+ python -m lidar_slam --no-model /working/c57f2f85-1cb3-493a-9e13-2e5c27d0f439 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/c57f2f85-1cb3-493a-9e13-2e5c27d0f439 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 0.024340128 Adjusted end_distance from 9.223372036854776e+18 to 59.974340128 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024340128 meters 0.0232948064951652 Centerline is valid? [0, True] SLAMing on 0.054340128 meters 0.023840682004149044 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.00, Z:0.00 [[ 9.99999962e-01 -1.78707478e-04 2.10359797e-04 2.97531519e-02] [ 1.78708526e-04 9.99999984e-01 -4.96172350e-06 -2.21664531e-03] [-2.10358907e-04 4.99931640e-06 9.99999978e-01 7.64126937e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.084340128 meters 0.024002010181309295 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:0.00 [[ 9.99999998e-01 5.76944032e-06 -6.30196599e-05 6.03182626e-02] [-5.76936187e-06 1.00000000e+00 1.24504990e-06 -5.03268613e-03] [ 6.30196671e-05 -1.24468631e-06 9.99999998e-01 5.90091179e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11434012800000001 meters 0.021887391147958065 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.00, Z:-0.00 [[ 9.99999867e-01 -1.73071989e-04 -4.84970395e-04 9.06068505e-02] [ 1.73077377e-04 9.99999985e-01 1.10685765e-05 -3.65416432e-03] [ 4.84968472e-04 -1.11525125e-05 9.99999882e-01 -9.39840897e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.144340128 meters 0.022431454310713746 Centerline is valid? [True, True] Translation: X:0.12, Y:-0.01, Z:-0.00 [[ 9.99999715e-01 3.98635534e-05 -7.53359491e-04 1.19597808e-01] [-3.98504658e-05 9.99999999e-01 1.73873613e-05 -6.17901801e-03] [ 7.53360183e-04 -1.73573346e-05 9.99999716e-01 -7.59958898e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.174340128 meters 0.02184880457436409 Centerline is valid? [True, True] Translation: X:0.15, Y:-0.01, Z:-0.00 [[ 9.99999292e-01 5.46108870e-04 -1.05731761e-03 1.50405137e-01] [-5.46083684e-04 9.99999851e-01 2.41087095e-05 -6.79614319e-03] [ 1.05733062e-03 -2.35313085e-05 9.99999441e-01 -1.22510728e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.204340128 meters 0.021303022596119235 Centerline is valid? [True, True] Translation: X:0.18, Y:-0.01, Z:-0.00 [[ 9.99996701e-01 2.24775171e-03 -1.24357703e-03 1.79766962e-01] [-2.24771827e-03 9.99997473e-01 2.82861235e-05 -8.23431296e-03] [ 1.24363747e-03 -2.54908194e-05 9.99999226e-01 -1.39656867e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.234340128 meters 0.02069721603471969 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.01, Z:-0.00 [[ 9.99992828e-01 3.52655765e-03 -1.38086934e-03 2.09062892e-01] [-3.52651703e-03 9.99993781e-01 3.18494652e-05 -8.67818087e-03] [ 1.38097307e-03 -2.69795776e-05 9.99999046e-01 -1.21582585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.264340128 meters 0.020115364580880757 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.01, Z:-0.00 [[ 9.99981064e-01 6.10275850e-03 -7.92018794e-04 2.38203921e-01] [-6.10274583e-03 9.99981378e-01 1.84065359e-05 -9.01804176e-03] [ 7.92116376e-04 -1.35726980e-05 9.99999686e-01 -2.65953949e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29434012800000003 meters 0.01967931721283564 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.01, Z:0.00 [[ 9.99970490e-01 7.64340564e-03 -7.72976234e-04 2.68202621e-01] [-7.64339435e-03 9.99970789e-01 1.75669293e-05 -9.39256347e-03] [ 7.73087926e-04 -1.16582487e-05 9.99999701e-01 3.99854220e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.32434012800000006 meters 0.01929737309701648 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.01, Z:0.00 [[ 9.99960353e-01 8.90418575e-03 -8.78416676e-05 2.98500487e-01] [-8.90418561e-03 9.99960357e-01 1.99632058e-06 -9.54588135e-03] [ 8.78559609e-05 -1.21408292e-06 9.99999996e-01 1.19429394e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35434012800000003 meters 0.018753110699281757 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.01, Z:0.00 [[ 9.99949819e-01 1.00123507e-02 3.36519668e-04 3.28670608e-01] [-1.00123486e-02 9.99949875e-01 -7.64786410e-06 -9.59582742e-03] [-3.36579373e-04 4.27812809e-06 9.99999943e-01 1.72477998e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38434012800000006 meters 0.018313400471062412 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.01, Z:0.00 [[ 9.99924772e-01 1.22460730e-02 6.96379423e-04 3.58626537e-01] [-1.22460648e-02 9.99925014e-01 -1.60353836e-05 -1.00663827e-02] [-6.96523574e-04 7.50626973e-06 9.99999757e-01 2.43641096e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.41434012800000003 meters 0.01819080225722686 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.01, Z:0.00 [[ 9.99914139e-01 1.30587062e-02 1.08867117e-03 3.89643908e-01] [-1.30586865e-02 9.99914731e-01 -2.51933380e-05 -1.14763797e-02] [-1.08890733e-03 1.09745594e-05 9.99999407e-01 3.31258211e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.44434012800000006 meters 0.018486800066390897 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.01, Z:0.00 [[ 9.99917670e-01 1.27024174e-02 1.81714416e-03 4.21007205e-01] [-1.27023623e-02 9.99919321e-01 -4.18599019e-05 -1.33865061e-02] [-1.81752927e-03 1.87744322e-05 9.99998348e-01 4.34925175e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.474340128 meters 0.018209225896870004 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.02, Z:0.00 [[ 9.99921567e-01 1.23843672e-02 1.86748135e-03 4.53237349e-01] [-1.23843029e-02 9.99923311e-01 -4.59961483e-05 -1.50854999e-02] [-1.86790777e-03 2.28650860e-05 9.99998255e-01 3.67602926e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.504340128 meters 0.018142848108528148 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.02, Z:0.00 [[ 9.99928753e-01 1.17740448e-02 1.96497160e-03 4.85296810e-01] [-1.17739713e-02 9.99930683e-01 -4.89759825e-05 -1.70328348e-02] [-1.96541204e-03 2.58369739e-05 9.99998068e-01 3.26838826e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.534340128 meters 0.019859387098342802 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.02, Z:0.00 [[ 9.99955139e-01 9.28408257e-03 1.87762560e-03 5.15945536e-01] [-9.28401024e-03 9.99956902e-01 -4.72341990e-05 -2.32488253e-02] [-1.87798321e-03 2.98001848e-05 9.99998236e-01 3.55574798e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.564340128 meters 0.02087097326577422 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.03, Z:0.00 [[ 9.99966519e-01 7.96492938e-03 1.87615827e-03 5.47263913e-01] [-7.96485423e-03 9.99968279e-01 -4.75228742e-05 -2.69510994e-02] [-1.87647727e-03 3.25779560e-05 9.99998239e-01 3.85574859e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.594340128 meters 0.021999145345273915 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.03, Z:0.00 [[ 9.99979955e-01 6.16950546e-03 1.42334095e-03 5.78009938e-01] [-6.16945900e-03 9.99980968e-01 -3.70297866e-05 -3.07307493e-02] [-1.42354232e-03 2.82478007e-05 9.99998986e-01 4.22376970e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.624340128 meters 0.021504557641402355 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.03, Z:0.00 [[ 9.99989257e-01 4.49060272e-03 1.14889428e-03 6.09750416e-01] [-4.49057317e-03 9.99989917e-01 -2.82999687e-05 -3.17148986e-02] [-1.14900978e-03 2.31404708e-05 9.99999340e-01 2.82870566e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.654340128 meters 0.023884265060589265 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.04, Z:0.00 [[ 9.99997900e-01 1.78121850e-03 -1.01382201e-03 6.40302710e-01] [-1.78119581e-03 9.99998413e-01 2.32821610e-05 -3.85076915e-02] [ 1.01386187e-03 -2.14762965e-05 9.99999486e-01 3.12122881e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.684340128 meters 0.024286852409279015 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.04, Z:0.00 [[ 9.99997345e-01 1.00570753e-03 -2.07326454e-03 6.70399592e-01] [-1.00560474e-03 9.99999493e-01 5.06207186e-05 -4.04531228e-02] [ 2.07331440e-03 -4.85356996e-05 9.99997850e-01 2.84698350e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.714340128 meters 0.02470489038906552 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.04, Z:0.00 [[ 9.99994954e-01 5.96947592e-04 -3.12035225e-03 7.00535644e-01] [-5.96711927e-04 9.99999819e-01 7.64555548e-05 -4.19369686e-02] [ 3.12039733e-03 -7.45932176e-05 9.99995129e-01 2.83031445e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.744340128 meters 0.022462288898210264 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.04, Z:0.00 [[ 9.99989108e-01 1.26347397e-03 -4.49308710e-03 7.29883685e-01] [-1.26298736e-03 9.99999196e-01 1.11137145e-04 -3.91604077e-02] [ 4.49322390e-03 -1.05461222e-04 9.99989900e-01 1.78579713e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7743401280000001 meters 0.02261260503308044 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.04, Z:0.00 [[ 9.99983878e-01 2.07999784e-03 -5.28375157e-03 7.58164315e-01] [-2.07935284e-03 9.99997830e-01 1.27562781e-04 -4.04544822e-02] [ 5.28400543e-03 -1.16573940e-04 9.99986033e-01 2.40920756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.804340128 meters 0.022370589078472267 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.04, Z:0.00 [[ 9.99980225e-01 2.89342448e-03 -5.58372312e-03 7.87226737e-01] [-2.89271984e-03 9.99995807e-01 1.34267619e-04 -4.12041076e-02] [ 5.58408820e-03 -1.18112817e-04 9.99984402e-01 2.91300454e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.834340128 meters 0.022160284321561 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.04, Z:0.00 [[ 9.99969120e-01 4.32057277e-03 -6.56435854e-03 8.15370347e-01] [-4.31963377e-03 9.99990658e-01 1.57217182e-04 -4.25836354e-02] [ 6.56497648e-03 -1.28856703e-04 9.99978442e-01 3.07790914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.864340128 meters 0.021042883143520257 Centerline is valid? [True, True] Translation: X:0.84, Y:-0.04, Z:0.00 [[ 9.99961935e-01 4.91384804e-03 -7.20985914e-03 8.44532609e-01] [-4.91273723e-03 9.99987918e-01 1.71770566e-04 -4.14620383e-02] [ 7.21061608e-03 -1.36343884e-04 9.99973994e-01 2.81817636e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8943401280000001 meters 0.020893404035548725 Centerline is valid? [True, True] Translation: X:0.87, Y:-0.04, Z:0.00 [[ 9.99946187e-01 5.75519184e-03 -8.63141902e-03 8.72878047e-01] [-5.75363887e-03 9.99983427e-01 2.04741363e-04 -4.16910649e-02] [ 8.63245429e-03 -1.55068277e-04 9.99962728e-01 1.57695508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.924340128 meters 0.02061331502983198 Centerline is valid? [True, True] Translation: X:0.90, Y:-0.04, Z:0.00 [[ 9.99933039e-01 6.09044019e-03 -9.83990439e-03 9.01450970e-01] [-6.08844737e-03 9.99981438e-01 2.32466891e-04 -4.15110334e-02] [ 9.84113757e-03 -1.72541585e-04 9.99951560e-01 1.16075985e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.954340128 meters 0.020289196953160657 Centerline is valid? [True, True] Translation: X:0.93, Y:-0.04, Z:0.00 [[ 9.99925258e-01 6.74960773e-03 -1.01941738e-02 9.29933213e-01] [-6.74751194e-03 9.99977206e-01 2.39967091e-04 -4.14137824e-02] [ 1.01955612e-02 -1.71163845e-04 9.99948009e-01 9.20149564e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.984340128 meters 0.019717136462239885 Centerline is valid? [True, True] Translation: X:0.96, Y:-0.04, Z:0.00 [[ 9.99909649e-01 8.07796056e-03 -1.07443396e-02 9.58211467e-01] [-8.07571926e-03 9.99967359e-01 2.51973284e-04 -3.99282846e-02] [ 1.07460243e-02 -1.65182248e-04 9.99942246e-01 1.37543354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0143401280000002 meters 0.01971921215108526 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.04, Z:0.00 [[ 9.99909912e-01 8.09211305e-03 -1.07091669e-02 9.85943237e-01] [-8.08989907e-03 9.99967245e-01 2.50040101e-04 -3.97983487e-02] [ 1.07108395e-02 -1.63381496e-04 9.99942624e-01 1.74366247e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.044340128 meters 0.019269438910315805 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.04, Z:0.00 [[ 9.99906238e-01 8.82702376e-03 -1.04689462e-02 1.01466924e+00] [-8.82496101e-03 9.99961030e-01 2.43214326e-04 -4.00155583e-02] [ 1.04706851e-02 -1.50803479e-04 9.99945170e-01 2.47716696e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.074340128 meters 0.0191529201280373 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.04, Z:0.00 [[ 9.99903402e-01 8.92708265e-03 -1.06533288e-02 1.04301711e+00] [-8.92496198e-03 9.99960141e-01 2.46587528e-04 -4.03806232e-02] [ 1.06551055e-02 -1.51483154e-04 9.99943221e-01 2.80255039e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.104340128 meters 0.019040914789496082 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.04, Z:0.00 [[ 9.99902167e-01 9.00344875e-03 -1.07048605e-02 1.07068116e+00] [-9.00132581e-03 9.99959457e-01 2.46479719e-04 -4.13110442e-02] [ 1.07066457e-02 -1.50097668e-04 9.99942671e-01 2.77589118e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.134340128 meters 0.019716384877565517 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.04, Z:0.00 [[ 9.99903065e-01 8.45525991e-03 -1.10620326e-02 1.09849063e+00] [-8.45297437e-03 9.99964241e-01 2.53351018e-04 -4.36214854e-02] [ 1.10637792e-02 -1.59819382e-04 9.99938782e-01 3.10249006e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.164340128 meters 0.019716384877565517 Centerline is valid? [True, True] Translation: X:1.13, Y:-0.04, Z:0.00 [[ 9.99904046e-01 8.33841053e-03 -1.10620584e-02 1.12599224e+00] [-8.33613034e-03 9.99965222e-01 2.52220377e-04 -4.40902930e-02] [ 1.10637768e-02 -1.59981414e-04 9.99938782e-01 3.37126934e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1943401280000001 meters 0.02072279189098385 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.05, Z:0.00 [[ 9.99911112e-01 6.80963142e-03 -1.14628439e-02 1.15381980e+00] [-6.80709816e-03 9.99976798e-01 2.59999591e-04 -4.75766231e-02] [ 1.14643485e-02 -1.81947776e-04 9.99934266e-01 3.41262291e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2243401280000001 meters 0.0202399953586389 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.05, Z:0.00 [[ 9.99910551e-01 6.07940876e-03 -1.19134893e-02 1.18304212e+00] [-6.07663517e-03 9.99981501e-01 2.68994936e-04 -4.76189266e-02] [ 1.19149042e-02 -1.96576947e-04 9.99928996e-01 3.15020109e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.2543401280000002 meters 0.02048915903078534 Centerline is valid? [True, True] Translation: X:1.21, Y:-0.05, Z:0.00 [[ 9.99900639e-01 5.73838113e-03 -1.28756503e-02 1.21222361e+00] [-5.73512751e-03 9.99983512e-01 2.89605419e-04 -4.89570916e-02] [ 1.28770999e-02 -2.15733147e-04 9.99917063e-01 2.84243729e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.284340128 meters 0.019617918060738194 Centerline is valid? [True, True] Translation: X:1.24, Y:-0.05, Z:0.00 [[ 9.99876958e-01 6.43106849e-03 -1.43076672e-02 1.24098871e+00] [-6.42713970e-03 9.99979294e-01 3.20557707e-04 -4.85455554e-02] [ 1.43094325e-02 -2.28560890e-04 9.99897589e-01 1.75770549e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.314340128 meters 0.01939675983328286 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.05, Z:0.00 [[ 9.99861084e-01 7.10668174e-03 -1.50767306e-02 1.26975893e+00] [-7.10241560e-03 9.99974721e-01 3.36487643e-04 -4.89597014e-02] [ 1.50787408e-02 -2.29359693e-04 9.99886283e-01 1.32290585e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.344340128 meters 0.01908039196757383 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.05, Z:0.00 [[ 9.99849033e-01 7.82656859e-03 -1.55131016e-02 1.29883036e+00] [-7.82215894e-03 9.99969347e-01 3.44910844e-04 -4.90058942e-02] [ 1.55153256e-02 -2.23512827e-04 9.99879605e-01 1.42068563e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.374340128 meters 0.018656403247982106 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.05, Z:0.00 [[ 9.99836792e-01 8.81197822e-03 -1.57714495e-02 1.32699954e+00] [-8.80756584e-03 9.99961152e-01 3.49208034e-04 -4.89170698e-02] [ 1.57739141e-02 -2.10242960e-04 9.99875562e-01 1.94753510e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.404340128 meters 0.017905329173126826 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.05, Z:0.00 [[ 9.99819002e-01 1.07036778e-02 -1.57287573e-02 1.35509242e+00] [-1.06995487e-02 9.99942698e-01 3.46651845e-04 -4.98909070e-02] [ 1.57315665e-02 -1.78298498e-04 9.99876235e-01 2.05731679e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.434340128 meters 0.017186859116282878 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.05, Z:0.00 [[ 9.99810055e-01 1.13756874e-02 -1.58255656e-02 1.38430536e+00] [-1.13716152e-02 9.99935281e-01 3.47283001e-04 -5.02430475e-02] [ 1.58284920e-02 -1.67254794e-04 9.99874708e-01 2.64179629e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4643401280000001 meters 0.016787027445481557 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.05, Z:0.00 [[ 9.99788123e-01 1.23109983e-02 -1.64968985e-02 1.41361012e+00] [-1.23067237e-02 9.99924204e-01 3.60610453e-04 -5.06806113e-02] [ 1.65000876e-02 -1.57511276e-04 9.99863852e-01 3.04658823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.4943401280000002 meters 0.016179055593459175 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.05, Z:0.00 [[ 9.99765203e-01 1.37893877e-02 -1.67149980e-02 1.44269369e+00] [-1.37852293e-02 9.99904913e-01 3.63979905e-04 -5.05247374e-02] [ 1.67184277e-02 -1.33474363e-04 9.99860228e-01 3.51381298e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5243401280000002 meters 0.01586406780231961 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.05, Z:0.00 [[ 9.99761313e-01 1.44157977e-02 -1.64165145e-02 1.47095184e+00] [-1.44118952e-02 9.99896080e-01 3.56004216e-04 -5.09673690e-02] [ 1.64199406e-02 -1.19326155e-04 9.99865177e-01 4.35574401e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.554340128 meters 0.015456227606130645 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.05, Z:0.01 [[ 9.99765742e-01 1.51636917e-02 -1.54442218e-02 1.49874480e+00] [-1.51603505e-02 9.99885020e-01 3.33402990e-04 -5.31085929e-02] [ 1.54475016e-02 -9.91850718e-05 9.99880675e-01 6.25344008e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.584340128 meters 0.015270355332270447 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.05, Z:0.01 [[ 9.99762540e-01 1.53136769e-02 -1.55033596e-02 1.52711559e+00] [-1.53103541e-02 9.99882734e-01 3.32996927e-04 -5.48662281e-02] [ 1.55066410e-02 -9.55559276e-05 9.99879760e-01 7.19189423e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.614340128 meters 0.01536247056764686 Centerline is valid? [True, True] Translation: X:1.55, Y:-0.06, Z:0.01 [[ 9.99759207e-01 1.54759513e-02 -1.55570935e-02 1.55406775e+00] [-1.54726561e-02 9.99880236e-01 3.32158565e-04 -5.74863719e-02] [ 1.55603708e-02 -9.13690257e-05 9.99878926e-01 7.78596263e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.644340128 meters 0.014894116631071427 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.06, Z:0.01 [[ 9.99742112e-01 1.65156187e-02 -1.55866494e-02 1.58305530e+00] [-1.65124657e-02 9.99863605e-01 3.30968478e-04 -6.05604975e-02] [ 1.55899896e-02 -7.35091122e-05 9.99878466e-01 9.62857120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.674340128 meters 0.014715345628927805 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.06, Z:0.01 [[ 9.99733293e-01 1.69115833e-02 -1.57270703e-02 1.61070239e+00] [-1.69084454e-02 9.99856987e-01 3.32483027e-04 -6.20073417e-02] [ 1.57304439e-02 -6.64740429e-05 9.99876267e-01 1.07236887e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7043401280000001 meters 0.014604805676616657 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.06, Z:0.01 [[ 9.99729345e-01 1.72354303e-02 -1.56261619e-02 1.63841024e+00] [-1.72324005e-02 9.99851457e-01 3.28525891e-04 -6.33351797e-02] [ 1.56295030e-02 -5.91606943e-05 9.99877850e-01 1.12602587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7343401280000001 meters 0.014309764069042311 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.07, Z:0.01 [[ 9.99710340e-01 1.80071794e-02 -1.59680053e-02 1.66591670e+00] [-1.80041453e-02 9.99837857e-01 3.33759514e-04 -6.55721143e-02] [ 1.59714262e-02 -4.61725509e-05 9.99872448e-01 1.31648684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7643401280000002 meters 0.014300266264845233 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.07, Z:0.01 [[ 9.99702878e-01 1.82719720e-02 -1.61335540e-02 1.69292032e+00] [-1.82689444e-02 9.99833053e-01 3.35031987e-04 -6.79991563e-02] [ 1.61369823e-02 -4.01894410e-05 9.99869790e-01 1.35826449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7943401280000002 meters 0.014401942016477494 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.07, Z:0.01 [[ 9.99696351e-01 1.84419087e-02 -1.63432724e-02 1.71959424e+00] [-1.84388639e-02 9.99829933e-01 3.36982625e-04 -7.14211005e-02] [ 1.63467075e-02 -3.55289242e-05 9.99866383e-01 1.31438889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.824340128 meters 0.01430290172232574 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.08, Z:0.02 [[ 9.99684408e-01 1.88535562e-02 -1.66020531e-02 1.74719424e+00] [-1.88505088e-02 9.99822256e-01 3.40041105e-04 -7.66299757e-02] [ 1.66055132e-02 -2.69766424e-05 9.99862119e-01 1.53172110e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.854340128 meters 0.014123249581964701 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.08, Z:0.02 [[ 9.99668402e-01 1.92879504e-02 -1.70604832e-02 1.77495954e+00] [-1.92848328e-02 9.99813970e-01 3.47254005e-04 -7.90379972e-02] [ 1.70640072e-02 -1.81302913e-05 9.99854399e-01 1.64745956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.884340128 meters 0.014363402516699736 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.08, Z:0.02 [[ 9.99664168e-01 1.94842977e-02 -1.70854519e-02 1.80158290e+00] [-1.94812398e-02 9.99810163e-01 3.45413020e-04 -8.14656943e-02] [ 1.70889386e-02 -1.24512338e-05 9.99853973e-01 1.59715236e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.914340128 meters 0.014159918241399744 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.09, Z:0.02 [[ 9.99632467e-01 2.05825916e-02 -1.76433318e-02 1.83054075e+00] [-2.05795400e-02 9.99788156e-01 3.54519526e-04 -8.59026134e-02] [ 1.76468911e-02 8.70242388e-06 9.99844281e-01 1.69408141e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9443401280000001 meters 0.01429554461417277 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.09, Z:0.02 [[ 9.99619283e-01 2.08736970e-02 -1.80437916e-02 1.85897552e+00] [-2.08705807e-02 9.99782121e-01 3.61020003e-04 -8.89161838e-02] [ 1.80473961e-02 1.57018526e-05 9.99837132e-01 1.69612007e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9743401280000001 meters 0.014257465248092703 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.09, Z:0.02 [[ 9.99613592e-01 2.08663390e-02 -1.83647348e-02 1.88692111e+00] [-2.08631448e-02 9.99782274e-01 3.65525495e-04 -9.22798815e-02] [ 1.83683635e-02 1.77618684e-05 9.99831287e-01 1.70365367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0043401280000004 meters 0.014387532884114693 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.10, Z:0.02 [[ 9.99607436e-01 2.14476590e-02 -1.80269518e-02 1.91432539e+00] [-2.14447159e-02 9.99769972e-01 3.56573832e-04 -9.76289912e-02] [ 1.80304528e-02 3.01490052e-05 9.99837438e-01 1.72307223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.034340128 meters 0.014223837829582128 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.10, Z:0.02 [[ 9.99597262e-01 2.16749575e-02 -1.83169273e-02 1.94316193e+00] [-2.16719926e-02 9.99765070e-01 3.60371978e-04 -1.00644155e-01] [ 1.83204351e-02 3.67374710e-05 9.99832166e-01 1.85970567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.064340128 meters 0.014243965251589618 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.10, Z:0.02 [[ 9.99595395e-01 2.18675418e-02 -1.81894850e-02 1.97049367e+00] [-2.18646865e-02 9.99760876e-01 3.55852506e-04 -1.03522390e-01] [ 1.81929170e-02 4.19988599e-05 9.99834494e-01 1.93689663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0943401280000002 meters 0.014320986368897878 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.11, Z:0.02 [[ 9.99584435e-01 2.26578374e-02 -1.78207443e-02 1.99718441e+00] [-2.26552671e-02 9.99743277e-01 3.46129039e-04 -1.09022897e-01] [ 1.78240118e-02 5.77485212e-05 9.99841138e-01 2.01603018e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.124340128 meters 0.014298647084980742 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.11, Z:0.02 [[ 9.99584888e-01 2.26258408e-02 -1.78360283e-02 2.02540131e+00] [-2.26233028e-02 9.99744001e-01 3.44079449e-04 -1.12394683e-01] [ 1.78392474e-02 5.95732501e-05 9.99840866e-01 2.10729012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1543401280000003 meters 0.014309091723588178 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.12, Z:0.02 [[ 9.99593782e-01 2.26543992e-02 -1.72930270e-02 2.05336547e+00] [-2.26520525e-02 9.99743354e-01 3.31593526e-04 -1.15641061e-01] [ 1.72961009e-02 6.02637282e-05 9.99850409e-01 2.16050353e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.184340128 meters 0.014316021989821787 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.12, Z:0.02 [[ 9.99590231e-01 2.24975961e-02 -1.76982528e-02 2.08184446e+00] [-2.24951450e-02 9.99746895e-01 3.37583247e-04 -1.19224109e-01] [ 1.77013681e-02 6.06798486e-05 9.99843317e-01 2.18468068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2143401280000004 meters 0.013949661575416513 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.13, Z:0.02 [[ 9.99593185e-01 2.25510433e-02 -1.74618055e-02 2.10981744e+00] [-2.25486958e-02 9.99745691e-01 3.31332873e-04 -1.26424842e-01] [ 1.74648367e-02 6.25428584e-05 9.99847476e-01 2.34423529e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.244340128 meters 0.014193928834484492 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.13, Z:0.02 [[ 9.99602374e-01 2.23853367e-02 -1.71461475e-02 2.13699891e+00] [-2.23830886e-02 9.99749415e-01 3.23030303e-04 -1.29341691e-01] [ 1.71490821e-02 6.08818813e-05 9.99852942e-01 2.28997548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.274340128 meters 0.014089513033950028 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.13, Z:0.02 [[ 9.99605006e-01 2.25267747e-02 -1.68040323e-02 2.16530332e+00] [-2.25246734e-02 9.99746238e-01 3.14328882e-04 -1.33169102e-01] [ 1.68068489e-02 6.43006155e-05 9.99858753e-01 2.45273828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.304340128 meters 0.014094791765705052 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.14, Z:0.03 [[ 9.99617009e-01 2.23683489e-02 -1.62939566e-02 2.19254789e+00] [-2.23663813e-02 9.99749795e-01 3.02998768e-04 -1.39714815e-01] [ 1.62966573e-02 6.15541240e-05 9.99867199e-01 2.53781978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.334340128 meters 0.01395855417574008 Centerline is valid? [True, True] Translation: X:2.22, Y:-0.14, Z:0.03 [[ 9.99631311e-01 2.20468913e-02 -1.58485350e-02 2.22144343e+00] [-2.20450121e-02 9.99756936e-01 2.93282859e-04 -1.43929493e-01] [ 1.58511487e-02 5.62064159e-05 9.99874361e-01 2.69279859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3643401280000003 meters 0.013686823679287478 Centerline is valid? [True, True] Translation: X:2.25, Y:-0.15, Z:0.03 [[ 9.99641347e-01 2.16239639e-02 -1.57981592e-02 2.25012970e+00] [-2.16220639e-02 9.99766173e-01 2.91081035e-04 -1.50290313e-01] [ 1.58007595e-02 5.06121712e-05 9.99875159e-01 2.79958158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.394340128 meters 0.013762988481438724 Centerline is valid? [True, True] Translation: X:2.28, Y:-0.15, Z:0.03 [[ 9.99651537e-01 2.12783059e-02 -1.56217062e-02 2.27747894e+00] [-2.12764273e-02 9.99773590e-01 2.86458022e-04 -1.53503153e-01] [ 1.56242647e-02 4.60158952e-05 9.99877933e-01 2.76594879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4243401280000003 meters 0.013590753851127171 Centerline is valid? [True, True] Translation: X:2.31, Y:-0.16, Z:0.03 [[ 9.99662273e-01 2.03508266e-02 -1.61611952e-02 2.30636349e+00] [-2.03487196e-02 9.99792900e-01 2.94818698e-04 -1.57489972e-01] [ 1.61638480e-02 3.41404991e-05 9.99869356e-01 2.77124345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.454340128 meters 0.013572908731506446 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.16, Z:0.03 [[ 9.99682546e-01 1.91327746e-02 -1.63934010e-02 2.33470816e+00] [-1.91304649e-02 9.99816952e-01 2.97712392e-04 -1.61704893e-01] [ 1.63960962e-02 1.59954997e-05 9.99865575e-01 2.78657773e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4843401280000004 meters 0.01359275076103353 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.17, Z:0.03 [[ 9.99744425e-01 1.62086352e-02 -1.57596197e-02 2.36214310e+00] [-1.62061589e-02 9.99868631e-01 2.84837286e-04 -1.70249424e-01] [ 1.57621662e-02 -2.93615871e-05 9.99875769e-01 2.87490094e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.514340128 meters 0.01371380247520336 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.17, Z:0.03 [[ 9.99779873e-01 1.44914757e-02 -1.51724367e-02 2.39047929e+00] [-1.44890036e-02 9.99894992e-01 2.72846090e-04 -1.74664065e-01] [ 1.51747974e-02 -5.29525390e-05 9.99884855e-01 2.94951015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.544340128 meters 0.014314588240709187 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.18, Z:0.03 [[ 9.99817893e-01 1.18373760e-02 -1.49685325e-02 2.41850747e+00] [-1.18346917e-02 9.99929932e-01 2.67897662e-04 -1.82179280e-01] [ 1.49706549e-02 -9.07009092e-05 9.99887929e-01 2.95413817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5743401280000002 meters 0.014722175734318561 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.19, Z:0.03 [[ 9.99819399e-01 1.07128532e-02 -1.56972350e-02 2.44633155e+00] [-1.07097875e-02 9.99942610e-01 2.79351255e-04 -1.86074517e-01] [ 1.56993267e-02 -1.11186752e-04 9.99876752e-01 2.89967758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.604340128 meters 0.015060020422640054 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.19, Z:0.03 [[ 9.99818237e-01 9.71791218e-03 -1.64028806e-02 2.47557958e+00] [-9.71445570e-03 9.99952771e-01 2.90390762e-04 -1.89329601e-01] [ 1.64049280e-02 -1.30992922e-04 9.99865422e-01 2.90795584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6343401280000003 meters 0.014995636063313863 Centerline is valid? [True, True] Translation: X:2.50, Y:-0.19, Z:0.03 [[ 9.99818262e-01 9.50351745e-03 -1.65265408e-02 2.50353691e+00] [-9.50000561e-03 9.99954832e-01 2.90991976e-04 -1.93789669e-01] [ 1.65285598e-02 -1.33936861e-04 9.99863385e-01 2.92799952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.664340128 meters 0.014989327533030441 Centerline is valid? [True, True] Translation: X:2.53, Y:-0.20, Z:0.03 [[ 9.99821139e-01 9.44130241e-03 -1.63875664e-02 2.53157539e+00] [-9.43787293e-03 9.99955421e-01 2.86599816e-04 -1.95643774e-01] [ 1.63895418e-02 -1.31884784e-04 9.99865674e-01 3.00010393e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6943401280000003 meters 0.014446283279887501 Centerline is valid? [True, True] Translation: X:2.56, Y:-0.20, Z:0.03 [[ 9.99806016e-01 1.11291902e-02 -1.62502948e-02 2.55939555e+00] [-1.11260699e-02 9.99938063e-01 2.82413711e-04 -1.97411733e-01] [ 1.62524314e-02 -1.01557012e-04 9.99867915e-01 3.10093434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.724340128 meters 0.014166815711653182 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.20, Z:0.03 [[ 9.99798390e-01 1.20980042e-02 -1.60255592e-02 2.58868922e+00] [-1.20951169e-02 9.99926813e-01 2.77078591e-04 -1.97688898e-01] [ 1.60277384e-02 -8.31917164e-05 9.99871544e-01 3.14641461e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7543401280000004 meters 0.01378988456576028 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.20, Z:0.03 [[ 9.99789857e-01 1.27584564e-02 -1.60457035e-02 2.61677369e+00] [-1.27556716e-02 9.99918605e-01 2.75896105e-04 -1.97594778e-01] [ 1.60479175e-02 -7.11644033e-05 9.99871221e-01 3.23577174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.784340128 meters 0.013812141483821613 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.20, Z:0.03 [[ 9.99775878e-01 1.36004968e-02 -1.62240375e-02 2.64431833e+00] [-1.35977909e-02 9.99907507e-01 2.77090723e-04 -1.98765846e-01] [ 1.62263054e-02 -5.64175520e-05 9.99868343e-01 3.18002521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.814340128 meters 0.013618006179181796 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.20, Z:0.03 [[ 9.99766531e-01 1.45559365e-02 -1.59689621e-02 2.67220123e+00] [-1.45534618e-02 9.99894056e-01 2.71168121e-04 -2.00308740e-01] [ 1.59712173e-02 -3.87011313e-05 9.99872451e-01 3.18608530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8443401280000002 meters 0.013517862401923545 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.20, Z:0.03 [[ 9.99763121e-01 1.49845377e-02 -1.57849629e-02 2.70145495e+00] [-1.49821948e-02 9.99887725e-01 2.66674786e-04 -2.01082859e-01] [ 1.57871866e-02 -3.01182273e-05 9.99875374e-01 3.24061755e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.874340128 meters 0.013559262319235623 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.20, Z:0.03 [[ 9.99761973e-01 1.51009113e-02 -1.57467668e-02 2.73023468e+00] [-1.50986128e-02 9.99885974e-01 2.64848532e-04 -2.01817764e-01] [ 1.57489708e-02 -2.70311561e-05 9.99875977e-01 3.29276274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9043401280000003 meters 0.013283204666744921 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.20, Z:0.03 [[ 9.99764668e-01 1.53903151e-02 -1.52888077e-02 2.75926711e+00] [-1.53882000e-02 9.99881562e-01 2.55979384e-04 -2.02481729e-01] [ 1.52909365e-02 -2.06519126e-05 9.99883087e-01 3.45401359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.934340128 meters 0.013586750170352727 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.20, Z:0.03 [[ 9.99756720e-01 1.53974957e-02 -1.57929422e-02 2.78724830e+00] [-1.53952626e-02 9.99881451e-01 2.62973994e-04 -2.03528352e-01] [ 1.57951191e-02 -1.97735259e-05 9.99875249e-01 3.37131941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9643401280000004 meters 0.01348304313005168 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.20, Z:0.03 [[ 9.99779136e-01 1.48004414e-02 -1.49206762e-02 2.81620559e+00] [-1.47984014e-02 9.99890467e-01 2.47127332e-04 -2.04866650e-01] [ 1.49226995e-02 -2.62705952e-05 9.99888650e-01 3.48283025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.994340128 meters 0.013495715994517335 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.21, Z:0.04 [[ 9.99815783e-01 1.31885363e-02 -1.39449903e-02 2.84450659e+00] [-1.31866116e-02 9.99913026e-01 2.29965905e-04 -2.07952818e-01] [ 1.39468104e-02 -4.60363702e-05 9.99902737e-01 3.74932819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0243401280000004 meters 0.01369189284131473 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.21, Z:0.04 [[ 9.99836377e-01 1.19206996e-02 -1.36057090e-02 2.87354206e+00] [-1.19187646e-02 9.99928944e-01 2.23303909e-04 -2.10095322e-01] [ 1.36074041e-02 -6.11041291e-05 9.99907413e-01 3.86607885e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.054340128 meters 0.014000982209005496 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.21, Z:0.04 [[ 9.99856445e-01 1.05612619e-02 -1.32495130e-02 2.90260897e+00] [-1.05593214e-02 9.99944225e-01 2.16406236e-04 -2.12374072e-01] [ 1.32510596e-02 -7.64693033e-05 9.99912198e-01 3.92973870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.084340128 meters 0.014000982209005496 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.21, Z:0.04 [[ 9.99857293e-01 1.04806448e-02 -1.32495304e-02 2.93095314e+00] [-1.04787114e-02 9.99945074e-01 2.15338786e-04 -2.12736184e-01] [ 1.32510595e-02 -7.64700513e-05 9.99912198e-01 3.95742913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1143401280000003 meters 0.014237729420016181 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.21, Z:0.04 [[ 9.99859454e-01 9.03947401e-03 -1.41195305e-02 2.95948335e+00] [-9.03715143e-03 9.99959138e-01 2.28290108e-04 -2.14515906e-01] [ 1.41210172e-02 -1.00657688e-04 9.99900288e-01 3.97021639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.144340128 meters 0.014418459574916876 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.22, Z:0.04 [[ 9.99858867e-01 8.55324936e-03 -1.44598586e-02 2.98682500e+00] [-8.55078183e-03 9.99963414e-01 2.32464143e-04 -2.15842797e-01] [ 1.44613179e-02 -1.08788239e-04 9.99895424e-01 3.92955604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1743401280000003 meters 0.014635781915852075 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.22, Z:0.04 [[ 9.99861781e-01 8.09112600e-03 -1.45242025e-02 3.01530359e+00] [-8.08860879e-03 9.99967260e-01 2.32047365e-04 -2.16799950e-01] [ 1.45256045e-02 -1.14534700e-04 9.99894491e-01 3.94732827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.204340128 meters 0.014587745691987028 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.22, Z:0.04 [[ 9.99867839e-01 8.35173284e-03 -1.39482417e-02 3.04285880e+00] [-8.34945163e-03 9.99965118e-01 2.21774181e-04 -2.18146200e-01] [ 1.39496074e-02 -1.05284701e-04 9.99902694e-01 3.98750227e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2343401280000004 meters 0.014911561791677606 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.22, Z:0.04 [[ 9.99871019e-01 8.33983085e-03 -1.37256415e-02 3.07055015e+00] [-8.33763800e-03 9.99965218e-01 2.16978891e-04 -2.19544193e-01] [ 1.37269737e-02 -1.02511474e-04 9.99905775e-01 4.00984039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.264340128 meters 0.014734271109897034 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.22, Z:0.04 [[ 9.99866515e-01 8.96999639e-03 -1.36561893e-02 3.09924774e+00] [-8.96790128e-03 9.99959765e-01 2.14648518e-04 -2.19850899e-01] [ 1.36575653e-02 -9.21525076e-05 9.99906727e-01 4.06869695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2943401280000004 meters 0.014374258914294115 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.22, Z:0.04 [[ 9.99847114e-01 1.04936470e-02 -1.39868709e-02 3.12757098e+00] [-1.04916147e-02 9.99944938e-01 2.18670779e-04 -2.19307249e-01] [ 1.39883954e-02 -7.18924868e-05 9.99902155e-01 4.04229370e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3243401280000002 meters 0.014158918963623004 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.22, Z:0.04 [[ 9.99835851e-01 1.12694577e-02 -1.41869466e-02 3.15581378e+00] [-1.12674655e-02 9.99936496e-01 2.20347436e-04 -2.19109410e-01] [ 1.41885289e-02 -6.04603336e-05 9.99899336e-01 4.03845473e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.354340128 meters 0.013991508649501636 Centerline is valid? [True, True] Translation: X:3.18, Y:-0.22, Z:0.04 [[ 9.99827694e-01 1.18446880e-02 -1.42928882e-02 3.18412695e+00] [-1.18427481e-02 9.99929848e-01 2.20356354e-04 -2.18922199e-01] [ 1.42944956e-02 -5.10513104e-05 9.99897827e-01 4.04056907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3843401280000003 meters 0.013797541447552977 Centerline is valid? [True, True] Translation: X:3.21, Y:-0.22, Z:0.04 [[ 9.99808286e-01 1.27457949e-02 -1.48639101e-02 3.21202427e+00] [-1.27438207e-02 9.99918768e-01 2.27531544e-04 -2.18434556e-01] [ 1.48656027e-02 -3.80649176e-05 9.99889500e-01 4.08755407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.414340128 meters 0.013817395014649911 Centerline is valid? [True, True] Translation: X:3.24, Y:-0.22, Z:0.04 [[ 9.99822864e-01 1.25001450e-02 -1.40707639e-02 3.24094950e+00] [-1.24983707e-02 9.99921869e-01 2.14030915e-04 -2.19459713e-01] [ 1.40723399e-02 -3.81313800e-05 9.99900979e-01 4.12411252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4443401280000003 meters 0.013827093708254178 Centerline is valid? [True, True] Translation: X:3.27, Y:-0.22, Z:0.04 [[ 9.99827756e-01 1.21407207e-02 -1.40378167e-02 3.26869802e+00] [-1.21389410e-02 9.99926298e-01 2.11980207e-04 -2.20520401e-01] [ 1.40393557e-02 -4.15394652e-05 9.99901443e-01 4.17381909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.474340128 meters 0.014092496718320002 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.22, Z:0.04 [[ 9.99845286e-01 1.08653209e-02 -1.38329197e-02 3.29635906e+00] [-1.08634893e-02 9.99940969e-01 2.07545273e-04 -2.23450278e-01] [ 1.38343582e-02 -5.72393871e-05 9.99904299e-01 4.23431127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5043401280000004 meters 0.013969219643567355 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.22, Z:0.04 [[ 9.99852033e-01 1.01684393e-02 -1.38749468e-02 3.32526022e+00] [-1.01665465e-02 9.99948298e-01 2.06946374e-04 -2.24444368e-01] [ 1.38763337e-02 -6.58554614e-05 9.99903717e-01 4.34612306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.534340128 meters 0.014065478883473164 Centerline is valid? [True, True] Translation: X:3.35, Y:-0.23, Z:0.04 [[ 9.99863668e-01 9.23679064e-03 -1.36867639e-02 3.35278818e+00] [-9.23487762e-03 9.99957337e-01 2.02967494e-04 -2.26383649e-01] [ 1.36880547e-02 -7.65442339e-05 9.99906311e-01 4.41572178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5643401280000004 meters 0.015234132553060864 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.23, Z:0.04 [[ 9.99870711e-01 7.85251331e-03 -1.40320509e-02 3.38067221e+00] [-7.85038490e-03 9.99969164e-01 2.06757654e-04 -2.32313109e-01] [ 1.40332418e-02 -9.65739221e-05 9.99901525e-01 4.34881830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5943401280000002 meters 0.01566862544713284 