.64320522e-03 -4.16288711e+00] [-6.91163908e-03 2.63456270e-03 9.99972644e-01 -9.77105918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.113273559999996 meters 0.10978399350624699 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.16, Z:-0.98 [[ 9.99974616e-01 1.28994771e-03 7.00731722e-03 4.52449251e+01] [-1.27252455e-03 9.99996090e-01 -2.49031347e-03 -4.16307403e+00] [-7.01050219e-03 2.48133327e-03 9.99972348e-01 -9.77399049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14327356 meters 0.10973373223841727 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.16, Z:-0.98 [[ 9.99971784e-01 1.41303053e-03 7.37803463e-03 4.52447733e+01] [-1.39900223e-03 9.99997205e-01 -1.90617466e-03 -4.16418052e+00] [-7.38070749e-03 1.89579899e-03 9.99970965e-01 -9.78358242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.17327356 meters 0.10890972425614354 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.16, Z:-0.98 [[ 9.99971447e-01 1.34717598e-03 7.43573251e-03 4.52445787e+01] [-1.33304680e-03 9.99997297e-01 -1.90480224e-03 -4.16436828e+00] [-7.43827852e-03 1.89483567e-03 9.99970540e-01 -9.78289315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20327356 meters 0.1160808081011218 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.16, Z:-0.98 [[ 9.99969741e-01 1.25660934e-03 7.67711693e-03 4.52442823e+01] [-1.24305317e-03 9.99997660e-01 -1.77030532e-03 -4.16453118e+00] [-7.67932355e-03 1.76070869e-03 9.99968963e-01 -9.78624472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23327356 meters 0.12393950146798643 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.16, Z:-0.98 [[ 9.99970272e-01 1.43618759e-03 7.57583018e-03 4.52447417e+01] [-1.42437375e-03 9.99997762e-01 -1.56457758e-03 -4.16466806e+00] [-7.57806025e-03 1.55374025e-03 9.99970079e-01 -9.78982823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.263273559999995 meters 0.10828293955000831 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.16, Z:-0.98 [[ 9.99970259e-01 1.19867802e-03 7.61873874e-03 4.52443961e+01] [-1.18419080e-03 9.99997483e-01 -1.90575198e-03 -4.16412134e+00] [-7.62100394e-03 1.89667326e-03 9.99969161e-01 -9.78598418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.293273559999996 meters 0.11241624191690605 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.16, Z:-0.98 [[ 9.99970598e-01 1.19012303e-03 7.57537424e-03 4.52445242e+01] [-1.17525240e-03 9.99997375e-01 -1.96717148e-03 -4.16369353e+00] [-7.57769553e-03 1.95821066e-03 9.99969372e-01 -9.78642671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.32327356 meters 0.11123511125109231 Centerline is valid? [False, False] Translation: X:45.24, Y:-4.16, Z:-0.98 [[ 9.99971677e-01 1.34041341e-03 7.40591232e-03 4.52449642e+01] [-1.32651444e-03 9.99997350e-01 -1.88133349e-03 -4.16374233e+00] [-7.40841446e-03 1.87145616e-03 9.99970806e-01 -9.78738937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.35327356 meters 0.11160100177625414 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.16, Z:-0.98 [[ 9.99971638e-01 1.43907793e-03 7.39273319e-03 4.52452294e+01] [-1.42642069e-03 9.99997508e-01 -1.71710660e-03 -4.16372078e+00] [-7.39518582e-03 1.70651275e-03 9.99971199e-01 -9.79101915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38327356 meters 0.11240308476104519 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.16, Z:-0.98 [[ 9.99971534e-01 1.63569756e-03 7.36590441e-03 4.52455654e+01] [-1.62537282e-03 9.99997689e-01 -1.40746120e-03 -4.16418367e+00] [-7.36818956e-03 1.39544880e-03 9.99971881e-01 -9.79531391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.41327356 meters 0.11532783867711306 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.16, Z:-0.98 [[ 9.99970882e-01 1.67499259e-03 7.44514797e-03 4.52454186e+01] [-1.66602317e-03 9.99997879e-01 -1.21077254e-03 -4.16489910e+00] [-7.44716021e-03 1.19833349e-03 9.99971551e-01 -9.79577179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.443273559999994 meters 0.11607150202659305 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99971584e-01 1.87775078e-03 7.30101632e-03 4.52457224e+01] [-1.87048364e-03 9.99997749e-01 -1.00206161e-03 -4.16560359e+00] [-7.30288151e-03 9.88376705e-04 9.99972845e-01 -9.79544042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.473273559999996 meters 0.11709208549102722 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99971466e-01 2.07137518e-03 7.26478123e-03 4.52459715e+01] [-2.06639471e-03 9.99997625e-01 -6.93002480e-04 -4.16629996e+00] [-7.26619944e-03 6.77970800e-04 9.99973371e-01 -9.79797731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50327356 meters 0.11793715790350448 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99971158e-01 2.13430063e-03 7.28893469e-03 4.52458247e+01] [-2.13014071e-03 9.99997564e-01 -5.78432107e-04 -4.16701605e+00] [-7.29015148e-03 5.62888967e-04 9.99973268e-01 -9.79608729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.53327356 meters 0.11688656790851158 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99972065e-01 2.38596408e-03 7.08351112e-03 4.52463589e+01] [-2.38363215e-03 9.99997102e-01 -3.37630244e-04 -4.16751000e+00] [-7.08429617e-03 3.20736327e-04 9.99974855e-01 -9.79729552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56327356 meters 0.11138444461859104 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99972264e-01 2.48356076e-03 7.02163840e-03 4.52465617e+01] [-2.48188115e-03 9.99996889e-01 -2.47908795e-04 -4.16776744e+00] [-7.02223225e-03 2.30475047e-04 9.99975317e-01 -9.79800655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59327356 meters 0.12026911491582225 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99972778e-01 2.96439430e-03 6.75685601e-03 4.52473351e+01] [-2.96604556e-03 9.99995574e-01 2.34375861e-04 -4.16903436e+00] [-6.75613132e-03 -2.54410624e-04 9.99977145e-01 -9.80033255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.623273559999994 meters 0.11297350629175329 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99972855e-01 3.16996755e-03 6.65138899e-03 4.52476944e+01] [-3.17304755e-03 9.99994863e-01 4.52559569e-04 -4.16960599e+00] [-6.64992023e-03 -4.73652458e-04 9.99977777e-01 -9.80191939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.653273559999995 meters 0.11499187600078059 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99972732e-01 3.37338884e-03 6.56934586e-03 4.52478523e+01] [-3.37817639e-03 9.99994036e-01 7.17812566e-04 -4.17056963e+00] [-6.56688522e-03 -7.39985402e-04 9.99978164e-01 -9.80131925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.683273559999996 meters 0.11499187600078059 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99972732e-01 3.37338884e-03 6.56934586e-03 4.52478523e+01] [-3.37817639e-03 9.99994036e-01 7.17812566e-04 -4.17056963e+00] [-6.56688522e-03 -7.39985402e-04 9.99978164e-01 -9.80131925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.71327356 meters 0.11249258288597601 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99973438e-01 3.53981378e-03 6.37119022e-03 4.52482341e+01] [-3.54501966e-03 9.99993392e-01 8.05989165e-04 -4.17090653e+00] [-6.36829506e-03 -8.28553751e-04 9.99979379e-01 -9.80024868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74327356 meters 0.1140516687908501 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99973720e-01 3.76258782e-03 6.19701531e-03 4.52487116e+01] [-3.76876714e-03 9.99992412e-01 9.85769188e-04 -4.17128831e+00] [-6.19325924e-03 -1.00909839e-03 9.99980312e-01 -9.80132739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.77327356 meters 0.11350279574349721 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99974195e-01 4.01648607e-03 5.95621390e-03 4.52493729e+01] [-4.02339228e-03 9.99991247e-01 1.14796699e-03 -4.17154159e+00] [-5.95155098e-03 -1.17190155e-03 9.99981603e-01 -9.80279700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.80327356 meters 0.11167762868462822 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99975392e-01 4.20915983e-03 5.61228449e-03 4.52499564e+01] [-4.21549202e-03 9.99990491e-01 1.11692181e-03 -4.17156432e+00] [-5.60752982e-03 -1.14055287e-03 9.99983627e-01 -9.80045600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.833273559999995 meters 0.11224327137866531 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99976494e-01 4.33400188e-03 5.31293760e-03 4.52505188e+01] [-4.33929182e-03 9.99990101e-01 9.84549908e-04 -4.17127701e+00] [-5.30861796e-03 -1.00758115e-03 9.99985402e-01 -9.79868702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.863273559999996 meters 0.10268235839624856 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99978092e-01 4.91747566e-03 4.43098490e-03 4.52524034e+01] [-4.92146477e-03 9.99987494e-01 8.89822447e-04 -4.17053034e+00] [-4.42655381e-03 -9.11609889e-04 9.99989787e-01 -9.79898303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.89327356 meters 0.10677880000636115 Centerline is valid? [False, False] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99979370e-01 5.08440849e-03 3.92531864e-03 4.52533321e+01] [-5.08693109e-03 9.99986861e-01 6.32930960e-04 -4.16975413e+00] [-3.92204899e-03 -6.52885729e-04 9.99992096e-01 -9.79654517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.92327356 meters 0.09944054096625568 Centerline is valid? [False, True] Translation: X:45.25, Y:-4.17, Z:-0.98 [[ 9.99980079e-01 5.35038298e-03 3.34899054e-03 4.52545506e+01] [-5.35181902e-03 9.99985591e-01 4.19984002e-04 -4.16880262e+00] [-3.34669521e-03 -4.37898827e-04 9.99994304e-01 -9.79603468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.95327356 meters 0.0956484997420265 Centerline is valid? [True, True] Translation: X:45.29, Y:-4.16, Z:-0.98 [[ 9.99904792e-01 1.32561703e-02 3.83166062e-03 4.52857370e+01] [-1.32546724e-02 9.99912066e-01 -4.16049966e-04 -4.16454802e+00] [-3.83683891e-03 3.65222949e-04 9.99992573e-01 -9.78890436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.98327356 meters 0.09294736094733391 Centerline is valid? [True, True] Translation: X:45.32, Y:-4.16, Z:-0.98 [[ 9.99833868e-01 1.78074141e-02 3.89010129e-03 4.53161520e+01] [-1.78059039e-02 9.99841373e-01 -4.22505234e-04 -4.16244996e+00] [-3.89700794e-03 3.53168272e-04 9.99992344e-01 -9.79063371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.01327356 meters 0.09179293734063525 Centerline is valid? [True, True] Translation: X:45.35, Y:-4.16, Z:-0.98 [[ 9.99739258e-01 2.23270880e-02 4.78708330e-03 4.53465936e+01] [-2.23248541e-02 9.99750634e-01 -5.19588784e-04 -4.16336470e+00] [-4.79749047e-03 4.12582369e-04 9.99988407e-01 -9.79976901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04327356 meters 0.08755524765508094 Centerline is valid? [True, True] Translation: X:45.38, Y:-4.16, Z:-0.98 [[ 9.99508670e-01 3.11304078e-02 3.64919312e-03 4.53769309e+01] [-3.11291674e-02 9.99515291e-01 -3.96241870e-04 -4.15704213e+00] [-3.65975950e-03 2.82450841e-04 9.99993263e-01 -9.80987232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07327356 meters 0.0864429878048043 Centerline is valid? [True, True] Translation: X:45.41, Y:-4.16, Z:-0.98 [[ 9.99371931e-01 3.51724784e-02 4.31745249e-03 4.54057661e+01] [-3.51707770e-02 9.99381207e-01 -4.69377879e-04 -4.15714567e+00] [-4.33129006e-03 3.17234918e-04 9.99990570e-01 -9.82105098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.10327356 meters 0.08264351660815887 Centerline is valid? [True, True] Translation: X:45.44, Y:-4.15, Z:-0.98 [[ 9.99004229e-01 4.44543585e-02 3.78957787e-03 4.54367865e+01] [-4.44531164e-02 9.99011387e-01 -4.11408838e-04 -4.15105094e+00] [-3.80412036e-03 2.42540623e-04 9.99992735e-01 -9.83037548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.13327356 meters 0.08135862150339786 Centerline is valid? [True, True] Translation: X:45.47, Y:-4.15, Z:-0.98 [[ 9.98824634e-01 4.83469130e-02 3.45356883e-03 4.54670330e+01] [-4.83459050e-02 9.98830583e-01 -3.74789689e-04 -4.15051139e+00] [-3.46765009e-03 2.07383263e-04 9.99993966e-01 -9.84308080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.16327356000001 meters 0.079920621455386 Centerline is valid? [True, True] Translation: X:45.50, Y:-4.15, Z:-0.99 [[ 9.98627018e-01 5.23239961e-02 2.50575911e-03 4.54972913e+01] [-5.23234777e-02 9.98630152e-01 -2.72031802e-04 -4.14976322e+00] [-2.51656040e-03 1.40548276e-04 9.99996824e-01 -9.85019215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.19327356000001 meters 0.07809417625580203 Centerline is valid? [True, True] Translation: X:45.53, Y:-4.15, Z:-0.99 [[ 9.98241747e-01 5.92104547e-02 2.74521761e-03 4.55270703e+01] [-5.92098576e-02 9.98245513e-01 -2.98332827e-04 -4.14721863e+00] [-2.75806559e-03 1.35264339e-04 9.99996187e-01 -9.86291922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22327356000001 meters 0.07720746617499667 Centerline is valid? [True, True] Translation: X:45.56, Y:-4.15, Z:-0.99 [[ 9.98049028e-01 6.23678370e-02 2.89648380e-03 4.55570005e+01] [-6.23671865e-02 9.98053223e-01 -3.14453452e-04 -4.14754643e+00] [-2.91045677e-03 1.33194417e-04 9.99995756e-01 -9.87413423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25327356000001 meters 0.07675770026726726 Centerline is valid? [True, True] Translation: X:45.59, Y:-4.15, Z:-0.99 [[ 9.97911970e-01 6.45488368e-02 2.26892941e-03 4.55852803e+01] [-6.45484411e-02 9.97914544e-01 -2.47280515e-04 -4.14858425e+00] [-2.28015933e-03 1.00308329e-04 9.99997395e-01 -9.88119068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28327356 meters 0.07355323023731554 Centerline is valid? [True, True] Translation: X:45.62, Y:-4.14, Z:-0.99 [[ 9.97594741e-01 6.92824508e-02 2.16216455e-03 4.56164580e+01] [-6.92821046e-02 9.97597080e-01 -2.34674625e-04 -4.13995230e+00] [-2.17322788e-03 8.43108613e-05 9.99997635e-01 -9.85151995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31327356 meters 0.07365966642683924 Centerline is valid? [True, True] Translation: X:45.64, Y:-4.14, Z:-0.99 [[ 9.97502938e-01 7.05906413e-02 2.20235248e-03 4.56445028e+01] [-7.05902759e-02 9.97505365e-01 -2.43316761e-04 -4.14242061e+00] [-2.21403430e-03 8.72445148e-05 9.99997545e-01 -9.86448847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34327356 meters 0.07291315313442295 Centerline is valid? [True, True] Translation: X:45.67, Y:-4.14, Z:-0.99 [[ 9.97389678e-01 7.21714164e-02 2.26221079e-03 4.56732236e+01] [-7.21710365e-02 9.97392239e-01 -2.49240510e-04 -4.14285895e+00] [-2.27429953e-03 8.53238147e-05 9.99997410e-01 -9.86152008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37327356 meters 0.07300589698716181 Centerline is valid? [True, True] Translation: X:45.70, Y:-4.15, Z:-0.99 [[ 9.97363633e-01 7.25428921e-02 1.81975612e-03 4.57007883e+01] [-7.25426514e-02 9.97365291e-01 -1.98012605e-04 -4.14642142e+00] [-1.82932600e-03 6.54806373e-05 9.99998325e-01 -9.87093167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40327356 meters 0.0730709965725641 Centerline is valid? [True, True] Translation: X:45.73, Y:-4.15, Z:-0.99 [[ 9.97346466e-01 7.27829265e-02 1.63467128e-03 4.57281744e+01] [-7.27827325e-02 9.97347804e-01 -1.77903103e-04 -4.15013264e+00] [-1.64328412e-03 5.84551886e-05 9.99998648e-01 -9.88243640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43327356 meters 0.07334252085522036 Centerline is valid? [True, True] Translation: X:45.76, Y:-4.16, Z:-0.99 [[ 9.97410655e-01 7.19051129e-02 1.28057134e-03 4.57554158e+01] [-7.19049928e-02 9.97411476e-01 -1.39640357e-04 -4.15516974e+00] [-1.28729740e-03 4.71993069e-05 9.99999170e-01 -9.89510915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46327356 meters 0.07372254845870622 Centerline is valid? [True, True] Translation: X:45.78, Y:-4.16, Z:-0.99 [[ 9.97456347e-01 7.12769084e-02 6.61259508e-04 4.57825079e+01] [-7.12768757e-02 9.97456566e-01 -7.28962869e-05 -4.15891996e+00] [-6.64773460e-04 2.55783523e-05 9.99999779e-01 -9.91322823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.49327356 meters 0.07315707815978888 Centerline is valid? [True, True] Translation: X:45.81, Y:-4.16, Z:-0.99 [[ 9.97514159e-01 7.04656039e-02 -3.19116682e-04 4.58110571e+01] [-7.04655982e-02 9.97514210e-01 2.90840870e-05 -4.16051915e+00] [ 3.20372853e-04 -6.52504065e-06 9.99999949e-01 -9.91207718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.52327356 meters 0.07670883606087064 Centerline is valid? [True, True] Translation: X:45.84, Y:-4.18, Z:-1.00 [[ 9.97499290e-01 7.06140903e-02 2.96931087e-03 4.58370299e+01] [-7.06134494e-02 9.97503703e-01 -3.20260112e-04 -4.17722734e+00] [-2.98451347e-03 1.09785951e-04 9.99995540e-01 -9.97475914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55327356000001 meters 0.07322568781544739 Centerline is valid? [True, True] Translation: X:45.87, Y:-4.17, Z:-0.99 [[ 9.97516958e-01 7.04264303e-02 -1.90424669e-04 4.58667274e+01] [-7.04264282e-02 9.97516976e-01 1.76372210e-05 -4.16724211e+00] [ 1.91193967e-04 -4.18249779e-06 9.99999982e-01 -9.92733147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58327356000001 meters 0.07346766087757169 Centerline is valid? [True, True] Translation: X:45.89, Y:-4.17, Z:-0.99 [[ 9.97557365e-01 6.98478406e-02 -7.63493442e-04 4.58948273e+01] [-6.98478025e-02 9.97557657e-01 7.64621837e-05 -4.17074646e+00] [ 7.66969447e-04 -2.29470754e-05 9.99999706e-01 -9.93707038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61327356000001 meters 0.07363818214342888 Centerline is valid? [True, True] Translation: X:45.92, Y:-4.18, Z:-0.99 [[ 9.97583443e-01 6.94785950e-02 1.72173652e-06 4.59231606e+01] [-6.94785950e-02 9.97583443e-01 -5.33520447e-06 -4.17528780e+00] [-2.08825836e-06 5.20268780e-06 1.00000000e+00 -9.93975669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64327356000001 meters 0.07392521963341725 Centerline is valid? [True, True] Translation: X:45.95, Y:-4.18, Z:-1.00 [[ 9.97579670e-01 6.95324980e-02 -1.85996184e-04 4.59495816e+01] [-6.95324960e-02 9.97579687e-01 1.72603504e-05 -4.17906668e+00] [ 1.86746170e-04 -4.28579572e-06 9.99999983e-01 -9.95201229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67327356 meters 0.07395989330681195 Centerline is valid? [True, True] Translation: X:45.98, Y:-4.18, Z:-1.00 [[ 9.97480903e-01 7.09348239e-02 3.14293631e-04 4.59769668e+01] [-7.09348163e-02 9.97480952e-01 -3.52337543e-05 -4.18191704e+00] [-3.16001211e-04 1.28506361e-05 9.99999950e-01 -9.95909050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70327356 meters 0.07359628802685442 Centerline is valid? [True, True] Translation: X:46.01, Y:-4.18, Z:-1.00 [[ 9.97385758e-01 7.22485707e-02 1.33899807e-03 4.60054603e+01] [-7.22484426e-02 9.97386656e-01 -1.43849068e-04 -4.18382702e+00] [-1.34589170e-03 4.67324864e-05 9.99999093e-01 -9.96603466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73327356 meters 0.07302863529565898 Centerline is valid? [True, True] Translation: X:46.03, Y:-4.18, Z:-1.00 [[ 9.97306582e-01 7.33451140e-02 2.76061613e-04 4.60341794e+01] [-7.33451073e-02 9.97306620e-01 -3.44260698e-05 -4.18324579e+00] [-2.77843058e-04 1.40855774e-05 9.99999961e-01 -9.96198182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76327356 meters 0.07347113496630094 Centerline is valid? [True, True] Translation: X:46.06, Y:-4.19, Z:-1.00 [[ 9.97152460e-01 7.54119909e-02 5.17320590e-05 4.60618665e+01] [-7.54119906e-02 9.97152462e-01 -7.29748702e-06 -4.18765939e+00] [-5.21350680e-05 3.37548959e-06 9.99999999e-01 -9.99125738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79327356 meters 0.07316423245359867 Centerline is valid? [True, True] Translation: X:46.09, Y:-4.19, Z:-1.00 [[ 9.97092465e-01 7.61980601e-02 6.86990679e-04 4.60906964e+01] [-7.61980247e-02 9.97092701e-01 -7.75809665e-05 -4.18931096e+00] [-6.90904911e-04 2.50080644e-05 9.99999761e-01 -9.99648307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82327356 meters 0.07243988834814805 Centerline is valid? [True, True] Translation: X:46.12, Y:-4.19, Z:-1.00 [[ 9.96948732e-01 7.80527122e-02 1.00008152e-03 4.61199724e+01] [-7.80526404e-02 9.96949233e-01 -1.10654681e-04 -4.18876416e+00] [-1.00566740e-03 3.22580413e-05 9.99999494e-01 -9.98553193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85327356 meters 0.07219244080457206 Centerline is valid? [True, True] Translation: X:46.15, Y:-4.19, Z:-1.00 [[ 9.96905513e-01 7.86070494e-02 5.73895723e-04 4.61488428e+01] [-7.86070246e-02 9.96905678e-01 -6.55639831e-05 -4.19014811e+00] [-5.77273696e-04 2.02488610e-05 9.99999833e-01 -9.98614606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88327356 meters 0.07244771125373804 Centerline is valid? [True, True] Translation: X:46.18, Y:-4.19, Z:-1.00 [[ 9.96872795e-01 7.90225218e-02 2.66672697e-04 4.61766804e+01] [-7.90225166e-02 9.96872831e-01 -2.98734005e-05 -4.19446673e+00] [-2.68199438e-04 8.70683261e-06 9.99999964e-01 -1.00082721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.91327356000001 meters 0.07293530851149858 Centerline is valid? [True, True] Translation: X:46.20, Y:-4.20, Z:-1.00 [[ 9.96922014e-01 7.83973708e-02 5.92124760e-04 4.62039234e+01] [-7.83973461e-02 9.96922189e-01 -6.48983474e-05 -4.20004243e+00] [-5.95390172e-04 1.82775815e-05 9.99999823e-01 -1.00349554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94327356000001 meters 0.07334053935368119 Centerline is valid? [True, True] Translation: X:46.23, Y:-4.20, Z:-1.00 [[ 9.97016627e-01 7.71791939e-02 1.10366638e-03 4.62311157e+01] [-7.71791100e-02 9.97017237e-01 -1.18443759e-04 -4.20489520e+00] [-1.10951580e-03 3.29104078e-05 9.99999384e-01 -1.00440519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97327356000001 meters 0.07269875480146899 Centerline is valid? [True, True] Translation: X:46.26, Y:-4.21, Z:-1.00 [[ 9.97225803e-01 7.44061469e-02 2.10304194e-03 4.62600747e+01] [-7.44058366e-02 9.97228018e-01 -2.25519761e-04 -4.20542714e+00] [-2.11399241e-03 6.84155298e-05 9.99997763e-01 -1.00079094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00327356000001 meters 0.07363091839658935 Centerline is valid? [True, True] Translation: X:46.29, Y:-4.21, Z:-1.00 [[ 9.97359531e-01 7.25824977e-02 2.39734113e-03 4.62868297e+01] [-7.25820992e-02 9.97362409e-01 -2.52914852e-04 -4.21303941e+00] [-2.40937512e-03 7.82429865e-05 9.99997094e-01 -1.00337746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03327356 meters 0.07391078337606442 Centerline is valid? [True, True] Translation: X:46.32, Y:-4.22, Z:-1.00 [[ 9.97649411e-01 6.85059130e-02 1.61010798e-03 4.63162171e+01] [-6.85057294e-02 9.97650709e-01 -1.68984060e-04 -4.21804604e+00] [-1.61790178e-03 5.82852266e-05 9.99998689e-01 -1.00354108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06327356 meters 0.07425026738366716 Centerline is valid? [True, True] Translation: X:46.35, Y:-4.22, Z:-1.00 [[ 9.97800426e-01 6.62697934e-02 1.62004643e-03 4.63453600e+01] [-6.62696041e-02 9.97801739e-01 -1.70330064e-04 -4.22273208e+00] [-1.62777289e-03 6.25955742e-05 9.99998673e-01 -1.00450161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09327356 meters 0.07472231076961972 Centerline is valid? [True, True] Translation: X:46.37, Y:-4.23, Z:-1.01 [[ 9.97939953e-01 6.41517430e-02 6.35356829e-04 4.63745236e+01] [-6.41517132e-02 9.97940155e-01 -6.72153791e-05 -4.22799786e+00] [-6.38360077e-04 2.63176832e-05 9.99999796e-01 -1.00553989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12327356 meters 0.07656971629770266 Centerline is valid? [True, True] Translation: X:46.40, Y:-4.24, Z:-1.01 [[ 9.98220495e-01 5.96114578e-02 1.52231040e-03 4.64031764e+01] [-5.96112835e-02 9.98221653e-01 -1.59666188e-04 -4.23891532e+00] [-1.52912114e-03 6.86351847e-05 9.99998829e-01 -1.00728062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15327356 meters 0.07567717065446464 Centerline is valid? [True, True] Translation: X:46.43, Y:-4.24, Z:-1.01 [[ 9.98342006e-01 5.75485840e-02 1.18269857e-03 4.64324451e+01] [-5.75484764e-02 9.98342705e-01 -1.24823196e-04 -4.23939900e+00] [-1.18792188e-03 5.65537399e-05 9.99999293e-01 -1.00576418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18327356 meters 0.07732261424576647 Centerline is valid? [True, True] Translation: X:46.46, Y:-4.25, Z:-1.01 [[ 9.98471550e-01 5.52442105e-02 1.62492005e-03 4.64599738e+01] [-5.52440047e-02 9.98472869e-01 -1.71327001e-04 -4.24784346e+00] [-1.63190341e-03 8.12980459e-05 9.99998665e-01 -1.00766633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21327356 meters 0.07794183802127531 Centerline is valid? [True, True] Translation: X:46.49, Y:-4.25, Z:-1.01 [[ 9.98626715e-01 5.23523348e-02 1.97909453e-03 4.64888353e+01] [-5.23520254e-02 9.98628671e-01 -2.07851047e-04 -4.25348791e+00] [-1.98726203e-03 1.03956001e-04 9.99998020e-01 -1.00797581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24327356 meters 0.07808836390702861 Centerline is valid? [True, True] Translation: X:46.52, Y:-4.26, Z:-1.01 [[ 9.98718935e-01 5.05644544e-02 1.93015357e-03 4.65181034e+01] [-5.05641575e-02 9.98720794e-01 -2.02328043e-04 -4.25632629e+00] [-1.93791511e-03 1.04472258e-04 9.99998117e-01 -1.00799975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27327356 meters 0.07870884594973437 Centerline is valid? [True, True] Translation: X:46.55, Y:-4.26, Z:-1.01 [[ 9.98859921e-01 4.77039352e-02 1.78704264e-03 4.65478532e+01] [-4.77036767e-02 9.98861514e-01 -1.86988713e-04 -4.26133049e+00] [-1.79392821e-03 1.01527027e-04 9.99998386e-01 -1.00916115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30327356000001 meters 0.07973981632027158 Centerline is valid? [True, True] Translation: X:46.57, Y:-4.27, Z:-1.01 [[ 9.98910177e-01 4.66353448e-02 1.89787640e-03 4.65745830e+01] [-4.66350484e-02 9.98911974e-01 -2.00183191e-04 -4.26724079e+00] [-1.90514707e-03 1.11457469e-04 9.99998179e-01 -1.01140080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33327356000001 meters 0.08070419268123624 Centerline is valid? [True, True] Translation: X:46.60, Y:-4.27, Z:-1.01 [[ 9.98990020e-01 4.49147609e-02 1.26640339e-03 4.66028142e+01] [-4.49146281e-02 9.98990820e-01 -1.33140629e-04 -4.27219629e+00] [-1.27110534e-03 7.61261226e-05 9.99999189e-01 -1.01262738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36327356000001 meters 0.08192523604679593 Centerline is valid? [True, True] Translation: X:46.63, Y:-4.28, Z:-1.02 [[ 9.99110835e-01 4.21573880e-02 5.42771821e-04 4.66322947e+01] [-4.21573633e-02 9.99110982e-01 -5.69499993e-05 -4.27691531e+00] [-5.44690150e-04 3.40175325e-05 9.99999851e-01 -1.01536707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39327356000001 meters 0.08277653223303078 Centerline is valid? [True, True] Translation: X:46.66, Y:-4.28, Z:-1.02 [[ 9.99153645e-01 4.11223405e-02 9.73233412e-04 4.66610529e+01] [-4.11222565e-02 9.99154117e-01 -1.06246048e-04 -4.28103489e+00] [-9.76779256e-04 6.61345724e-05 9.99999521e-01 -1.01669634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42327356 meters 0.08413994688433676 Centerline is valid? [True, True] Translation: X:46.69, Y:-4.29, Z:-1.02 [[ 9.99248179e-01 3.87643669e-02 6.32698954e-04 4.66897112e+01] [-3.87643325e-02 9.99248379e-01 -6.65138520e-05 -4.28602712e+00] [-6.34801771e-04 4.19376929e-05 9.99999798e-01 -1.01782410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45327356 meters 0.08295305214242632 Centerline is valid? [True, True] Translation: X:46.72, Y:-4.29, Z:-1.02 [[ 9.99284330e-01 3.77764833e-02 1.94059640e-03 4.67190923e+01] [-3.77761597e-02 9.99286205e-01 -2.03155510e-04 -4.28602229e+00] [-1.94688572e-03 1.29701838e-04 9.99998096e-01 -1.01678291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48327356 meters 0.0854078472443052 Centerline is valid? [True, True] Translation: X:46.75, Y:-4.29, Z:-1.02 [[ 9.99330536e-01 3.65377244e-02 1.86396262e-03 4.67461183e+01] [-3.65374216e-02 9.99332266e-01 -1.96232011e-04 -4.29362994e+00] [-1.86988786e-03 1.27996253e-04 9.99998244e-01 -1.01873929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51327356 meters 0.086785900882905 Centerline is valid? [True, True] Translation: X:46.77, Y:-4.30, Z:-1.02 [[ 9.99414830e-01 3.40702414e-02 3.03567194e-03 4.67746941e+01] [-3.40694378e-02 9.99419418e-01 -3.16044507e-04 -4.29853124e+00] [-3.04467720e-03 2.12435931e-04 9.99995342e-01 -1.01944402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54327356 meters 0.08778434872956103 Centerline is valid? [True, True] Translation: X:46.80, Y:-4.30, Z:-1.02 [[ 9.99473166e-01 3.23498317e-02 2.62283530e-03 4.68036795e+01] [-3.23492259e-02 9.99476590e-01 -2.73088751e-04 -4.30283973e+00] [-2.63029685e-03 1.88098187e-04 9.99996523e-01 -1.02083986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57327356 meters 0.08634530032416089 Centerline is valid? [True, True] Translation: X:46.83, Y:-4.30, Z:-1.02 [[ 9.99554237e-01 2.97221525e-02 2.81429607e-03 4.68340160e+01] [-2.97214469e-02 9.99558177e-01 -2.92214330e-04 -4.30162978e+00] [-2.82173789e-03 2.08439121e-04 9.99995997e-01 -1.01917404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60327356 meters 0.08634530032416089 Centerline is valid? [True, True] Translation: X:46.86, Y:-4.30, Z:-1.02 [[ 9.99557187e-01 2.96228141e-02 2.81413744e-03 4.68614032e+01] [-2.96221038e-02 9.99561126e-01 -2.93744969e-04 -4.30435256e+00] [-2.82160394e-03 2.10254224e-04 9.99995997e-01 -1.01977910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.63327356 meters 0.08658871148012136 Centerline is valid? [True, True] Translation: X:46.89, Y:-4.31, Z:-1.02 [[ 9.99599749e-01 2.81563175e-02 2.75020128e-03 4.68906084e+01] [-2.81556368e-02 9.99603511e-01 -2.85894375e-04 -4.30700883e+00] [-2.75716059e-03 2.08346278e-04 9.99996177e-01 -1.02047259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66327356000001 meters 0.08716112515462313 Centerline is valid? [True, True] Translation: X:46.92, Y:-4.31, Z:-1.02 [[ 9.99632756e-01 2.69264999e-02 3.05230733e-03 4.69202734e+01] [-2.69256577e-02 9.99637389e-01 -3.16704583e-04 -4.30986276e+00] [-3.05972827e-03 2.34402893e-04 9.99995292e-01 -1.02113000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69327356000001 meters 0.08881259552601228 Centerline is valid? [True, True] Translation: X:46.95, Y:-4.31, Z:-1.02 [[ 9.99660348e-01 2.59503507e-02 2.40176704e-03 4.69499315e+01] [-2.59498270e-02 9.99663216e-01 -2.48948886e-04 -4.31326896e+00] [-2.40741848e-03 1.86538890e-04 9.99997085e-01 -1.02347430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72327356000001 meters 0.08774355673997523 Centerline is valid? [True, True] Translation: X:46.98, Y:-4.31, Z:-1.02 [[ 9.99669794e-01 2.55961820e-02 2.26683002e-03 4.69792279e+01] [-2.55957123e-02 9.99672348e-01 -2.35960182e-04 -4.31270724e+00] [-2.27212697e-03 1.77861137e-04 9.99997403e-01 -1.02324300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75327356000001 meters 0.08963424188400862 Centerline is valid? [True, True] Translation: X:47.01, Y:-4.32, Z:-1.02 [[ 9.99667932e-01 2.55602127e-02 3.27113206e-03 4.70063632e+01] [-2.55592374e-02 9.99673252e-01 -3.39611169e-04 -4.31644127e+00] [-3.27874376e-03 2.55890755e-04 9.99994592e-01 -1.02464238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78327356 meters 0.08816382919701767 Centerline is valid? [True, True] Translation: X:47.03, Y:-4.32, Z:-1.02 [[ 9.99664107e-01 2.56410635e-02 3.76942226e-03 4.70349937e+01] [-2.56397708e-02 9.99671171e-01 -3.90863333e-04 -4.31511626e+00] [-3.77820492e-03 2.94084922e-04 9.99992819e-01 -1.02429921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81327356 meters 0.09022051343109617 Centerline is valid? [True, True] Translation: X:47.06, Y:-4.32, Z:-1.03 [[ 9.99677318e-01 2.50862019e-02 3.99280133e-03 4.70620809e+01] [-2.50847487e-02 9.99685243e-01 -4.13636086e-04 -4.32057521e+00] [-4.00192112e-03 3.13344196e-04 9.99991943e-01 -1.02576798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84327356 meters 0.09054779976004872 Centerline is valid? [True, True] Translation: X:47.09, Y:-4.32, Z:-1.03 [[ 9.99686159e-01 2.46290196e-02 4.58208777e-03 4.70911195e+01] [-2.46271035e-02 9.99696594e-01 -4.74151830e-04 -4.32119074e+00] [-4.59237543e-03 3.61159472e-04 9.99989390e-01 -1.02605585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87327356 meters 0.09109912200411806 Centerline is valid? [True, True] Translation: X:47.12, Y:-4.32, Z:-1.03 [[ 9.99692294e-01 2.43646399e-02 4.65639131e-03 4.71200972e+01] [-2.43626598e-02 