Centerline is valid? [True, True] Translation: X:3.41, Y:-0.24, Z:0.04 [[ 9.99877025e-01 6.88711042e-03 -1.40891065e-02 3.40807208e+00] [-6.88488488e-03 9.99976278e-01 2.06459821e-04 -2.35123390e-01] [ 1.40901942e-02 -1.09432555e-04 9.99900722e-01 4.33812471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.624340128 meters 0.01498541049159166 Centerline is valid? [True, True] Translation: X:3.44, Y:-0.24, Z:0.04 [[ 9.99875193e-01 6.32738867e-03 -1.44762472e-02 3.43668235e+00] [-6.32499902e-03 9.99979975e-01 2.10851823e-04 -2.35849537e-01] [ 1.44772915e-02 -1.19263258e-04 9.99895191e-01 4.45031454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6543401280000003 meters 0.0162155219938651 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.24, Z:0.04 [[ 9.99872274e-01 5.80287701e-03 -1.48916829e-02 3.46418113e+00] [-5.80031004e-03 9.99983155e-01 2.15561098e-04 -2.40469225e-01] [ 1.48926829e-02 -1.29157187e-04 9.99889090e-01 4.32675043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.684340128 meters 0.01541993275172526 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.24, Z:0.04 [[ 9.99879634e-01 5.04171432e-03 -1.46730324e-02 3.49258697e+00] [-5.03916041e-03 9.99987281e-01 2.11022040e-04 -2.42227419e-01] [ 1.46739097e-02 -1.37056876e-04 9.99892323e-01 4.45595983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7143401280000004 meters 0.01563351693645009 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.24, Z:0.04 [[ 9.99884309e-01 4.68712341e-03 -1.44706345e-02 3.52008959e+00] [-4.68462648e-03 9.99989006e-01 2.06443360e-04 -2.44458415e-01] [ 1.44714430e-02 -1.38629959e-04 9.99895274e-01 4.49382103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.744340128 meters 0.01510240730729829 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.25, Z:0.05 [[ 9.99885142e-01 4.58254597e-03 -1.44465345e-02 3.54764413e+00] [-4.58008129e-03 9.99989491e-01 2.03687296e-04 -2.47059074e-01] [ 1.44473161e-02 -1.37497599e-04 9.99895623e-01 4.58515036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7743401280000004 meters 0.015159309446654856 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.25, Z:0.05 [[ 9.99884441e-01 4.36235031e-03 -1.45627723e-02 3.57594451e+00] [-4.35984767e-03 9.99990475e-01 2.03595329e-04 -2.49457090e-01] [ 1.45635218e-02 -1.40080333e-04 9.99893936e-01 4.59658690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.804340128 meters 0.015093711956056003 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.25, Z:0.05 [[ 9.99895438e-01 4.26903556e-03 -1.38162246e-02 3.60352955e+00] [-4.26679475e-03 9.99990879e-01 1.91659862e-04 -2.51986066e-01] [ 1.38169167e-02 -1.32688827e-04 9.99904533e-01 4.64292314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8343401280000005 meters 0.015350509662758211 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.26, Z:0.05 [[ 9.99906269e-01 3.78029029e-03 -1.31591620e-02 3.63056062e+00] [-3.77823478e-03 9.99992846e-01 1.81060399e-04 -2.57458552e-01] [ 1.31597523e-02 -1.31325024e-04 9.99913398e-01 4.71803990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8643401280000003 meters 0.015381988702930926 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.26, Z:0.05 [[ 9.99916197e-01 3.44879280e-03 -1.24781754e-02 3.65902677e+00] [-3.44693750e-03 9.99994045e-01 1.70187295e-04 -2.60195523e-01] [ 1.24786880e-02 -1.27161542e-04 9.99922130e-01 4.77558750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.894340128 meters 0.015597934026755148 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.26, Z:0.05 [[ 9.99924197e-01 3.08842385e-03 -1.19189858e-02 3.68661952e+00] [-3.08672056e-03 9.99995223e-01 1.61299419e-04 -2.62834976e-01] [ 1.19194270e-02 -1.24496613e-04 9.99928953e-01 4.86052596e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9243401280000003 meters 0.016065414744006207 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.27, Z:0.05 [[ 9.99941379e-01 2.72489382e-03 -1.04791789e-02 3.71464576e+00] [-2.72356779e-03 9.99996281e-01 1.40807827e-04 -2.68392323e-01] [ 1.04795236e-02 -1.12258819e-04 9.99945082e-01 5.03140081e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.954340128 meters 0.01568252180415889 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.27, Z:0.05 [[ 9.99947290e-01 2.66427541e-03 -9.91561285e-03 3.74190405e+00] [-2.66309405e-03 9.99996445e-01 1.32343008e-04 -2.69863352e-01] [ 9.91593020e-03 -1.05929823e-04 9.99950830e-01 5.11210280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9843401280000004 meters 0.015454377476691957 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.27, Z:0.05 [[ 9.99950019e-01 2.70793385e-03 -9.62426010e-03 3.76998429e+00] [-2.70683484e-03 9.99996328e-01 1.27215257e-04 -2.71806481e-01] [ 9.62456925e-03 -1.01157616e-04 9.99953678e-01 5.13669952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.014340128000001 meters 0.015441852040744407 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.27, Z:0.05 [[ 9.99945210e-01 2.95665926e-03 -1.00416248e-02 3.79782218e+00] [-2.95548668e-03 9.99995624e-01 1.31609163e-04 -2.73782590e-01] [ 1.00419700e-02 -1.01924064e-04 9.99949573e-01 5.08271191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.044340128000001 meters 0.015196269283792464 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.28, Z:0.05 [[ 9.99942068e-01 3.68665405e-03 -1.01127930e-02 3.82653719e+00] [-3.68551304e-03 9.99993200e-01 1.31462154e-04 -2.78022110e-01] [ 1.01132089e-02 -9.41837082e-05 9.99948856e-01 4.99907639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.074340128000001 meters 0.014749622701997561 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.28, Z:0.05 [[ 9.99938808e-01 3.85907346e-03 -1.03675848e-02 3.85467826e+00] [-3.85789153e-03 9.99992549e-01 1.33998780e-04 -2.79559125e-01] [ 1.03680247e-02 -9.39935626e-05 9.99946246e-01 4.98536378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1043401280000005 meters 0.014581258812898328 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.28, Z:0.05 [[ 9.99929606e-01 4.30150251e-03 -1.10580786e-02 3.88332649e+00] [-4.30019887e-03 9.99990744e-01 1.41664297e-04 -2.83695880e-01] [ 1.10585856e-02 -9.41023872e-05 9.99938848e-01 4.94606016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.134340128000001 meters 0.015063029575720933 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.29, Z:0.05 [[ 9.99923964e-01 4.33965297e-03 -1.15427002e-02 3.91148305e+00] [-4.33824585e-03 9.99990579e-01 1.46941747e-04 -2.87229869e-01] [ 1.15432291e-02 -9.68555027e-05 9.99933370e-01 4.86362893e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.164340128000001 meters 0.01453241975951548 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.29, Z:0.05 [[ 9.99921355e-01 4.05683399e-03 -1.18669930e-02 3.93960364e+00] [-4.05534071e-03 9.99991766e-01 1.49895435e-04 -2.90930777e-01] [ 1.18675034e-02 -1.01758947e-04 9.99929574e-01 4.81197917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.194340128 meters 0.014637420739586323 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.29, Z:0.05 [[ 9.99923416e-01 3.82543375e-03 -1.17697913e-02 3.96713813e+00] [-3.82396411e-03 9.99992678e-01 1.47366989e-04 -2.94067740e-01] [ 1.17702689e-02 -1.02348444e-04 9.99930723e-01 4.81586549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.224340128000001 meters 0.014801343068741746 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.30, Z:0.05 [[ 9.99928546e-01 3.19296572e-03 -1.15199192e-02 3.99642639e+00] [-3.19152782e-03 9.99994897e-01 1.43199848e-04 -2.97326662e-01] [ 1.15203176e-02 -1.06423473e-04 9.99933633e-01 4.84423248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.254340128000001 meters 0.015231208675816548 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.30, Z:0.05 [[ 9.99937923e-01 1.01331909e-03 -1.10961071e-02 4.02495607e+00] [-1.01185977e-03 9.99999479e-01 1.37129739e-04 -3.03565927e-01] [ 1.10962402e-02 -1.25893522e-04 9.99938427e-01 4.90356986e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.284340128000001 meters 0.017329511743212823 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.31, Z:0.05 [[ 9.99939727e-01 -4.51251710e-04 -1.09699220e-02 4.05309656e+00] [ 4.52756712e-04 9.99999888e-01 1.34710445e-04 -3.10825064e-01] [ 1.09698600e-02 -1.39669032e-04 9.99939820e-01 4.88605163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.314340128 meters 0.016866216882083528 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.31, Z:0.05 [[ 9.99937250e-01 -1.95825545e-03 -1.10300509e-02 4.08185419e+00] [ 1.95985729e-03 9.99998070e-01 1.34417865e-04 -3.13012300e-01] [ 1.10297664e-02 -1.56026756e-04 9.99939158e-01 4.92195194e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.344340128000001 meters 0.01928185217077679 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.32, Z:0.05 [[ 9.99934891e-01 -3.61952577e-03 -1.08219004e-02 4.11004848e+00] [ 3.62115641e-03 9.99993435e-01 1.31088538e-04 -3.20452809e-01] [ 1.08213549e-02 -1.70267797e-04 9.99941433e-01 4.94205124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.374340128000001 meters 0.018126073480709496 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.32, Z:0.05 [[ 9.99926182e-01 -6.65223617e-03 -1.01674784e-02 4.13923895e+00] [ 6.65382354e-03 9.99977856e-01 1.22302197e-04 -3.23168616e-01] [ 1.01664396e-02 -1.89945775e-04 9.99948302e-01 5.05337787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.404340128000001 meters 0.019783472827996206 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.33, Z:0.05 [[ 9.99922926e-01 -7.61703755e-03 -9.80425803e-03 4.16700158e+00] [ 7.61855279e-03 9.99970972e-01 1.17210190e-04 -3.28473533e-01] [ 9.80308064e-03 -1.91895413e-04 9.99951930e-01 5.08776608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4343401280000005 meters 0.019142042102515792 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.33, Z:0.05 [[ 9.99911091e-01 -9.38660220e-03 -9.47106771e-03 4.19606775e+00] [ 9.38808785e-03 9.99955925e-01 1.12414736e-04 -3.32104690e-01] [ 9.46959508e-03 -2.01319957e-04 9.99955142e-01 5.11112925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.464340128000001 meters 0.020090997727910367 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.34, Z:0.05 [[ 9.99905901e-01 -9.97715581e-03 -9.41517257e-03 4.22410205e+00] [ 9.97862587e-03 9.99950206e-01 1.09172577e-04 -3.35924037e-01] [ 9.41361452e-03 -2.03112788e-04 9.99955670e-01 5.11387390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.494340128000001 meters 0.020683830488770413 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.34, Z:0.05 [[ 9.99900694e-01 -1.04465481e-02 -9.45890794e-03 4.25081994e+00] [ 1.04480447e-02 9.99945412e-01 1.08810907e-04 -3.38876171e-01] [ 9.45725489e-03 -2.07627194e-04 9.99955258e-01 5.11772294e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.524340128 meters 0.020061057390739746 Centerline is valid? [True, True] Translation: X:4.28, Y:-0.34, Z:0.05 [[ 9.99897808e-01 -1.06256790e-02 -9.56391597e-03 4.27864248e+00] [ 1.06271983e-02 9.99943524e-01 1.08057378e-04 -3.41379254e-01] [ 9.56222766e-03 -2.09683968e-04 9.99954259e-01 5.07283292e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.554340128000001 meters 0.020602308740343956 Centerline is valid? [True, True] Translation: X:4.31, Y:-0.34, Z:0.05 [[ 9.99900836e-01 -1.03546359e-02 -9.54460319e-03 4.30616144e+00] [ 1.03561091e-02 9.99946369e-01 1.04933186e-04 -3.43634254e-01] [ 9.54300475e-03 -2.03767732e-04 9.99954444e-01 5.02648818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.584340128000001 meters 0.020384959379617075 Centerline is valid? [True, True] Translation: X:4.34, Y:-0.34, Z:0.05 [[ 9.99902148e-01 -9.94215770e-03 -9.84111868e-03 4.33505196e+00] [ 9.94369448e-03 9.99950554e-01 1.07240806e-04 -3.44670579e-01] [ 9.83956587e-03 -2.05087390e-04 9.99951569e-01 4.95209153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.614340128000001 meters 0.019945701240269332 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.35, Z:0.05 [[ 9.99902144e-01 -9.39294174e-03 -1.03670374e-02 4.36356723e+00] [ 9.39458902e-03 9.99955864e-01 1.10207996e-04 -3.45813626e-01] [ 1.03655446e-02 -2.07591266e-04 9.99946255e-01 4.88853414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6443401280000005 meters 0.01922889583784119 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.35, Z:0.05 [[ 9.99899872e-01 -7.73049640e-03 -1.18526483e-02 4.39197344e+00] [ 7.73249315e-03 9.99970096e-01 1.22646460e-04 -3.48430645e-01] [ 1.18513457e-02 -2.14284702e-04 9.99929747e-01 4.69523275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.674340128000001 meters 0.018264390958974055 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.35, Z:0.05 [[ 9.99900994e-01 -6.62323945e-03 -1.24150903e-02 4.42086935e+00] [ 6.62530458e-03 9.99978045e-01 1.25219459e-04 -3.48958382e-01] [ 1.24139883e-02 -2.07460816e-04 9.99922922e-01 4.66271845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.704340128000001 meters 0.016503267568620725 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.35, Z:0.05 [[ 9.99918778e-01 -2.55589620e-03 -1.24861979e-02 4.44905916e+00] [ 2.55763354e-03 9.99996722e-01 1.23174348e-04 -3.47685862e-01] [ 1.24858421e-02 -1.55099462e-04 9.99922037e-01 4.56878324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.734340128 meters 0.015156642662357023 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.34, Z:0.05 [[ 9.99926351e-01 -6.26537765e-05 -1.21362792e-02 4.47770739e+00] [ 6.40934487e-05 9.99999991e-01 1.18236595e-04 -3.44452389e-01] [ 1.21362717e-02 -1.19005743e-04 9.99926346e-01 4.61627820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.764340128000001 meters 0.014385282155109546 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.34, Z:0.05 [[ 9.99927717e-01 2.21511979e-03 -1.18174939e-02 4.50614055e+00] [-2.21394991e-03 9.99997543e-01 1.12076566e-04 -3.42932075e-01] [ 1.18177131e-02 -8.59051257e-05 9.99930165e-01 4.68701908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.794340128000001 meters 0.013622426017709854 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.34, Z:0.05 [[ 9.99920989e-01 5.60472488e-03 -1.12517838e-02 4.53521296e+00] [-5.60391080e-03 9.99984293e-01 1.03878159e-04 -3.40311912e-01] [ 1.12521892e-02 -4.08159587e-05 9.99936691e-01 4.77975876e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.824340128000001 meters 0.01359085806169222 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.34, Z:0.05 [[ 9.99908648e-01 6.42646910e-03 -1.18910424e-02 4.56328047e+00] [-6.42565333e-03 9.99979350e-01 1.06808246e-04 -3.40951516e-01] [ 1.18914832e-02 -3.03907725e-05 9.99929293e-01 4.80747712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8543401280000005 meters 0.013670830614426352 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.34, Z:0.05 [[ 9.99900244e-01 6.44838661e-03 -1.25666550e-02 4.59122662e+00] [-6.44749546e-03 9.99979208e-01 1.11426718e-04 -3.42817220e-01] [ 1.25671122e-02 -3.03921519e-05 9.99921030e-01 4.81952632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.884340128000001 meters 0.013905949366632859 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.35, Z:0.05 [[ 9.99908716e-01 4.56418195e-03 -1.27171897e-02 4.61882287e+00] [-4.56313335e-03 9.99989583e-01 1.11470970e-04 -3.47709789e-01] [ 1.27175660e-02 -5.34305625e-05 9.99919127e-01 4.86395098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.914340128000001 meters 0.014289553167301825 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.35, Z:0.05 [[ 9.99910255e-01 3.07998526e-03 -1.30382496e-02 4.64751078e+00] [-3.07877202e-03 9.99995254e-01 1.13123107e-04 -3.49218741e-01] [ 1.30385362e-02 -7.29711569e-05 9.99914992e-01 4.87652060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.944340128000001 meters 0.01473583444733042 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.35, Z:0.05 [[ 9.99916414e-01 1.45467691e-03 -1.28471713e-02 4.67512780e+00] [-1.45337752e-03 9.99998938e-01 1.10478344e-04 -3.50268100e-01] [ 1.28473184e-02 -9.17973199e-05 9.99917466e-01 4.83801248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.974340128000001 meters 0.015296065982099618 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.35, Z:0.05 [[ 9.99915568e-01 -4.29559721e-04 -1.29874296e-02 4.70390216e+00] [ 4.31031855e-04 9.99999901e-01 1.10551780e-04 -3.50948352e-01] [ 1.29873809e-02 -1.16140442e-04 9.99915654e-01 4.83243401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.004340128000001 meters 0.015296065982099618 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.35, Z:0.05 [[ 9.99915515e-01 -5.38435328e-04 -1.29874386e-02 4.73143344e+00] [ 5.39902888e-04 9.99999848e-01 1.09492542e-04 -3.51047813e-01] [ 1.29873777e-02 -1.16495247e-04 9.99915654e-01 4.85932059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.034340128000001 meters 0.017002701448143087 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.35, Z:0.05 [[ 9.99905745e-01 -5.30161589e-03 -1.26646738e-02 4.76006408e+00] [ 5.30337756e-03 9.99985931e-01 1.05521076e-04 -3.54095190e-01] [ 1.26639362e-02 -1.72676677e-04 9.99919794e-01 4.91465801e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.064340128 meters 0.018261705060513472 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.36, Z:0.05 [[ 9.99885030e-01 -8.37646377e-03 -1.26397021e-02 4.78915388e+00] [ 8.37844576e-03 9.99964895e-01 1.03861219e-04 -3.57281073e-01] [ 1.26383884e-02 -2.09750337e-04 9.99920110e-01 4.99779821e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.094340128000001 meters 0.019532967096642918 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.36, Z:0.05 [[ 9.99861265e-01 -1.08746578e-02 -1.26171789e-02 4.81748655e+00] [ 1.08767967e-02 9.99940841e-01 1.00917416e-04 -3.60533585e-01] [ 1.26153351e-02 -2.38137906e-04 9.99920395e-01 5.09675358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.124340128000001 meters 0.023444657967539983 Centerline is valid? [True, True] Translation: X:4.85, Y:-0.37, Z:0.05 [[ 9.99778402e-01 -1.69232216e-02 -1.25200718e-02 4.84557305e+00] [ 1.69257878e-02 9.99856744e-01 9.90285158e-05 -3.67325571e-01] [ 1.25166023e-02 -3.10918649e-04 9.99921616e-01 5.22503548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.154340128000001 meters 0.025060997651377825 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.37, Z:0.05 [[ 9.99724970e-01 -1.98123939e-02 -1.25480219e-02 4.87426416e+00] [ 1.98151799e-02 9.99803655e-01 9.77301419e-05 -3.69389506e-01] [ 1.25436219e-02 -3.46344575e-04 9.99921266e-01 5.30345167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1843401280000005 meters 0.028256734467381656 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.37, Z:0.05 [[ 9.99661214e-01 -2.27029482e-02 -1.27292361e-02 4.90294347e+00] [ 2.27060159e-02 9.99742181e-01 9.65088999e-05 -3.73224423e-01] [ 1.27237633e-02 -3.85506443e-04 9.99918975e-01 5.33902631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.214340128000001 meters 0.032150476227037095 Centerline is valid? [True, True] Translation: X:4.93, Y:-0.38, Z:0.05 [[ 9.99534641e-01 -2.77339630e-02 -1.27014870e-02 4.93165594e+00] [ 2.77374162e-02 9.99615239e-01 9.57615753e-05 -3.76674926e-01] [ 1.26939441e-02 -4.48023442e-04 9.99919328e-01 5.36532306e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.244340128000001 meters 0.03411530494700116 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.38, Z:0.05 [[ 9.99456954e-01 -3.02208522e-02 -1.31338262e-02 4.96090481e+00] [ 3.02247476e-02 9.99543123e-01 9.81570910e-05 -3.79017377e-01] [ 1.31248593e-02 -4.95070369e-04 9.99913743e-01 5.39216533e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.274340128 meters 0.028680044745032874 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.37, Z:0.06 [[ 9.99383011e-01 -3.25623966e-02 -1.31638834e-02 4.98987374e+00] [ 3.25664701e-02 9.99469567e-01 9.51494860e-05 -3.71820745e-01] [ 1.31538025e-02 -5.23791995e-04 9.99913348e-01 5.52561399e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.304340128000001 meters 0.030524371793617375 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.38, Z:0.06 [[ 9.99292809e-01 -3.51227883e-02 -1.34265194e-02 5.01809195e+00] [ 3.51272169e-02 9.99382844e-01 9.40759538e-05 -3.75098339e-01] [ 1.34149290e-02 -5.65645683e-04 9.99909856e-01 5.74572279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.334340128000001 meters 0.03096019447590223 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.38, Z:0.06 [[ 9.99277135e-01 -3.55751806e-02 -1.34019897e-02 5.04578544e+00] [ 3.55796089e-02 9.99366841e-01 9.20612854e-05 -3.75469103e-01] [ 1.33902290e-02 -5.68832289e-04 9.99910185e-01 5.82247734e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.364340128000001 meters 0.0295937517557162 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.37, Z:0.06 [[ 9.99275726e-01 -3.57230854e-02 -1.31104517e-02 5.07369126e+00] [ 3.57272843e-02 9.99361573e-01 8.61309676e-05 -3.72948165e-01] [ 1.30990047e-02 -5.54469420e-04 9.99914051e-01 5.92164571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3943401280000005 meters 0.02978263684302897 Centerline is valid? [True, True] Translation: X:5.10, Y:-0.37, Z:0.06 [[ 9.99344152e-01 -3.40156894e-02 -1.24176834e-02 5.10157186e+00] [ 3.40192860e-02 9.99421173e-01 7.84589585e-05 -3.70790805e-01] [ 1.24078269e-02 -5.00848225e-04 9.99922895e-01 6.08499713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.424340128000001 meters 0.028278900134006434 Centerline is valid? [True, True] Translation: X:5.13, Y:-0.37, Z:0.06 [[ 9.99397953e-01 -3.26439291e-02 -1.17518639e-02 5.13057323e+00] [ 3.26470390e-02 9.99466941e-01 7.28365457e-05 -3.67912276e-01] [ 1.17432218e-02 -4.56456256e-04 9.99930942e-01 6.22769174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.454340128000001 meters 0.026199607175405308 Centerline is valid? [True, True] Translation: X:5.16, Y:-0.36, Z:0.06 [[ 9.99534107e-01 -2.83966275e-02 -1.11892940e-02 5.16086924e+00] [ 2.83991528e-02 9.99596660e-01 6.68291439e-05 -3.63856814e-01] [ 1.11828832e-02 -3.84564478e-04 9.99937396e-01 6.39947896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.484340128000001 meters 0.025390059358419932 Centerline is valid? [True, True] Translation: X:5.19, Y:-0.36, Z:0.06 [[ 9.99589574e-01 -2.64062888e-02 -1.11082129e-02 5.18935217e+00] [ 2.64086489e-02 9.99651229e-01 6.58089010e-05 -3.61858961e-01] [ 1.11026009e-02 -3.59134786e-04 9.99938300e-01 6.48304204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.514340128000001 meters 0.02677334806346188 Centerline is valid? [True, True] Translation: X:5.22, Y:-0.36, Z:0.07 [[ 9.99640340e-01 -2.43481747e-02 -1.12408589e-02 5.21746155e+00] [ 2.43504307e-02 9.99703482e-01 6.38494031e-05 -3.62517709e-01] [ 1.12359712e-02 -3.37546194e-04 9.99936818e-01 6.52183542e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.544340128000001 meters 0.02223673716331423 Centerline is valid? [True, True] Translation: X:5.25, Y:-0.35, Z:0.07 [[ 9.99683765e-01 -2.22585596e-02 -1.17016015e-02 5.24641079e+00] [ 2.22608441e-02 9.99752195e-01 6.49971984e-05 -3.54454129e-01] [ 1.16972551e-02 -3.25464172e-04 9.99931532e-01 6.53450483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.574340128000001 meters 0.02071198208620116 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.35, Z:0.07 [[ 9.99751491e-01 -1.86236943e-02 -1.22521121e-02 5.27400729e+00] [ 1.86258892e-02 9.99826521e-01 6.50565639e-05 -3.48952898e-01] [ 1.22487750e-02 -2.93246879e-04 9.99924938e-01 6.52763774e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6043401280000005 meters 0.02000856475680749 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.35, Z:0.07 [[ 9.99761929e-01 -1.78540829e-02 -1.25425868e-02 5.30320892e+00] [ 1.78563013e-02 9.99840561e-01 6.48970423e-05 -3.46336634e-01] [ 1.25394284e-02 -2.88845801e-04 9.99921337e-01 6.56700668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.634340128000001 meters 0.019960744254173005 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.35, Z:0.07 [[ 9.99780361e-01 -1.69694799e-02 -1.22990210e-02 5.33078201e+00] [ 1.69715114e-02 9.99855972e-01 6.08105755e-05 -3.45435154e-01] [ 1.22962176e-02 -2.69530193e-04 9.99924362e-01 6.61814869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.664340128000001 meters 0.02092153270334212 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.34, Z:0.07 [[ 9.99784912e-01 -1.66038623e-02 -1.24274271e-02 5.35889707e+00] [ 1.66058917e-02 9.99862111e-01 6.01292815e-05 -3.44638644e-01] [ 1.24247151e-02 -2.66484858e-04 9.99922775e-01 6.69010280e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.694340128000001 meters 0.020402031966880695 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.34, Z:0.07 [[ 9.99777408e-01 -1.71064823e-02 -1.23492057e-02 5.38649415e+00] [ 1.71084983e-02 9.99853637e-01 5.76195898e-05 -3.42414696e-01] [ 1.23464126e-02 -2.68883129e-04 9.99923744e-01 6.73844699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.724340128000001 meters 0.020867747947880547 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.34, Z:0.07 [[ 9.99745419e-01 -1.89034377e-02 -1.23189938e-02 5.41570775e+00] [ 1.89055364e-02 9.99821273e-01 5.39241994e-05 -3.40471629e-01] [ 1.23157727e-02 -2.86807657e-04 9.99924117e-01 6.76402964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.754340128000001 meters 0.020528551829100728 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.34, Z:0.07 [[ 9.99727667e-01 -2.00379415e-02 -1.19613067e-02 5.44423147e+00] [ 2.00399644e-02 9.99799179e-01 4.92779033e-05 -3.38656200e-01] [ 1.19579172e-02 -2.88968644e-04 9.99928460e-01 6.81366978e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.784340128000001 meters 0.022341667536528255 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.34, Z:0.07 [[ 9.99697953e-01 -2.14664901e-02 -1.19662723e-02 5.47156991e+00] [ 2.14685823e-02 9.99769522e-01 4.63995801e-05 -3.40088577e-01] [ 1.19625184e-02 -3.03284468e-04 9.99928401e-01 6.83371928e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.814340128 meters 0.02324887677930752 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.34, Z:0.07 [[ 9.99673238e-01 -2.27343793e-02 -1.16861368e-02 5.49978899e+00] [ 2.27364464e-02 9.99741493e-01 4.40402666e-05 -3.40573355e-01] [ 1.16821147e-02 -3.09727099e-04 9.99931714e-01 6.90613871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.844340128000001 meters 0.023990850675048362 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.34, Z:0.07 [[ 9.99601854e-01 -2.59760694e-02 -1.10171434e-02 5.52886360e+00] [ 2.59780903e-02 9.99662512e-01 4.03461334e-05 -3.39556045e-01] [ 1.10123773e-02 -3.26534417e-04 9.99939309e-01 7.02859268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.874340128000001 meters 0.023375089571885332 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.34, Z:0.07 [[ 9.99570377e-01 -2.74199391e-02 -1.03541380e-02 5.55792976e+00] [ 2.74217748e-02 9.99623952e-01 3.53422436e-05 -3.37705090e-01] [ 1.03492753e-02 -3.19255901e-04 9.99946394e-01 7.10863565e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.904340128000001 meters 0.028198571149858957 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.34, Z:0.07 [[ 9.99543820e-01 -2.86722873e-02 -9.48956163e-03 5.58616426e+00] [ 2.86738627e-02 9.99588820e-01 2.99705166e-05 -3.43253338e-01] [ 9.48480039e-03 -3.02059232e-04 9.99954973e-01 7.15582977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9343401280000005 meters 0.025087306987743908 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.34, Z:0.07 [[ 9.99488053e-01 -3.05663541e-02 -9.45144837e-03 5.61541800e+00] [ 3.05679934e-02 9.99532689e-01 2.89943420e-05 -3.35896418e-01] [ 9.44614535e-03 -3.17891310e-04 9.99955334e-01 7.13126836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.964340128000001 meters 0.02581948791705639 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.34, Z:0.07 [[ 9.99472269e-01 -3.10416178e-02 -9.57084334e-03 5.64280632e+00] [ 3.10432952e-02 9.99518040e-01 2.67189240e-05 -3.35456326e-01] [ 9.56540118e-03 -3.23815339e-04 9.99954198e-01 7.07615904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.994340128000001 meters 0.026209542798911897 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.33, Z:0.07 [[ 9.99451750e-01 -3.14351636e-02 -1.03937235e-02 5.67061307e+00] [ 3.14371441e-02 9.99505730e-01 2.71892625e-05 -3.33054190e-01] [ 1.03877315e-02 -3.53923340e-04 9.99945983e-01 6.89515553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.024340128000001 meters 0.026311327864569904 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.33, Z:0.07 [[ 9.99441501e-01 -3.15360401e-02 -1.10528226e-02 5.69908259e+00] [ 3.15382471e-02 9.99502545e-01 2.53918519e-05 -3.31696881e-01] [ 1.10465235e-02 -3.73964319e-04 9.99938915e-01 6.82058283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.054340128000001 meters 0.02611431880557145 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.33, Z:0.07 [[ 9.99444008e-01 -3.12196091e-02 -1.17051611e-02 5.72846642e+00] [ 3.12220207e-02 9.99512474e-01 2.33067642e-05 -3.30200957e-01] [ 1.16987269e-02 -3.88752588e-04 9.99931492e-01 6.74649161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.084340128000001 meters 0.025680844688495172 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.33, Z:0.07 [[ 9.99475861e-01 -2.97824208e-02 -1.26890253e-02 5.75648982e+00] [ 2.97851031e-02 9.99556325e-01 2.24144237e-05 -3.27311869e-01] [ 1.26827279e-02 -4.00346602e-04 9.99919491e-01 6.61580120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.114340128000001 meters 0.02440524406556654 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.32, Z:0.07 [[ 9.99508483e-01 -2.86151366e-02 -1.28049689e-02 5.78531935e+00] [ 2.86177505e-02 9.99590428e-01 2.09055745e-05 -3.24320752e-01] [ 1.27991262e-02 -3.87344705e-04 9.99918013e-01 6.62848366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1443401280000005 meters 0.02399450709794997 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.32, Z:0.07 [[ 9.99522013e-01 -2.79880024e-02 -1.31307658e-02 5.81438837e+00] [ 2.79906507e-02 9.99608185e-01 1.79171899e-05 -3.22163218e-01] [ 1.31251195e-02 -3.85447305e-04 9.99913788e-01 6.60410896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.174340128000001 meters 0.02460709066493498 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.32, Z:0.07 [[ 9.99547792e-01 -2.71625079e-02 -1.29000143e-02 5.84276467e+00] [ 2.71649522e-02 9.99630964e-01 1.42679431e-05 -3.21837422e-01] [ 1.28948662e-02 -3.64689765e-04 9.99916791e-01 6.59329368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.204340128000001 meters 0.023256580815170517 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.32, Z:0.07 [[ 9.99568689e-01 -2.63439236e-02 -1.29782281e-02 5.87147809e+00] [ 2.63462847e-02 9.99652876e-01 1.09660743e-05 -3.18029077e-01] [ 1.29734341e-02 -3.52889437e-04 9.99915779e-01 6.53878069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.234340128000001 meters 0.022049701287277176 Centerline is valid? [True, True] Translation: X:5.90, Y:-0.32, Z:0.07 [[ 9.99555868e-01 -2.67178641e-02 -1.31993453e-02 5.89925024e+00] [ 2.67202910e-02 9.99642949e-01 7.52135318e-06 -3.15752151e-01] [ 1.31944315e-02 -3.60208361e-04 9.99912885e-01 6.61351303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.264340128000001 meters 0.02365256791478444 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.32, Z:0.07 [[ 9.99547483e-01 -2.70429199e-02 -1.31723280e-02 5.92669871e+00] [ 2.70453215e-02 9.99634208e-01 4.18511391e-06 -3.17963203e-01] [ 1.31673965e-02 -3.60433064e-04 9.99913241e-01 6.64048689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.294340128000001 meters 0.024486414917815 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.32, Z:0.07 [[ 9.99546201e-01 -2.74003808e-02 -1.25144476e-02 5.95464119e+00] [ 2.74025622e-02 9.99624479e-01 2.84442093e-06 -3.19144147e-01] [ 1.25096702e-02 -3.45771059e-04 9.99921691e-01 6.72152138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.324340128000001 meters 0.022363372203027462 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.31, Z:0.07 [[ 9.99536302e-01 -2.79909582e-02 -1.19869956e-02 5.98242408e+00] [ 2.79929837e-02 9.99608120e-01 1.19343575e-06 -3.14654744e-01] [ 1.19822647e-02 -3.36744654e-04 9.99928153e-01 6.80171679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3543401280000005 meters 0.02168342298322543 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.31, Z:0.07 [[ 9.99533243e-01 -2.81926982e-02 -1.17672004e-02 6.01042946e+00] [ 2.81946219e-02 9.99602453e-01 -2.41422734e-06 -3.12739307e-01] [ 1.17625904e-02 -3.29358664e-04 9.99930764e-01 6.80526778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.384340128000001 meters 0.022290136279114154 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.31, Z:0.07 [[ 9.99547700e-01 -2.82390711e-02 -1.03417181e-02 6.03753401e+00] [ 2.82405307e-02 9.99601157e-01 -4.90061363e-06 -3.12557309e-01] [ 1.03377318e-02 -2.87157211e-04 9.99946523e-01 6.90495520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.414340128000001 meters 0.024232439889560687 Centerline is valid? [True, True] Translation: X:6.07, Y:-0.32, Z:0.07 [[ 9.99548138e-01 -2.84952409e-02 -9.56770314e-03 6.06509168e+00] [ 2.84964903e-02 9.99593893e-01 -5.74594976e-06 -3.15241920e-01] [ 9.56398135e-03 -2.66902606e-04 9.99954228e-01 6.96682112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.444340128000001 meters 0.021582257281972203 Centerline is valid? [True, True] Translation: X:6.09, Y:-0.31, Z:0.07 [[ 9.99544444e-01 -2.87378536e-02 -9.22171946e-03 6.09268661e+00] [ 2.87390179e-02 9.99586949e-01 -6.26066196e-06 -3.11158904e-01] [ 9.21809034e-03 -2.58765351e-04 9.99957479e-01 7.06794497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.474340128000001 meters 0.021949634165248547 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.31, Z:0.07 [[ 9.99549511e-01 -2.85936780e-02 -9.12016536e-03 6.12011522e+00] [ 2.85947836e-02 9.99591086e-01 -9.16576709e-06 -3.11360028e-01] [ 9.11669807e-03 -2.51627517e-04 9.99958410e-01 7.14714913e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.504340128000001 meters 0.021628509336714043 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.31, Z:0.07 [[ 9.99545094e-01 -2.87473394e-02 -9.12113590e-03 6.14811416e+00] [ 2.87484449e-02 9.99586678e-01 -9.91273289e-06 -3.10124736e-01] [ 9.11765090e-03 -2.52310250e-04 9.99958402e-01 7.12639241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.534340128000001 meters 0.021880817936990975 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.31, Z:0.07 [[ 9.99551503e-01 -2.81520506e-02 -1.02105378e-02 6.17595065e+00] [ 2.81533697e-02 9.99603615e-01 -1.45439195e-05 -3.09152747e-01] [ 1.02068999e-02 -2.72923648e-04 9.99947871e-01 7.02055717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.564340128000001 meters 0.021117075044649554 Centerline is valid? [True, True] Translation: X:6.20, Y:-0.31, Z:0.07 [[ 9.99549057e-01 -2.80102835e-02 -1.08215526e-02 6.20373866e+00] [ 2.80117427e-02 9.99607594e-01 -1.67371511e-05 -3.07180797e-01] [ 1.08177750e-02 -2.86400943e-04 9.99941445e-01 6.98558964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.594340128000001 meters 0.022277315904057897 Centerline is valid? [True, True] Translation: X:6.23, Y:-0.31, Z:0.07 [[ 9.99544502e-01 -2.79460970e-02 -1.13931525e-02 6.23044884e+00] [ 2.79476713e-02 9.99609387e-01 -2.10462482e-05 -3.08375251e-01] [ 1.13892903e-02 -2.97375418e-04 9.99935096e-01 6.96602655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.624340128000001 meters 0.02228733635048917 Centerline is valid? [True, True] Translation: X:6.26, Y:-0.31, Z:0.07 [[ 9.99532418e-01 -2.82279711e-02 -1.17527309e-02 6.25884362e+00] [ 2.82296428e-02 9.99601464e-01 -2.36617268e-05 -3.07909629e-01] [ 1.17487149e-02 -3.08124732e-04 9.99930934e-01 6.95257956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.654340128000001 meters 0.022267646067089922 Centerline is valid? [True, True] Translation: X:6.29, Y:-0.31, Z:0.07 [[ 9.99509287e-01 -2.85922537e-02 -1.27932766e-02 6.28719118e+00] [ 2.85942120e-02 9.99591101e-01 -2.98520369e-05 -3.07467127e-01] [ 1.27888990e-02 -3.35976277e-04 9.99918162e-01 6.92538164e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6843401280000005 meters 0.021852343671359825 Centerline is valid? [True, True] Translation: X:6.32, Y:-0.31, Z:0.07 [[ 9.99493849e-01 -2.90698801e-02 -1.29224035e-02 6.31530450e+00] [ 2.90718672e-02 9.99577323e-01 -3.40828518e-05 -3.06431159e-01] [ 1.29179323e-02 -3.41612798e-04 9.99916502e-01 6.97021213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.714340128000001 meters 0.02154605536634818 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.31, Z:0.07 [[ 9.99485198e-01 -2.92257427e-02 -1.32361511e-02 6.34351399e+00] [ 2.92277865e-02 9.99572776e-01 -3.90402526e-05 -3.05913410e-01] [ 1.32316372e-02 -3.47843243e-04 9.99912398e-01 6.99648512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.744340128000001 meters 0.022029933973195425 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.31, Z:0.07 [[ 9.99501404e-01 -2.85633547e-02 -1.34565018e-02 6.37144724e+00] [ 2.85653612e-02 9.99591926e-01 -4.31084396e-05 -3.07153386e-01] [ 1.34522419e-02 -3.41302888e-04 9.99909456e-01 7.07711787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.774340128000001 meters 0.021130183935996062 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.31, Z:0.07 [[ 9.99514847e-01 -2.79294669e-02 -1.37846006e-02 6.40064828e+00] [ 2.79314844e-02 9.99609839e-01 -4.61794361e-05 -3.05628645e-01] [ 1.37805122e-02 -3.38867325e-04 9.99904987e-01 7.12870803e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.804340128000001 meters 0.021575496560750255 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.31, Z:0.07 [[ 9.99578143e-01 -2.55434309e-02 -1.38227608e-02 6.42840878e+00] [ 2.55451903e-02 9.99673667e-01 -4.92921477e-05 -3.06065161e-01] [ 1.38195090e-02 -3.03833700e-04 9.99904460e-01 7.15097385e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.834340128000001 meters 0.01883290439037478 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.30, Z:0.07 [[ 9.99602007e-01 -2.44924603e-02 -1.39981111e-02 6.45766859e+00] [ 2.44941326e-02 9.99699972e-01 -5.19914965e-05 -3.01460350e-01] [ 1.39951847e-02 -2.90900786e-04 9.99902020e-01 7.30028722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.864340128000001 meters 0.01912751088607519 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.30, Z:0.07 [[ 9.99641286e-01 -2.30861745e-02 -1.35767703e-02 6.48534555e+00] [ 2.30875758e-02 9.99733445e-01 -5.35330446e-05 -3.01434981e-01] [ 1.35743873e-02 -2.59940873e-04 9.99907830e-01 7.35056815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8943401280000005 meters 0.017508919050852858 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.30, Z:0.07 [[ 9.99682886e-01 -2.13458505e-02 -1.33597481e-02 6.51398358e+00] [ 2.13470209e-02 9.99772125e-01 -5.50013131e-05 -2.98281840e-01] [ 1.33578778e-02 -2.30206950e-04 9.99910753e-01 7.42398528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.924340128000001 meters 0.017508919050852858 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.30, Z:0.07 [[ 9.99676325e-01 -2.16509382e-02 -1.33597319e-02 6.54155708e+00] [ 2.16520864e-02 9.99765564e-01 -5.87038523e-05 -2.97988233e-01] [ 1.33578709e-02 -2.30581219e-04 9.99910753e-01 7.45086289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.954340128000001 meters 0.01616403048060355 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.29, Z:0.07 [[ 9.99731576e-01 -1.82826201e-02 -1.42310182e-02 6.57082664e+00] [ 1.82835198e-02 9.99832840e-01 -6.68904468e-05 -2.94571959e-01] [ 1.42298623e-02 -1.93320612e-04 9.99898732e-01 7.49650363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.984340128000001 meters 0.016232514578858957 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.29, Z:0.07 [[ 9.99749339e-01 -1.71942312e-02 -1.43393996e-02 6.59845270e+00] [ 1.71949892e-02 9.99852153e-01 -7.04371391e-05 -2.94267223e-01] [ 1.43384906e-02 -1.76146337e-04 9.99897183e-01 7.45477266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.014340128000001 meters 0.015449306816107747 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.29, Z:0.08 [[ 9.99757722e-01 -1.67105515e-02 -1.43267357e-02 6.62673552e+00] [ 1.67112258e-02 9.99860355e-01 -7.26551389e-05 -2.92342884e-01] [ 1.43259492e-02 -1.66779779e-04 9.99897364e-01 7.53624624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.044340128000001 meters 0.015494804277324655 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.29, Z:0.08 [[ 9.99749711e-01 -1.70446503e-02 -1.44911943e-02 6.65446345e+00] [ 1.70453119e-02 9.99854715e-01 -7.78595005e-05 -2.92318393e-01] [ 1.44904160e-02 -1.69166914e-04 9.99894994e-01 7.58969195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.074340128000001 meters 0.016148393746978816 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.29, Z:0.08 [[ 9.99731292e-01 -1.83944529e-02 -1.41063152e-02 6.68197984e+00] [ 1.83951686e-02 9.99830791e-01 -7.90292215e-05 -2.93815880e-01] [ 1.41053820e-02 -1.80480060e-04 9.99900498e-01 7.62376502e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.104340128000001 meters 0.016883085404161766 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.30, Z:0.08 [[ 9.99710726e-01 -1.99736942e-02 -1.33983243e-02 6.70945221e+00] [ 1.99744657e-02 9.99800488e-01 -7.62491335e-05 -2.95720274e-01] [ 1.33971741e-02 -1.91397292e-04 9.99910236e-01 7.70568497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.134340128000001 meters 0.018854670303694775 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.30, Z:0.08 [[ 9.99628158e-01 -2.45127477e-02 -1.19445279e-02 6.73812626e+00] [ 2.45136687e-02 9.99699492e-01 -6.93196797e-05 -3.00237902e-01] [ 1.19426377e-02 -2.23510297e-04 9.99928659e-01 7.94711099e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.164340128000001 meters 0.01861316528086175 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.30, Z:0.08 [[ 9.99575143e-01 -2.69021904e-02 -1.12163534e-02 6.76706318e+00] [ 2.69031224e-02 9.99638043e-01 -6.78083678e-05 -2.99974192e-01] [ 1.12141178e-02 -2.33975370e-04 9.99937092e-01 8.09071918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.194340128000001 meters 0.02302713813623223 Centerline is valid? [True, True] Translation: X:6.79, Y:-0.31, Z:0.08 [[ 9.99474378e-01 -3.06603558e-02 -1.05313656e-02 6.79491979e+00] [ 3.06613592e-02 9.99529828e-01 -6.62100179e-05 -3.06909172e-01] [ 1.05284441e-02 -2.56730768e-04 9.99944541e-01 8.22830161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.224340128000001 meters 0.02329955039262572 Centerline is valid? [True, True] Translation: X:6.82, Y:-0.31, Z:0.08 [[ 9.99438675e-01 -3.18594122e-02 -1.03591724e-02 6.82326575e+00] [ 3.18604373e-02 9.99492325e-01 -6.60939684e-05 -3.07111326e-01] [ 1.03560190e-02 -2.63990894e-04 9.99946340e-01 8.22052372e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.254340128000001 meters 0.02430779940909262 Centerline is valid? [True, True] Translation: X:6.85, Y:-0.31, Z:0.08 [[ 9.99418186e-01 -3.23870503e-02 -1.06943654e-02 6.85094070e+00] [ 3.23881626e-02 9.99475363e-01 -6.92084231e-05 -3.07981800e-01] [ 1.06909962e-02 -2.77202690e-04 9.99942811e-01 8.22468282e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.284340128000001 meters 0.02403886347468968 Centerline is valid? [True, True] Translation: X:6.88, Y:-0.31, Z:0.08 [[ 9.99445093e-01 -3.14777161e-02 -1.08931102e-02 6.87844757e+00] [ 3.14788056e-02 9.99504417e-01 -7.14668329e-05 -3.07245844e-01] [ 1.08899614e-02 -2.71474925e-04 9.99940666e-01 8.13779085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.314340128000001 meters 0.02337071717305838 Centerline is valid? [True, True] Translation: X:6.91, Y:-0.31, Z:0.08 [[ 9.99468748e-01 -3.05428472e-02 -1.13735156e-02 6.90752118e+00] [ 3.05439601e-02 9.99533422e-01 -7.58813756e-05 -3.05821896e-01] [ 1.13705266e-02 -2.71551142e-04 9.99935317e-01 8.07055786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.344340128000001 meters 0.019468407968796612 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.30, Z:0.08 [[ 9.99546597e-01 -2.69374534e-02 -1.34526692e-02 6.93684507e+00] [ 2.69386404e-02 9.99637085e-01 -9.30006833e-05 -2.98849358e-01] [ 1.34502923e-02 -2.69438102e-04 9.99909504e-01 7.98622211e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.374340128000001 meters 0.0179474606720069 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.30, Z:0.08 [[ 9.99590331e-01 -2.50309001e-02 -1.38789052e-02 6.96557008e+00] [ 2.50319465e-02 9.99686647e-01 -9.83410950e-05 -2.95246102e-01] [ 1.38770178e-02 -2.49115205e-04 9.99903679e-01 7.94509650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.404340128000001 meters 0.017107740588419924 Centerline is valid? [True, True] Translation: X:6.99, Y:-0.29, Z:0.08 [[ 9.99636441e-01 -2.27216030e-02 -1.45160369e-02 6.99324308e+00] [ 2.27224585e-02 9.99741806e-01 -1.06013884e-04 -2.93046836e-01] [ 1.45146977e-02 -2.23864704e-04 9.99894631e-01 7.89321604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4343401280000005 meters 0.015303983572888667 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.29, Z:0.08 [[ 9.99709769e-01 -1.86123482e-02 -1.52957099e-02 7.02198144e+00] [ 1.86127799e-02 9.99826761e-01 -1.14143438e-04 -2.88427960e-01] [ 1.52951846e-02 -1.70585372e-04 9.99883007e-01 7.85866366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.464340128000001 meters 0.014321737234777051 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.29, Z:0.08 [[ 9.99757498e-01 -1.59208202e-02 -1.52142423e-02 7.05086853e+00] [ 1.59208743e-02 9.99873248e-01 -1.17572853e-04 -2.85841716e-01] [ 1.52141858e-02 -1.24679698e-04 9.99884250e-01 7.86869364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.494340128000001 meters 0.014091547301089555 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.29, Z:0.08 [[ 9.99767799e-01 -1.54854708e-02 -1.49849243e-02 7.07867358e+00] [ 1.54854117e-02 9.99880087e-01 -1.19979618e-04 -2.86434637e-01] [ 1.49849853e-02 -1.12095963e-04 9.99887713e-01 7.97341663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.524340128000001 meters 0.014135651141633216 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.29, Z:0.08 [[ 9.99773678e-01 -1.59564562e-02 -1.40707242e-02 7.10540246e+00] [ 1.59564029e-02 9.99872682e-01 -1.16058998e-04 -2.87340339e-01] [ 1.40707847e-02 -1.08485414e-04 9.99900996e-01 8.04861917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.554340128000001 meters 0.014135651141633216 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.29, Z:0.08 [[ 9.99768743e-01 -1.62626997e-02 -1.40707022e-02 7.13297069e+00] [ 1.62626399e-02 9.99867747e-01 -1.18678058e-04 -2.86931045e-01] [ 1.40707713e-02 -1.10176150e-04 9.99900996e-01 8.07553132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.584340128000001 meters 0.014184179833829335 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.29, Z:0.08 [[ 9.99767102e-01 -1.68506505e-02 -1.34832138e-02 7.16078052e+00] [ 1.68505951e-02 9.99858012e-01 -1.17725579e-04 -2.87481060e-01] [ 1.34832831e-02 -1.09502015e-04 9.99909090e-01 8.19761271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.614340128000001 meters 0.01412179531723424 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.29, Z:0.08 [[ 9.99765723e-01 -1.74368500e-02 -1.28240260e-02 7.18882995e+00] [ 1.74367993e-02 9.99847961e-01 -1.15772238e-04 -2.87201786e-01] [ 1.28240950e-02 -1.07864853e-04 9.99917762e-01 8.28802896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.644340128000001 meters 0.014218997407847824 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.29, Z:0.08 [[ 9.99763557e-01 -1.79465090e-02 -1.22781740e-02 7.21543007e+00] [ 1.79464606e-02 9.99838943e-01 -1.14134370e-04 -2.87656590e-01] [ 1.22782448e-02 -1.06242381e-04 9.99924614e-01 8.37489395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.674340128000001 meters 0.014471526952197614 Centerline is valid? [True, True] Translation: X:7.24, Y:-0.29, Z:0.09 [[ 9.99762480e-01 -1.86526707e-02 -1.12721350e-02 7.24264131e+00] [ 1.86526586e-02 9.99826018e-01 -1.06207371e-04 -2.89813801e-01] [ 1.12721549e-02 -1.04073142e-04 9.99936462e-01 8.50983888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.704340128000001 meters 0.014293801059550519 Centerline is valid? [True, True] Translation: X:7.27, Y:-0.29, Z:0.08 [[ 9.99758494e-01 -1.86723175e-02 -1.15887389e-02 7.27055775e+00] [ 1.86722840e-02 9.99825652e-01 -1.11097505e-04 -2.90459596e-01] [ 1.15887929e-02 -1.05317550e-04 9.99932842e-01 8.44563321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.734340128000001 meters 0.014366611628365136 Centerline is valid? [True, True] Translation: X:7.30, Y:-0.29, Z:0.08 [[ 9.99751182e-01 -1.87066819e-02 -1.21504830e-02 7.29784648e+00] [ 1.87066033e-02 9.99825009e-01 -1.20126336e-04 -2.90801238e-01] [ 1.21506039e-02 -1.07197819e-04 9.99926173e-01 8.41404564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.764340128000001 meters 0.014316770993020981 Centerline is valid? [True, True] Translation: X:7.33, Y:-0.29, Z:0.08 [[ 9.99753766e-01 -1.88838750e-02 -1.16536224e-02 7.32568484e+00] [ 1.88837855e-02 9.99821678e-01 -1.17729720e-04 -2.90654840e-01] [ 1.16537675e-02 -1.02363774e-04 9.99932087e-01 8.42290190e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.794340128000001 meters 0.014278865730279299 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.29, Z:0.08 [[ 9.99751964e-01 -1.89941774e-02 -1.16289467e-02 7.35369529e+00] [ 1.89940553e-02 9.99819589e-01 -1.20953184e-04 -2.90147559e-01] [ 1.16291461e-02 -9.99576744e-05 9.99932374e-01 8.42828386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.824340128000001 meters 0.014300312066908863 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.29, Z:0.08 [[ 9.99736141e-01 -2.00988628e-02 -1.11213778e-02 7.38221145e+00] [ 2.00987838e-02 9.99797992e-01 -1.18885030e-04 -2.91130705e-01] [ 1.11215207e-02 -1.04672507e-04 9.99938148e-01 8.45614671e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.854340128000001 meters 0.014424201992506519 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.29, Z:0.08 [[ 9.99706799e-01 -2.13402812e-02 -1.14415148e-02 7.41156016e+00] [ 2.13402386e-02 9.99772263e-01 -1.25831327e-04 -2.92000148e-01] [ 1.14415944e-02 -1.18370222e-04 9.99934536e-01 8.44519085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.884340128000001 meters 0.015335098725176768 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.30, Z:0.08 [[ 9.99615555e-01 -2.47521623e-02 -1.24929015e-02 7.44032674e+00] [ 2.47523322e-02 9.99693604e-01 -1.41048906e-04 -2.96195093e-01] [ 1.24925650e-02 -1.68233767e-04 9.99921951e-01 8.39979145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.914340128000001 meters 0.016707168468206704 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.30, Z:0.08 [[ 9.99573124e-01 -2.62932155e-02 -1.27372007e-02 7.46778047e+00] [ 2.62934786e-02 9.99654256e-01 -1.46830279e-04 -2.99831342e-01] [ 1.27366576e-02 -1.88137714e-04 9.99918868e-01 8.35787029e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.944340128000001 meters 0.016837515163629437 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.30, Z:0.08 [[ 9.99515929e-01 -2.82399369e-02 -1.30542920e-02 7.49711510e+00] [ 2.82403551e-02 9.99601150e-01 -1.52339860e-04 -3.01112837e-01] [ 1.30533874e-02 -2.16391726e-04 9.99914777e-01 8.37220367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9743401280000015 meters 0.017455832672446808 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.30, Z:0.08 [[ 9.99471303e-01 -2.97456895e-02 -1.31266606e-02 7.52594473e+00] [ 2.97461957e-02 9.99557472e-01 -1.56721184e-04 -3.03127562e-01] [ 1.31255135e-02 -2.33829890e-04 9.99913829e-01 8.39418228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.004340128 meters 0.01886057648875178 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.31, Z:0.08 [[ 9.99391148e-01 -3.21495469e-02 -1.35550395e-02 7.55371977e+00] [ 3.21502662e-02 9.99483033e-01 -1.64896031e-04 -3.07438813e-01] [ 1.35533333e-02 -2.71002495e-04 9.99908113e-01 8.31952348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.034340128 meters 0.020353619935045707 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.31, Z:0.08 [[ 9.99343978e-01 -3.35617525e-02 -1.36096441e-02 7.58139650e+00] [ 3.35625910e-02 9.99436604e-01 -1.66846100e-04 -3.10428950e-01] [ 1.36075762e-02 -2.90038275e-04 9.99907371e-01 8.29993660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.064340128000001 meters 0.020121642052811035 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.31, Z:0.08 [[ 9.99306160e-01 -3.44330630e-02 -1.41972799e-02 7.60976663e+00] [ 3.44340441e-02 9.99406957e-01 -1.75407962e-04 -3.11142853e-01] [ 1.41949001e-02 -3.13583504e-04 9.99899198e-01 8.34852555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.094340128 meters 0.02060985979727811 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.31, Z:0.08 [[ 9.99260303e-01 -3.57246445e-02 -1.42336238e-02 7.63853544e+00] [ 3.57257321e-02 9.99361616e-01 -1.77929030e-04 -3.13602273e-01] [ 1.42308938e-02 -3.30709216e-04 9.99898681e-01 8.32505870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.124340128000002 meters 0.020815276006829447 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.31, Z:0.08 [[ 9.99237870e-01 -3.63886278e-02 -1.41260932e-02 7.66626305e+00] [ 3.63897114e-02 9.99337659e-01 -1.80405389e-04 -3.14453782e-01] [ 1.41233016e-02 -3.33776558e-04 9.99900205e-01 8.32359817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.154340128000001 meters 0.021088562811815304 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.32, Z:0.08 [[ 9.99213952e-01 -3.68980474e-02 -1.44918191e-02 7.69404110e+00] [ 3.68991780e-02 9.99318975e-01 -1.89451126e-04 -3.17404134e-01] [ 1.44889402e-02 -3.45434003e-04 9.99894970e-01 8.30931818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.184340128 meters 0.02171161751846348 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.32, Z:0.08 [[ 9.99207613e-01 -3.68738711e-02 -1.49821386e-02 7.72110995e+00] [ 3.68750163e-02 9.99319865e-01 -1.99898405e-04 -3.19306770e-01] [ 1.49793197e-02 -3.52726596e-04 9.99887741e-01 8.31708715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.214340128000002 meters 0.020587083244775605 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.32, Z:0.08 [[ 9.99230926e-01 -3.64560437e-02 -1.44400273e-02 7.75051193e+00] [ 3.64570204e-02 9.99335203e-01 -1.95679420e-04 -3.18243209e-01] [ 1.44375613e-02 -3.30911440e-04 9.99895718e-01 8.39723834e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.244340128000001 meters 0.020520116531482953 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.32, Z:0.08 [[ 9.99270583e-01 -3.55117573e-02 -1.40434001e-02 7.77880369e+00] [ 3.55125503e-02 9.99369212e-01 -1.92978351e-04 -3.18115894e-01] [ 1.40413947e-02 -3.05879364e-04 9.99901368e-01 8.47425090e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.274340128 meters 0.017926433385513703 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.31, Z:0.09 [[ 9.99369721e-01 -3.28764845e-02 -1.33902245e-02 7.80783497e+00] [ 3.28769446e-02 9.99459390e-01 -1.85817940e-04 -3.14341896e-01] [ 1.33890946e-02 -2.54528845e-04 9.99910330e-01 8.64269070e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.304340128000002 meters 0.018631167002011315 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.32, Z:0.09 [[ 9.99416615e-01 -3.15939471e-02 -1.29712209e-02 7.83567380e+00] [ 3.15942344e-02 9.99500761e-01 -1.82822705e-04 -3.15637684e-01] [ 1.29705213e-02 -2.27099746e-04 9.99915853e-01 8.66453855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.334340128000001 meters 0.016081197363242646 Centerline is valid? [True, True] Translation: X:7.86, Y:-0.31, Z:0.09 [[ 9.99503209e-01 -2.89457770e-02 -1.24690817e-02 7.86474112e+00] [ 2.89458164e-02 9.99580966e-01 -1.77346485e-04 -3.12520943e-01] [ 1.24689902e-02 -1.83669370e-04 9.99922242e-01 8.78403435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.364340128 meters 0.015733611396328378 Centerline is valid? [True, True] Translation: X:7.89, Y:-0.31, Z:0.09 [[ 9.99528750e-01 -2.79854865e-02 -1.26131181e-02 7.89227369e+00] [ 2.79854139e-02 9.99608315e-01 -1.82292146e-04 -3.12620929e-01] [ 1.26132793e-02 -1.70777091e-04 9.99920435e-01 8.81476991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.394340128000001 meters 0.01563864156469155 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.31, Z:0.09 [[ 9.99532673e-01 -2.77264734e-02 -1.28716442e-02 7.92072454e+00] [ 2.77263523e-02 9.99615533e-01 -1.87890619e-04 -3.12692755e-01] [ 1.28719050e-02 -1.69080929e-04 9.99917139e-01 8.84724674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.424340128 meters 0.016293019777030213 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.31, Z:0.09 [[ 9.99504327e-01 -2.86500294e-02 -1.30489664e-02 7.94863212e+00] [ 2.86499412e-02 9.99589487e-01 -1.93734360e-04 -3.14883912e-01] [ 1.30491601e-02 -1.80213789e-04 9.99914840e-01 8.81577948e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.454340128000002 meters 0.016823408457956258 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.32, Z:0.09 [[ 9.99463602e-01 -3.00337365e-02 -1.30569100e-02 7.97791300e+00] [ 3.00337435e-02 9.99548866e-01 -1.95594484e-04 -3.15605646e-01] [ 1.30568941e-02 -1.96658320e-04 9.99914736e-01 8.81703862e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.484340128000001 meters 0.016185155933944703 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.32, Z:0.09 [[ 9.99409591e-01 -3.16118156e-02 -1.34596609e-02 8.00665421e+00] [ 3.16119177e-02 9.99500197e-01 -2.05225899e-04 -3.15084289e-01] [ 1.34594213e-02 -2.20380961e-04 9.99909394e-01 8.92254528e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.514340128 meters 0.01927022921090986 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.32, Z:0.09 [[ 9.99322181e-01 -3.47162686e-02 -1.22457714e-02 8.03497833e+00] [ 3.47165530e-02 9.99397181e-01 -1.89416601e-04 -3.22602124e-01] [ 1.22449652e-02 -2.35842760e-04 9.99925000e-01 9.03268395e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.544340128000002 meters 0.02008996766321159 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.32, Z:0.09 [[ 9.99285712e-01 -3.59552372e-02 -1.16313015e-02 8.06325257e+00] [ 3.59555651e-02 9.99353373e-01 -1.80983142e-04 -3.24581488e-01] [ 1.16302877e-02 -2.37356150e-04 9.99932338e-01 9.16913140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.574340128000001 meters 0.020532676198357653 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.33, Z:0.09 [[ 9.99241619e-01 -3.73231985e-02 -1.10980082e-02 8.09240492e+00] [ 3.73235685e-02 9.99303218e-01 -1.73845330e-04 -3.25571722e-01] [ 1.10967637e-02 -2.40503778e-04 9.99938400e-01 9.26757873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.604340128 meters 0.01967887243437518 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.32, Z:0.09 [[ 9.99191788e-01 -3.87281081e-02 -1.07658974e-02 8.12097619e+00] [ 3.87285094e-02 9.99249755e-01 -1.71281592e-04 -3.24718304e-01] [ 1.07644538e-02 -2.45804000e-04 9.99942031e-01 9.35302838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.634340128000002 meters 0.01893773139165492 Centerline is valid? [True, True] Translation: X:8.15, Y:-0.32, Z:0.09 [[ 9.99169741e-01 -3.91753350e-02 -1.11858057e-02 8.14859174e+00] [ 3.91757611e-02 9.99232319e-01 -1.81102697e-04 -3.23137973e-01] [ 1.11843133e-02 -2.57260117e-04 9.99937421e-01 9.34921678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.664340128000001 meters 0.019164821456169986 Centerline is valid? [True, True] Translation: X:8.18, Y:-0.32, Z:0.09 [[ 9.99182520e-01 -3.87666601e-02 -1.14646473e-02 8.17636507e+00] [ 3.87670428e-02 9.99248258e-01 -1.88932769e-04 -3.23144607e-01] [ 1.14633531e-02 -2.55672152e-04 9.99934261e-01 9.29218944e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.694340128 meters 0.020026326731171426 Centerline is valid? [True, True] Translation: X:8.20, Y:-0.32, Z:0.09 [[ 9.99226060e-01 -3.72389402e-02 -1.26705086e-02 8.20383587e+00] [ 3.72392681e-02 9.99306356e-01 -2.10132723e-04 -3.24718052e-01] [ 1.26695449e-02 -2.61870375e-04 9.99919704e-01 9.20949509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.724340128000001 meters 0.01906989739277134 Centerline is valid? [True, True] Translation: X:8.23, Y:-0.32, Z:0.09 [[ 9.99248593e-01 -3.66285241e-02 -1.26728164e-02 8.23283119e+00] [ 3.66287817e-02 9.99328919e-01 -2.11855133e-04 -3.22837359e-01] [ 1.26720718e-02 -2.52493881e-04 9.99919674e-01 9.23237743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.754340128 meters 0.017446917392299584 Centerline is valid? [True, True] Translation: X:8.26, Y:-0.32, Z:0.09 [[ 9.99290091e-01 -3.52411049e-02 -1.33183345e-02 8.26141637e+00] [ 3.52412181e-02 9.99378810e-01 -2.26253938e-04 -3.19602038e-01] [ 1.33180347e-02 -2.43261013e-04 9.99911281e-01 9.25574917e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.784340128000002 meters 0.01755791628452479 Centerline is valid? [True, True] Translation: X:8.29, Y:-0.32, Z:0.09 [[ 9.99313629e-01 -3.45287973e-02 -1.34176470e-02 8.28904634e+00] [ 3.45288078e-02 9.99403676e-01 -2.30943477e-04 -3.19268087e-01] [ 1.34176199e-02 -2.32510391e-04 9.99909953e-01 9.27248896e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.814340128000001 meters 0.01755791628452479 Centerline is valid? [True, True] Translation: X:8.32, Y:-0.32, Z:0.09 [[ 9.99303190e-01 -3.48296136e-02 -1.34176118e-02 8.31662746e+00] [ 3.48296240e-02 9.99393237e-01 -2.32972957e-04 -3.18613670e-01] [ 1.34175848e-02 -2.34519753e-04 9.99909953e-01 9.29942391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.844340128 meters 0.018230662407074195 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.32, Z:0.09 [[ 9.99297292e-01 -3.49353774e-02 -1.35809357e-02 8.34361296e+00] [ 3.49353468e-02 9.99389546e-01 -2.39565611e-04 -3.19173920e-01] [ 1.35810144e-02 -2.35057431e-04 9.99907746e-01 9.30022054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.874340128000002 meters 0.01870102827823493 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.32, Z:0.09 [[ 9.99297102e-01 -3.50459861e-02 -1.33071983e-02 8.37060830e+00] [ 3.50459345e-02 9.99385674e-01 -2.37138878e-04 -3.19817086e-01] [ 1.33073341e-02 -2.29391007e-04 9.99911427e-01 9.33064230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.904340128000001 meters 0.017327435507642222 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.32, Z:0.09 [[ 9.99269576e-01 -3.59086894e-02 -1.30721328e-02 8.39982334e+00] [ 3.59086859e-02 9.99355048e-01 -2.35051625e-04 -3.18151353e-01] [ 1.30721423e-02 -2.34523173e-04 9.99914528e-01 9.47395249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.934340128 meters 0.01777086585179732 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.32, Z:0.10 [[ 9.99230948e-01 -3.69779510e-02 -1.30439301e-02 8.42908983e+00] [ 3.69779927e-02 9.99316052e-01 -2.38066482e-04 -3.18758383e-01] [ 1.30438119e-02 -2.44454954e-04 9.99914896e-01 9.54619283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.964340128000002 meters 0.018312983067841515 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.32, Z:0.10 [[ 9.99201290e-01 -3.77706738e-02 -1.30444917e-02 8.45673975e+00] [ 3.77707426e-02 9.99286402e-01 -2.41175694e-04 -3.19957236e-01] [ 1.30442926e-02 -2.51717074e-04 9.99914888e-01 9.59140708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.994340128000001 meters 0.019582397302988407 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.32, Z:0.10 [[ 9.99128923e-01 -3.97539142e-02 -1.26894033e-02 8.48493104e+00] [ 3.97541185e-02 9.99209465e-01 -2.36241714e-04 -3.23158199e-01] [ 1.26887634e-02 -2.68420112e-04 9.99919458e-01 9.68322520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.024340128 meters 0.020420686441391528 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.32, Z:0.10 [[ 9.99070213e-01 -4.11389646e-02 -1.28955653e-02 8.51393026e+00] [ 4.11392683e-02 9.99153393e-01 -2.41826969e-04 -3.24195776e-01] [ 1.28945964e-02 -2.88912001e-04 9.99916819e-01 9.69408661e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.054340128000002 meters 0.02059610365044426 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.32, Z:0.10 [[ 9.98975889e-01 -4.36184221e-02 -1.20252116e-02 8.54291741e+00] [ 4.36188299e-02 9.99048220e-01 -2.28486705e-04 -3.24860557e-01] [ 1.20237325e-02 -2.96272951e-04 9.99927668e-01 9.72120302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.084340128000001 meters 0.0221217911017215 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.33, Z:0.10 [[ 9.98936960e-01 -4.45360839e-02 -1.18948545e-02 8.57045006e+00] [ 4.45365145e-02 9.99007731e-01 -2.28814993e-04 -3.27551774e-01] [ 1.18932421e-02 -3.01183606e-04 9.99929228e-01 9.77012500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.114340128 meters 0.023247783632419115 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.33, Z:0.10 [[ 9.98887162e-01 -4.56238683e-02 -1.19540638e-02 8.59834769e+00] [ 4.56243675e-02 9.98958640e-01 -2.31087538e-04 -3.29546945e-01] [ 1.19521584e-02 -3.14566224e-04 9.99928521e-01 9.83751766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.144340128000001 meters 0.021998733113574736 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.33, Z:0.10 [[ 9.98854472e-01 -4.63619657e-02 -1.18453679e-02 8.62732406e+00] [ 4.63624907e-02 9.98924655e-01 -2.30424602e-04 -3.28193271e-01] [ 1.18433130e-02 -3.19020115e-04 9.99929815e-01 9.92931721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.174340128 meters 0.022374105316176597 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.33, Z:0.10 [[ 9.98822884e-01 -4.69475075e-02 -1.21974335e-02 8.65660246e+00] [ 4.69480673e-02 9.98897303e-01 -2.40599929e-04 -3.29255763e-01] [ 1.21952790e-02 -3.32329212e-04 9.99925580e-01 9.91419024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.204340128000002 meters 0.021927145340798003 Centerline is valid? [True, True] Translation: X:8.68, Y:-0.33, Z:0.10 [[ 9.98823209e-01 -4.69843306e-02 -1.20278715e-02 8.68440571e+00] [ 4.69848385e-02 9.98895574e-01 -2.40500863e-04 -3.28184915e-01] [ 1.20258874e-02 -3.24909756e-04 9.99927634e-01 9.91835234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.234340128000001 meters 0.021679986493580734 Centerline is valid? [True, True] Translation: X:8.71, Y:-0.33, Z:0.10 [[ 9.98851158e-01 -4.63047827e-02 -1.23381993e-02 8.71303696e+00] [ 4.63052190e-02 9.98927307e-01 -2.50459739e-04 -3.27201332e-01] [ 1.23365616e-02 -3.21151019e-04 9.99923850e-01 9.92383859e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.264340128 meters 0.020710782274825326 Centerline is valid? [True, True] Translation: X:8.74, Y:-0.32, Z:0.10 [[ 9.98943826e-01 -4.43163845e-02 -1.21363733e-02 8.74161807e+00] [ 4.43166214e-02 9.99017505e-01 -2.49544254e-04 -3.24171630e-01] [ 1.21355082e-02 -2.88562368e-04 9.99926320e-01 9.88684251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.294340128000002 meters 0.020280415035140165 Centerline is valid? [True, True] Translation: X:8.77, Y:-0.32, Z:0.10 [[ 9.98991029e-01 -4.33014986e-02 -1.19123554e-02 8.77025751e+00] [ 4.33016179e-02 9.99062014e-01 -2.48027032e-04 -3.21943279e-01] [ 1.19119217e-02 -2.68047480e-04 9.99929015e-01 9.87627123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.324340128000001 meters 0.01871632187883407 Centerline is valid? [True, True] Translation: X:8.80, Y:-0.32, Z:0.10 [[ 9.99042412e-01 -4.20045698e-02 -1.22423281e-02 8.79917254e+00] [ 4.20045581e-02 9.99117386e-01 -2.58195745e-04 -3.18021883e-01] [ 1.22423682e-02 -2.56285081e-04 9.99925027e-01 9.83793192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.354340128 meters 0.01861769285760426 Centerline is valid? [True, True] Translation: X:8.83, Y:-0.32, Z:0.10 [[ 9.99039395e-01 -4.20623708e-02 -1.22900319e-02 8.82676005e+00] [ 4.20623212e-02 9.99114954e-01 -2.62638705e-04 -3.17230974e-01] [ 1.22902019e-02 -2.54560858e-04 9.99924440e-01 9.87611997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.384340128000002 meters 0.019744286496317705 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.32, Z:0.10 [[ 9.99030672e-01 -4.23499427e-02 -1.20082371e-02 8.85396969e+00] [ 4.23498772e-02 9.99102808e-01 -2.59856334e-04 -3.18161653e-01] [ 1.20084683e-02 -2.48942916e-04 9.99927865e-01 9.90633116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.414340128000001 meters 0.02018514853155235 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.32, Z:0.10 [[ 9.99019084e-01 -4.27527813e-02 -1.15355613e-02 8.88225703e+00] [ 4.27527314e-02 9.99085652e-01 -2.51039255e-04 -3.18124437e-01] [ 1.15357464e-02 -2.42383747e-04 9.99933432e-01 9.94369940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.444340128 meters 0.019618577921516046 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.32, Z:0.10 [[ 9.98992128e-01 -4.35276123e-02 -1.09578771e-02 8.91135385e+00] [ 4.35276011e-02 9.99052196e-01 -2.39621217e-04 -3.16380835e-01] [ 1.09579213e-02 -2.37590393e-04 9.99939932e-01 1.00424020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.474340128000001 meters 0.01995859210706407 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.32, Z:0.10 [[ 9.98934562e-01 -4.51377763e-02 -9.60847861e-03 8.93990485e+00] [ 4.51378210e-02 9.98980747e-01 -2.12314665e-04 -3.15599630e-01] [ 9.60826855e-03 -2.21617331e-04 9.99953815e-01 1.02107149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.504340128 meters 0.020114841982783325 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.31, Z:0.10 [[ 9.98900141e-01 -4.60311012e-02 -8.92449515e-03 8.96922788e+00] [ 4.60311560e-02 9.98939985e-01 -1.99379943e-04 -3.14052654e-01] [ 8.92421272e-03 -2.11644175e-04 9.99960156e-01 1.02766889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.534340128000002 meters 0.020265636962404243 Centerline is valid? [True, True] Translation: X:9.00, Y:-0.31, Z:0.10 [[ 9.98914342e-01 -4.57098465e-02 -8.98597201e-03 8.99735240e+00] [ 4.57098661e-02 9.98954737e-01 -2.03306197e-04 -3.11816889e-01] [ 8.98587240e-03 -2.07662101e-04 9.99959605e-01 1.01871405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.564340128000001 meters 0.020350493921628666 Centerline is valid? [True, True] Translation: X:9.03, Y:-0.31, Z:0.10 [[ 9.98903878e-01 -4.59356734e-02 -8.99756163e-03 9.02588997e+00] [ 4.59356960e-02 9.98944378e-01 -2.04260798e-04 -3.10128668e-01] [ 8.99744646e-03 -2.09272352e-04 9.99959500e-01 1.01205885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.594340128 meters 0.020350493921628666 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.31, Z:0.10 [[ 9.98890124e-01 -4.62337997e-02 -8.99749980e-03 9.05347161e+00] [ 4.62338102e-02 9.98930624e-01 -2.06947152e-04 -3.09313806e-01] [ 8.99744605e-03 -2.09271232e-04 9.99959500e-01 1.01474585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.624340128000002 meters 0.020886689729683335 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.31, Z:0.10 [[ 9.98869194e-01 -4.66363131e-02 -9.24050076e-03 9.08013523e+00] [ 4.66363147e-02 9.98911912e-01 -2.15425200e-04 -3.08795101e-01] [ 9.24049292e-03 -2.15761305e-04 9.99957282e-01 1.01794856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.654340128000001 meters 0.020886689729683335 Centerline is valid? [True, True] Translation: X:9.11, Y:-0.31, Z:0.10 [[ 9.98855459e-01 -4.69295940e-02 -9.24045784e-03 9.10771452e+00] [ 4.69295912e-02 9.98898176e-01 -2.17250524e-04 -3.07962393e-01] [ 9.24047196e-03 -2.16649037e-04 9.99957282e-01 1.02063862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.684340128 meters 0.021293013698127885 Centerline is valid? [True, True] Translation: X:9.14, Y:-0.31, Z:0.10 [[ 9.98816728e-01 -4.77947904e-02 -8.98894222e-03 9.13675671e+00] [ 4.77947995e-02 9.98857153e-01 -2.13929398e-04 -3.07221746e-01] [ 8.98889394e-03 -2.15948430e-04 9.99959576e-01 1.02211458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.714340128000002 meters 0.02176560946045575 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.31, Z:0.10 [[ 9.98760196e-01 -4.89845023e-02 -8.86501360e-03 9.16562857e+00] [ 4.89845382e-02 9.98799514e-01 -2.13214265e-04 -3.06742832e-01] [ 8.86481547e-03 -2.21298676e-04 9.99960682e-01 1.02358865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.744340128000001 meters 0.02317120852981081 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.31, Z:0.10 [[ 9.98704065e-01 -5.02099477e-02 -8.31578567e-03 9.19367264e+00] [ 5.02100033e-02 9.98738662e-01 -2.02221982e-04 -3.07783762e-01] [ 8.31545020e-03 -2.15575710e-04 9.99965403e-01 1.03098560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.774340128 meters 0.024437286498916397 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.31, Z:0.11 [[ 9.98555240e-01 -5.33000954e-02 -6.82140929e-03 9.22271208e+00] [ 5.33002049e-02 9.98578520e-01 -1.65861912e-04 -3.08641517e-01] [ 6.82055325e-03 -1.97960232e-04 9.99976720e-01 1.05688550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.804340128000002 meters 0.02427215855667729 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.31, Z:0.11 [[ 9.98481435e-01 -5.46549518e-02 -6.90362679e-03 9.25106781e+00] [ 5.46550809e-02 9.98505280e-01 -1.70101005e-04 -3.07216460e-01] [ 6.90260466e-03 -2.07475585e-04 9.99976155e-01 1.05465384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.834340128000001 meters 0.027021227425860918 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.31, Z:0.10 [[ 9.98384352e-01 -5.62657954e-02 -7.92751408e-03 9.27926926e+00] [ 5.62660094e-02 9.98415794e-01 -1.96198982e-04 -3.09449426e-01] [ 7.92599456e-03 -2.50167588e-04 9.99968558e-01 1.04782445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.864340128000002 meters 0.025434014773262743 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.30, Z:0.10 [[ 9.98193491e-01 -5.94146865e-02 -8.92470764e-03 9.30909904e+00] [ 5.94150748e-02 9.98233339e-01 -2.21855540e-04 -3.04212027e-01] [ 8.92212219e-03 -3.08807416e-04 9.99960149e-01 1.02827475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.894340128000001 meters 0.02868438505506614 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.31, Z:0.10 [[ 9.98118940e-01 -6.05996307e-02 -9.28794683e-03 9.33747425e+00] [ 6.06000995e-02 9.98162098e-01 -2.31206812e-04 -3.07054478e-01] [ 9.28488755e-03 -3.32078604e-04 9.99956839e-01 1.02667999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.924340128 meters 0.03029675127187224 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.31, Z:0.10 [[ 9.98042573e-01 -6.19256357e-02 -8.73140409e-03 9.36569476e+00] [ 6.19260901e-02 9.98080714e-01 -2.18564503e-04 -3.06593720e-01] [ 8.72818077e-03 -3.22565037e-04 9.99961857e-01 1.03194487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.954340128000002 meters 0.03271357678973971 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.31, Z:0.10 [[ 9.98027897e-01 -6.20999504e-02 -9.16038324e-03 9.39268346e+00] [ 6.21004502e-02 9.98069878e-01 -2.30148518e-04 -3.08155278e-01] [ 9.15699479e-03 -3.39169282e-04 9.99958016e-01 1.03622566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.984340128000001 meters 0.030839439355036562 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.30, Z:0.10 [[ 9.98024238e-01 -6.21506474e-02 -9.21504926e-03 9.42066777e+00] [ 6.21511455e-02 9.98066722e-01 -2.32580442e-04 -3.03584456e-01] [ 9.21168903e-03 -3.40604950e-04 9.99957513e-01 1.03490237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.014340128 meters 0.028191071643709677 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.30, Z:0.10 [[ 9.98032469e-01 -6.19603971e-02 -9.59689197e-03 9.44941750e+00] [ 6.19609015e-02 9.98078547e-01 -2.45040069e-04 -2.96393329e-01] [ 9.59363478e-03 -3.50074133e-04 9.99953919e-01 1.02914494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.044340128000002 meters 0.026834527236538817 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.29, Z:0.10 [[ 9.98049437e-01 -6.17976051e-02 -8.85313681e-03 9.47776875e+00] [ 6.17980095e-02 9.98088650e-01 -2.28139749e-04 -2.92550516e-01] [ 8.85031386e-03 -3.19411484e-04 9.99960784e-01 1.02941536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.074340128000001 meters 0.030679538969148133 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.30, Z:0.10 [[ 9.98100138e-01 -6.09690900e-02 -8.88168598e-03 9.50613537e+00] [ 6.09694419e-02 9.98139606e-01 -2.31389497e-04 -2.96284229e-01] [ 8.87927015e-03 -3.10561549e-04 9.99960530e-01 1.03753838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.104340128 meters 0.026777357486353997 Centerline is valid? [True, True] Translation: X:9.53, Y:-0.29, Z:0.10 [[ 9.98128391e-01 -6.05102717e-02 -8.84436699e-03 9.53458945e+00] [ 6.05105967e-02 9.98167528e-01 -2.31088960e-04 -2.89571932e-01] [ 8.84214319e-03 -3.04521471e-04 9.99960861e-01 1.04311462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.134340128000002 meters 0.02603541864767044 Centerline is valid? [True, True] Translation: X:9.56, Y:-0.29, Z:0.11 [[ 9.98222956e-01 -5.90834855e-02 -7.75065125e-03 9.56317494e+00] [ 5.90836789e-02 9.98253013e-01 -2.04219289e-04 -2.86444598e-01] [ 7.74917695e-03 -2.54080607e-04 9.99969942e-01 1.06551737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.164340128000001 meters 0.024170952072308387 Centerline is valid? [True, True] Translation: X:9.59, Y:-0.28, Z:0.11 [[ 9.98310296e-01 -5.75932343e-02 -7.71832319e-03 9.59153054e+00] [ 5.75933664e-02 9.98340103e-01 -2.05337852e-04 -2.80175002e-01] [ 7.71733765e-03 -2.39533324e-04 9.99970192e-01 1.07494388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.194340128 meters 0.023594270082405586 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.28, Z:0.11 [[ 9.98359820e-01 -5.67875605e-02 -7.26936043e-03 9.62057573e+00] [ 5.67876435e-02 9.98386261e-01 -1.95159801e-04 -2.76840212e-01] [ 7.26871222e-03 -2.17970145e-04 9.99973559e-01 1.07778417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.224340128000001 meters 0.023390428583132665 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.27, Z:0.11 [[ 9.98361792e-01 -5.68281924e-02 -6.65503042e-03 9.64902774e+00] [ 5.68282534e-02 9.98383953e-01 -1.80086196e-04 -2.74033480e-01] [ 6.65450955e-03 -1.98402577e-04 9.99977839e-01 1.08474482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.254340128 meters 0.02373805509021888 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.27, Z:0.11 [[ 9.98388715e-01 -5.64836161e-02 -5.43819289e-03 9.67667391e+00] [ 5.64836408e-02 9.98403514e-01 -1.49158123e-04 -2.71710547e-01] [ 5.43793588e-03 -1.58251147e-04 9.99985202e-01 1.10786426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.284340128000002 meters 0.023977127100943314 Centerline is valid? [True, True] Translation: X:9.70, Y:-0.27, Z:0.11 [[ 9.98373538e-01 -5.68067049e-02 -4.82468132e-03 9.70491245e+00] [ 5.68067312e-02 9.98385185e-01 -1.31685655e-04 -2.70866975e-01] [ 4.82437098e-03 -1.42602902e-04 9.99988352e-01 1.12056170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.314340128000001 meters 0.024216568625341443 Centerline is valid? [True, True] Translation: X:9.73, Y:-0.27, Z:0.11 [[ 9.98353766e-01 -5.71974915e-02 -4.26675186e-03 9.73266510e+00] [ 5.71975117e-02 9.98362875e-01 -1.17385654e-04 -2.69950696e-01] [ 4.26648082e-03 -1.26855180e-04 9.99990890e-01 1.13190673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.344340128 meters 0.024897785509688294 Centerline is valid? [True, True] Translation: X:9.76, Y:-0.27, Z:0.11 [[ 9.98282701e-01 -5.84644576e-02 -3.68198904e-03 9.76149477e+00] [ 5.84644779e-02 9.98289484e-01 -1.02206671e-04 -2.68714420e-01] [ 3.68166640e-03 -1.13234415e-04 9.99993216e-01 1.13928275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.374340128000002 meters 0.02278637116401328 Centerline is valid? [True, True] Translation: X:9.79, Y:-0.26, Z:0.11 [[ 9.98244923e-01 -5.91255781e-02 -3.35267271e-03 9.79042804e+00] [ 5.91255969e-02 9.98250547e-01 -9.35884113e-05 -2.63801691e-01] [ 3.35234083e-03 -1.04804619e-04 9.99994375e-01 1.13415381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.404340128000001 meters 0.02326181001324824 Centerline is valid? [True, True] Translation: X:9.82, Y:-0.26, Z:0.11 [[ 9.98198935e-01 -5.99018936e-02 -3.26341688e-03 9.81884652e+00] [ 5.99019129e-02 9.98204264e-01 -9.19268846e-05 -2.62677782e-01] [ 3.26306324e-03 -1.03723595e-04 9.99994671e-01 1.13508441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.434340128 meters 0.026142920545902504 Centerline is valid? [True, True] Translation: X:9.85, Y:-0.26, Z:0.11 [[ 9.98143962e-01 -6.07930857e-02 -3.58226271e-03 9.84640398e+00] [ 6.07931064e-02 9.98150383e-01 -1.03215410e-04 -2.64144072e-01] [ 3.58191168e-03 -1.14753040e-04 9.99993578e-01 1.13152354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.464340128000002 meters 0.024649663463953246 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.26, Z:0.11 [[ 9.98099235e-01 -6.15100021e-02 -3.79966343e-03 9.87485859e+00] [ 6.15100328e-02 9.98106459e-01 -1.08885509e-04 -2.60307596e-01] [ 3.79916616e-03 -1.25038879e-04 9.99992775e-01 1.12864974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.494340128000001 meters 0.025352822719646968 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.26, Z:0.11 [[ 9.98036825e-01 -6.25187977e-02 -3.72766361e-03 9.90336056e+00] [ 6.25188308e-02 9.98043779e-01 -1.07771999e-04 -2.59407124e-01] [ 3.72710926e-03 -1.25488747e-04 9.99993046e-01 1.12692364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.524340128 meters 0.025413173717030044 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.26, Z:0.11 [[ 9.97996464e-01 -6.31161792e-02 -4.40515063e-03 9.93153390e+00] [ 6.31162250e-02 9.98006175e-01 -1.28778593e-04 -2.57993520e-01] [ 4.40449555e-03 -1.49515898e-04 9.99990289e-01 1.12038996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.554340128000002 meters 0.028324886387340042 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.26, Z:0.11 [[ 9.97962095e-01 -6.36236749e-02 -4.86678744e-03 9.95898561e+00] [ 6.36237235e-02 9.97973948e-01 -1.44991174e-04 -2.60412646e-01] [ 4.86615195e-03 -1.64947443e-04 9.99988147e-01 1.12230508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.584340128000001 meters 0.027722374626977367 Centerline is valid? [True, True] Translation: X:9.99, Y:-0.26, Z:0.11 [[ 9.97882981e-01 -6.48288881e-02 -5.17406509e-03 9.98744002e+00] [ 6.48289593e-02 9.97896379e-01 -1.54140241e-04 -2.57226809e-01] [ 5.17317355e-03 -1.81615332e-04 9.99986603e-01 1.11214980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.614340128000002 meters 0.027722374626977367 Centerline is valid? [True, True] Translation: X:10.02, Y:-0.26, Z:0.11 [[ 9.97864042e-01 -6.51197616e-02 -5.17403046e-03 1.00150148e+01] [ 6.51198307e-02 9.97877439e-01 -1.55290567e-04 -2.56208292e-01] [ 5.17316075e-03 -1.81973114e-04 9.99986603e-01 1.11483885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.644340128000001 meters 0.025647176502926222 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.25, Z:0.11 [[ 9.97805116e-01 -6.59929101e-02 -5.46682071e-03 1.00439182e+01] [ 6.59929903e-02 9.97820073e-01 -1.65929336e-04 -2.51023707e-01] [ 5.46585360e-03 -1.95206705e-04 9.99985043e-01 1.10734748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.674340128 meters 0.02747987484465178 