9.99703070e-01 -4.81493537e-04 -4.32459809e+00] [-4.66674011e-03 3.67903301e-04 9.99989043e-01 -1.02681471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90327356 meters 0.08822352890348181 Centerline is valid? [True, True] Translation: X:47.15, Y:-4.32, Z:-1.03 [[ 9.99708684e-01 2.35713027e-02 5.19046534e-03 4.71490699e+01] [-2.35688342e-02 9.99722073e-01 -5.36260337e-04 -4.32087308e+00] [-5.20166312e-03 4.13770899e-04 9.99986386e-01 -1.02550624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93327356 meters 0.09432346653950326 Centerline is valid? [True, True] Translation: X:47.18, Y:-4.33, Z:-1.03 [[ 9.99754684e-01 2.15528906e-02 5.10347835e-03 4.71770979e+01] [-2.15504826e-02 9.99767623e-01 -5.26363069e-04 -4.33391199e+00] [-5.11363706e-03 4.16251523e-04 9.99986839e-01 -1.02861306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96327356 meters 0.0946596436344034 Centerline is valid? [True, True] Translation: X:47.21, Y:-4.34, Z:-1.03 [[ 9.99776170e-01 2.08390485e-02 3.65283535e-03 4.72066964e+01] [-2.08378099e-02 9.99782798e-01 -3.76808113e-04 -4.33699635e+00] [-3.65989428e-03 3.00606684e-04 9.99993257e-01 -1.03063253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.99327356 meters 0.09556457070634101 Centerline is valid? [True, True] Translation: X:47.24, Y:-4.34, Z:-1.03 [[ 9.99813355e-01 1.91234220e-02 2.74755478e-03 4.72364528e+01] [-1.91227155e-02 9.99817104e-01 -2.83198563e-04 -4.33913845e+00] [-2.75246799e-03 2.30604997e-04 9.99996185e-01 -1.03190781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02327356 meters 0.0980792556017038 Centerline is valid? [True, True] Translation: X:47.26, Y:-4.35, Z:-1.03 [[ 9.99822578e-01 1.85612344e-02 3.20815769e-03 4.72634597e+01] [-1.85602646e-02 9.99827688e-01 -3.31788942e-04 -4.34545803e+00] [-3.21376330e-03 2.72185820e-04 9.99994799e-01 -1.03343103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05327356000001 meters 0.09514962111571243 Centerline is valid? [True, True] Translation: X:47.29, Y:-4.34, Z:-1.03 [[ 9.99833641e-01 1.78995164e-02 3.50673605e-03 4.72924393e+01] [-1.78983562e-02 9.99839746e-01 -3.61938331e-04 -4.34244477e+00] [-3.51265260e-03 2.99113308e-04 9.99993786e-01 -1.03197463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08327356000001 meters 0.09822285668403256 Centerline is valid? [True, True] Translation: X:47.32, Y:-4.35, Z:-1.03 [[ 9.99839940e-01 1.73983032e-02 4.17058134e-03 4.73193019e+01] [-1.73966590e-02 9.99848574e-01 -4.30187468e-04 -4.34930006e+00] [-4.17743434e-03 3.57564431e-04 9.99991211e-01 -1.03278311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11327356000001 meters 0.09722634430098766 Centerline is valid? [True, True] Translation: X:47.35, Y:-4.35, Z:-1.03 [[ 9.99849605e-01 1.68372376e-02 4.15621889e-03 4.73483661e+01] [-1.68356026e-02 9.99858180e-01 -4.28058350e-04 -4.34987851e+00] [-4.16283677e-03 3.58021523e-04 9.99991271e-01 -1.03272376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14327356000001 meters 0.09505508417528524 Centerline is valid? [True, True] Translation: X:47.38, Y:-4.35, Z:-1.03 [[ 9.99859856e-01 1.59604117e-02 5.05299747e-03 4.73770613e+01] [-1.59579856e-02 9.99872528e-01 -5.20088231e-04 -4.34830164e+00] [-5.06065418e-03 4.39379684e-04 9.99987098e-01 -1.03191405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17327356 meters 0.09938915075542719 Centerline is valid? [True, True] Translation: X:47.40, Y:-4.36, Z:-1.03 [[ 9.99866550e-01 1.53755023e-02 5.52045852e-03 4.74042763e+01] [-1.53726013e-02 9.99881674e-01 -5.67541152e-04 -4.35884679e+00] [-5.52853153e-03 4.82601606e-04 9.99984601e-01 -1.03352104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20327356 meters 0.10113872213266713 Centerline is valid? [True, False] Translation: X:47.40, Y:-4.36, Z:-1.03 [[ 9.99864464e-01 1.55093103e-02 5.52404961e-03 4.74044972e+01] [-1.55074948e-02 9.99879683e-01 -3.71350155e-04 -4.35913154e+00] [-5.52914436e-03 2.85635653e-04 9.99984673e-01 -1.03385160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23327356 meters 0.10175497037381732 Centerline is valid? [False, False] Translation: X:47.41, Y:-4.36, Z:-1.03 [[ 9.99955202e-01 9.16425284e-03 -2.36879570e-03 4.74136527e+01] [-9.16449249e-03 9.99958001e-01 -9.03359604e-05 -4.35697418e+00] [ 2.36786835e-03 1.12040724e-04 9.99997190e-01 -1.02819652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26327356 meters 0.10351028805918182 Centerline is valid? [False, False] Translation: X:47.41, Y:-4.36, Z:-1.03 [[ 9.99956313e-01 9.04793077e-03 -2.34690101e-03 4.74135469e+01] [-9.04851495e-03 9.99959033e-01 -2.38419732e-04 -4.35667623e+00] [ 2.34464766e-03 2.59645285e-04 9.99997218e-01 -1.02812889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29327356 meters 0.09428086215819449 Centerline is valid? [False, True] Translation: X:47.41, Y:-4.36, Z:-1.03 [[ 9.99956610e-01 9.00600986e-03 -2.38116207e-03 4.74136985e+01] [-9.00686608e-03 9.99959376e-01 -3.49102828e-04 -4.35620682e+00] [ 2.37792132e-03 3.70534489e-04 9.99997104e-01 -1.02822693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32327356 meters 0.09593984782157564 Centerline is valid? [True, True] Translation: X:47.44, Y:-4.36, Z:-1.03 [[ 9.99954643e-01 9.06848307e-03 -2.91125909e-03 4.74411820e+01] [-9.06769568e-03 9.99958847e-01 2.83548148e-04 -4.36195937e+00] [ 2.91371063e-03 -2.57136876e-04 9.99995722e-01 -1.03005242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35327356 meters 0.09649101793809291 Centerline is valid? [True, True] Translation: X:47.47, Y:-4.37, Z:-1.03 [[ 9.99955233e-01 8.99841478e-03 -2.92567328e-03 4.74685508e+01] [-8.99762090e-03 9.99959480e-01 2.84398179e-04 -4.36550610e+00] [ 2.92811387e-03 -2.58061349e-04 9.99995680e-01 -1.03115470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38327356 meters 0.0961743956801709 Centerline is valid? [True, True] Translation: X:47.50, Y:-4.37, Z:-1.03 [[ 9.99948114e-01 9.85794209e-03 -2.56719569e-03 4.74971431e+01] [-9.85733323e-03 9.99951384e-01 2.49715274e-04 -4.36735521e+00] [ 2.56953256e-03 -2.24396614e-04 9.99996674e-01 -1.03055202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.41327356000001 meters 0.09503742865469866 Centerline is valid? [True, True] Translation: X:47.53, Y:-4.37, Z:-1.03 [[ 9.99940254e-01 1.07211231e-02 -2.13208331e-03 4.75261389e+01] [-1.07207058e-02 9.99942510e-01 2.07046033e-04 -4.36814868e+00] [ 2.13418050e-03 -1.84176225e-04 9.99997706e-01 -1.03072970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44327356000001 meters 0.09591451786650002 Centerline is valid? [True, True] Translation: X:47.55, Y:-4.37, Z:-1.03 [[ 9.99937604e-01 1.10506357e-02 -1.63452329e-03 4.75539364e+01] [-1.10503922e-02 9.99938930e-01 1.57912423e-04 -4.37180137e+00] [ 1.63616850e-03 -1.39840446e-04 9.99998652e-01 -1.03150478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47327356000001 meters 0.09313175267585742 Centerline is valid? [True, True] Translation: X:47.58, Y:-4.37, Z:-1.03 [[ 9.99937841e-01 1.10958861e-02 -1.09302129e-03 4.75828633e+01] [-1.10957775e-02 9.99938434e-01 1.05407268e-04 -4.36879588e+00] [ 1.09412358e-03 -9.32727951e-05 9.99999397e-01 -1.03012200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50327356000001 meters 0.09654241961409907 Centerline is valid? [True, True] Translation: X:47.61, Y:-4.38, Z:-1.03 [[ 9.99940618e-01 1.07833896e-02 -1.57445439e-03 4.76093743e+01] [-1.07831634e-02 9.99941848e-01 1.52100737e-04 -4.37757669e+00] [ 1.57600299e-03 -1.35114106e-04 9.99998749e-01 -1.03111673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53327356 meters 0.09471638741085113 Centerline is valid? [True, True] Translation: X:47.64, Y:-4.38, Z:-1.03 [[ 9.99939948e-01 1.08474936e-02 -1.55969652e-03 4.76381528e+01] [-1.08472717e-02 9.99941155e-01 1.50686769e-04 -4.37699161e+00] [ 1.56123931e-03 -1.33759268e-04 9.99998772e-01 -1.03077553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56327356 meters 0.09266229836204129 Centerline is valid? [True, True] Translation: X:47.67, Y:-4.38, Z:-1.03 [[ 9.99941081e-01 1.08337542e-02 -6.81097182e-04 4.76670793e+01] [-1.08337123e-02 9.99941311e-01 6.51203023e-05 -4.37619870e+00] [ 6.81762707e-04 -5.77376545e-05 9.99999766e-01 -1.03099048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59327356 meters 0.09588172416156962 Centerline is valid? [True, True] Translation: X:47.69, Y:-4.39, Z:-1.03 [[ 9.99948153e-01 1.01619217e-02 -6.52479978e-04 4.76939765e+01] [-1.01618833e-02 9.99948365e-01 6.20150510e-05 -4.38566936e+00] [ 6.53076479e-04 -5.53814103e-05 9.99999785e-01 -1.03243865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62327356 meters 0.11085676471558627 Centerline is valid? [True, False] Translation: X:47.69, Y:-4.39, Z:-1.03 [[ 9.99948469e-01 1.01319191e-02 -6.35708587e-04 4.76938996e+01] [-1.01318849e-02 9.99948670e-01 5.70902677e-05 -4.38581640e+00] [ 6.36254390e-04 -5.06463995e-05 9.99999796e-01 -1.03238582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65327356 meters 0.09572903076306101 Centerline is valid? [False, True] Translation: X:47.70, Y:-4.38, Z:-1.03 [[ 9.99980013e-01 6.13215696e-03 -1.53959074e-03 4.76954509e+01] [-6.13924885e-03 9.99970368e-01 -4.64467293e-03 -4.38436260e+00] [ 1.51106326e-03 4.65403203e-03 9.99988028e-01 -1.03185767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68327356 meters 0.09637377209636937 Centerline is valid? [True, True] Translation: X:47.72, Y:-4.39, Z:-1.03 [[ 9.99986650e-01 4.86505052e-03 -1.74098112e-03 4.77247870e+01] [-4.86477434e-03 9.99988154e-01 1.62832508e-04 -4.39112641e+00] [ 1.74175269e-03 -1.54360854e-04 9.99998471e-01 -1.03468004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71327356 meters 0.09785479366749639 Centerline is valid? [True, True] Translation: X:47.75, Y:-4.40, Z:-1.04 [[ 9.99989531e-01 4.14357886e-03 -1.94118142e-03 4.77519601e+01] [-4.14323591e-03 9.99991400e-01 1.80661439e-04 -4.39656854e+00] [ 1.94191331e-03 -1.72616775e-04 9.99998100e-01 -1.03544354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74327356 meters 0.09972433268555422 Centerline is valid? [True, True] Translation: X:47.78, Y:-4.40, Z:-1.04 [[ 9.99996358e-01 1.62605974e-03 -2.15381618e-03 4.77817287e+01] [-1.62562925e-03 9.99998658e-01 2.01609324e-04 -4.40311975e+00] [ 2.15414112e-03 -1.98107283e-04 9.99997660e-01 -1.03621761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77327356 meters 0.10123164827113375 Centerline is valid? [True, False] Translation: X:47.78, Y:-4.40, Z:-1.04 [[ 9.99996923e-01 1.53771057e-03 -1.94679842e-03 4.77813254e+01] [-1.53708242e-03 9.99998766e-01 3.24117418e-04 -4.40353296e+00] [ 1.94729442e-03 -3.21124031e-04 9.99998052e-01 -1.03634282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80327356000001 meters 0.10579191964679183 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.40, Z:-1.04 [[ 9.99998070e-01 1.28705592e-03 -1.48436474e-03 4.77802336e+01] [-1.28626560e-03 9.99999031e-01 5.33260659e-04 -4.40468972e+00] [ 1.48504963e-03 -5.31350342e-04 9.99998756e-01 -1.03624578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83327356000001 meters 0.10603049990089893 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99998550e-01 1.18827592e-03 -1.22020388e-03 4.77796084e+01] [-1.18747183e-03 9.99999077e-01 6.59500438e-04 -4.40537650e+00] [ 1.22098642e-03 -6.58050523e-04 9.99999038e-01 -1.03618649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86327356000001 meters 0.10251816427278755 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99998985e-01 1.15691174e-03 -8.31086598e-04 4.77790004e+01] [-1.15599739e-03 9.99998727e-01 1.09981929e-03 -4.40661423e+00] [ 8.32357934e-04 -1.09885744e-03 9.99999050e-01 -1.03657166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89327356000001 meters 0.10392290857690481 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99999140e-01 1.15436332e-03 -6.22822540e-04 4.77786741e+01] [-1.15353238e-03 9.99998446e-01 1.33287225e-03 -4.40725256e+00] [ 6.24360191e-04 -1.33215265e-03 9.99998918e-01 -1.03679070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92327356 meters 0.11213201940823664 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99999154e-01 1.19859858e-03 -5.04377869e-04 4.77785189e+01] [-1.19783478e-03 9.99998140e-01 1.51192768e-03 -4.40787255e+00] [ 5.06189125e-04 -1.51132224e-03 9.99998730e-01 -1.03693132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95327356 meters 0.10880166845140941 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99999389e-01 1.09157391e-03 -1.76209056e-04 4.77777536e+01] [-1.09125533e-03 9.99997788e-01 1.79802664e-03 -4.40904747e+00] [ 1.78171345e-04 -1.79783325e-03 9.99998368e-01 -1.03687233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98327356 meters 0.1085589286342208 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99999623e-01 8.67843011e-04 8.49989726e-06 4.77770744e+01] [-8.67855923e-04 9.99998246e-01 1.65965746e-03 -4.40925533e+00] [-7.05956022e-06 -1.65966421e-03 9.99998623e-01 -1.03646276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.01327356 meters 0.11210993804118918 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99999570e-01 9.20314469e-04 1.16024392e-04 4.77767722e+01] [-9.20536775e-04 9.99997712e-01 1.93076615e-03 -4.41045434e+00] [-1.14247214e-04 -1.93087212e-03 9.99998129e-01 -1.03633898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04327356 meters 0.1108238105629685 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99999541e-01 9.49318188e-04 1.26366172e-04 4.77767518e+01] [-9.49570285e-04 9.99997529e-01 2.01009186e-03 -4.41077954e+00] [-1.24457643e-04 -2.01021093e-03 9.99997972e-01 -1.03633212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07327356 meters 0.11194997965081041 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99999551e-01 8.69431419e-04 3.76110283e-04 4.77761354e+01] [-8.70244877e-04 9.99997271e-01 2.16808696e-03 -4.41168510e+00] [-3.74224254e-04 -2.16841330e-03 9.99997579e-01 -1.03623934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10327356 meters 0.11293859307534473 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99999607e-01 7.90467371e-04 4.01304562e-04 4.77758343e+01] [-7.91304254e-04 9.99997504e-01 2.08954761e-03 -4.41198326e+00] [-3.99651841e-04 -2.08986434e-03 9.99997736e-01 -1.03585912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.13327356 meters 0.11108826816758817 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99999472e-01 9.69800794e-04 3.40043808e-04 4.77761112e+01] [-9.70581435e-04 9.99996877e-01 2.30310881e-03 -4.41246266e+00] [-3.37809189e-04 -2.30343763e-03 9.99997290e-01 -1.03603487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16327356000001 meters 0.1121508120743012 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99999457e-01 1.01385015e-03 2.40320123e-04 4.77760807e+01] [-1.01440910e-03 9.99996754e-01 2.33723585e-03 -4.41295131e+00] [-2.37949736e-04 -2.33747836e-03 9.99997240e-01 -1.03566037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19327356000001 meters 0.11229248582000091 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.04 [[ 9.99999434e-01 1.04801347e-03 1.82964745e-04 4.77761290e+01] [-1.04843517e-03 9.99996759e-01 2.32012775e-03 -4.41309458e+00] [-1.80532627e-04 -2.32031827e-03 9.99997292e-01 -1.03551572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22327356000001 meters 0.11501884912057297 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.03 [[ 9.99999484e-01 9.96280766e-04 1.97002860e-04 4.77756995e+01] [-9.96731940e-04 9.99996850e-01 2.30350792e-03 -4.41378646e+00] [-1.94707299e-04 -2.30370309e-03 9.99997328e-01 -1.03490795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25327356000001 meters 0.11428333094267981 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.41, Z:-1.03 [[ 9.99999268e-01 1.20800354e-03 6.62350646e-05 4.77760107e+01] [-1.20816683e-03 9.99996086e-01 2.52335750e-03 -4.41450567e+00] [-6.31865806e-05 -2.52343568e-03 9.99996814e-01 -1.03490851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28327356 meters 0.11598889749210683 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.42, Z:-1.03 [[ 9.99998971e-01 1.43406575e-03 3.57631665e-05 4.77758907e+01] [-1.43416438e-03 9.99994679e-01 2.92994518e-03 -4.41632133e+00] [-3.15612422e-05 -2.92999345e-03 9.99995707e-01 -1.03458322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31327356 meters 0.11658123837634053 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.42, Z:-1.03 [[ 9.99998635e-01 1.65180888e-03 2.91907955e-05 4.77759704e+01] [-1.65189706e-03 9.99993072e-01 3.33580457e-03 -4.41749119e+00] [-2.36804817e-05 -3.33584824e-03 9.99994436e-01 -1.03468846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34327356 meters 0.11871135264598394 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.42, Z:-1.03 [[ 9.99998069e-01 1.96494388e-03 3.69915203e-05 4.77760079e+01] [-1.96507344e-03 9.99990433e-01 3.90805866e-03 -4.41940067e+00] [-2.93120505e-05 -3.90812380e-03 9.99992363e-01 -1.03474385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37327356 meters 0.11835595717983136 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.42, Z:-1.03 [[ 9.99997711e-01 2.13939265e-03 1.69082295e-05 4.77760010e+01] [-2.13944477e-03 9.99988903e-01 4.19730828e-03 -4.42051745e+00] [-7.92835141e-06 -4.19733485e-03 9.99991191e-01 -1.03463766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40327356 meters 0.12029979135159097 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.42, Z:-1.03 [[ 9.99998518e-01 -1.38600787e-03 -1.02143532e-03 4.77781571e+01] [ 1.38609425e-03 9.99999036e-01 8.38668946e-05 -4.42052130e+00] [ 1.02131810e-03 -8.52825759e-05 9.99999475e-01 -1.03443905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43327356 meters 0.12250958008999306 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.42, Z:-1.03 [[ 9.99998944e-01 -1.14066236e-03 -9.00855642e-04 4.77775847e+01] [ 1.14127937e-03 9.99999114e-01 6.84696630e-04 -4.42333081e+00] [ 9.00073837e-04 -6.85724035e-04 9.99999360e-01 -1.03391640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46327356 meters 0.10997466913812771 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.43, Z:-1.03 [[ 9.99999590e-01 -5.25292792e-04 -7.37666235e-04 4.77775458e+01] [ 5.26706038e-04 9.99998024e-01 1.91694793e-03 -4.42710813e+00] [ 7.36657819e-04 -1.91733568e-03 9.99997891e-01 -1.03430714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.49327356 meters 0.10798478073686424 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.43, Z:-1.03 [[ 9.99999704e-01 -1.46292242e-04 -7.55696267e-04 4.77777030e+01] [ 1.48204244e-04 9.99996787e-01 2.53068340e-03 -4.42902915e+00] [ 7.55323619e-04 -2.53079465e-03 9.99996512e-01 -1.03444085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52327356 meters 0.10798478073686424 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.43, Z:-1.03 [[ 9.99999704e-01 -1.46292242e-04 -7.55696267e-04 4.77777030e+01] [ 1.48204244e-04 9.99996787e-01 2.53068340e-03 -4.42902915e+00] [ 7.55323619e-04 -2.53079465e-03 9.99996512e-01 -1.03444085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55327356000001 meters 0.12416444063976169 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.43, Z:-1.03 [[ 9.99999665e-01 2.30122076e-04 -7.85375622e-04 4.77779391e+01] [-2.27662176e-04 9.99995073e-01 3.13078525e-03 -4.43073101e+00] [ 7.86092215e-04 -3.13060540e-03 9.99994791e-01 -1.03466039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58327356000001 meters 0.1160020568570727 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.43, Z:-1.03 [[ 9.99999458e-01 6.67629460e-04 -7.98506800e-04 4.77780187e+01] [-6.64502832e-04 9.99992137e-01 3.90947015e-03 -4.43324728e+00] [ 8.01110599e-04 -3.90893742e-03 9.99992039e-01 -1.03471535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61327356000001 meters 0.10707788496248037 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.43, Z:-1.03 [[ 9.99999160e-01 9.20371361e-04 -9.12345543e-04 4.77781731e+01] [-9.16496310e-04 9.99990597e-01 4.23870682e-03 -4.43450416e+00] [ 9.16238148e-04 -4.23786710e-03 9.99990600e-01 -1.03453718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64327356000001 meters 0.11816941834855182 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.44, Z:-1.03 [[ 9.99995387e-01 -2.20488465e-03 -2.08915799e-03 4.77807021e+01] [ 2.20631299e-03 9.99997334e-01 6.81636878e-04 -4.43579229e+00] [ 2.08764949e-03 -6.86243070e-04 9.99997585e-01 -1.03454896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67327356 meters 0.10573212938791834 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.44, Z:-1.03 [[ 9.99995797e-01 -1.84955465e-03 -2.23276021e-03 4.77811775e+01] [ 1.85205053e-03 9.99997662e-01 1.11629162e-03 -4.43692576e+00] [ 2.23069035e-03 -1.12042212e-03 9.99996884e-01 -1.03474945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70327356 meters 0.10538088970843972 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.44, Z:-1.03 [[ 9.99996119e-01 -1.63238217e-03 -2.25773372e-03 4.77812643e+01] [ 1.63566347e-03 9.99997608e-01 1.45227767e-03 -4.43802739e+00] [ 2.25535765e-03 -1.45596492e-03 9.99996397e-01 -1.03477965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73327356 meters 0.10108026087738527 Centerline is valid? [False, False] Translation: X:47.78, Y:-4.44, Z:-1.03 [[ 9.99996055e-01 -1.16147372e-03 -2.55757371e-03 4.77819244e+01] [ 1.16654125e-03 9.99997358e-01 1.98078405e-03 -4.43964008e+00] [ 2.55526632e-03 -1.98375975e-03 9.99994768e-01 -1.03478269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.76327356 meters 0.09978870274915846 Centerline is valid? [False, True] Translation: X:47.78, Y:-4.44, Z:-1.03 [[ 9.99995974e-01 -8.76890125e-04 -2.69856798e-03 4.77823514e+01] [ 8.83137717e-04 9.99996931e-01 2.31483090e-03 -4.44053933e+00] [ 2.69652984e-03 -2.31720479e-03 9.99993680e-01 -1.03494013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79327356 meters 0.10326261570876924 Centerline is valid? [True, False] Translation: X:47.78, Y:-4.44, Z:-1.04 [[ 9.99995322e-01 -2.07786591e-04 -3.05160565e-03 4.77834026e+01] [ 2.17136396e-04 9.99995283e-01 3.06388504e-03 -4.44237624e+00] [ 3.05095462e-03 -3.06453332e-03 9.99990650e-01 -1.03531513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82327356 meters 0.09436793995802607 Centerline is valid? [False, True] Translation: X:47.78, Y:-4.44, Z:-1.04 [[ 9.99994577e-01 4.12040543e-05 -3.29316720e-03 4.77839158e+01] [-3.04943701e-05 9.99994712e-01 3.25207651e-03 -4.44301087e+00] [ 3.29328378e-03 -3.25195845e-03 9.99989289e-01 -1.03527469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85327356 meters 0.09778514647709859 Centerline is valid? [True, True] Translation: X:47.81, Y:-4.45, Z:-1.04 [[ 9.99989579e-01 3.47159295e-03 -2.96462899e-03 4.78123127e+01] [-3.47072042e-03 9.99993932e-01 2.99409254e-04 -4.45255406e+00] [ 2.96565042e-03 -2.89116735e-04 9.99995561e-01 -1.03619058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88327356 meters 0.09755796873447141 Centerline is valid? [True, True] Translation: X:47.84, Y:-4.46, Z:-1.04 [[ 9.99984823e-01 4.79561045e-03 -2.71200484e-03 4.78424023e+01] [-4.79488649e-03 9.99988467e-01 2.73388062e-04 -4.45535308e+00] [ 2.71328462e-03 -2.60380157e-04 9.99996285e-01 -1.03683173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.91327356000001 meters 0.09208283199176223 Centerline is valid? [True, True] Translation: X:47.87, Y:-4.45, Z:-1.03 [[ 9.99964053e-01 7.95805274e-03 -2.92596236e-03 4.78735939e+01] [-7.95722091e-03 9.99968297e-01 2.95824304e-04 -4.44883786e+00] [ 2.92822379e-03 -2.72531141e-04 9.99995676e-01 -1.03445217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94327356000001 meters 0.09220846827527672 Centerline is valid? [True, True] Translation: X:47.90, Y:-4.45, Z:-1.04 [[ 9.99952394e-01 9.31549497e-03 -2.90377945e-03 4.79034959e+01] [-9.31468234e-03 9.99956574e-01 2.93251890e-04 -4.45223810e+00] [ 2.90638513e-03 -2.66190147e-04 9.99995741e-01 -1.03505742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97327356000001 meters 0.08921104966332348 Centerline is valid? [True, True] Translation: X:47.93, Y:-4.45, Z:-1.03 [[ 9.99919992e-01 1.22038751e-02 -3.32798073e-03 4.79338799e+01] [-1.22028225e-02 9.99925486e-01 3.36393659e-04 -4.45063213e+00] [ 3.33183806e-03 -2.95755986e-04 9.99994406e-01 -1.03497424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00327356000001 meters 0.09039494374205494 Centerline is valid? [True, True] Translation: X:47.96, Y:-4.46, Z:-1.04 [[ 9.99902372e-01 1.34344829e-02 -3.84196449e-03 4.79609898e+01] [-1.34330966e-02 9.99909697e-01 3.86403463e-04 -4.45621233e+00] [ 3.84680868e-03 -3.34756259e-04 9.99992545e-01 -1.03582396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03327356 meters 0.09006307697005021 Centerline is valid? [True, True] Translation: X:47.99, Y:-4.46, Z:-1.04 [[ 9.99883807e-01 1.48959207e-02 -3.23801382e-03 4.79907702e+01] [-1.48949423e-02 9.99889011e-01 3.26086473e-04 -4.45888182e+00] [ 3.24251179e-03 -2.77818555e-04 9.99994704e-01 -1.03621335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06327356 meters 0.08859302286321008 Centerline is valid? [True, True] Translation: X:48.02, Y:-4.46, Z:-1.04 [[ 9.99830828e-01 1.78354986e-02 -4.49562909e-03 4.80208378e+01] [-1.78336378e-02 9.99840865e-01 4.53671175e-04 -4.45832285e+00] [ 4.50300513e-03 -3.73421005e-04 9.99989792e-01 -1.03670801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09327356 meters 0.08720844484019749 Centerline is valid? [True, True] Translation: X:48.05, Y:-4.46, Z:-1.04 [[ 9.99794778e-01 1.98403181e-02 -4.09422545e-03 4.80512700e+01] [-1.98387923e-02 9.99803107e-01 4.12954915e-04 -4.45779580e+00] [ 4.10161248e-03 -3.31645679e-04 9.99991533e-01 -1.03652352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12327356 meters 0.08502498614433061 Centerline is valid? [True, True] Translation: X:48.08, Y:-4.46, Z:-1.04 [[ 9.99689114e-01 2.45012432e-02 -4.62210896e-03 4.80815320e+01] [-2.44993493e-02 9.99699737e-01 4.65925464e-04 -4.45620031e+00] [ 4.63213687e-03 -3.52541953e-04 9.99989209e-01 -1.03679935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.15327356 meters 0.08466425869639292 Centerline is valid? [True, True] Translation: X:48.11, Y:-4.46, Z:-1.04 [[ 9.99641110e-01 2.62960741e-02 -5.11541724e-03 4.81102535e+01] [-2.62937812e-02 9.99654126e-01 5.14974088e-04 -4.45739376e+00] [ 5.12718975e-03 -3.80285607e-04 9.99986784e-01 -1.03790613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18327356 meters 0.08652591944169746 Centerline is valid? [True, True] Translation: X:48.14, Y:-4.46, Z:-1.04 [[ 9.99515238e-01 3.08860461e-02 -3.91689000e-03 4.81389464e+01] [-3.08847364e-02 9.99522875e-01 3.94448238e-04 -4.46430835e+00] [ 3.92720410e-03 -2.73284909e-04 9.99992251e-01 -1.04023656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21327356 meters 0.08299699487446945 Centerline is valid? [True, True] Translation: X:48.17, Y:-4.46, Z:-1.04 [[ 9.99468177e-01 3.22892471e-02 -4.55716990e-03 4.81686633e+01] [-3.22874932e-02 9.99478518e-01 4.57942824e-04 -4.45861844e+00] [ 4.56958005e-03 -3.10559688e-04 9.99989511e-01 -1.03851417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24327356 meters 0.08308621681807968 Centerline is valid? [True, True] Translation: X:48.20, Y:-4.46, Z:-1.04 [[ 9.99368851e-01 3.51681207e-02 -5.01029907e-03 4.81975297e+01] [-3.51660335e-02 9.99381357e-01 5.04101885e-04 -4.46095146e+00] [ 5.02492779e-03 -3.27591377e-04 9.99987321e-01 -1.03995637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.27327356 meters 0.07984084061136332 Centerline is valid? [True, True] Translation: X:48.23, Y:-4.46, Z:-1.04 [[ 9.99329640e-01 3.62684689e-02 -4.98695539e-03 4.82271503e+01] [-3.62664199e-02 9.99342032e-01 5.00712263e-04 -4.45639424e+00] [ 5.00183419e-03 -3.19517587e-04 9.99987440e-01 -1.03878236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30327356000001 meters 0.08021391570994989 Centerline is valid? [True, True] Translation: X:48.25, Y:-4.46, Z:-1.04 [[ 9.99310323e-01 3.67224963e-02 -5.50778481e-03 4.82543382e+01] [-3.67200074e-02 9.99325440e-01 5.52363019e-04 -4.46078975e+00] [ 5.52435363e-03 -3.49736168e-04 9.99984679e-01 -1.04079908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33327356000001 meters 0.08024694305980051 Centerline is valid? [True, True] Translation: X:48.28, Y:-4.46, Z:-1.04 [[ 9.99306903e-01 3.68914201e-02 -4.97365310e-03 4.82824440e+01] [-3.68893934e-02 9.99319230e-01 4.98648208e-04 -4.46469296e+00] [ 4.98866303e-03 -3.14827551e-04 9.99987507e-01 -1.04092012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36327356000001 meters 0.08102492255421466 Centerline is valid? [True, True] Translation: X:48.31, Y:-4.47, Z:-1.04 [[ 9.99328633e-01 3.62968814e-02 -4.98202674e-03 4.83100675e+01] [-3.62948492e-02 9.99341001e-01 4.97739835e-04 -4.46960281e+00] [ 4.99680999e-03 -3.16583760e-04 9.99987466e-01 -1.04156848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39327356000001 meters 0.0816672623459969 Centerline is valid? [True, True] Translation: X:48.34, Y:-4.47, Z:-1.04 [[ 9.99369053e-01 3.52319361e-02 -4.49527921e-03 4.83370708e+01] [-3.52302767e-02 9.99379121e-01 4.47834769e-04 -4.47415183e+00] [ 4.50826627e-03 -2.89182279e-04 9.99989796e-01 -1.04183540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42327356 meters 0.08230525989275012 Centerline is valid? [True, True] Translation: X:48.36, Y:-4.48, Z:-1.04 [[ 9.99383827e-01 3.48475214e-02 -4.19721034e-03 4.83641334e+01] [-3.48460684e-02 9.99392604e-01 4.18854923e-04 -4.47922982e+00] [ 4.20925703e-03 -2.72340557e-04 9.99991104e-01 -1.04256002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45327356 meters 0.08263771871250308 Centerline is valid? [True, True] Translation: X:48.39, Y:-4.48, Z:-1.04 [[ 9.99377587e-01 3.49992032e-02 -4.41528153e-03 4.83925162e+01] [-3.49975962e-02 9.99387299e-01 4.40741980e-04 -4.48318556e+00] [ 4.42800191e-03 -2.85943417e-04 9.99990155e-01 -1.04418992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48327356 meters 0.08282436356087794 Centerline is valid? [True, True] Translation: X:48.42, Y:-4.49, Z:-1.04 [[ 9.99373122e-01 3.50131761e-02 -5.23828653e-03 4.84195747e+01] [-3.50109189e-02 9.99386794e-01 5.22000793e-04 -4.48662415e+00] [ 5.25335128e-03 -3.38276338e-04 9.99986144e-01 -1.04485597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.51327356 meters 0.08346404863355358 Centerline is valid? [True, True] Translation: X:48.45, Y:-4.49, Z:-1.05 [[ 9.99367283e-01 3.50676528e-02 -5.94089900e-03 4.84465110e+01] [-3.50647643e-02 9.99384868e-01 5.89702466e-04 -4.49064949e+00] [ 5.95792405e-03 -3.81013128e-04 9.99982179e-01 -1.04724907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54327356 meters 0.08367452147506058 Centerline is valid? [True, True] Translation: X:48.48, Y:-4.49, Z:-1.05 [[ 9.99343025e-01 3.56271951e-02 -6.64995748e-03 4.84753487e+01] [-3.56235738e-02 9.99365060e-01 6.62263434e-04 -4.49399348e+00] [ 6.66932974e-03 -4.24933093e-04 9.99977669e-01 -1.04819338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57327356 meters 0.08347184244039778 Centerline is valid? [True, True] Translation: X:48.50, Y:-4.50, Z:-1.05 [[ 9.99257868e-01 3.78139862e-02 -7.33588049e-03 4.85041157e+01] [-3.78096349e-02 9.99284693e-01 7.30984219e-04 -4.49600660e+00] [ 7.35827450e-03 -4.53074769e-04 9.99972825e-01 -1.04948822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.60327356 meters 0.08292562899087833 Centerline is valid? [True, True] Translation: X:48.53, Y:-4.50, Z:-1.05 [[ 9.99211368e-01 3.90406366e-02 -7.24362301e-03 4.85330371e+01] [-3.90364333e-02 9.99237528e-01 7.20813411e-04 -4.49717170e+00] [ 7.26624096e-03 -4.37479748e-04 9.99973505e-01 -1.05014323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.63327356 meters 0.07964091705596531 Centerline is valid? [True, True] Translation: X:48.56, Y:-4.49, Z:-1.05 [[ 9.99074733e-01 4.25881008e-02 -5.99435397e-03 4.85638846e+01] [-4.25852804e-02 9.99092657e-01 5.97411838e-04 -4.49259881e+00] [ 6.01435767e-03 -3.41587827e-04 9.99981855e-01 -1.04805893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.66327356000001 meters 0.07719808718953178 Centerline is valid? [True, True] Translation: X:48.59, Y:-4.49, Z:-1.05 [[ 9.98995384e-01 