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.25, Z:0.11 [[ 9.97752816e-01 -6.67485006e-02 -5.82712305e-03 1.00716166e+01] [ 6.67485903e-02 9.97769810e-01 -1.79298147e-04 -2.51610236e-01] [ 5.82609534e-03 -2.10057018e-04 9.99983006e-01 1.10835123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.704340128000002 meters 0.028116202727391678 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.25, Z:0.11 [[ 9.97689066e-01 -6.77149785e-02 -5.58656108e-03 1.01001687e+01] [ 6.77150771e-02 9.97704685e-01 -1.71703350e-04 -2.50322825e-01] [ 5.58536505e-03 -2.06987860e-04 9.99984380e-01 1.10946195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.734340128000001 meters 0.028116202727391678 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.25, Z:0.11 [[ 9.97668927e-01 -6.80110427e-02 -5.58652095e-03 1.01277459e+01] [ 6.80111388e-02 9.97684547e-01 -1.72995966e-04 -2.49283298e-01] [ 5.58535126e-03 -2.07352952e-04 9.99984380e-01 1.11215124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.764340128 meters 0.028079527025982598 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.25, Z:0.11 [[ 9.97564216e-01 -6.95004624e-02 -5.94319359e-03 1.01559945e+01] [ 6.95005814e-02 9.97581894e-01 -1.86766761e-04 -2.46572181e-01] [ 5.94180270e-03 -2.26743573e-04 9.99982322e-01 1.10415774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.794340128000002 meters 0.030543865141725503 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.25, Z:0.11 [[ 9.97523761e-01 -7.00815801e-02 -5.90914007e-03 1.01843547e+01] [ 7.00817045e-02 9.97541237e-01 -1.86252171e-04 -2.48682615e-01] [ 5.90766374e-03 -2.28331642e-04 9.99982524e-01 1.10512376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.824340128000001 meters 0.030831643169325598 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.25, Z:0.11 [[ 9.97488921e-01 -7.05973991e-02 -5.64436199e-03 1.02132484e+01] [ 7.05975219e-02 9.97504866e-01 -1.77738018e-04 -2.47659594e-01] [ 5.64282639e-03 -2.21186265e-04 9.99984055e-01 1.10914141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.854340128 meters 0.03006661526196168 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.24, Z:0.11 [[ 9.97523745e-01 -7.00743945e-02 -5.99638646e-03 1.02418372e+01] [ 7.00745137e-02 9.97541742e-01 -1.90487421e-04 -2.44044847e-01] [ 5.99499409e-03 -2.30178140e-04 9.99982003e-01 1.10274052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.884340128000002 meters 0.028482889006624577 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.24, Z:0.11 [[ 9.97585878e-01 -6.91049796e-02 -6.84969409e-03 1.02707062e+01] [ 6.91050980e-02 9.97609361e-01 -2.19679040e-04 -2.40049068e-01] [ 6.84849986e-03 -2.54200073e-04 9.99976516e-01 1.09278211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.914340128000001 meters 0.0277771251953324 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.24, Z:0.11 [[ 9.97651532e-01 -6.80875489e-02 -7.45021506e-03 1.02997276e+01] [ 6.80876445e-02 9.97679314e-01 -2.41090932e-04 -2.36731829e-01] [ 7.44934075e-03 -2.66742857e-04 9.99972218e-01 1.08458119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.944340128000002 meters 0.025819649099841448 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.23, Z:0.11 [[ 9.97863935e-01 -6.47514993e-02 -8.64925688e-03 1.03289618e+01] [ 6.47514800e-02 9.97901381e-01 -2.82552556e-04 -2.29760802e-01] [ 8.64940109e-03 -2.78103179e-04 9.99962555e-01 1.06297026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.974340128000001 meters 0.02557421877018104 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.23, Z:0.11 [[ 9.97982185e-01 -6.28311424e-02 -9.15453535e-03 1.03565824e+01] [ 6.28310179e-02 9.98024134e-01 -3.01475871e-04 -2.26983088e-01] [ 9.15538929e-03 -2.74321226e-04 9.99958051e-01 1.05711893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.004340128 meters 0.023387145920935423 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.22, Z:0.10 [[ 9.98216052e-01 -5.89773273e-02 -9.29449573e-03 1.03848575e+01] [ 5.89770240e-02 9.98259293e-01 -3.06956192e-04 -2.20731535e-01] [ 9.29642020e-03 -2.41753099e-04 9.99956758e-01 1.04750711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.034340128000002 meters 0.022657873163205625 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.22, Z:0.10 [[ 9.98270915e-01 -5.79675100e-02 -9.74408832e-03 1.04139454e+01] [ 5.79671215e-02 9.98318441e-01 -3.22528027e-04 -2.18103341e-01] [ 9.74639920e-03 -2.42866403e-04 9.99952473e-01 1.04589265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.064340128000001 meters 0.022183632820814297 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.22, Z:0.10 [[ 9.98320793e-01 -5.70362271e-02 -1.01224043e-02 1.04427621e+01] [ 5.70357336e-02 9.98372080e-01 -3.37665430e-04 -2.16089186e-01] [ 1.01251850e-02 -2.40240337e-04 9.99948710e-01 1.04275826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.094340128 meters 0.02213284201275792 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.21, Z:0.10 [[ 9.98333657e-01 -5.67606341e-02 -1.03990619e-02 1.04712827e+01] [ 5.67600708e-02 9.98387786e-01 -3.49532051e-04 -2.14631858e-01] [ 1.04021361e-02 -2.41301879e-04 9.99945867e-01 1.03920855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.124340128000002 meters 0.021616094792185566 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.21, Z:0.10 [[ 9.98395002e-01 -5.56682856e-02 -1.04144719e-02 1.04989727e+01] [ 5.56676356e-02 9.98449293e-01 -3.52510551e-04 -2.12871747e-01] [ 1.04179458e-02 -2.27804257e-04 9.99945706e-01 1.04367927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.154340128000001 meters 0.023058156028740628 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.21, Z:0.10 [[ 9.98412281e-01 -5.53531542e-02 -1.04377250e-02 1.05273143e+01] [ 5.53524746e-02 9.98466814e-01 -3.54209002e-04 -2.13680134e-01] [ 1.04413286e-02 -2.24107289e-04 9.99945463e-01 1.04449919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.184340128 meters 0.019781726969518437 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.21, Z:0.10 [[ 9.98396205e-01 -5.56812804e-02 -1.02280022e-02 1.05548973e+01] [ 5.56806351e-02 9.98448569e-01 -3.48053042e-04 -2.07268165e-01] [ 1.02315142e-02 -2.22006824e-04 9.99947632e-01 1.04545777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.214340128000002 meters 0.0223156336022897 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.21, Z:0.10 [[ 9.98380503e-01 -5.59876507e-02 -1.00872841e-02 1.05829306e+01] [ 5.59870095e-02 9.98431437e-01 -3.46163537e-04 -2.09357734e-01] [ 1.00908425e-02 -2.19153946e-04 9.99949062e-01 1.04480276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.244340128000001 meters 0.02223335998266674 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.21, Z:0.11 [[ 9.98374028e-01 -5.62342318e-02 -9.32801548e-03 1.06107475e+01] [ 5.62336876e-02 9.98417583e-01 -3.20821565e-04 -2.08465352e-01] [ 9.33129582e-03 -2.04248791e-04 9.99956442e-01 1.05276216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.274340128 meters 0.019322369537865928 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.20, Z:0.11 [[ 9.98304400e-01 -5.75594374e-02 -8.67382979e-03 1.06397406e+01] [ 5.75589981e-02 9.98342061e-01 -3.00483848e-04 -2.03328878e-01] [ 8.67674479e-03 -1.99282604e-04 9.99962336e-01 1.06155516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.304340128000002 meters 0.019897279425386417 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.20, Z:0.11 [[ 9.98242534e-01 -5.86394561e-02 -8.55911273e-03 1.06687138e+01] [ 5.86390484e-02 9.98279206e-01 -2.98791220e-04 -2.03765271e-01] [ 8.56190521e-03 -2.03632122e-04 9.99963325e-01 1.06483993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.334340128000001 meters 0.021013062487910315 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.20, Z:0.11 [[ 9.98177723e-01 -5.97368995e-02 -8.52860444e-03 1.06962871e+01] [ 5.97365135e-02 9.98214135e-01 -3.00219453e-04 -2.04861132e-01] [ 8.53130768e-03 -2.09796725e-04 9.99963586e-01 1.06804290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.364340128000002 meters 0.022021223843049418 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.21, Z:0.11 [[ 9.98017124e-01 -6.24143376e-02 -8.14071390e-03 1.07252866e+01] [ 6.24140712e-02 9.98050300e-01 -2.87018405e-04 -2.05355279e-01] [ 8.14275602e-03 -2.21645814e-04 9.99966823e-01 1.07230790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.394340128000001 meters 0.022698506026602058 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.20, Z:0.11 [[ 9.97966497e-01 -6.32844511e-02 -7.61244003e-03 1.07544377e+01] [ 6.32842293e-02 9.97995508e-01 -2.70245546e-04 -2.04950048e-01] [ 7.61428329e-03 -2.12051399e-04 9.99970988e-01 1.07760549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.424340128 meters 0.023401469774928428 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.20, Z:0.11 [[ 9.97890149e-01 -6.44786821e-02 -7.59935727e-03 1.07822529e+01] [ 6.44784786e-02 9.97919061e-01 -2.72041151e-04 -2.04545402e-01] [ 7.60108433e-03 -2.18527810e-04 9.99971087e-01 1.08037293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.454340128000002 meters 0.024766775335348143 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.21, Z:0.11 [[ 9.97831115e-01 -6.53011510e-02 -8.29606298e-03 1.08099303e+01] [ 6.53009256e-02 9.97865572e-01 -2.98331051e-04 -2.05450522e-01] [ 8.29783699e-03 -2.44056586e-04 9.99965543e-01 1.07595452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.484340128000001 meters 0.023776575056606755 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.20, Z:0.11 [[ 9.97790478e-01 -6.58193964e-02 -9.05364826e-03 1.08375205e+01] [ 6.58191423e-02 9.97831516e-01 -3.26341179e-04 -2.02841161e-01] [ 9.05549514e-03 -2.70283242e-04 9.99958962e-01 1.07018735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.514340128 meters 0.021662110080199023 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.20, Z:0.11 [[ 9.97777208e-01 -6.58843323e-02 -9.99484778e-03 1.08654574e+01] [ 6.58839929e-02 9.97827223e-01 -3.63573658e-04 -1.97741847e-01] [ 9.99708502e-03 -2.95734971e-04 9.99949984e-01 1.06004354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.544340128000002 meters 0.021174811315831207 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.20, Z:0.11 [[ 9.97803046e-01 -6.54093965e-02 -1.05210114e-02 1.08945047e+01] [ 6.54089575e-02 9.97858466e-01 -3.86188872e-04 -1.95286719e-01] [ 1.05237407e-02 -3.02827952e-04 9.99944578e-01 1.05556036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.574340128000001 meters 0.022524191736432626 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.20, Z:0.10 [[ 9.97813216e-01 -6.51150188e-02 -1.13499035e-02 1.09219842e+01] [ 6.51144537e-02 9.97877714e-01 -4.19705789e-04 -1.95744720e-01] [ 1.13531449e-02 -3.20254783e-04 9.99935500e-01 1.04948133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.604340128 meters 0.021285431631439276 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.19, Z:0.10 [[ 9.97834855e-01 -6.47059269e-02 -1.17790417e-02 1.09506002e+01] [ 6.47052715e-02 9.97904322e-01 -4.37122499e-04 -1.92515118e-01] [ 1.17826410e-02 -3.25990024e-04 9.99930529e-01 1.04833360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.634340128000002 meters 0.01990684938880809 Centerline is valid? [True, True] Translation: X:10.98, Y:-0.19, Z:0.11 [[ 9.97941446e-01 -6.29997255e-02 -1.19960488e-02 1.09793340e+01] [ 6.29988826e-02 9.98013497e-01 -4.48514084e-04 -1.88401676e-01] [ 1.20004748e-02 -3.08146874e-04 9.99927944e-01 1.05045316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.664340128000001 meters 0.020287784960694392 Centerline is valid? [True, True] Translation: X:11.01, Y:-0.19, Z:0.11 [[ 9.97981898e-01 -6.23072830e-02 -1.22447414e-02 1.10069754e+01] [ 6.23063157e-02 9.98056968e-01 -4.60830873e-04 -1.87612467e-01] [ 1.22496626e-02 -3.03023856e-04 9.99924924e-01 1.05211097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.694340128000002 meters 0.019360947374633876 Centerline is valid? [True, True] Translation: X:11.04, Y:-0.18, Z:0.11 [[ 9.98078689e-01 -6.06558533e-02 -1.26410887e-02 1.10354761e+01] [ 6.06546675e-02 9.98158696e-01 -4.77518548e-04 -1.84139403e-01] [ 1.26467769e-02 -2.90139943e-04 9.99919984e-01 1.05477004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.724340128000001 meters 0.020188009526082726 Centerline is valid? [True, True] Translation: X:11.06, Y:-0.18, Z:0.11 [[ 9.98137435e-01 -5.96787590e-02 -1.26533212e-02 1.10629079e+01] [ 5.96774555e-02 9.98217597e-01 -4.80895761e-04 -1.84038587e-01] [ 1.26594671e-02 -2.75117953e-04 9.99919828e-01 1.05547281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.754340128 meters 0.01784212636335405 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.18, Z:0.11 [[ 9.98203796e-01 -5.86644267e-02 -1.21518028e-02 1.10919382e+01] [ 5.86631307e-02 9.98277728e-01 -4.63382987e-04 -1.78657680e-01] [ 1.21580582e-02 -2.50312141e-04 9.99926057e-01 1.07019874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.784340128000002 meters 0.0180818851929332 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.18, Z:0.11 [[ 9.98231431e-01 -5.82694461e-02 -1.17763646e-02 1.11197290e+01] [ 5.82681685e-02 9.98300865e-01 -4.51849907e-04 -1.77773963e-01] [ 1.17826840e-02 -2.35136416e-04 9.99930554e-01 1.07712271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.814340128000001 meters 0.017437622078003784 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.18, Z:0.11 [[ 9.98263424e-01 -5.78292379e-02 -1.12212211e-02 1.11487045e+01] [ 5.78280357e-02 9.98326466e-01 -4.31843888e-04 -1.75414654e-01] [ 1.12274152e-02 -2.17807217e-04 9.99936947e-01 1.08459591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.844340128 meters 0.01646913766347285 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.17, Z:0.11 [[ 9.98351023e-01 -5.64381215e-02 -1.04868044e-02 1.11779365e+01] [ 5.64369676e-02 9.98406082e-01 -4.06168048e-04 -1.71777772e-01] [ 1.04930127e-02 -1.86345154e-04 9.99944929e-01 1.09233963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.874340128000002 meters 0.01621905349707559 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.17, Z:0.11 [[ 9.98365908e-01 -5.61487837e-02 -1.06220462e-02 1.12063210e+01] [ 5.61475649e-02 9.98422396e-01 -4.13152394e-04 -1.69316175e-01] [ 1.06284868e-02 -1.83924761e-04 9.99943499e-01 1.09447712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.904340128000001 meters 0.015813139425485206 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.17, Z:0.11 [[ 9.98411213e-01 -5.53628878e-02 -1.04881315e-02 1.12347591e+01] [ 5.53616223e-02 9.98466285e-01 -4.11176938e-04 -1.66712237e-01] [ 1.04948097e-02 -1.70116312e-04 9.99944913e-01 1.09861392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.934340128 meters 0.015589727484037204 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.16, Z:0.11 [[ 9.98462847e-01 -5.44845723e-02 -1.01672971e-02 1.12621303e+01] [ 5.44833108e-02 9.98514601e-01 -4.01228580e-04 -1.64792682e-01] [ 1.01740554e-02 -1.53336176e-04 9.99948231e-01 1.09935298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.964340128000002 meters 0.015208926212880903 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.16, Z:0.11 [[ 9.98497106e-01 -5.37696091e-02 -1.05998959e-02 1.12912234e+01] [ 5.37681848e-02 9.98553357e-01 -4.19509460e-04 -1.62567802e-01] [ 1.06071185e-02 -1.51058177e-04 9.99943732e-01 1.10000199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.994340128000001 meters 0.014359087360260347 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.16, Z:0.11 [[ 9.98594226e-01 -5.17863736e-02 -1.13023600e-02 1.13204852e+01] [ 5.17845908e-02 9.98658176e-01 -4.50527640e-04 -1.60295435e-01] [ 1.13105254e-02 -1.35393788e-04 9.99936025e-01 1.09361595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.024340128000002 meters 0.014263065521006126 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.16, Z:0.11 [[ 9.98614743e-01 -5.11905484e-02 -1.21705344e-02 1.13474437e+01] [ 5.11883965e-02 9.98688895e-01 -4.88454527e-04 -1.58886052e-01] [ 1.21795818e-02 -1.35212249e-04 9.99925817e-01 1.09206548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.054340128000002 meters 0.014135592775159278 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.16, Z:0.11 [[ 9.98637326e-01 -5.07205041e-02 -1.22850290e-02 1.13752411e+01] [ 5.07182414e-02 9.98712879e-01 -4.95862684e-04 -1.56894701e-01] [ 1.22943671e-02 -1.27888081e-04 9.99924413e-01 1.08900912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.084340128000001 meters 0.013520109183400346 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.15, Z:0.11 [[ 9.98721677e-01 -4.87414023e-02 -1.33898596e-02 1.14044939e+01] [ 4.87384816e-02 9.98811426e-01 -5.44549873e-04 -1.52281640e-01] [ 1.34004869e-02 -1.08747666e-04 9.99910204e-01 1.07892948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.114340128000002 meters 0.01324209354026441 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.15, Z:0.11 [[ 9.98747181e-01 -4.82341536e-02 -1.33242247e-02 1.14322343e+01] [ 4.82311701e-02 9.98836051e-01 -5.45343703e-04 -1.49697415e-01] [ 1.33350202e-02 -9.79824625e-05 9.99911080e-01 1.07700386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.144340128000001 meters 0.012988573758328356 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.15, Z:0.11 [[ 9.98782688e-01 -4.76005185e-02 -1.29357448e-02 1.14605056e+01] [ 4.75976122e-02 9.98866449e-01 -5.32624467e-04 -1.48079420e-01] [ 1.29464347e-02 -8.37344693e-05 9.99916188e-01 1.07912787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.174340128 meters 0.013120954635734594 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.15, Z:0.11 [[ 9.98784122e-01 -4.77431093e-02 -1.22830774e-02 1.14872763e+01] [ 4.77404849e-02 9.98859644e-01 -5.06950227e-04 -1.48671362e-01] [ 1.22932737e-02 -8.00662318e-05 9.99924432e-01 1.08906925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.204340128000002 meters 0.012906028952766557 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.15, Z:0.11 [[ 9.98758942e-01 -4.83331649e-02 -1.20200332e-02 1.15157299e+01] [ 4.83306710e-02 9.98831266e-01 -4.98039991e-04 -1.48191887e-01] [ 1.20300568e-02 -8.35143735e-05 9.99927633e-01 1.09687021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.234340128000001 meters 0.013484860938867242 Centerline is valid? [True, True] Translation: X:11.54, Y:-0.15, Z:0.11 [[ 9.98672898e-01 -5.00597765e-02 -1.21021144e-02 1.15432707e+01] [ 5.00573340e-02 9.98746218e-01 -5.04840191e-04 -1.50465214e-01] [ 1.21122132e-02 -1.01629367e-04 9.99926639e-01 1.09904912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.264340128 meters 0.013556587558219006 Centerline is valid? [True, True] Translation: X:11.57, Y:-0.15, Z:0.11 [[ 9.98632274e-01 -5.09367359e-02 -1.17911353e-02 1.15710743e+01] [ 5.09344548e-02 9.98701876e-01 -4.93867297e-04 -1.49870351e-01] [ 1.18009850e-02 -1.07383229e-04 9.99930360e-01 1.10311419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.294340128000002 meters 0.01399872739154552 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.15, Z:0.11 [[ 9.98597021e-01 -5.14854200e-02 -1.23790254e-02 1.15984778e+01] [ 5.14829057e-02 9.98673740e-01 -5.21902917e-04 -1.49991473e-01] [ 1.23894780e-02 -1.16137498e-04 9.99923241e-01 1.10102202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.324340128000001 meters 0.014927613784755631 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.15, Z:0.11 [[ 9.98514362e-01 -5.31212260e-02 -1.21327865e-02 1.16260017e+01] [ 5.31189172e-02 9.98588062e-01 -5.12696982e-04 -1.52859795e-01] [ 1.21428909e-02 -1.32545185e-04 9.99926264e-01 1.10054897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.354340128000002 meters 0.014522994660195514 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.15, Z:0.11 [[ 9.98459687e-01 -5.40654393e-02 -1.24571769e-02 1.16541468e+01] [ 5.40630548e-02 9.98537384e-01 -5.28331145e-04 -1.52430547e-01] [ 1.24675213e-02 -1.45955689e-04 9.99922267e-01 1.10665833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.384340128000002 meters 0.0155395120057758 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.15, Z:0.11 [[ 9.98397016e-01 -5.51264097e-02 -1.28248636e-02 1.16823652e+01] [ 5.51239253e-02 9.98479370e-01 -5.47402168e-04 -1.54664803e-01] [ 1.28355381e-02 -1.60432134e-04 9.99917608e-01 1.10264197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.414340128000001 meters 0.014835170581035416 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.15, Z:0.11 [[ 9.98294178e-01 -5.68564461e-02 -1.32694525e-02 1.17109483e+01] [ 5.68539073e-02 9.98382346e-01 -5.68782858e-04 -1.53630357e-01] [ 1.32803261e-02 -1.86607604e-04 9.99911795e-01 1.10562069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.444340128000002 meters 0.016189998815520402 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.16, Z:0.11 [[ 9.98117106e-01 -5.96752945e-02 -1.41810711e-02 1.17388380e+01] [ 5.96726313e-02 9.98217814e-01 -6.11229916e-04 -1.57770784e-01] [ 1.41922731e-02 -2.36142790e-04 9.99899257e-01 1.10248254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.474340128000001 meters 0.016674373827995182 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.16, Z:0.11 [[ 9.98023218e-01 -6.12420574e-02 -1.41091340e-02 1.17676277e+01] [ 6.12395472e-02 9.98122911e-01 -6.10293090e-04 -1.58038918e-01] [ 1.41200255e-02 -2.54950303e-04 9.99900275e-01 1.10347793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.504340128 meters 0.01830256123073792 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.16, Z:0.11 [[ 9.97858620e-01 -6.37577575e-02 -1.45987595e-02 1.17952280e+01] [ 6.37552863e-02 9.97965360e-01 -6.35085703e-04 -1.60857969e-01] [ 1.46095479e-02 -2.97022348e-04 9.99893231e-01 1.09943179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.534340128000002 meters 0.01913438210522875 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.16, Z:0.11 [[ 9.97768926e-01 -6.50821792e-02 -1.48821876e-02 1.18228271e+01] [ 6.50797257e-02 9.97879856e-01 -6.49604610e-04 -1.61977997e-01] [ 1.48929129e-02 -3.20373390e-04 9.99889043e-01 1.09770856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.564340128000001 meters 0.020920832885714606 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.16, Z:0.11 [[ 9.97691658e-01 -6.62059952e-02 -1.51037006e-02 1.18511230e+01] [ 6.62035713e-02 9.97805918e-01 -6.60964288e-04 -1.64891841e-01] [ 1.51143216e-02 -3.40480362e-04 9.99885714e-01 1.09179751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.594340128 meters 0.01961443946235765 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.17, Z:0.11 [[ 9.97587209e-01 -6.76198613e-02 -1.57262725e-02 1.18795351e+01] [ 6.76173729e-02 9.97711087e-01 -6.90506177e-04 -1.65122928e-01] [ 1.57369683e-02 -3.74529100e-04 9.99876096e-01 1.10081933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.624340128000002 meters 0.01961443946235765 Centerline is valid? [True, True] Translation: X:11.91, Y:-0.16, Z:0.11 [[ 9.97566053e-01 -6.79312786e-02 -1.57261278e-02 1.19070884e+01] [ 6.79287771e-02 9.97689932e-01 -6.93786640e-04 -1.63742307e-01] [ 1.57369292e-02 -3.76158633e-04 9.99876096e-01 1.10351147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.654340128000001 meters 0.020361912104484608 Centerline is valid? [True, True] Translation: X:11.94, Y:-0.16, Z:0.11 [[ 9.97532990e-01 -6.84396128e-02 -1.56190072e-02 1.19350005e+01] [ 6.84371513e-02 9.97655189e-01 -6.92660156e-04 -1.64852334e-01] [ 1.56297890e-02 -3.77969004e-04 9.99877776e-01 1.10695424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.684340128 meters 0.019426001235010065 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.16, Z:0.11 [[ 9.97523931e-01 -6.85605580e-02 -1.56670542e-02 1.19632200e+01] [ 6.85580521e-02 9.97646885e-01 -6.97609448e-04 -1.63349701e-01] [ 1.56780163e-02 -3.78220597e-04 9.99877021e-01 1.12048863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.714340128000002 meters 0.01814178236342413 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.16, Z:0.11 [[ 9.97643749e-01 -6.68893571e-02 -1.52566012e-02 1.19919865e+01] [ 6.68867159e-02 9.97760342e-01 -6.83887226e-04 -1.61499306e-01] [ 1.52681764e-02 -3.38188131e-04 9.99883377e-01 1.13292084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.744340128000001 meters 0.018072178849439895 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.16, Z:0.11 [[ 9.97708526e-01 -6.58597545e-02 -1.54980879e-02 1.20197234e+01] [ 6.58568529e-02 9.97828837e-01 -6.98058782e-04 -1.60627066e-01] [ 1.55104130e-02 -3.24196094e-04 9.99879654e-01 1.13240193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.774340128000002 meters 0.017626320014865353 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.16, Z:0.11 [[ 9.97777055e-01 -6.47003444e-02 -1.59629078e-02 1.20489496e+01] [ 6.46970751e-02 9.97904689e-01 -7.21675740e-04 -1.59302451e-01] [ 1.59761532e-02 -3.12681947e-04 9.99872324e-01 1.13379322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.804340128000002 meters 0.016152890919837497 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.16, Z:0.11 [[ 9.97969695e-01 -6.15965847e-02 -1.61971797e-02 1.20777056e+01] [ 6.15927378e-02 9.98101093e-01 -7.36712509e-04 -1.58480821e-01] [ 1.62118018e-02 -2.62411886e-04 9.99868546e-01 1.14150756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.834340128000001 meters 0.015589770414404538 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.16, Z:0.11 [[ 9.98059517e-01 -6.00277018e-02 -1.65491974e-02 1.21052864e+01] [ 6.00234146e-02 9.98196683e-01 -7.56087308e-04 -1.57607365e-01] [ 1.65647401e-02 -2.38719202e-04 9.99862767e-01 1.14902977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.864340128000002 meters 0.014990212063716854 Centerline is valid? [True, True] Translation: X:12.13, Y:-0.16, Z:0.12 [[ 9.98173409e-01 -5.81450819e-02 -1.64010662e-02 1.21335474e+01] [ 5.81405914e-02 9.98308123e-01 -7.50882696e-04 -1.56181829e-01] [ 1.64169778e-02 -2.04056550e-04 9.99865212e-01 1.15479426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.894340128000001 meters 0.013863581241661992 Centerline is valid? [True, True] Translation: X:12.16, Y:-0.15, Z:0.12 [[ 9.98336073e-01 -5.52490793e-02 -1.65113579e-02 1.21621266e+01] [ 5.52440869e-02 9.98472591e-01 -7.58662255e-04 -1.53374230e-01] [ 1.65280537e-02 -1.54754996e-04 9.99863390e-01 1.15845584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.924340128 meters 0.013418727341994523 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.15, Z:0.12 [[ 9.98385999e-01 -5.41809885e-02 -1.70240495e-02 1.21898144e+01] [ 5.41754423e-02 9.98531122e-01 -7.87132500e-04 -1.51307388e-01] [ 1.70416909e-02 -1.36423347e-04 9.99854771e-01 1.15973505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.954340128000002 meters 0.013348570721595043 Centerline is valid? [True, True] Translation: X:12.22, Y:-0.15, Z:0.12 [[ 9.98411906e-01 -5.37657526e-02 -1.68199005e-02 1.22165823e+01] [ 5.37602137e-02 9.98553568e-01 -7.81607953e-04 -1.50424602e-01] [ 1.68375954e-02 -1.23874758e-04 9.99858230e-01 1.16041850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.984340128000001 meters 0.013395058211635832 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.15, Z:0.12 [[ 9.98403837e-01 -5.37789370e-02 -1.72511984e-02 1.22432505e+01] [ 5.37730727e-02 9.98552858e-01 -8.03955181e-04 -1.51268244e-01] [ 1.72694693e-02 -1.24978005e-04 9.99850864e-01 1.16400728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.014340128 meters 0.013098998769569489 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.15, Z:0.12 [[ 9.98361247e-01 -5.45168569e-02 -1.73992357e-02 1.22713222e+01] [ 5.45109391e-02 9.98512841e-01 -8.14547189e-04 -1.50744692e-01] [ 1.74177669e-02 -1.35236333e-04 9.99848290e-01 1.18110691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.044340128000002 meters 0.013840398170941893 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.15, Z:0.12 [[ 9.98292645e-01 -5.59635865e-02 -1.67293648e-02 1.22997505e+01] [ 5.59582576e-02 9.98432799e-01 -7.86841966e-04 -1.53567103e-01] [ 1.67471810e-02 -1.50647555e-04 9.99859745e-01 1.18685078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.074340128000001 meters 0.014108856114587273 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.15, Z:0.12 [[ 9.98220464e-01 -5.72485395e-02 -1.66886415e-02 1.23290380e+01] [ 5.72433699e-02 9.98359943e-01 -7.87684551e-04 -1.53329965e-01] [ 1.67063650e-02 -1.69031241e-04 9.99860425e-01 1.19704712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.104340128000002 meters 0.013833726308198428 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.15, Z:0.12 [[ 9.98153479e-01 -5.85223595e-02 -1.62716374e-02 1.23573353e+01] [ 5.85175632e-02 9.98286081e-01 -7.71137587e-04 -1.51652927e-01] [ 1.62888779e-02 -1.82462903e-04 9.99867311e-01 1.21323816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.134340128000002 meters 0.015489058698671647 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.15, Z:0.12 [[ 9.98000072e-01 -6.11318461e-02 -1.60858451e-02 1.23854661e+01] [ 6.11274717e-02 9.98129675e-01 -7.63934241e-04 -1.54094746e-01] [ 1.61024600e-02 -2.20880612e-04 9.99870323e-01 1.21293451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.164340128000001 meters 0.01538472459332508 Centerline is valid? [True, True] Translation: X:12.41, Y:-0.15, Z:0.12 [[ 9.97895044e-01 -6.27411839e-02 -1.64019666e-02 1.24145192e+01] [ 6.27368066e-02 9.98029800e-01 -7.81781983e-04 -1.52594924e-01] [ 1.64187013e-02 -2.48870638e-04 9.99865173e-01 1.22028809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.194340128000002 meters 0.01603330745116628 Centerline is valid? [True, True] Translation: X:12.44, Y:-0.15, Z:0.12 [[ 9.97761704e-01 -6.47027664e-02 -1.68859238e-02 1.24434053e+01] [ 6.46983272e-02 9.97904540e-01 -8.09619022e-04 -1.52452513e-01] [ 1.69029246e-02 -2.84684167e-04 9.99857095e-01 1.21937841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.224340128000001 meters 0.01894859589163586 Centerline is valid? [True, True] Translation: X:12.47, Y:-0.16, Z:0.12 [[ 9.97570256e-01 -6.74572182e-02 -1.74099770e-02 1.24709463e+01] [ 6.74528539e-02 9.97722110e-01 -8.38448183e-04 -1.55918910e-01] [ 1.74268784e-02 -3.37941665e-04 9.99848083e-01 1.20822043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.254340128 meters 0.017934799961141702 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.15, Z:0.12 [[ 9.97468525e-01 -6.89554460e-02 -1.73691967e-02 1.24996160e+01] [ 6.89512727e-02 9.97619675e-01 -8.39732689e-04 -1.52939014e-01] [ 1.73857565e-02 -3.60021291e-04 9.99848791e-01 1.21989640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.284340128000002 meters 0.018349392297562838 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.15, Z:0.12 [[ 9.97396492e-01 -6.99230337e-02 -1.76353890e-02 1.25283923e+01] [ 6.99187960e-02 9.97552318e-01 -8.57507694e-04 -1.51871006e-01] [ 1.76521827e-02 -3.77769999e-04 9.99844117e-01 1.22151089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.314340128000001 meters 0.019027624749810092 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.15, Z:0.12 [[ 9.97348333e-01 -7.04996826e-02 -1.80581715e-02 1.25563141e+01] [ 7.04952693e-02 9.97511724e-01 -8.81630355e-04 -1.50981245e-01] [ 1.80753925e-02 -3.93723101e-04 9.99836549e-01 1.21761838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.344340128 meters 0.018965553528226743 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.15, Z:0.12 [[ 9.97329587e-01 -7.06681005e-02 -1.84313461e-02 1.25838985e+01] [ 7.06634639e-02 9.97499804e-01 -9.03520657e-04 -1.49037759e-01] [ 1.84491142e-02 -4.01314875e-04 9.99829720e-01 1.22355054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.374340128000002 meters 0.019479864415328136 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.15, Z:0.12 [[ 9.97340340e-01 -7.04473152e-02 -1.86928171e-02 1.26105606e+01] [ 7.04424271e-02 9.97515422e-01 -9.20625691e-04 -1.47816097e-01] [ 1.87112290e-02 -3.98590270e-04 9.99824850e-01 1.22560497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.404340128000001 meters 0.018932323178078192 Centerline is valid? [True, True] Translation: X:12.64, Y:-0.14, Z:0.12 [[ 9.97360493e-01 -7.01884116e-02 -1.85912138e-02 1.26397114e+01] [ 7.01834630e-02 9.97533677e-01 -9.19304589e-04 -1.44690934e-01] [ 1.86098864e-02 -3.87917689e-04 9.99826746e-01 1.23212955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.434340128000002 meters 0.01804440090460161 Centerline is valid? [True, True] Translation: X:12.67, Y:-0.14, Z:0.12 [[ 9.97436442e-01 -6.90468603e-02 -1.87902822e-02 1.26686423e+01] [ 6.90415063e-02 9.97613351e-01 -9.34271653e-04 -1.39700047e-01] [ 1.88099449e-02 -3.65432793e-04 9.99823011e-01 1.23605310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.464340128000002 meters 0.018666936642518298 Centerline is valid? [True, True] Translation: X:12.70, Y:-0.14, Z:0.12 [[ 9.97467081e-01 -6.84267406e-02 -1.94217285e-02 1.26967514e+01] [ 6.84208314e-02 9.97656078e-01 -9.69361863e-04 -1.38015158e-01] [ 1.94425358e-02 -3.61944264e-04 9.99810911e-01 1.22885921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.494340128000001 meters 0.018222264008713535 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.13, Z:0.12 [[ 9.97437480e-01 -6.87205533e-02 -1.98986957e-02 1.27248059e+01] [ 6.87143270e-02 9.97635879e-01 -9.97269663e-04 -1.34304395e-01] [ 1.99201857e-02 -3.72611347e-04 9.99801504e-01 1.22308375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.524340128000002 meters 0.018904014471537185 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.13, Z:0.12 [[ 9.97347415e-01 -6.99808188e-02 -2.00204396e-02 1.27536009e+01] [ 6.99746539e-02 9.97548259e-01 -1.00915437e-03 -1.33177999e-01] [ 2.00419761e-02 -3.94445831e-04 9.99799062e-01 1.22231568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.554340128000002 meters 0.018779584092152093 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.13, Z:0.12 [[ 9.97271262e-01 -7.12273292e-02 -1.94087019e-02 1.27821880e+01] [ 7.12216707e-02 9.97460027e-01 -9.83491402e-04 -1.31386773e-01] [ 1.94294558e-02 -4.01512464e-04 9.99811150e-01 1.23352761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.584340128000001 meters 0.019984096959826676 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.13, Z:0.13 [[ 9.97036442e-01 -7.46635344e-02 -1.85388892e-02 1.28111670e+01] [ 7.46588730e-02 9.97208685e-01 -9.44386095e-04 -1.31356954e-01] [ 1.85576525e-02 -4.42505220e-04 9.99827694e-01 1.25394598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.614340128000002 meters 0.021424704528103338 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.13, Z:0.13 [[ 9.96919643e-01 -7.63178166e-02 -1.80780385e-02 1.28389343e+01] [ 7.63135937e-02 9.97083437e-01 -9.24343848e-04 -1.31841386e-01] [ 1.80958567e-02 -4.58103549e-04 9.99836152e-01 1.26030344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.644340128000001 meters 0.02116838404229932 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.13, Z:0.13 [[ 9.96766574e-01 -7.84475862e-02 -1.73888686e-02 1.28677891e+01] [ 7.84439499e-02 9.96918126e-01 -8.92146118e-04 -1.29359122e-01] [ 1.74052650e-02 -4.74790107e-04 9.99848404e-01 1.27286331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.674340128 meters 0.02277510593112933 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.13, Z:0.13 [[ 9.96559607e-01 -8.11477293e-02 -1.68521461e-02 1.28953642e+01] [ 8.11446434e-02 9.96701958e-01 -8.67943247e-04 -1.29665847e-01] [ 1.68669987e-02 -5.02504206e-04 9.99857616e-01 1.28462766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.704340128000002 meters 0.023383653792388333 Centerline is valid? [True, True] Translation: X:12.92, Y:-0.13, Z:0.13 [[ 9.96463290e-01 -8.23808243e-02 -1.65623650e-02 1.29236717e+01] [ 8.23779871e-02 9.96600791e-01 -8.54630550e-04 -1.28548299e-01] [ 1.65764713e-02 -5.12766322e-04 9.99862469e-01 1.28992257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.734340128000001 meters 0.024292661296054268 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.13, Z:0.13 [[ 9.96368667e-01 -8.35198114e-02 -1.65505216e-02 1.29516380e+01] [ 8.35171083e-02 9.96505976e-01 -8.55637770e-04 -1.27601087e-01] [ 1.65641564e-02 -5.29721040e-04 9.99862665e-01 1.29405650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.764340128 meters 0.024553188287409967 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.13, Z:0.13 [[ 9.96313597e-01 -8.42363476e-02 -1.62312991e-02 1.29801784e+01] [ 8.42337991e-02 9.96445663e-01 -8.41822465e-04 -1.25335572e-01] [ 1.62445196e-02 -5.28504819e-04 9.99867909e-01 1.29933029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.794340128000002 meters 0.024924977650889666 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.12, Z:0.13 [[ 9.96258390e-01 -8.50168120e-02 -1.55358407e-02 1.30084591e+01] [ 8.50145082e-02 9.96379384e-01 -8.09852135e-04 -1.21833055e-01] [ 1.55484425e-02 -5.13949875e-04 9.99878984e-01 1.30871484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.824340128000001 meters 0.025878769828882046 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.12, Z:0.13 [[ 9.96295077e-01 -8.46254480e-02 -1.53184030e-02 1.30362017e+01] [ 8.46231139e-02 9.96412709e-01 -8.01654638e-04 -1.20323136e-01] [ 1.53312918e-02 -4.97606391e-04 9.99882345e-01 1.31112495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.854340128000002 meters 0.023631180314174622 Centerline is valid? [True, True] Translation: X:13.06, Y:-0.11, Z:0.13 [[ 9.96375910e-01 -8.37757565e-02 -1.47196825e-02 1.30647259e+01] [ 8.37734754e-02 9.96484525e-01 -7.72579291e-04 -1.13091958e-01] [ 1.47326592e-02 -4.63339563e-04 9.99891361e-01 1.32944486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.884340128000002 meters 0.02280374675958965 Centerline is valid? [True, True] Translation: X:13.09, Y:-0.11, Z:0.13 [[ 9.96438794e-01 -8.29951080e-02 -1.48842625e-02 1.30933002e+01] [ 8.29926273e-02 9.96549852e-01 -7.85335692e-04 -1.09263266e-01] [ 1.48980886e-02 -4.52745101e-04 9.99888915e-01 1.33354479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.914340128000001 meters 0.02321508038452688 Centerline is valid? [True, True] Translation: X:13.12, Y:-0.11, Z:0.13 [[ 9.96528430e-01 -8.19455674e-02 -1.46973501e-02 1.31208931e+01] [ 8.19429882e-02 9.96636714e-01 -7.78616304e-04 -1.07280103e-01] [ 1.47117228e-02 -4.28431501e-04 9.99891685e-01 1.33459111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.944340128000002 meters 0.02124489727644146 Centerline is valid? [True, True] Translation: X:13.15, Y:-0.10, Z:0.13 [[ 9.96796320e-01 -7.86442549e-02 -1.45663498e-02 1.31496580e+01] [ 7.86413501e-02 9.96902674e-01 -7.72990026e-04 -1.00533564e-01] [ 1.45820243e-02 -3.75003799e-04 9.99893606e-01 1.34541711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.974340128000001 meters 0.021087822275770364 Centerline is valid? [True, True] Translation: X:13.18, Y:-0.10, Z:0.13 [[ 9.96927342e-01 -7.70283932e-02 -1.42303175e-02 1.31776987e+01] [ 7.70254397e-02 9.97028841e-01 -7.56319612e-04 -9.74024230e-02] [ 1.42462950e-02 -3.42100760e-04 9.99898458e-01 1.34646718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.004340128 meters 0.019478540015573895 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.09, Z:0.13 [[ 9.97067750e-01 -7.50937911e-02 -1.47249323e-02 1.32062060e+01] [ 7.50903841e-02 9.97176423e-01 -7.84903446e-04 -9.22467510e-02] [ 1.47422967e-02 -3.23098912e-04 9.99891274e-01 1.34951912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.034340128000002 meters 0.017841011135913992 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.09, Z:0.13 [[ 9.97373971e-01 -7.08665515e-02 -1.49363182e-02 1.32341697e+01] [ 7.08625264e-02 9.97485771e-01 -7.99217967e-04 -8.59523204e-02] [ 1.49554027e-02 -2.61306045e-04 9.99888128e-01 1.34891675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.064340128000001 meters 0.0171790561994936 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.08, Z:0.13 [[ 9.97495124e-01 -6.91092174e-02 -1.50795567e-02 1.32617947e+01] [ 6.91048952e-02 9.97609072e-01 -8.08127301e-04 -8.21094546e-02] [ 1.50993516e-02 -2.35968144e-04 9.99885970e-01 1.34998983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.094340128 meters 0.016095567228250174 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.08, Z:0.14 [[ 9.97593084e-01 -6.76150368e-02 -1.53703054e-02 1.32909104e+01] [ 6.76103315e-02 9.97711462e-01 -8.26142205e-04 -7.75965250e-02] [ 1.53909895e-02 -2.15037697e-04 9.99881529e-01 1.35209290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.124340128000002 meters 0.015455654160930817 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.07, Z:0.14 [[ 9.97770418e-01 -6.49321095e-02 -1.54276774e-02 1.33188897e+01] [ 6.49269995e-02 9.97889669e-01 -8.32388547e-04 -7.33747918e-02] [ 1.54491687e-02 -1.71140137e-04 9.99880640e-01 1.35264561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.154340128000001 meters 0.014984463740940862 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.07, Z:0.14 [[ 9.97796949e-01 -6.45293044e-02 -1.54018388e-02 1.33470556e+01] [ 6.45241229e-02 9.97915799e-01 -8.33625117e-04 -6.99202141e-02] [ 1.54235315e-02 -1.62001537e-04 9.99881037e-01 1.35578996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.184340128000002 meters 0.014894605318963675 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.07, Z:0.14 [[ 9.97834604e-01 -6.38882991e-02 -1.56329551e-02 1.33752959e+01] [ 6.38828268e-02 9.97957044e-01 -8.49680109e-04 -6.75630102e-02] [ 1.56553023e-02 -1.50837147e-04 9.99877437e-01 1.35386538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.214340128000002 meters 0.015458019730452414 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.07, Z:0.13 [[ 9.97803906e-01 -6.42348591e-02 -1.61631389e-02 1.34033893e+01] [ 6.42290299e-02 9.97934796e-01 -8.80030760e-04 -6.60019107e-02] [ 1.61862874e-02 -1.60044603e-04 9.99868981e-01 1.34654234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.244340128000001 meters 0.015221217214209834 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.06, Z:0.14 [[ 9.97751316e-01 -6.51265208e-02 -1.58381502e-02 1.34312221e+01] [ 6.51209933e-02 9.97877000e-01 -8.65027887e-04 -6.36608384e-02] [ 1.58608621e-02 -1.68313358e-04 9.99874194e-01 1.35539544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.274340128000002 meters 0.015280738353738653 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.06, Z:0.14 [[ 9.97674172e-01 -6.63475353e-02 -1.56285192e-02 1.34599081e+01] [ 6.63422334e-02 9.97796558e-01 -8.58020727e-04 -6.17561286e-02] [ 1.56510102e-02 -1.80805747e-04 9.99877499e-01 1.36477256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.304340128000002 meters 0.01662070427469189 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.06, Z:0.14 [[ 9.97470167e-01 -6.95436138e-02 -1.47292626e-02 1.34876745e+01] [ 6.95392095e-02 9.97578889e-01 -8.11587217e-04 -6.25552962e-02] [ 1.47500421e-02 -2.14727240e-04 9.99891189e-01 1.37869696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.334340128000001 meters 0.018225727138091195 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.06, Z:0.14 [[ 9.97325924e-01 -7.17967450e-02 -1.36466006e-02 1.35154278e+01] [ 7.17931561e-02 9.97419258e-01 -7.53329289e-04 -6.37965894e-02] [ 1.36654688e-02 -2.28417697e-04 9.99906597e-01 1.38551416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.364340128000002 meters 0.017337256716884266 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.06, Z:0.14 [[ 9.97145147e-01 -7.43386035e-02 -1.32411305e-02 1.35438549e+01] [ 7.43354184e-02 9.97233026e-01 -7.33232062e-04 -6.03842246e-02] [ 1.32590000e-02 -2.53146180e-04 9.99912064e-01 1.39988131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.394340128000001 meters 0.019646314985182944 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.06, Z:0.14 [[ 9.96875288e-01 -7.78940434e-02 -1.31216634e-02 1.35720949e+01] [ 7.78911835e-02 9.96961600e-01 -7.29641861e-04 -6.18849283e-02] [ 1.31386293e-02 -2.94699948e-04 9.99913641e-01 1.39384681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.424340128 meters 0.01958677687152802 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.06, Z:0.14 [[ 9.96753919e-01 -7.94274838e-02 -1.31491113e-02 1.36008222e+01] [ 7.94247202e-02 9.96840597e-01 -7.33066110e-04 -5.98661304e-02] [ 1.31657936e-02 -3.13677970e-04 9.99913278e-01 1.39421552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.454340128000002 meters 0.020906847647769802 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.06, Z:0.14 [[ 9.96577397e-01 -8.14619601e-02 -1.40513292e-02 1.36289331e+01] [ 8.14589601e-02 9.96676386e-01 -7.86657972e-04 -5.89563660e-02] [ 1.40687107e-02 -3.60641109e-04 9.99900966e-01 1.38312400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.484340128000001 meters 0.021319897305846883 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.06, Z:0.14 [[ 9.96523441e-01 -8.20564833e-02 -1.44140887e-02 1.36576632e+01] [ 8.20533563e-02 9.96627609e-01 -8.09201917e-04 -5.72020665e-02] [ 1.44318790e-02 -3.76335676e-04 9.99895784e-01 1.37559034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.514340128000002 meters 0.021728040264718435 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.06, Z:0.14 [[ 9.96490784e-01 -8.23916147e-02 -1.47560170e-02 1.36841792e+01] [ 8.23883188e-02 9.96599956e-01 -8.32150377e-04 -5.55316709e-02] [ 1.47744082e-02 -3.86493256e-04 9.99890778e-01 1.37228678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.544340128000002 meters 0.021728040264718435 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.05, Z:0.14 [[ 9.96465595e-01 -8.26957261e-02 -1.47558150e-02 1.37117084e+01] [ 8.26924107e-02 9.96574767e-01 -8.35719407e-04 -5.38024980e-02] [ 1.47743834e-02 -3.87428282e-04 9.99890778e-01 1.37497677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.574340128000001 meters 0.022046609805927205 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.05, Z:0.14 [[ 9.96487432e-01 -8.22992527e-02 -1.54800142e-02 1.37396833e+01] [ 8.22954991e-02 9.96607584e-01 -8.80411259e-04 -5.20747202e-02] [ 1.54999568e-02 -3.96616742e-04 9.99879790e-01 1.36430446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.604340128000002 meters 0.02048415991119791 Centerline is valid? [True, True] Translation: X:13.77, Y:-0.05, Z:0.14 [[ 9.96489878e-01 -8.22028367e-02 -1.58308612e-02 1.37673406e+01] [ 8.21988534e-02 9.96615539e-01 -9.03236526e-04 -4.83510812e-02] [ 1.58515309e-02 -4.01212587e-04 9.99874276e-01 1.36984448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.634340128000002 meters 0.020989371965873888 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.05, Z:0.14 [[ 9.96518995e-01 -8.18395062e-02 -1.58804471e-02 1.37955218e+01] [ 8.18353881e-02 9.96645444e-01 -9.10073905e-04 -4.78757994e-02] [ 1.59016552e-02 -3.92676615e-04 9.99873484e-01 1.36765068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.664340128000001 meters 0.019980338120776025 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.04, Z:0.14 [[ 9.96543001e-01 -8.15011806e-02 -1.61122776e-02 1.38247072e+01] [ 8.14968451e-02 9.96673169e-01 -9.26584660e-04 -4.49544422e-02] [ 1.61341925e-02 -3.89718332e-04 9.99869759e-01 1.37504573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.694340128000002 meters 0.02000746925506253 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.04, Z:0.14 [[ 9.96628678e-01 -8.05615793e-02 -1.55277476e-02 1.38523782e+01] [ 8.05573892e-02 9.96749569e-01 -8.96148965e-04 -4.43770817e-02] [ 1.55494709e-02 -3.57747046e-04 9.99879036e-01 1.37908205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.724340128000001 meters 0.019657513658977513 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.04, Z:0.14 [[ 9.96660216e-01 -8.01921682e-02 -1.54152756e-02 1.38817262e+01] [ 8.01879578e-02 9.96779362e-01 -8.92036670e-04 -4.27101764e-02] [ 1.54371630e-02 -3.47062012e-04 9.99880780e-01 1.38417771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.754340128 meters 0.02057698786134556 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.04, Z:0.14 [[ 9.96699252e-01 -7.96978624e-02 -1.54548470e-02 1.39095964e+01] [ 7.96935199e-02 9.96819009e-01 -8.97614623e-04 -4.30375298e-02] [ 1.54772232e-02 -3.36999331e-04 9.99880164e-01 1.38316706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.784340128000002 meters 0.019570983727718566 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.04, Z:0.14 [[ 9.96727471e-01 -7.93684414e-02 -1.53296964e-02 1.39383907e+01] [ 7.93640860e-02 9.96845296e-01 -8.93216729e-04 -3.98935989e-02] [ 1.53522289e-02 -3.26333691e-04 9.99882094e-01 1.38750900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.814340128000001 meters 0.01930782744574645 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.04, Z:0.14 [[ 9.96737888e-01 -7.92741286e-02 -1.51391811e-02 1.39660490e+01] [ 7.92698063e-02 9.96852804e-01 -8.86309414e-04 -3.80544445e-02] [ 1.51617965e-02 -3.16661777e-04 9.99885003e-01 1.38720678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.844340128 meters 0.01930068070898287 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.04, Z:0.14 [[ 9.96767745e-01 -7.88134802e-02 -1.55723670e-02 1.39934498e+01] [ 7.88087945e-02 9.96889330e-01 -9.15281709e-04 -3.68996191e-02] [ 1.55960630e-02 -3.14916184e-04 9.99878324e-01 1.38597315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.874340128000002 meters 0.01840932576425565 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.04, Z:0.14 [[ 9.96781505e-01 -7.85877210e-02 -1.58303992e-02 1.40216367e+01] [ 7.85828056e-02 9.96907153e-01 -9.33264921e-04 -3.50392949e-02] [ 1.58547813e-02 -3.13735967e-04 9.99874256e-01 1.38891856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.904340128000001 meters 0.01829829295028844 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.03, Z:0.14 [[ 9.96806012e-01 -7.82242950e-02 -1.60851929e-02 1.40496174e+01] [ 7.82190920e-02 9.96935738e-01 -9.53296868e-04 -3.37482570e-02] [ 1.61104747e-02 -3.07917139e-04 9.99870170e-01 1.39671802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.934340128000002 meters 0.017789956878326442 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.03, Z:0.14 [[ 9.96821832e-01 -7.81312273e-02 -1.55482236e-02 1.40776039e+01] [ 7.81262815e-02 9.96943041e-01 -9.26174932e-04 -3.15626051e-02] [ 1.55730565e-02 -2.91493505e-04 9.99878690e-01 1.40602775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.964340128000002 meters 0.017602334503897747 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.03, Z:0.14 [[ 9.96817030e-01 -7.82243312e-02 -1.53870646e-02 1.41053937e+01] [ 7.82194250e-02 9.96935742e-01 -9.21338179e-04 -2.95408653e-02] [ 1.54119857e-02 -2.85161756e-04 9.99881188e-01 1.41303734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.994340128000001 meters 0.017342708999090403 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.03, Z:0.14 [[ 9.96830530e-01 -7.81996281e-02 -1.46188996e-02 1.41329237e+01] [ 7.81951323e-02 9.96937685e-01 -8.79748716e-04 -2.69351353e-02] [ 1.46429279e-02 -2.66166408e-04 9.99892751e-01 1.42267865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.024340128000002 meters 0.017407545253209145 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.03, Z:0.14 [[ 9.96823058e-01 -7.83050740e-02 -1.45638845e-02 1.41595783e+01] [ 7.83005696e-02 9.96929409e-01 -8.80117202e-04 -2.52708405e-02] [ 1.45880825e-02 -2.63039335e-04 9.99893554e-01 1.43054190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.054340128000002 meters 0.018146468914470804 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.02, Z:0.14 [[ 9.96800867e-01 -7.86448800e-02 -1.42483406e-02 1.41862371e+01] [ 7.86405764e-02 9.96902661e-01 -8.62936864e-04 -2.46156314e-02] [ 1.42720743e-02 -2.60321507e-04 9.99898115e-01 1.43710819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.084340128000001 meters 0.017400836717021924 Centerline is valid? [True, True] Translation: X:14.21, Y:-0.02, Z:0.14 [[ 9.96762833e-01 -7.92008647e-02 -1.38230632e-02 1.42138465e+01] [ 7.91968327e-02 9.96858644e-01 -8.39706856e-04 -2.16785881e-02] [ 1.38461455e-02 -2.57754238e-04 9.99904104e-01 1.44838955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.114340128000002 meters 0.017414518571668782 Centerline is valid? [True, True] Translation: X:14.24, Y:-0.02, Z:0.15 [[ 9.96691940e-01 -8.02491964e-02 -1.28547015e-02 1.42429445e+01] [ 8.02457495e-02 9.96774801e-01 -7.84543149e-04 -1.92697590e-02] [ 1.28762015e-02 -2.49587322e-04 9.99917067e-01 1.46843943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.144340128000001 meters 0.017652549657327862 Centerline is valid? [True, True] Translation: X:14.27, Y:-0.02, Z:0.15 [[ 9.96679395e-01 -8.04201250e-02 -1.27588175e-02 1.42699017e+01] [ 8.04167042e-02 9.96761026e-01 -7.81750639e-04 -1.71195958e-02] [ 1.27803605e-02 -2.46867303e-04 9.99918297e-01 1.47394123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.174340128 meters 0.018662966043749892 Centerline is valid? [True, True] Translation: X:14.30, Y:-0.02, Z:0.15 [[ 9.96676638e-01 -8.04220777e-02 -1.29603116e-02 1.42971482e+01] [ 8.04185219e-02 9.96760868e-01 -7.96112943e-04 -1.58918662e-02] [ 1.29823565e-02 -2.48781931e-04 9.99915695e-01 1.47591582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.204340128000002 meters 0.017196961441884012 Centerline is valid? [True, True] Translation: X:14.33, Y:-0.01, Z:0.15 [[ 9.96776776e-01 -7.90428720e-02 -1.37216116e-02 1.43260796e+01] [ 7.90387113e-02 9.96871188e-01 -8.46097284e-04 -9.96633299e-03] [ 1.37455572e-02 -2.41168375e-04 9.99905496e-01 1.47994988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.234340128000001 meters 0.016717415964215398 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.01, Z:0.15 [[ 9.96839060e-01 -7.81894104e-02 -1.40820557e-02 1.43546086e+01] [ 7.81848896e-02 9.96938495e-01 -8.72122195e-04 -6.21719528e-03] [ 1.41071341e-02 -2.31638499e-04 9.99900463e-01 1.48354425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.264340128000002 meters 0.01583183079060945 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.00, Z:0.15 [[ 9.96907604e-01 -7.72589526e-02 -1.43625757e-02 1.43833261e+01] [ 7.72540974e-02 9.97011036e-01 -8.93379370e-04 -1.39755637e-03] [ 1.43886680e-02 -2.18951137e-04 9.99896454e-01 1.49226662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.294340128000002 meters 0.014897408701802239 Centerline is valid? [True, True] Translation: X:14.41, Y:0.00, Z:0.15 [[ 9.97055389e-01 -7.53176350e-02 -1.44154159e-02 1.44116839e+01] [ 7.53124846e-02 9.97159575e-01 -9.00584900e-04 4.50745591e-03] [ 1.44422999e-02 -1.87727757e-04 9.99895687e-01 1.49871964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.324340128000001 meters 0.01490739132402775 Centerline is valid? [True, True] Translation: X:14.44, Y:0.01, Z:0.15 [[ 9.97085785e-01 -7.47987453e-02 -1.50028328e-02 1.44383527e+01] [ 7.47930559e-02 9.97198633e-01 -9.40740455e-04 7.19151127e-03] [ 1.50311706e-02 -1.84108780e-04 9.99887009e-01 1.50120953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.354340128000002 meters 0.014859536342456783 Centerline is valid? [True, True] Translation: X:14.47, Y:0.01, Z:0.15 [[ 9.97114935e-01 -7.43142306e-02 -1.54661480e-02 1.44650011e+01] [ 7.43080935e-02 9.97234858e-01 -9.71895483e-04 1.13837335e-02] [ 1.54956076e-02 -1.80168471e-04 9.99879920e-01 1.50157369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.384340128000002 meters 0.014906377271723744 Centerline is valid? [True, True] Translation: X:14.49, Y:0.01, Z:0.15 [[ 9.97061443e-01 -7.50190702e-02 -1.55118432e-02 1.44925875e+01] [ 7.50129349e-02 9.97182081e-01 -9.77797455e-04 1.43754461e-02] [ 1.55414856e-02 -1.88664744e-04 9.99879206e-01 1.50571209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.414340128000001 meters 0.014973334022748959 Centerline is valid? [True, True] Translation: X:14.52, Y:0.02, Z:0.15 [[ 9.97011337e-01 -7.57437047e-02 -1.52080301e-02 1.45209680e+01] [ 7.57378223e-02 9.97127301e-01 -9.63195419e-04 1.70659033e-02] [ 1.52372980e-02 -1.91506329e-04 9.99883887e-01 1.51398641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.444340128000002 meters 0.015376187493267414 Centerline is valid? [True, True] Translation: X:14.55, Y:0.02, Z:0.15 [[ 9.96943914e-01 -7.66498849e-02 -1.50873130e-02 1.45485415e+01] [ 7.66441435e-02 9.97058050e-01 -9.59245122e-04 1.90544769e-02] [ 1.51164529e-02 -2.00040593e-04 9.99885720e-01 1.52124699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.474340128000001 meters 0.016066160337805276 Centerline is valid? [True, True] Translation: X:14.58, Y:0.02, Z:0.15 [[ 9.96793896e-01 -7.85715145e-02 -1.51144192e-02 1.45770937e+01] [ 7.85659309e-02 9.96908454e-01 -9.63760678e-04 2.07551250e-02] [ 1.51434164e-02 -2.26807653e-04 9.99885306e-01 1.52896773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.504340128 meters 0.016825963766291852 Centerline is valid? [True, True] Translation: X:14.61, Y:0.02, Z:0.15 [[ 9.96707273e-01 -7.96250356e-02 -1.53122939e-02 1.46053443e+01] [ 7.96193814e-02 9.96824857e-01 -9.79491503e-04 2.15252961e-02] [ 1.53416672e-02 -2.42889064e-04 9.99882280e-01 1.53280356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.534340128000002 meters 0.017393862544855008 Centerline is valid? [True, True] Translation: X:14.63, Y:0.02, Z:0.15 [[ 9.96603014e-01 -8.09082370e-02 -1.53717271e-02 1.46346409e+01] [ 8.09026549e-02 9.96721520e-01 -9.85656458e-04 2.30524050e-02] [ 1.54010790e-02 -2.61305340e-04 9.99881362e-01 1.54273225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.564340128000001 meters 0.016909373711936744 Centerline is valid? [True, True] Translation: X:14.66, Y:0.03, Z:0.16 [[ 9.96519851e-01 -8.19859797e-02 -1.50494492e-02 1.46629069e+01] [ 8.19806933e-02 9.96633447e-01 -9.68888870e-04 2.64673704e-02] [ 1.50782198e-02 -2.68247289e-04 9.99886281e-01 1.55507611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.594340128000002 meters 0.017257026839005363 Centerline is valid? [True, True] Translation: X:14.69, Y:0.03, Z:0.16 [[ 9.96432841e-01 -8.30782044e-02 -1.48191113e-02 1.46913671e+01] [ 8.30731406e-02 9.96542992e-01 -9.58016957e-04 3.06694647e-02] [ 1.48474719e-02 -2.76470561e-04 9.99889732e-01 1.56071578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.624340128000002 meters 0.01679889139358105 Centerline is valid? [True, True] Translation: X:14.72, Y:0.03, Z:0.16 [[ 9.96418264e-01 -8.32570318e-02 -1.47956306e-02 1.47190957e+01] [ 8.32519412e-02 9.96528069e-01 -9.60716579e-04 3.47492846e-02] [ 1.48242476e-02 -2.74489426e-04 9.99890077e-01 1.56230797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.654340128000001 meters 0.01794530365934548 Centerline is valid? [True, True] Translation: X:14.75, Y:0.04, Z:0.16 [[ 9.96421501e-01 -8.32056761e-02 -1.48663412e-02 1.47463267e+01] [ 8.32004744e-02 9.96532359e-01 -9.69106115e-04 3.59474096e-02] [ 1.48954252e-02 -2.71248474e-04 9.99889020e-01 1.56026769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.684340128000002 meters 0.01728670926526105 Centerline is valid? [True, True] Translation: X:14.77, Y:0.04, Z:0.16 [[ 9.96410715e-01 -8.32644519e-02 -1.52550776e-02 1.47737630e+01] [ 8.32589348e-02 9.96527448e-01 -9.97497555e-04 4.12663340e-02] [ 1.52851596e-02 -2.76204258e-04 9.99883137e-01 1.56484083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.714340128000002 meters 0.01851608236733251 Centerline is valid? [True, True] Translation: X:14.80, Y:0.04, Z:0.16 [[ 9.96369214e-01 -8.37668781e-02 -1.52151262e-02 1.48018902e+01] [ 8.37613953e-02 9.96485340e-01 -9.98372119e-04 4.22506252e-02] [ 1.52452807e-02 -2.79692955e-04 9.99883745e-01 1.55683423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.744340128000001 meters 0.017635388652535753 Centerline is valid? [True, True] Translation: X:14.83, Y:0.05, Z:0.16 [[ 9.96289729e-01 -8.46245275e-02 -1.56673512e-02 1.48302475e+01] [ 8.46187800e-02 9.96412866e-01 -1.03059191e-03 4.65264708e-02] [ 1.56983637e-02 -2.98984013e-04 9.99876728e-01 1.56275679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.774340128000002 meters 0.018723864401283798 Centerline is valid? [True, True] Translation: X:14.86, Y:0.05, Z:0.16 [[ 9.96093523e-01 -8.69567930e-02 -1.53691061e-02 1.48584999e+01] [ 8.69514874e-02 9.96212031e-01 -1.01436454e-03 4.85127882e-02] [ 1.53990943e-02 -3.25964691e-04 9.99881374e-01 1.56276199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.804340128000002 meters 0.019197822607729707 Centerline is valid? [True, True] Translation: X:14.89, Y:0.05, Z:0.16 [[ 9.95953475e-01 -8.85882647e-02 -1.51259975e-02 1.48870300e+01] [ 8.85832706e-02 9.96068272e-01 -1.00115825e-03 5.11711769e-02] [ 1.51552171e-02 -3.42803292e-04 9.99885094e-01 1.56770822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.834340128000001 meters 0.022064003287698884 Centerline is valid? [True, True] Translation: X:14.91, Y:0.05, Z:0.16 [[ 9.95798429e-01 -9.03693298e-02 -1.47943491e-02 1.49149262e+01] [ 9.03646891e-02 9.95908257e-01 -9.83232487e-04 5.00268460e-02] [ 1.48226685e-02 -3.57785390e-04 9.99890074e-01 1.56587429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.864340128000002 meters 0.02345694653763842 Centerline is valid? [True, True] Translation: X:14.94, Y:0.05, Z:0.16 [[ 9.95469878e-01 -9.39563174e-02 -1.45579075e-02 1.49437048e+01] [ 9.39521464e-02 9.95576240e-01 -9.71666057e-04 5.17850718e-02] [ 1.45848009e-02 -4.00482362e-04 9.99893556e-01 1.57125048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.894340128000001 meters 0.025034062308284033 Centerline is valid? [True, True] Translation: X:14.97, Y:0.05, Z:0.16 [[ 9.95316830e-01 -9.55946320e-02 -1.43552545e-02 1.49716974e+01] [ 9.55906991e-02 9.95420260e-01 -9.61444346e-04 5.23504206e-02] [ 1.43814201e-02 -4.15287077e-04 9.99896496e-01 1.57145408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.924340128000003 meters 0.026052132045062192 Centerline is valid? [True, True] Translation: X:15.00, Y:0.05, Z:0.16 [[ 9.95165836e-01 -9.72076028e-02 -1.39871341e-02 1.50006844e+01] [ 9.72039971e-02 9.95264036e-01 -9.39002159e-04 5.38066723e-02] [ 1.40121697e-02 -4.25142478e-04 9.99901734e-01 1.57357340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.954340128000002 meters 0.027643855064276763 Centerline is valid? [True, True] Translation: X:15.03, Y:0.06, Z:0.16 [[ 9.94945147e-01 -9.95199971e-02 -1.34136211e-02 1.50291699e+01] [ 9.95168405e-02 9.95035467e-01 -9.04255201e-04 5.58485136e-02] [ 1.34370202e-02 -4.35196866e-04 9.99909624e-01 1.57667892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.984340128000001 meters 0.028079418837382235 Centerline is valid? [True, True] Translation: X:15.06, Y:0.06, Z:0.16 [[ 9.94869236e-01 -1.00306829e-01 -1.31811553e-02 1.50581141e+01] [ 1.00303800e-01 9.94956457e-01 -8.92316058e-04 5.85487014e-02] [ 1.32041810e-02 -4.34382172e-04 9.99912727e-01 1.57929370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.014340128 meters 0.028631612904166177 Centerline is valid? [True, True] Translation: X:15.09, Y:0.06, Z:0.16 [[ 9.94822846e-01 -1.00821499e-01 -1.27487527e-02 1.50856761e+01] [ 1.00818661e-01 9.94904441e-01 -8.66702847e-04 6.12487225e-02] [ 1.27711730e-02 -4.23096386e-04 9.99918356e-01 1.58005414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.044340127999998 meters 0.02774401783449204 Centerline is valid? [True, True] Translation: X:15.11, Y:0.07, Z:0.16 [[ 9.94952237e-01 -9.94295463e-02 -1.35577075e-02 1.51140878e+01] [ 9.94261480e-02 9.95044513e-01 -9.26123585e-04 6.65361450e-02] [ 1.35826065e-02 -4.26541899e-04 9.99907661e-01 1.57069313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.074340128 meters 0.027139802123558127 Centerline is valid? [True, True] Translation: X:15.14, Y:0.07, Z:0.16 [[ 9.95033273e-01 -9.85403963e-02 -1.40916692e-02 1.51428696e+01] [ 9.85365786e-02 9.95132960e-01 -9.66665387e-04 7.05787098e-02] [ 1.41183401e-02 -4.26680645e-04 9.99900240e-01 1.56467175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.104340128 meters 0.025492928747172214 Centerline is valid? [True, True] Translation: X:15.17, Y:0.08, Z:0.16 [[ 9.95344939e-01 -9.52266724e-02 -1.48435975e-02 1.51702819e+01] [ 9.52220180e-02 9.95455536e-01 -1.02161587e-03 7.67898807e-02] [ 1.48734264e-02 -3.96577131e-04 9.99889306e-01 1.55505213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.134340128 meters 0.023877350745177984 Centerline is valid? [True, True] Translation: X:15.20, Y:0.08, Z:0.16 [[ 9.95521662e-01 -9.33151646e-02 -1.51294655e-02 1.51988127e+01] [ 9.33100714e-02 9.95636551e-01 -1.04374242e-03 8.23438785e-02] [ 1.51608459e-02 -3.72663323e-04 9.99884998e-01 1.55195884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.164340128 meters 0.021798735535304713 Centerline is valid? [True, True] Translation: X:15.23, Y:0.09, Z:0.16 [[ 9.95660149e-01 -9.17921241e-02 -1.53320845e-02 1.52273811e+01] [ 9.17866473e-02 9.95778130e-01 -1.06200159e-03 8.87630318e-02] [ 1.53648378e-02 -3.49887970e-04 9.99881893e-01 1.55354109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.194340128 meters 0.01942421857293142 Centerline is valid? [True, True] Translation: X:15.26, Y:0.10, Z:0.16 [[ 9.95859029e-01 -8.96810406e-02 -1.49031833e-02 1.52562287e+01] [ 8.96755671e-02 9.95970491e-01 -1.03647817e-03 9.50396017e-02] [ 1.49360832e-02 -3.04265271e-04 9.99888404e-01 1.55959850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.224340128 meters 0.017056897306025037 Centerline is valid? [True, True] Translation: X:15.28, Y:0.10, Z:0.16 [[ 9.96180022e-01 -8.61901977e-02 -1.40218703e-02 1.52848109e+01] [ 8.61849513e-02 9.96278674e-01 -9.79126325e-04 1.01868038e-01] [ 1.40540814e-02 -2.33088122e-04 9.99901209e-01 1.56827007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.254340128 meters 0.01644303718093698 Centerline is valid? [True, True] Translation: X:15.31, Y:0.11, Z:0.16 [[ 9.96266216e-01 -8.53547444e-02 -1.29690035e-02 1.53135110e+01] [ 8.53501388e-02 9.96350605e-01 -9.09201857e-04 1.05488316e-01] [ 1.29992792e-02 -2.01099160e-04 9.99915486e-01 1.57678174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.284340128 meters 0.015979769052686443 Centerline is valid? [True, True] Translation: X:15.34, Y:0.11, Z:0.16 [[ 9.96335751e-01 -8.45885203e-02 -1.26433504e-02 1.53418051e+01] [ 8.45840355e-02 9.96415952e-01 -8.89985866e-04 1.08633113e-01] [ 1.26733187e-02 -1.82700867e-04 9.99919674e-01 1.58452567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.314340128 meters 0.01526299102755974 Centerline is valid? [True, True] Translation: X:15.37, Y:0.11, Z:0.16 [[ 9.96391798e-01 -8.40266200e-02 -1.19545567e-02 1.53701308e+01] [ 8.40225304e-02 9.96463497e-01 -8.44816102e-04 1.11429178e-01] [ 1.19832664e-02 -1.62684267e-04 9.99928185e-01 1.59362340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.344340128 meters 0.015486626200247206 Centerline is valid? [True, True] Translation: X:15.40, Y:0.11, Z:0.16 [[ 9.96367685e-01 -8.42929838e-02 -1.20883592e-02 1.53969226e+01] [ 8.42887827e-02 9.96441000e-01 -8.57496094e-04 1.12934310e-01] [ 1.21176177e-02 -1.64531686e-04 9.99926565e-01 1.59984288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.374340128 meters 0.016412916857292358 Centerline is valid? [True, True] Translation: X:15.43, Y:0.11, Z:0.16 [[ 9.96203861e-01 -8.62976847e-02 -1.14270688e-02 1.54257636e+01] [ 8.62940418e-02 9.96269380e-01 -8.12399496e-04 1.13162338e-01] [ 1.14545470e-02 -1.76772440e-04 9.99934379e-01 1.60656409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.404340128 meters 0.016412916857292358 Centerline is valid? [True, True] Translation: X:15.45, Y:0.12, Z:0.16 [[ 9.96175521e-01 -8.66242374e-02 -1.14268309e-02 1.54532452e+01] [ 8.66205777e-02 9.96241040e-01 -8.15733536e-04 1.15351663e-01] [ 1.14545402e-02 -1.77184913e-04 9.99934379e-01 1.60925171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.434340128 meters 0.017156388326102945 Centerline is valid? [True, True] Translation: X:15.48, Y:0.12, Z:0.16 [[ 9.96071703e-01 -8.78476053e-02 -1.11337767e-02 1.54811320e+01] [ 8.78441708e-02 9.96133909e-01 -7.98083728e-04 1.15864981e-01] [ 1.11608423e-02 -1.83088765e-04 9.99937699e-01 1.61136926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.464340128 meters 0.017946688187815623 Centerline is valid? [True, True] Translation: X:15.51, Y:0.12, Z:0.16 [[ 9.95937069e-01 -8.93736994e-02 -1.10315805e-02 1.55097524e+01] [ 8.93704063e-02 9.95998144e-01 -7.92103799e-04 1.16354698e-01] [ 1.10582269e-02 -1.97011295e-04 9.99938837e-01 1.61450404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.494340128 meters 0.018684608637435086 Centerline is valid? [True, True] Translation: X:15.54, Y:0.12, Z:0.16 [[ 9.95812265e-01 -9.07052802e-02 -1.14229749e-02 1.55389294e+01] [ 9.07017988e-02 9.95877756e-01 -8.23529234e-04 1.17615048e-01] [ 1.14505851e-02 -2.16003860e-04 9.99934417e-01 1.61361010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.524340128 meters 0.01878129172989845 Centerline is valid? [True, True] Translation: X:15.57, Y:0.12, Z:0.16 [[ 9.95693260e-01 -9.19334003e-02 -1.19658735e-02 1.55677232e+01] [ 9.19296265e-02 9.95765130e-01 -8.66194822e-04 1.19379649e-01] [ 1.19948318e-02 -2.37553936e-04 9.99928031e-01 1.60419807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.554340128 meters 0.019321648508858653 Centerline is valid? [True, True] Translation: X:15.60, Y:0.12, Z:0.16 [[ 9.95632222e-01 -9.24965183e-02 -1.26835492e-02 1.55957686e+01] [ 9.24922819e-02 9.95712975e-01 -9.21452265e-04 1.20529345e-01] [ 1.27144056e-02 -2.55702843e-04 9.99919136e-01 1.59830747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.584340128 meters 0.019717176839757527 Centerline is valid? [True, True] Translation: X:15.62, Y:0.12, Z:0.16 [[ 9.95538800e-01 -9.34233120e-02 -1.32129768e-02 1.56245879e+01] [ 9.34187690e-02 9.95626440e-01 -9.61965958e-04 1.22176337e-01] [ 1.32450591e-02 -2.76665594e-04 9.99912242e-01 1.59453804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.614340128 meters 0.02007340490812895 Centerline is valid? [True, True] Translation: X:15.65, Y:0.12, Z:0.16 [[ 9.95440357e-01 -9.43515432e-02 -1.40100829e-02 1.56531397e+01] [ 9.43464680e-02 9.95538897e-01 -1.02422341e-03 1.22830895e-01] [ 1.40442196e-02 -3.02248522e-04 9.99901329e-01 1.58811656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.644340128 meters 0.02043928603360232 Centerline is valid? [True, True] Translation: X:15.68, Y:0.12, Z:0.16 [[ 9.95363639e-01 -9.50758715e-02 -1.45534871e-02 1.56821131e+01] [ 9.50704095e-02 9.95469977e-01 -1.06825574e-03 1.24134126e-01] [ 1.45891249e-02 -3.20303061e-04 9.99893522e-01 1.58439438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.674340128 meters 0.02113527287929392 Centerline is valid? [True, True] Translation: X:15.71, Y:0.12, Z:0.16 [[ 9.95290890e-01 -9.56016513e-02 -1.60115299e-02 1.57096444e+01] [ 9.55950481e-02 9.95419608e-01 -1.17900929e-03 1.24036404e-01] [ 1.60509060e-02 -3.57165761e-04 9.99871112e-01 1.56918395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.704340128 meters 0.02099828375015372 Centerline is valid? [True, True] Translation: X:15.74, Y:0.13, Z:0.16 [[ 9.95234448e-01 -9.61512693e-02 -1.62273627e-02 1.57378837e+01] [ 9.61445086e-02 9.95366665e-01 -1.19806160e-03 1.25926172e-01] [ 1.62673710e-02 -3.67819632e-04 9.99867610e-01 1.56834463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.734340128 meters 0.021290606481393682 Centerline is valid? [True, True] Translation: X:15.77, Y:0.13, Z:0.16 [[ 9.95182952e-01 -9.66318816e-02 -1.65278867e-02 1.57659913e+01] [ 9.66248428e-02 9.95320118e-01 -1.22577536e-03 1.27297220e-01] [ 1.65689871e-02 -3.77133710e-04 9.99862654e-01 1.56963627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.764340128 meters 0.02172669802084163 Centerline is valid? [True, True] Translation: X:15.79, Y:0.13, Z:0.16 [[ 9.95184944e-01 -9.66522913e-02 -1.62868672e-02 1.57932812e+01] [ 9.66453921e-02 9.95318140e-01 -1.21199850e-03 1.27882352e-01] [ 1.63277568e-02 -3.67888000e-04 9.99866626e-01 1.57431484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.794340127999998 meters 0.021528882483371845 Centerline is valid? [True, True] Translation: X:15.82, Y:0.13, Z:0.16 [[ 9.95249862e-01 -9.60014763e-02 -1.61687760e-02 1.58210025e+01] [ 9.59945582e-02 9.95381129e-01 -1.20523197e-03 1.29095521e-01] [ 1.62097985e-02 -3.52607557e-04 9.99868550e-01 1.59042096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.824340128 meters 0.021237746365766422 Centerline is valid? [True, True] Translation: X:15.85, Y:0.13, Z:0.16 [[ 9.95284362e-01 -9.57668390e-02 -1.54191805e-02 1.58496948e+01] [ 9.57604807e-02 9.95403739e-01 -1.15185607e-03 1.31018193e-01] [ 1.54586196e-02 -3.30123812e-04 9.99880454e-01 1.60146667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.854340128 meters 0.020729794853367654 Centerline is valid? [True, True] Translation: X:15.88, Y:0.13, Z:0.16 [[ 9.95335388e-01 -9.53426592e-02 -1.47391746e-02 1.58781692e+01] [ 9.53367441e-02 9.95444466e-01 -1.10503193e-03 1.33299252e-01] [ 1.47773865e-02 -3.05307533e-04 9.99890762e-01 1.61561051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.884340128 meters 0.01931929545634441 Centerline is valid? [True, True] Translation: X:15.91, Y:0.14, Z:0.16 [[ 9.95386320e-01 -9.48464421e-02 -1.44991558e-02 1.59069988e+01] [ 9.48406068e-02 9.95491873e-01 -1.09107442e-03 1.37329018e-01] [ 1.45372763e-02 -2.89068180e-04 9.99894286e-01 1.63009607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.914340128 meters 0.01921455047642955 Centerline is valid? [True, True] Translation: X:15.93, Y:0.14, Z:0.16 [[ 9.95429130e-01 -9.44811717e-02 -1.39339442e-02 1.59343068e+01] [ 9.44757029e-02 9.95526612e-01 -1.05167112e-03 1.39319725e-01] [ 1.39709754e-02 -2.69555105e-04 9.99902365e-01 1.63735919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.944340128 meters 0.01984956764560697 Centerline is valid? [True, True] Translation: X:15.96, Y:0.14, Z:0.16 [[ 9.95458056e-01 -9.41812335e-02 -1.38979610e-02 1.59616967e+01] [ 9.41757442e-02 9.95555034e-01 -1.05035892e-03 1.40096238e-01] [ 1.39351091e-02 -2.63262571e-04 9.99902867e-01 1.64057361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.974340128 meters 0.018968169296280195 Centerline is valid? [True, True] Translation: X:15.99, Y:0.14, Z:0.16 [[ 9.95441565e-01 -9.43869837e-02 -1.36816341e-02 1.59893252e+01] [ 9.43816527e-02 9.95535549e-01 -1.03624471e-03 1.43313923e-01] [ 1.37183611e-02 -2.59774175e-04 9.99905865e-01 1.64895440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.004340128 meters 0.017549762158063156 Centerline is valid? [True, True] Translation: X:16.02, Y:0.15, Z:0.17 [[ 9.95436965e-01 -9.45172387e-02 -1.31049658e-02 1.60169130e+01] [ 9.45123048e-02 9.95523195e-01 -9.96683088e-04 1.46485022e-01] [ 1.31405011e-02 -2.46445333e-04 9.99913630e-01 1.66780468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.034340128 meters 0.017393023447307372 Centerline is valid? [True, True] Translation: X:16.04, Y:0.15, Z:0.17 [[ 9.95370534e-01 -9.52554161e-02 -1.28025498e-02 1.60446750e+01] [ 9.52507167e-02 9.95452834e-01 -9.77705169e-04 1.49044069e-01] [ 1.28374661e-02 -2.46273123e-04 9.99917566e-01 1.67596727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.064340128 meters 0.016934323695788452 Centerline is valid? [True, True] Translation: X:16.07, Y:0.15, Z:0.17 [[ 9.95373005e-01 -9.51914998e-02 -1.30827524e-02 1.60725094e+01] [ 9.51865329e-02 9.95458948e-01 -1.00322296e-03 1.51819064e-01] [ 1.31188412e-02 -2.46720786e-04 9.99913914e-01 1.68152014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.094340128 meters 0.017489803790796205 Centerline is valid? [True, True] Translation: X:16.10, Y:0.15, Z:0.17 [[ 9.95402892e-01 -9.48929171e-02 -1.29775702e-02 1.61004024e+01] [ 9.48879607e-02 9.95487457e-01 -9.98516216e-04 1.52507224e-01] [ 1.30137605e-02 -2.37489244e-04 9.99915289e-01 1.68542657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.124340128 meters 0.01736628295816713 Centerline is valid? [True, True] Translation: X:16.13, Y:0.15, Z:0.17 [[ 9.95423853e-01 -9.46924874e-02 -1.28330170e-02 1.61287190e+01] [ 9.46876001e-02 9.95506544e-01 -9.89257093e-04 1.53973896e-01] [ 1.28690276e-02 -2.30397472e-04 9.99917164e-01 1.69443773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.154340128 meters 0.01671843282879619 Centerline is valid? [True, True] Translation: X:16.16, Y:0.16, Z:0.17 [[ 9.95368668e-01 -9.53450962e-02 -1.22689975e-02 1.61571204e+01] [ 9.53406346e-02 9.95444254e-01 -9.49360302e-04 1.56949775e-01] [ 1.23036199e-02 -2.24770512e-04 9.99924282e-01 1.70623315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.184340128 meters 0.017073501953700984 Centerline is valid? [True, True] Translation: X:16.18, Y:0.16, Z:0.17 [[ 9.95354427e-01 -9.55461163e-02 -1.18534099e-02 1.61839768e+01] [ 9.55419277e-02 9.95424981e-01 -9.20432207e-04 1.57735620e-01] [ 1.18871241e-02 -2.16341361e-04 9.99929322e-01 1.71795072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.214340128 meters 0.017488624403001144 Centerline is valid? [True, True] Translation: X:16.21, Y:0.16, Z:0.17 [[ 9.95258479e-01 -9.66027081e-02 -1.13348028e-02 1.62133084e+01] [ 9.65989273e-02 9.95322998e-01 -8.81848809e-04 1.58340091e-01] [ 1.13669789e-02 -2.17262291e-04 9.99935370e-01 1.72722060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.244340128 meters 0.017162762271587605 Centerline is valid? [True, True] Translation: X:16.24, Y:0.16, Z:0.17 [[ 9.95141017e-01 -9.78188051e-02 -1.12177760e-02 1.62420415e+01] [ 9.78151455e-02 9.95204215e-01 -8.75735123e-04 1.60191200e-01] [ 1.12496414e-02 -2.25788455e-04 9.99936695e-01 1.73666885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.274340128 meters 0.01851846913127516 Centerline is valid? [True, True] Translation: X:16.27, Y:0.16, Z:0.17 [[ 9.94954082e-01 -9.95978628e-02 -1.21095177e-02 1.62697709e+01] [ 9.95936916e-02 9.95027737e-01 -9.48505078e-04 1.58310881e-01] [ 1.21437750e-02 -2.62312568e-04 9.99926227e-01 1.74119708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.304340128 meters 0.018917683857539874 Centerline is valid? [True, True] Translation: X:16.30, Y:0.16, Z:0.17 [[ 9.94851830e-01 -1.00566293e-01 -1.25002501e-02 1.62981554e+01] [ 1.00561909e-01 9.94930320e-01 -9.80365861e-04 1.58963256e-01] [ 1.25354696e-02 -2.81730247e-04 9.99921388e-01 1.74072404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.334340128 meters 0.019201218982388843 Centerline is valid? [True, True] Translation: X:16.32, Y:0.16, Z:0.17 [[ 9.94838461e-01 -1.00588685e-01 -1.33548843e-02 1.63248810e+01] [ 1.00583663e-01 9.94928051e-01 -1.04888914e-03 1.58631376e-01] [ 1.33926554e-02 -2.99807922e-04 9.99910269e-01 1.73878944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.364340128 meters 0.019157821150957682 Centerline is valid? [True, True] Translation: X:16.35, Y:0.16, Z:0.17 [[ 9.94876281e-01 -1.00195733e-01 -1.34907603e-02 1.63539718e+01] [ 1.00190541e-01 9.94967702e-01 -1.06188338e-03 1.60455392e-01] [ 1.35292670e-02 -2.95203981e-04 9.99908432e-01 1.74003586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.394340128 meters 0.01791110053455768 Centerline is valid? [True, True] Translation: X:16.38, Y:0.16, Z:0.17 [[ 9.95089210e-01 -9.80397554e-02 -1.36261067e-02 1.63825314e+01] [ 9.80342065e-02 9.95182464e-01 -1.07618279e-03 1.63236596e-01] [ 1.36659712e-02 -2.64926676e-04 9.99906581e-01 1.74951748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.424340128 meters 0.01669277983642778 Centerline is valid? [True, True] Translation: X:16.41, Y:0.17, Z:0.18 [[ 9.95203742e-01 -9.68189890e-02 -1.39855625e-02 1.64109510e+01] [ 9.68129696e-02 9.95301974e-01 -1.10837945e-03 1.66876341e-01] [ 1.40271701e-02 -2.50920457e-04 9.99901583e-01 1.75312267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.454340128 meters 0.016871817500270274 Centerline is valid? [True, True] Translation: X:16.44, Y:0.17, Z:0.17 [[ 9.95376140e-01 -9.49487992e-02 -1.45281111e-02 1.64387440e+01] [ 9.49420577e-02 9.95482131e-01 -1.15459017e-03 1.68019419e-01] [ 1.45721020e-02 -2.30077254e-04 9.99893795e-01 1.74458815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.484340128 meters 0.01476441825403385 Centerline is valid? [True, True] Translation: X:16.47, Y:0.17, Z:0.17 [[ 9.95684561e-01 -9.14897708e-02 -1.55524080e-02 1.64674927e+01] [ 9.14815835e-02 9.95805998e-01 -1.23853748e-03 1.72808343e-01] [ 1.56004947e-02 -1.89566269e-04 9.99878287e-01 1.74462661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.514340128 meters 0.013727390816017943 Centerline is valid? [True, True] Translation: X:16.50, Y:0.18, Z:0.18 [[ 9.95833768e-01 -8.98969665e-02 -1.52853353e-02 1.64966567e+01] [ 8.98888097e-02 9.95951058e-01 -1.22122510e-03 1.76287494e-01] [ 1.53332303e-02 -1.57843399e-04 9.99882427e-01 1.75173946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.544340128 meters 0.013319946379624074 Centerline is valid? [True, True] Translation: X:16.52, Y:0.18, Z:0.18 [[ 9.95930755e-01 -8.87392314e-02 -1.57251434e-02 1.65244701e+01] [ 8.87303839e-02 9.96054883e-01 -1.26081600e-03 1.78677820e-01] [ 1.57749897e-02 -1.39612573e-04 9.99875557e-01 1.75419402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.574340128 meters 0.012600060236281765 Centerline is valid? [True, True] Translation: X:16.55, Y:0.18, Z:0.18 [[ 9.96163435e-01 -8.59654886e-02 -1.63812802e-02 1.65532954e+01] [ 8.59554289e-02 9.96298111e-01 -1.31849339e-03 1.80414659e-01] [ 1.64339835e-02 -9.46250595e-05 9.99864948e-01 1.75490961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.604340128 meters 0.01253607108063176 Centerline is valid? [True, True] Translation: X:16.58, Y:0.18, Z:0.18 [[ 9.96181506e-01 -8.57432126e-02 -1.64471473e-02 1.65807956e+01] [ 8.57329809e-02 9.96317266e-01 -1.32746692e-03 1.81178131e-01] [ 1.65003981e-02 -8.76649708e-05 9.99863855e-01 1.75964369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.634340128 meters 0.012519025026515149 Centerline is valid? [True, True] Translation: X:16.61, Y:0.18, Z:0.18 [[ 9.96142079e-01 -8.62291658e-02 -1.62938616e-02 1.66093137e+01] [ 8.62191333e-02 9.96275325e-01 -1.31850422e-03 1.79885384e-01] [ 1.63468658e-02 -9.14250847e-05 9.99866377e-01 1.76861402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.664340128 meters 0.012997679557971245 Centerline is valid? [True, True] Translation: X:16.64, Y:0.18, Z:0.18 [[ 9.96097601e-01 -8.68386743e-02 -1.57675208e-02 1.66364303e+01] [ 8.68292955e-02 9.96222383e-01 -1.27972259e-03 1.78876525e-01] [ 1.58190866e-02 -9.43541215e-05 9.99874866e-01 1.76451119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.694340128 meters 0.012717862596575657 Centerline is valid? [True, True] Translation: X:16.66, Y:0.18, Z:0.18 [[ 9.96011219e-01 -8.79069794e-02 -1.52975333e-02 1.66646172e+01] [ 8.78982312e-02 9.96128682e-01 -1.24458820e-03 1.79292486e-01] [ 1.53477197e-02 -1.05002307e-04 9.99882211e-01 1.78040110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.724340128 meters 0.013025195646466104 Centerline is valid? [True, True] Translation: X:16.69, Y:0.18, Z:0.18 [[ 9.95914508e-01 -8.90440906e-02 -1.50147343e-02 1.66922565e+01] [ 8.90357401e-02 9.96027678e-01 -1.22503522e-03 1.78125933e-01] [ 1.50641731e-02 -1.16817632e-04 9.99886522e-01 