4.45361140e-02 -4.97559960e-03 4.85942589e+01] [-4.45341987e-02 9.99007738e-01 4.95118440e-04 -4.48903609e+00] [ 4.99271315e-03 -2.73036696e-04 9.99987499e-01 -1.04542627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69327356000001 meters 0.07570913997593152 Centerline is valid? [True, True] Translation: X:48.62, Y:-4.49, Z:-1.04 [[ 9.98880859e-01 4.71658474e-02 -3.52302994e-03 4.86241499e+01] [-4.71649047e-02 9.98887055e-01 3.50252953e-04 -4.48719670e+00] [ 3.53562898e-03 -1.83697600e-04 9.99993733e-01 -1.04373188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72327356000001 meters 0.0797862461727684 Centerline is valid? [True, True] Translation: X:48.65, Y:-4.50, Z:-1.05 [[ 9.98836256e-01 4.81569115e-02 -2.65426094e-03 4.86503904e+01] [-4.81563835e-02 9.98839774e-01 2.62507672e-04 -4.50229146e+00] [ 2.66382296e-03 -1.34382572e-04 9.99996443e-01 -1.04898566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75327356000001 meters 0.0751097010756544 Centerline is valid? [True, True] Translation: X:48.68, Y:-4.49, Z:-1.04 [[ 9.98819037e-01 4.85255540e-02 -2.40868560e-03 4.86805348e+01] [-4.85251294e-02 9.98821935e-01 2.34437716e-04 -4.49240933e+00] [ 2.41722423e-03 -1.17279073e-04 9.99997072e-01 -1.04336211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78327356 meters 0.07642377469298656 Centerline is valid? [True, True] Translation: X:48.71, Y:-4.50, Z:-1.05 [[ 9.98872090e-01 4.74273416e-02 -2.27947468e-03 4.87080291e+01] [-4.74269547e-02 9.98874684e-01 2.23518930e-04 -4.50006810e+00] [ 2.28751046e-03 -1.15158278e-04 9.99997377e-01 -1.04565733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81327356 meters 0.07634996899335038 Centerline is valid? [True, True] Translation: X:48.74, Y:-4.50, Z:-1.05 [[ 9.98938931e-01 4.59326029e-02 -3.34779583e-03 4.87372596e+01] [-4.59317501e-02 9.98944525e-01 3.31191288e-04 -4.50328866e+00] [ 3.35947480e-03 -1.77069750e-04 9.99994341e-01 -1.04557595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84327356 meters 0.077049557619457 Centerline is valid? [True, True] Translation: X:48.77, Y:-4.51, Z:-1.05 [[ 9.99121273e-01 4.16446927e-02 -4.73306524e-03 4.87667208e+01] [-4.16429361e-02 9.99132447e-01 4.69111093e-04 -4.51136571e+00] [ 4.74849504e-03 -2.71600138e-04 9.99988689e-01 -1.04612531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87327356 meters 0.07965569381451103 Centerline is valid? [True, True] Translation: X:48.79, Y:-4.52, Z:-1.05 [[ 9.99214503e-01 3.92960972e-02 -5.11805878e-03 4.87939107e+01] [-3.92940209e-02 9.99227564e-01 5.05646625e-04 -4.52162305e+00] [ 5.13397535e-03 -3.04140332e-04 9.99986775e-01 -1.05005124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.90327356 meters 0.0806300271196961 Centerline is valid? [True, True] Translation: X:48.82, Y:-4.53, Z:-1.05 [[ 9.99318178e-01 3.65375572e-02 -5.30896514e-03 4.88236652e+01] [-3.65352791e-02 9.99332226e-01 5.25476278e-04 -4.52823836e+00] [ 5.32461957e-03 -3.31153473e-04 9.99985769e-01 -1.05157142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93327356 meters 0.08166441816893541 Centerline is valid? [True, True] Translation: X:48.85, Y:-4.54, Z:-1.05 [[ 9.99500503e-01 3.10391228e-02 -5.94287586e-03 4.88533132e+01] [-3.10361717e-02 9.99518089e-01 5.88190826e-04 -4.53575623e+00] [ 5.95826885e-03 -4.03452911e-04 9.99982168e-01 -1.05215267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96327356 meters 0.08467466969068901 Centerline is valid? [True, True] Translation: X:48.88, Y:-4.55, Z:-1.05 [[ 9.99674075e-01 2.48913022e-02 -5.67149558e-03 4.88821482e+01] [-2.48885164e-02 9.99690075e-01 5.61240629e-04 -4.54728285e+00] [ 5.68370785e-03 -4.19902596e-04 9.99983759e-01 -1.05350328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.99327356 meters 0.08768568095028456 Centerline is valid? [True, True] Translation: X:48.91, Y:-4.56, Z:-1.05 [[ 9.99745834e-01 2.20590987e-02 -4.65445361e-03 4.89106057e+01] [-2.20571925e-02 9.99756604e-01 4.60487598e-04 -4.55771091e+00] [ 4.66347868e-03 -3.57706379e-04 9.99989062e-01 -1.05489241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02327356 meters 0.08643117361666283 Centerline is valid? [True, True] Translation: X:48.94, Y:-4.56, Z:-1.05 [[ 9.99798884e-01 1.95371723e-02 -4.52665437e-03 4.89406832e+01] [-1.95353443e-02 9.99809067e-01 4.47713435e-04 -4.55903512e+00] [ 4.53453713e-03 -3.59193641e-04 9.99989654e-01 -1.05370583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05327356000001 meters 0.08913759565481691 Centerline is valid? [True, True] Translation: X:48.97, Y:-4.57, Z:-1.06 [[ 9.99846679e-01 1.68921343e-02 -4.61249750e-03 4.89689173e+01] [-1.68902105e-02 9.99857246e-01 4.55730126e-04 -4.56788276e+00] [ 4.61953730e-03 -3.77754199e-04 9.99989259e-01 -1.05505704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08327356000001 meters 0.08848326000554708 Centerline is valid? [True, True] Translation: X:49.00, Y:-4.57, Z:-1.05 [[ 9.99906761e-01 1.30350244e-02 -4.06901921e-03 4.89995993e+01] [-1.30334931e-02 9.99914979e-01 4.02620887e-04 -4.57078730e+00] [ 4.07392143e-03 -3.49549814e-04 9.99991640e-01 -1.05327733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11327356000001 meters 0.09427636969643698 Centerline is valid? [True, True] Translation: X:49.03, Y:-4.59, Z:-1.06 [[ 9.99939691e-01 1.04552560e-02 -3.36175939e-03 4.90274039e+01] [-1.04541989e-02 9.99945298e-01 3.31854912e-04 -4.58530400e+00] [ 3.36504512e-03 -2.96690397e-04 9.99994294e-01 -1.05502159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14327356000001 meters 0.09591973141755275 Centerline is valid? [True, True] Translation: X:49.06, Y:-4.59, Z:-1.06 [[ 9.99946935e-01 9.75439873e-03 -3.31348242e-03 4.90550494e+01] [-9.75337193e-03 9.99952382e-01 3.25904517e-04 -4.59134720e+00] [ 3.31650364e-03 -2.93569597e-04 9.99994457e-01 -1.05584135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17327356 meters 0.09502191420264094 Centerline is valid? [True, True] Translation: X:49.08, Y:-4.59, Z:-1.06 [[ 9.99948892e-01 9.63589255e-03 -3.05978415e-03 4.90841216e+01] [-9.63501647e-03 9.99953537e-01 3.00933832e-04 -4.59310283e+00] [ 3.06254175e-03 -2.71437382e-04 9.99995274e-01 -1.05631059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20327356 meters 0.09349631173222658 Centerline is valid? [True, True] Translation: X:49.11, Y:-4.59, Z:-1.06 [[ 9.99946484e-01 9.66171878e-03 -3.69869124e-03 4.91133106e+01] [-9.66043879e-03 9.99953271e-01 3.63775772e-04 -4.59301093e+00] [ 3.70203311e-03 -3.28025324e-04 9.99993094e-01 -1.05675908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23327356 meters 0.09735240656836971 Centerline is valid? [True, True] Translation: X:49.14, Y:-4.60, Z:-1.06 [[ 9.99939261e-01 1.01976935e-02 -4.18116415e-03 4.91400849e+01] [-1.01960647e-02 9.99947934e-01 4.10687913e-04 -4.60260930e+00] [ 4.18513452e-03 -3.68031548e-04 9.99991175e-01 -1.05964719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.26327356 meters 0.09262991441179096 Centerline is valid? [True, True] Translation: X:49.17, Y:-4.60, Z:-1.06 [[ 9.99932642e-01 1.07089149e-02 -4.47555100e-03 4.91698620e+01] [-1.07070529e-02 9.99942581e-01 4.39778040e-04 -4.59642055e+00] [ 4.48000356e-03 -3.91828456e-04 9.99989888e-01 -1.05836268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29327356 meters 0.08796381237447731 Centerline is valid? [True, True] Translation: X:49.20, Y:-4.59, Z:-1.06 [[ 9.99917018e-01 1.12528005e-02 -6.27148433e-03 4.91991803e+01] [-1.12491549e-02 9.99936536e-01 6.16276520e-04 -4.58913601e+00] [ 6.27802115e-03 -5.45676482e-04 9.99980144e-01 -1.05684630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32327356 meters 0.08957933171403697 Centerline is valid? [True, True] Translation: X:49.23, Y:-4.59, Z:-1.06 [[ 9.99912192e-01 1.18063535e-02 -6.01816253e-03 4.92270927e+01] [-1.18030091e-02 9.99930167e-01 5.90932605e-04 -4.59475404e+00] [ 6.02471903e-03 -5.19848289e-04 9.99981716e-01 -1.05854401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35327356 meters 0.08705630904457913 Centerline is valid? [True, True] Translation: X:49.26, Y:-4.59, Z:-1.06 [[ 9.99890035e-01 1.37896000e-02 -5.45572679e-03 4.92570693e+01] [-1.37868789e-02 9.99904813e-01 5.36065599e-04 -4.59232512e+00] [ 5.46259961e-03 -4.60789206e-04 9.99984974e-01 -1.05801717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38327356 meters 0.08610112710504812 Centerline is valid? [True, True] Translation: X:49.29, Y:-4.59, Z:-1.06 [[ 9.99879217e-01 1.47077065e-02 -5.02342716e-03 4.92861171e+01] [-1.47054164e-02 9.99891748e-01 4.92507990e-04 -4.59310427e+00] [ 5.03012703e-03 -4.18576915e-04 9.99987261e-01 -1.05736200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.41327356000001 meters 0.08610112710504812 Centerline is valid? [True, True] Translation: X:49.31, Y:-4.60, Z:-1.06 [[ 9.99880709e-01 1.46058943e-02 -5.02354293e-03 4.93135459e+01] [-1.46036089e-02 9.99893241e-01 4.91329116e-04 -4.59569272e+00] [ 5.03018292e-03 -4.17908649e-04 9.99987261e-01 -1.05791029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44327356000001 meters 0.08783445761616768 Centerline is valid? [True, True] Translation: X:49.34, Y:-4.60, Z:-1.06 [[ 9.99870341e-01 1.52367395e-02 -5.20989934e-03 4.93413373e+01] [-1.52342877e-02 9.99883821e-01 5.09965141e-04 -4.60161334e+00] [ 5.21706427e-03 -4.30529914e-04 9.99986298e-01 -1.05917143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47327356000001 meters 0.08707296302480239 Centerline is valid? [True, True] Translation: X:49.37, Y:-4.60, Z:-1.06 [[ 9.99844851e-01 1.71821660e-02 -3.87905636e-03 4.93716757e+01] [-1.71808190e-02 9.99852327e-01 3.80302854e-04 -4.60195720e+00] [ 3.88501795e-03 -3.13598485e-04 9.99992404e-01 -1.05853924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50327356000001 meters 0.08445505014062543 Centerline is valid? [True, True] Translation: X:49.40, Y:-4.60, Z:-1.06 [[ 9.99829715e-01 1.81142503e-02 -3.52335409e-03 4.94010112e+01] [-1.81131494e-02 9.99835884e-01 3.44121507e-04 -4.59873032e+00] [ 3.52900936e-03 -2.80243870e-04 9.99993734e-01 -1.05774010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53327356 meters 0.08736825442791077 Centerline is valid? [True, True] Translation: X:49.43, Y:-4.61, Z:-1.06 [[ 9.99784772e-01 2.04247405e-02 -3.63859389e-03 4.94293910e+01] [-2.04235794e-02 9.99791354e-01 3.55989770e-04 -4.60671176e+00] [ 3.64510571e-03 -2.81600040e-04 9.99993317e-01 -1.06064064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56327356 meters 0.08583033177861125 Centerline is valid? [True, True] Translation: X:49.46, Y:-4.61, Z:-1.06 [[ 9.99760536e-01 2.14858850e-02 -4.15068229e-03 4.94582183e+01] [-2.14843865e-02 9.99769102e-01 4.05274610e-04 -4.60590476e+00] [ 4.15843158e-03 -3.16002699e-04 9.99991304e-01 -1.06116868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59327356 meters 0.08494501957949875 Centerline is valid? [True, True] Translation: X:49.49, Y:-4.61, Z:-1.06 [[ 9.99732932e-01 2.26900599e-02 -4.38479072e-03 4.94877818e+01] [-2.26884048e-02 9.99742494e-01 4.26840700e-04 -4.60582004e+00] [ 4.39334665e-03 -3.27242798e-04 9.99990296e-01 -1.06131367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62327356 meters 0.08452392150668216 Centerline is valid? [True, True] Translation: X:49.52, Y:-4.61, Z:-1.06 [[ 9.99667163e-01 2.52215049e-02 -5.42577230e-03 4.95166267e+01] [-2.52189998e-02 9.99681810e-01 5.29632897e-04 -4.60537735e+00] [ 5.43740401e-03 -3.92624065e-04 9.99985140e-01 -1.06261756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.65327356 meters 0.08310022089661134 Centerline is valid? [True, True] Translation: X:49.55, Y:-4.60, Z:-1.06 [[ 9.99615269e-01 2.70568589e-02 -6.10244026e-03 4.95470176e+01] [-2.70537199e-02 9.99633803e-01 5.96358728e-04 -4.60365886e+00] [ 6.11634116e-03 -4.31035581e-04 9.99981202e-01 -1.06303050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68327356 meters 0.08168762685801678 Centerline is valid? [True, True] Translation: X:49.58, Y:-4.60, Z:-1.06 [[ 9.99520254e-01 3.01775441e-02 -6.96982874e-03 4.95776042e+01] [-3.01735254e-02 9.99544444e-01 6.81053337e-04 -4.60042801e+00] [ 6.98720610e-03 -4.70422299e-04 9.99975479e-01 -1.06353302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71327356 meters 0.08178257222253242 Centerline is valid? [True, True] Translation: X:49.61, Y:-4.60, Z:-1.06 [[ 9.99460278e-01 3.23178490e-02 -5.89149287e-03 4.96069713e+01] [-3.23150180e-02 9.99477568e-01 5.75114364e-04 -4.60232476e+00] [ 5.90700142e-03 -3.84420264e-04 9.99982480e-01 -1.06442310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74327356 meters 0.08159124873056448 Centerline is valid? [True, True] Translation: X:49.64, Y:-4.60, Z:-1.07 [[ 9.99335372e-01 3.61456613e-02 -4.72283656e-03 4.96365719e+01] [-3.61438844e-02 9.99346490e-01 4.61086993e-04 -4.60119515e+00] [ 4.73641643e-03 -2.90078884e-04 9.99988741e-01 -1.06602948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77327356 meters 0.07792024250047637 Centerline is valid? [True, True] Translation: X:49.67, Y:-4.59, Z:-1.06 [[ 9.99257372e-01 3.82129362e-02 -4.94723022e-03 4.96672463e+01] [-3.82110138e-02 9.99269576e-01 4.82553621e-04 -4.59366385e+00] [ 4.96205644e-03 -2.93156580e-04 9.99987646e-01 -1.06239045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80327356000001 meters 0.07712930259328576 Centerline is valid? [True, True] Translation: X:49.70, Y:-4.59, Z:-1.06 [[ 9.99126510e-01 4.16767611e-02 -3.04382146e-03 4.96984634e+01] [-4.16760488e-02 9.99131132e-01 2.97121755e-04 -4.59105170e+00] [ 3.05355986e-03 -1.70007770e-04 9.99995323e-01 -1.06287020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83327356000001 meters 0.07673140730309921 Centerline is valid? [True, True] Translation: X:49.73, Y:-4.59, Z:-1.06 [[ 9.99070010e-01 4.30316554e-02 -2.71876453e-03 4.97267219e+01] [-4.30310958e-02 9.99073699e-01 2.64024258e-04 -4.59182902e+00] [ 2.72760753e-03 -1.46787301e-04 9.99996269e-01 -1.06328108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86327356000001 meters 0.07605862853839183 Centerline is valid? [True, True] Translation: X:49.76, Y:-4.59, Z:-1.06 [[ 9.98992059e-01 4.47397059e-02 -3.63665170e-03 4.97563361e+01] [-4.47387281e-02 9.98998661e-01 3.49834617e-04 -4.58993317e+00] [ 3.64866168e-03 -1.86782833e-04 9.99993326e-01 -1.06366324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89327356 meters 0.07616746261876975 Centerline is valid? [True, True] Translation: X:49.78, Y:-4.59, Z:-1.06 [[ 9.98970700e-01 4.51825205e-02 -4.00999736e-03 4.97837302e+01] [-4.51813278e-02 9.98978727e-01 3.87561136e-04 -4.59176497e+00] [ 4.02341305e-03 -2.05985214e-04 9.99991885e-01 -1.06460748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92327356 meters 0.07656764671126236 Centerline is valid? [True, True] Translation: X:49.81, Y:-4.59, Z:-1.07 [[ 9.98949710e-01 4.55177078e-02 -5.25497012e-03 4.98117315e+01] [-4.55156582e-02 9.98963496e-01 5.09029761e-04 -4.59306245e+00] [ 5.27269319e-03 -2.69311709e-04 9.99986063e-01 -1.06635497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95327356 meters 0.07573529625094541 Centerline is valid? [True, True] Translation: X:49.84, Y:-4.59, Z:-1.07 [[ 9.98989615e-01 4.46264521e-02 -5.31317921e-03 4.98402691e+01] [-4.46243468e-02 9.99003705e-01 5.14195560e-04 -4.59140035e+00] [ 5.33083244e-03 -2.76578873e-04 9.99985753e-01 -1.06584953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98327356 meters 0.07515319445785454 Centerline is valid? [True, True] Translation: X:49.87, Y:-4.59, Z:-1.07 [[ 9.99000938e-01 4.43445588e-02 -5.53958256e-03 4.98695790e+01] [-4.43422901e-02 9.99016255e-01 5.31750187e-04 -4.59138594e+00] [ 5.55771325e-03 -2.85581158e-04 9.99984515e-01 -1.06525163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.01327356 meters 0.07571040491316412 Centerline is valid? [True, True] Translation: X:49.90, Y:-4.59, Z:-1.07 [[ 9.99019587e-01 4.39320430e-02 -5.46256397e-03 4.98972423e+01] [-4.39298168e-02 9.99034481e-01 5.26903035e-04 -4.59423164e+00] [ 5.48043768e-03 -2.86417018e-04 9.99984941e-01 -1.06710510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04327356 meters 0.07757276190218831 Centerline is valid? [True, True] Translation: X:49.92, Y:-4.60, Z:-1.07 [[ 9.99049065e-01 4.32637493e-02 -5.40504249e-03 4.99246086e+01] [-4.32615626e-02 9.99063645e-01 5.20901825e-04 -4.60103580e+00] [ 5.42251761e-03 -2.86575897e-04 9.99985257e-01 -1.06965259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07327356 meters 0.07580968005562319 Centerline is valid? [True, True] Translation: X:49.95, Y:-4.60, Z:-1.07 [[ 9.99043176e-01 4.33216152e-02 -5.99753508e-03 4.99533406e+01] [-4.33189549e-02 9.99061129e-01 5.72835278e-04 -4.59777017e+00] [ 6.01672032e-03 -3.12480224e-04 9.99981851e-01 -1.06869225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10327356 meters 0.07768426180011155 Centerline is valid? [True, True] Translation: X:49.98, Y:-4.60, Z:-1.07 [[ 9.99016521e-01 4.39576893e-02 -5.80621122e-03 4.99807062e+01] [-4.39551888e-02 9.99033348e-01 5.57621715e-04 -4.60324257e+00] [ 5.82511040e-03 -3.01860195e-04 9.99982988e-01 -1.07139707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.13327356 meters 0.07569547420506495 Centerline is valid? [True, True] Translation: X:50.01, Y:-4.60, Z:-1.07 [[ 9.98989898e-01 4.47049194e-02 -4.54464890e-03 5.00103534e+01] [-4.47033968e-02 9.99000208e-01 4.36121312e-04 -4.59966736e+00] [ 4.55960196e-03 -2.32519542e-04 9.99989578e-01 -1.06930555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.16327356000001 meters 0.07537578488042104 Centerline is valid? [True, True] Translation: X:50.04, Y:-4.60, Z:-1.07 [[ 9.98924881e-01 4.61768945e-02 -4.09580485e-03 5.00388837e+01] [-4.61756717e-02 9.98933258e-01 3.92654998e-04 -4.59982117e+00] [ 4.10956727e-03 -2.03106307e-04 9.99991535e-01 -1.06941288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.19327356000001 meters 0.0760440580605146 Centerline is valid? [True, True] Translation: X:50.07, Y:-4.60, Z:-1.07 [[ 9.98905478e-01 4.66341091e-02 -3.62030184e-03 5.00667455e+01] [-4.66331722e-02 9.98912023e-01 3.42825982e-04 -4.60365666e+00] [ 3.63235042e-03 -1.73624592e-04 9.99993388e-01 -1.07097854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.22327356000001 meters 0.07449508318568475 Centerline is valid? [True, True] Translation: X:50.10, Y:-4.60, Z:-1.07 [[ 9.98880731e-01 4.71594948e-02 -3.64246271e-03 5.00956498e+01] [-4.71585534e-02 9.98887357e-01 3.43962635e-04 -4.60089101e+00] [ 3.65463105e-03 -1.71804376e-04 9.99993307e-01 -1.06926040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25327356000001 meters 0.07403942507984922 Centerline is valid? [True, True] Translation: X:50.12, Y:-4.60, Z:-1.07 [[ 9.98823509e-01 4.84004943e-02 -2.99824643e-03 5.01242927e+01] [-4.83998550e-02 9.98827999e-01 2.85444522e-04 -4.60079256e+00] [ 3.00854814e-03 -1.39994006e-04 9.99995465e-01 -1.07058349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28327356 meters 0.0738574794994504 Centerline is valid? [True, True] Translation: X:50.15, Y:-4.60, Z:-1.07 [[ 9.98806915e-01 4.87227967e-02 -3.29172878e-03 5.01531625e+01] [-4.87220412e-02 9.98812328e-01 3.09337064e-04 -4.60250619e+00] [ 3.30289105e-03 -1.48588253e-04 9.99994534e-01 -1.07073736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.31327356 meters 0.07400695307238347 Centerline is valid? [True, True] Translation: X:50.18, Y:-4.61, Z:-1.07 [[ 9.98779096e-01 4.92571598e-02 -3.74828622e-03 5.01803232e+01] [-4.92561750e-02 9.98786115e-01 3.54662795e-04 -4.60536273e+00] [ 3.76120591e-03 -1.69603544e-04 9.99992912e-01 -1.07295566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.34327356 meters 0.07341158928041523 Centerline is valid? [True, True] Translation: X:50.21, Y:-4.61, Z:-1.07 [[ 9.98760709e-01 4.96304999e-02 -3.72294721e-03 5.02095105e+01] [-4.96295427e-02 9.98767634e-01 3.49122285e-04 -4.60564802e+00] [ 3.73568629e-03 -1.63921453e-04 9.99993009e-01 -1.07241983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.37327356 meters 0.0733648560666992 Centerline is valid? [True, True] Translation: X:50.24, Y:-4.61, Z:-1.07 [[ 9.98729506e-01 5.02084649e-02 -4.29937039e-03 5.02375932e+01] [-5.02071946e-02 9.98738742e-01 4.02948562e-04 -4.60828926e+00] [ 4.31417921e-03 -1.86577292e-04 9.99990676e-01 -1.07392098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.40327356 meters 0.07466840323853341 Centerline is valid? [True, True] Translation: X:50.27, Y:-4.61, Z:-1.08 [[ 9.98703431e-01 5.07915552e-02 -3.41697891e-03 5.02651800e+01] [-5.07907501e-02 9.98709265e-01 3.22032534e-04 -4.61460716e+00] [ 3.42892503e-03 -1.48064075e-04 9.99994110e-01 -1.07635903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43327356 meters 0.07281387036901311 Centerline is valid? [True, True] Translation: X:50.29, Y:-4.61, Z:-1.07 [[ 9.98709344e-01 5.07063532e-02 -2.91749924e-03 5.02946044e+01] [-5.07057778e-02 9.98713598e-01 2.70900755e-04 -4.61085348e+00] [ 2.92748255e-03 -1.22617047e-04 9.99995707e-01 -1.07297174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46327356 meters 0.07445912895798938 Centerline is valid? [True, True] Translation: X:50.32, Y:-4.62, Z:-1.08 [[ 9.98729120e-01 5.03352838e-02 -2.55043819e-03 5.03210277e+01] [-5.03348391e-02 9.98732370e-01 2.38305369e-04 -4.61930573e+00] [ 2.55920035e-03 -1.09626615e-04 9.99996719e-01 -1.07698966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.49327356 meters 0.07313588685136692 Centerline is valid? [True, True] Translation: X:50.35, Y:-4.62, Z:-1.07 [[ 9.98791511e-01 4.91125338e-02 -1.86473797e-03 5.03500656e+01] [-4.91123004e-02 9.98793248e-01 1.70778212e-04 -4.61784935e+00] [ 1.87087504e-03 -7.89902574e-05 9.99998247e-01 -1.07486013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.52327356 meters 0.07407379924073983 Centerline is valid? [True, True] Translation: X:50.38, Y:-4.62, Z:-1.08 [[ 9.98942224e-01 4.59411499e-02 -1.96074897e-03 5.03792201e+01] [-4.59408774e-02 9.98944144e-01 1.83821263e-04 -4.62392076e+00] [ 1.96712366e-03 -9.35482936e-05 9.99998061e-01 -1.07578696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.55327356000001 meters 0.0745353739091542 Centerline is valid? [True, True] Translation: X:50.41, Y:-4.63, Z:-1.08 [[ 9.99006968e-01 4.44961554e-02 -2.27394471e-03 5.04062106e+01] [-4.44957909e-02 9.99009550e-01 2.10677063e-04 -4.62857599e+00] [ 2.28106680e-03 -1.09286886e-04 9.99997392e-01 -1.07627692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.58327356000001 meters 0.07538550548562856 Centerline is valid? [True, True] Translation: X:50.44, Y:-4.63, Z:-1.08 [[ 9.99100767e-01 4.23380677e-02 -2.26844355e-03 5.04353660e+01] [-4.23376943e-02 9.99103335e-01 2.12368459e-04 -4.63421109e+00] [ 2.27540079e-03 -1.16136821e-04 9.99997405e-01 -1.07719005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61327356000001 meters 0.0768227613831613 Centerline is valid? [True, True] Translation: X:50.47, Y:-4.64, Z:-1.08 [[ 9.99275695e-01 3.80250940e-02 -1.47586267e-03 5.04652149e+01] [-3.80249312e-02 9.99276781e-01 1.38242988e-04 -4.64210660e+00] [ 1.48005200e-03 -8.20232811e-05 9.99998901e-01 -1.07737561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64327356 meters 0.07789540448339638 Centerline is valid? [True, True] Translation: X:50.49, Y:-4.65, Z:-1.08 [[ 9.99347072e-01 3.60973520e-02 -1.55270796e-03 5.04933616e+01] [-3.60971706e-02 9.99348274e-01 1.44725938e-04 -4.64855447e+00] [ 1.55692024e-03 -8.85830781e-05 9.99998784e-01 -1.07824445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67327356 meters 0.07959963115119964 Centerline is valid? [True, True] Translation: X:50.52, Y:-4.66, Z:-1.08 [[ 9.99485093e-01 3.20572405e-02 -1.37219301e-03 5.05227832e+01] [-3.20570940e-02 9.99486031e-01 1.28638291e-04 -4.65688756e+00] [ 1.37561153e-03 -8.45835337e-05 9.99999050e-01 -1.07963094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.70327356 meters 0.08072941607779398 Centerline is valid? [True, True] Translation: X:50.55, Y:-4.66, Z:-1.08 [[ 9.99551764e-01 2.98840172e-02 -1.79355645e-03 5.05520360e+01] [-2.98837644e-02 9.99553367e-01 1.67593257e-04 -4.66237074e+00] [ 1.79776375e-03 -1.13919917e-04 9.99998378e-01 -1.08039198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73327356 meters 0.08132907859018897 Centerline is valid? [True, True] Translation: X:50.58, Y:-4.67, Z:-1.08 [[ 9.99586196e-01 2.87305541e-02 -1.41159950e-03 5.05806634e+01] [-2.87303976e-02 9.99587188e-01 1.31023624e-04 -4.66763846e+00] [ 1.41478115e-03 -9.04135910e-05 9.99998995e-01 -1.08116005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.76327356 meters 0.08348181062879528 Centerline is valid? [True, True] Translation: X:50.61, Y:-4.68, Z:-1.08 [[ 9.99680703e-01 2.52449698e-02 -1.08792761e-03 5.06099682e+01] [-2.52448740e-02 9.99681292e-01 1.01758246e-04 -4.67530821e+00] [ 1.09014977e-03 -7.42611593e-05 9.99999403e-01 -1.08086772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79327356 meters 0.08458910962573452 Centerline is valid? [True, True] Translation: X:50.64, Y:-4.68, Z:-1.08 [[ 9.99721701e-01 2.35546630e-02 -1.30352856e-03 5.06392497e+01] [-2.35545245e-02 9.99722546e-01 1.21490616e-04 -4.68043859e+00] [ 1.30602856e-03 -9.07528098e-05 9.99999143e-01 -1.08212287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82327356 meters 0.08625500730321708 Centerline is valid? [True, True] Translation: X:50.67, Y:-4.69, Z:-1.08 [[ 9.99789431e-01 2.04674973e-02 -1.47494479e-03 5.06694388e+01] [-2.04673154e-02 9.99790513e-01 1.38347767e-04 -4.68787876e+00] [ 1.47746744e-03 -1.08130475e-04 9.99998903e-01 -1.08283050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85327356 meters 0.08689370156372356 Centerline is valid? [True, True] Translation: X:50.70, Y:-4.69, Z:-1.08 [[ 9.99812393e-01 1.93651431e-02 -4.11317099e-04 5.06976358e+01] [-1.93651294e-02 9.99812478e-01 3.72289519e-05 -4.69253650e+00] [ 4.11960912e-04 -2.92567587e-05 9.99999915e-01 -1.08338553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.88327356 meters 0.08878316906881314 Centerline is valid? [True, True] Translation: X:50.73, Y:-4.70, Z:-1.08 [[ 9.99838682e-01 1.79468706e-02 -7.21400894e-04 5.07251037e+01] [-1.79468275e-02 9.99838941e-01 6.62290436e-05 -4.69907138e+00] [ 7.22473310e-04 -5.32715022e-05 9.99999738e-01 -1.08472708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.91327356000001 meters 0.08919555100771966 Centerline is valid? [True, True] Translation: X:50.75, Y:-4.70, Z:-1.08 [[ 9.99881252e-01 1.54083902e-02 2.50396137e-04 5.07549612e+01] [-1.54083847e-02 9.99881284e-01 -2.38332718e-05 -4.70327170e+00] [-2.50733643e-04 1.99722417e-05 9.99999968e-01 -1.08477317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94327356000001 meters 0.0909030306338893 Centerline is valid? [True, True] Translation: X:50.78, Y:-4.71, Z:-1.09 [[ 9.99902141e-01 1.39821264e-02 -4.56715164e-04 5.07825484e+01] [-1.39821088e-02 9.99902245e-01 4.15073646e-05 -4.70898682e+00] [ 4.57250879e-04 -3.51174616e-05 9.99999895e-01 -1.08630564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97327356000001 meters 0.08638015987730432 Centerline is valid? [True, True] Translation: X:50.81, Y:-4.70, Z:-1.08 [[ 9.99932674e-01 1.15744535e-02 8.24878799e-04 5.08139857e+01] [-1.15743938e-02 9.99933011e-01 -7.71202763e-05 -4.70278482e+00] [-8.25716167e-04 6.75676119e-05 9.99999657e-01 -1.08363934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00327356000001 meters 0.08805551323771979 Centerline is valid? [True, True] Translation: X:50.84, Y:-4.71, Z:-1.09 [[ 9.99943203e-01 1.06518118e-02 3.59855081e-04 5.08422557e+01] [-1.06518000e-02 9.99943267e-01 -3.46395213e-05 -4.70920215e+00] [-3.60203639e-04 3.08044495e-05 9.99999935e-01 -1.08521902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03327356 meters 0.08911190019505356 Centerline is valid? [True, True] Translation: X:50.87, Y:-4.71, Z:-1.09 [[ 9.99956873e-01 9.21796901e-03 1.13216653e-03 5.08710122e+01] [-9.21785382e-03 9.99957509e-01 -1.06925175e-04 -4.71364383e+00] [-1.13310406e-03 9.64844175e-05 9.99999353e-01 -1.08562263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.06327356 meters 0.09112196634973262 Centerline is valid? [True, True] Translation: X:50.90, Y:-4.72, Z:-1.09 [[ 9.99977276e-01 6.61474086e-03 1.30067053e-03 5.09000326e+01] [-6.61458788e-03 9.99978116e-01 -1.21888694e-04 -4.71973679e+00] [-1.30144833e-03 1.13282524e-04 9.99999147e-01 -1.08695967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.09327356 meters 0.09227033196535867 Centerline is valid? [True, True] Translation: X:50.93, Y:-4.72, Z:-1.09 [[ 9.99983084e-01 5.56190043e-03 1.70195241e-03 5.09284922e+01] [-5.56163644e-03 9.99984521e-01 -1.59801515e-04 -4.72485880e+00] [-1.70281487e-03 1.50333171e-04 9.99998539e-01 -1.08815129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.12327356 meters 0.09451282195375658 Centerline is valid? [True, True] Translation: X:50.96, Y:-4.73, Z:-1.09 [[ 9.99993169e-01 2.28649240e-03 2.90427219e-03 5.09580850e+01] [-2.28571486e-03 9.99997351e-01 -2.71014034e-04 -4.73152402e+00] [-2.90488417e-03 2.64373845e-04 9.99995746e-01 -1.08818253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.15327356 meters 0.09662811667431846 Centerline is valid? [True, True] Translation: X:50.99, Y:-4.74, Z:-1.09 [[ 9.99992602e-01 1.21477677e-03 3.64980710e-03 5.09875356e+01] [-1.21354675e-03 9.99999206e-01 -3.39206157e-04 -4.73755019e+00] [-3.65021626e-03 3.34774436e-04 9.99993282e-01 -1.08904893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18327356 meters 0.09818268007782424 Centerline is valid? [True, True] Translation: X:51.02, Y:-4.74, Z:-1.09 [[ 9.99985303e-01 4.43858868e-05 5.42147637e-03 5.10180619e+01] [-4.16505275e-05 9.99999872e-01 -5.04653256e-04 -4.74290277e+00] [-5.42149807e-03 5.04420032e-04 9.99985176e-01 -1.08936449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21327356 meters 0.09129578737300005 Centerline is valid? [True, True] Translation: X:51.05, Y:-4.73, Z:-1.09 [[ 9.99986709e-01 -2.80367214e-04 5.14803316e-03 5.10518501e+01] [ 2.82830250e-04 9.99999846e-01 -4.77720279e-04 -4.73283142e+00] [-5.14789843e-03 4.79169949e-04 9.99986635e-01 -1.08772657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24327356 meters 0.09625462491844522 Centerline is valid? [True, True] Translation: X:51.08, Y:-4.74, Z:-1.09 [[ 9.99976555e-01 -1.82130874e-03 6.60096279e-03 5.10813939e+01] [ 1.82543166e-03 9.99998143e-01 -6.18623066e-04 -4.74434047e+00] [-6.59982382e-03 6.30658169e-04 9.99978022e-01 -1.08957849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.27327356 meters 0.09756201740801825 Centerline is valid? [True, True] Translation: X:51.11, Y:-4.75, Z:-1.09 [[ 9.99976110e-01 -2.00931059e-03 6.61371485e-03 5.11125982e+01] [ 2.01344588e-03 9.99997782e-01 -6.18660873e-04 -4.74979833e+00] [-6.61245710e-03 6.31962450e-04 9.99977938e-01 -1.09061131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.30327356000001 meters 0.0952093120398725 Centerline is valid? [True, True] Translation: X:51.15, Y:-4.75, Z:-1.09 [[ 9.99976658e-01 -2.09097764e-03 6.50471173e-03 5.11452565e+01] [ 2.09498793e-03 9.99997620e-01 -6.09768900e-04 -4.74869505e+00] [-6.50342123e-03 6.23381959e-04 9.99978658e-01 -1.09105440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.33327356000001 meters 0.0952093120398725 Centerline is valid? [True, True] Translation: X:51.18, Y:-4.75, Z:-1.09 [[ 9.99976799e-01 -2.02233535e-03 6.50466943e-03 5.11769529e+01] [ 2.02634711e-03 9.99997761e-01 -6.10219513e-04 -4.75175284e+00] [-6.50342079e-03 6.23386073e-04 9.99978658e-01 -1.09168687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36327356000001 meters 0.09958193914139186 Centerline is valid? [True, True] Translation: X:51.21, Y:-4.76, Z:-1.09 [[ 9.99975275e-01 -2.43616101e-03 6.59654163e-03 5.12075277e+01] [ 2.44029898e-03 9.99996831e-01 -6.19317276e-04 -4.76204580e+00] [-6.59501197e-03 6.35399498e-04 9.99978051e-01 -1.09412408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39327356 meters 0.09450867110182971 Centerline is valid? [True, True] Translation: X:51.24, Y:-4.76, Z:-1.09 [[ 9.99975066e-01 -2.17071987e-03 6.71971982e-03 5.12405023e+01] [ 2.17501093e-03 9.99997435e-01 -6.31335635e-04 -4.75565334e+00] [-6.71833213e-03 6.45935358e-04 9.99977223e-01 -1.09468062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42327356 meters 0.09908388769147623 Centerline is valid? [True, True] Translation: X:51.27, Y:-4.77, Z:-1.10 [[ 9.99976480e-01 -1.56046667e-03 6.67870773e-03 5.12707098e+01] [ 1.56469676e-03 9.99998579e-01 -6.28191405e-04 -4.76521010e+00] [-6.67771796e-03 6.38626782e-04 9.99977500e-01 -1.09680917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.45327356 meters 0.09595031512759022 Centerline is valid? [True, True] Translation: X:51.30, Y:-4.76, Z:-1.10 [[ 9.99976767e-01 -1.28606963e-03 6.69418011e-03 5.13029676e+01] [ 1.29031424e-03 9.99998969e-01 -6.29793869e-04 -4.76244673e+00] [-6.69336325e-03 6.38416832e-04 9.99977395e-01 -1.09610634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48327356 meters 0.09619346775169878 Centerline is valid? [True, True] Translation: X:51.33, Y:-4.76, Z:-1.10 [[ 9.99967264e-01 -8.63524282e-04 8.04520271e-03 5.13338349e+01] [ 8.69650044e-04 9.99999335e-01 -7.57950740e-04 -4.76454481e+00] [-8.04454285e-03 7.64922439e-04 9.99967350e-01 -1.09663229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.51327356 meters 0.09570367100992117 Centerline is valid? [True, True] Translation: X:51.37, Y:-4.77, Z:-1.10 [[ 9.99969814e-01 5.80305905e-05 7.76971179e-03 5.13654525e+01] [-5.23402352e-05 9.99999730e-01 -7.32577964e-04 -4.76606789e+00] [-7.76975221e-03 7.32149182e-04 9.99969547e-01 -1.09791628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54327356 meters 0.09682757276294321 Centerline is valid? [True, True] Translation: X:51.40, Y:-4.77, Z:-1.10 [[ 9.99972982e-01 3.75345309e-05 7.35077143e-03 5.13976384e+01] [-3.24422462e-05 9.99999759e-01 -6.92873157e-04 -4.77010966e+00] [-7.35079567e-03 6.92615961e-04 9.99972743e-01 -1.09959279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57327356 meters 0.09785939862640132 Centerline is valid? [True, True] Translation: X:51.43, Y:-4.77, Z:-1.10 [[ 9.99977901e-01 1.06528223e-03 6.56223542e-03 5.14279082e+01] [-1.06123940e-03 9.99999245e-01 -6.19526638e-04 -4.77300005e+00] [-6.56289044e-03 6.12548844e-04 9.99978276e-01 -1.10189318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60327356 meters 0.09804458124976644 Centerline is valid? [True, True] Translation: X:51.46, Y:-4.78, Z:-1.10 [[ 9.99976562e-01 1.84070161e-03 6.59447435e-03 5.14591805e+01] [-1.83663783e-03 9.99998120e-01 -6.22242802e-04 -4.77526692e+00] [-6.59560732e-03 6.10116557e-04 9.99978063e-01 -1.10294077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.63327356 meters 0.0977355173105384 Centerline is valid? [True, True] Translation: X:51.49, Y:-4.78, Z:-1.10 [[ 9.99972497e-01 2.64833602e-03 6.92756929e-03 5.14910873e+01] [-2.64386775e-03 9.99996291e-01 -6.54076818e-04 -4.77712864e+00] [-6.92927581e-03 6.35743252e-04 9.99975790e-01 -1.10300243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.66327356000001 meters 0.09739017864268086 Centerline is valid? [True, True] Translation: X:51.52, Y:-4.78, Z:-1.10 [[ 9.99951673e-01 3.98562426e-03 8.98706565e-03 5.15227878e+01] [-3.97815104e-03 9.99991726e-01 -8.49276815e-04 -4.77817724e+00] [-8.99037619e-03 8.13483867e-04 9.99959255e-01 -1.10249923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.69327356000001 meters 0.09836735650316693 Centerline is valid? [True, True] Translation: X:51.55, Y:-4.78, Z:-1.10 [[ 9.99950349e-01 4.20115392e-03 9.03604494e-03 5.15543480e+01] [-4.19360681e-03 9.99990842e-01 -8.54007888e-04 -4.78212379e+00] [-9.03955001e-03 8.16071866e-04 9.99958809e-01 -1.10296062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.72327356000001 meters 0.09909900924700073 Centerline is valid? [True, True] Translation: X:51.59, Y:-4.78, Z:-1.10 [[ 9.99939151e-01 4.47423991e-03 1.00834165e-02 5.15866526e+01] [-4.46485979e-03 9.99989579e-01 -9.52570545e-04 -4.78463197e+00] [-1.00875735e-02 9.07491541e-04 9.99948707e-01 -1.10280373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75327356000001 meters 0.10052398509378198 Centerline is valid? [True, False] Translation: X:51.59, Y:-4.78, Z:-1.10 [[ 9.99940283e-01 4.28083966e-03 1.00551096e-02 5.15865259e+01] [-4.26803826e-03 9.99990054e-01 -1.29423743e-03 -4.78394092e+00] [-1.00605501e-02 1.25124455e-03 9.99948609e-01 -1.10251327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78327356 meters 0.09797804472610681 Centerline is valid? [False, True] Translation: X:51.59, Y:-4.78, Z:-1.10 [[ 9.99941198e-01 4.31142900e-03 9.95045719e-03 5.15870503e+01] [-4.29766227e-03 9.99989779e-01 -1.40449572e-03 -4.78310904e+00] [-9.95641087e-03 1.36164943e-03 9.99949507e-01 -1.10291618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.81327356 meters 0.09869970506656539 Centerline is valid? [True, True] Translation: X:51.62, Y:-4.79, Z:-1.10 [[ 9.99942462e-01 3.45083275e-03 1.01569599e-02 5.16187396e+01] [-3.44118819e-03 9.99993612e-01 -9.66875930e-04 -4.78695927e+00] [-1.01602315e-02 9.31868288e-04 9.99947949e-01 -1.10345645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.84327356 meters 0.09556581749557953 Centerline is valid? [True, True] Translation: X:51.65, Y:-4.78, Z:-1.10 [[ 9.99941267e-01 2.26142920e-03 1.05994467e-02 5.16517500e+01] [-2.25085174e-03 9.99996957e-01 -1.00974825e-03 -4.78288151e+00] [-1.06016979e-02 9.85831164e-04 9.99943314e-01 -1.10414231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.87327356 meters 0.0972177538812639 Centerline is valid? [True, True] Translation: X:51.68, Y:-4.79, Z:-1.10 [[ 9.99949193e-01 1.36104122e-03 9.98791401e-03 5.16828794e+01] [-1.35161428e-03 9.99998635e-01 -9.50524153e-04 -4.78851730e+00] [-9.98919408e-03 9.36976053e-04 9.99949668e-01 -1.10437696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.90327356 meters 0.09857131998696021 Centerline is valid? [True, True] Translation: X:51.71, Y:-4.79, Z:-1.11 [[ 9.99956708e-01 -2.55112703e-04 9.30142286e-03 5.17135388e+01] [ 2.63395338e-04 9.99999570e-01 -8.89255454e-04 -4.79337343e+00] [-9.30119199e-03 8.91666908e-04 9.99956345e-01 -1.10576796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93327356 meters 0.09710751884979245 Centerline is valid? [True, True] Translation: X:51.75, Y:-4.79, Z:-1.11 [[ 9.99962648e-01 -1.09325846e-03 8.57367174e-03 5.17455475e+01] [ 1.10030629e-03 9.99999061e-01 -8.17357078e-04 -4.79376620e+00] [-8.57277010e-03 8.26760213e-04 9.99962911e-01 -1.10657716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96327356 meters 0.10214564079475853 Centerline is valid? [True, False] Translation: X:51.75, Y:-4.79, Z:-1.11 [[ 9.99958735e-01 -1.08341193e-03 9.01971928e-03 5.17451205e+01] [ 1.08599653e-03 9.99999371e-01 -2.81657684e-04 -4.79485060e+00] [-9.01940845e-03 2.91441445e-04 9.99959282e-01 -1.10743167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99327356 meters 0.10418758757742405 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99957073e-01 -9.50640307e-04 9.21677415e-03 5.17450337e+01] [ 9.49458131e-04 9.99999540e-01 1.32638179e-04 -4.79568047e+00] [-9.21689601e-03 -1.23881544e-04 9.99957516e-01 -1.10795206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02327356 meters 0.10676958370615054 Centerline is valid? [False, False] Translation: X:51.74, Y:-4.80, Z:-1.11 [[ 9.99952971e-01 -1.37134646e-03 9.60078227e-03 5.17439058e+01] [ 1.37198342e-03 9.99999057e-01 -5.97589565e-05 -4.79579528e+00] [-9.60069127e-03 7.29282601e-05 9.99953910e-01 -1.10748758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05327356000001 meters 0.10174632173957188 Centerline is valid? [False, False] Translation: X:51.74, Y:-4.80, Z:-1.11 [[ 9.99952727e-01 -1.30660427e-03 9.63514018e-03 5.17439637e+01] [ 1.30559394e-03 9.99999142e-01 1.11148724e-04 -4.79603097e+00] [-9.63527714e-03 -9.85638892e-05 9.99953575e-01 -1.10770065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08327356000001 meters 0.10931608405828164 Centerline is valid? [False, False] Translation: X:51.74, Y:-4.80, Z:-1.11 [[ 9.99952153e-01 -1.29507374e-03 9.69608401e-03 5.17439252e+01] [ 1.29322949e-03 9.99999144e-01 1.96473659e-04 -4.79616515e+00] [-9.69633017e-03 -1.83924997e-04 9.99952973e-01 -1.10785238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11327356000001 meters 0.1045633145058764 Centerline is valid? [False, False] Translation: X:51.74, Y:-4.80, Z:-1.11 [[ 9.99952319e-01 -1.11840670e-03 9.70097443e-03 5.17444585e+01] [ 1.11360367e-03 9.99999255e-01 5.00495158e-04 -4.79616802e+00] [-9.70152696e-03 -4.89668253e-04 9.99952819e-01 -1.10869407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14327356 meters 0.10802937717361148 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99953770e-01 -9.09274526e-04 9.57243144e-03 5.17450121e+01] [ 9.02646214e-04 9.99999350e-01 6.96735233e-04 -4.79641066e+00] [-9.57305874e-03 -6.88062504e-04 9.99953940e-01 -1.10907456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17327356 meters 0.11078593876751944 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99955553e-01 -7.01215483e-04 9.40210219e-03 5.17457194e+01] [ 6.93055292e-04 9.99999380e-01 8.71141403e-04 -4.79635156e+00] [-9.40270723e-03 -8.64586507e-04 9.99955420e-01 -1.10957145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20327356 meters 0.10835668828778088 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99956842e-01 -5.22028129e-04 9.27587642e-03 5.17462871e+01] [ 5.12262250e-04 9.99999312e-01 1.05517018e-03 -4.79637596e+00] [-9.27642086e-03 -1.05037296e-03 9.99956421e-01 -1.11000761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23327356 meters 0.11051266435875753 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99957755e-01 -3.27359846e-04 9.18587986e-03 5.17468981e+01] [ 3.15483605e-04 9.99999113e-01 1.29429933e-03 -4.79631169e+00] [-9.18629541e-03 -1.29134666e-03 9.99956971e-01 -1.11063978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.26327356 meters 0.11115034744474621 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99957924e-01 -5.20706620e-04 9.15860405e-03 5.17467056e+01] [ 5.11906738e-04 9.99999405e-01 9.63150175e-04 -4.79580437e+00] [-9.15910012e-03 -9.58421298e-04 9.99957595e-01 -1.11025565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29327356 meters 0.11283253907835175 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99958118e-01 -3.52766150e-04 9.14539248e-03 5.17471012e+01] [ 3.41740429e-04 9.99999213e-01 1.20713860e-03 -4.79592239e+00] [-9.14581113e-03 -1.20396269e-03 9.99957451e-01 -1.11079282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32327356 meters 0.1123312712848928 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99958000e-01 -4.09811923e-04 9.15591412e-03 5.17470762e+01] [ 3.99662450e-04 9.99999304e-01 1.11031773e-03 -4.79572092e+00] [-9.15636277e-03 -1.10661182e-03 9.99957467e-01 -1.11078599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35327356 meters 0.1122636174712141 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99958779e-01 -1.93169722e-04 9.07761260e-03 5.17476194e+01] [ 1.80583786e-04 9.99999021e-01 1.38728005e-03 -4.79589854e+00] [-9.07787170e-03 -1.38558360e-03 9.99957835e-01 -1.11134822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38327356 meters 0.11304141927101564 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99959825e-01 -3.11702525e-04 8.95830309e-03 5.17477009e+01] [ 3.01842529e-04 9.99999347e-01 1.10198543e-03 -4.79515851e+00] [-8.95864074e-03 -1.09923716e-03 9.99959266e-01 -1.11110982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41327356000001 meters 0.11423765031436044 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.79, Z:-1.11 [[ 9.99960865e-01 -2.80890561e-04 8.84250013e-03 5.17478911e+01] [ 2.71844448e-04 9.99999439e-01 1.02421190e-03 -4.79497205e+00] [-8.84278286e-03 -1.02176804e-03 9.99960380e-01 -1.11099006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44327356000001 meters 0.10739758899762301 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99962050e-01 -8.95529252e-05 8.71149110e-03 5.17483913e+01] [ 7.89962246e-05 9.99999262e-01 1.21214983e-03 -4.79510873e+00] [-8.71159323e-03 -1.21141565e-03 9.99961320e-01 -1.11129044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47327356000001 meters 0.11108319988341338 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.79, Z:-1.11 [[ 9.99961828e-01 -2.62529883e-04 8.73345477e-03 5.17480848e+01] [ 2.54459067e-04 9.99999540e-01 9.25224715e-04 -4.79483357e+00] [-8.73369365e-03 -9.22967091e-04 9.99961435e-01 -1.11086701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50327356000001 meters 0.10757358752374012 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99961882e-01 -1.47840409e-04 8.72993432e-03 5.17481633e+01] [ 1.38111227e-04 9.99999369e-01 1.11505461e-03 -4.79531717e+00] [-8.73009366e-03 -1.11380640e-03 9.99961272e-01 -1.11097823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53327356 meters 0.10387726293555731 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99962096e-01 5.23405670e-05 8.70651599e-03 5.17483968e+01] [-6.48954913e-05 9.99998959e-01 1.44173847e-03 -4.79607598e+00] [-8.70643146e-03 -1.44224884e-03 9.99961058e-01 -1.11124294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56327356 meters 0.11099546862954893 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99962725e-01 2.76135603e-04 8.62976204e-03 5.17488317e+01] [-2.91239914e-04 9.99998428e-01 1.74905048e-03 -4.79658401e+00] [-8.62926550e-03 -1.75149861e-03 9.99961233e-01 -1.11163219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59327356 meters 0.1081170487644172 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99962763e-01 2.75486247e-04 8.62535047e-03 5.17487816e+01] [-2.90721431e-04 9.99998400e-01 1.76512235e-03 -4.79687090e+00] [-8.62485040e-03 -1.76756420e-03 9.99961243e-01 -1.11153471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62327356 meters 0.11013128574467378 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99962959e-01 4.62995082e-04 8.59451870e-03 5.17490674e+01] [-4.80899743e-04 9.99997718e-01 2.08131543e-03 -4.79748863e+00] [-8.59353546e-03 -2.08537144e-03 9.99960900e-01 -1.11187467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.65327356 meters 0.11073285101293877 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99962669e-01 8.86858057e-04 8.59498577e-03 5.17497351e+01] [-9.10743192e-04 9.99995734e-01 2.77544607e-03 -4.79870137e+00] [-8.59248767e-03 -2.78317028e-03 9.99959211e-01 -1.11286959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68327356 meters 0.11408840601716644 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99962838e-01 1.17903626e-03 8.54009072e-03 5.17502741e+01] [-1.20657129e-03 9.99994089e-01 3.21977422e-03 -4.79937295e+00] [-8.53624400e-03 -3.22995879e-03 9.99958349e-01 -1.11348895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71327356 meters 0.1099102086009549 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99961292e-01 1.11164427e-03 8.72808057e-03 5.17498160e+01] [-1.14033661e-03 9.99993961e-01 3.28307103e-03 -4.79999399e+00] [-8.72437825e-03 -3.29289690e-03 9.99956520e-01 -1.11339000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74327356 meters 0.1079852498627584 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99961546e-01 1.10786150e-03 8.69932033e-03 5.17496700e+01] [-1.13621852e-03 9.99994056e-01 3.25541661e-03 -4.80037534e+00] [-8.69566207e-03 -3.26517576e-03 9.99956861e-01 -1.11307162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.77327356 meters 0.11161658643365878 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99961219e-01 1.25764232e-03 8.71657387e-03 5.17497815e+01] [-1.28818231e-03 9.99993049e-01 3.49894131e-03 -4.80096622e+00] [-8.71211286e-03 -3.51003415e-03 9.99955888e-01 -1.11327721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80327356000001 meters 0.11253786246660091 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99959701e-01 1.24284047e-03 8.89111323e-03 5.17490341e+01] [-1.27550264e-03 9.99992456e-01 3.66884798e-03 -4.80245109e+00] [-8.88648637e-03 -3.68004077e-03 9.99953743e-01 -1.11268352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83327356000001 meters 0.11350941170672414 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99959715e-01 1.18196835e-03 8.89779918e-03 5.17486486e+01] [-1.21394808e-03 9.99992821e-01 3.58957429e-03 -4.80294087e+00] [-8.89349254e-03 -3.60023115e-03 9.99953971e-01 -1.11210150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86327356000001 meters 0.1162385159325988 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99965115e-01 -2.42573501e-03 7.99283579e-03 5.17503402e+01] [ 2.42968923e-03 9.99996931e-01 -4.85048222e-04 -4.80334095e+00] [-7.99163466e-03 5.04451408e-04 9.99967939e-01 -1.11163982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89327356 meters 0.11726649322993517 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.80, Z:-1.11 [[ 9.99966337e-01 -2.04186091e-03 7.94701726e-03 5.17507463e+01] [ 2.04125267e-03 9.99997913e-01 8.46477656e-05 -4.80473807e+00] [-7.94717351e-03 -6.84230459e-05 9.99968418e-01 -1.11205118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92327356 meters 0.11471537829102675 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.81, Z:-1.11 [[ 9.99968754e-01 -1.50396875e-03 7.76073110e-03 5.17515188e+01] [ 1.49780385e-03 9.99998558e-01 8.00121137e-04 -4.80641274e+00] [-7.76192327e-03 -7.88472084e-04 9.99969565e-01 -1.11256461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.95327356 meters 0.1083141789339749 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.81, Z:-1.11 [[ 9.99969776e-01 -1.00789363e-03 7.70918659e-03 5.17518806e+01] [ 9.95422681e-04 9.99998190e-01 1.62133972e-03 -4.80901997e+00] [-7.71080678e-03 -1.61361681e-03 9.99968969e-01 -1.11288780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.98327356 meters 0.11584225509655012 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.81, Z:-1.11 [[ 9.99970584e-01 -7.44323580e-04 7.63397854e-03 5.17521329e+01] [ 7.29228773e-04 9.99997774e-01 1.97991139e-03 -4.81018094e+00] [-7.63543524e-03 -1.97428623e-03 9.99968901e-01 -1.11297426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.01327356 meters 0.10888536778645268 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.81, Z:-1.11 [[ 9.99971619e-01 -2.35798716e-04 7.53026682e-03 5.17525820e+01] [ 2.15480036e-04 9.99996335e-01 2.69896559e-03 -4.81232635e+00] [-7.53087564e-03 -2.69726637e-03 9.99968005e-01 -1.11325166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04327356 meters 0.11494553643576605 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.81, Z:-1.11 [[ 9.99972474e-01 1.57972263e-04 7.41792462e-03 5.17531051e+01] [-1.81767027e-04 9.99994840e-01 3.20717408e-03 -4.81349952e+00] [-7.41737970e-03 -3.20843414e-03 9.99967344e-01 -1.11361397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07327356 meters 0.10932624493541147 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.81, Z:-1.11 [[ 9.99973063e-01 2.82896457e-04 7.33436845e-03 5.17531303e+01] [-3.07460968e-04 9.99994347e-01 3.34832206e-03 -4.81427280e+00] [-7.33337976e-03 -3.35048690e-03 9.99967497e-01 -1.11335622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10327356 meters 0.10943943203182577 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.82, Z:-1.11 [[ 9.99973681e-01 6.14932704e-04 7.22900833e-03 5.17531341e+01] [-6.42573942e-04 9.99992490e-01 3.82195491e-03 -4.81622001e+00] [-7.22660380e-03 -3.82649949e-03 9.99966566e-01 -1.11299483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.13327356 meters 0.11272387675746147 Centerline is valid? [False, False] Translation: X:51.75, Y:-4.82, Z:-1.11 [[ 9.99974179e-01 9.10218265e-04 7.12827511e-03 5.17533215e+01] [-9.40116361e-04 9.99990771e-01 4.19206900e-03 -4.81757223e+00] [-7.12439363e-03 -4.19866217e-03 9.99965807e-01 -1.11288678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.16327356000001 meters 0.11341490236923531 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.82, Z:-1.11 [[ 9.99977201e-01 -2.51261345e-03 6.26765006e-03 5.17551102e+01] [ 2.50952134e-03 9.99996726e-01 5.01159067e-04 -4.81885313e+00] [-6.26888876e-03 -4.85418839e-04 9.99980233e-01 -1.11279597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19327356000001 meters 0.11081181411558944 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.82, Z:-1.11 [[ 9.99979397e-01 -1.96461045e-03 6.11117129e-03 5.17558068e+01] [ 1.95720876e-03 9.99997344e-01 1.21691777e-03 -4.82059911e+00] [-6.11354583e-03 -1.20493186e-03 9.99980586e-01 -1.11326701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22327356000001 meters 0.11081181411558944 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.82, Z:-1.11 [[ 9.99979397e-01 -1.96461045e-03 6.11117129e-03 5.17558068e+01] [ 1.95720876e-03 9.99997344e-01 1.21691777e-03 -4.82059911e+00] [-6.11354583e-03 -1.20493186e-03 9.99980586e-01 -1.11326701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25327356000001 meters 0.11171258080021665 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.82, Z:-1.11 [[ 9.99981646e-01 -1.53545320e-03 5.86084264e-03 5.17564231e+01] [ 1.52572844e-03 9.99997453e-01 1.66338603e-03 -4.82194217e+00] [-5.86338176e-03 -1.65441345e-03 9.99981442e-01 -1.11332319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28327356 meters 0.1090162904234397 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.82, Z:-1.11 [[ 9.99983671e-01 -1.01916941e-03 5.62314119e-03 5.17570738e+01] [ 1.00631761e-03 9.99996876e-01 2.28787611e-03 -4.82373876e+00] [-5.62545536e-03 -2.28218009e-03 9.99981573e-01 -1.11348545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31327356 meters 0.10495860893325443 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.82, Z:-1.11 [[ 9.99985893e-01 -4.28803509e-04 5.29432342e-03 5.17582104e+01] [ 4.13338960e-04 9.99995646e-01 2.92171671e-03 -4.82495202e+00] [-5.29555322e-03 -2.91948714e-03 9.99981717e-01 -1.11405737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34327356 meters 0.1091611098574597 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.83, Z:-1.11 [[ 9.99987460e-01 2.52101744e-07 5.00804142e-03 5.17590416e+01] [-1.68548099e-05 9.99994505e-01 3.31516790e-03 -4.82585931e+00] [-5.00801306e-03 -3.31521074e-03 9.99981964e-01 -1.11432114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37327356 meters 0.10666937707058594 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.83, Z:-1.11 [[ 9.99988486e-01 4.05653658e-04 4.78150669e-03 5.17595659e+01] [-4.23374851e-04 9.99993044e-01 3.70576506e-03 -4.82721468e+00] [-4.77997017e-03 -3.70774676e-03 9.99981702e-01 -1.11430563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.40327356 meters 0.10663779138640063 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.83, Z:-1.11 [[ 9.99988911e-01 5.52620197e-04 4.67689958e-03 5.17597886e+01] [-5.70498015e-04 9.99992533e-01 3.82210870e-03 -4.82776083e+00] [-4.67475248e-03 -3.82473447e-03 9.99981759e-01 -1.11425090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43327356 meters 0.10545328458476785 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.83, Z:-1.11 [[ 9.99989528e-01 7.96073606e-04 4.50675708e-03 5.17601328e+01] [-8.14365024e-04 9.99991434e-01 4.05828590e-03 -4.82853526e+00] [-4.50348778e-03 -4.06191355e-03 9.99981610e-01 -1.11419168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46327356 meters 0.10317851943411864 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.83, Z:-1.11 [[ 9.99989443e-01 9.77490222e-04 4.48981545e-03 5.17599639e+01] [-9.97014438e-04 9.99990049e-01 4.34837865e-03 -4.82986723e+00] [-4.48552027e-03 -4.35280916e-03 9.99980466e-01 -1.11388250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.49327356 meters 0.10318526521235316 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.83, Z:-1.11 [[ 9.99989433e-01 1.34137430e-03 4.39706722e-03 5.17605001e+01] [-1.36246839e-03 9.99987562e-01 4.79782967e-03 -4.83087666e+00] [-4.39057684e-03 -4.80376984e-03 9.99978823e-01 -1.11428714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52327356 meters 0.10576594424048023 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.83, Z:-1.11 [[ 9.99988815e-01 1.42660380e-03 4.50941099e-03 5.17599094e+01] [-1.44948528e-03 9.99986072e-01 5.07497097e-03 -4.83254750e+00] [-4.50210821e-03 -5.08145053e-03 9.99976955e-01 -1.11373241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55327356000001 meters 0.10432549495695446 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.83, Z:-1.11 [[ 9.99991431e-01 -2.17246250e-03 3.52389938e-03 5.17619742e+01] [ 2.16922033e-03 9.99997221e-01 9.23612063e-04 -4.83212730e+00] [-3.52589610e-03 -9.15960035e-04 9.99993365e-01 -1.11369161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58327356000001 meters 0.10647897949512221 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.83, Z:-1.11 [[ 9.99991690e-01 -1.95630362e-03 3.57666097e-03 5.17616825e+01] [ 1.95135891e-03 9.99997136e-01 1.38545879e-03 -4.83409930e+00] [-3.57936110e-03 -1.37846793e-03 9.99992644e-01 -1.11342396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61327356000001 meters 0.10670266815451906 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.84, Z:-1.11 [[ 9.99992582e-01 -1.62947194e-03 3.49020112e-03 5.17620617e+01] [ 1.62317413e-03 9.99997051e-01 1.80649836e-03 -4.83523061e+00] [-3.49313447e-03 -1.80081975e-03 9.99992278e-01 -1.11366397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64327356 meters 0.10725969535067285 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.84, Z:-1.11 [[ 9.99993323e-01 -1.36438028e-03 3.38991462e-03 5.17624204e+01] [ 1.35717797e-03 9.99996819e-01 2.12602088e-03 -4.83612028e+00] [-3.39280454e-03 -2.12140596e-03 9.99991994e-01 -1.11383286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67327356 meters 0.1005183865204999 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.84, Z:-1.11 [[ 9.99994330e-01 -8.95086792e-04 3.24638938e-03 5.17628846e+01] [ 8.86093599e-04 9.99995769e-01 2.77059506e-03 -4.83801339e+00] [-3.24885557e-03 -2.76770275e-03 9.99990892e-01 -1.11401662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70327356 meters 0.10168185019522172 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.84, Z:-1.11 [[ 9.99994272e-01 -7.47157300e-04 3.30117296e-03 5.17628530e+01] [ 7.37025247e-04 9.99995018e-01 3.06937920e-03 -4.83894090e+00] [-3.30344983e-03 -3.06692857e-03 9.99989841e-01 -1.11412964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73327356 meters 0.1031317374432994 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.84, Z:-1.11 [[ 9.99994855e-01 -4.69005607e-04 3.17340884e-03 5.17631474e+01] [ 4.58160954e-04 9.99994056e-01 3.41721566e-03 -4.84011482e+00] [-3.17499267e-03 -3.41574414e-03 9.99989126e-01 -1.11411709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.76327356 meters 0.1004781069057599 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.84, Z:-1.11 [[ 9.99994496e-01 -3.80401199e-04 3.29608260e-03 5.17629660e+01] [ 3.68219492e-04 9.99993103e-01 3.69563269e-03 -4.84109078e+00] [-3.29746569e-03 -3.69439866e-03 9.99987739e-01 -1.11422455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79327356 meters 0.10607634084969776 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.84, Z:-1.11 [[ 9.99989434e-01 -3.82920114e-03 2.54357456e-03 5.17648514e+01] [ 3.82893252e-03 9.99992664e-01 1.10466101e-04 -4.84206022e+00] [-2.54397890e-03 -1.00725759e-04 9.99996759e-01 -1.11464886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82327356 meters 0.10625970626719614 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.84, Z:-1.11 [[ 9.99990268e-01 -3.47521184e-03 2.71794844e-03 5.17646576e+01] [ 3.47257604e-03 9.99993496e-01 9.73892686e-04 -4.84458409e+00] [-2.72131525e-03 -9.64444926e-04 9.99995832e-01 -1.11489332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85327356 meters 0.10591682596196467 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.85, Z:-1.11 [[ 9.99990461e-01 -3.33992410e-03 2.81473493e-03 5.17644097e+01] [ 3.33623503e-03 9.99993571e-01 1.31430710e-03 -4.84581949e+00] [-2.81910652e-03 -1.30490394e-03 9.99995175e-01 -1.11481110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.88327356 meters 0.10958125310595199 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.85, Z:-1.11 [[ 9.99990201e-01 -3.34593403e-03 2.89859615e-03 5.17639437e+01] [ 3.34172628e-03 9.99993357e-01 1.45528100e-03 -4.84682002e+00] [-2.90344617e-03 -1.44558043e-03 9.99994740e-01 -1.11437309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.91327356000001 meters 0.10537676503311422 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.85, Z:-1.11 [[ 9.99989489e-01 -3.28376475e-03 3.19988487e-03 5.17631786e+01] [ 3.27764029e-03 9.99992790e-01 1.91733184e-03 -4.84889408e+00] [-3.20615787e-03 -1.90682362e-03 9.99993042e-01 -1.11408439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94327356000001 meters 0.105747711751728 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.85, Z:-1.11 [[ 9.99990397e-01 -3.01479159e-03 3.18079120e-03 5.17632809e+01] [ 3.00724563e-03 9.99992659e-01 2.37447645e-03 -4.85024649e+00] [-3.18792640e-03 -2.36488823e-03 9.99992122e-01 -1.11416338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97327356000001 meters 0.11224774112685486 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.85, Z:-1.11 [[ 9.99991695e-01 -2.58951947e-03 3.14724476e-03 5.17637089e+01] [ 2.57992660e-03 9.99992026e-01 3.04826904e-03 -4.85176035e+00] [-3.15511322e-03 -3.04012406e-03 9.99990401e-01 -1.11467568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00327356000001 meters 0.10486429960029706 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.85, Z:-1.11 [[ 9.99991325e-01 -2.49051844e-03 3.33881444e-03 5.17632183e+01] [ 2.47890961e-03 9.99990884e-01 3.47657395e-03 -4.85350595e+00] [-3.34744248e-03 -3.46826717e-03 9.99988383e-01 -1.11452658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03327356 meters 0.10777974448453222 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.85, Z:-1.12 [[ 9.99992617e-01 -2.09690868e-03 3.21998338e-03 5.17638377e+01] [ 2.08395704e-03 9.99989747e-01 4.02037112e-03 -4.85455076e+00] [-3.22838071e-03 -4.01363113e-03 9.99986734e-01 -1.11505420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06327356 meters 0.11251459915350258 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.86, Z:-1.12 [[ 9.99992602e-01 -1.99937220e-03 3.28625136e-03 5.17637817e+01] [ 1.98538427e-03 9.99988980e-01 4.25426533e-03 -4.85530062e+00] [-3.29472100e-03 -4.24770938e-03 9.99985551e-01 -1.11515621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09327356 meters 0.10726505000347031 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.86, Z:-1.12 [[ 9.99993043e-01 -1.77216609e-03 3.28241894e-03 5.17637205e+01] [ 1.75688147e-03 9.99987629e-01 4.65355761e-03 -4.85682098e+00] [-3.29062521e-03 -4.64775842e-03 9.99983785e-01 -1.11501891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.12327356 meters 0.10717271760465452 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.86, Z:-1.12 [[ 9.99993998e-01 -1.52299882e-03 3.11189119e-03 5.17642008e+01] [ 1.50770206e-03 9.99986799e-01 4.91202808e-03 -4.85745671e+00] [-3.11933113e-03 -4.90730679e-03 9.99983094e-01 -1.11515883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.15327356 meters 0.10951265909867886 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.86, Z:-1.12 [[ 9.99994246e-01 -1.48468325e-03 3.05022265e-03 5.17642990e+01] [ 1.46969809e-03 9.99986870e-01 4.90919216e-03 -4.85759260e+00] [-3.05747120e-03 -4.90468100e-03 9.99983298e-01 -1.11508988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18327356 meters 0.11024466823503408 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.86, Z:-1.11 [[ 9.99995533e-01 -1.23027914e-03 2.72388043e-03 5.17649366e+01] [ 1.21663602e-03 9.99986736e-01 5.00471154e-03 -4.85785589e+00] [-2.73000149e-03 -5.00137521e-03 9.99983767e-01 -1.11498701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21327356 meters 0.10327995747837622 Centerline is valid? [False, False] Translation: X:51.76, Y:-4.86, Z:-1.11 [[ 9.99995663e-01 -1.27705257e-03 2.65407200e-03 5.17649203e+01] [ 1.26413571e-03 9.99987377e-01 4.86279874e-03 -4.85776884e+00] [-2.66024855e-03 -4.85942254e-03 9.99984654e-01 -1.11472759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24327356 meters 0.10251148122428501 