1.78391877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.754340128 meters 0.013493345836572145 Centerline is valid? [True, True] Translation: X:16.72, Y:0.17, Z:0.18 [[ 9.95664825e-01 -9.18973373e-02 -1.43678409e-02 1.67215920e+01] [ 9.18899567e-02 9.95768475e-01 -1.17441397e-03 1.74107947e-01] [ 1.44149686e-02 -1.50937600e-04 9.99896088e-01 1.79285967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.784340128 meters 0.013998918530007926 Centerline is valid? [True, True] Translation: X:16.75, Y:0.17, Z:0.18 [[ 9.95529257e-01 -9.33763730e-02 -1.42250091e-02 1.67506013e+01] [ 9.33692341e-02 9.95630868e-01 -1.16661068e-03 1.73178046e-01] [ 1.42717920e-02 -1.66783142e-04 9.99898139e-01 1.79462478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.814340128 meters 0.01462966205082577 Centerline is valid? [True, True] Translation: X:16.78, Y:0.17, Z:0.18 [[ 9.95391656e-01 -9.49124324e-02 -1.36777712e-02 1.67789768e+01] [ 9.49059368e-02 9.95485609e-01 -1.12467178e-03 1.71721383e-01] [ 1.37227697e-02 -1.78612783e-04 9.99905822e-01 1.79596303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.844340128 meters 0.015558170684779347 Centerline is valid? [True, True] Translation: X:16.81, Y:0.17, Z:0.18 [[ 9.95153454e-01 -9.74516525e-02 -1.31445271e-02 1.68082001e+01] [ 9.74458510e-02 9.95240239e-01 -1.08264015e-03 1.67346431e-01] [ 1.31874674e-02 -2.03486548e-04 9.99913021e-01 1.80117800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.874340128 meters 0.015670444392616525 Centerline is valid? [True, True] Translation: X:16.84, Y:0.17, Z:0.18 [[ 9.95071098e-01 -9.83225081e-02 -1.28916011e-02 1.68362345e+01] [ 9.83169552e-02 9.95154582e-01 -1.06533063e-03 1.67331083e-01] [ 1.29338819e-02 -2.07383244e-04 9.99916332e-01 1.80389582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.904340128 meters 0.01548129410108166 Centerline is valid? [True, True] Translation: X:16.86, Y:0.17, Z:0.18 [[ 9.95027129e-01 -9.86458465e-02 -1.37844162e-02 1.68646752e+01] [ 9.86394670e-02 9.95122579e-01 -1.14358035e-03 1.65782033e-01] [ 1.38299932e-02 -2.21793991e-04 9.99904336e-01 1.79711276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.934340128 meters 0.01577723277768315 Centerline is valid? [True, True] Translation: X:16.89, Y:0.17, Z:0.18 [[ 9.95068308e-01 -9.81083167e-02 -1.46226224e-02 1.68929304e+01] [ 9.81010254e-02 9.95175717e-01 -1.21681851e-03 1.65321815e-01] [ 1.46714588e-02 -2.23676712e-04 9.99892343e-01 1.78707619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.964340128 meters 0.015140023052249195 Centerline is valid? [True, True] Translation: X:16.92, Y:0.17, Z:0.18 [[ 9.95056236e-01 -9.80989003e-02 -1.54819959e-02 1.69212762e+01] [ 9.80906822e-02 9.95176643e-01 -1.29112968e-03 1.66986019e-01] [ 1.55339792e-02 -2.33892909e-04 9.99879313e-01 1.78294047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.994340128 meters 0.014753575011462634 Centerline is valid? [True, True] Translation: X:16.95, Y:0.17, Z:0.18 [[ 9.95122046e-01 -9.71608559e-02 -1.70845181e-02 1.69499888e+01] [ 9.71506276e-02 9.95268663e-01 -1.42958868e-03 1.66507326e-01] [ 1.71425856e-02 -2.37156444e-04 9.99853027e-01 1.76367860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.024340128 meters 0.014495012974634085 Centerline is valid? [True, True] Translation: X:16.98, Y:0.17, Z:0.18 [[ 9.95124253e-01 -9.70127788e-02 -1.77831919e-02 1.69779433e+01] [ 9.70015918e-02 9.95283107e-01 -1.49260618e-03 1.67741357e-01] [ 1.78441123e-02 -2.39669307e-04 9.99840752e-01 1.75803120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.054340128 meters 0.01470792964716343 Centerline is valid? [True, True] Translation: X:17.00, Y:0.17, Z:0.17 [[ 9.95147499e-01 -9.66553183e-02 -1.84175286e-02 1.70047357e+01] [ 9.66431762e-02 9.95317885e-01 -1.55026153e-03 1.67724982e-01] [ 1.84811367e-02 -2.37189578e-04 9.99829181e-01 1.74886982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.084340128 meters 0.014450260964574302 Centerline is valid? [True, True] Translation: X:17.03, Y:0.17, Z:0.18 [[ 9.95129249e-01 -9.67344580e-02 -1.89795396e-02 1.70326200e+01] [ 9.67214958e-02 9.95310196e-01 -1.60187977e-03 1.68424337e-01] [ 1.90454863e-02 -2.41652053e-04 9.99818589e-01 1.75176510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.114340128 meters 0.015617129942945032 Centerline is valid? [True, True] Translation: X:17.06, Y:0.16, Z:0.17 [[ 9.95089570e-01 -9.69675232e-02 -1.98506115e-02 1.70609722e+01] [ 9.69533061e-02 9.95287514e-01 -1.67961748e-03 1.64502703e-01] [ 1.99199341e-02 -2.53212572e-04 9.99801546e-01 1.73248762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.144340128 meters 0.015170857433746958 Centerline is valid? [True, True] Translation: X:17.09, Y:0.17, Z:0.17 [[ 9.95042318e-01 -9.74308447e-02 -1.99503601e-02 1.70891357e+01] [ 9.74164955e-02 9.95242263e-01 -1.69214866e-03 1.65942925e-01] [ 2.00203090e-02 -2.59734640e-04 9.99799540e-01 1.74206617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.174340128 meters 0.01422075997419533 Centerline is valid? [True, True] Translation: X:17.12, Y:0.17, Z:0.18 [[ 9.95290877e-01 -9.53064373e-02 -1.76848477e-02 1.71181049e+01] [ 9.52947448e-02 9.95447963e-01 -1.50461118e-03 1.71684643e-01] [ 1.77477448e-02 -1.87747272e-04 9.99842479e-01 1.75902198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.204340128 meters 0.0139228127697449 Centerline is valid? [True, True] Translation: X:17.15, Y:0.18, Z:0.18 [[ 9.95376107e-01 -9.44844144e-02 -1.72945288e-02 1.71469829e+01] [ 9.44730325e-02 9.95526327e-01 -1.47577294e-03 1.75460318e-01] [ 1.73565963e-02 -1.64917453e-04 9.99849349e-01 1.76236740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.234340128 meters 0.013321380229707379 Centerline is valid? [True, True] Translation: X:17.18, Y:0.18, Z:0.18 [[ 9.95452958e-01 -9.37994502e-02 -1.65852651e-02 1.71752403e+01] [ 9.37888153e-02 9.95591102e-01 -1.41959740e-03 1.79180170e-01] [ 1.66452998e-02 -1.42369942e-04 9.99861447e-01 1.77433389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.264340128 meters 0.013045530165143173 Centerline is valid? [True, True] Translation: X:17.20, Y:0.18, Z:0.18 [[ 9.95564430e-01 -9.27102155e-02 -1.60087978e-02 1.72041372e+01] [ 9.27000977e-02 9.95693127e-01 -1.37451926e-03 1.83283734e-01] [ 1.60672819e-02 -1.15594631e-04 9.99870906e-01 1.78584828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.294340128 meters 0.013232000180405983 Centerline is valid? [True, True] Translation: X:17.23, Y:0.19, Z:0.18 [[ 9.95585850e-01 -9.25062302e-02 -1.58560033e-02 1.72310611e+01] [ 9.24962240e-02 9.95712100e-01 -1.36483878e-03 1.85640343e-01] [ 1.59142705e-02 -1.07806263e-04 9.99873354e-01 1.78632201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.324340128 meters 0.013232000180405983 Centerline is valid? [True, True] Translation: X:17.26, Y:0.19, Z:0.18 [[ 9.95558648e-01 -9.27985630e-02 -1.58557364e-02 1.72585231e+01] [ 9.27885446e-02 9.95684897e-01 -1.36793392e-03 1.88193516e-01] [ 1.59142596e-02 -1.09372257e-04 9.99873354e-01 1.78901351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.354340128 meters 0.013273943814950829 Centerline is valid? [True, True] Translation: X:17.29, Y:0.19, Z:0.18 [[ 9.95539788e-01 -9.30739297e-02 -1.54199291e-02 1.72863962e+01] [ 9.30644183e-02 9.95659195e-01 -1.33481118e-03 1.91290328e-01] [ 1.54772303e-02 -1.06189098e-04 9.99880215e-01 1.79239086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.384340128 meters 0.013625239963074224 Centerline is valid? [True, True] Translation: X:17.32, Y:0.20, Z:0.18 [[ 9.95411858e-01 -9.44137105e-02 -1.55333228e-02 1.73152199e+01] [ 9.44041526e-02 9.95533041e-01 -1.34906477e-03 1.95886141e-01] [ 1.55913063e-02 -1.23535103e-04 9.99878441e-01 1.78496734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.414340128 meters 0.014137630574534996 Centerline is valid? [True, True] Translation: X:17.34, Y:0.20, Z:0.18 [[ 9.95231840e-01 -9.62007334e-02 -1.60936048e-02 1.73435844e+01] [ 9.61906363e-02 9.95361942e-01 -1.40210492e-03 1.98260368e-01] [ 1.61538452e-02 -1.52634626e-04 9.99869506e-01 1.77392897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.444340128 meters 0.01584775175605246 Centerline is valid? [True, True] Translation: X:17.37, Y:0.20, Z:0.18 [[ 9.94814205e-01 -1.00364723e-01 -1.64809180e-02 1.73718545e+01] [ 1.00354651e-01 9.94950689e-01 -1.43912844e-03 1.99727275e-01] [ 1.65421384e-02 -2.22271361e-04 9.99863145e-01 1.75980066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.474340128 meters 0.016228744658993835 Centerline is valid? [True, True] Translation: X:17.40, Y:0.20, Z:0.18 [[ 9.94544388e-01 -1.03045170e-01 -1.62219923e-02 1.74008553e+01] [ 1.03035725e-01 9.94676644e-01 -1.41919628e-03 2.02935088e-01] [ 1.62818782e-02 -2.59991043e-04 9.99867408e-01 1.76659998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.504340128 meters 0.017296358810049206 Centerline is valid? [True, True] Translation: X:17.43, Y:0.20, Z:0.18 [[ 9.94226740e-01 -1.06062577e-01 -1.62455688e-02 1.74295608e+01] [ 1.06053433e-01 9.94359410e-01 -1.42572171e-03 2.03941403e-01] [ 1.63051499e-02 -3.05407704e-04 9.99867016e-01 1.77187262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.534340128 meters 0.02096696326187471 Centerline is valid? [True, True] Translation: X:17.46, Y:0.20, Z:0.18 [[ 9.93466588e-01 -1.13035091e-01 -1.57228177e-02 1.74584473e+01] [ 1.13027349e-01 9.93590915e-01 -1.38298446e-03 2.00349706e-01] [ 1.57783746e-02 -4.03159549e-04 9.99875432e-01 1.78183666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.564340128 meters 0.022385962504381088 Centerline is valid? [True, True] Translation: X:17.49, Y:0.20, Z:0.18 [[ 9.93034408e-01 -1.16904751e-01 -1.46949953e-02 1.74878083e+01] [ 1.16898395e-01 9.93143037e-01 -1.29370244e-03 2.00788985e-01] [ 1.47454722e-02 -4.33130330e-04 9.99891186e-01 1.78974926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.594340128 meters 0.025505033245586513 Centerline is valid? [True, True] Translation: X:17.52, Y:0.20, Z:0.18 [[ 9.92617258e-01 -1.20404748e-01 -1.46176364e-02 1.75165652e+01] [ 1.20398825e-01 9.92724768e-01 -1.28774392e-03 1.98860531e-01] [ 1.46663402e-02 -4.81709397e-04 9.99892327e-01 1.79490660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.624340128 meters 0.027538057725244237 Centerline is valid? [True, True] Translation: X:17.55, Y:0.20, Z:0.18 [[ 9.92234393e-01 -1.23556734e-01 -1.43053100e-02 1.75459050e+01] [ 1.23551377e-01 9.92337376e-01 -1.26104088e-03 1.98371210e-01] [ 1.43515039e-02 -5.16192617e-04 9.99896879e-01 1.80162918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.654340128 meters 0.031279421116856145 Centerline is valid? [True, True] Translation: X:17.58, Y:0.20, Z:0.18 [[ 9.91593112e-01 -1.28698674e-01 -1.34071783e-02 1.75750574e+01] [ 1.28694428e-01 9.91683592e-01 -1.18252044e-03 1.96556862e-01] [ 1.34478676e-02 -5.52850028e-04 9.99909421e-01 1.80201239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.684340128 meters 0.03183778630518112 Centerline is valid? [True, True] Translation: X:17.60, Y:0.20, Z:0.18 [[ 9.91298577e-01 -1.30963695e-01 -1.32530298e-02 1.76042241e+01] [ 1.30959741e-01 9.91386997e-01 -1.16948128e-03 1.99579204e-01] [ 1.32920410e-02 -5.76308226e-04 9.99911491e-01 1.80454723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.714340128 meters 0.030534448521972662 Centerline is valid? [True, True] Translation: X:17.63, Y:0.20, Z:0.18 [[ 9.91270151e-01 -1.31193134e-01 -1.31091048e-02 1.76322969e+01] [ 1.31189265e-01 9.91356664e-01 -1.15836173e-03 2.04098547e-01] [ 1.31477675e-02 -5.71524421e-04 9.99913401e-01 1.81520192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.744340128 meters 0.031106012577910513 Centerline is valid? [True, True] Translation: X:17.66, Y:0.21, Z:0.18 [[ 9.91367733e-01 -1.30455745e-01 -1.30888085e-02 1.76597550e+01] [ 1.30451780e-01 9.91453977e-01 -1.15987840e-03 2.06315550e-01] [ 1.31282640e-02 -5.57592352e-04 9.99913665e-01 1.81781040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.774340128 meters 0.03168955676848131 Centerline is valid? [True, True] Translation: X:17.69, Y:0.21, Z:0.18 [[ 9.91784571e-01 -1.27216446e-01 -1.33917789e-02 1.76886757e+01] [ 1.27211986e-01 9.91874841e-01 -1.18781005e-03 2.10375832e-01] [ 1.34340775e-02 -5.25543110e-04 9.99909621e-01 1.81103897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.804340128 meters 0.026888281503982876 Centerline is valid? [True, True] Translation: X:17.72, Y:0.22, Z:0.18 [[ 9.92351444e-01 -1.22665971e-01 -1.38445016e-02 1.77180317e+01] [ 1.22660756e-01 9.92447898e-01 -1.22841735e-03 2.21632610e-01] [ 1.38906315e-02 -4.79155296e-04 9.99903406e-01 1.81693749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.834340128 meters 0.026603556640087008 Centerline is valid? [True, True] Translation: X:17.75, Y:0.23, Z:0.18 [[ 9.92650500e-01 -1.20278432e-01 -1.33447967e-02 1.77454246e+01] [ 1.20273362e-01 9.92740104e-01 -1.18471504e-03 2.25329060e-01] [ 1.33904105e-02 -4.29015596e-04 9.99910252e-01 1.82613874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.864340128 meters 0.02285152878001805 Centerline is valid? [True, True] Translation: X:17.77, Y:0.23, Z:0.18 [[ 9.92901752e-01 -1.18302164e-01 -1.22763321e-02 1.77738025e+01] [ 1.18297701e-01 9.92977574e-01 -1.09168884e-03 2.34078449e-01] [ 1.23192716e-02 -3.68322096e-04 9.99924047e-01 1.83903891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.894340128 meters 0.022203076793780703 Centerline is valid? [True, True] Translation: X:17.80, Y:0.24, Z:0.18 [[ 9.93124371e-01 -1.16429869e-01 -1.21683530e-02 1.78015003e+01] [ 1.16425309e-01 9.93198857e-01 -1.08491860e-03 2.38569005e-01] [ 1.22119113e-02 -3.39245152e-04 9.99925374e-01 1.84645144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.924340128 meters 0.02148120055840904 Centerline is valid? [True, True] Translation: X:17.83, Y:0.24, Z:0.19 [[ 9.93305636e-01 -1.14901786e-01 -1.18950594e-02 1.78293779e+01] [ 1.14897305e-01 9.93376808e-01 -1.06166278e-03 2.42930246e-01] [ 1.19382630e-02 -3.12154645e-04 9.99928688e-01 1.85577853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.954340128 meters 0.022647823613130467 Centerline is valid? [True, True] Translation: X:17.86, Y:0.24, Z:0.19 [[ 9.93323802e-01 -1.14758448e-01 -1.17610594e-02 1.78572593e+01] [ 1.14754044e-01 9.93393379e-01 -1.05079962e-03 2.43773908e-01] [ 1.18039467e-02 -3.05844854e-04 9.99930284e-01 1.86201006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.984340128 meters 0.021996302343252963 Centerline is valid? [True, True] Translation: X:17.88, Y:0.25, Z:0.19 [[ 9.93267324e-01 -1.15286400e-01 -1.13608672e-02 1.78846669e+01] [ 1.15282310e-01 9.93332248e-01 -1.01640526e-03 2.47499403e-01] [ 1.14022934e-02 -3.00144886e-04 9.99934947e-01 1.86600433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.014340128 meters 0.023396104707632755 Centerline is valid? [True, True] Translation: X:17.91, Y:0.25, Z:0.19 [[ 9.93108317e-01 -1.16653780e-01 -1.13033725e-02 1.79122630e+01] [ 1.16649786e-01 9.93172593e-01 -1.01428452e-03 2.48199965e-01] [ 1.13445198e-02 -3.11241581e-04 9.99935600e-01 1.86875755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.044340128 meters 0.023514510004810894 Centerline is valid? [True, True] Translation: X:17.94, Y:0.25, Z:0.19 [[ 9.93033587e-01 -1.17335008e-01 -1.08070267e-02 1.79415218e+01] [ 1.17331385e-01 9.93092344e-01 -9.70876153e-04 2.50625677e-01] [ 1.08462933e-02 -3.03890779e-04 9.99941131e-01 1.87853328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.074340128 meters 0.024411148863916945 Centerline is valid? [True, True] Translation: X:17.97, Y:0.25, Z:0.19 [[ 9.92926864e-01 -1.18292156e-01 -1.01591220e-02 1.79691481e+01] [ 1.18288980e-01 9.92978791e-01 -9.15048713e-04 2.51882345e-01] [ 1.01960358e-02 -2.93135735e-04 9.99947976e-01 1.88839939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.104340128 meters 0.025574056245803348 Centerline is valid? [True, True] Translation: X:18.00, Y:0.25, Z:0.19 [[ 9.92802978e-01 -1.19330514e-01 -1.01229794e-02 1.79972260e+01] [ 1.19327405e-01 9.92854540e-01 -9.12722376e-04 2.52991236e-01] [ 1.01595617e-02 -3.01795373e-04 9.99948345e-01 1.89217677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.134340128 meters 0.024469625869951467 Centerline is valid? [True, True] Translation: X:18.03, Y:0.26, Z:0.19 [[ 9.92609708e-01 -1.20934532e-01 -1.00402615e-02 1.80257689e+01] [ 1.20931541e-01 9.92660436e-01 -9.06636752e-04 2.57381170e-01] [ 1.00762141e-02 -3.14247862e-04 9.99949184e-01 1.89543462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.164340128 meters 0.02399077219284197 Centerline is valid? [True, True] Translation: X:18.05, Y:0.26, Z:0.19 [[ 9.92493282e-01 -1.21864545e-01 -1.03014014e-02 1.80547502e+01] [ 1.21861418e-01 9.92546686e-01 -9.32981074e-04 2.61277967e-01] [ 1.03383191e-02 -3.29365938e-04 9.99946504e-01 1.89715692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.194340128 meters 0.023521001728489605 Centerline is valid? [True, True] Translation: X:18.08, Y:0.27, Z:0.19 [[ 9.92360758e-01 -1.22892144e-01 -1.08465526e-02 1.80836830e+01] [ 1.22888706e-01 9.92419969e-01 -9.85400239e-04 2.65880604e-01] [ 1.08854333e-02 -3.55046286e-04 9.99940689e-01 1.89302897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.224340128 meters 0.024420439923983246 Centerline is valid? [True, True] Translation: X:18.11, Y:0.27, Z:0.19 [[ 9.92324962e-01 -1.23129228e-01 -1.14176820e-02 1.81106632e+01] [ 1.23125398e-01 9.92390575e-01 -1.04045143e-03 2.67709814e-01] [ 1.14589100e-02 -3.73340722e-04 9.99934275e-01 1.88867225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.254340128 meters 0.026161740462997855 Centerline is valid? [True, True] Translation: X:18.14, Y:0.27, Z:0.19 [[ 9.92304044e-01 -1.23259614e-01 -1.18216383e-02 1.81373859e+01] [ 1.23255489e-01 9.92374384e-01 -1.07968496e-03 2.68567545e-01] [ 1.18645726e-02 -3.85706066e-04 9.99929539e-01 1.88538668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.284340128 meters 0.02432864163986174 Centerline is valid? [True, True] Translation: X:18.17, Y:0.28, Z:0.19 [[ 9.92211702e-01 -1.23937503e-01 -1.24673414e-02 1.81659253e+01] [ 1.23932942e-01 9.92289940e-01 -1.14075887e-03 2.75243677e-01] [ 1.25126003e-02 -4.13239997e-04 9.99921629e-01 1.88090327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.314340128 meters 0.023708143223732988 Centerline is valid? [True, True] Translation: X:18.19, Y:0.28, Z:0.19 [[ 9.92126911e-01 -1.24561449e-01 -1.29860821e-02 1.81947689e+01] [ 1.24556506e-01 9.92211800e-01 -1.19186404e-03 2.79621632e-01] [ 1.30334042e-02 -4.35020616e-04 9.99914967e-01 1.87763036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.344340128 meters 0.024029474000209335 Centerline is valid? [True, True] Translation: X:18.22, Y:0.28, Z:0.19 [[ 9.92020672e-01 -1.25349001e-01 -1.35134501e-02 1.82231833e+01] [ 1.25343670e-01 9.92112603e-01 -1.24410359e-03 2.82343623e-01] [ 1.35628113e-02 -4.59648954e-04 9.99907915e-01 1.87190680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.374340128 meters 0.024604607035645314 Centerline is valid? [True, True] Translation: X:18.25, Y:0.29, Z:0.19 [[ 9.91834151e-01 -1.26707949e-01 -1.44952815e-02 1.82516155e+01] [ 1.26701899e-01 9.91939936e-01 -1.33868929e-03 2.85049467e-01] [ 1.45480712e-02 -5.08821938e-04 9.99894042e-01 1.86012328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.404340128 meters 0.027023430151089555 Centerline is valid? [True, True] Translation: X:18.28, Y:0.29, Z:0.19 [[ 9.91713073e-01 -1.27584482e-01 -1.50791537e-02 1.82798046e+01] [ 1.27577986e-01 9.91827560e-01 -1.39592851e-03 2.85069912e-01] [ 1.51340191e-02 -5.39407503e-04 9.99885329e-01 1.85512928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.434340128 meters 0.02569095267694611 Centerline is valid? [True, True] Translation: X:18.31, Y:0.29, Z:0.19 [[ 9.91629896e-01 -1.28196876e-01 -1.53528792e-02 1.83084735e+01] [ 1.28190176e-01 9.91748583e-01 -1.42377083e-03 2.89755422e-01] [ 1.54087191e-02 -5.56234560e-04 9.99881124e-01 1.85921128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.464340128 meters 0.02901093154893859 Centerline is valid? [True, True] Translation: X:18.34, Y:0.29, Z:0.19 [[ 9.91474520e-01 -1.29284611e-01 -1.62408375e-02 1.83364779e+01] [ 1.29277203e-01 9.91607345e-01 -1.50955859e-03 2.87868955e-01] [ 1.62996965e-02 -6.02881174e-04 9.99866969e-01 1.85242361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.494340128 meters 0.029555059441922053 Centerline is valid? [True, True] Translation: X:18.36, Y:0.29, Z:0.19 [[ 9.91458648e-01 -1.29325079e-01 -1.68752373e-02 1.83634139e+01] [ 1.29317055e-01 9.91602054e-01 -1.57041621e-03 2.89992285e-01] [ 1.69366142e-02 -6.25253266e-04 9.99856370e-01 1.85555465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.524340128 meters 0.026472060443767674 Centerline is valid? [True, True] Translation: X:18.39, Y:0.30, Z:0.19 [[ 9.91413590e-01 -1.29603172e-01 -1.73813273e-02 1.83905346e+01] [ 1.29594638e-01 9.91565732e-01 -1.62117938e-03 2.97630239e-01] [ 1.74448385e-02 -6.45267547e-04 9.99847619e-01 1.86882807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.554340128 meters 0.02766638495218049 Centerline is valid? [True, True] Translation: X:18.42, Y:0.30, Z:0.19 [[ 9.91435336e-01 -1.29433976e-01 -1.74017310e-02 1.84179390e+01] [ 1.29425330e-01 9.91587836e-01 -1.62685709e-03 2.98987835e-01] [ 1.74659154e-02 -6.39301174e-04 9.99847255e-01 1.86852679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.584340128 meters 0.027560214781618856 Centerline is valid? [True, True] Translation: X:18.45, Y:0.30, Z:0.19 [[ 9.91397092e-01 -1.29679798e-01 -1.77470186e-02 1.84459646e+01] [ 1.29670785e-01 9.91555709e-01 -1.66254337e-03 3.02476741e-01] [ 1.78127559e-02 -6.53029178e-04 9.99841127e-01 1.87296036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.614340128 meters 0.02769970436917966 Centerline is valid? [True, True] Translation: X:18.47, Y:0.31, Z:0.19 [[ 9.91323949e-01 -1.30240828e-01 -1.77244010e-02 1.84743590e+01] [ 1.30231836e-01 9.91482171e-01 -1.66551765e-03 3.06426741e-01] [ 1.77903459e-02 -6.57213753e-04 9.99841523e-01 1.87791142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.644340128 meters 0.02787154069269987 Centerline is valid? [True, True] Translation: X:18.50, Y:0.31, Z:0.19 [[ 9.91275211e-01 -1.30624858e-01 -1.76239352e-02 1.85025586e+01] [ 1.30615941e-01 9.91431650e-01 -1.66103828e-03 3.09569966e-01] [ 1.76899001e-02 -6.55420803e-04 9.99843307e-01 1.88753019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.674340128 meters 0.02926086882687535 Centerline is valid? [True, True] Translation: X:18.53, Y:0.31, Z:0.19 [[ 9.91239280e-01 -1.30988791e-01 -1.69300485e-02 1.85306248e+01] [ 1.30980556e-01 9.91383648e-01 -1.59914771e-03 3.10759788e-01] [ 1.69936437e-02 -6.32369147e-04 9.99855398e-01 1.89414857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.704340128000002 meters 0.029500834966532243 Centerline is valid? [True, True] Translation: X:18.56, Y:0.31, Z:0.19 [[ 9.91177469e-01 -1.31491906e-01 -1.66464430e-02 1.85587024e+01] [ 1.31483966e-01 9.91317046e-01 -1.57529449e-03 3.13447869e-01] [ 1.67090412e-02 -6.27343945e-04 9.99860197e-01 1.90430592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.734340128 meters 0.028016608102283944 Centerline is valid? [True, True] Translation: X:18.59, Y:0.32, Z:0.19 [[ 9.91027001e-01 -1.32619837e-01 -1.66571771e-02 1.85873943e+01] [ 1.32611967e-01 9.91166770e-01 -1.58104243e-03 3.18397677e-01] [ 1.67197180e-02 -6.42085273e-04 9.99860010e-01 1.91855599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.764340128 meters 0.02949297300718054 Centerline is valid? [True, True] Translation: X:18.62, Y:0.32, Z:0.19 [[ 9.90917111e-01 -1.33442120e-01 -1.66276999e-02 1.86153399e+01] [ 1.33434338e-01 9.91056394e-01 -1.58151119e-03 3.19242728e-01] [ 1.66900285e-02 -6.51559639e-04 9.99860499e-01 1.92008696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.794340128 meters 0.027932478740627015 Centerline is valid? [True, True] Translation: X:18.64, Y:0.32, Z:0.19 [[ 9.90745473e-01 -1.34666468e-01 -1.69808700e-02 1.86439841e+01] [ 1.34658482e-01 9.90890748e-01 -1.61803213e-03 3.24108906e-01] [ 1.70440816e-02 -6.83560175e-04 9.99854505e-01 1.92780107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.824340128 meters 0.028973980756832534 Centerline is valid? [True, True] Translation: X:18.67, Y:0.33, Z:0.19 [[ 9.90703409e-01 -1.34967675e-01 -1.70435061e-02 1.86718344e+01] [ 1.34959611e-01 9.90849764e-01 -1.62774583e-03 3.25467237e-01] [ 1.71072470e-02 -6.87571605e-04 9.99853424e-01 1.93311896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.854340128 meters 0.027932102551908193 Centerline is valid? [True, True] Translation: X:18.70, Y:0.33, Z:0.19 [[ 9.90657254e-01 -1.35275999e-01 -1.72803007e-02 1.86999818e+01] [ 1.35267689e-01 9.90807709e-01 -1.65418304e-03 3.29820071e-01] [ 1.73452264e-02 -6.98737925e-04 9.99849316e-01 1.94137775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.884340128 meters 0.02844230489137886 Centerline is valid? [True, True] Translation: X:18.73, Y:0.33, Z:0.19 [[ 9.90577291e-01 -1.35878362e-01 -1.71377272e-02 1.87289105e+01] [ 1.35870192e-01 9.90725281e-01 -1.64558936e-03 3.32413126e-01] [ 1.72023796e-02 -6.98422824e-04 9.99851784e-01 1.94391009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.914340128 meters 0.02957291279303499 Centerline is valid? [True, True] Translation: X:18.76, Y:0.33, Z:0.19 [[ 9.90599088e-01 -1.35744916e-01 -1.69341346e-02 1.87568618e+01] [ 1.35736864e-01 9.90743584e-01 -1.62935421e-03 3.34372168e-01] [ 1.69985618e-02 -6.84549531e-04 9.99855280e-01 1.94844071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.944340128 meters 0.02852755692211132 Centerline is valid? [True, True] Translation: X:18.79, Y:0.34, Z:0.20 [[ 9.90613662e-01 -1.35652155e-01 -1.68245463e-02 1.87853364e+01] [ 1.35644144e-01 9.90756295e-01 -1.62165930e-03 3.38861024e-01] [ 1.68890067e-02 -6.75713324e-04 9.99857142e-01 1.95510138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.974340128 meters 0.027224724790049268 Centerline is valid? [True, True] Translation: X:18.81, Y:0.34, Z:0.20 [[ 9.90674282e-01 -1.35187710e-01 -1.69926535e-02 1.88140699e+01] [ 1.35179391e-01 9.90819779e-01 -1.64251483e-03 3.44257263e-01] [ 1.70587050e-02 -6.69859359e-04 9.99854265e-01 1.95893675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.004340128 meters 0.027599548358268364 Centerline is valid? [True, True] Translation: X:18.84, Y:0.35, Z:0.20 [[ 9.90783089e-01 -1.34334128e-01 -1.74130081e-02 1.88414874e+01] [ 1.34325200e-01 9.90935869e-01 -1.68663033e-03 3.47042615e-01] [ 1.74817464e-02 -6.67920989e-04 9.99846960e-01 1.96135486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.034340128 meters 0.026434298703216015 Centerline is valid? [True, True] Translation: X:18.87, Y:0.35, Z:0.20 [[ 9.90949514e-01 -1.33095098e-01 -1.74572415e-02 1.88700239e+01] [ 1.33085879e-01 9.91103062e-01 -1.69396646e-03 3.52203151e-01] [ 1.75273842e-02 -6.44677101e-04 9.99846176e-01 1.96262956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.064340128 meters 0.025062977062987477 Centerline is valid? [True, True] Translation: X:18.90, Y:0.36, Z:0.20 [[ 9.91428397e-01 -1.29448699e-01 -1.76852454e-02 1.88988984e+01] [ 1.29438605e-01 9.91585948e-01 -1.71908195e-03 3.58349028e-01] [ 1.77589738e-02 -5.84806835e-04 9.99842126e-01 1.96602547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.094340128 meters 0.021927697062306028 Centerline is valid? [True, True] Translation: X:18.93, Y:0.37, Z:0.20 [[ 9.91703227e-01 -1.27348231e-01 -1.75253552e-02 1.89268998e+01] [ 1.27337946e-01 9.91857922e-01 -1.70610318e-03 3.66179256e-01] [ 1.75999316e-02 -5.39694703e-04 9.99844964e-01 1.97826405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.124340128 meters 0.02040769372628917 Centerline is valid? [True, True] Translation: X:18.96, Y:0.37, Z:0.20 [[ 9.92326837e-01 -1.22434736e-01 -1.72390310e-02 1.89555026e+01] [ 1.22423991e-01 9.92476468e-01 -1.68121779e-03 3.72561639e-01] [ 1.73151721e-02 -4.42153444e-04 9.99849983e-01 1.98809963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.154340128 meters 0.019686404271916428 Centerline is valid? [True, True] Translation: X:18.98, Y:0.38, Z:0.20 [[ 9.92602081e-01 -1.20175592e-01 -1.72897511e-02 1.89829389e+01] [ 1.20164422e-01 9.92752570e-01 -1.68728433e-03 3.77003554e-01] [ 1.73672152e-02 -4.02810999e-04 9.99849097e-01 1.99339374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.184340128 meters 0.01956189512715907 Centerline is valid? [True, True] Translation: X:19.01, Y:0.38, Z:0.20 [[ 9.92855013e-01 -1.18091748e-01 -1.71249171e-02 1.90110386e+01] [ 1.18080430e-01 9.93002623e-01 -1.67410373e-03 3.80476257e-01] [ 1.72027855e-02 -3.59975290e-04 9.99851956e-01 1.99353008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.214340128 meters 0.01956189512715907 Centerline is valid? [True, True] Translation: X:19.04, Y:0.38, Z:0.20 [[ 9.92820494e-01 -1.18381671e-01 -1.71244539e-02 1.90384671e+01] [ 1.18370314e-01 9.92968101e-01 -1.67883197e-03 3.83348295e-01] [ 1.72027794e-02 -3.60248205e-04 9.99851956e-01 1.99621780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.244340128 meters 0.017319046281836503 Centerline is valid? [True, True] Translation: X:19.07, Y:0.39, Z:0.20 [[ 9.93022361e-01 -1.16661854e-01 -1.72221684e-02 1.90673624e+01] [ 1.16650026e-01 9.93171639e-01 -1.69318459e-03 3.90291076e-01] [ 1.73020993e-02 -3.27596240e-04 9.99850254e-01 2.00875725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.274340128 meters 0.015649031008083656 Centerline is valid? [True, True] Translation: X:19.10, Y:0.40, Z:0.20 [[ 9.93333200e-01 -1.14012262e-01 -1.70398931e-02 1.90959219e+01] [ 1.14000217e-01 9.93479305e-01 -1.67971929e-03 3.97078561e-01] [ 1.71202897e-02 -2.74030566e-04 9.99853400e-01 2.01889731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.304340128 meters 0.015405569698038166 Centerline is valid? [True, True] Translation: X:19.12, Y:0.40, Z:0.20 [[ 9.93448459e-01 -1.12999963e-01 -1.70636630e-02 1.91235502e+01] [ 1.12987676e-01 9.93594960e-01 -1.68548557e-03 4.00754035e-01] [ 1.71448294e-02 -2.53540588e-04 9.99852984e-01 2.01971616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.334340128 meters 0.014994893872874476 Centerline is valid? [True, True] Translation: X:19.15, Y:0.40, Z:0.20 [[ 9.93498978e-01 -1.12567875e-01 -1.69780739e-02 1.91512006e+01] [ 1.12555594e-01 9.93644008e-01 -1.68025735e-03 4.04646253e-01] [ 1.70593044e-02 -2.41643222e-04 9.99854450e-01 2.02543687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.364340128 meters 0.014538188452423245 Centerline is valid? [True, True] Translation: X:19.18, Y:0.41, Z:0.20 [[ 9.93686508e-01 -1.10998222e-01 -1.63253710e-02 1.91783921e+01] [ 1.10986596e-01 9.93820584e-01 -1.61923643e-03 4.10171115e-01] [ 1.64042221e-02 -2.02883958e-04 9.99865421e-01 2.03300132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.394340128 meters 0.014340814916300416 Centerline is valid? [True, True] Translation: X:19.21, Y:0.41, Z:0.20 [[ 9.93681646e-01 -1.11104140e-01 -1.58951732e-02 1.92062922e+01] [ 1.11093087e-01 9.93808750e-01 -1.57940761e-03 4.14192340e-01] [ 1.59722409e-02 -1.96415509e-04 9.99872416e-01 2.04274353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.424340128 meters 0.014625910688138958 Centerline is valid? [True, True] Translation: X:19.23, Y:0.42, Z:0.21 [[ 9.93639627e-01 -1.11590431e-01 -1.50952574e-02 1.92331937e+01] [ 1.11580464e-01 9.93754265e-01 -1.50352795e-03 4.16672592e-01] [ 1.51687558e-02 -1.90370868e-04 9.99884930e-01 2.05482390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.454340128000002 meters 0.014581627824435369 Centerline is valid? [True, True] Translation: X:19.26, Y:0.42, Z:0.21 [[ 9.93567719e-01 -1.12279154e-01 -1.47166511e-02 1.92611124e+01] [ 1.12269714e-01 9.93676685e-01 -1.46865335e-03 4.19482534e-01] [ 1.47884922e-02 -1.93027649e-04 9.99890626e-01 2.06640965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.484340128 meters 0.0160559599793445 Centerline is valid? [True, True] Translation: X:19.29, Y:0.42, Z:0.21 [[ 9.93326344e-01 -1.14419511e-01 -1.45240919e-02 1.92886886e+01] [ 1.14410492e-01 9.93432498e-01 -1.45311964e-03 4.20143605e-01] [ 1.45949701e-02 -2.18286471e-04 9.99893464e-01 2.07525838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.514340128 meters 0.015953197435360052 Centerline is valid? [True, True] Translation: X:19.32, Y:0.42, Z:0.21 [[ 9.93197827e-01 -1.15488987e-01 -1.48448803e-02 1.93178089e+01] [ 1.15479643e-01 9.93308732e-01 -1.48803254e-03 4.23639995e-01] [ 1.49174006e-02 -2.36370797e-04 9.99888701e-01 2.07487892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.544340128 meters 0.01678146877876871 Centerline is valid? [True, True] Translation: X:19.35, Y:0.43, Z:0.21 [[ 9.92960061e-01 -1.17415235e-01 -1.56198370e-02 1.93464304e+01] [ 1.17405058e-01 9.93082870e-01 -1.57008399e-03 4.26039665e-01] [ 1.56961444e-02 -2.74817184e-04 9.99876770e-01 2.06804927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.574340128 meters 0.01715983031950586 Centerline is valid? [True, True] Translation: X:19.37, Y:0.43, Z:0.21 [[ 9.92774068e-01 -1.18944963e-01 -1.58664942e-02 1.93749407e+01] [ 1.18934588e-01 9.92900804e-01 -1.59924870e-03 4.29214221e-01] [ 1.59440774e-02 -2.99382323e-04 9.99872840e-01 2.07029855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.604340128 meters 0.018514422417969835 Centerline is valid? [True, True] Translation: X:19.40, Y:0.43, Z:0.21 [[ 9.92665857e-01 -1.19806864e-01 -1.61496857e-02 1.94027002e+01] [ 1.19796170e-01 9.92797168e-01 -1.63144759e-03 4.30207973e-01] [ 1.62288209e-02 -3.15188172e-04 9.99868254e-01 2.06619592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.634340128 meters 0.018375918897649772 Centerline is valid? [True, True] Translation: X:19.43, Y:0.43, Z:0.21 [[ 9.92486071e-01 -1.21206682e-01 -1.67433604e-02 1.94310343e+01] [ 1.21195329e-01 9.92627231e-01 -1.69479229e-03 4.33605537e-01] [ 1.68253356e-02 -3.47159338e-04 9.99858384e-01 2.06989009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.664340128 meters 0.01880073992901658 Centerline is valid? [True, True] Translation: X:19.46, Y:0.44, Z:0.21 [[ 9.92318219e-01 -1.22525550e-01 -1.70892064e-02 1.94593639e+01] [ 1.22513861e-01 9.92465289e-01 -1.73321492e-03 4.35816955e-01] [ 1.71728073e-02 -3.73763906e-04 9.99852467e-01 2.07175304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.694340128 meters 0.020128012863947452 Centerline is valid? [True, True] Translation: X:19.49, Y:0.44, Z:0.21 [[ 9.92093141e-01 -1.24257997e-01 -1.76394288e-02 1.94873989e+01] [ 1.24245785e-01 9.92249857e-01 -1.79077140e-03 4.37250562e-01] [ 1.77252384e-02 -4.15012653e-04 9.99842809e-01 2.07218744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.724340128 meters 0.02033035248604132 Centerline is valid? [True, True] Translation: X:19.52, Y:0.44, Z:0.21 [[ 9.91982765e-01 -1.25025906e-01 -1.84042492e-02 1.95156768e+01] [ 1.25012683e-01 9.92153378e-01 -1.87175185e-03 4.40821442e-01] [ 1.84938555e-02 -4.44018992e-04 9.99828875e-01 2.07186051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.754340128 meters 0.021100685160569753 Centerline is valid? [True, True] Translation: X:19.54, Y:0.44, Z:0.21 [[ 9.91923658e-01 -1.25351881e-01 -1.93484312e-02 1.95438664e+01] [ 1.25337248e-01 9.92112234e-01 -1.97192523e-03 4.43498088e-01] [ 1.94429998e-02 -4.69079827e-04 9.99810857e-01 2.06372671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.784340128 meters 0.02070342808653711 Centerline is valid? [True, True] Translation: X:19.57, Y:0.45, Z:0.21 [[ 9.91819020e-01 -1.26194450e-01 -1.92351746e-02 1.95725182e+01] [ 1.26180069e-01 9.92005409e-01 -1.96434940e-03 4.48009328e-01] [ 1.93292872e-02 -4.78816551e-04 9.99813057e-01 2.06867084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.814340128 meters 0.022083590027284467 Centerline is valid? [True, True] Translation: X:19.60, Y:0.45, Z:0.21 [[ 9.91764844e-01 -1.26630327e-01 -1.91638858e-02 1.96008661e+01] [ 1.26616065e-01 9.91949862e-01 -1.96060277e-03 4.49073650e-01] [ 1.92578856e-02 -4.81998914e-04 9.99814434e-01 2.07227466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.844340128 meters 0.022498366218740587 Centerline is valid? [True, True] Translation: X:19.63, Y:0.45, Z:0.21 [[ 9.91739085e-01 -1.27020271e-01 -1.78728146e-02 1.96276992e+01] [ 1.27007895e-01 9.91900017e-01 -1.83044172e-03 4.50975656e-01] [ 1.79605483e-02 -4.54667968e-04 9.99838593e-01 2.09529246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.874340128 meters 0.021887618322206117 Centerline is valid? [True, True] Translation: X:19.66, Y:0.46, Z:0.21 [[ 9.91708963e-01 -1.27298378e-01 -1.75628904e-02 1.96552666e+01] [ 1.27286408e-01 9.91864367e-01 -1.80229076e-03 4.55717575e-01] [ 1.76494338e-02 -4.48169331e-04 9.99844136e-01 2.10801137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.904340128 meters 0.022025409184411 Centerline is valid? [True, True] Translation: X:19.68, Y:0.46, Z:0.21 [[ 9.91693551e-01 -1.27486136e-01 -1.70642013e-02 1.96827403e+01] [ 1.27474778e-01 9.91840258e-01 -1.75613944e-03 4.59980970e-01] [ 1.71488453e-02 -4.33703116e-04 9.99852854e-01 2.11059182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.934340128 meters 0.023131635912911952 Centerline is valid? [True, True] Translation: X:19.71, Y:0.46, Z:0.21 [[ 9.91720852e-01 -1.27168621e-01 -1.78295932e-02 1.97097173e+01] [ 1.27156096e-01 9.91881014e-01 -1.83898186e-03 4.63931611e-01] [ 1.79186957e-02 -4.43384808e-04 9.99839349e-01 2.10070584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.964340128 meters 0.021006209383036774 Centerline is valid? [True, True] Translation: X:19.74, Y:0.47, Z:0.21 [[ 9.91764694e-01 -1.26816031e-01 -1.79021102e-02 1.97381824e+01] [ 1.26803285e-01 9.91926159e-01 -1.84988887e-03 4.70180978e-01] [ 1.79921670e-02 -4.35391923e-04 9.99838033e-01 2.10884385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.994340128 meters 0.020864941341999146 Centerline is valid? [True, True] Translation: X:19.77, Y:0.47, Z:0.21 [[ 9.91795435e-01 -1.26535799e-01 -1.81798381e-02 1.97663205e+01] [ 1.26522514e-01 9.91961947e-01 -1.88375400e-03 4.73787152e-01] [ 1.82720700e-02 -4.31860199e-04 9.99832959e-01 2.11146595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.024340128 meters 0.021383881699937043 Centerline is valid? [True, True] Translation: X:19.79, Y:0.48, Z:0.21 [[ 9.91989988e-01 -1.24971996e-01 -1.83810630e-02 1.97940320e+01] [ 1.24958077e-01 9.92160187e-01 -1.90837699e-03 4.77552382e-01] [ 1.84754526e-02 -4.03771419e-04 9.99829233e-01 2.10717882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.054340128 meters 0.019636178701300418 Centerline is valid? [True, True] Translation: X:19.82, Y:0.48, Z:0.21 [[ 9.92105645e-01 -1.24057101e-01 -1.83364491e-02 1.98222228e+01] [ 1.24043034e-01 9.92275007e-01 -1.90690871e-03 4.83935948e-01] [ 1.84313658e-02 -3.82653897e-04 9.99830055e-01 2.11590610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.084340128 meters 0.01898178390574132 Centerline is valid? [True, True] Translation: X:19.85, Y:0.49, Z:0.21 [[ 9.92229499e-01 -1.23087720e-01 -1.81668514e-02 1.98503151e+01] [ 1.23073664e-01 9.92395731e-01 -1.89399667e-03 4.88920809e-01] [ 1.82618335e-02 -3.56581597e-04 9.99833175e-01 2.11938921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.114340128000002 meters 0.018311290192253072 Centerline is valid? [True, True] Translation: X:19.88, Y:0.50, Z:0.21 [[ 9.92481145e-01 -1.21026982e-01 -1.82659697e-02 1.98774111e+01] [ 1.21012362e-01 9.92649167e-01 -1.90766606e-03 4.95405658e-01] [ 1.83625786e-02 -3.17085535e-04 9.99831343e-01 2.11974200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.144340128 meters 0.01809201250920741 Centerline is valid? [True, True] Translation: X:19.91, Y:0.50, Z:0.21 [[ 9.92548746e-01 -1.20521634e-01 -1.79310596e-02 1.99050152e+01] [ 1.20507433e-01 9.92710655e-01 -1.87431483e-03 4.99825055e-01] [ 1.80262494e-02 -3.00477129e-04 9.99837469e-01 2.12008293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.174340128 meters 0.017972722428192037 Centerline is valid? [True, True] Translation: X:19.93, Y:0.50, Z:0.21 [[ 9.92556811e-01 -1.20423099e-01 -1.81453374e-02 1.99325317e+01] [ 1.20408480e-01 9.92722614e-01 -1.90006080e-03 5.03754604e-01] [ 1.82420980e-02 -2.98934196e-04 9.99833554e-01 2.11780337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.204340128000002 meters 0.018009732237589664 Centerline is valid? [True, True] Translation: X:19.96, Y:0.51, Z:0.21 [[ 9.92535920e-01 -1.20534823e-01 -1.85419431e-02 1.99604291e+01] [ 1.20519476e-01 9.92709054e-01 -1.94704165e-03 5.06749083e-01] [ 1.86414412e-02 -3.02156486e-04 9.99826188e-01 2.12050686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.234340128 meters 0.01875749206119452 Centerline is valid? [True, True] Translation: X:19.99, Y:0.51, Z:0.21 [[ 9.92426423e-01 -1.21418543e-01 -1.86368598e-02 1.99878591e+01] [ 1.21403126e-01 9.92601348e-01 -1.96064045e-03 5.08791694e-01] [ 1.87370303e-02 -3.16781648e-04 9.99824396e-01 2.11748103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.264340128 meters 0.019438344095601093 Centerline is valid? [True, True] Translation: X:20.02, Y:0.51, Z:0.21 [[ 9.92281493e-01 -1.22532143e-01 -1.90607404e-02 2.00167888e+01] [ 1.22516159e-01 9.92464486e-01 -2.00844658e-03 5.11847016e-01] [ 1.91632072e-02 -3.42304333e-04 9.99816310e-01 2.11417120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.294340128 meters 0.01909260313824149 Centerline is