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.86, Z:-1.11 [[ 9.99996699e-01 -9.42151514e-04 2.39063243e-03 5.17655472e+01] [ 9.29832180e-04 9.99986311e-01 5.14905888e-03 -4.85846750e+00] [-2.39545089e-03 -5.14681899e-03 9.99983886e-01 -1.11478472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.27327356 meters 0.10416260752858338 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.86, Z:-1.11 [[ 9.99996712e-01 -8.85169861e-04 2.40656004e-03 5.17654410e+01] [ 8.72502266e-04 9.99985787e-01 5.25974100e-03 -4.85905969e+00] [-2.41118160e-03 -5.25762398e-03 9.99983272e-01 -1.11467687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.30327356000001 meters 0.10452458893433889 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.86, Z:-1.11 [[ 9.99996840e-01 -8.07394227e-04 2.38070104e-03 5.17653172e+01] [ 7.94570830e-04 9.99985199e-01 5.38243004e-03 -4.85980998e+00] [-2.38501154e-03 -5.38052140e-03 9.99982681e-01 -1.11439502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.33327356000001 meters 0.10665081405725411 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.86, Z:-1.11 [[ 9.99996947e-01 -5.59715951e-04 2.40674103e-03 5.17651838e+01] [ 5.45610933e-04 9.99982697e-01 5.85729805e-03 -4.86161758e+00] [-2.40997781e-03 -5.85596703e-03 9.99979950e-01 -1.11423415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36327356000001 meters 0.10621683473708346 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.86, Z:-1.11 [[ 9.99997064e-01 -4.32403750e-04 2.38441835e-03 5.17652061e+01] [ 4.17932690e-04 9.99981513e-01 6.06617281e-03 -4.86244381e+00] [-2.38699730e-03 -6.06515847e-03 9.99978758e-01 -1.11417543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39327356 meters 0.10931622791378061 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.86, Z:-1.11 [[ 9.99991448e-01 -3.87879436e-03 1.43480777e-03 5.17672696e+01] [ 3.87556378e-03 9.99989964e-01 2.24754483e-03 -4.86290345e+00] [-1.44351113e-03 -2.24196492e-03 9.99996445e-01 -1.11430488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42327356 meters 0.10292158546404066 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.86, Z:-1.11 [[ 9.99992111e-01 -3.72897314e-03 1.36826799e-03 5.17673151e+01] [ 3.72560195e-03 9.99990039e-01 2.45816975e-03 -4.86384906e+00] [-1.37742081e-03 -2.45305273e-03 9.99996043e-01 -1.11413297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.45327356 meters 0.104087862000518 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.87, Z:-1.11 [[ 9.99993478e-01 -3.37501389e-03 1.28615444e-03 5.17677241e+01] [ 3.37117376e-03 9.99989888e-01 2.97630647e-03 -4.86500583e+00] [-1.29618651e-03 -2.97195121e-03 9.99994744e-01 -1.11447597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48327356 meters 0.10344409512049572 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.87, Z:-1.11 [[ 9.99994109e-01 -3.20726384e-03 1.22251389e-03 5.17675426e+01] [ 3.20330126e-03 9.99989654e-01 3.22963691e-03 -4.86637472e+00] [-1.23285954e-03 -3.22570180e-03 9.99994037e-01 -1.11396499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.51327356 meters 0.1091657903524842 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.87, Z:-1.11 [[ 9.99995408e-01 -2.81791431e-03 1.11492970e-03 5.17680559e+01] [ 2.81371250e-03 9.99989001e-01 3.75245979e-03 -4.86742633e+00] [-1.12549155e-03 -3.74930547e-03 9.99992338e-01 -1.11436525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54327356 meters 0.10078070836441763 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.87, Z:-1.11 [[ 9.99995891e-01 -2.68827723e-03 9.95711283e-04 5.17680946e+01] [ 2.68435487e-03 9.99988714e-01 3.91986195e-03 -4.86827234e+00] [-1.00623772e-03 -3.91717301e-03 9.99991822e-01 -1.11405071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57327356 meters 0.10070980675927868 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.87, Z:-1.11 [[ 9.99996522e-01 -2.44967563e-03 9.77755248e-04 5.17679564e+01] [ 2.44539039e-03 9.99987505e-01 4.36012494e-03 -4.86995681e+00] [-9.88423922e-04 -4.35771878e-03 9.99990017e-01 -1.11376106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60327356 meters 0.10631675855702145 Centerline is valid? [False, False] Translation: X:51.77, Y:-4.87, Z:-1.11 [[ 9.99997303e-01 -2.14275376e-03 8.96420432e-04 5.17682933e+01] [ 2.13842476e-03 9.99986181e-01 4.80260241e-03 -4.87114729e+00] [-9.06698838e-04 -4.80067252e-03 9.99988066e-01 -1.11397998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.63327356 meters 0.09910398889067046 Centerline is valid? [False, True] Translation: X:51.77, Y:-4.87, Z:-1.11 [[ 9.99997959e-01 -1.79486665e-03 9.27868212e-04 5.17682093e+01] [ 1.78977588e-03 9.99983500e-01 5.45853856e-03 -4.87342167e+00] [-9.37650251e-04 -5.45686674e-03 9.99984672e-01 -1.11391615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.66327356000001 meters 0.09825445523507217 Centerline is valid? [True, True] Translation: X:51.80, Y:-4.87, Z:-1.11 [[ 9.99999084e-01 -1.35100885e-03 8.18476224e-05 5.17998642e+01] [ 1.35100955e-03 9.99999087e-01 -8.52868557e-06 -4.87425740e+00] [-8.18360254e-05 8.63925467e-06 9.99999997e-01 -1.11257464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69327356000001 meters 0.09933490246145751 Centerline is valid? [True, True] Translation: X:51.83, Y:-4.88, Z:-1.11 [[ 9.99999578e-01 -8.89579329e-04 -2.30658761e-04 5.18292496e+01] [ 8.89585338e-04 9.99999604e-01 2.59499174e-05 -4.88094563e+00] [ 2.30635585e-04 -2.61550971e-05 9.99999973e-01 -1.11349277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.72327356000001 meters 0.09900689191267173 Centerline is valid? [True, True] Translation: X:51.86, Y:-4.88, Z:-1.11 [[ 9.99998835e-01 -9.11699129e-04 -1.22440889e-03 5.18592525e+01] [ 9.11868467e-04 9.99999575e-01 1.37750283e-04 -4.88463228e+00] [ 1.22428278e-03 -1.38866623e-04 9.99999241e-01 -1.11419618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75327356000001 meters 0.09857170588238987 Centerline is valid? [True, True] Translation: X:51.89, Y:-4.89, Z:-1.11 [[ 9.99999011e-01 1.40600965e-03 2.15261447e-05 5.18892355e+01] [-1.40600960e-03 9.99999012e-01 -2.48064298e-06 -4.88918657e+00] [-2.15296113e-05 2.45037456e-06 1.00000000e+00 -1.11425543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78327356 meters 0.09862647582830569 Centerline is valid? [True, True] Translation: X:51.92, Y:-4.89, Z:-1.12 [[ 9.99996703e-01 2.48740775e-03 -6.38156302e-04 5.19184415e+01] [-2.48736265e-03 9.99996904e-01 7.14487798e-05 -4.89365893e+00] [ 6.38332048e-04 -6.98612181e-05 9.99999794e-01 -1.11504994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.81327356 meters 0.09839347712905364 Centerline is valid? [True, True] Translation: X:51.95, Y:-4.90, Z:-1.12 [[ 9.99986881e-01 4.99183189e-03 -1.14837046e-03 5.19488741e+01] [-4.99168688e-03 9.99987533e-01 1.29106372e-04 -4.89818997e+00] [ 1.14900062e-03 -1.23372372e-04 9.99999332e-01 -1.11611446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84327356 meters 0.09642476566549689 Centerline is valid? [True, True] Translation: X:51.98, Y:-4.90, Z:-1.12 [[ 9.99980564e-01 6.08430317e-03 -1.36094860e-03 5.19784274e+01] [-6.08410137e-03 9.99981480e-01 1.52369414e-04 -4.89862277e+00] [ 1.36185046e-03 -1.44086303e-04 9.99999062e-01 -1.11625712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87327356 meters 0.09724091859842118 Centerline is valid? [True, True] Translation: X:52.01, Y:-4.90, Z:-1.12 [[ 9.99974078e-01 6.98755614e-03 -1.73728448e-03 5.20055218e+01] [-6.98723028e-03 9.99975570e-01 1.93567909e-04 -4.90398600e+00] [ 1.73859460e-03 -1.81424085e-04 9.99998472e-01 -1.11743371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.90327356 meters 0.09576113853109956 Centerline is valid? [True, True] Translation: X:52.04, Y:-4.91, Z:-1.12 [[ 9.99953388e-01 9.32975834e-03 -2.48537620e-03 5.20359952e+01] [-9.32909299e-03 9.99956444e-01 2.79162636e-04 -4.90608831e+00] [ 2.48787246e-03 -2.55963318e-04 9.99996872e-01 -1.11769600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93327356 meters 0.09244724462079847 Centerline is valid? [True, True] Translation: X:52.07, Y:-4.90, Z:-1.12 [[ 9.99942939e-01 1.04849523e-02 -2.04565526e-03 5.20666870e+01] [-1.04845046e-02 9.99945010e-01 2.29473549e-04 -4.90433274e+00] [ 2.04794879e-03 -2.08012773e-04 9.99997881e-01 -1.11741784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96327356 meters 0.09136864637102145 Centerline is valid? [True, True] Translation: X:52.10, Y:-4.91, Z:-1.12 [[ 9.99917859e-01 1.25345239e-02 -2.67583385e-03 5.20969399e+01] [-1.25337649e-02 9.99921404e-01 3.00220409e-04 -4.90646050e+00] [ 2.67938667e-03 -2.66657477e-04 9.99996375e-01 -1.11839163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99327356 meters 0.09094207094160772 Centerline is valid? [True, True] Translation: X:52.13, Y:-4.91, Z:-1.12 [[ 9.99900890e-01 1.37889577e-02 -2.84149111e-03 5.21269064e+01] [-1.37881069e-02 9.99904889e-01 3.18779376e-04 -4.90907727e+00] [ 2.84561649e-03 -2.79568998e-04 9.99995912e-01 -1.11941399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02327356 meters 0.08970897318053554 Centerline is valid? [True, True] Translation: X:52.16, Y:-4.91, Z:-1.12 [[ 9.99871114e-01 1.57630438e-02 -3.04675392e-03 5.21572226e+01] [-1.57620748e-02 9.99875712e-01 3.41780841e-04 -4.91045255e+00] [ 3.05176275e-03 -2.93713627e-04 9.99995300e-01 -1.11988039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05327356000001 meters 0.08926912780843085 Centerline is valid? [True, True] Translation: X:52.19, Y:-4.91, Z:-1.12 [[ 9.99846493e-01 1.72518534e-02 -3.06011426e-03 5.21871924e+01] [-1.72508848e-02 9.99851134e-01 3.42629217e-04 -4.91265996e+00] [ 3.06556970e-03 -2.89786943e-04 9.99995259e-01 -1.12049412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08327356000001 meters 0.09384853201334763 Centerline is valid? [True, True] Translation: X:52.22, Y:-4.93, Z:-1.12 [[ 9.99780462e-01 2.07253511e-02 -3.08030340e-03 5.22150023e+01] [-2.07243848e-02 9.99785167e-01 3.45299110e-04 -4.92501809e+00] [ 3.08679810e-03 -2.81385911e-04 9.99995196e-01 -1.12323224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11327356000001 meters 0.08857743858700047 Centerline is valid? [True, True] Translation: X:52.25, Y:-4.92, Z:-1.12 [[ 9.99756651e-01 2.19068624e-02 -2.59387500e-03 5.22457102e+01] [-2.19061822e-02 9.99759989e-01 2.90360295e-04 -4.91777831e+00] [ 2.59961332e-03 -2.33467738e-04 9.99996594e-01 -1.12189026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14327356 meters 0.08857743858700047 Centerline is valid? [True, True] Translation: X:52.27, Y:-4.92, Z:-1.12 [[ 9.99758812e-01 2.18079856e-02 -2.59404688e-03 5.22731197e+01] [-2.18073090e-02 9.99762151e-01 2.88827294e-04 -4.92074832e+00] [ 2.59972863e-03 -2.32188451e-04 9.99996594e-01 -1.12242822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17327356 meters 0.08741901445149697 Centerline is valid? [True, True] Translation: X:52.30, Y:-4.92, Z:-1.12 [[ 9.99695093e-01 2.44874959e-02 -3.17530844e-03 5.23033190e+01] [-2.44864883e-02 9.99700098e-01 3.55816151e-04 -4.92160763e+00] [ 3.18306920e-03 -2.77955508e-04 9.99994895e-01 -1.12270747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.20327356 meters 0.08725004981388514 Centerline is valid? [True, True] Translation: X:52.33, Y:-4.92, Z:-1.12 [[ 9.99660519e-01 2.58458451e-02 -3.29236108e-03 5.23330462e+01] [-2.58447713e-02 9.99665900e-01 3.68272055e-04 -4.92407590e+00] [ 3.30077940e-03 -2.83056715e-04 9.99994512e-01 -1.12370678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.23327356 meters 0.0863806652255289 Centerline is valid? [True, True] Translation: X:52.36, Y:-4.93, Z:-1.12 [[ 9.99620310e-01 2.73687937e-02 -3.19144881e-03 5.23631500e+01] [-2.73677916e-02 9.99625368e-01 3.57233190e-04 -4.92562366e+00] [ 3.20003024e-03 -2.69754646e-04 9.99994844e-01 -1.12344802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.26327356 meters 0.08804117646827807 Centerline is valid? [True, True] Translation: X:52.39, Y:-4.93, Z:-1.13 [[ 9.99561906e-01 2.93805241e-02 -3.57503560e-03 5.23918418e+01] [-2.93792809e-02 9.99568256e-01 3.99772203e-04 -4.93141953e+00] [ 3.58523762e-03 -2.94565090e-04 9.99993530e-01 -1.12559640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29327356 meters 0.08860719846699469 Centerline is valid? [True, True] Translation: X:52.42, Y:-4.93, Z:-1.13 [[ 9.99542802e-01 3.01157004e-02 -2.68919868e-03 5.24194166e+01] [-3.01150031e-02 9.99546396e-01 2.99409139e-04 -4.93478994e+00] [ 2.69699576e-03 -2.18287023e-04 9.99996339e-01 -1.12649306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32327356 meters 0.0886936669948055 Centerline is valid? [True, True] Translation: X:52.45, Y:-4.94, Z:-1.13 [[ 9.99519364e-01 3.08743294e-02 -2.79567717e-03 5.24468604e+01] [-3.08735792e-02 9.99523249e-01 3.11129396e-04 -4.93793559e+00] [ 2.80395024e-03 -2.24667295e-04 9.99996044e-01 -1.12686013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35327356 meters 0.08594811365313407 Centerline is valid? [True, True] Translation: X:52.48, Y:-4.94, Z:-1.13 [[ 9.99489250e-01 3.18157264e-02 -2.99986996e-03 5.24765889e+01] [-3.18148651e-02 9.99493723e-01 3.34414760e-04 -4.93513152e+00] [ 3.00899084e-03 -2.38803500e-04 9.99995444e-01 -1.12598595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.38327356 meters 0.08344069072330129 Centerline is valid? [True, True] Translation: X:52.51, Y:-4.93, Z:-1.13 [[ 9.99438586e-01 3.33882179e-02 -2.78200439e-03 5.25070553e+01] [-3.33874835e-02 9.99442434e-01 3.09998437e-04 -4.93164756e+00] [ 2.79080354e-03 -2.16940274e-04 9.99996082e-01 -1.12505618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.41327356000001 meters 0.0838834669382468 Centerline is valid? [True, True] Translation: X:52.53, Y:-4.93, Z:-1.13 [[ 9.99417859e-01 3.40020753e-02 -2.79315387e-03 5.25346970e+01] [-3.40013401e-02 9.99421739e-01 3.10277334e-04 -4.93495896e+00] [ 2.80208878e-03 -2.15125734e-04 9.99996051e-01 -1.12651296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44327356000001 meters 0.08750154050475138 Centerline is valid? [True, True] Translation: X:52.56, Y:-4.94, Z:-1.13 [[ 9.99410031e-01 3.42680717e-02 -2.29964731e-03 5.25616164e+01] [-3.42675752e-02 9.99412662e-01 2.54997281e-04 -4.94491253e+00] [ 2.30703490e-03 -1.76043504e-04 9.99997323e-01 -1.12888207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47327356000001 meters 0.08265992301924593 Centerline is valid? [True, True] Translation: X:52.59, Y:-4.94, Z:-1.13 [[ 9.99371938e-01 3.53711313e-02 -2.14746671e-03 5.25914417e+01] [-3.53707007e-02 9.99374233e-01 2.38167253e-04 -4.93571284e+00] [ 2.15454714e-03 -1.62060267e-04 9.99997666e-01 -1.12657829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50327356000001 meters 0.08266471394381894 Centerline is valid? [True, True] Translation: X:52.62, Y:-4.94, Z:-1.13 [[ 9.99371442e-01 3.52829936e-02 -3.43964112e-03 5.26202552e+01] [-3.52818866e-02 9.99377327e-01 3.82027717e-04 -4.93753589e+00] [ 3.45097843e-03 -2.60430562e-04 9.99994011e-01 -1.12693181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53327356 meters 0.08325844772338648 Centerline is valid? [True, True] Translation: X:52.65, Y:-4.94, Z:-1.13 [[ 9.99381976e-01 3.50316800e-02 -2.90651233e-03 5.26482430e+01] [-3.50308918e-02 9.99386178e-01 3.21680302e-04 -4.93984605e+00] [ 2.91599725e-03 -2.19663777e-04 9.99995724e-01 -1.12816677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56327356 meters 0.08438505060650443 Centerline is valid? [True, True] Translation: X:52.68, Y:-4.94, Z:-1.13 [[ 9.99415024e-01 3.40547107e-02 -3.14418116e-03 5.26750556e+01] [-3.40537873e-02 9.99419941e-01 3.46787135e-04 -4.94470866e+00] [ 3.15416709e-03 -2.39512996e-04 9.99994997e-01 -1.12892938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59327356 meters 0.08439166924528282 Centerline is valid? [True, True] Translation: X:52.70, Y:-4.95, Z:-1.13 [[ 9.99444399e-01 3.31759997e-02 -3.20089636e-03 5.27033753e+01] [-3.31750349e-02 9.99449494e-01 3.54048107e-04 -4.94657338e+00] [ 3.21088014e-03 -2.47661549e-04 9.99994814e-01 -1.12917003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.62327356 meters 0.08626802290091366 Centerline is valid? [True, True] Translation: X:52.73, Y:-4.95, Z:-1.13 [[ 9.99489668e-01 3.18823063e-02 -1.98020509e-03 5.27307205e+01] [-3.18819361e-02 9.99491618e-01 2.18251467e-04 -4.95145478e+00] [ 1.98615675e-03 -1.55007314e-04 9.99998016e-01 -1.13087676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.65327356 meters 0.08665087251715965 Centerline is valid? [True, True] Translation: X:52.76, Y:-4.95, Z:-1.13 [[ 9.99514087e-01 3.10379183e-02 -2.87012324e-03 5.27604899e+01] [-3.10371324e-02 9.99518182e-01 3.17940810e-04 -4.95462092e+00] [ 2.87860859e-03 -2.28705923e-04 9.99995831e-01 -1.13190223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68327356 meters 0.08671493835612983 Centerline is valid? [True, True] Translation: X:52.79, Y:-4.96, Z:-1.13 [[ 9.99526418e-01 3.06159091e-02 -3.09948301e-03 5.27896279e+01] [-3.06149931e-02 9.99531193e-01 3.42555560e-04 -4.95699739e+00] [ 3.10851760e-03 -2.47502680e-04 9.99995138e-01 -1.13332666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71327356 meters 0.08798397300835713 Centerline is valid? [True, True] Translation: X:52.82, Y:-4.96, Z:-1.13 [[ 9.99540847e-01 3.01527743e-02 -2.98416380e-03 5.28165116e+01] [-3.01519260e-02 9.99545273e-01 3.28844721e-04 -4.96149097e+00] [ 2.99272240e-03 -2.38715445e-04 9.99995493e-01 -1.13496271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74327356 meters 0.0894415478407645 Centerline is valid? [True, True] Translation: X:52.84, Y:-4.97, Z:-1.14 [[ 9.99573787e-01 2.90621059e-02 -2.76364427e-03 5.28448475e+01] [-2.90613723e-02 9.99577583e-01 3.05235851e-04 -4.96552549e+00] [ 2.77134766e-03 -2.24790460e-04 9.99996135e-01 -1.13715291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.77327356 meters 0.08988896115503066 Centerline is valid? [True, True] Translation: X:52.87, Y:-4.97, Z:-1.14 [[ 9.99580935e-01 2.87536031e-02 -3.34449218e-03 5.28738462e+01] [-2.87525281e-02 9.99586492e-01 3.69064829e-04 -4.96880963e+00] [ 3.35372115e-03 -2.72747561e-04 9.99994339e-01 -1.13821192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.80327356000001 meters 0.09079932873480423 Centerline is valid? [True, True] Translation: X:52.90, Y:-4.97, Z:-1.14 [[ 9.99609081e-01 2.77987679e-02 -2.98543194e-03 5.29014246e+01] [-2.77979091e-02 9.99613509e-01 3.28762518e-04 -4.97183290e+00] [ 2.99341730e-03 -2.45645233e-04 9.99995490e-01 -1.13862182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83327356000001 meters 0.09177373720088168 Centerline is valid? [True, True] Translation: X:52.93, Y:-4.98, Z:-1.14 [[ 9.99616937e-01 2.75966254e-02 -2.09915136e-03 5.29290032e+01] [-2.75962034e-02 9.99619126e-01 2.29755844e-04 -4.97569496e+00] [ 2.10469234e-03 -1.71739225e-04 9.99997770e-01 -1.13947365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86327356000001 meters 0.09152738127141188 Centerline is valid? [True, True] Translation: X:52.96, Y:-4.98, Z:-1.14 [[ 9.99617925e-01 2.75788706e-02 -1.84662719e-03 5.29575322e+01] [-2.75785428e-02 9.99619619e-01 2.02749427e-04 -4.97723407e+00] [ 1.85151637e-03 -1.51744675e-04 9.99998274e-01 -1.13924967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89327356 meters 0.08681158450887695 Centerline is valid? [True, True] Translation: X:52.99, Y:-4.97, Z:-1.14 [[ 9.99580545e-01 2.89330533e-02 -1.26982067e-03 5.29883382e+01] [-2.89328992e-02 9.99581346e-01 1.39578244e-04 -4.96837414e+00] [ 1.27332748e-03 -1.02780103e-04 9.99999184e-01 -1.13712310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92327356 meters 0.08630742350638114 Centerline is valid? [True, True] Translation: X:53.02, Y:-4.97, Z:-1.14 [[ 9.99546861e-01 3.00648246e-02 -1.47587995e-03 5.30174631e+01] [-3.00646200e-02 9.99547944e-01 1.60679717e-04 -4.96949011e+00] [ 1.48004358e-03 -1.16235137e-04 9.99998898e-01 -1.13772419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.95327356 meters 0.08523773388757634 Centerline is valid? [True, True] Translation: X:53.05, Y:-4.97, Z:-1.14 [[ 9.99504910e-01 3.14440321e-02 -1.09939511e-03 5.30470668e+01] [-3.14439183e-02 9.99505510e-01 1.20594322e-04 -4.96923206e+00] [ 1.10264344e-03 -8.59653264e-05 9.99999388e-01 -1.13789348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.98327356 meters 0.08300925255370994 Centerline is valid? [True, True] Translation: X:53.08, Y:-4.97, Z:-1.14 [[ 9.99393738e-01 3.47948797e-02 -1.21345582e-03 5.30780203e+01] [-3.47947428e-02 9.99394471e-01 1.33762917e-04 -4.96512637e+00] [ 1.21737530e-03 -9.14599383e-05 9.99999255e-01 -1.13801238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.01327356 meters 0.08650974366184672 Centerline is valid? [True, True] Translation: X:53.11, Y:-4.97, Z:-1.14 [[ 9.99309876e-01 3.71419306e-02 -4.97947896e-04 5.31057110e+01] [-3.71419080e-02 9.99310000e-01 5.45604482e-05 -4.97451105e+00] [ 4.99630792e-04 -3.60280599e-05 9.99999875e-01 -1.14098484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04327356 meters 0.08504504775889707 Centerline is valid? [True, True] Translation: X:53.14, Y:-4.97, Z:-1.14 [[ 9.99208254e-01 3.97757778e-02 -8.67844629e-04 5.31362554e+01] [-3.97757099e-02 9.99208629e-01 9.53671426e-05 -4.97345370e+00] [ 8.70951144e-04 -6.07724999e-05 9.99999619e-01 -1.14205296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07327356 meters 0.08277236008320299 Centerline is valid? [True, True] Translation: X:53.17, Y:-4.97, Z:-1.14 [[ 9.98954472e-01 4.57030349e-02 -1.09330572e-03 5.31672280e+01] [-4.57029306e-02 9.98955068e-01 1.20186560e-04 -4.96958966e+00] [ 1.09765618e-03 -7.00936260e-05 9.99999395e-01 -1.14196544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10327356 meters 0.08015280119536328 Centerline is valid? [True, True] Translation: X:53.20, Y:-4.96, Z:-1.14 [[ 9.98804138e-01 4.88674776e-02 -1.50429700e-03 5.31976957e+01] [-4.88672836e-02 9.98805267e-01 1.65479183e-04 -4.96497751e+00] [ 1.51058632e-03 -9.17703842e-05 9.99998855e-01 -1.14109479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.13327356 meters 0.07769884007990005 Centerline is valid? [True, True] Translation: X:53.23, Y:-4.96, Z:-1.14 [[ 9.98437007e-01 5.58759025e-02 -1.19397779e-03 5.32283680e+01] [-5.58757855e-02 9.98437719e-01 1.31147686e-04 -4.95902525e+00] [ 1.19944046e-03 -6.42282559e-05 9.99999279e-01 -1.14087867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.16327356000001 meters 0.07647712590040816 Centerline is valid? [True, True] Translation: X:53.26, Y:-4.96, Z:-1.14 [[ 9.98216969e-01 5.96877222e-02 -5.09505366e-04 5.32593591e+01] [-5.96877014e-02 9.98217098e-01 5.59513732e-05 -4.95786913e+00] [ 5.11936578e-04 -2.54404060e-05 9.99999869e-01 -1.14175484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.19327356000001 meters 0.07584808332725204 Centerline is valid? [True, True] Translation: X:53.29, Y:-4.96, Z:-1.14 [[ 9.98007029e-01 6.31027420e-02 1.18392823e-04 5.32897767e+01] [-6.31027409e-02 9.98007036e-01 -1.33575529e-05 -4.95794940e+00] [-1.18999769e-04 5.86002002e-06 9.99999993e-01 -1.14213322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22327356000001 meters 0.07432849080541827 Centerline is valid? [True, True] Translation: X:53.32, Y:-4.95, Z:-1.14 [[ 9.97544654e-01 7.00332723e-02 5.58591855e-05 5.33190591e+01] [-7.00332720e-02 9.97544656e-01 -6.71139198e-06 -4.95461715e+00] [-5.61920528e-05 2.78291166e-06 9.99999998e-01 -1.14319974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25327356000001 meters 0.07372923125070098 Centerline is valid? [True, True] Translation: X:53.35, Y:-4.95, Z:-1.14 [[ 9.97352687e-01 7.27155520e-02 -2.57413030e-04 5.33483744e+01] [-7.27155482e-02 9.97352720e-01 2.42592388e-05 -4.95460603e+00] [ 2.58495610e-04 -5.47708746e-06 9.99999967e-01 -1.14341935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28327356 meters 0.07295927449877165 Centerline is valid? [True, True] Translation: X:53.38, Y:-4.96, Z:-1.14 [[ 9.97103515e-01 7.60555470e-02 3.66375788e-04 5.33781109e+01] [-7.60555371e-02 9.97103582e-01 -4.08798822e-05 -4.95519596e+00] [-3.68423752e-04 1.28965669e-05 9.99999932e-01 -1.14413861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31327356 meters 0.07228030403130961 Centerline is valid? [True, True] Translation: X:53.41, Y:-4.95, Z:-1.15 [[ 9.96713177e-01 8.09997053e-02 1.37470817e-03 5.34074750e+01] [-8.09995731e-02 9.96714125e-01 -1.51644889e-04 -4.95410368e+00] [-1.38247425e-03 3.97956834e-05 9.99999044e-01 -1.14552237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34327356 meters 0.0718580125008634 Centerline is valid? [True, True] Translation: X:53.44, Y:-4.96, Z:-1.15 [[ 9.96568087e-01 8.27578690e-02 1.78390509e-03 5.34365411e+01] [-8.27576437e-02 9.96569683e-01 -1.99869115e-04 -4.95555175e+00] [-1.79432647e-03 5.15514001e-05 9.99998389e-01 -1.14612317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37327356 meters 0.07166505479016773 Centerline is valid? [True, True] Translation: X:53.46, Y:-4.96, Z:-1.15 [[ 9.96292817e-01 8.60177429e-02 1.25311068e-03 5.34642216e+01] [-8.60176356e-02 9.96293605e-01 -1.39362800e-04 -4.95747279e+00] [-1.26045383e-03 3.10565388e-05 9.99999205e-01 -1.14747735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40327356 meters 0.07160967166653492 Centerline is valid? [True, True] Translation: X:53.49, Y:-4.96, Z:-1.15 [[ 9.96262708e-01 8.63744125e-02 2.77123881e-04 5.34916157e+01] [-8.63744061e-02 9.96262747e-01 -3.50734172e-05 -4.96085840e+00] [-2.79117644e-04 1.10059270e-05 9.99999961e-01 -1.14865615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43327356 meters 0.07131111482162075 Centerline is valid? [True, True] Translation: X:53.52, Y:-4.96, Z:-1.15 [[ 9.96228430e-01 8.67689872e-02 -2.42917073e-04 5.35197557e+01] [-8.67689846e-02 9.96228459e-01 2.14508147e-05 -4.96178759e+00] [ 2.43862167e-04 -2.92243661e-07 9.99999970e-01 -1.14822970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46327356 meters 0.07133415661872164 Centerline is valid? [True, True] Translation: X:53.55, Y:-4.97, Z:-1.15 [[ 9.96174821e-01 8.73815745e-02 -4.30661871e-04 5.35474879e+01] [-8.73815630e-02 9.96174915e-01 4.53617463e-05 -4.96629264e+00] [ 4.32978333e-04 -7.55632209e-06 9.99999906e-01 -1.14973582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49327356 meters 0.07138675736141917 Centerline is valid? [True, True] Translation: X:53.57, Y:-4.97, Z:-1.15 [[ 9.96218196e-01 8.68854748e-02 -4.68535641e-04 5.35749336e+01] [-8.68854627e-02 9.96218307e-01 4.59691433e-05 -4.96992914e+00] [ 4.70757834e-04 -5.08636107e-06 9.99999889e-01 -1.15071200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52327356 meters 0.07147974419029825 Centerline is valid? [True, True] Translation: X:53.60, Y:-4.97, Z:-1.15 [[ 9.96259455e-01 8.64119540e-02 -2.71111692e-04 5.36026772e+01] [-8.64119496e-02 9.96259491e-01 2.79127022e-05 -4.97477951e+00] [ 2.72509587e-04 -4.38100366e-06 9.99999963e-01 -1.15190743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55327356000001 meters 0.07189105731432706 Centerline is valid? [True, True] Translation: X:53.63, Y:-4.98, Z:-1.15 [[ 9.96414391e-01 8.46065408e-02 3.08839218e-04 5.36302188e+01] [-8.46065340e-02 9.96414438e-01 -3.50397006e-05 -4.98264681e+00] [-3.10696444e-04 8.78424608e-06 9.99999952e-01 -1.15236991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58327356000001 meters 0.07227848878833179 Centerline is valid? [True, True] Translation: X:53.66, Y:-4.99, Z:-1.15 [[ 9.96546449e-01 8.30341821e-02 7.06589043e-04 5.36582749e+01] [-8.30341457e-02 9.96546699e-01 -8.07686024e-05 -4.98867071e+00] [-7.10855533e-04 2.18186464e-05 9.99999747e-01 -1.15262378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61327356000001 meters 0.07307309813656153 Centerline is valid? [True, True] Translation: X:53.69, Y:-5.00, Z:-1.15 [[ 9.96871251e-01 7.90235962e-02 1.72634203e-03 5.36853110e+01] [-7.90233889e-02 9.96872744e-01 -1.88102884e-04 -4.99910556e+00] [-1.73580788e-03 5.10929601e-05 9.99998492e-01 -1.15286793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64327356 meters 0.07368927654616479 Centerline is valid? [True, True] Translation: X:53.71, Y:-5.01, Z:-1.15 [[ 9.97083216e-01 7.63113393e-02 1.28019804e-03 5.37145269e+01] [-7.63112235e-02 9.97084037e-01 -1.39147061e-04 -5.00642078e+00] [-1.28708353e-03 4.10477199e-05 9.99999171e-01 -1.15411877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67327356 meters 0.07418670509341654 Centerline is valid? [True, True] Translation: X:53.74, Y:-5.01, Z:-1.15 [[ 9.97329448e-01 7.30273789e-02 9.87096845e-04 5.37434849e+01] [-7.30273083e-02 9.97329936e-01 -1.07403225e-04 -5.01341160e+00] [-9.92304609e-04 3.50313735e-05 9.99999507e-01 -1.15337491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70327356 meters 0.07499695702377382 Centerline is valid? [True, True] Translation: X:53.77, Y:-5.02, Z:-1.15 [[ 9.97601900e-01 6.92130674e-02 -8.90947378e-06 5.37729444e+01] [-6.92130674e-02 9.97601900e-01 6.15305151e-07 -5.02210096e+00] [ 8.93069512e-06 2.82242273e-09 1.00000000e+00 -1.15475191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73327356 meters 0.07874469649917278 Centerline is valid? [True, True] Translation: X:53.80, Y:-5.04, Z:-1.16 [[ 9.98105826e-01 6.14946249e-02 -1.78086243e-03 5.38000556e+01] [-6.14943786e-02 9.98107411e-01 1.92765979e-04 -5.04065996e+00] [ 1.78934606e-03 -8.28878184e-05 9.99998396e-01 -1.15904194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.76327356 meters 0.0801517367091007 Centerline is valid? [True, True] Translation: X:53.83, Y:-5.05, Z:-1.16 [[ 9.98298546e-01 5.82819342e-02 -1.79679704e-03 5.38298276e+01] [-5.82816785e-02 9.98300159e-01 1.94380662e-04 -5.05031123e+00] [ 1.80507166e-03 -8.93295847e-05 9.99998367e-01 -1.16001250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79327356 meters 0.08202030285776116 Centerline is valid? [True, True] Translation: X:53.86, Y:-5.06, Z:-1.16 [[ 9.98525798e-01 5.42446364e-02 -1.93651936e-03 5.38589412e+01] [-5.42443322e-02 9.98527670e-01 2.09285214e-04 -5.05995012e+00] [ 1.94502076e-03 -1.03931486e-04 9.99998103e-01 -1.16114674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82327356 meters 0.08519889212566796 Centerline is valid? [True, True] Translation: X:53.89, Y:-5.07, Z:-1.16 [[ 9.98856425e-01 4.77860603e-02 -1.52774158e-03 5.38871411e+01] [-4.77858636e-02 9.98857589e-01 1.65006330e-04 -5.07333763e+00] [ 1.53388127e-03 -9.18131822e-05 9.99998819e-01 -1.16184985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85327356 meters 0.08648186894924699 Centerline is valid? [True, True] Translation: X:53.92, Y:-5.08, Z:-1.16 [[ 9.99017512e-01 4.42767518e-02 -1.89200731e-03 5.39172534e+01] [-4.42764436e-02 9.99019296e-01 2.04531805e-04 -5.07994482e+00] [ 1.89920782e-03 -1.20559500e-04 9.99998189e-01 -1.16199824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88327356 meters 0.08878279815286233 Centerline is valid? [True, True] Translation: X:53.95, Y:-5.09, Z:-1.16 [[ 9.99182310e-01 4.03860188e-02 -1.91838157e-03 5.39456376e+01] [-4.03856952e-02 9.99184144e-01 2.07165832e-04 -5.08949737e+00] [ 1.92518305e-03 -1.29521261e-04 9.99998138e-01 -1.16249645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91327356000001 meters 0.08101645978697722 Centerline is valid? [True, True] Translation: X:53.98, Y:-5.08, Z:-1.16 [[ 9.99249833e-01 3.86784479e-02 -1.93605594e-03 5.39768411e+01] [-3.86781166e-02 9.99251700e-01 2.08292285e-04 -5.07508832e+00] [ 1.94266362e-03 -1.33253033e-04 9.99998104e-01 -1.15760504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94327356000001 meters 0.08289085952316026 Centerline is valid? [True, True] Translation: X:54.00, Y:-5.08, Z:-1.16 [[ 9.99303855e-01 3.72827920e-02 -1.34123458e-03 5.40041775e+01] [-3.72826326e-02 9.99304751e-01 1.43661253e-04 -5.08275963e+00] [ 1.34565818e-03 -9.35564874e-05 9.99999090e-01 -1.15947413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97327356000001 meters 0.09223957104961192 Centerline is valid? [True, True] Translation: X:54.03, Y:-5.11, Z:-1.17 [[ 9.99339806e-01 3.63174473e-02 -9.97979399e-04 5.40293247e+01] [-3.63173601e-02 9.99340302e-01 1.05320825e-04 -5.10531496e+00] [ 1.00114602e-03 -6.90073152e-05 9.99999496e-01 -1.16551891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00327356000001 meters 0.08444640126861686 Centerline is valid? [True, True] Translation: X:54.06, Y:-5.09, Z:-1.16 [[ 9.99394870e-01 3.47529301e-02 -1.45889396e-03 5.40606542e+01] [-3.47527381e-02 9.99395929e-01 1.56746592e-04 -5.09151822e+00] [ 1.46346009e-03 -1.05951180e-04 9.99998924e-01 -1.16114031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03327356 meters 0.08444640126861686 Centerline is valid? [True, True] Translation: X:54.09, Y:-5.09, Z:-1.16 [[ 9.99398201e-01 3.46569892e-02 -1.45904289e-03 5.40880365e+01] [-3.46567991e-02 9.99399261e-01 1.55365095e-04 -5.09436393e+00] [ 1.46355087e-03 -1.04705840e-04 9.99998924e-01 -1.16167749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06327356 meters 0.0824308722841678 Centerline is valid? [True, True] Translation: X:54.12, Y:-5.09, Z:-1.16 [[ 9.99420068e-01 3.40370491e-02 -1.00378886e-03 5.41167545e+01] [-3.40369600e-02 9.99420569e-01 1.05634763e-04 -5.09198497e+00] [ 1.00680273e-03 -7.14075804e-05 9.99999491e-01 -1.16088459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09327356 meters 0.08241785671134486 Centerline is valid? [True, True] Translation: X:54.15, Y:-5.09, Z:-1.16 [[ 9.99437225e-01 3.35245008e-02 -1.15817363e-03 5.41458043e+01] [-3.35243803e-02 9.99437892e-01 1.23301646e-04 -5.09420110e+00] [ 1.16165624e-03 -8.44052018e-05 9.99999322e-01 -1.16157357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12327356 meters 0.08335957391822843 Centerline is valid? [True, True] Translation: X:54.17, Y:-5.10, Z:-1.16 [[ 9.99430875e-01 3.37157141e-02 -1.08435862e-03 5.41736712e+01] [-3.37156091e-02 9.99431461e-01 1.14956495e-04 -5.09698683e+00] [ 1.08761796e-03 -7.83312594e-05 9.99999405e-01 -1.16255208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15327356 meters 0.08356782581599825 Centerline is valid? [True, True] Translation: X:54.20, Y:-5.10, Z:-1.16 [[ 9.99406118e-01 3.44540741e-02 -5.73108908e-04 5.42029482e+01] [-3.44540457e-02 9.99406281e-01 5.93086422e-05 -5.09928026e+00] [ 5.74812067e-04 -3.95274994e-05 9.99999834e-01 -1.16374430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18327356 meters 0.08390791778817443 Centerline is valid? [True, True] Translation: X:54.23, Y:-5.10, Z:-1.16 [[ 9.99394124e-01 3.48006175e-02 -5.49255782e-04 5.42305401e+01] [-3.48005912e-02 9.99394274e-01 5.73479961e-05 -5.10113982e+00] [ 5.50918829e-04 -3.81988244e-05 9.99999848e-01 -1.16484973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21327356 meters 0.08436196387279564 Centerline is valid? [True, True] Translation: X:54.26, Y:-5.10, Z:-1.17 [[ 9.99348849e-01 3.60803343e-02 2.96767072e-04 5.42589712e+01] [-3.60803261e-02 9.99348893e-01 -3.27738232e-05 -5.10162585e+00] [-2.97756335e-04 2.20450297e-05 9.99999955e-01 -1.16605444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24327356 meters 0.08703054152664552 Centerline is valid? [True, True] Translation: X:54.29, Y:-5.11, Z:-1.17 [[ 9.99351222e-01 3.60143633e-02 3.17319420e-04 5.42854104e+01] [-3.60143537e-02 9.99351272e-01 -3.61777805e-05 -5.10823791e+00] [-3.18416486e-04 2.47262553e-05 9.99999949e-01 -1.16818654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27327356 meters 0.08455345905796256 Centerline is valid? [True, True] Translation: X:54.32, Y:-5.10, Z:-1.17 [[ 9.99344742e-01 3.61871534e-02 7.59118640e-04 5.43150601e+01] [-3.61871011e-02 9.99345029e-01 -8.25325414e-05 -5.10440833e+00] [-7.61608057e-04 5.50081584e-05 9.99999708e-01 -1.16733856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30327356000001 meters 0.08206751727261843 Centerline is valid? [True, True] Translation: X:54.34, Y:-5.10, Z:-1.17 [[ 9.99349421e-01 3.60616196e-02 5.42474037e-04 5.43444269e+01] [-3.60615926e-02 9.99349567e-01 -5.93501973e-05 -5.09785602e+00] [-5.44261458e-04 3.97491076e-05 9.99999851e-01 -1.16649225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33327356000001 meters 0.08108423007799448 Centerline is valid? [True, True] Translation: X:54.37, Y:-5.10, Z:-1.17 [[ 9.99348412e-01 3.60934078e-02 1.32351708e-04 5.43727096e+01] [-3.60934060e-02 9.99348421e-01 -1.61348438e-05 -5.09594036e+00] [-1.32847832e-04 1.13473066e-05 9.99999991e-01 -1.16693390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36327356000001 meters 0.08630112066223432 Centerline is valid? [True, True] Translation: X:54.40, Y:-5.11, Z:-1.17 [[ 9.99346061e-01 3.61406754e-02 1.14127365e-03 5.43992681e+01] [-3.61405578e-02 9.99346709e-01 -1.23553274e-04 -5.10931042e+00] [-1.14499336e-03 8.22262119e-05 9.99999341e-01 -1.17060044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39327356 meters 0.08602414453339652 Centerline is valid? [True, True] Translation: X:54.43, Y:-5.11, Z:-1.17 [[ 9.99364834e-01 3.56206765e-02 1.04725811e-03 5.44286159e+01] [-3.56205775e-02 9.99365379e-01 -1.13033820e-04 -5.10697118e+00] [-1.05061984e-03 7.56580866e-05 9.99999445e-01 -1.17151915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42327356 meters 0.08384011209211374 Centerline is valid? [True, True] Translation: X:54.46, Y:-5.10, Z:-1.17 [[ 9.99370517e-01 3.54123451e-02 2.12952988e-03 5.44580587e+01] [-3.54119382e-02 9.99372775e-01 -2.28482742e-04 -5.10323169e+00] [-2.13628530e-03 1.52928135e-04 9.99997706e-01 -1.17078566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45327356 meters 0.08807949099912767 Centerline is valid? [True, True] Translation: X:54.49, Y:-5.11, Z:-1.17 [[ 9.99393421e-01 3.47824631e-02 1.72329004e-03 5.44851077e+01] [-3.47821939e-02 9.99394899e-01 -1.85994184e-04 -5.11298800e+00] [-1.72871661e-03 1.25941556e-04 9.99998498e-01 -1.17354427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48327356 meters 0.08361564774506265 Centerline is valid? [True, True] Translation: X:54.52, Y:-5.10, Z:-1.17 [[ 9.99396496e-01 3.46576261e-02 2.34354639e-03 5.45153049e+01] [-3.46571325e-02 9.99399230e-01 -2.50894688e-04 -5.10225704e+00] [-2.35083387e-03 1.69522674e-04 9.99997222e-01 -1.17129626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.51327356 meters 0.08269915294562322 Centerline is valid? [True, True] Translation: X:54.54, Y:-5.10, Z:-1.17 [[ 9.99411631e-01 3.41932645e-02 2.68548024e-03 5.45443696e+01] [-3.41926157e-02 9.99415220e-01 -2.87153286e-04 -5.10081344e+00] [-2.69372853e-03 1.95160741e-04 9.99996353e-01 -1.17129855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54327356 meters 0.0854056416721292 Centerline is valid? [True, True] Translation: X:54.57, Y:-5.11, Z:-1.17 [[ 9.99418614e-01 3.39545908e-02 3.08546767e-03 5.45719944e+01] [-3.39537337e-02 9.99423351e-01 -3.29779015e-04 -5.10764401e+00] [-3.09488595e-03 2.24824138e-04 9.99995186e-01 -1.17298062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57327356 meters 0.08383295360123688 Centerline is valid? [True, True] Translation: X:54.60, Y:-5.10, Z:-1.17 [[ 9.99431855e-01 3.35817093e-02 2.87001099e-03 5.46013722e+01] [-3.35809673e-02 9.99435953e-01 -3.06354673e-04 -5.10248541e+00] [-2.87868009e-03 2.09802874e-04 9.99995835e-01 -1.17387825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60327356 meters 0.08252191389012914 Centerline is valid? [True, True] Translation: X:54.63, Y:-5.10, Z:-1.17 [[ 9.99441190e-01 3.33729032e-02 1.88608870e-03 5.46299902e+01] [-3.33725798e-02 9.99442960e-01 -2.02696581e-04 -5.10023714e+00] [-1.89180264e-03 1.39639667e-04 9.99998201e-01 -1.17465085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63327356 meters 0.08474748817997926 Centerline is valid? [True, True] Translation: X:54.66, Y:-5.11, Z:-1.18 [[ 9.99448444e-01 3.31300164e-02 2.28244181e-03 5.46565918e+01] [-3.31295443e-02 9.99451036e-01 -2.44359853e-04 -5.10557267e+00] [-2.28928448e-03 1.68608818e-04 9.99997365e-01 -1.17725594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.66327356000001 meters 0.08419458840408119 Centerline is valid? [True, True] Translation: X:54.69, Y:-5.10, Z:-1.18 [[ 9.99486575e-01 3.20050072e-02 1.50556950e-03 5.46860673e+01] [-3.20047967e-02 9.99487702e-01 -1.63643386e-04 -5.10216510e+00] [-1.51003561e-03 1.15373922e-04 9.99998853e-01 -1.17872640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.69327356000001 meters 0.08479314996573295 Centerline is valid? [True, True] Translation: X:54.71, Y:-5.10, Z:-1.18 [[ 9.99505240e-01 3.14033099e-02 1.76302474e-03 5.47146791e+01] [-3.14030273e-02 9.99506786e-01 -1.87770134e-04 -5.10412048e+00] [-1.76805180e-03 1.32312919e-04 9.99998428e-01 -1.17978073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72327356000001 meters 0.08472451683679184 Centerline is valid? [True, True] Translation: X:54.74, Y:-5.10, Z:-1.18 [[ 9.99530042e-01 3.06281791e-02 1.26888655e-03 5.47437466e+01] [-3.06280317e-02 9.99530843e-01 -1.35433601e-04 -5.10389635e+00] [-1.27243933e-03 9.65064557e-05 9.99999186e-01 -1.18035314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75327356000001 meters 0.09002216757564828 Centerline is valid? [True, True] Translation: X:54.77, Y:-5.11, Z:-1.18 [[ 9.99563246e-01 2.94836629e-02 2.00758301e-03 5.47704708e+01] [-2.94832929e-02 9.99565250e-01 -2.13638938e-04 -5.11312539e+00] [-2.01300907e-03 1.54355473e-04 9.99997962e-01 -1.18307016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78327356 meters 0.08855880468506608 Centerline is valid? [True, True] Translation: X:54.80, Y:-5.11, Z:-1.18 [[ 9.99595742e-01 2.83016580e-02 2.71448723e-03 5.47995107e+01] [-2.83009803e-02 9.99599406e-01 -2.87728041e-04 -5.11054720e+00] [-2.72154300e-03 2.10789075e-04 9.99996274e-01 -1.18255281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81327356 meters 0.09165128265753547 Centerline is valid? [True, True] Translation: X:54.83, Y:-5.12, Z:-1.18 [[ 9.99620572e-01 2.74001726e-02 2.81820885e-03 5.48266376e+01] [-2.73994393e-02 9.99624520e-01 -2.98479410e-04 -5.11683128e+00] [-2.82532905e-03 2.21148816e-04 9.99995984e-01 -1.18406357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84327356 meters 0.0895867624025391 Centerline is valid? [True, True] Translation: X:54.86, Y:-5.11, Z:-1.18 [[ 9.99651736e-01 2.59683149e-02 4.69614439e-03 5.48574131e+01] [-2.59662707e-02 9.99662697e-01 -4.95759760e-04 -5.11132391e+00] [-4.70743441e-03 3.73645748e-04 9.99988850e-01 -1.18273298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87327356 meters 0.08938129071686943 Centerline is valid? [True, True] Translation: X:54.89, Y:-5.11, Z:-1.18 [[ 9.99669686e-01 2.52363701e-02 4.86251325e-03 5.48857904e+01] [-2.52341671e-02 9.99681436e-01 -5.13888257e-04 -5.11143314e+00] [-4.87393290e-03 3.91017040e-04 9.99988046e-01 -1.18311917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90327356 meters 0.09085527254201722 Centerline is valid? [True, True] Translation: X:54.91, Y:-5.11, Z:-1.18 [[ 9.99681354e-01 2.46462235e-02 5.45482497e-03 5.49128455e+01] [-2.46434447e-02 9.99696138e-01 -5.76054668e-04 -5.11450113e+00] [-5.46736503e-03 4.41445433e-04 9.99984956e-01 -1.18328657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93327356 meters 0.09160625067842233 Centerline is valid? [True, True] Translation: X:54.94, Y:-5.12, Z:-1.18 [[ 9.99699425e-01 2.39251919e-02 5.35199841e-03 5.49415268e+01] [-2.39225119e-02 9.99713657e-01 -5.64208021e-04 -5.11616631e+00] [-5.36396468e-03 4.36005189e-04 9.99985519e-01 -1.18431893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96327356 meters 0.09264962958175775 Centerline is valid? [True, True] Translation: X:54.97, Y:-5.12, Z:-1.19 [[ 9.99720159e-01 2.31359446e-02 4.93263523e-03 5.49693408e+01] [-2.31336586e-02 9.99732246e-01 -5.20008383e-04 -5.11577462e+00] [-4.94334538e-03 4.05752965e-04 9.99987699e-01 -1.18612257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99327356 meters 0.09373876527874472 Centerline is valid? [True, True] Translation: X:55.00, Y:-5.12, Z:-1.19 [[ 9.99727004e-01 2.29427280e-02 4.42145288e-03 5.49978041e+01] [-2.29408914e-02 9.99736715e-01 -4.65654069e-04 -5.11854290e+00] [-4.43097215e-03 3.64094877e-04 9.99990117e-01 -1.18758219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02327356 meters 0.09478745618535385 Centerline is valid? [True, True] Translation: X:55.03, Y:-5.12, Z:-1.19 [[ 9.99738671e-01 2.24552072e-02 4.28409114e-03 5.50264665e+01] [-2.24534795e-02 9.99747787e-01 -4.50939548e-04 -5.12114295e+00] [-4.29313657e-03 3.54628952e-04 9.99990722e-01 -1.18985351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05327356000001 meters 0.09608298037643825 Centerline is valid? [True, True] Translation: X:55.06, Y:-5.12, Z:-1.19 [[ 9.99760696e-01 2.16022135e-02 3.44881244e-03 5.50557899e+01] [-2.16010897e-02 9.99766603e-01 -3.62769019e-04 -5.12170559e+00] [-3.45584411e-03 2.88184101e-04 9.99993987e-01 -1.19226850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08327356000001 meters 0.09608199347819976 Centerline is valid? [True, True] Translation: X:55.08, Y:-5.12, Z:-1.19 [[ 9.99761178e-01 2.15252580e-02 3.77491398e-03 5.50844677e+01] [-2.15239112e-02 9.99768255e-01 -3.97047102e-04 -5.12229489e+00] [-3.78258570e-03 3.15701365e-04 9.99992796e-01 -1.19287326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11327356000001 meters 0.0974587177024219 Centerline is valid? [True, True] Translation: X:55.11, Y:-5.12, Z:-1.19 [[ 9.99765985e-01 2.13067389e-02 3.74134987e-03 5.51121627e+01] [-2.13054144e-02 9.99772936e-01 -3.93525770e-04 -5.12198229e+00] [-3.74888510e-03 3.13722670e-04 9.99992924e-01 -1.19343735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14327356 meters 0.09802934106900107 Centerline is valid? [True, True] Translation: X:55.14, Y:-5.12, Z:-1.19 [[ 9.99762372e-01 2.14016074e-02 4.14382594e-03 5.51405415e+01] [-2.13999866e-02 9.99770899e-01 -4.35086353e-04 -5.12318766e+00] [-4.15218813e-03 3.46305145e-04 9.99991320e-01 -1.19362694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17327356 meters 0.0936338720827693 Centerline is valid? [True, True] Translation: X:55.17, Y:-5.12, Z:-1.19 [[ 9.99768668e-01 2.09597775e-02 4.82684238e-03 5.51702772e+01] [-2.09575755e-02 9.99780238e-01 -5.06324345e-04 -5.11525370e+00] [-4.83639406e-03 4.05048302e-04 9.99988223e-01 -1.19232629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20327356 meters 0.09967312314368597 Centerline is valid? [True, True] Translation: X:55.20, Y:-5.12, Z:-1.20 [[ 9.99759857e-01 2.13642729e-02 4.87822015e-03 5.51971675e+01] [-2.13620292e-02 9.99771675e-01 -5.11603719e-04 -5.12471613e+00] [-4.88803637e-03 4.07272180e-04 9.99987971e-01 -1.19563627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.23327356 meters 0.09409238735444206 Centerline is valid? [True, True] Translation: X:55.23, Y:-5.12, Z:-1.19 [[ 9.99757734e-01 2.14392534e-02 4.98317895e-03 5.52269868e+01] [-2.14369166e-02 9.99770067e-01 -5.21894285e-04 -5.11546665e+00] [-4.99322217e-03 4.14943856e-04 9.99987448e-01 -1.19469054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.26327356 meters 0.09470906652489762 Centerline is valid? [True, True] Translation: X:55.26, Y:-5.12, Z:-1.20 [[ 9.99751956e-01 2.17272273e-02 4.89427152e-03 5.52554247e+01] [-2.17249781e-02 9.99763854e-01 -5.12258303e-04 -5.11712520e+00] [-4.90424571e-03 4.05803299e-04 9.99987892e-01 -1.19682704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29327356 meters 0.09261967377065365 Centerline is valid? [True, True] Translation: X:55.28, Y:-5.11, Z:-1.20 [[ 9.99745152e-01 2.20427893e-02 4.87312996e-03 5.52849943e+01] [-2.20405648e-02 9.99756947e-01 -5.09742422e-04 -5.11158223e+00] [-4.88318168e-03 4.02205979e-04 9.99987996e-01 -1.19699356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32327356 meters 0.09400569844224713 Centerline is valid? [True, True] Translation: X:55.31, Y:-5.11, Z:-1.20 [[ 9.99735989e-01 2.24069518e-02 5.08728014e-03 5.53126611e+01] [-2.24045330e-02 9.99748845e-01 -5.31966069e-04 -5.11468765e+00] [-5.09792218e-03 4.17847489e-04 9.99986918e-01 -1.19856409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35327356 meters 0.09205488115426298 Centerline is valid? [True, True] Translation: X:55.34, Y:-5.11, Z:-1.20 [[ 9.99732263e-01 2.25702306e-02 5.09782894e-03 5.53421941e+01] [-2.25678074e-02 9.99745173e-01 -5.32381879e-04 -5.11166259e+00] [-5.10854586e-03 4.17192519e-04 9.99986864e-01 -1.19850151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38327356 meters 0.08992063106682324 Centerline is valid? [True, True] Translation: X:55.37, Y:-5.11, Z:-1.20 [[ 9.99725131e-01 2.30171434e-02 4.45795783e-03 5.53711141e+01] [-2.30152953e-02 9.99735005e-01 -4.65442415e-04 -5.10834517e+00] [-4.46748964e-03 3.62713263e-04 9.99989955e-01 -1.19859674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41327356000001 meters 0.09542243499523341 Centerline is valid? [True, True] Translation: X:55.40, Y:-5.12, Z:-1.20 [[ 9.99728148e-01 2.28853125e-02 4.46012363e-03 5.53971738e+01] [-2.28834591e-02 9.99738031e-01 -4.66142780e-04 -5.11759780e+00] [-4.46962304e-03 3.63953001e-04 9.99989945e-01 -1.20186657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44327356000001 meters 0.09265372681980588 Centerline is valid? [True, True] Translation: X:55.43, Y:-5.11, Z:-1.20 [[ 9.99734392e-01 2.26297052e-02 4.36372207e-03 5.54270225e+01] [-2.26279345e-02 9.99743852e-01 -4.54728798e-04 -5.11342338e+00] [-4.37289469e-03 3.55866001e-04 9.99990376e-01 -1.20208868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47327356000001 meters 0.09301291615867632 Centerline is valid? [True, True] Translation: X:55.46, Y:-5.12, Z:-1.20 [[ 9.99751002e-01 2.18898583e-02 4.33218116e-03 5.54559967e+01] [-2.18881075e-02 9.99760325e-01 -4.51143431e-04 -5.11531675e+00] [-4.34101831e-03 3.56207850e-04 9.99990514e-01 -1.20287100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50327356000001 meters 0.09296018715679943 Centerline is valid? [True, True] Translation: X:55.48, Y:-5.12, Z:-1.20 [[ 9.99756144e-01 2.14012945e-02 5.44395255e-03 5.54845771e+01] [-2.13985265e-02 9.99770865e-01 -5.66192311e-04 -5.11518997e+00] [-5.45482240e-03 4.49561679e-04 9.99985021e-01 -1.20230159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53327356 meters 0.09291329471932501 Centerline is valid? [True, True] Translation: X:55.51, Y:-5.12, Z:-1.20 [[ 9.99739981e-01 2.21198442e-02 5.53925508e-03 5.55134417e+01] [-2.21169918e-02 9.99755224e-01 -5.75683940e-04 -5.11623114e+00] [-5.55063324e-03 4.53022592e-04 9.99984493e-01 -1.20258343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56327356 meters 0.0923552324566218 Centerline is valid? [True, True] Translation: X:55.54, Y:-5.12, Z:-1.20 [[ 9.99703006e-01 2.36230710e-02 5.98753420e-03 5.55438476e+01] [-2.36197725e-02 9.99720821e-01 -6.21020858e-04 -5.11696068e+00] [-6.00053303e-03 4.79412223e-04 9.99981882e-01 -1.20286123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59327356 meters 0.0917049342226536 Centerline is valid? [True, True] Translation: X:55.57, Y:-5.12, Z:-1.20 [[ 9.99630941e-01 2.64028364e-02 6.39310906e-03 5.55736335e+01] [-2.63991321e-02 9.99651262e-01 -6.63139099e-04 -5.11617098e+00] [-6.40838829e-03 4.94121831e-04 9.99979344e-01 -1.20265132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.62327356 meters 0.09138139618200117 Centerline is valid? [True, True] Translation: X:55.60, Y:-5.12, Z:-1.20 [[ 9.99599213e-01 2.75440138e-02 6.53763408e-03 5.56023892e+01] [-2.75401627e-02 9.99620468e-01 -6.78388451e-04 -5.11740807e+00] [-6.55383838e-03 4.98069055e-04 9.99978399e-01 -1.20344348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.65327356 meters 0.0908000483363501 Centerline is valid? [True, True] Translation: X:55.63, Y:-5.12, Z:-1.20 [[ 9.99572147e-01 2.84780438e-02 6.67261049e-03 5.56314543e+01] [-2.84740560e-02 9.99594292e-01 -6.91899822e-04 -5.11875865e+00] [-6.68960732e-03 5.01607506e-04 9.99977499e-01 -1.20405873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68327356 meters 0.08847614154832438 Centerline is valid? [True, True] Translation: X:55.66, Y:-5.12, Z:-1.20 [[ 9.99520066e-01 3.03473869e-02 6.21878221e-03 5.56619094e+01] [-3.03439654e-02 9.99539309e-01 -6.43814848e-04 -5.11661939e+00] [-6.23545537e-03 4.54803347e-04 9.99980456e-01 -1.20440642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71327356 meters 0.08845580367583246 Centerline is valid? [True, True] Translation: X:55.69, Y:-5.12, Z:-1.21 [[ 9.99460393e-01 3.23588910e-02 5.64136225e-03 5.56908173e+01] [-3.23561063e-02 9.99476233e-01 -5.84208361e-04 -5.11883369e+00] [-5.65731183e-03 4.01360601e-04 9.99983917e-01 -1.20547167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74327356 meters 0.08634404045377868 Centerline is valid? [True, True] Translation: X:55.72, Y:-5.12, Z:-1.21 [[ 9.99438106e-01 3.31815846e-02 4.73873426e-03 5.57203975e+01] [-3.31796279e-02 9.99449284e-01 -4.90952925e-04 -5.11726163e+00] [-4.75241516e-03 3.33447622e-04 9.99988652e-01 -1.20578743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.77327356 meters 0.08848381438768461 Centerline is valid? [True, True] Translation: X:55.75, Y:-5.13, Z:-1.21 [[ 9.99439404e-01 3.32212924e-02 4.15007762e-03 5.57462304e+01] [-3.32197834e-02 9.99447977e-01 -4.32037565e-04 -5.12561379e+00] [-4.16213953e-03 2.93930687e-04 9.99991295e-01 -1.20791773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80327356000001 meters 0.08736277582318717 Centerline is valid? [True, True] Translation: X:55.77, Y:-5.13, Z:-1.21 [[ 9.99448179e-01 3.28663790e-02 4.81018292e-03 5.57748218e+01] [-3.28643639e-02 9.99459697e-01 -4.97383198e-04 -5.12719444e+00] [-4.82393115e-03 3.39025129e-04 9.99988307e-01 -1.20862191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.83327356000001 meters 0.08905038068238336 Centerline is valid? [True, True] Translation: X:55.80, Y:-5.13, Z:-1.21 [[ 9.99485667e-01 3.17122853e-02 4.76787711e-03 5.58020656e+01] [-3.17102928e-02 9.99496981e-01 -4.92927652e-04 -5.13425376e+00] [-4.78111064e-03 3.41483344e-04 9.99988512e-01 -1.20976827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86327356000001 meters 0.08937818468307404 Centerline is valid? [True, True] Translation: X:55.83, Y:-5.14, Z:-1.21 [[ 9.99534825e-01 2.98805587e-02 6.10616955e-03 5.58306096e+01] [-2.98772640e-02 9.99553376e-01 -6.30103615e-04 -5.13978141e+00] [-6.12227024e-03 4.47374867e-04 9.99981159e-01 -1.20972404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89327356 meters 0.09296994588641731 Centerline is valid? [True, True] Translation: X:55.86, Y:-5.15, Z:-1.21 [[ 9.99578636e-01 2.83370747e-02 6.28974017e-03 5.58583577e+01] [-2.83335536e-02 9.99598314e-01 -6.48237383e-04 -5.15034287e+00] [-6.30558282e-03 4.69753549e-04 9.99980009e-01 -1.21021007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92327356 meters 0.09296994588641731 Centerline is valid? [True, True] Translation: X:55.89, Y:-5.15, Z:-1.21 [[ 9.99581507e-01 2.82356120e-02 6.28970737e-03 5.58857416e+01] [-2.82320869e-02 9.99601185e-01 -6.48556853e-04 -5.15302064e+00] [-6.30551134e-03 4.70713872e-04 9.99980009e-01 -1.21074723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.95327356 meters 0.09095239207712848 Centerline is valid? [True, True] Translation: X:55.92, Y:-5.15, Z:-1.21 [[ 9.99613541e-01 2.68787901e-02 7.09221569e-03 5.59153081e+01] [-2.68742870e-02 9.99638555e-01 -7.29499203e-04 -5.15313551e+00] [-7.10926030e-03 5.38619042e-04 9.99974584e-01 -1.20946930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.98327356 meters 0.09686282067074864 Centerline is valid? [True, True] Translation: X:55.94, Y:-5.17, Z:-1.21 [[ 9.99650617e-01 2.54337450e-02 7.19499062e-03 5.59424910e+01] [-2.54290736e-02 9.99676355e-01 -7.40016907e-04 -5.16774825e+00] [-7.21148340e-03 5.56796412e-04 9.99973842e-01 -1.21100449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.01327356 meters 0.09523328597544803 Centerline is valid? [True, True] Translation: X:55.97, Y:-5.17, Z:-1.21 [[ 9.99681982e-01 2.42541636e-02 6.90437712e-03 5.59718054e+01] [-2.42498349e-02 9.99705677e-01 -7.09997770e-04 -5.16856942e+00] [-6.91956541e-03 5.42341972e-04 9.99975912e-01 -1.21079378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04327356 meters 0.09700289726136155 Centerline is valid? [True, True] Translation: X:56.00, Y:-5.18, Z:-1.21 [[ 9.99725503e-01 2.25065627e-02 6.50944288e-03 5.59995494e+01] [-2.25026820e-02 9.99746559e-01 -6.68794828e-04 -5.17722759e+00] [-6.52284540e-03 5.22131323e-04 9.99978590e-01 -1.21184842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07327356 meters 0.09753039039088152 Centerline is valid? [True, True] Translation: X:56.03, Y:-5.18, Z:-1.21 [[ 9.99741828e-01 2.16997357e-02 6.73793097e-03 5.60273561e+01] [-2.16955593e-02 9.99764384e-01 -6.92313719e-04 -5.18243076e+00] [-6.75136643e-03 5.45951801e-04 9.99977060e-01 -1.21329251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10327356 meters 0.09490187007575238 Centerline is valid? [True, True] Translation: X:56.06, Y:-5.18, Z:-1.21 [[ 9.99779469e-01 2.03624504e-02 5.13646561e-03 5.60565219e+01] [-2.03600070e-02 9.99792574e-01 -5.27548241e-04 -5.18326312e+00] [-5.14614235e-03 4.22853425e-04 9.99986669e-01 -1.21444728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.13327356 meters 0.09535835599073061 Centerline is valid? [True, True] Translation: X:56.08, Y:-5.19, Z:-1.22 [[ 9.99790296e-01 1.99152121e-02 4.76946622e-03 5.60846482e+01] [-1.99131017e-02 9.99801595e-01 -4.89567058e-04 -5.18807925e+00] [-4.77826977e-03 3.94489528e-04 9.99988506e-01 -1.21596766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16327356000001 meters 0.09383303456443198 Centerline is valid? [True, True] Translation: X:56.11, Y:-5.19, Z:-1.22 [[ 9.99793851e-01 1.97099321e-02 4.87579503e-03 5.61133609e+01] [-1.97077258e-02 9.99805659e-01 -5.00129373e-04 -5.18936456e+00] [-4.88470498e-03 4.03935440e-04 9.99987988e-01 -1.21553102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.19327356000001 meters 0.09390682153148779 Centerline is valid? [True, True] Translation: X:56.14, Y:-5.19, Z:-1.22 [[ 9.99784045e-01 1.97331028e-02 6.51670250e-03 5.61415842e+01] [-1.97291682e-02 9.99805138e-01 -6.67517447e-04 -5.19490941e+00] [-6.52860483e-03 5.38804174e-04 9.99978543e-01 -1.21528620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.22327356000001 meters 0.09858761037130163 Centerline is valid? [True, True] Translation: X:56.17, Y:-5.21, Z:-1.22 [[ 9.99773108e-01 2.01351677e-02 6.95030858e-03 5.61684001e+01] [-2.01307040e-02 9.99797104e-01 -7.11598013e-04 -5.20801769e+00] [-6.96322653e-03 5.71521953e-04 9.99975593e-01 -1.21623236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25327356000001 meters 0.09911917777599001 Centerline is valid? [True, True] Translation: X:56.20, Y:-5.21, Z:-1.22 [[ 9.99761648e-01 2.04194249e-02 7.72614950e-03 5.61963324e+01] [-2.04139266e-02 9.99791302e-01 -7.89857905e-04 -5.21321740e+00] [-7.74066551e-03 6.31948592e-04 9.99969841e-01 -1.21626714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28327356 meters 0.09265107155825926 Centerline is valid? [True, True] Translation: X:56.23, Y:-5.21, Z:-1.22 [[ 9.99753479e-01 2.10897251e-02 6.94300248e-03 5.62264074e+01] [-2.10853044e-02 9.99777429e-01 -7.09304238e-04 -5.20715748e+00] [-6.95641620e-03 5.62734059e-04 9.99975646e-01 -1.21571473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.31327356 meters 0.09185274186115444 Centerline is valid? [True, True] Translation: X:56.26, Y:-5.21, Z:-1.22 [[ 9.99733984e-01 2.20001084e-02 6.92506350e-03 5.62550775e+01] [-2.19957332e-02 9.99757814e-01 -7.07331591e-04 -5.21014549e+00] [-6.93894772e-03 5.54821580e-04 9.99975771e-01 -1.21592726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.34327356 meters 0.09729456504566333 Centerline is valid? [True, True] Translation: X:56.28, Y:-5.22, Z:-1.22 [[ 9.99726343e-01 2.25512323e-02 6.21940823e-03 5.62818545e+01] [-2.25477144e-02 9.99745566e-01 -6.35180620e-04 -5.22395533e+00] [-6.23214991e-03 4.94773357e-04 9.99980458e-01 -1.21863014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.37327356 meters 0.0885835516659377 Centerline is valid? [True, True] Translation: X:56.31, Y:-5.21, Z:-1.22 [[ 9.99683993e-01 2.46714488e-02 4.82015065e-03 5.63128231e+01] [-2.46693641e-02 9.99695544e-01 -4.91479563e-04 -5.21296016e+00] [-4.83080864e-03 3.72414200e-04 9.99988262e-01 -1.21775323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.40327356 meters 0.09030870938002716 Centerline is valid? [True, True] Translation: X:56.34, Y:-5.22, Z:-1.22 [[ 9.99670916e-01 2.52741285e-02 4.39059668e-03 5.63401065e+01] [-2.52724016e-02 9.99680501e-01 -4.48376643e-04 -5.22037557e+00] [-4.40052622e-03 3.37268167e-04 9.99990261e-01 -1.21922842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43327356 meters 0.09028310289084296 Centerline is valid? [True, True] Translation: X:56.37, Y:-5.22, Z:-1.22 [[ 9.99647880e-01 2.60901428e-02 4.83948820e-03 5.63679627e+01] [-2.60880585e-02 9.99659527e-01 -4.93321953e-04 -5.22470988e+00] [-4.85071133e-03 3.66895393e-04 9.99988168e-01 -1.22002647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46327356 meters 0.08951982160352698 Centerline is valid? [True, True] Translation: X:56.40, Y:-5.23, Z:-1.22 [[ 9.99651082e-01 2.60086580e-02 4.61126933e-03 5.63962727e+01] [-2.60067635e-02 9.99661656e-01 -4.70331629e-04 -5.22735848e+00] [-4.62194183e-03 3.50243331e-04 9.99989257e-01 -1.22003472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49327356 meters 0.0891333052473221 Centerline is valid? [True, True] Translation: X:56.42, Y:-5.23, Z:-1.22 [[ 9.99637623e-01 2.65712353e-02 4.31176219e-03 5.64249311e+01] [-2.65695878e-02 9.99646870e-01 -4.38937443e-04 -5.23268372e+00] [-4.32190269e-03 3.24216638e-04 9.99990608e-01 -1.22055803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.52327356 meters 0.08757728205998346 Centerline is valid? [True, True] Translation: X:56.45, Y:-5.23, Z:-1.22 [[ 9.99625618e-01 2.70259817e-02 4.26839694e-03 5.64532775e+01] [-2.70243725e-02 9.99634681e-01 -4.34253800e-04 -5.23422025e+00] [-4.27857375e-03 3.18740474e-04 9.99990796e-01 -1.22058789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.55327356000001 meters 0.08868405168188039 Centerline is valid? [True, True] Translation: X:56.48, Y:-5.24, Z:-1.22 [[ 9.99619893e-01 2.72955739e-02 3.87568799e-03 5.64805768e+01] [-2.72942466e-02 9.99627365e-01 -3.94955358e-04 -5.24123454e+00] [-3.88502430e-03 2.89021249e-04 9.99992411e-01 -1.22211519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58327356000001 meters 0.08751010786454834 Centerline is valid? [True, True] Translation: X:56.51, Y:-5.24, Z:-1.22 [[ 9.99589429e-01 2.84972092e-02 2.98027610e-03 5.65088736e+01] [-2.84964317e-02 9.99593848e-01 -3.03025997e-04 -5.24487626e+00] [-2.98770105e-03 2.17974349e-04 9.99995513e-01 -1.22317953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61327356000001 meters 0.0899119159224216 Centerline is valid? [True, True] Translation: X:56.54, Y:-5.25, Z:-1.23 [[ 9.99570035e-01 2.92104323e-02 2.54855778e-03 5.65358018e+01] [-2.92098653e-02 9.99573267e-01 -2.59418542e-04 -5.25408795e+00] [-2.55504796e-03 1.84863972e-04 9.99996719e-01 -1.22529329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64327356 meters 0.08941372181754458 Centerline is valid? [True, True] Translation: X:56.56, Y:-5.26, Z:-1.23 [[ 9.99532148e-01 3.04329156e-02 3.05339619e-03 5.65639810e+01] [-3.04321102e-02 9.99536788e-01 -3.09904176e-04 -5.25711998e+00] [-3.06141311e-03 2.16837898e-04 9.99995290e-01 -1.22604947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67327356 meters 0.08897065258006759 Centerline is valid? [True, True] Translation: X:56.59, Y:-5.26, Z:-1.23 [[ 9.99458228e-01 3.27435241e-02 3.33333794e-03 5.65927782e+01] [-3.27425800e-02 9.99463761e-01 -3.37438797e-04 -5.26151324e+00] [-3.34259941e-03 2.28113898e-04 9.99994387e-01 -1.22576907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.70327356 meters 0.08902271355222813 Centerline is valid? [True, True] Translation: X:56.62, Y:-5.27, Z:-1.23 [[ 9.99418798e-01 3.38792267e-02 3.77680662e-03 5.66209044e+01] [-3.38780217e-02 9.99425902e-01 -3.82614257e-04 -5.26586149e+00] [-3.78760104e-03 2.54441145e-04 9.99992795e-01 -1.22559791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.73327356 meters 0.08483161201658702 Centerline is valid? [True, True] Translation: X:56.65, Y:-5.26, Z:-1.22 [[ 9.99368542e-01 3.53234571e-02 3.84324045e-03 5.66500199e+01] [-3.53222207e-02 9.99375900e-01 -3.89126131e-04 -5.26298814e+00] [-3.85458716e-03 2.53128627e-04 9.99992539e-01 -1.22376354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.76327356 meters 0.0836462341149872 Centerline is valid? [True, True] Translation: X:56.68, Y:-5.26, Z:-1.22 [[ 9.99342662e-01 3.60116630e-02 4.17170905e-03 5.66789326e+01] [-3.60102138e-02 9.99351333e-01 -4.22001987e-04 -5.26456420e+00] [-4.18419999e-03 2.71500454e-04 9.99991209e-01 -1.22411843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79327356 meters 0.08405666814640993 Centerline is valid? [True, True] Translation: X:56.71, Y:-5.27, Z:-1.23 [[ 9.99334753e-01 3.63024182e-02 3.49085199e-03 5.67060956e+01] [-3.63014021e-02 9.99340824e-01 -3.54017141e-04 -5.26985715e+00] [-3.50140259e-03 2.27058810e-04 9.99993844e-01 -1.22605399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82327356 meters 0.0840734925429494 Centerline is valid? [True, True] Translation: X:56.73, Y:-5.27, Z:-1.23 [[ 9.99293898e-01 3.74714899e-02 2.75562204e-03 5.67340148e+01] [-3.74708634e-02 9.99297682e-01 -2.78644614e-04 -5.27460067e+00] [-2.76412794e-03 1.75192325e-04 9.99996164e-01 -1.22902083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85327356 meters 0.08280374857574146 Centerline is valid? [True, True] Translation: X:56.76, Y:-5.28, Z:-1.23 [[ 9.99284542e-01 3.77816770e-02 1.71742614e-03 5.67624927e+01] [-3.77814334e-02 9.99286012e-01 -1.74044731e-04 -5.27602966e+00] [-1.72277562e-03 1.09033388e-04 9.99998510e-01 -1.22871426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88327356 meters 0.08383953075368374 Centerline is valid? [True, True] Translation: X:56.79, Y:-5.28, Z:-1.23 [[ 9.99258111e-01 3.84923141e-02 1.25251006e-03 5.67901095e+01] [-3.84921844e-02 9.99258893e-01 -1.27493709e-04 -5.28206135e+00] [-1.25648934e-03 7.91872744e-05 9.99999207e-01 -1.23058823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.91327356000001 meters 0.08306030638269486 Centerline is valid? [True, True] Translation: X:56.82, Y:-5.28, Z:-1.23 [[ 9.99244894e-01 3.88461807e-02 7.84286511e-04 5.68191619e+01] [-3.88461298e-02 9.99245201e-01 -8.00553626e-05 -5.28369305e+00] [-7.86804378e-04 4.95284167e-05 9.99999689e-01 -1.23100963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.94327356000001 meters 0.08407961329492722 Centerline is valid? [True, True] Translation: X:56.85, Y:-5.29, Z:-1.23 [[ 9.99208614e-01 3.97402294e-02 1.69129083e-03 5.68461027e+01] [-3.97399961e-02 9.99210040e-01 -1.71313621e-04 -5.28964719e+00] [-1.69676282e-03 1.03966154e-04 9.99998555e-01 -1.23219305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97327356000001 meters 0.08321285179366468 Centerline is valid? [True, True] Translation: X:56.87, Y:-5.29, Z:-1.23 [[ 9.99180867e-01 4.04425824e-02 1.41179678e-03 5.68748507e+01] [-4.04424208e-02 9.99181860e-01 -1.42838419e-04 -5.29124479e+00] [-1.41641849e-03 8.56249357e-05 9.99998993e-01 -1.23198222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00327356000001 meters 0.08331148749006079 Centerline is valid? [True, True] Translation: X:56.90, Y:-5.29, Z:-1.23 [[ 9.99158783e-01 4.09944274e-02 1.08759949e-03 5.69033142e+01] [-4.09943316e-02 9.99159373e-01 -1.10256121e-04 -5.29417113e+00] [-1.09120511e-03 6.55779572e-05 9.99999402e-01 -1.23219661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03327356 meters 0.08098541771774337 Centerline is valid? [True, True] Translation: X:56.93, Y:-5.29, Z:-1.23 [[ 9.99116460e-01 4.20155746e-02 9.95166254e-04 5.69322847e+01] [-4.20154948e-02 9.99116954e-01 -1.00968493e-04 -5.29160878e+00] [-9.98529725e-04 5.90668805e-05 9.99999500e-01 -1.23219854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06327356 meters 0.0798918119476905 Centerline is valid? [True, True] Translation: X:56.96, Y:-5.29, Z:-1.23 [[ 9.99092981e-01 4.25739591e-02 8.20754447e-04 5.69615905e+01] [-4.25739025e-02 9.99093317e-01 -8.62976683e-05 -5.29166858e+00] [-8.23684316e-04 5.12766749e-05 9.99999659e-01 -1.23172853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09327356 meters 0.08276551149111304 Centerline is valid? [True, True] Translation: X:56.99, Y:-5.30, Z:-1.23 [[ 9.99043828e-01 4.37027135e-02 1.22564661e-03 5.69890605e+01] [-4.37025945e-02 9.99044578e-01 -1.23705150e-04 -5.30184973e+00] [-1.22988185e-03 7.00229300e-05 9.99999241e-01 -1.23416859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.12327356 meters 0.08072137006436698 Centerline is valid? [True, True] Translation: X:57.02, Y:-5.30, Z:-1.23 [[ 9.99051028e-01 4.35286917e-02 1.51539922e-03 5.70171724e+01] [-4.35285050e-02 9.99052173e-01 -1.55991108e-04 -5.29953982e+00] [-1.52075298e-03 8.98800142e-05 9.99998840e-01 -1.23344096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.15327356 meters 0.08027498610862656 Centerline is valid? [True, True] Translation: X:57.05, Y:-5.30, Z:-1.23 [[ 9.99047962e-01 4.35971716e-02 1.56749268e-03 5.70459438e+01] [-4.35969737e-02 9.99049187e-01 -1.60241588e-04 -5.30152608e+00] [-1.57298836e-03 9.17510947e-05 9.99998759e-01 -1.23381013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18327356 meters 0.07828377320127902 Centerline is valid? [True, True] Translation: X:57.07, Y:-5.30, Z:-1.23 [[ 9.99072676e-01 4.30002636e-02 2.18317309e-03 5.70740551e+01] [-4.29998813e-02 9.99075053e-01 -2.21770259e-04 -5.29832258e+00] [-2.19068995e-03 1.27688422e-04 9.99997592e-01 -1.23190463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21327356 meters 0.08023485404894412 Centerline is valid? [True, True] Translation: X:57.10, Y:-5.31, Z:-1.23 [[ 9.99101588e-01 4.23481608e-02 1.62793555e-03 5.71013158e+01] [-4.23479515e-02 9.99102910e-01 -1.62864075e-04 -5.30650476e+00] [-1.63337214e-03 9.37780205e-05 9.99998662e-01 -1.23424859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24327356 meters 0.07897728845013186 Centerline is valid? [True, True] Translation: X:57.13, Y:-5.31, Z:-1.23 [[ 9.99129902e-01 4.16594325e-02 1.98243180e-03 5.71300709e+01] [-4.16591165e-02 9.99131862e-01 -2.00433139e-04 -5.30618619e+00] [-1.98906071e-03 1.17672386e-04 9.99998015e-01 -1.23358324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.27327356 meters 0.07936762046068697 Centerline is valid? [True, True] Translation: X:57.16, Y:-5.31, Z:-1.23 [[ 9.99184856e-01 4.03409273e-02 1.49441421e-03 5.71581380e+01] [-4.03407480e-02 9.99185969e-01 -1.49905453e-04 -5.31032318e+00] [-1.49924503e-03 8.94974713e-05 9.99998872e-01 -1.23411437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.30327356000001 meters 0.08048235093651461 Centerline is valid? [True, True] Translation: X:57.19, Y:-5.32, Z:-1.24 [[ 9.99218398e-01 3.95083501e-02 1.29775937e-03 5.71852933e+01] [-3.95082141e-02 9.99219237e-01 -1.30304677e-04 -5.31590629e+00] [-1.30189425e-03 7.89306760e-05 9.99999149e-01 -1.23558032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.33327356000001 meters 0.08016690870708952 Centerline is valid? [True, True] Translation: X:57.21, Y:-5.32, Z:-1.24 [[ 9.99246179e-01 3.87951929e-02 1.41653445e-03 5.72134625e+01] [-3.87950318e-02 9.99247179e-01 -1.41079575e-04 -5.31802526e+00] [-1.42094126e-03 8.60187269e-05 9.99998987e-01 -1.23633431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36327356000001 meters 0.08096276490816504 Centerline is valid? [True, True] Translation: X:57.24, Y:-5.32, Z:-1.24 [[ 9.99273000e-01 3.81135255e-02 9.11260520e-04 5.72412154e+01] [-3.81134581e-02 9.99273414e-01 -9.12611103e-05 -5.32326597e+00] [-9.14076694e-04 5.64634739e-05 9.99999581e-01 -1.23736846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39327356 meters 0.08196030136636437 Centerline is valid? [True, True] Translation: X:57.27, Y:-5.33, Z:-1.24 [[ 9.99333751e-01 3.64961244e-02 2.96241229e-04 5.72705074e+01] [-3.64961171e-02 9.99333794e-01 -2.97660673e-05 -5.32903968e+00] [-2.97130217e-04 1.89345811e-05 9.99999956e-01 -1.23797153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42327356 meters 0.08222702614076882 Centerline is valid? [True, True] Translation: X:57.30, Y:-5.33, Z:-1.24 [[ 9.99356172e-01 3.58728337e-02 6.18172106e-04 5.72987481e+01] [-3.58728022e-02 9.99356362e-01 -6.20175674e-05 -5.33284653e+00] [-6.19998973e-04 3.98020730e-05 9.99999807e-01 -1.23820995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.45327356 meters 0.08294696244975132 Centerline is valid? [True, True] Translation: X:57.33, Y:-5.34, Z:-1.24 [[ 9.99390554e-01 3.49007378e-02 6.77322104e-04 5.73273273e+01] [-3.49006998e-02 9.99390783e-01 -6.77779660e-05 -5.33742574e+00] [-6.79274969e-04 4.40976435e-05 9.99999768e-01 -1.23856088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.48327356 meters 0.0884120625732668 Centerline is valid? [True, True] Translation: X:57.35, Y:-5.35, Z:-1.24 [[ 9.99458384e-01 3.29080362e-02 3.64222026e-06 5.73546047e+01] [-3.29080362e-02 9.99458384e-01 -1.31270550e-06 -5.35233098e+00] [-3.68344615e-06 1.19213621e-06 1.00000000e+00 -1.24282136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.51327356 meters 0.08470627725142835 Centerline is valid? [True, True] Translation: X:57.38, Y:-5.35, Z:-1.24 [[ 9.99484324e-01 3.21082253e-02 3.84354396e-04 5.73837457e+01] [-3.21082127e-02 9.99484398e-01 -3.89586920e-05 -5.34798100e+00] [-3.85407116e-04 2.65976693e-05 9.99999925e-01 -1.24012368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54327356 meters 0.08683822271903577 Centerline is valid? [True, True] Translation: X:57.41, Y:-5.36, Z:-1.24 [[ 9.99585977e-01 2.87712159e-02 3.01202754e-04 5.74135663e+01] [-2.87712083e-02 9.99586023e-01 -2.97634050e-05 -5.35643103e+00] [-3.01934392e-04 2.10851152e-05 9.99999954e-01 -1.24101699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57327356 meters 0.0884631963740634 Centerline is valid? [True, True] Translation: X:57.44, Y:-5.36, Z:-1.24 [[ 9.99646766e-01 2.65677864e-02 7.04363781e-04 5.74423094e+01] [-2.65677437e-02 9.99647013e-01 -6.99661132e-05 -5.36302792e+00] [-7.05973994e-04 5.12280424e-05 9.99999749e-01 -1.24185220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60327356 meters 0.08959210347189957 Centerline is valid? [True, True] Translation: X:57.47, Y:-5.37, Z:-1.24 [[ 9.99674762e-01 2.54780110e-02 1.11383423e-03 5.74693846e+01] [-2.54779035e-02 9.99675379e-01 -1.10639137e-04 -5.36878149e+00] [-1.11629152e-03 8.22249919e-05 9.99999374e-01 -1.24256000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63327356 meters 0.09123220963212876 Centerline is valid? [True, True] Translation: X:57.50, Y:-5.38, Z:-1.24 [[ 9.99722601e-01 2.35402911e-02 7.58450961e-04 5.74992394e+01] [-2.35402413e-02 9.99722887e-01 -7.46148393e-05 -5.37504227e+00] [-7.59997240e-04 5.67400227e-05 9.99999710e-01 -1.24349929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66327356000001 meters 0.09175101722264645 Centerline is valid? [True, True] Translation: X:57.53, Y:-5.38, Z:-1.24 [[ 9.99770421e-01 2.14259675e-02 -1.80936243e-04 5.75292403e+01] [-2.14259647e-02 9.99770438e-01 1.74022860e-05 -5.38001134e+00] [ 1.81267568e-04 -1.35215573e-05 9.99999983e-01 -1.24332058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69327356000001 meters 0.09427775037338654 Centerline is valid? [True, True] Translation: X:57.56, Y:-5.39, Z:-1.25 [[ 9.99790997e-01 2.04415164e-02 3.25703309e-04 5.75558612e+01] [-2.04415066e-02 9.99791050e-01 -3.33987038e-05 -5.38740626e+00] [-3.26317973e-04 2.67338570e-05 9.99999946e-01 -1.24501785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72327356000001 meters 0.08964201356291053 Centerline is valid? [True, True] Translation: X:57.59, Y:-5.38, Z:-1.24 [[ 9.99807384e-01 1.96180902e-02 -5.71083321e-04 5.75851429e+01] [-1.96180623e-02 9.99807546e-01 5.45336243e-05 -5.38159348e+00] [ 5.72043259e-04 -4.33195721e-05 9.99999835e-01 -1.24284110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75327356000001 meters 0.08737644256618876 Centerline is valid? [True, True] Translation: X:57.62, Y:-5.38, Z:-1.24 [[ 9.99829626e-01 1.83761377e-02 -1.74277265e-03 5.76152151e+01] [-1.83758698e-02 9.99831135e-01 1.69616754e-04 -5.38064917e+00] [ 1.74559526e-03 -1.37562892e-04 9.99998467e-01 -1.24262460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78327356 meters 0.08842158780962055 Centerline is valid? [True, True] Translation: X:57.64, Y:-5.39, Z:-1.24 [[ 9.99833588e-01 1.81823298e-02 -1.48266750e-03 5.76433471e+01] [-1.81821364e-02 9.99834681e-01 1.43788072e-04 -5.38524759e+00] [ 1.48503679e-03 -1.16806081e-04 9.99998891e-01 -1.24428530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81327356 meters 0.08842158780962055 Centerline is valid? [True, True] Translation: X:57.67, Y:-5.39, Z:-1.24 [[ 9.99835472e-01 1.80784266e-02 -1.48278171e-03 5.76707620e+01] [-1.80782348e-02 9.99836565e-01 1.42617450e-04 -5.38780346e+00] [ 1.48511767e-03 -1.15787909e-04 9.99998891e-01 -1.24482277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84327356 meters 0.08967937034084099 Centerline is valid? [True, True] Translation: X:57.70, Y:-5.39, Z:-1.25 [[ 9.99833189e-01 1.82092534e-02 -1.42038464e-03 5.76983456e+01] [-1.82090774e-02 9.99834192e-01 1.36758975e-04 -5.39267868e+00] [ 1.42263940e-03 -1.10872268e-04 9.99998982e-01 -1.24503918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87327356 meters 0.08838931396722174 Centerline is valid? [True, True] Translation: X:57.73, Y:-5.39, Z:-1.24 [[ 9.99817025e-01 1.90940898e-02 -1.15444749e-03 5.77273086e+01] [-1.90939741e-02 9.99817687e-01 1.11107626e-04 -5.39292020e+00] [ 1.15635852e-03 -8.90443060e-05 9.99999327e-01 -1.24454363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.90327356 meters 0.08918574665469986 Centerline is valid? [True, True] Translation: X:57.76, Y:-5.40, Z:-1.25 [[ 9.99807197e-01 1.96353029e-02 -1.51484858e-04 5.77551376e+01] [-1.96353011e-02 9.99807209e-01 1.31099061e-05 -5.39711853e+00] [ 1.51713070e-04 -1.01329277e-05 9.99999988e-01 -1.24562583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93327356 meters 0.08853085053847135 Centerline is valid? [True, True] Translation: X:57.78, Y:-5.40, Z:-1.24 [[ 9.99792594e-01 2.03433506e-02 9.57605698e-04 5.77841725e+01] [-2.03432697e-02 9.99793050e-01 -9.41283454e-05 -5.39813047e+00] [-9.59322407e-04 7.46279917e-05 9.99999537e-01 -1.24456452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96327356 meters 0.08615231390093582 Centerline is valid? [True, True] Translation: X:57.81, Y:-5.40, Z:-1.24 [[ 9.99781984e-01 2.08102479e-02 1.70843035e-03 5.78134015e+01] [-2.08099920e-02 9.99783435e-01 -1.67397769e-04 -5.39629983e+00] [-1.71154396e-03 1.31808852e-04 9.99998527e-01 -1.24330078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99327356 meters 0.08587471409315871 Centerline is valid? [True, True] Translation: X:57.84, Y:-5.40, Z:-1.24 [[ 9.99781381e-01 2.08467920e-02 1.61295195e-03 5.78424341e+01] [-2.08465641e-02 9.99782674e-01 -1.57996171e-04 -5.39790445e+00] [-1.61589513e-03 1.24337123e-04 9.99998687e-01 -1.24368087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.02327356 meters 0.08695783690769318 Centerline is valid? [True, True] Translation: X:57.87, Y:-5.40, Z:-1.25 [[ 9.99770829e-01 2.13667915e-02 1.32258480e-03 5.78701911e+01] [-2.13666374e-02 9.99771699e-01 -1.30515709e-04 -5.40294275e+00] [-1.32507155e-03 1.02226608e-04 9.99999117e-01 -1.24524487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05327356000001 meters 0.08686625585956334 Centerline is valid? [True, True] Translation: X:57.90, Y:-5.40, Z:-1.25 [[ 9.99751025e-01 2.23067500e-02 -5.44744592e-04 5.78991165e+01] [-2.23067252e-02 9.99751173e-01 5.15097980e-05 -5.40439318e+00] [ 5.45758061e-04 -3.93455054e-05 9.99999850e-01 -1.24642576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08327356000001 meters 0.08511066263795324 Centerline is valid? [True, True] Translation: X:57.93, Y:-5.40, Z:-1.25 [[ 9.99737654e-01 2.29035034e-02 -2.29461517e-04 5.79285951e+01] [-2.29034995e-02 9.99737680e-01 1.98322856e-05 -5.40272022e+00] [ 2.29855553e-04 -1.45716110e-05 9.99999973e-01 -1.24718402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11327356000001 meters 0.08639788495389605 Centerline is valid? [True, True] Translation: X:57.96, Y:-5.41, Z:-1.25 [[ 9.99703000e-01 2.43303627e-02 -1.39490759e-03 5.79563510e+01] [-2.43302003e-02 9.99703968e-01 1.33285186e-04 -5.40684708e+00] [ 1.39773753e-03 -9.93072188e-05 9.99999018e-01 -1.24966068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14327356 meters 0.08598570663616617 Centerline is valid? [True, True] Translation: X:57.99, Y:-5.41, Z:-1.25 [[ 9.99686358e-01 2.49677872e-02 -1.94833270e-03 5.79856611e+01] [-2.49674692e-02 9.99688247e-01 1.87407321e-04 -5.40792022e+00] [ 1.95240445e-03 -1.38703605e-04 9.99998084e-01 -1.25066405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17327356 meters 0.08248041918841875 Centerline is valid? [True, True] Translation: X:58.02, Y:-5.40, Z:-1.25 [[ 9.99672729e-01 2.54822924e-02 -2.25559034e-03 5.80152315e+01] [-2.54818683e-02 9.99675261e-01 2.16563291e-04 -5.40232236e+00] [ 2.26037639e-03 -1.59015761e-04 9.99997433e-01 -1.24863517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.20327356 meters 0.08684865586748142 Centerline is valid? [True, True] Translation: X:58.04, Y:-5.41, Z:-1.25 [[ 9.99649390e-01 2.64335335e-02 -1.53776011e-03 5.80420973e+01] [-2.64333389e-02 9.99650567e-01 1.46739199e-04 -5.41311305e+00] [ 1.54110160e-03 -1.06039617e-04 9.99998807e-01 -1.25242933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.23327356 meters 0.08392068095396694 Centerline is valid? [True, True] Translation: X:58.07, Y:-5.41, Z:-1.25 [[ 9.99636765e-01 2.68964910e-02 -1.70787379e-03 5.80713479e+01] [-2.68962502e-02 9.99638217e-01 1.63767032e-04 -5.40906072e+00] [ 1.71166067e-03 -1.17772145e-04 9.99998528e-01 -1.25026307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.26327356 meters 0.08495538545841932 Centerline is valid? [True, True] Translation: X:58.10, Y:-5.41, Z:-1.25 [[ 9.99647446e-01 2.65316422e-02 -1.02753751e-03 5.80982205e+01] [-2.65315568e-02 9.99647972e-01 9.66639909e-05 -5.41214688e+00] [ 1.02974044e-03 -6.93677418e-05 9.99999467e-01 -1.25117625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29327356 meters 0.08489339370707767 Centerline is valid? [True, True] Translation: X:58.13, Y:-5.41, Z:-1.25 [[ 9.99653257e-01 2.63291418e-02 3.75722687e-04 5.81272756e+01] [-2.63291295e-02 9.99653328e-01 -3.75017440e-05 -5.41406260e+00] [-3.76579823e-04 2.75962893e-05 9.99999929e-01 -1.25131999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32327356 meters 0.08577116623005501 Centerline is valid? [True, True] Translation: X:58.15, Y:-5.42, Z:-1.25 [[ 9.99663039e-01 2.59567845e-02 2.29954850e-04 5.81548797e+01] [-2.59567797e-02 9.99663066e-01 -2.37592682e-05 -5.41802034e+00] [-2.30494084e-04 1.77823749e-05 9.99999973e-01 -1.25167192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35327356 meters 0.08700796214615161 Centerline is valid? [True, True] Translation: X:58.18, Y:-5.42, Z:-1.25 [[ 9.99693072e-01 2.47702628e-02 4.42392420e-04 5.81827975e+01] [-2.47702458e-02 9.99693169e-01 -4.38101673e-05 -5.42273903e+00] [-4.43341870e-04 3.28385518e-05 9.99999901e-01 -1.25271754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38327356 meters 0.0877605395813935 Centerline is valid? [True, True] Translation: X:58.21, Y:-5.43, Z:-1.25 [[ 9.99718049e-01 2.37430120e-02 3.03094655e-04 5.82111196e+01] [-2.37430039e-02 9.99718095e-01 -3.04094449e-05 -5.42693532e+00] [-3.03731223e-04 2.32044933e-05 9.99999954e-01 -1.25309213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.41327356000001 meters 0.09025045009131746 Centerline is valid? [True, True] Translation: X:58.24, Y:-5.43, Z:-1.25 [[ 9.99790204e-01 2.04814721e-02 -2.39262091e-04 5.82395077e+01] [-2.04814673e-02 9.99790232e-01 2.25972708e-05 -5.43366850e+00] [ 2.39674727e-04 -1.76920912e-05 9.99999971e-01 -1.25448679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.44327356000001 meters 0.09193863690530554 Centerline is valid? [True, True] Translation: X:58.27, Y:-5.44, Z:-1.26 [[ 9.99824722e-01 1.87080668e-02 -7.30793460e-04 5.82685940e+01] [-1.87080210e-02 9.99824987e-01 6.95344800e-05 -5.43924893e+00] [ 7.31966418e-04 -5.58505927e-05 9.99999731e-01 -1.25546378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.47327356000001 meters 0.089166566914928 Centerline is valid? [True, True] Translation: X:58.30, Y:-5.44, Z:-1.25 [[ 9.99850909e-01 1.72611668e-02 -4.59424420e-04 5.82986626e+01] [-1.72611485e-02 9.99851014e-01 4.37684149e-05 -5.43667875e+00] [ 4.60111466e-04 -3.58316963e-05 9.99999894e-01 -1.25451543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50327356000001 meters 0.09070937252073581 Centerline is valid? [True, True] Translation: X:58.33, Y:-5.44, Z:-1.26 [[ 9.99884449e-01 1.51820402e-02 -7.70649428e-04 5.83278684e+01] [-1.51819880e-02 9.99884744e-01 7.36329895e-05 -5.44194496e+00] [ 7.71678505e-04 -6.19244908e-05 9.99999700e-01 -1.25619975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53327356 meters 0.09104810899007235 Centerline is valid? [True, True] Translation: X:58.36, Y:-5.44, Z:-1.26 [[ 9.99890587e-01 1.47681085e-02 -8.47314155e-04 5.83566599e+01] [-1.47680460e-02 9.99890943e-01 7.99505286e-05 -5.44475180e+00] [ 8.48402468e-04 -6.74286065e-05 9.99999638e-01 -1.25746913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.56327356 meters 0.09244633092231891 Centerline is valid? [True, True] Translation: X:58.38, Y:-5.45, Z:-1.26 [[ 9.99880204e-01 1.54776817e-02 -1.35782779e-04 5.83845479e+01] [-1.54776802e-02 9.99880213e-01 1.20385064e-05 -5.44883889e+00] [ 1.35952842e-04 -9.93546183e-06 9.99999991e-01 -1.25839914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.59327356 meters 0.08919102294938938 Centerline is valid? [True, True] Translation: X:58.41, Y:-5.44, Z:-1.26 [[ 9.99867422e-01 1.62716293e-02 -6.10160013e-04 5.84142628e+01] [-1.62715974e-02 9.99867607e-01 5.71074754e-05 -5.44412372e+00] [ 6.11008463e-04 -4.71716261e-05 9.99999812e-01 -1.25745568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.62327356 meters 0.08915179821915821 Centerline is valid? [True, True] Translation: X:58.44, Y:-5.45, Z:-1.26 [[ 9.99846902e-01 1.74966311e-02 2.00127970e-04 5.84440336e+01] [-1.74966275e-02 9.99846922e-01 -1.98287160e-05 -5.44638195e+00] [-2.00444270e-04 1.63241157e-05 9.99999980e-01 -1.25732580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.65327356 meters 0.0881649316063114 Centerline is valid? [True, True] Translation: X:58.47, Y:-5.45, Z:-1.26 [[ 9.99783917e-01 2.06839230e-02 2.07232928e-03 5.84740111e+01] [-2.06835551e-02 9.99786053e-01 -1.98798964e-04 -5.44529678e+00] [-2.07599785e-03 1.55892870e-04 9.99997833e-01 -1.25679427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68327356 meters 0.08732744936066511 Centerline is valid? [True, True] Translation: X:58.50, Y:-5.45, Z:-1.26 [[ 9.99752111e-01 2.21332983e-02 2.41534363e-03 5.85042567e+01] [-2.21328019e-02 9.99755013e-01 -2.32066111e-04 -5.44559828e+00] [-2.41988829e-03 1.78550262e-04 9.99997056e-01 -1.25664306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71327356 meters 0.08643811407954032 Centerline is valid? [True, True] Translation: X:58.53, Y:-5.45, Z:-1.26 [[ 9.99721352e-01 2.34260066e-02 2.90515321e-03 5.85334636e+01] [-2.34252938e-02 9.99725551e-01 -2.79113953e-04 -5.44500206e+00] [-2.91089442e-03 2.10982111e-04 9.99995741e-01 -1.25638284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74327356 meters 0.08577953099395381 Centerline is valid? [True, True] Translation: X:58.56, Y:-5.44, Z:-1.26 [[ 9.99648336e-01 2.64523973e-02 1.86435705e-03 5.85622545e+01] [-2.64521090e-02 9.99650066e-01 -1.79158684e-04 -5.44460294e+00] [-1.86844382e-03 1.29779505e-04 9.99998246e-01 -1.25738797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.77327356 meters 0.08618279342695395 Centerline is valid? [True, True] Translation: X:58.59, Y:-5.45, Z:-1.26 [[ 9.99615827e-01 2.77149049e-02 2.88395174e-04 5.85906386e+01] [-2.77148977e-02 9.99615868e-01 -2.88159855e-05 -5.44679901e+00] [-2.89083025e-04 2.08120724e-05 9.99999958e-01 -1.25954599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.80327356000001 meters 0.08543415887615574 Centerline is valid? [True, True] Translation: X:58.62, Y:-5.45, Z:-1.26 [[ 9.99576648e-01 2.90908853e-02 4.95716038e-04 5.86198164e+01] [-2.90908650e-02 9.99576770e-01 -4.82833311e-05 -5.44700374e+00] [-4.96910841e-04 3.38420819e-05 9.99999876e-01 -1.26078401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.83327356000001 meters 0.08396355897955707 Centerline is valid? [True, True] Translation: X:58.65, Y:-5.45, Z:-1.26 [[ 9.99541876e-01 3.02653800e-02 -2.12055284e-04 5.86492188e+01] [-3.02653767e-02 9.99541898e-01 1.89266218e-05 -5.44532555e+00] [ 2.12530963e-04 -1.25000180e-05 9.99999977e-01 -1.26112535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86327356000001 meters 0.08096703321890203 Centerline is valid? [True, True] Translation: X:58.68, Y:-5.44, Z:-1.26 [[ 9.99450103e-01 3.31234810e-02 -1.52549228e-03 5.86802506e+01] [-3.31232978e-02 9.99451262e-01 1.45163498e-04 -5.43913013e+00] [ 1.52946351e-03 -9.45543378e-05 9.99998826e-01 -1.26048820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89327356 meters 0.08389711580759496 Centerline is valid? [True, True] Translation: X:58.71, Y:-5.45, Z:-1.26 [[ 9.99403909e-01 3.44909047e-02 -1.48472119e-03 5.87079976e+01] [-3.44907343e-02 9.99405008e-01 1.40179316e-04 -5.44689577e+00] [ 1.48867271e-03 -8.88866320e-05 9.99998888e-01 -1.26387834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92327356 meters 0.08006031794123893 Centerline is valid? [True, True] Translation: X:58.74, Y:-5.44, Z:-1.26 [[ 9.99369985e-01 3.54785877e-02 -9.50452250e-04 5.87379361e+01] [-3.54785188e-02 9.99370435e-01 8.91936144e-05 -5.43908542e+00] [ 9.53018343e-04 -5.54167830e-05 9.99999544e-01 -1.26133322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.95327356 meters 0.07880473160992212 Centerline is valid? [True, True] Translation: X:58.77, Y:-5.44, Z:-1.26 [[ 9.99263328e-01 3.83760923e-02 -2.78677982e-04 5.87682664e+01] [-3.83760865e-02 9.99263366e-01 2.62045107e-05 -5.43785358e+00] [ 2.79478325e-04 -1.54906362e-05 9.99999961e-01 -1.26020440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.98327356 meters 0.08009035184652451 Centerline is valid? [True, True] Translation: X:58.80, Y:-5.44, Z:-1.26 [[ 9.99241494e-01 3.89389026e-02 -4.45182610e-04 5.87957775e+01] [-3.89388887e-02 9.99241593e-01 3.99026800e-05 -5.44307322e+00] [ 4.46398747e-04 -2.25374975e-05 9.99999900e-01 -1.26127197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.01327356 meters 0.07857499990595453 Centerline is valid? [True, True] Translation: X:58.82, Y:-5.44, Z:-1.26 [[ 9.99234405e-01 3.90989059e-02 1.37117995e-03 5.88244605e+01] [-3.90987577e-02 9.99235342e-01 -1.34732700e-04 -5.44182574e+00] [-1.37539937e-03 8.10181170e-05 9.99999051e-01 -1.25971513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04327356 meters 0.07751689634051763 Centerline is valid? [True, True] Translation: X:58.85, Y:-5.44, Z:-1.26 [[ 9.99218243e-01 3.95026652e-02 1.56301290e-03 5.88533859e+01] [-3.95024795e-02 9.99219461e-01 -1.49513531e-04 -5.44140419e+00] [-1.56769909e-03 8.76537622e-05 9.99998767e-01 -1.25833042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07327356 meters 0.07979894726300023 Centerline is valid? [True, True] Translation: X:58.88, Y:-5.45, Z:-1.26 [[ 9.99235820e-01 3.90629020e-02 1.36614426e-03 5.88801040e+01] [-3.90627592e-02 9.99236751e-01 -1.31056126e-04 -5.44938476e+00] [-1.37022098e-03 7.75906118e-05 9.99999058e-01 -1.26020165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10327356 meters 0.07868283756724984 Centerline is valid? [True, True] Translation: X:58.91, Y:-5.45, Z:-1.26 [[ 9.99266356e-01 3.82974734e-02 -2.30758154e-04 5.89091414e+01] [-3.82974705e-02 9.99266383e-01 1.71049295e-05 -5.45009613e+00] [ 2.31243941e-04 -8.25492697e-06 9.99999973e-01 -1.26015422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.13327356 meters 0.07941049334049932 Centerline is valid? [True, True] Translation: X:58.94, Y:-5.45, Z:-1.26 [[ 9.99298668e-01 3.74443148e-02 -3.07601511e-04 5.89360774e+01] [-3.74443085e-02 9.99298716e-01 2.60751222e-05 -5.45454113e+00] [ 3.08362160e-04 -1.45389090e-05 9.99999952e-01 -1.26259724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.16327356000001 meters 0.07787841621545774 Centerline is valid? [True, True] Translation: X:58.96, Y:-5.45, Z:-1.26 [[ 9.99331486e-01 3.64912285e-02 -2.22984734e-03 5.89649962e+01] [-3.64908619e-02 9.99333966e-01 2.04876181e-04 -5.45371698e+00] [ 2.23583837e-03 -1.23370167e-04 9.99997493e-01 -1.26231718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.19327356000001 meters 0.08054693733414771 Centerline is valid? [True, True] Translation: X:58.99, Y:-5.46, Z:-1.27 [[ 9.99355468e-01 3.58378534e-02 -2.07274371e-03 5.89921237e+01] [-3.58375370e-02 9.99357611e-01 1.89625990e-04 -5.46360903e+00] [ 2.07820799e-03 -1.15221741e-04 9.99997834e-01 -1.26559607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.22327356000001 meters 0.0795509068116373 Centerline is valid? [True, True] Translation: X:59.02, Y:-5.46, Z:-1.27 [[ 9.99394923e-01 3.46281110e-02 -3.26837388e-03 5.90209412e+01] [-3.46273113e-02 9.99400250e-01 3.00954695e-04 -5.46435163e+00] [ 3.27683516e-03 -1.87597594e-04 9.99994614e-01 -1.26616734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25327356000001 meters 0.079530004531719 Centerline is valid? [True, True] Translation: X:59.05, Y:-5.47, Z:-1.27 [[ 9.99401599e-01 3.44438689e-02 -3.17237617e-03 5.90490739e+01] [-3.44431047e-02 9.99406617e-01 2.95202379e-04 -5.46765679e+00] [ 3.18066165e-03 -1.85759244e-04 9.99994924e-01 -1.26683146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28327356 meters 0.08074905273330713 Centerline is valid? [True, True] Translation: X:59.08, Y:-5.47, Z:-1.27 [[ 9.99396145e-01 3.46651085e-02 -2.38241093e-03 5.90767085e+01] [-3.46646804e-02 9.99398975e-01 2.20793233e-04 -5.47313026e+00] [ 2.38863286e-03 -1.38074392e-04 9.99997138e-01 -1.26839266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.31327356 meters 0.08034867901719328 Centerline is valid? [True, True] Translation: X:59.11, Y:-5.48, Z:-1.27 [[ 9.99371067e-01 3.54196828e-02 -1.70794606e-03 5.91058671e+01] [-3.54194696e-02 9.99372522e-01 1.54899230e-04 -5.47540531e+00] [ 1.71236085e-03 -9.43072647e-05 9.99998529e-01 -1.26751814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.34327356 meters 0.07850172663954189 Centerline is valid? [True, True] Translation: X:59.14, Y:-5.47, Z:-1.27 [[ 9.99375575e-01 3.53240857e-02 -8.17916279e-04 5.91353355e+01] [-3.53240363e-02 9.99375909e-01 7.48129294e-05 -5.47379847e+00] [ 8.20048523e-04 -4.58741100e-05 9.99999663e-01 -1.26588452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.37327356 meters 0.07845168264693614 Centerline is valid? [True, True] Translation: X:59.16, Y:-5.48, Z:-1.27 [[ 9.99351734e-01 3.59997032e-02 3.63524749e-04 5.91636463e+01] [-3.59996917e-02 9.99351800e-01 -3.81365116e-05 -5.47717550e+00] [-3.64662016e-04 2.50250101e-05 9.99999933e-01 -1.26586541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.40327356 meters 0.07744652584779699 Centerline is valid? [True, True] Translation: X:59.19, Y:-5.48, Z:-1.27 [[ 9.99345214e-01 3.61796644e-02 4.18773903e-04 5.91925584e+01] [-3.61796507e-02 9.99345301e-01 -4.02399120e-05 -5.47776739e+00] [-4.19955599e-04 2.50624699e-05 9.99999912e-01 -1.26522386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43327356 meters 0.07812060672193917 Centerline is valid? [True, True] Translation: X:59.22, Y:-5.48, Z:-1.27 [[ 9.99294022e-01 3.75599425e-02 8.42130519e-04 5.92200274e+01] [-3.75598885e-02 9.99294375e-01 -7.97750777e-05 -5.48355410e+00] [-8.44532638e-04 4.80884298e-05 9.99999642e-01 -1.26679564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46327356 meters 0.07929712809572761 Centerline is valid? [True, True] Translation: X:59.25, Y:-5.49, Z:-1.27 [[ 9.99286386e-01 3.77655657e-02 6.94079554e-04 5.92470583e+01] [-3.77655289e-02 9.99286626e-01 -6.59568599e-05 -5.48909506e+00] [-6.96075313e-04 3.96975106e-05 9.99999757e-01 -1.26793672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49327356 meters 0.07730295883250823 Centerline is valid? [True, True] Translation: X:59.28, Y:-5.49, Z:-1.27 [[ 9.99234845e-01 3.90980933e-02 -1.03159286e-03 5.92761085e+01] [-3.90980168e-02 9.99235376e-01 9.41831592e-05 -5.48835258e+00] [ 1.03448646e-03 -5.37778596e-05 9.99999463e-01 -1.26789591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.52327356 meters 0.07645384418187401 Centerline is valid? [True, True] Translation: X:59.30, Y:-5.49, Z:-1.27 [[ 9.99228223e-01 3.92769179e-02 -5.31150419e-04 5.93047310e+01] [-3.92768998e-02 9.99228364e-01 4.43534646e-05 -5.48912476e+00] [ 5.32482632e-04 -2.34572918e-05 9.99999858e-01 -1.26793456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.55327356000001 meters 0.07663998273249241 Centerline is valid? [True, True] Translation: X:59.33, Y:-5.49, Z:-1.27 [[ 9.99210534e-01 3.97238004e-02 -5.72658352e-04 5.93322503e+01] [-3.97237780e-02 9.99210698e-01 5.03308279e-05 -5.49301212e+00] [ 5.74205684e-04 -2.75429401e-05 9.99999835e-01 -1.26912740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.58327356000001 meters 0.07677418355550665 Centerline is valid? [True, True] Translation: X:59.36, Y:-5.50, Z:-1.27 [[ 9.99192419e-01 4.01779894e-02 4.88970535e-04 5.93599752e+01] [-4.01779699e-02 9.99192538e-01 -4.95629514e-05 -5.49826584e+00] [-4.90567050e-04 2.98770818e-05 9.99999879e-01 -1.26965664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61327356000001 meters 0.07820381670069093 Centerline is valid? [True, True] Translation: X:59.39, Y:-5.51, Z:-1.27 [[ 9.99195806e-01 4.00950288e-02 -3.60845123e-04 5.93873878e+01] [-4.00950201e-02 9.99195871e-01 3.15394864e-05 -5.50552930e+00] [ 3.61819533e-04 -1.70460301e-05 9.99999934e-01 -1.27205732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64327356 meters 0.07726922618905994 Centerline is valid? [True, True] Translation: X:59.42, Y:-5.51, Z:-1.27 [[ 9.99214457e-01 3.96288051e-02 -1.63796001e-04 5.94155845e+01] [-3.96288040e-02 9.99214470e-01 9.84212098e-06 -5.50714522e+00] [ 1.64057366e-04 -3.34334993e-06 9.99999987e-01 -1.27111013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67327356 meters 0.07757079383258413 Centerline is valid? [True, True] Translation: X:59.44, Y:-5.51, Z:-1.27 [[ 9.99241732e-01 3.89342050e-02 -2.96366122e-04 5.94443181e+01] [-3.89342001e-02 9.99241776e-01 2.25907548e-05 -5.51209427e+00] [ 2.97020963e-04 -1.10348471e-05 9.99999956e-01 -1.27194746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.70327356 meters 0.078425161888627 Centerline is valid? [True, True] Translation: X:59.47, Y:-5.52, Z:-1.27 [[ 9.99291223e-01 3.76398269e-02 -5.43272567e-04 5.94715738e+01] [-3.76398064e-02 9.99291370e-01 4.80170989e-05 -5.52017726e+00] [ 5.44694943e-04 -2.75343912e-05 9.99999851e-01 -1.27133695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.73327356 meters 0.078425161888627 Centerline is valid? [True, True] Translation: X:59.50, Y:-5.52, Z:-1.27 [[ 9.99294875e-01 3.75427362e-02 -5.43305695e-04 5.94989565e+01] [-3.75427159e-02 9.99295023e-01 4.76532439e-05 -5.52255832e+00] [ 5.44711710e-04 -2.72224711e-05 9.99999851e-01 -1.27187382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.76327356 meters 0.07892318459914263 Centerline is valid? [True, True] Translation: X:59.53, Y:-5.53, Z:-1.27 [[ 9.99331906e-01 3.65466114e-02 2.95514400e-04 5.95258032e+01] [-3.65466042e-02 9.99331949e-01 -2.96679585e-05 -5.52790342e+00] [-2.96401245e-04 1.88480896e-05 9.99999956e-01 -1.27223503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79327356 meters 0.0770914978175193 Centerline is valid? [True, True] Translation: X:59.55, Y:-5.53, Z:-1.27 [[ 9.99375058e-01 3.53046961e-02 1.75293082e-03 5.95546889e+01] [-3.53044681e-02 9.99376590e-01 -1.60845205e-04 -5.52960852e+00] [-1.75751661e-03 9.88583955e-05 9.99998451e-01 -1.27003400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82327356 meters 0.08011972097172676 Centerline is valid? [True, True] Translation: X:59.58, Y:-5.54, Z:-1.27 [[ 9.99412219e-01 3.42180252e-02 2.08405685e-03 5.95818381e+01] [-3.42177008e-02 9.99414385e-01 -1.91124854e-04 -5.54151246e+00] [-2.08937631e-03 1.19700881e-04 9.99997810e-01 -1.27280572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85327356 meters 0.07713011080229906 Centerline is valid? [True, True] Translation: X:59.61, Y:-5.54, Z:-1.27 [[ 9.99443203e-01 3.33274849e-02 1.60110075e-03 5.96104731e+01] [-3.33272919e-02 9.99444481e-01 -1.47093407e-04 -5.53870299e+00] [-1.60511356e-03 9.36511540e-05 9.99998707e-01 -1.27035675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.88327356 meters 0.0785275481339197 Centerline is valid? [True, True] Translation: X:59.64, Y:-5.55, Z:-1.27 [[ 9.99512244e-01 3.11792536e-02 1.76864555e-03 5.96378303e+01] [-3.11790154e-02 9.99513803e-01 -1.62049098e-04 -5.54923809e+00] [-1.77283821e-03 1.06825431e-04 9.99998423e-01 -1.27242959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.91327356000001 meters 0.0790705901706725 Centerline is valid? [True, True] Translation: X:59.67, Y:-5.56, Z:-1.27 [[ 9.99564891e-01 2.94881563e-02 6.91161217e-04 5.96668686e+01] [-2.94881195e-02 9.99565129e-01 -6.33535429e-05 -5.55518338e+00] [-6.92728830e-04 4.29449327e-05 9.99999759e-01 -1.27318316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.94327356000001 meters 0.08110231048757373 Centerline is valid? [True, True] Translation: X:59.70, Y:-5.57, Z:-1.27 [[ 9.99641103e-01 2.67652874e-02 1.13333366e-03 5.96951731e+01] [-2.67651873e-02 9.99641743e-01 -1.03426849e-04 -5.56739064e+00] [-1.13569588e-03 7.30558419e-05 9.99999352e-01 -1.27483247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.97327356000001 meters 0.08177187384783659 Centerline is valid? [True, True] Translation: X:59.72, Y:-5.57, Z:-1.27 [[ 9.99684468e-01 2.51077040e-02 7.53371665e-04 5.97238275e+01] [-2.51076589e-02 9.99684751e-01 -6.92371652e-05 -5.57381629e+00] [-7.54872551e-04 5.02999199e-05 9.99999714e-01 -1.27494372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00327356000001 meters 0.08227715113235548 Centerline is valid? [True, True] Translation: X:59.75, Y:-5.58, Z:-1.28 [[ 9.99719707e-01 2.36700621e-02 4.85075670e-04 5.97530127e+01] [-2.36700433e-02 9.99719824e-01 -4.45842724e-05 -5.58038896e+00] [-4.85995077e-04 3.30900136e-05 9.99999881e-01 -1.27507537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03327356 meters 0.07972647781403265 Centerline is valid? [True, True] Translation: X:59.78, Y:-5.58, Z:-1.27 [[ 9.99755082e-01 2.20880279e-02 1.37677068e-03 5.97830573e+01] [-2.20878761e-02 9.99756025e-01 -1.25359105e-04 -5.57981457e+00] [-1.37920372e-03 9.49184625e-05 9.99999044e-01 -1.27375271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.06327356 meters 0.08322448703468725 Centerline is valid? [True, True] Translation: X:59.81, Y:-5.60, Z:-1.28 [[ 9.99803777e-01 1.97911446e-02 8.47418033e-04 5.98108908e+01] [-1.97910861e-02 9.99804134e-01 -7.73821821e-05 -5.59625887e+00] [-8.48783535e-04 6.05956747e-05 9.99999638e-01 -1.27519345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.09327356 meters 0.08364017963949927 Centerline is valid? [True, True] Translation: X:59.84, Y:-5.60, Z:-1.28 [[ 9.99817273e-01 1.90639835e-02 1.40902445e-03 5.98390107e+01] [-1.90638209e-02 9.99818261e-01 -1.28756795e-04 -5.60226563e+00] [-1.41122299e-03 1.01871878e-04 9.99998999e-01 -1.27524196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.12327356 meters 0.08412116258145429 Centerline is valid? [True, True] Translation: X:59.87, Y:-5.61, Z:-1.28 [[ 9.99820856e-01 1.88413492e-02 1.80524639e-03 5.98663955e+01] [-1.88410823e-02 9.99822477e-01 -1.64764053e-04 -5.60856631e+00] [-1.80803029e-03 1.30721741e-04 9.99998357e-01 -1.27561888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.15327356 meters 0.08243458646650434 Centerline is valid? [True, True] Translation: X:59.89, Y:-5.61, Z:-1.27 [[ 9.99813145e-01 1.91848686e-02 2.36981824e-03 5.98948067e+01] [-1.91844118e-02 9.99815939e-01 -2.15327525e-04 -5.61201978e+00] [-2.37351308e-03 1.69823721e-04 9.99997169e-01 -1.27427958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18327356 meters 0.08102404104677667 Centerline is valid? [True, True] Translation: X:59.92, Y:-5.61, Z:-1.27 [[ 9.99797427e-01 1.99088684e-02 2.95658403e-03 5.99241049e+01] [-1.99081629e-02 9.99801777e-01 -2.67865717e-04 -5.61419242e+00] [-2.96133087e-03 2.08951298e-04 9.99995593e-01 -1.27389262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21327356 meters 0.08148321383569498 Centerline is valid? [True, True] Translation: X:59.95, Y:-5.62, Z:-1.27 [[ 9.99790942e-01 2.02729280e-02 2.66086505e-03 5.99512119e+01] [-2.02723565e-02 9.99794465e-01 -2.41592046e-04 -5.61976916e+00] [-2.66521593e-03 1.87599534e-04 9.99996431e-01 -1.27425991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24327356 meters 0.0801228965435805 Centerline is valid? [True, True] Translation: X:59.98, Y:-5.62, Z:-1.27 [[ 9.99734187e-01 2.28850536e-02 2.79801904e-03 5.99809565e+01] [-2.28844359e-02 9.99738085e-01 -2.52609037e-04 -5.62427305e+00] [-2.80306716e-03 1.88510803e-04 9.99996054e-01 -1.27425112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.27327356 meters 0.07969149817499507 Centerline is valid? [True, True] Translation: X:60.01, Y:-5.63, Z:-1.27 [[ 9.99711081e-01 2.39222305e-02 2.34125141e-03 6.00100425e+01] [-2.39217995e-02 9.99713810e-01 -2.11947113e-04 -5.62797278e+00] [-2.34565162e-03 1.55878931e-04 9.99997237e-01 -1.27479017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.30327356000001 meters 0.07721976391836428 Centerline is valid? [True, True] Translation: X:60.04, Y:-5.63, Z:-1.27 [[ 9.99669680e-01 2.56247172e-02 1.97613831e-03 6.00393056e+01] [-2.56244127e-02 9.99671625e-01 -1.79257558e-04 -5.62645234e+00] [-1.98008282e-03 1.28560961e-04 9.99998031e-01 -1.27437744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.33327356000001 meters 0.07558997117595716 Centerline is valid? [True, True] Translation: X:60.07, Y:-5.63, Z:-1.28 [[ 9.99577682e-01 2.90322173e-02 1.26048963e-03 6.00693314e+01] [-2.90320968e-02 9.99578473e-01 -1.13815850e-04 -5.62898350e+00] [-1.26326262e-03 7.71731271e-05 9.99999199e-01 -1.27527422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36327356000001 meters 0.07535855158477812 Centerline is valid? [True, True] Translation: X:60.10, Y:-5.63, Z:-1.28 [[ 9.99540829e-01 3.02919881e-02 7.26177220e-04 6.00967039e+01] [-3.02919475e-02 9.99541091e-01 -6.69624976e-05 -5.63289681e+00] [-7.27872398e-04 4.49344281e-05 9.99999734e-01 -1.27584371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39327356 meters 0.0757567327723033 Centerline is valid? [True, True] Translation: X:60.12, Y:-5.64, Z:-1.28 [[ 9.99491384e-01 3.18721044e-02 1.06871360e-03 6.01243915e+01] [-3.18720184e-02 9.99491953e-01 -9.73494853e-05 -5.63814490e+00] [-1.07127338e-03 6.32379121e-05 9.99999424e-01 -1.27763060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42327356 meters 0.07470912018793123 Centerline is valid? [True, True] Translation: X:60.15, Y:-5.64, Z:-1.28 [[ 9.99397187e-01 3.46817899e-02 1.56052511e-03 6.01537926e+01] [-3.46816122e-02 9.99398402e-01 -1.40846771e-04 -5.64172289e+00] [-1.56447112e-03 8.66403405e-05 9.99998772e-01 -1.27813067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.45327356 meters 0.07468355037038574 Centerline is valid? [True, True] Translation: X:60.18, Y:-5.65, Z:-1.28 [[ 9.99353559e-01 3.59228055e-02 1.42016380e-03 6.01814180e+01] [-3.59226582e-02 9.99354565e-01 -1.29051985e-04 -5.64609296e+00] [-1.42388309e-03 7.79525012e-05 9.99998983e-01 -1.27901032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.48327356 meters 0.07407327433855568 Centerline is valid? [True, True] Translation: X:60.21, Y:-5.65, Z:-1.28 [[ 9.99318557e-01 3.68700681e-02 1.73767146e-03 6.02100581e+01] [-3.68698505e-02 9.99320064e-01 -1.57127016e-04 -5.64878509e+00] [-1.74228324e-03 9.29522566e-05 9.99998478e-01 -1.27933757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.51327356 meters 0.07535335804306235 Centerline is valid? [True, True] Translation: X:60.24, Y:-5.66, Z:-1.28 [[ 9.99285221e-01 3.77437339e-02 2.11141740e-03 6.02378480e+01] [-3.77434154e-02 9.99287445e-01 -1.90505629e-04 -5.65620713e+00] [-2.11710329e-03 1.10677355e-04 9.99997753e-01 -1.28179780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54327356 meters 0.07391490819807453 Centerline is valid? [True, True] Translation: X:60.27, Y:-5.66, Z:-1.28 [[ 9.99259755e-01 3.84480493e-02 1.29997541e-03 6.02669774e+01] [-3.84479287e-02 9.99260598e-01 -1.17667930e-04 -5.65874755e+00] [-1.30353830e-03 6.75994655e-05 9.99999148e-01 -1.28123676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57327356 meters 0.07405311588983049 Centerline is valid? [True, True] Translation: X:60.30, Y:-5.66, Z:-1.28 [[ 9.99258472e-01 3.84751141e-02 1.47337302e-03 6.02956684e+01] [-3.84749596e-02 9.99259556e-01 -1.33102507e-04 -5.66304811e+00] [-1.47740320e-03 7.63158405e-05 9.99998906e-01 -1.28256120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60327356 meters 0.07381771053433084 Centerline is valid? [True, True] Translation: X:60.32, Y:-5.67, Z:-1.28 [[ 9.99269182e-01 3.81551345e-02 2.29960021e-03 6.03236265e+01] [-3.81547578e-02 9.99271821e-01 -2.07450482e-04 -5.66721554e+00] [-2.30584099e-03 1.19558185e-04 9.99997334e-01 -1.28334979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63327356 meters 0.07120839819633852 Centerline is valid? [True, True] Translation: X:60.35, Y:-5.67, Z:-1.28 [[ 9.99343833e-01 3.61730843e-02 1.84683838e-03 6.03528825e+01] [-3.61728390e-02 9.99345535e-01 -1.66030965e-04 -5.66659351e+00] [-1.85163554e-03 9.91166337e-05 9.99998281e-01 -1.28135705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.66327356000001 meters 0.07100641728910745 Centerline is valid? [True, True] Translation: X:60.38, Y:-5.67, Z:-1.28 [[ 9.99386175e-01 3.50115885e-02 1.20905266e-03 6.03808660e+01] [-3.50114814e-02 9.99386904e-01 -1.09597680e-04 -5.67092321e+00] [-1.21214858e-03 6.71996812e-05 9.99999263e-01 -1.28184671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.69327356000001 meters 0.07328165826560802 Centerline is valid? [True, True] Translation: X:60.41, Y:-5.68, Z:-1.28 [[ 9.99456707e-01 3.29563354e-02 4.13411619e-04 6.04083833e+01] [-3.29563224e-02 9.99456792e-01 -3.81950598e-05 -5.68170795e+00] [-4.14445820e-04 2.45497821e-05 9.99999914e-01 -1.28426900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.72327356000001 meters 0.07504301426347809 Centerline is valid? [True, True] Translation: X:60.44, Y:-5.69, Z:-1.29 [[ 9.99562107e-01 2.95901539e-02 1.29431166e-04 6.04361748e+01] [-2.95901526e-02 9.99562115e-01 -1.21684846e-05 -5.69298055e+00] [-1.29734557e-04 8.33326813e-06 9.99999992e-01 -1.28582797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75327356000001 meters 0.07537212835872012 Centerline is valid? [True, True] Translation: X:60.47, Y:-5.70, Z:-1.29 [[ 9.99604841e-01 2.81085618e-02 -2.64135083e-04 6.04656991e+01] [-2.81085568e-02 9.99604876e-01 2.29349555e-05 -5.69858936e+00] [ 2.64675385e-04 -1.55014366e-05 9.99999965e-01 -1.28678157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78327356 meters 0.0755509773090609 Centerline is valid? [True, True] Translation: X:60.50, Y:-5.70, Z:-1.29 [[ 9.99650349e-01 2.64336386e-02 6.65817636e-04 6.04950857e+01] [-2.64336045e-02 9.99650569e-01 -5.99542263e-05 -5.70360558e+00] [-6.67169787e-04 4.23333032e-05 9.99999777e-01 -1.28755167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.81327356 meters 0.07222156324410346 Centerline is valid? [True, True] Translation: X:60.52, Y:-5.70, Z:-1.28 [[ 9.99691282e-01 2.47939797e-02 1.61229719e-03 6.05248008e+01] [-2.47937791e-02 9.99692577e-01 -1.44288619e-04 -5.70219603e+00] [-1.61537902e-03 1.04269135e-04 9.99998690e-01 -1.28496913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.84327356 meters 0.07692611312190974 Centerline is valid? [True, True] Translation: X:60.55, Y:-5.72, Z:-1.29 [[ 9.99709002e-01 2.40503579e-02 1.86884018e-03 6.05510637e+01] [-2.40500858e-02 9.99710741e-01 -1.67956997e-04 -5.71593759e+00] [-1.87233903e-03 1.22962355e-04 9.99998240e-01 -1.28759741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.87327356 meters 0.07631792744140689 Centerline is valid? [True, True] Translation: X:60.58, Y:-5.72, Z:-1.29 [[ 9.99710262e-01 2.39779487e-02 2.10932438e-03 6.05797126e+01] [-2.39776034e-02 9.99712478e-01 -1.88819400e-04 -5.71810913e+00] [-2.11324540e-03 1.38188149e-04 9.99997758e-01 -1.28687245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.90327356 meters 0.07379404909310988 Centerline is valid? [True, True] Translation: X:60.61, Y:-5.72, Z:-1.28 [[ 9.99727331e-01 2.30618416e-02 3.66277601e-03 6.06090118e+01] [-2.30607984e-02 9.99734011e-01 -3.26793944e-04 -5.71679925e+00] [-3.66933822e-03 2.42238298e-04 9.99993239e-01 -1.28442886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93327356 meters 0.07110779026021993 Centerline is valid? [True, True] Translation: X:60.64, Y:-5.71, Z:-1.28 [[ 9.99735436e-01 2.28057493e-02 2.99275468e-03 6.06378502e+01] [-2.28050514e-02 9.99739895e-01 -2.67096886e-04 -5.71422556e+00] [-2.99806760e-03 1.98776297e-04 9.99995486e-01 -1.28384092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96327356 meters 0.07177676453231763 Centerline is valid? [True, True] Translation: X:60.66, Y:-5.72, Z:-1.29 [[ 9.99744612e-01 2.23490781e-02 3.35110944e-03 6.06649216e+01] [-2.23482011e-02 9.99750203e-01 -2.98955211e-04 -5.71919686e+00] [-3.35695372e-03 2.23987594e-04 9.99994340e-01 -1.28517208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99327356 meters 0.06955975346052509 Centerline is valid? [True, True] Translation: X:60.69, Y:-5.72, Z:-1.28 [[ 9.99757727e-01 2.17188074e-02 3.57507323e-03 6.06934862e+01] [-2.17178065e-02 9.99764090e-01 -3.18571959e-04 -5.71846029e+00] [-3.58114884e-03 2.40852029e-04 9.99993559e-01 -1.28394331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.02327356 meters 0.06975447419957842 Centerline is valid? [True, True] Translation: X:60.72, Y:-5.72, Z:-1.28 [[ 9.99768814e-01 2.12740685e-02 3.11972126e-03 6.07211805e+01] [-2.12733043e-02 9.99773659e-01 -2.77936853e-04 -5.72221632e+00] [-3.12492798e-03 2.11505819e-04 9.99995095e-01 -1.28415237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.05327356000001 meters 0.06905348978396612 Centerline is valid? [True, True] Translation: X:60.75, Y:-5.72, Z:-1.28 [[ 9.99758905e-01 2.16882110e-02 3.42821834e-03 6.07504810e+01] [-2.16872941e-02 9.99764757e-01 -3.04399834e-04 -5.72389594e+00] [-3.43401377e-03 2.29977665e-04 9.99994077e-01 -1.28468564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.08327356000001 meters 0.06989151503159784 Centerline is valid? [True, True] Translation: X:60.78, Y:-5.73, Z:-1.29 [[ 9.99765336e-01 2.15433259e-02 2.27109856e-03 6.07782220e+01] [-2.15429214e-02 9.99767904e-01 -2.02452685e-04 -5.72857625e+00] [-2.27493295e-03 1.53479079e-04 9.99997401e-01 -1.28650200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11327356000001 meters 0.0690557063046655 Centerline is valid? [True, True] Translation: X:60.81, Y:-5.73, Z:-1.29 [[ 9.99739543e-01 2.26666911e-02 2.65835319e-03 6.08075853e+01] [-2.26661437e-02 9.99743062e-01 -2.35882906e-04 -5.73066265e+00] [-2.66301685e-03 1.75566853e-04 9.99996439e-01 -1.28709510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14327356 meters 0.06866633477682614 Centerline is valid? [True, True] Translation: X:60.84, Y:-5.73, Z:-1.29 [[ 9.99719656e-01 2.35297331e-02 2.63838757e-03 6.08361704e+01] [-2.35291965e-02 9.99723123e-01 -2.34263738e-04 -5.73237229e+00] [-2.64316923e-03 1.72118924e-04 9.99996492e-01 -1.28837550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17327356 meters 0.06810932090567161 Centerline is valid? [True, True] Translation: X:60.87, Y:-5.73, Z:-1.29 [[ 9.99694267e-01 2.46018837e-02 2.47396619e-03 6.08654764e+01] [-2.46014160e-02 9.99697315e-01 -2.19294551e-04 -5.73438295e+00] [-2.47861242e-03 1.58364434e-04 9.99996916e-01 -1.28853049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.20327356 meters 0.06725064027538781 Centerline is valid? [True, True] Translation: X:60.89, Y:-5.74, Z:-1.29 [[ 9.99676226e-01 2.52618072e-02 3.04715700e-03 6.08942511e+01] [-2.52611011e-02 9.99680851e-01 -2.70007371e-04 -5.73536914e+00] [-3.05300538e-03 1.92945409e-04 9.99995321e-01 -1.28887860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.23327356 meters 0.06702581158575059 Centerline is valid? [True, True] Translation: X:60.92, Y:-5.74, Z:-1.29 [[ 9.99620944e-01 2.72299307e-02 4.06202139e-03 6.09230583e+01] [-2.72286970e-02 9.99629166e-01 -3.58711460e-04 -5.73836698e+00] [-4.07028274e-03 2.47971939e-04 9.99991686e-01 -1.28947616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.26327356 meters 0.06686912833562669 Centerline is valid? [True, True] Translation: X:60.95, Y:-5.74, Z:-1.29 [[ 9.99607359e-01 2.77292506e-02 4.02692854e-03 6.09518372e+01] [-2.77280408e-02 9.99615441e-01 -3.55970706e-04 -5.74076885e+00] [-4.03525074e-03 2.44172098e-04 9.99991829e-01 -1.28987828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29327356 meters 0.06608317120959514 Centerline is valid? [True, True] Translation: X:60.98, Y:-5.74, Z:-1.29 [[ 9.99566124e-01 2.91155934e-02 4.45498370e-03 6.09807411e+01] [-2.91141284e-02 9.99576017e-01 -3.93379760e-04 -5.74295392e+00] [-4.46454835e-03 2.63506115e-04 9.99989999e-01 -1.28924175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32327356 meters 0.06371728783967368 Centerline is valid? [True, True] Translation: X:61.01, Y:-5.74, Z:-1.29 [[ 9.99541922e-01 2.99595639e-02 4.28609365e-03 6.10104501e+01] [-2.99582175e-02 9.99551080e-01 -3.78020310e-04 -5.74039984e+00] [-4.29549486e-03 2.49443421e-04 9.99990743e-01 -1.28877580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35327356 meters 0.06577220341514417 Centerline is valid? [True, True] Translation: X:61.04, Y:-5.75, Z:-1.29 [[ 9.99528669e-01 3.04519039e-02 3.88872120e-03 6.10380241e+01] [-3.04507956e-02 9.99536208e-01 -3.43892246e-04 -5.74803023e+00] [-3.89738982e-03 2.25315505e-04 9.99992380e-01 -1.29069413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38327356 meters 0.06488053075152972 Centerline is valid? [True, True] Translation: X:61.07, Y:-5.75, Z:-1.29 [[ 9.99491092e-01 3.16728105e-02 3.79346296e-03 6.10670543e+01] [-3.16717693e-02 9.99498268e-01 -3.34266572e-04 -5.74976374e+00] [-3.80214682e-03 2.13950778e-04 9.99992749e-01 -1.29120057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.41327356000001 meters 0.06437122596006681 Centerline is valid? [True, True] Translation: X:61.10, Y:-5.75, Z:-1.29 [[ 9.99421652e-01 3.38817250e-02 2.89670448e-03 6.10962130e+01] [-3.38811283e-02 9.99425837e-01 -2.54825845e-04 -5.75216465e+00] [-2.90367524e-03 1.56534850e-04 9.99995772e-01 -1.29266102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.44327356000001 meters 0.06119503898671095 Centerline is valid? [True, True] Translation: X:61.13, Y:-5.75, Z:-1.29 [[ 9.99399666e-01 3.45116642e-02 3.04167025e-03 6.11259070e+01] [-3.45110079e-02 9.99404282e-01 -2.68021065e-04 -5.74764611e+00] [-3.04910812e-03 1.62889057e-04 9.99995338e-01 -1.29153636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47327356000001 meters 0.06058108264067769 Centerline is valid? [True, True] Translation: X:61.15, Y:-5.75, Z:-1.29 [[ 9.99377854e-01 3.51779451e-02 2.53314495e-03 6.11546301e+01] [-3.51774919e-02 9.99381056e-01 -2.23262263e-04 -5.74934180e+00] [-2.53943098e-03 1.34013675e-04 9.99996767e-01 -1.29192353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50327356 meters 0.06340723981229472 Centerline is valid? [True, True] Translation: X:61.18, Y:-5.76, Z:-1.30 [[ 9.99352398e-01 3.59154948e-02 2.20475687e-03 6.11814118e+01] [-3.59151512e-02 9.99354824e-01 -1.95258292e-04 -5.75936160e+00] [-2.21034721e-03 1.15947666e-04 9.99997550e-01 -1.29516770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53327356 meters 0.06006458041461724 Centerline is valid? [True, True] Translation: X:61.21, Y:-5.76, Z:-1.29 [[ 9.99317723e-01 3.68546634e-02 2.41289371e-03 6.12109835e+01] [-3.68542587e-02 9.99320629e-01 -2.11974459e-04 -5.75692119e+00] [-2.41906671e-03 1.22904425e-04 9.99997067e-01 -1.29408862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.56327356 meters 0.05910650018861962 Centerline is valid? [True, True] Translation: X:61.24, Y:-5.76, Z:-1.29 [[ 9.99334437e-01 3.63940009e-02 2.48207630e-03 6.12396305e+01] [-3.63935709e-02 9.99337511e-01 -2.18201856e-04 -5.75844602e+00] [-2.48837319e-03 1.27725010e-04 9.99996896e-01 -1.29361973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.59327356 meters 0.06333518356131695 Centerline is valid? [True, True] Translation: X:61.27, Y:-5.77, Z:-1.30 [[ 9.99337820e-01 3.62155624e-02 3.51477838e-03 6.12665499e+01] [-3.62147008e-02 9.99343985e-01 -3.08473349e-04 -5.77229957e+00] [-3.52364417e-03 1.80982436e-04 9.99993776e-01 -1.29747619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.62327356 meters 0.06333518356131695 Centerline is valid? [True, True] Translation: X:61.29, Y:-5.77, Z:-1.30 [[ 9.99341071e-01 3.61257610e-02 3.51479255e-03 6.12939478e+01] [-3.61248995e-02 9.99347235e-01 -3.08311836e-04 -5.77457822e+00] [-3.52363622e-03 1.81137153e-04 9.99993776e-01 -1.29801303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.65327356 meters 0.059858888381460244 Centerline is valid? [True, True] Translation: X:61.32, Y:-5.77, Z:-1.30 [[ 9.99391506e-01 3.46609342e-02 3.90339480e-03 6.13232157e+01] [-3.46598642e-02 9.99399108e-01 -3.41449222e-04 -5.77264856e+00] [-3.91288423e-03 2.05950319e-04 9.99992323e-01 -1.29519210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68327356 meters 0.060237320236852444 Centerline is valid? [True, True] Translation: X:61.35, Y:-5.78, Z:-1.30 [[ 9.99419460e-01 3.38197324e-02 4.11939016e-03 6.13501796e+01] [-3.38185306e-02 9.99427925e-01 -3.61067399e-04 -5.77808524e+00] [-4.12924477e-03 2.21546062e-04 9.99991450e-01 -1.29559686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71327356 meters 0.059996434372407086 Centerline is valid? [True, True] Translation: X:61.38, Y:-5.78, Z:-1.30 [[ 9.99456890e-01 3.26472102e-02 4.48151127e-03 6.13784425e+01] [-3.26457845e-02 9.99466908e-01 -3.90937858e-04 -5.78191243e+00] [-4.49188524e-03 2.44423084e-04 9.99989882e-01 -1.29579144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74327356 meters 0.06079202712897925 Centerline is valid? [True, True] Translation: X:61.41, Y:-5.79, Z:-1.30 [[ 9.99498718e-01 3.13858860e-02 4.15192058e-03 6.14055332e+01] [-3.13846489e-02 9.99507315e-01 -3.62788802e-04 -5.78805176e+00] [-4.16126144e-03 2.32300372e-04 9.99991315e-01 -1.29685814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.77327356 meters 0.061083730935666915 Centerline is valid? [True, True] Translation: X:61.43, Y:-5.80, Z:-1.30 [[ 9.99549938e-01 2.96469279e-02 4.58052073e-03 6.14348549e+01] [-2.96454132e-02 9.99560399e-01 -3.98242963e-04 -5.79541571e+00] [-4.59031381e-03 2.62272299e-04 9.99989430e-01 -1.29754855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.80327356000001 meters 0.06029747649942268 Centerline is valid? [True, True] Translation: X:61.46, Y:-5.80, Z:-1.30 [[ 9.99589263e-01 2.82941422e-02 4.55479842e-03 6.14642330e+01] [-2.82926311e-02 9.99599605e-01 -3.95873388e-04 -5.79825449e+00] [-4.56417560e-03 2.66843557e-04 9.99989548e-01 -1.29757879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.83327356000001 meters 0.05828900684111361 Centerline is valid? [True, True] Translation: X:61.49, Y:-5.80, Z:-1.30 [[ 9.99614535e-01 2.74041751e-02 4.44895144e-03 6.14928739e+01] [-2.74027228e-02 9.99624400e-01 -3.87061415e-04 -5.79811959e+00] [-4.45788752e-03 2.64998833e-04 9.99990028e-01 -1.29710939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86327356000001 meters 0.06152505700063907 Centerline is valid? [True, True] Translation: X:61.52, Y:-5.81, Z:-1.30 [[ 9.99659519e-01 2.56162651e-02 4.96520537e-03 6.15203789e+01] [-2.56144379e-02 9.99671803e-01 -4.31247914e-04 -5.81075826e+00] [-4.97462277e-03 3.03920138e-04 9.99987580e-01 -1.29903588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89327356 meters 0.06190229016557456 Centerline is valid? [True, True] Translation: X:61.55, Y:-5.82, Z:-1.30 [[ 9.99665724e-01 2.53458334e-02 5.10193828e-03 6.15480612e+01] [-2.53439000e-02 9.99678694e-01 -4.43257955e-04 -5.81531872e+00] [-5.11153374e-03 3.13806770e-04 9.99986887e-01 -1.29934828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92327356 meters 0.05927575119600117 Centerline is valid? [True, True] Translation: X:61.58, Y:-5.81, Z:-1.30 [[ 9.99682510e-01 2.46576654e-02 5.18452190e-03 6.15772030e+01] [-2.46556629e-02 9.99695902e-01 -4.49815044e-04 -5.81437903e+00] [-5.19403669e-03 3.21844408e-04 9.99986459e-01 -1.29874859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.95327356 meters 0.06056645303857239 Centerline is valid? [True, True] Translation: X:61.60, Y:-5.82, Z:-1.30 [[ 9.99711631e-01 2.34003621e-02 5.39238674e-03 6.16047737e+01] [-2.33981786e-02 9.99726116e-01 -4.67668574e-04 -5.82207368e+00] [-5.40185347e-03 3.41361684e-04 9.99985352e-01 -1.29969371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.98327356 meters 0.06054286859276605 Centerline is valid? [True, True] Translation: X:61.63, Y:-5.83, Z:-1.30 [[ 9.99716574e-01 2.30461493e-02 5.97048094e-03 6.16336123e+01] [-2.30434714e-02 9.99734330e-01 -5.16923914e-04 -5.82555429e+00] [-5.98080787e-03 3.79196797e-04 9.99982043e-01 -1.30011232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.01327356 meters 0.05587333264319674 Centerline is valid? [True, True] Translation: X:61.66, Y:-5.82, Z:-1.30 [[ 9.99726219e-01 2.26620550e-02 5.82395967e-03 6.16631494e+01] [-2.26595021e-02 9.99743113e-01 -5.03959319e-04 -5.82042406e+00] [-5.83388433e-03 3.71853317e-04 9.99982914e-01 -1.29844192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04327356 meters 0.05507930689951763 Centerline is valid? [True, True] Translation: X:61.69, Y:-5.82, Z:-1.30 [[ 9.99747680e-01 2.16903836e-02 5.83986868e-03 6.16914126e+01] [-2.16878026e-02 9.99764664e-01 -5.04939161e-04 -5.82386438e+00] [-5.84944668e-03 3.78157836e-04 9.99982820e-01 -1.29854035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07327356 meters 0.05730897717346376 Centerline is valid? [True, True] Translation: X:61.72, Y:-5.83, Z:-1.30 [[ 9.99756785e-01 2.10090642e-02 6.70745658e-03 6.17181214e+01] [-2.10056456e-02 9.99779189e-01 -5.79722665e-04 -5.83200856e+00] [-6.71815493e-03 4.38687212e-04 9.99977337e-01 -1.29903060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10327356 meters 0.05685067802030638 Centerline is valid? [True, True] Translation: X:61.75, Y:-5.83, Z:-1.30 [[ 9.99785711e-01 1.99631619e-02 5.47757918e-03 6.17474660e+01] [-1.99608728e-02 9.99800650e-01 -4.72261529e-04 -5.83442334e+00] [-5.48591506e-03 3.62823067e-04 9.99984886e-01 -1.29906846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13327356 meters 0.05583034223851443 Centerline is valid? [True, True] Translation: X:61.78, Y:-5.84, Z:-1.30 [[ 9.99823165e-01 1.74869278e-02 6.91702010e-03 6.17764222e+01] [-1.74832197e-02 9.99846979e-01 -5.96186682e-04 -5.83761588e+00] [-6.92638713e-03 4.75149474e-04 9.99975899e-01 -1.29910865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.16327356000001 meters 0.056639283793440694 Centerline is valid? [True, True] Translation: X:61.80, Y:-5.84, Z:-1.30 [[ 9.99854939e-01 1.58745273e-02 6.17260231e-03 6.18040823e+01] [-1.58715464e-02 9.99873898e-01 -5.31618176e-04 -5.84298749e+00] [-6.18026312e-03 4.33572315e-04 9.99980808e-01 -1.30000034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.19327356000001 meters 0.057094510659913854 Centerline is valid? [True, True] Translation: X:61.83, Y:-5.85, Z:-1.30 [[ 9.99868996e-01 1.49417946e-02 6.22366322e-03 6.18334479e+01] [-1.49387479e-02 9.99888267e-01 -5.35743411e-04 -5.84814153e+00] [-6.23097280e-03 4.42699491e-04 9.99980489e-01 -1.30095078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22327356000001 meters 0.05873043221811845 Centerline is valid? [True, True] Translation: X:61.86, Y:-5.86, Z:-1.30 [[ 9.99906010e-01 1.29359946e-02 4.54218819e-03 6.18616330e+01] [-1.29343532e-02 9.99916271e-01 -3.90568749e-04 -5.85564747e+00] [-4.54686027e-03 3.31781773e-04 9.99989608e-01 -1.30214342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 1412.83 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%| | 0/2841 [00:00