valid? [True, True] Translation: X:20.05, Y:0.52, Z:0.21 [[ 9.91877362e-01 -1.25848730e-01 -1.84768990e-02 2.00455807e+01] [ 1.25834199e-01 9.92049366e-01 -1.95162456e-03 5.17462391e-01] [ 1.85756055e-02 -3.89253573e-04 9.99827383e-01 2.13317686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.324340128 meters 0.020153937914900232 Centerline is valid? [True, True] Translation: X:20.07, Y:0.52, Z:0.21 [[ 9.91665062e-01 -1.27527938e-01 -1.83583716e-02 2.00745028e+01] [ 1.27513790e-01 9.91834893e-01 -1.94401444e-03 5.19450443e-01] [ 1.84563897e-02 -4.13134332e-04 9.99829581e-01 2.13655764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.354340128 meters 0.024209766034725782 Centerline is valid? [True, True] Translation: X:20.10, Y:0.52, Z:0.21 [[ 9.91405756e-01 -1.29581972e-01 -1.79760855e-02 2.01026499e+01] [ 1.29568683e-01 9.91568616e-01 -1.90686714e-03 5.17030090e-01] [ 1.80716179e-02 -4.38658675e-04 9.99836599e-01 2.12664000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.384340128 meters 0.022309775924741482 Centerline is valid? [True, True] Translation: X:20.13, Y:0.52, Z:0.22 [[ 9.90881582e-01 -1.33589047e-01 -1.75401375e-02 2.01316820e+01] [ 1.33577001e-01 9.91036689e-01 -1.86183097e-03 5.22293166e-01] [ 1.76316400e-02 -4.98104950e-04 9.99844426e-01 2.15650569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.414340128 meters 0.02877722139588477 Centerline is valid? [True, True] Translation: X:20.16, Y:0.52, Z:0.21 [[ 9.90660930e-01 -1.35305095e-01 -1.68360874e-02 2.01605286e+01] [ 1.35294227e-01 9.90803853e-01 -1.78814653e-03 5.16603976e-01] [ 1.69232056e-02 -5.06378517e-04 9.99856664e-01 2.14020614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.444340128 meters 0.02990351136841185 Centerline is valid? [True, True] Translation: X:20.19, Y:0.52, Z:0.21 [[ 9.90448859e-01 -1.36837005e-01 -1.69320065e-02 2.01891739e+01] [ 1.36826190e-01 9.90593433e-01 -1.80098107e-03 5.18610450e-01] [ 1.70191753e-02 -5.32962303e-04 9.99855021e-01 2.14430567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.474340128 meters 0.03145458968071758 Centerline is valid? [True, True] Translation: X:20.22, Y:0.52, Z:0.21 [[ 9.90285676e-01 -1.37955835e-01 -1.73915624e-02 2.02166424e+01] [ 1.37944546e-01 9.90438221e-01 -1.85286424e-03 5.20666314e-01] [ 1.74808816e-02 -5.64206261e-04 9.99847039e-01 2.14339889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.504340128 meters 0.025928521297290483 Centerline is valid? [True, True] Translation: X:20.24, Y:0.53, Z:0.22 [[ 9.90131181e-01 -1.38990513e-01 -1.79410438e-02 2.02444371e+01] [ 1.38978614e-01 9.90293532e-01 -1.91443445e-03 5.33846828e-01] [ 1.80329879e-02 -5.97880148e-04 9.99837214e-01 2.15529945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.534340128 meters 0.03597201033847433 Centerline is valid? [True, True] Translation: X:20.27, Y:0.53, Z:0.21 [[ 9.90092109e-01 -1.39203704e-01 -1.84375959e-02 2.02727135e+01] [ 1.39191072e-01 9.90263578e-01 -1.97288655e-03 5.25410653e-01] [ 1.85327128e-02 -6.13009340e-04 9.99828067e-01 2.11825177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.564340128 meters 0.03324567808115092 Centerline is valid? [True, True] Translation: X:20.30, Y:0.53, Z:0.21 [[ 9.90098018e-01 -1.39112644e-01 -1.88039391e-02 2.02997147e+01] [ 1.39099381e-01 9.90276371e-01 -2.01781086e-03 5.33036455e-01] [ 1.89017995e-02 -6.17785741e-04 9.99821154e-01 2.12519343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.594340128 meters 0.023715127832277562 Centerline is valid? [True, True] Translation: X:20.33, Y:0.55, Z:0.22 [[ 9.90342064e-01 -1.37329290e-01 -1.90594338e-02 2.03268300e+01] [ 1.37315233e-01 9.90525276e-01 -2.05054547e-03 5.50285643e-01] [ 1.91604509e-02 -5.86409156e-04 9.99816250e-01 2.16207479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.624340128 meters 0.022405717828507195 Centerline is valid? [True, True] Translation: X:20.36, Y:0.56, Z:0.22 [[ 9.90545410e-01 -1.35860049e-01 -1.90220566e-02 2.03557137e+01] [ 1.35845679e-01 9.90727885e-01 -2.05157892e-03 5.55981442e-01] [ 1.91244095e-02 -5.51882104e-04 9.99816959e-01 2.16675749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.654340128 meters 0.022744642417798718 Centerline is valid? [True, True] Translation: X:20.38, Y:0.56, Z:0.22 [[ 9.91065325e-01 -1.32059665e-01 -1.87020272e-02 2.03840198e+01] [ 1.32045006e-01 9.91241660e-01 -2.02195292e-03 5.61450586e-01] [ 1.88052470e-02 -4.65621874e-04 9.99823057e-01 2.16265921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.684340128 meters 0.019426020355513853 Centerline is valid? [True, True] Translation: X:20.41, Y:0.57, Z:0.22 [[ 9.91381475e-01 -1.29707030e-01 -1.84080738e-02 2.04124240e+01] [ 1.29692330e-01 9.91552277e-01 -1.99514756e-03 5.71091891e-01] [ 1.85113521e-02 -4.09433658e-04 9.99828566e-01 2.18154239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.714340128 meters 0.0181732791640405 Centerline is valid? [True, True] Translation: X:20.44, Y:0.58, Z:0.22 [[ 9.91765473e-01 -1.26849601e-01 -1.76189203e-02 2.04411553e+01] [ 1.26835619e-01 9.91921905e-01 -1.91325667e-03 5.77608941e-01] [ 1.77192888e-02 -3.37204768e-04 9.99842944e-01 2.19119017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.744340128 meters 0.015525512613869277 Centerline is valid? [True, True] Translation: X:20.47, Y:0.59, Z:0.22 [[ 9.92615874e-01 -1.20104249e-01 -1.69910423e-02 2.04684999e+01] [ 1.20090226e-01 9.92761264e-01 -1.84693586e-03 5.86886543e-01] [ 1.70898735e-02 -2.07160256e-04 9.99853936e-01 2.20788353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.774340128 meters 0.014369906415096561 Centerline is valid? [True, True] Translation: X:20.50, Y:0.59, Z:0.22 [[ 9.92977545e-01 -1.17140889e-01 -1.65410633e-02 2.04968956e+01] [ 1.17127145e-01 9.93115295e-01 -1.80056527e-03 5.93024718e-01] [ 1.66381028e-02 -1.49486649e-04 9.99861566e-01 2.21335841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.804340128 meters 0.013532416803835547 Centerline is valid? [True, True] Translation: X:20.53, Y:0.60, Z:0.22 [[ 9.93345124e-01 -1.13952939e-01 -1.67389546e-02 2.05255409e+01] [ 1.13938336e-01 9.93486144e-01 -1.82657762e-03 5.99564208e-01] [ 1.68380634e-02 -9.27866654e-05 9.99858225e-01 2.21496468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.834340128 meters 0.012745117069036848 Centerline is valid? [True, True] Translation: X:20.55, Y:0.61, Z:0.22 [[ 9.94024723e-01 -1.07965684e-01 -1.60705254e-02 2.05532861e+01] [ 1.07951373e-01 9.94154621e-01 -1.75783784e-03 6.09232318e-01] [ 1.61663733e-02 1.24989792e-05 9.99869316e-01 2.22571536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.864340128000002 meters 0.012856077688690265 Centerline is valid? [True, True] Translation: X:20.58, Y:0.62, Z:0.22 [[ 9.94308139e-01 -1.05389665e-01 -1.56315052e-02 2.05803743e+01] [ 1.05375738e-01 9.94431001e-01 -1.71421248e-03 6.15358525e-01] [ 1.57251136e-02 5.72740170e-05 9.99876351e-01 2.23219922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.894340128 meters 0.013052351803497248 Centerline is valid? [True, True] Translation: X:20.61, Y:0.62, Z:0.22 [[ 9.94510195e-01 -1.03530257e-01 -1.51973126e-02 2.06075645e+01] [ 1.03516805e-01 9.94626301e-01 -1.67122670e-03 6.21100925e-01] [ 1.52886693e-02 8.88747428e-05 9.99883118e-01 2.23954935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.924340128 meters 0.013651119842973835 Centerline is valid? [True, True] Translation: X:20.64, Y:0.63, Z:0.23 [[ 9.94801244e-01 -1.00822722e-01 -1.43270434e-02 2.06355700e+01] [ 1.00810427e-01 9.94904399e-01 -1.57968487e-03 6.26449333e-01] [ 1.44133066e-02 1.27157117e-04 9.99896115e-01 2.25050862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.954340128000002 meters 0.013985384058356162 Centerline is valid? [True, True] Translation: X:20.66, Y:0.63, Z:0.23 [[ 9.94862734e-01 -1.00258513e-01 -1.40132350e-02 2.06631853e+01] [ 1.00246651e-01 9.94961412e-01 -1.54817370e-03 6.29649793e-01] [ 1.40978457e-02 1.35440440e-04 9.99900611e-01 2.25970915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.984340128 meters 0.013898109964164154 Centerline is valid? [True, True] Translation: X:20.69, Y:0.63, Z:0.23 [[ 9.94860261e-01 -1.00327514e-01 -1.36913104e-02 2.06913941e+01] [ 1.00316166e-01 9.94954457e-01 -1.51480870e-03 6.31290758e-01] [ 1.37742073e-02 1.33563204e-04 9.99905122e-01 2.27087368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.014340128 meters 0.013652927736256964 Centerline is valid? [True, True] Translation: X:20.72, Y:0.63, Z:0.23 [[ 9.94768351e-01 -1.01233684e-01 -1.36992032e-02 2.07194080e+01] [ 1.01222349e-01 9.94862667e-01 -1.52004165e-03 6.31807098e-01] [ 1.37827052e-02 1.25423804e-04 9.99905006e-01 2.27875171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.044340128 meters 0.013666319961472525 Centerline is valid? [True, True] Translation: X:20.75, Y:0.63, Z:0.23 [[ 9.94668684e-01 -1.02184283e-01 -1.38773900e-02 2.07468811e+01] [ 1.02172694e-01 9.94765479e-01 -1.54338457e-03 6.34249593e-01] [ 1.39624581e-02 1.17265980e-04 9.99902513e-01 2.27844335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.074340128 meters 0.013269054734613909 Centerline is valid? [True, True] Translation: X:20.77, Y:0.64, Z:0.23 [[ 9.94529457e-01 -1.03511005e-01 -1.40225308e-02 2.07745882e+01] [ 1.03499271e-01 9.94628303e-01 -1.56187348e-03 6.35724876e-01] [ 1.41088771e-02 1.02007466e-04 9.99900460e-01 2.27992304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.104340128 meters 0.013042967398073388 Centerline is valid? [True, True] Translation: X:20.80, Y:0.63, Z:0.23 [[ 9.94281256e-01 -1.05730887e-01 -1.50254417e-02 2.08029468e+01] [ 1.05717610e-01 9.94394777e-01 -1.67742400e-03 6.34899746e-01] [ 1.51185763e-02 7.93774558e-05 9.99885705e-01 2.27361104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.134340128 meters 0.012818771425344806 Centerline is valid? [True, True] Translation: X:20.83, Y:0.63, Z:0.23 [[ 9.94078741e-01 -1.07586612e-01 -1.52505140e-02 2.08307805e+01] [ 1.07573111e-01 9.94195714e-01 -1.70526733e-03 6.34921770e-01] [ 1.53454596e-02 5.46247744e-05 9.99882250e-01 2.27504130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.164340128 meters 0.012818771425344806 Centerline is valid? [True, True] Translation: X:20.86, Y:0.64, Z:0.23 [[ 9.94045331e-01 -1.07894939e-01 -1.52499829e-02 2.08581495e+01] [ 1.07881402e-01 9.94162300e-01 -1.71000583e-03 6.38168103e-01] [ 1.53454591e-02 5.46337762e-05 9.99882250e-01 2.27772758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.194340128 meters 0.012751462037027062 Centerline is valid? [True, True] Translation: X:20.89, Y:0.64, Z:0.23 [[ 9.93862070e-01 -1.09532258e-01 -1.55199878e-02 2.08860985e+01] [ 1.09518360e-01 9.93983241e-01 -1.74520828e-03 6.38110195e-01] [ 1.56177644e-02 3.47727036e-05 9.99878035e-01 2.28093104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.224340128 meters 0.012839593451225604 Centerline is valid? [True, True] Translation: X:20.91, Y:0.64, Z:0.23 [[ 9.93639601e-01 -1.11500994e-01 -1.57439171e-02 2.09140813e+01] [ 1.11486859e-01 9.93764322e-01 -1.77541433e-03 6.37542850e-01] [ 1.58437036e-02 8.88211920e-06 9.99874481e-01 2.28460176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.254340128 meters 0.013182486725311013 Centerline is valid? [True, True] Translation: X:20.94, Y:0.63, Z:0.23 [[ 9.93154835e-01 -1.15661839e-01 -1.63037575e-02 2.09423127e+01] [ 1.15647177e-01 9.93288647e-01 -1.84242421e-03 6.32947733e-01] [ 1.64074354e-02 -5.56710124e-05 9.99865387e-01 2.28454750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.284340128 meters 0.013689357596749751 Centerline is valid? [True, True] Translation: X:20.97, Y:0.63, Z:0.23 [[ 9.92890170e-01 -1.17843546e-01 -1.67931116e-02 2.09699590e+01] [ 1.17828275e-01 9.93032170e-01 -1.89939636e-03 6.32519029e-01] [ 1.68999317e-02 -9.28113926e-05 9.99857182e-01 2.27905125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.314340128 meters 0.014736171806368235 Centerline is valid? [True, True] Translation: X:21.00, Y:0.63, Z:0.23 [[ 9.92395442e-01 -1.21961143e-01 -1.66362745e-02 2.09992006e+01] [ 1.21946687e-01 9.92534863e-01 -1.88441438e-03 6.28775871e-01] [ 1.67419077e-02 -1.58654318e-04 9.99859832e-01 2.27910199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.344340128 meters 0.014758379132623003 Centerline is valid? [True, True] Translation: X:21.03, Y:0.63, Z:0.23 [[ 9.92163070e-01 -1.23880608e-01 -1.63106356e-02 2.10286836e+01] [ 1.23866900e-01 9.92297114e-01 -1.85188913e-03 6.29302689e-01] [ 1.64144098e-02 -1.82971874e-04 9.99865258e-01 2.29296070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.374340128 meters 0.015263636967575354 Centerline is valid? [True, True] Translation: X:21.06, Y:0.63, Z:0.23 [[ 9.91916416e-01 -1.25875722e-01 -1.60351593e-02 2.10575758e+01] [ 1.25862663e-01 9.92045997e-01 -1.82505055e-03 6.28952406e-01] [ 1.61373451e-02 -2.07930241e-04 9.99869763e-01 2.30027057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.404340128 meters 0.016148160387535113 Centerline is valid? [True, True] Translation: X:21.09, Y:0.63, Z:0.23 [[ 9.91667615e-01 -1.27815407e-01 -1.60799276e-02 2.10857454e+01] [ 1.27802475e-01 9.91797946e-01 -1.83350916e-03 6.25650019e-01] [ 1.61823898e-02 -2.36822883e-04 9.99869029e-01 2.30180033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.434340128 meters 0.016028670777844964 Centerline is valid? [True, True] Translation: X:21.11, Y:0.63, Z:0.23 [[ 9.91603830e-01 -1.28309208e-01 -1.60807917e-02 2.11134906e+01] [ 1.28296290e-01 9.91734182e-01 -1.83660804e-03 6.26906414e-01] [ 1.61835245e-02 -2.41918357e-04 9.99869009e-01 2.30703370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.464340128 meters 0.01591371278611217 Centerline is valid? [True, True] Translation: X:21.14, Y:0.63, Z:0.23 [[ 9.91756811e-01 -1.27117466e-01 -1.61114172e-02 2.11415297e+01] [ 1.27104282e-01 9.91887646e-01 -1.84384584e-03 6.26840418e-01] [ 1.62151007e-02 -2.19183457e-04 9.99868503e-01 2.30860153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.494340128 meters 0.015529472957039716 Centerline is valid? [True, True] Translation: X:21.17, Y:0.63, Z:0.23 [[ 9.91922013e-01 -1.25771487e-01 -1.65001111e-02 2.11696723e+01] [ 1.25757446e-01 9.92059218e-01 -1.88996042e-03 6.29691302e-01] [ 1.66067905e-02 -2.00318495e-04 9.99862078e-01 2.30855643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.524340128 meters 0.014679958605969998 Centerline is valid? [True, True] Translation: X:21.20, Y:0.63, Z:0.23 [[ 9.92159370e-01 -1.23895449e-01 -1.64226140e-02 2.11987054e+01] [ 1.23881237e-01 9.92295264e-01 -1.88381717e-03 6.33542102e-01] [ 1.65294784e-02 -1.65406885e-04 9.99863365e-01 2.31536322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.554340128 meters 0.014000607023904994 Centerline is valid? [True, True] Translation: X:21.23, Y:0.64, Z:0.23 [[ 9.92409623e-01 -1.21899953e-01 -1.62339374e-02 2.12276087e+01] [ 1.21885728e-01 9.92542385e-01 -1.86650660e-03 6.37207853e-01] [ 1.63403980e-02 -1.26346159e-04 9.99866479e-01 2.31997921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.584340128 meters 0.013315887486884281 Centerline is valid? [True, True] Translation: X:21.26, Y:0.64, Z:0.23 [[ 9.92694932e-01 -1.19581435e-01 -1.60328837e-02 2.12558422e+01] [ 1.19567188e-01 9.92824392e-01 -1.84769278e-03 6.41174563e-01] [ 1.61387877e-02 -8.28115538e-05 9.99869758e-01 2.32665679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.614340128000002 meters 0.01274389007553282 Centerline is valid? [True, True] Translation: X:21.28, Y:0.64, Z:0.23 [[ 9.93157448e-01 -1.15712685e-01 -1.57752286e-02 2.12834736e+01] [ 1.15698353e-01 9.93282726e-01 -1.82120371e-03 6.43774068e-01] [ 1.58799985e-02 -1.64259497e-05 9.99873905e-01 2.33348043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.644340128 meters 0.012575450200901915 Centerline is valid? [True, True] Translation: X:21.31, Y:0.65, Z:0.23 [[ 9.93329239e-01 -1.14341304e-01 -1.49361976e-02 2.13109849e+01] [ 1.14328263e-01 9.93441526e-01 -1.72690722e-03 6.46317703e-01] [ 1.50356957e-02 7.75791905e-06 9.99886958e-01 2.34725164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.674340128 meters 0.012565207108536612 Centerline is valid? [True, True] Translation: X:21.34, Y:0.65, Z:0.24 [[ 9.93546804e-01 -1.12529140e-01 -1.42105953e-02 2.13392251e+01] [ 1.12517086e-01 9.93648424e-01 -1.64742185e-03 6.47004317e-01] [ 1.43057186e-02 3.78559436e-05 9.99897667e-01 2.35909383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.704340128000002 meters 0.012656365903957769 Centerline is valid? [True, True] Translation: X:21.37, Y:0.65, Z:0.24 [[ 9.93588605e-01 -1.12170963e-01 -1.41194400e-02 2.13660297e+01] [ 1.12158975e-01 9.93688922e-01 -1.64055539e-03 6.48757278e-01] [ 1.42143538e-02 4.64152186e-05 9.99898970e-01 2.36258118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.734340128 meters 0.012687410875956737 Centerline is valid? [True, True] Translation: X:21.39, Y:0.65, Z:0.24 [[ 9.93683511e-01 -1.11428676e-01 -1.32939682e-02 2.13947968e+01] [ 1.11417951e-01 9.93772432e-01 -1.54703550e-03 6.48358712e-01] [ 1.33835632e-02 5.60769724e-05 9.99910435e-01 2.37493512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.764340128 meters 0.012677305239450758 Centerline is valid? [True, True] Translation: X:21.42, Y:0.65, Z:0.24 [[ 9.93668961e-01 -1.11598854e-01 -1.29495763e-02 2.14232751e+01] [ 1.11588639e-01 9.93753336e-01 -1.51093649e-03 6.49945302e-01] [ 1.30373034e-02 5.63450958e-05 9.99915009e-01 2.37845179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.794340128 meters 0.012718193180197856 Centerline is valid? [True, True] Translation: X:21.45, Y:0.65, Z:0.24 [[ 9.93609885e-01 -1.12079149e-01 -1.33289769e-02 2.14507325e+01] [ 1.12068322e-01 9.93699281e-01 -1.55880911e-03 6.51199718e-01] [ 1.34197048e-02 5.50920583e-05 9.99909950e-01 2.37458704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.824340128 meters 0.012685305014649782 Centerline is valid? [True, True] Translation: X:21.48, Y:0.65, Z:0.24 [[ 9.93543664e-01 -1.12606300e-01 -1.38133887e-02 2.14785860e+01] [ 1.12594687e-01 9.93639682e-01 -1.61807419e-03 6.51878031e-01] [ 1.39077365e-02 5.23131971e-05 9.99903281e-01 2.37452827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.854340128 meters 0.012475867089563396 Centerline is valid? [True, True] Translation: X:21.51, Y:0.65, Z:0.24 [[ 9.93337606e-01 -1.14461641e-01 -1.33765937e-02 2.15067585e+01] [ 1.14450865e-01 9.93427668e-01 -1.57090067e-03 6.49364196e-01] [ 1.34684861e-02 2.94720039e-05 9.99909295e-01 2.37838179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.884340128 meters 0.012447969542144511 Centerline is valid? [True, True] Translation: X:21.53, Y:0.65, Z:0.24 [[ 9.93234761e-01 -1.15354580e-01 -1.33427959e-02 2.15348312e+01] [ 1.15343884e-01 9.93324378e-01 -1.57099871e-03 6.49789435e-01] [ 1.34349464e-02 2.13606187e-05 9.99909747e-01 2.38346584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.914340128 meters 0.012421100055518691 Centerline is valid? [True, True] Translation: X:21.56, Y:0.65, Z:0.24 [[ 9.93072138e-01 -1.16735722e-01 -1.34350642e-02 2.15633292e+01] [ 1.16724947e-01 9.93163013e-01 -1.58604102e-03 6.50015889e-01] [ 1.35283565e-02 6.84599100e-06 9.99908488e-01 2.38737604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.944340128 meters 0.01267851779916285 Centerline is valid? [True, True] Translation: X:21.59, Y:0.65, Z:0.24 [[ 9.92823823e-01 -1.18787408e-01 -1.37988380e-02 2.15906122e+01] [ 1.18776190e-01 9.92919710e-01 -1.63263800e-03 6.47562243e-01] [ 1.38950751e-02 -1.80514959e-05 9.99903459e-01 2.37606524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.974340128 meters 0.01270719179193329 Centerline is valid? [True, True] Translation: X:21.62, Y:0.65, Z:0.24 [[ 9.92675015e-01 -1.20022281e-01 -1.38190870e-02 2.16188802e+01] [ 1.20011113e-01 9.92771198e-01 -1.63761695e-03 6.48565471e-01] [ 1.39157421e-02 -3.28225796e-05 9.99903171e-01 2.37566881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.004340128 meters 0.013091951768420483 Centerline is valid? [True, True] Translation: X:21.65, Y:0.65, Z:0.24 [[ 9.92481080e-01 -1.21519434e-01 -1.46400866e-02 2.16466039e+01] [ 1.21507008e-01 9.92589051e-01 -1.73856217e-03 6.48818310e-01] [ 1.47428587e-02 -5.33830624e-05 9.99891317e-01 2.37113098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.034340128 meters 0.013311378558764108 Centerline is valid? [True, True] Translation: X:21.68, Y:0.65, Z:0.24 [[ 9.92268367e-01 -1.23274144e-01 -1.43865557e-02 2.16752070e+01] [ 1.23262295e-01 9.92372652e-01 -1.71080185e-03 6.49262915e-01] [ 1.44877220e-02 -7.57453158e-05 9.99895045e-01 2.36797856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.064340128 meters 0.013846429599211525 Centerline is valid? [True, True] Translation: X:21.70, Y:0.65, Z:0.24 [[ 9.91939305e-01 -1.25894753e-01 -1.43849218e-02 2.17048226e+01] [ 1.25883121e-01 9.92043597e-01 -1.71486668e-03 6.47913073e-01] [ 1.44863623e-02 -1.09775184e-04 9.99895061e-01 2.37040583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.094340128 meters 0.013789599657155122 Centerline is valid? [True, True] Translation: X:21.73, Y:0.65, Z:0.24 [[ 9.91894642e-01 -1.26367432e-01 -1.32774886e-02 2.17328449e+01] [ 1.26357517e-01 9.91983498e-01 -1.58642962e-03 6.51694294e-01] [ 1.33715227e-02 -1.04139450e-04 9.99910592e-01 2.37811776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.124340128 meters 0.013902018608410581 Centerline is valid? [True, True] Translation: X:21.76, Y:0.65, Z:0.24 [[ 9.91868088e-01 -1.26577152e-01 -1.32634892e-02 2.17591854e+01] [ 1.26567229e-01 9.91956760e-01 -1.58828753e-03 6.54953365e-01] [ 1.33578487e-02 -1.03351361e-04 9.99910775e-01 2.38035422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.154340128 meters 0.014072449457668262 Centerline is valid? [True, True] Translation: X:21.79, Y:0.66, Z:0.24 [[ 9.91906308e-01 -1.26303079e-01 -1.30157028e-02 2.17859803e+01] [ 1.26293477e-01 9.91991695e-01 -1.56035479e-03 6.59344020e-01] [ 1.31085467e-02 -9.60726131e-05 9.99914075e-01 2.37854198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.184340128 meters 0.013891388372947183 Centerline is valid? [True, True] Translation: X:21.81, Y:0.66, Z:0.24 [[ 9.91860172e-01 -1.26615931e-01 -1.34835332e-02 2.18138840e+01] [ 1.26605621e-01 9.91951811e-01 -1.61895851e-03 6.64100022e-01] [ 1.35800011e-02 -1.01310630e-04 9.99907782e-01 2.37823611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.214340128 meters 0.01445061057907313 Centerline is valid? [True, True] Translation: X:21.84, Y:0.67, Z:0.24 [[ 9.91802078e-01 -1.27041014e-01 -1.37556934e-02 2.18416941e+01] [ 1.27030276e-01 9.91897459e-01 -1.65508634e-03 6.66744343e-01] [ 1.38545012e-02 -1.05871460e-04 9.99904016e-01 2.37047121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.244340128 meters 0.014214773988750646 Centerline is valid? [True, True] Translation: X:21.87, Y:0.67, Z:0.24 [[ 9.91727656e-01 -1.27646312e-01 -1.35157403e-02 2.18689338e+01] [ 1.27635974e-01 9.91819745e-01 -1.62829662e-03 6.71448885e-01] [ 1.36130242e-02 -1.10267888e-04 9.99907332e-01 2.37732987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.274340128000002 meters 0.014571529869583376 Centerline is valid? [True, True] Translation: X:21.90, Y:0.67, Z:0.24 [[ 9.91649424e-01 -1.28217202e-01 -1.38480657e-02 2.18956418e+01] [ 1.28206350e-01 9.91746104e-01 -1.67224555e-03 6.74507702e-01] [ 1.39481758e-02 -1.17128622e-04 9.99902713e-01 2.37163066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.304340128 meters 0.015198838978236092 Centerline is valid? [True, True] Translation: X:21.92, Y:0.68, Z:0.24 [[ 9.91284560e-01 -1.30851549e-01 -1.52575392e-02 2.19242442e+01] [ 1.30838630e-01 9.91401959e-01 -1.84618281e-03 6.79073478e-01] [ 1.53679302e-02 -1.66183012e-04 9.99881893e-01 2.35760149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.334340128 meters 0.015434969400045033 Centerline is valid? [True, True] Translation: X:21.95, Y:0.68, Z:0.23 [[ 9.91058528e-01 -1.32476690e-01 -1.59034710e-02 2.19532732e+01] [ 1.32462791e-01 9.91186102e-01 -1.92881299e-03 6.83822746e-01] [ 1.60188221e-02 -1.95051586e-04 9.99871671e-01 2.34545329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.364340128000002 meters 0.016196502118440544 Centerline is valid? [True, True] Translation: X:21.98, Y:0.69, Z:0.23 [[ 9.90843942e-01 -1.33965743e-01 -1.67768637e-02 2.19813191e+01] [ 1.33950429e-01 9.90985937e-01 -2.03829151e-03 6.87145776e-01] [ 1.68986972e-02 -2.27639295e-04 9.99857181e-01 2.33507264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.394340128 meters 0.017323010934532892 Centerline is valid? [True, True] Translation: X:22.01, Y:0.69, Z:0.23 [[ 9.90652530e-01 -1.35301205e-01 -1.73536347e-02 2.20089238e+01] [ 1.35284994e-01 9.90804480e-01 -2.11009763e-03 6.89145450e-01] [ 1.74795577e-02 -2.57312808e-04 9.99847188e-01 2.32726965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.424340128 meters 0.01753529013541936 Centerline is valid? [True, True] Translation: X:22.04, Y:0.69, Z:0.23 [[ 9.90384296e-01 -1.37213961e-01 -1.76430045e-02 2.20369824e+01] [ 1.37197478e-01 9.90541389e-01 -2.14701535e-03 6.93060441e-01] [ 1.77707267e-02 -2.94205444e-04 9.99842045e-01 2.33642983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.454340128000002 meters 0.017936475698972214 Centerline is valid? [True, True] Translation: X:22.07, Y:0.70, Z:0.23 [[ 9.90234788e-01 -1.38292326e-01 -1.76152425e-02 2.20654716e+01] [ 1.38276010e-01 9.90391406e-01 -2.14673673e-03 6.96626489e-01] [ 1.77428620e-02 -3.09992073e-04 9.99842535e-01 2.34198299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.484340128 meters 0.018800717406585066 Centerline is valid? [True, True] Translation: X:22.09, Y:0.70, Z:0.24 [[ 9.90068519e-01 -1.39639981e-01 -1.62789516e-02 2.20931306e+01] [ 1.39626178e-01 9.90202294e-01 -1.98696075e-03 6.99854396e-01] [ 1.63969143e-02 -3.05740506e-04 9.99865515e-01 2.35366494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.514340128 meters 0.019214048476769763 Centerline is valid? [True, True] Translation: X:22.12, Y:0.70, Z:0.24 [[ 9.89951331e-01 -1.40527574e-01 -1.57595734e-02 2.21222173e+01] [ 1.40514711e-01 9.90076717e-01 -1.92607344e-03 7.03587105e-01] [ 1.58738532e-02 -3.07732944e-04 9.99873955e-01 2.36341796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.544340128 meters 0.01787584333729806 Centerline is valid? [True, True] Translation: X:22.15, Y:0.71, Z:0.24 [[ 9.89909144e-01 -1.40942972e-01 -1.46616699e-02 2.21493445e+01] [ 1.40931825e-01 9.90017674e-01 -1.79587799e-03 7.09485999e-01] [ 1.47684288e-02 -2.88539858e-04 9.99890899e-01 2.37947918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.574340128 meters 0.018424773306831798 Centerline is valid? [True, True] Translation: X:22.18, Y:0.71, Z:0.24 [[ 9.89847060e-01 -1.41523140e-01 -1.31908837e-02 2.21757917e+01] [ 1.41514126e-01 9.89934912e-01 -1.61902500e-03 7.12825474e-01] [ 1.32872458e-02 -2.64109242e-04 9.99911686e-01 2.39720052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.604340128 meters 0.018708928284956756 Centerline is valid? [True, True] Translation: X:22.20, Y:0.72, Z:0.24 [[ 9.89810642e-01 -1.41878884e-01 -1.20530626e-02 2.22025108e+01] [ 1.41871365e-01 9.89883995e-01 -1.48092572e-03 7.16392740e-01] [ 1.21412459e-02 -2.44148403e-04 9.99926263e-01 2.41327275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.634340128 meters 0.01902917978838278 Centerline is valid? [True, True] Translation: X:22.23, Y:0.72, Z:0.24 [[ 9.89818805e-01 -1.41899992e-01 -1.10962179e-02 2.22292688e+01] [ 1.41893605e-01 9.89880974e-01 -1.36476082e-03 7.19921453e-01] [ 1.11775945e-02 -2.23616434e-04 9.99937504e-01 2.42637117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.664340128 meters 0.017844174302494006 Centerline is valid? [True, True] Translation: X:22.26, Y:0.73, Z:0.24 [[ 9.89875386e-01 -1.41579238e-01 -1.01014628e-02 2.22576560e+01] [ 1.41573915e-01 9.89926906e-01 -1.24370833e-03 7.27194394e-01] [ 1.01757931e-02 -1.98987382e-04 9.99948205e-01 2.44029135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.694340128 meters 0.018173349698816385 Centerline is valid? [True, True] Translation: X:22.29, Y:0.73, Z:0.24 [[ 9.89935131e-01 -1.41164141e-01 -1.00558925e-02 2.22852213e+01] [ 1.41158816e-01 9.89986186e-01 -1.24082536e-03 7.30556398e-01] [ 1.01303547e-02 -1.91141272e-04 9.99948668e-01 2.44614285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.724340128 meters 0.017486001493449824 Centerline is valid? [True, True] Translation: X:22.31, Y:0.74, Z:0.25 [[ 9.90003058e-01 -1.40701185e-01 -9.85502906e-03 2.23137808e+01] [ 1.40696034e-01 9.90052091e-01 -1.21748412e-03 7.35674458e-01] [ 9.92829359e-03 -1.81250498e-04 9.99950697e-01 2.45365296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.754340128 meters 0.01723411916270517 Centerline is valid? [True, True] Translation: X:22.34, Y:0.74, Z:0.25 [[ 9.90118851e-01 -1.39898979e-01 -9.64040106e-03 2.23412668e+01] [ 1.39893987e-01 9.90165768e-01 -1.19355196e-03 7.40444013e-01] [ 9.71257182e-03 -1.66875847e-04 9.99952818e-01 2.45604101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.784340128 meters 0.01719190474793276 Centerline is valid? [True, True] Translation: X:22.37, Y:0.74, Z:0.25 [[ 9.90121238e-01 -1.39831419e-01 -1.03493128e-02 2.23687429e+01] [ 1.39825650e-01 9.90175309e-01 -1.28252272e-03 7.44505751e-01] [ 1.04269710e-02 -1.77246409e-04 9.99945622e-01 2.45051130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.814340128 meters 0.018050670806042467 Centerline is valid? [True, True] Translation: X:22.40, Y:0.75, Z:0.24 [[ 9.89937349e-01 -1.41033356e-01 -1.15601861e-02 2.23966555e+01] [ 1.41026199e-01 9.90004823e-01 -1.43607380e-03 7.47349433e-01] [ 1.16471743e-02 -2.08666006e-04 9.99932148e-01 2.43543499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.844340128 meters 0.01856574995565085 Centerline is valid? [True, True] Translation: X:22.43, Y:0.75, Z:0.24 [[ 9.89766154e-01 -1.42190312e-01 -1.20364232e-02 2.24256839e+01] [ 1.42182619e-01 9.89839311e-01 -1.49680545e-03 7.50464090e-01] [ 1.21269561e-02 -2.29882802e-04 9.99926439e-01 2.43248547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.874340128 meters 0.01934980280545202 Centerline is valid? [True, True] Translation: X:22.45, Y:0.75, Z:0.24 [[ 9.89586705e-01 -1.43428099e-01 -1.21051272e-02 2.24539090e+01] [ 1.43420377e-01 9.89660710e-01 -1.50814065e-03 7.53038464e-01] [ 1.21962785e-02 -2.43685960e-04 9.99925593e-01 2.43139671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.904340128 meters 0.021471185065924686 Centerline is valid? [True, True] Translation: X:22.48, Y:0.75, Z:0.24 [[ 9.89084431e-01 -1.46801571e-01 -1.26999119e-02 2.24822243e+01] [ 1.46793333e-01 9.89165916e-01 -1.58346756e-03 7.54078994e-01] [ 1.27947755e-02 -2.98079292e-04 9.99918099e-01 2.43105855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.934340128 meters 0.022022238940931475 Centerline is valid? [True, True] Translation: X:22.51, Y:0.76, Z:0.24 [[ 9.88725097e-01 -1.49236922e-01 -1.22891645e-02 2.25105901e+01] [ 1.49229378e-01 9.88801416e-01 -1.53380464e-03 7.57148643e-01] [ 1.23804435e-02 -3.17393224e-04 9.99923309e-01 2.43802129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.964340128 meters 0.025968042925349193 Centerline is valid? [True, True] Translation: X:22.54, Y:0.75, Z:0.24 [[ 9.88097675e-01 -1.53327008e-01 -1.24021079e-02 2.25395459e+01] [ 1.53319612e-01 9.88175436e-01 -1.55063443e-03 7.54782228e-01] [ 1.24932125e-02 -3.69308086e-04 9.99921889e-01 2.44568925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.994340128 meters 0.02306108585033165 Centerline is valid? [True, True] Translation: X:22.57, Y:0.76, Z:0.25 [[ 9.87705753e-01 -1.55836547e-01 -1.23416455e-02 2.25677054e+01] [ 1.55829402e-01 9.87782776e-01 -1.54435970e-03 7.62401212e-01] [ 1.24315326e-02 -3.97818288e-04 9.99922646e-01 2.45372204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.024340128000002 meters 0.02557215559508022 Centerline is valid? [True, True] Translation: X:22.60, Y:0.76, Z:0.25 [[ 9.87480052e-01 -1.57225292e-01 -1.27810386e-02 2.25962179e+01] [ 1.57217705e-01 9.87562669e-01 -1.60247754e-03 7.62190137e-01] [ 1.28740266e-02 -4.26990961e-04 9.99917035e-01 2.45263681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.054340128 meters 0.02557215559508022 Centerline is valid? [True, True] Translation: X:22.62, Y:0.77, Z:0.25 [[ 9.87432514e-01 -1.57523589e-01 -1.27808024e-02 2.26235819e+01] [ 1.57516003e-01 9.87515131e-01 -1.60435901e-03 7.65797841e-01] [ 1.28739602e-02 -4.28984668e-04 9.99917035e-01 2.45533132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.084340128 meters 0.029852743528588972 Centerline is valid? [True, True] Translation: X:22.65, Y:0.76, Z:0.25 [[ 9.87200931e-01 -1.58946513e-01 -1.30510037e-02 2.26514853e+01] [ 1.58938682e-01 9.87287091e-01 -1.64169775e-03 7.63858059e-01] [ 1.31460296e-02 -4.53623768e-04 9.99913484e-01 2.45131706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.114340128000002 meters 0.030642071440932554 Centerline is valid? [True, True] Translation: X:22.68, Y:0.77, Z:0.24 [[ 9.87096741e-01 -1.59529047e-01 -1.38024062e-02 2.26787784e+01] [ 1.59520324e-01 9.87193115e-01 -1.73774763e-03 7.66781841e-01] [ 1.39028616e-02 -4.86439292e-04 9.99903232e-01 2.44809411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.144340128 meters 0.026235652533528515 Centerline is valid? [True, True] Translation: X:22.71, Y:0.78, Z:0.25 [[ 9.86976874e-01 -1.60217568e-01 -1.43868275e-02 2.27066709e+01] [ 1.60208132e-01 9.87081590e-01 -1.81350111e-03 7.78022241e-01] [ 1.44915273e-02 -5.15003103e-04 9.99894860e-01 2.45386098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.174340128 meters 0.028025316104576342 Centerline is valid? [True, True] Translation: X:22.73, Y:0.78, Z:0.25 [[ 9.86951105e-01 -1.60389276e-01 -1.42406828e-02 2.27336024e+01] [ 1.60379997e-01 9.87053707e-01 -1.79866872e-03 7.80000981e-01] [ 1.43448059e-02 -5.08722579e-04 9.99896979e-01 2.45558935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.204340128000002 meters 0.02650768684547393 Centerline is valid? [True, True] Translation: X:22.76, Y:0.79, Z:0.25 [[ 9.86933871e-01 -1.60500544e-01 -1.41812945e-02 2.27606496e+01] [ 1.60491305e-01 9.87035623e-01 -1.79460767e-03 7.86575653e-01] [ 1.42854783e-02 -5.04815355e-04 9.99897830e-01 2.46128174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.234340128 meters 0.029278147808284475 Centerline is valid? [True, True] Translation: X:22.79, Y:0.79, Z:0.25 [[ 9.87009017e-01 -1.60060430e-01 -1.39233396e-02 2.27887950e+01] [ 1.60051430e-01 9.87107098e-01 -1.76552060e-03 7.87917337e-01] [ 1.40264173e-02 -4.85865656e-04 9.99901507e-01 2.46499941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.264340128 meters 0.026572754956954332 Centerline is valid? [True, True] Translation: X:22.82, Y:0.80, Z:0.25 [[ 9.87081644e-01 -1.59661016e-01 -1.33486825e-02 2.28169168e+01] [ 1.59652676e-01 9.87171794e-01 -1.69495403e-03 7.95571608e-01] [ 1.34480609e-02 -4.58094871e-04 9.99909466e-01 2.48134576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.294340128 meters 0.026867374913616335 Centerline is valid? [True, True] Translation: X:22.84, Y:0.80, Z:0.25 [[ 9.87180352e-01 -1.59094583e-01 -1.28010261e-02 2.28448369e+01] [ 1.59086830e-01 9.87263252e-01 -1.62818162e-03 7.99406453e-01] [ 1.28970175e-02 -4.29165749e-04 9.99916738e-01 2.49068567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.324340128 meters 0.02653596696132961 Centerline is valid? [True, True] Translation: X:22.87, Y:0.80, Z:0.25 [[ 9.87215258e-01 -1.58897077e-01 -1.25600164e-02 2.28738490e+01] [ 1.58889577e-01 9.87295065e-01 -1.59912183e-03 8.04180488e-01] [ 1.26545380e-02 -4.16978220e-04 9.99919841e-01 2.49271895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.354340128 meters 0.02663332346009924 Centerline is valid? [True, True] Translation: X:22.90, Y:0.81, Z:0.25 [[ 9.87275327e-01 -1.58520039e-01 -1.26026123e-02 2.29016150e+01] [ 1.58512424e-01 9.87355675e-01 -1.60718774e-03 8.07905058e-01] [ 1.26980322e-02 -4.10933811e-04 9.99919292e-01 2.49598384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.384340128 meters 0.02660911951825328 Centerline is valid? [True, True] Translation: X:22.93, Y:0.81, Z:0.25 [[ 9.87309186e-01 -1.58277734e-01 -1.29896003e-02 2.29302881e+01] [ 1.58269600e-01 9.87394543e-01 -1.65832003e-03 8.11736275e-01] [ 1.30883356e-02 -4.18584244e-04 9.99914256e-01 2.49385124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.414340128 meters 0.02619852144840173 Centerline is valid? [True, True] Translation: X:22.96, Y:0.82, Z:0.25 [[ 9.87496533e-01 -1.57091920e-01 -1.31425443e-02 2.29581850e+01] [ 1.57083449e-01 9.87583903e-01 -1.68084784e-03 8.16379288e-01] [ 1.32434128e-02 -4.04644773e-04 9.99912220e-01 2.49491135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.444340128 meters 0.026121668393142197 Centerline is valid? [True, True] Translation: X:22.99, Y:0.82, Z:0.25 [[ 9.87596022e-01 -1.56497320e-01 -1.27548628e-02 2.29862476e+01] [ 1.56489265e-01 9.87678309e-01 -1.63331495e-03 8.21058725e-01] [ 1.28533107e-02 -3.82943760e-04 9.99917319e-01 2.49853070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.474340128 meters 0.025272034471791358 Centerline is valid? [True, True] Translation: X:23.02, Y:0.83, Z:0.25 [[ 9.87800747e-01 -1.55236561e-01 -1.23002056e-02 2.30150417e+01] [ 1.55228935e-01 9.87877263e-01 -1.57812574e-03 8.26583971e-01] [ 1.23960763e-02 -3.50474036e-04 9.99923104e-01 2.50449063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.504340128 meters 0.023861652526440777 Centerline is valid? [True, True] Translation: X:23.04, Y:0.83, Z:0.25 [[ 9.88199550e-01 -1.52706104e-01 -1.19371227e-02 2.30421866e+01] [ 1.52698705e-01 9.88271598e-01 -1.53420775e-03 8.33661743e-01] [ 1.20314022e-02 -3.06679775e-04 9.99927573e-01 2.50137888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.534340128 meters 0.02332272337283229 Centerline is valid? [True, True] Translation: X:23.07, Y:0.84, Z:0.25 [[ 9.88353481e-01 -1.51704861e-01 -1.19595742e-02 2.30712104e+01] [ 1.51697339e-01 9.88425793e-01 -1.53888611e-03 8.38600032e-01] [ 1.20546081e-02 -2.93272132e-04 9.99927298e-01 2.49971392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.564340128 meters 0.022572640346393082 Centerline is valid? [True, True] Translation: X:23.10, Y:0.84, Z:0.25 [[ 9.88623766e-01 -1.49883793e-01 -1.25657202e-02 2.30988099e+01] [ 1.49875310e-01 9.88703580e-01 -1.61948268e-03 8.44466607e-01] [ 1.26665067e-02 -2.82232134e-04 9.99919737e-01 2.49201563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.594340128 meters 0.02067605709972607 Centerline is valid? [True, True] Translation: X:23.13, Y:0.85, Z:0.25 [[ 9.88618714e-01 -1.49914570e-01 -1.25960468e-02 2.31262004e+01] [ 1.49906026e-01 9.88698914e-01 -1.62511311e-03 8.52077771e-01] [ 1.26973260e-02 -2.81606092e-04 9.99919346e-01 2.49008016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.624340128 meters 0.019713794745274304 Centerline is valid? [True, True] Translation: X:23.15, Y:0.86, Z:0.25 [[ 9.88642233e-01 -1.49787792e-01 -1.22536740e-02 2.31541618e+01] [ 1.49779652e-01 9.88718132e-01 -1.58454904e-03 8.58199056e-01] [ 1.23527758e-02 -2.68798928e-04 9.99923665e-01 2.48992258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.654340128 meters 0.022470695951660097 Centerline is valid? [True, True] Translation: X:23.18, Y:0.86, Z:0.25 [[ 9.88654014e-01 -1.49676869e-01 -1.26520673e-02 2.31814686e+01] [ 1.49668137e-01 9.88734929e-01 -1.63954241e-03 8.58501269e-01] [ 1.27549424e-02 -2.72671159e-04 9.99918615e-01 2.48402153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.684340128000002 meters 0.021132698473413442 Centerline is valid? [True, True] Translation: X:23.21, Y:0.87, Z:0.25 [[ 9.88497255e-01 -1.50683212e-01 -1.29517083e-02 2.32091232e+01] [ 1.50674127e-01 9.88582058e-01 -1.67999419e-03 8.65852070e-01] [ 1.30569734e-02 -2.90817688e-04 9.99914712e-01 2.47505899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.714340128 meters 0.024273075106400376 Centerline is valid? [True, True] Translation: X:23.24, Y:0.87, Z:0.25 [[ 9.88338116e-01 -1.51721413e-01 -1.29761641e-02 2.32368442e+01] [ 1.51712365e-01 9.88423250e-01 -1.68458925e-03 8.65318629e-01] [ 1.30815306e-02 -3.03700783e-04 9.99914387e-01 2.46694811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.744340128 meters 0.023423604132555988 Centerline is valid? [True, True] Translation: X:23.27, Y:0.87, Z:0.25 [[ 9.87757912e-01 -1.55496875e-01 -1.24510284e-02 2.32652618e+01] [ 1.55488816e-01 9.87836327e-01 -1.61862806e-03 8.71516849e-01] [ 1.25512697e-02 -3.37182993e-04 9.99921173e-01 2.47686502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.774340128000002 meters 0.026430841368628603 Centerline is valid? [True, True] Translation: X:23.29, Y:0.87, Z:0.25 [[ 9.87447121e-01 -1.57453891e-01 -1.25082311e-02 2.32928030e+01] [ 1.57445877e-01 9.87526274e-01 -1.62905251e-03 8.71553987e-01] [ 1.26087076e-02 -3.60766213e-04 9.99920442e-01 2.47191796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.804340128 meters 0.026080423327113328 Centerline is valid? [True, True] Translation: X:23.32, Y:0.88, Z:0.25 [[ 9.87066172e-01 -1.59876039e-01 -1.18331431e-02 2.33213766e+01] [ 1.59869016e-01 9.87137030e-01 -1.54316124e-03 8.76455838e-01] [ 1.19276482e-02 -3.68550689e-04 9.99928795e-01 2.47928305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.834340128 meters 0.02873874963473314 Centerline is valid? [True, True] Translation: X:23.35, Y:0.88, Z:0.25 [[ 9.86470455e-01 -1.63554697e-01 -1.12206679e-02 2.33496341e+01] [ 1.63548592e-01 9.86534191e-01 -1.46578851e-03 8.76700238e-01] [ 1.13093091e-02 -3.89167376e-04 9.99935972e-01 2.48877258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.864340128000002 meters 0.027900402938142378 Centerline is valid? [True, True] Translation: X:23.38, Y:0.88, Z:0.25 [[ 9.86231511e-01 -1.65025605e-01 -1.06750654e-02 2.33781190e+01] [ 1.65020153e-01 9.86289208e-01 -1.39555621e-03 8.81916379e-01] [ 1.07590043e-02 -3.85259411e-04 9.99942046e-01 2.49856080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.894340128 meters 0.02643105303388622 Centerline is valid? [True, True] Translation: X:23.41, Y:0.89, Z:0.25 [[ 9.86015643e-01 -1.66353967e-01 -9.97544922e-03 2.34064345e+01] [ 1.66349250e-01 9.86066032e-01 -1.30656507e-03 8.88841326e-01] [ 1.00538039e-02 -3.71114899e-04 9.99949390e-01 2.50428792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.924340128 meters 0.028015476145279293 Centerline is valid? [True, True] Translation: X:23.43, Y:0.89, Z:0.25 [[ 9.85887500e-01 -1.67135763e-01 -9.56423432e-03 2.34338590e+01] [ 1.67131439e-01 9.85933825e-01 -1.25526089e-03 8.92133126e-01] [ 9.63950111e-03 -3.60938231e-04 9.99953474e-01 2.50746115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.954340128000002 meters 0.0266283385417416 Centerline is valid? [True, True] Translation: X:23.46, Y:0.90, Z:0.25 [[ 9.85872306e-01 -1.67213360e-01 -9.77181215e-03 2.34610943e+01] [ 1.67208840e-01 9.85920664e-01 -1.28349941e-03 8.98797639e-01] [ 9.84884978e-03 -3.68566853e-04 9.99951431e-01 2.50887784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.984340128 meters 0.0250504335332316 Centerline is valid? [True, True] Translation: X:23.49, Y:0.91, Z:0.25 [[ 9.85980010e-01 -1.66589195e-01 -9.56345071e-03 2.34890909e+01] [ 1.66584808e-01 9.86026327e-01 -1.25909239e-03 9.07211959e-01] [ 9.63956536e-03 -3.51685672e-04 9.99953476e-01 2.50716774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.014340128 meters 0.024980798125879267 Centerline is valid? [True, True] Translation: X:23.52, Y:0.91, Z:0.25 [[ 9.86121446e-01 -1.65774397e-01 -9.12921732e-03 2.35171339e+01] [ 1.65770341e-01 9.86163649e-01 -1.20438772e-03 9.12064255e-01] [ 9.20255892e-03 -3.25680909e-04 9.99957603e-01 2.51272006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.044340128 meters 0.026088889918254272 Centerline is valid? [True, True] Translation: X:23.54, Y:0.92, Z:0.25 [[ 9.86294162e-01 -1.64753172e-01 -8.95650793e-03 2.35446749e+01] [ 1.64749204e-01 9.86334780e-01 -1.18417008e-03 9.15127205e-01] [ 9.02921106e-03 -3.07637515e-04 9.99959189e-01 2.51599668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.074340128 meters 0.024062830402199937 Centerline is valid? [True, True] Translation: X:23.57, Y:0.92, Z:0.25 [[ 9.86668425e-01 -1.62498373e-01 -8.92733877e-03 2.35728974e+01] [ 1.62494327e-01 9.86708771e-01 -1.18152655e-03 9.23930975e-01] [ 9.00067960e-03 -2.84866959e-04 9.99959452e-01 2.52098256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.104340128 meters 0.0226325728872052 Centerline is valid? [True, True] Translation: X:23.60, Y:0.93, Z:0.25 [[ 9.86846427e-01 -1.61459221e-01 -8.06531056e-03 2.36010823e+01] [ 1.61455869e-01 9.86879354e-01 -1.06929872e-03 9.30990424e-01] [ 8.13213661e-03 -2.46958098e-04 9.99966903e-01 2.52562410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.134340128 meters 0.02355513332533358 Centerline is valid? [True, True] Translation: X:23.63, Y:0.94, Z:0.25 [[ 9.86990474e-01 -1.60562819e-01 -8.32977021e-03 2.36291518e+01] [ 1.60559192e-01 9.87025593e-01 -1.10677451e-03 9.35142112e-01] [ 8.39940321e-03 -2.45045275e-04 9.99964694e-01 2.52829940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.164340128 meters 0.02231351643186209 Centerline is valid? [True, True] Translation: X:23.66, Y:0.94, Z:0.25 [[ 9.87282798e-01 -1.58779422e-01 -7.85945278e-03 2.36576438e+01] [ 1.58776120e-01 9.87314058e-01 -1.04635666e-03 9.43817659e-01] [ 7.92588812e-03 -2.14843487e-04 9.99968567e-01 2.53355989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.194340128 meters 0.020945323854853367 Centerline is valid? [True, True] Translation: X:23.69, Y:0.95, Z:0.25 [[ 9.87302632e-01 -1.58666737e-01 -7.64065569e-03 2.36850678e+01] [ 1.58663599e-01 9.87332175e-01 -1.01891170e-03 9.50567865e-01] [ 7.70553260e-03 -2.06319728e-04 9.99970291e-01 2.53533206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.224340128 meters 0.020206023627612462 Centerline is valid? [True, True] Translation: X:23.71, Y:0.96, Z:0.25 [[ 9.87347702e-01 -1.58405967e-01 -7.21554282e-03 2.37130178e+01] [ 1.58403146e-01 9.87374049e-01 -9.64426130e-04 9.56301208e-01] [ 7.27721058e-03 -1.90740762e-04 9.99973503e-01 2.53759315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.254340128 meters 0.02040941811817995 Centerline is valid? [True, True] Translation: X:23.74, Y:0.96, Z:0.25 [[ 9.87473938e-01 -1.57593501e-01 -7.71424514e-03 2.37407404e+01] [ 1.57590230e-01 9.87504051e-01 -1.03380844e-03 9.61748724e-01] [ 7.78076981e-03 -1.94830779e-04 9.99969710e-01 2.53230589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.284340128 meters 0.021379961682124762 Centerline is valid? [True, True] Translation: X:23.77, Y:0.97, Z:0.25 [[ 9.87548967e-01 -1.57077264e-01 -8.58900070e-03 2.37679746e+01] [ 1.57073182e-01 9.87586294e-01 -1.15200550e-03 9.65381006e-01] [ 8.66333324e-03 -2.11439829e-04 9.99962450e-01 2.52796016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.314340128 meters 0.020069585415631745 Centerline is valid? [True, True] Translation: X:23.80, Y:0.97, Z:0.25 [[ 9.87579315e-01 -1.56853579e-01 -9.16793846e-03 2.37965174e+01] [ 1.56848910e-01 9.87621843e-01 -1.23052207e-03 9.72642393e-01] [ 9.24746807e-03 -2.22743014e-04 9.99957216e-01 2.52127563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.344340128 meters 0.019766387990089118 Centerline is valid? [True, True] Translation: X:23.82, Y:0.98, Z:0.25 [[ 9.87598132e-01 -1.56743730e-01 -9.01845488e-03 2.38243550e+01] [ 1.56739186e-01 9.87639285e-01 -1.21286167e-03 9.78439717e-01] [ 9.09708878e-03 -2.15725358e-04 9.99958597e-01 2.51760256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.374340128 meters 0.019760680835356866 Centerline is valid? [True, True] Translation: X:23.85, Y:0.98, Z:0.25 [[ 9.87562181e-01 -1.56959090e-01 -9.20773251e-03 2.38517788e+01] [ 1.56954335e-01 9.87605081e-01 -1.24128777e-03 9.84176672e-01] [ 9.28843481e-03 -2.19344677e-04 9.99956838e-01 2.51765155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.404340128 meters 0.020228607383866355 Centerline is valid? [True, True] Translation: X:23.88, Y:0.99, Z:0.25 [[ 9.87445599e-01 -1.57678449e-01 -9.41781123e-03 2.38803793e+01] [ 1.57673478e-01 9.87490483e-01 -1.27266522e-03 9.88274171e-01] [ 9.50067084e-03 -2.28251381e-04 9.99954842e-01 2.52251101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.434340128000002 meters 0.020630877778802157 Centerline is valid? [True, True] Translation: X:23.91, Y:0.99, Z:0.25 [[ 9.87117762e-01 -1.59681568e-01 -1.00159835e-02 2.39090981e+01] [ 1.59676019e-01 9.87168541e-01 -1.35641001e-03 9.92915704e-01] [ 1.01040575e-02 -2.60375959e-04 9.99948919e-01 2.52118261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.464340128 meters 0.02152218101581564 Centerline is valid? [True, True] Translation: X:23.94, Y:1.00, Z:0.25 [[ 9.86832538e-01 -1.61441222e-01 -9.91333311e-03 2.39373981e+01] [ 1.61435848e-01 9.86882292e-01 -1.34525074e-03 9.96162876e-01] [ 1.00004718e-02 -2.72830132e-04 9.99949957e-01 2.52223105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.494340128 meters 0.0234627825238008 Centerline is valid? [True, True] Translation: X:23.96, Y:1.00, Z:0.25 [[ 9.86590405e-01 -1.62912257e-01 -9.94834807e-03 2.39648063e+01] [ 1.62906892e-01 9.86640520e-01 -1.35274958e-03 9.97724839e-01] [ 1.00358228e-02 -2.86044704e-04 9.99949599e-01 2.52579249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.524340128000002 meters 0.025699621519224378 Centerline is valid? [True, True] Translation: X:23.99, Y:1.00, Z:0.25 [[ 9.86319831e-01 -1.64547026e-01 -9.87254015e-03 2.39922736e+01] [ 1.64541808e-01 9.86369194e-01 -1.34411681e-03 9.98955584e-01] [ 9.95913989e-03 -2.98716536e-04 9.99950362e-01 2.53124090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.554340128 meters 0.027442062787314536 Centerline is valid? [True, True] Translation: X:24.02, Y:1.00, Z:0.25 [[ 9.85823876e-01 -1.67528996e-01 -9.23697318e-03 2.40210742e+01] [ 1.67524549e-01 9.85867101e-01 -1.25849910e-03 1.00143565e+00] [ 9.31726306e-03 -3.06761312e-04 9.99956546e-01 2.53827308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.584340128 meters 0.024699537036745704 Centerline is valid? [True, True] Translation: X:24.05, Y:1.01, Z:0.25 [[ 9.85554523e-01 -1.69128606e-01 -8.82030521e-03 2.40485580e+01] [ 1.69124595e-01 9.85593944e-01 -1.20402554e-03 1.00965924e+00] [ 8.89687455e-03 -3.05097731e-04 9.99960375e-01 2.54224114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.614340128000002 meters 0.027433075718548836 Centerline is valid? [True, True] Translation: X:24.08, Y:1.01, Z:0.25 [[ 9.85347168e-01 -1.70278713e-01 -9.80404389e-03 2.40761411e+01] [ 1.70273804e-01 9.85395879e-01 -1.33939958e-03 1.01059210e+00] [ 9.88893568e-03 -3.49598270e-04 9.99951042e-01 2.54212496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.644340128 meters 0.026872812093041692 Centerline is valid? [True, True] Translation: X:24.10, Y:1.02, Z:0.25 [[ 9.85215746e-01 -1.71008463e-01 -1.02975858e-02 2.41048069e+01] [ 1.71003075e-01 9.85269489e-01 -1.40800262e-03 1.01588544e+00] [ 1.03866775e-02 -3.73732494e-04 9.99945987e-01 2.54049952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.674340128 meters 0.0267642827913217 Centerline is valid? [True, True] Translation: X:24.13, Y:1.02, Z:0.25 [[ 9.85286661e-01 -1.70541752e-01 -1.12118611e-02 2.41320259e+01] [ 1.70535300e-01 9.85350370e-01 -1.53607023e-03 1.01954165e+00] [ 1.13095756e-02 -3.98548586e-04 9.99935965e-01 2.53851939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.704340128000002 meters 0.02634035692700893 Centerline is valid? [True, True] Translation: X:24.16, Y:1.02, Z:0.25 [[ 9.85468279e-01 -1.69409271e-01 -1.23599813e-02 2.41603056e+01] [ 1.69401319e-01 9.85545696e-01 -1.69513484e-03 1.02416623e+00] [ 1.24684980e-02 -4.23295523e-04 9.99922176e-01 2.53571810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.734340128 meters 0.025905928472960447 Centerline is valid? [True, True] Translation: X:24.19, Y:1.03, Z:0.25 [[ 9.85591189e-01 -1.68660377e-01 -1.27939239e-02 2.41885048e+01] [ 1.68651748e-01 9.85674133e-01 -1.75819653e-03 1.02932407e+00] [ 1.29071780e-02 -4.24854625e-04 9.99916609e-01 2.53766950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.764340128 meters 0.024845046115913073 Centerline is valid? [True, True] Translation: X:24.22, Y:1.04, Z:0.25 [[ 9.86036337e-01 -1.66007490e-01 -1.31854152e-02 2.42159922e+01] [ 1.65998047e-01 9.86124411e-01 -1.81502251e-03 1.03585506e+00] [ 1.33037671e-02 -3.99075027e-04 9.99911421e-01 2.53980399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.794340128 meters 0.024519641334303625 Centerline is valid? [True, True] Translation: X:24.24, Y:1.04, Z:0.25 [[ 9.86163183e-01 -1.65206787e-01 -1.37438364e-02 2.42442296e+01] [ 1.65196422e-01 9.86258868e-01 -1.89392983e-03 1.04079177e+00] [ 1.38678706e-02 -4.02708719e-04 9.99903755e-01 2.53643322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.824340128 meters 0.024365620095011156 Centerline is valid? [True, True] Translation: X:24.27, Y:1.04, Z:0.25 [[ 9.86296995e-01 -1.64352277e-01 -1.43724503e-02 2.42719984e+01] [ 1.64340803e-01 9.86401624e-01 -1.98389191e-03 1.04488358e+00] [ 1.45030654e-02 -4.05273393e-04 9.99894743e-01 2.53431367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.854340128 meters 0.024019083509021558 Centerline is valid? [True, True] Translation: X:24.30, Y:1.05, Z:0.25 [[ 9.86352946e-01 -1.63963924e-01 -1.49565418e-02 2.43003935e+01] [ 1.63951412e-01 9.86466249e-01 -2.06731249e-03 1.04891695e+00] [ 1.50930883e-02 -4.13046365e-04 9.99886008e-01 2.53716635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.884340128 meters 0.021320191873543927 Centerline is valid? [True, True] Translation: X:24.33, Y:1.05, Z:0.26 [[ 9.86400687e-01 -1.63621450e-01 -1.55469113e-02 2.43291915e+01] [ 1.63607821e-01 9.86523109e-01 -2.15309643e-03 1.05497142e+00] [ 1.56896800e-02 -4.19780488e-04 9.99876821e-01 2.55093491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.914340128 meters 0.02182926626785296 Centerline is valid? [True, True] Translation: X:24.36, Y:1.06, Z:0.26 [[ 9.86316044e-01 -1.64144886e-01 -1.53986362e-02 2.43566876e+01] [ 1.64131528e-01 9.86436151e-01 -2.13594335e-03 1.05758482e+00] [ 1.55403756e-02 -4.20686498e-04 9.99879153e-01 2.55708612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.944340128 meters 0.02182926626785296 Centerline is valid? [True, True] Translation: X:24.38, Y:1.06, Z:0.26 [[ 9.86264573e-01 -1.64453908e-01 -1.53981887e-02 2.43839851e+01] [ 1.64440537e-01 9.86384678e-01 -2.13916590e-03 1.06154007e+00] [ 1.55403316e-02 -4.22302872e-04 9.99879153e-01 2.55977798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.974340128 meters 0.02260645022545249 Centerline is valid? [True, True] Translation: X:24.41, Y:1.06, Z:0.26 [[ 9.86186256e-01 -1.64906230e-01 -1.55757711e-02 2.44112447e+01] [ 1.64892545e-01 9.86309155e-01 -2.16766199e-03 1.06413355e+00] [ 1.57199866e-02 -4.30610079e-04 9.99876341e-01 2.56386318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.004340128 meters 0.023460440838350794 Centerline is valid? [True, True] Translation: X:24.44, Y:1.07, Z:0.26 [[ 9.85934431e-01 -1.66430909e-01 -1.52987056e-02 2.44404433e+01] [ 1.66417849e-01 9.86053018e-01 -2.13175783e-03 1.06693646e+00] [ 1.54401252e-02 -4.44204229e-04 9.99880695e-01 2.57119611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.034340128 meters 0.023894975963775707 Centerline is valid? [True, True] Translation: X:24.47, Y:1.07, Z:0.26 [[ 9.85758760e-01 -1.67460575e-01 -1.53825477e-02 2.44694390e+01] [ 1.67447431e-01 9.85878667e-01 -2.14763673e-03 1.06995188e+00] [ 1.55249701e-02 -4.58716379e-04 9.99879375e-01 2.57855865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.064340128 meters 0.023753096699362743 Centerline is valid? [True, True] Translation: X:24.50, Y:1.07, Z:0.26 [[ 9.85439383e-01 -1.69371787e-01 -1.49137604e-02 2.44981156e+01] [ 1.69359590e-01 9.85552118e-01 -2.08619187e-03 1.07246948e+00] [ 1.50516302e-02 -4.69972726e-04 9.99886607e-01 2.59917436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.094340128 meters 0.025866196508335052 Centerline is valid? [True, True] Translation: X:24.53, Y:1.07, Z:0.26 [[ 9.85332394e-01 -1.70025356e-01 -1.45413870e-02 2.45257322e+01] [ 1.70013786e-01 9.85439578e-01 -2.03730217e-03 1.07267982e+00] [ 1.46760513e-02 -4.64816418e-04 9.99892193e-01 2.60872130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.124340128 meters 0.025189977016639 Centerline is valid? [True, True] Translation: X:24.55, Y:1.08, Z:0.26 [[ 9.85245176e-01 -1.70546260e-01 -1.43497622e-02 2.45537143e+01] [ 1.70535010e-01 9.85349561e-01 -2.01302699e-03 1.07702856e+00] [ 1.44828462e-02 -4.63811715e-04 9.99895011e-01 2.61791918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.154340128 meters 0.026213064675227833 Centerline is valid? [True, True] Translation: X:24.58, Y:1.08, Z:0.26 [[ 9.85136439e-01 -1.71177920e-01 -1.42939141e-02 2.45810770e+01] [ 1.71166774e-01 9.85240022e-01 -2.00861573e-03 1.07955353e+00] [ 1.44267669e-02 -4.67882611e-04 9.99895819e-01 2.62402545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.184340128000002 meters 0.0262774713029165 Centerline is valid? [True, True] Translation: X:24.61, Y:1.08, Z:0.26 [[ 9.84994979e-01 -1.71953247e-01 -1.47299569e-02 2.46090791e+01] [ 1.71941476e-01 9.85104989e-01 -2.07132689e-03 1.08390538e+00] [ 1.48667255e-02 -4.92443951e-04 9.99889363e-01 2.62533016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.214340128 meters 0.025086124602705158 Centerline is valid? [True, True] Translation: X:24.64, Y:1.09, Z:0.26 [[ 9.84929863e-01 -1.72310259e-01 -1.49110645e-02 2.46361914e+01] [ 1.72298199e-01 9.85042600e-01 -2.09938686e-03 1.08963465e+00] [ 1.50497797e-02 -5.01400749e-04 9.99886620e-01 2.63187299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.244340128 meters 0.025133469375065193 Centerline is valid? [True, True] Translation: X:24.66, Y:1.09, Z:0.26 [[ 9.85004267e-01 -1.71817977e-01 -1.56581299e-02 2.46634380e+01] [ 1.71804556e-01 9.85128579e-01 -2.20836774e-03 1.09390122e+00] [ 1.58047085e-02 -5.14886407e-04 9.99874965e-01 2.63249235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.274340128000002 meters 0.026615988995930526 Centerline is valid? [True, True] Translation: X:24.69, Y:1.10, Z:0.26 [[ 9.85162249e-01 -1.70893002e-01 -1.58406156e-02 2.46909468e+01] [ 1.70879117e-01 9.85289464e-01 -2.23594663e-03 1.09555205e+00] [ 1.59896993e-02 -5.04060192e-04 9.99872030e-01 2.62999698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.304340128 meters 0.022912601718407623 Centerline is valid? [True, True] Translation: X:24.72, Y:1.11, Z:0.26 [[ 9.85493159e-01 -1.68944466e-01 -1.61554974e-02 2.47192738e+01] [ 1.68929712e-01 9.85625455e-01 -2.28347758e-03 1.10529145e+00] [ 1.63090504e-02 -4.78791994e-04 9.99866884e-01 2.64037914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.334340128 meters 0.021901100367722273 Centerline is valid? [True, True] Translation: X:24.75, Y:1.11, Z:0.26 [[ 9.85692881e-01 -1.67710428e-01 -1.68153944e-02 2.47473132e+01] [ 1.67694186e-01 9.85836188e-01 -2.38134349e-03 1.11150784e+00] [ 1.69766004e-02 -4.72570556e-04 9.99855775e-01 2.64306484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.364340128000002 meters 0.02173820683677195 Centerline is valid? [True, True] Translation: X:24.77, Y:1.12, Z:0.26 [[ 9.85910563e-01 -1.66388613e-01 -1.71811160e-02 2.47747109e+01] [ 1.66371396e-01 9.86060151e-01 -2.43664799e-03 1.11643217e+00] [ 1.73470443e-02 -4.56129261e-04 9.99849425e-01 2.63983055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.394340128 meters 0.020284830345712015 Centerline is valid? [True, True] Translation: X:24.80, Y:1.12, Z:0.26 [[ 9.86179630e-01 -1.64717018e-01 -1.78337276e-02 2.48032586e+01] [ 1.64698135e-01 9.86340768e-01 -2.53249531e-03 1.12303404e+00] [ 1.80072777e-02 -4.39686395e-04 9.99837759e-01 2.64486430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.424340128 meters 0.019031795015818982 Centerline is valid? [True, True] Translation: X:24.83, Y:1.13, Z:0.27 [[ 9.86744211e-01 -1.61328058e-01 -1.75817841e-02 2.48307344e+01] [ 1.61309106e-01 9.86900766e-01 -2.50019277e-03 1.12912008e+00] [ 1.77548274e-02 -3.69051131e-04 9.99842303e-01 2.65515126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.454340128000002 meters 0.01854291897463313 Centerline is valid? [True, True] Translation: X:24.86, Y:1.13, Z:0.27 [[ 9.86933571e-01 -1.60196685e-01 -1.72959271e-02 2.48595412e+01] [ 1.60178117e-01 9.87085055e-01 -2.46259172e-03 1.13415882e+00] [ 1.74670502e-02 -3.40014594e-04 9.99847382e-01 2.66142738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.484340128 meters 0.018175798394756356 Centerline is valid? [True, True] Translation: X:24.89, Y:1.14, Z:0.27 [[ 9.87185735e-01 -1.58623723e-01 -1.74022719e-02 2.48871240e+01] [ 1.58604614e-01 9.87339059e-01 -2.48153723e-03 1.13915545e+00] [ 1.75755735e-02 -3.10342480e-04 9.99845490e-01 2.66235891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.514340128 meters 0.017255939255983798 Centerline is valid? [True, True] Translation: X:24.91, Y:1.15, Z:0.27 [[ 9.87578507e-01 -1.56151066e-01 -1.74796031e-02 2.49146760e+01] [ 1.56131363e-01 9.87733149e-01 -2.49471615e-03 1.14502824e+00] [ 1.76547360e-02 -2.65386203e-04 9.99844108e-01 2.66400285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.544340128 meters 0.01668625562626993 Centerline is valid? [True, True] Translation: X:24.94, Y:1.15, Z:0.27 [[ 9.87678513e-01 -1.55523767e-01 -1.74216011e-02 2.49433227e+01] [ 1.55504043e-01 9.87832119e-01 -2.48944680e-03 1.15023953e+00] [ 1.75967853e-02 -2.50356306e-04 9.99845133e-01 2.67175337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.574340128 meters 0.016103381023531503 Centerline is valid? [True, True] Translation: X:24.97, Y:1.16, Z:0.27 [[ 9.87818610e-01 -1.54618440e-01 -1.75365607e-02 2.49718784e+01] [ 1.54598228e-01 9.87974233e-01 -2.51065105e-03 1.15527710e+00] [ 1.77138630e-02 -2.31053377e-04 9.99843071e-01 2.68426111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.604340128 meters 0.016336542341837044 Centerline is valid? [True, True] Translation: X:25.00, Y:1.16, Z:0.27 [[ 9.87812473e-01 -1.54684840e-01 -1.72950348e-02 2.49985274e+01] [ 1.54665127e-01 9.87963840e-01 -2.47971257e-03 1.15867087e+00] [ 1.74704429e-02 -2.25447740e-04 9.99847355e-01 2.68518940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.634340128 meters 0.016379236032785658 Centerline is valid? [True, True] Translation: X:25.03, Y:1.16, Z:0.27 [[ 9.87733417e-01 -1.55121395e-01 -1.78899208e-02 2.50264214e+01] [ 1.55100304e-01 9.87895387e-01 -2.56890020e-03 1.16262943e+00] [ 1.80718617e-02 -2.37343584e-04 9.99836662e-01 2.68941571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.664340128 meters 0.016280497698933354 Centerline is valid? [True, True] Translation: X:25.05, Y:1.17, Z:0.27 [[ 9.87515659e-01 -1.56513171e-01 -1.77890766e-02 2.50546765e+01] [ 1.56492448e-01 9.87675838e-01 -2.55968160e-03 1.16620846e+00] [ 1.79704650e-02 -2.56130467e-04 9.99838485e-01 2.69481623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.694340128 meters 0.016485189102241452 Centerline is valid? [True, True] Translation: X:25.08, Y:1.17, Z:0.27 [[ 9.87338028e-01 -1.57630660e-01 -1.77818344e-02 2.50838501e+01] [ 1.57610044e-01 9.87498102e-01 -2.56366815e-03 1.16968555e+00] [ 1.79636405e-02 -2.71388664e-04 9.99838604e-01 2.70049629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.724340128 meters 0.01705841551553845 Centerline is valid? [True, True] Translation: X:25.11, Y:1.17, Z:0.27 [[ 9.87171682e-01 -1.58665224e-01 -1.78161890e-02 2.51119287e+01] [ 1.58644633e-01 9.87332398e-01 -2.57219013e-03 1.17236119e+00] [ 1.79986177e-02 -2.87249505e-04 9.99837970e-01 2.70162146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.754340128 meters 0.01791865902900076 Centerline is valid? [True, True] Translation: X:25.14, Y:1.17, Z:0.27 [[ 9.86769336e-01 -1.61177997e-01 -1.75479319e-02 2.51411722e+01] [ 1.61158363e-01 9.86925300e-01 -2.53663359e-03 1.17440206e+00] [ 1.77273474e-02 -3.24923728e-04 9.99842805e-01 2.70567946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.784340128 meters 0.019959330959132944 Centerline is valid? [True, True] Translation: X:25.17, Y:1.17, Z:0.27 [[ 9.86568018e-01 -1.62384562e-01 -1.77425933e-02 2.51692702e+01] [ 1.62364620e-01 9.86727487e-01 -2.56833058e-03 1.17458539e+00] [ 1.79241618e-02 -3.46936627e-04 9.99839289e-01 2.69739601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.814340128 meters 0.01930404235495385 Centerline is valid? [True, True] Translation: X:25.20, Y:1.18, Z:0.27 [[ 9.86294511e-01 -1.64007740e-01 -1.80166537e-02 2.51979086e+01] [ 1.63987388e-01 9.86458979e-01 -2.61129537e-03 1.17953827e+00] [ 1.82009625e-02 -3.78997693e-04 9.99834277e-01 2.70679639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.844340128000002 meters 0.02064502257515287 Centerline is valid? [True, True] Translation: X:25.23, Y:1.18, Z:0.27 [[ 9.85761408e-01 -1.67163499e-01 -1.81882109e-02 2.52272285e+01] [ 1.67143201e-01 9.85929092e-01 -2.64123446e-03 1.18156335e+00] [ 1.83738043e-02 -4.36408801e-04 9.99831092e-01 2.70315712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.874340128 meters 0.02136229969325675 Centerline is valid? [True, True] Translation: X:25.26, Y:1.18, Z:0.27 [[ 9.85446840e-01 -1.69026916e-01 -1.80118606e-02 2.52560274e+01] [ 1.69007231e-01 9.85611327e-01 -2.62060233e-03 1.18491967e+00] [ 1.81956461e-02 -4.61670388e-04 9.99834339e-01 2.70327333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.904340128 meters 0.022387277570252453 Centerline is valid? [True, True] Translation: X:25.29, Y:1.19, Z:0.27 [[ 9.84973677e-01 -1.71753320e-01 -1.81011661e-02 2.52853789e+01] [ 1.71733806e-01 9.85139857e-01 -2.63864955e-03 1.18670688e+00] [ 1.82853770e-02 -5.09581793e-04 9.99832679e-01 2.70358918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.934340128000002 meters 0.024055207266537013 Centerline is valid? [True, True] Translation: X:25.31, Y:1.19, Z:0.27 [[ 9.84775788e-01 -1.72833046e-01 -1.85845269e-02 2.53136219e+01] [ 1.72812600e-01 9.84950987e-01 -2.71276148e-03 1.18797934e+00] [ 1.87737029e-02 -5.40178570e-04 9.99823613e-01 2.70055514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.964340128 meters 0.024648012539798515 Centerline is valid? [True, True] Translation: X:25.34, Y:1.19, Z:0.27 [[ 9.84654829e-01 -1.73487700e-01 -1.88914403e-02 2.53414556e+01] [ 1.73466657e-01 9.84835877e-01 -2.75941258e-03 1.19088606e+00] [ 1.90836923e-02 -5.59966078e-04 9.99817733e-01 2.69621524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.994340128 meters 0.02383847402891264 Centerline is valid? [True, True] Translation: X:25.37, Y:1.20, Z:0.27 [[ 9.84580536e-01 -1.73876525e-01 -1.91865024e-02 2.53691682e+01] [ 1.73854817e-01 9.84767296e-01 -2.80644426e-03 1.19651071e+00] [ 1.93822149e-02 -5.72495473e-04 9.99811983e-01 2.69622829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.024340128000002 meters 0.025054183804774578 Centerline is valid? [True, True] Translation: X:25.40, Y:1.20, Z:0.27 [[ 9.84595772e-01 -1.73746604e-01 -1.95776093e-02 2.53965090e+01] [ 1.73723889e-01 9.84790224e-01 -2.86810651e-03 1.19965774e+00] [ 1.97781620e-02 -5.77172878e-04 9.99804226e-01 2.68426505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.054340128 meters 0.023510795717700345 Centerline is valid? [True, True] Translation: X:25.42, Y:1.21, Z:0.27 [[ 9.84873353e-01 -1.72102634e-01 -2.01286272e-02 2.54246414e+01] [ 1.72078194e-01 9.85078867e-01 -2.95300036e-03 1.20709012e+00] [ 2.03365045e-02 -5.55366459e-04 9.99793038e-01 2.67781083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.084340128 meters 0.021799928377855115 Centerline is valid? [True, True] Translation: X:25.45, Y:1.21, Z:0.27 [[ 9.85109940e-01 -1.70718442e-01 -2.03376439e-02 2.54530818e+01] [ 1.70693082e-01 9.85319713e-01 -2.98924318e-03 1.21395017e+00] [ 2.05494004e-02 -5.26761955e-04 9.99788700e-01 2.68305328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.114340128000002 meters 0.019354769189948117 Centerline is valid? [True, True] Translation: X:25.48, Y:1.22, Z:0.27 [[ 9.85830193e-01 -1.66670821e-01 -1.89649277e-02 2.54811904e+01] [ 1.66647958e-01 9.86012510e-01 -2.79071782e-03 1.22130071e+00] [ 1.91647872e-02 -4.09292590e-04 9.99816255e-01 2.69542303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.144340128 meters 0.01830110289293655 Centerline is valid? [True, True] Translation: X:25.51, Y:1.23, Z:0.27 [[ 9.86185993e-01 -1.64582764e-01 -1.87002844e-02 2.55091841e+01] [ 1.64560097e-01 9.86363211e-01 -2.75508420e-03 1.22687820e+00] [ 1.88987119e-02 -3.60295160e-04 9.99821338e-01 2.70159568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.174340128 meters 0.017327285415611016 Centerline is valid? [True, True] Translation: X:25.54, Y:1.23, Z:0.27 [[ 9.86985101e-01 -1.59807333e-01 -1.79450819e-02 2.55361102e+01] [ 1.59785602e-01 9.87148191e-01 -2.64756438e-03 1.23302237e+00] [ 1.81375553e-02 -2.54259118e-04 9.99835469e-01 2.69973633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.204340128000002 meters 0.015523318321076719 Centerline is valid? [True, True] Translation: X:25.56, Y:1.24, Z:0.27 [[ 9.87377810e-01 -1.57416998e-01 -1.74627836e-02 2.55643639e+01] [ 1.57395986e-01 9.87532201e-01 -2.57985064e-03 1.24099813e+00] [ 1.76511735e-02 -2.01284765e-04 9.99844186e-01 2.70933622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.234340128 meters 0.014622361855225911 Centerline is valid? [True, True] Translation: X:25.59, Y:1.25, Z:0.27 [[ 9.87723263e-01 -1.55284521e-01 -1.70139072e-02 2.55923105e+01] [ 1.55264178e-01 9.87869776e-01 -2.51822047e-03 1.24754653e+00] [ 1.71985653e-02 -1.54345370e-04 9.99852082e-01 2.71411899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.264340128 meters 0.013548057080868509 Centerline is valid? [True, True] Translation: X:25.62, Y:1.25, Z:0.27 [[ 9.88431684e-01 -1.50815766e-01 -1.60440109e-02 2.56190844e+01] [ 1.50797030e-01 9.88561885e-01 -2.37818288e-03 1.25404827e+00] [ 1.62191651e-02 -6.87178857e-05 9.99868458e-01 2.72023702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.294340128 meters 0.013290246896513456 Centerline is valid? [True, True] Translation: X:25.65, Y:1.26, Z:0.27 [[ 9.88658905e-01 -1.49356344e-01 -1.56924142e-02 2.56464576e+01] [ 1.49338184e-01 9.88783435e-01 -2.32934394e-03 1.25935361e+00] [ 1.58643015e-02 -4.05500110e-05 9.99874153e-01 2.72926700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.324340128 meters 0.012982671370588386 Centerline is valid? [True, True] Translation: X:25.67, Y:1.26, Z:0.27 [[ 9.88869386e-01 -1.48067580e-01 -1.46058080e-02 2.56742735e+01] [ 1.48051644e-01 9.88977245e-01 -2.17241958e-03 1.26461447e+00] [ 1.47664767e-02 -1.41746705e-05 9.99890970e-01 2.73982303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.354340128 meters 0.012925921030647793 Centerline is valid? [True, True] Translation: X:25.70, Y:1.27, Z:0.27 [[ 9.89050032e-01 -1.46895931e-01 -1.41992796e-02 2.57016976e+01] [ 1.46880686e-01 9.89151953e-01 -2.11634685e-03 1.26920554e+00] [ 1.43561279e-02 7.57299249e-06 9.99896945e-01 2.74791745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.384340128 meters 0.012760568510859419 Centerline is valid? [True, True] Translation: X:25.73, Y:1.27, Z:0.28 [[ 9.89202916e-01 -1.46012078e-01 -1.25723611e-02 2.57296452e+01] [ 1.46000009e-01 9.89282807e-01 -1.87745663e-03 1.27365478e+00] [ 1.27117520e-02 2.16207491e-05 9.99919202e-01 2.76426891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.414340128 meters 0.012765191794410768 Centerline is valid? [True, True] Translation: X:25.76, Y:1.28, Z:0.28 [[ 9.89271137e-01 -1.45599686e-01 -1.19728198e-02 2.57575817e+01] [ 1.45588667e-01 9.89343586e-01 -1.79152333e-03 1.27823109e+00] [ 1.21060777e-02 2.91954458e-05 9.99926718e-01 2.77393297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.444340128 meters 0.01284857370502125 Centerline is valid? [True, True] Translation: X:25.78, Y:1.28, Z:0.28 [[ 9.89353507e-01 -1.45112345e-01 -1.10474217e-02 2.57846183e+01] [ 1.45102899e-01 9.89415184e-01 -1.65611823e-03 1.28290163e+00] [ 1.11708099e-02 3.54734669e-05 9.99937604e-01 2.78225583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.474340128 meters 0.012837904514795002 Centerline is valid? [True, True] Translation: X:25.81, Y:1.29, Z:0.28 [[ 9.89318218e-01 -1.45384160e-01 -1.06259158e-02 2.58128243e+01] [ 1.45375412e-01 9.89375280e-01 -1.59519435e-03 1.28657902e+00] [ 1.07449344e-02 3.34079500e-05 9.99942271e-01 2.78476019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.504340128 meters 0.012920481385782513 Centerline is valid? [True, True] Translation: X:25.84, Y:1.29, Z:0.28 [[ 9.89294599e-01 -1.45542537e-01 -1.06567860e-02 2.58408884e+01] [ 1.45533711e-01 9.89351994e-01 -1.60318134e-03 1.29033423e+00] [ 1.07766435e-02 3.50970304e-05 9.99941930e-01 2.78829139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.534340128 meters 0.012924307381729049 Centerline is valid? [True, True] Translation: X:25.87, Y:1.29, Z:0.28 [[ 9.89191972e-01 -1.46250446e-01 -1.04904887e-02 2.58683905e+01] [ 1.46241899e-01 9.89247596e-01 -1.58139772e-03 1.29312864e+00] [ 1.06089709e-02 3.01569349e-05 9.99943723e-01 2.78560875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.564340128 meters 0.012969766705851116 Centerline is valid? [True, True] Translation: X:25.90, Y:1.30, Z:0.28 [[ 9.89080621e-01 -1.46990939e-01 -1.06390281e-02 2.58960621e+01] [ 1.46982155e-01 9.89137838e-01 -1.60717355e-03 1.29699364e+00] [ 1.07597052e-02 2.58769424e-05 9.99942112e-01 2.78349496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.594340128000002 meters 0.01299951732419548 Centerline is valid? [True, True] Translation: X:25.92, Y:1.30, Z:0.28 [[ 9.88941603e-01 -1.47895728e-01 -1.10163441e-02 2.59242472e+01] [ 1.47886326e-01 9.89002959e-01 -1.66773264e-03 1.30063425e+00] [ 1.11418474e-02 2.01235404e-05 9.99937927e-01 2.77906545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.624340128 meters 0.013091599866650587 Centerline is valid? [True, True] Translation: X:25.95, Y:1.30, Z:0.28 [[ 9.88599233e-01 -1.50064502e-01 -1.23370124e-02 2.59525453e+01] [ 1.50052826e-01 9.88676209e-01 -1.87191807e-03 1.30305783e+00] [ 1.24782191e-02 -6.26813896e-07 9.99922144e-01 2.76054042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.654340128 meters 0.013248010105986816 Centerline is valid? [True, True] Translation: X:25.98, Y:1.31, Z:0.28 [[ 9.88362071e-01 -1.51559973e-01 -1.30380741e-02 2.59797602e+01] [ 1.51547010e-01 9.88448063e-01 -1.98227713e-03 1.30579053e+00] [ 1.31878929e-02 -1.66736218e-05 9.99913036e-01 2.75151020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684340128000002 meters 0.013503557828940844 Centerline is valid? [True, True] Translation: X:26.01, Y:1.31, Z:0.28 [[ 9.88033760e-01 -1.53633649e-01 -1.36378369e-02 2.60078707e+01] [ 1.53619616e-01 9.88127876e-01 -2.07686809e-03 1.30810264e+00] [ 1.37950036e-02 -4.30234747e-05 9.99904843e-01 2.75069125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.714340128 meters 0.014085320363656478 Centerline is valid? [True, True] Translation: X:26.04, Y:1.31, Z:0.28 [[ 9.87458913e-01 -1.57231402e-01 -1.42541958e-02 2.60369159e+01] [ 1.57216383e-01 9.87561784e-01 -2.17513514e-03 1.30875087e+00] [ 1.44188985e-02 -9.31365241e-05 9.99896038e-01 2.75790234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744340128 meters 0.014752045582990564 Centerline is valid? [True, True] Translation: X:26.07, Y:1.31, Z:0.28 [[ 9.87135282e-01 -1.59218112e-01 -1.46126027e-02 2.60650152e+01] [ 1.59202497e-01 9.87243424e-01 -2.23314772e-03 1.31077632e+00] [ 1.47817535e-02 -1.21943924e-04 9.99890736e-01 2.75785002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.774340128000002 meters 0.015296781874241081 Centerline is valid? [True, True] Translation: X:26.09, Y:1.31, Z:0.28 [[ 9.86816363e-01 -1.61215235e-01 -1.42518200e-02 2.60942958e+01] [ 1.61200558e-01 9.86919260e-01 -2.18022492e-03 1.31358990e+00] [ 1.44168811e-02 -1.45919719e-04 9.99896061e-01 2.76173289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804340128 meters 0.016376721252843555 Centerline is valid? [True, True] Translation: X:26.12, Y:1.32, Z:0.28 [[ 9.86214265e-01 -1.64886248e-01 -1.39265687e-02 2.61228581e+01] [ 1.64872546e-01 9.86312571e-01 -2.13425709e-03 1.31525546e+00] [ 1.40878594e-02 -1.91274053e-04 9.99900743e-01 2.77253660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.834340128 meters 0.016376721252843555 Centerline is valid? [True, True] Translation: X:26.15, Y:1.32, Z:0.28 [[ 9.86162946e-01 -1.65192950e-01 -1.39259617e-02 2.61500893e+01] [ 1.65179222e-01 9.86261250e-01 -2.13821130e-03 1.31960607e+00] [ 1.40878538e-02 -1.91654767e-04 9.99900743e-01 2.77522419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864340128000002 meters 0.016971862459195228 Centerline is valid? [True, True] Translation: X:26.18, Y:1.32, Z:0.28 [[ 9.85882483e-01 -1.66899882e-01 -1.34223363e-02 2.61793068e+01] [ 1.66887233e-01 9.85973827e-01 -2.06488971e-03 1.32268606e+00] [ 1.35787021e-02 -2.04277977e-04 9.99907784e-01 2.78101548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.894340128 meters 0.018260952754531275 Centerline is valid? [True, True] Translation: X:26.21, Y:1.32, Z:0.28 [[ 9.85383110e-01 -1.69828802e-01 -1.33530712e-02 2.62083700e+01] [ 1.69816503e-01 9.85473551e-01 -2.05791022e-03 1.32409489e+00] [ 1.35085910e-02 -2.39741887e-04 9.99908726e-01 2.79196369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924340128 meters 0.018849611786769627 Centerline is valid? [True, True] Translation: X:26.24, Y:1.33, Z:0.28 [[ 9.85136266e-01 -1.71302879e-01 -1.27224696e-02 2.62370294e+01] [ 1.71291793e-01 9.85218384e-01 -1.96409209e-03 1.32736080e+00] [ 1.28708655e-02 -2.44356273e-04 9.99917137e-01 2.80328240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.954340128000002 meters 0.0186520270821654 Centerline is valid? [True, True] Translation: X:26.27, Y:1.33, Z:0.28 [[ 9.84934634e-01 -1.72474547e-01 -1.25018713e-02 2.62655095e+01] [ 1.72463893e-01 9.85013943e-01 -1.93343759e-03 1.33212066e+00] [ 1.26479863e-02 -2.51811748e-04 9.99919979e-01 2.81364697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.984340128 meters 0.019356573091026306 Centerline is valid? [True, True] Translation: X:26.29, Y:1.34, Z:0.28 [[ 9.84794823e-01 -1.73291126e-01 -1.22205998e-02 2.62934122e+01] [ 1.73280973e-01 9.84870612e-01 -1.89286126e-03 1.33553090e+00] [ 1.23637257e-02 -2.53517451e-04 9.99923534e-01 2.81606386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.014340128 meters 0.020162411923765673 Centerline is valid? [True, True] Translation: X:26.32, Y:1.34, Z:0.28 [[ 9.84699933e-01 -1.73788413e-01 -1.27917844e-02 2.63213498e+01] [ 1.73777314e-01 9.84782978e-01 -1.98265082e-03 1.33929410e+00] [ 1.29416933e-02 -2.70605801e-04 9.99916216e-01 2.81027471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.044340128 meters 0.019476413123128176 Centerline is valid? [True, True] Translation: X:26.35, Y:1.34, Z:0.28 [[ 9.84713153e-01 -1.73681752e-01 -1.32156996e-02 2.63490086e+01] [ 1.73669868e-01 9.84801794e-01 -2.05045152e-03 1.34497650e+00] [ 1.33709707e-02 -2.76062217e-04 9.99910566e-01 2.81017685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.074340128 meters 0.018964260626047377 Centerline is valid? [True, True] Translation: X:26.38, Y:1.35, Z:0.28 [[ 9.84924629e-01 -1.72426785e-01 -1.38736885e-02 2.63775771e+01] [ 1.72413502e-01 9.85022300e-01 -2.15687486e-03 1.35147807e+00] [ 1.40377955e-02 -2.67652045e-04 9.99901429e-01 2.80922584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.104340128 meters 0.018723896967141093 Centerline is valid? [True, True] Translation: X:26.40, Y:1.36, Z:0.28 [[ 9.85111591e-01 -1.71325590e-01 -1.42371063e-02 2.64048581e+01] [ 1.71311442e-01 9.85214432e-01 -2.21651898e-03 1.35660795e+00] [ 1.44063490e-02 -2.55460679e-04 9.99896191e-01 2.81097090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.134340128 meters 0.01800853744867075 Centerline is valid? [True, True] Translation: X:26.43, Y:1.36, Z:0.28 [[ 9.85343793e-01 -1.69988283e-01 -1.41983812e-02 2.64332974e+01] [ 1.69974042e-01 9.85446056e-01 -2.21262892e-03 1.36230885e+00] [ 1.43678597e-02 -2.33156063e-04 9.99896750e-01 2.81460468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.164340128 meters 0.01601418787691231 Centerline is valid? [True, True] Translation: X:26.46, Y:1.37, Z:0.28 [[ 9.85930151e-01 -1.66598057e-01 -1.36683729e-02 2.64613549e+01] [ 1.66584484e-01 9.86024877e-01 -2.13361572e-03 1.37187805e+00] [ 1.38328119e-02 -1.73342770e-04 9.99904307e-01 2.82599681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.194340128 meters 0.01543212113367168 Centerline is valid? [True, True] Translation: X:26.49, Y:1.38, Z:0.28 [[ 9.86201933e-01 -1.65003274e-01 -1.34039658e-02 2.64893411e+01] [ 1.64990025e-01 9.86293009e-01 -2.09596721e-03 1.37852472e+00] [ 1.35660792e-02 -1.44473735e-04 9.99907966e-01 2.82872848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.224340128 meters 0.01476339620576921 Centerline is valid? [True, True] Translation: X:26.52, Y:1.39, Z:0.28 [[ 9.86480638e-01 -1.63346737e-01 -1.31830787e-02 2.65180391e+01] [ 1.63333726e-01 9.86568715e-01 -2.06491418e-03 1.38518276e+00] [ 1.33433100e-02 -1.16243500e-04 9.99910967e-01 2.83060013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.254340128000003 meters 0.014177307657709502 Centerline is valid? [True, True] Translation: X:26.55, Y:1.39, Z:0.28 [[ 9.86927957e-01 -1.60609127e-01 -1.33385252e-02 2.65457713e+01] [ 1.60595511e-01 9.87018086e-01 -2.09272407e-03 1.39161734e+00] [ 1.35014762e-02 -7.67393736e-05 9.99908848e-01 2.82572720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.284340128 meters 0.013909546742555722 Centerline is valid? [True, True] Translation: X:26.57, Y:1.40, Z:0.28 [[ 9.87127672e-01 -1.59367089e-01 -1.34569440e-02 2.65727464e+01] [ 1.59353074e-01 9.87219392e-01 -2.11428022e-03 1.39653501e+00] [ 1.36219028e-02 -5.73408721e-05 9.99907216e-01 2.82280456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.314340128 meters 0.01352547350263698 Centerline is valid? [True, True] Translation: X:26.60, Y:1.40, Z:0.28 [[ 9.87204555e-01 -1.58863032e-01 -1.37732616e-02 2.65998944e+01] [ 1.58848270e-01 9.87300630e-01 -2.16621446e-03 1.40175878e+00] [ 1.39424812e-02 -4.93619928e-05 9.99902798e-01 2.82940836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.344340128000002 meters 0.013493714365902689 Centerline is valid? [True, True] Translation: X:26.63, Y:1.41, Z:0.28 [[ 9.87327038e-01 -1.58046985e-01 -1.43691182e-02 2.66267497e+01] [ 1.58030775e-01 9.87431592e-01 -2.26383732e-03 1.40567752e+00] [ 1.45463140e-02 -3.56150916e-05 9.99894196e-01 2.82020333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.374340128 meters 0.01338210509222262 Centerline is valid? [True, True] Translation: X:26.65, Y:1.41, Z:0.28 [[ 9.87471313e-01 -1.56995121e-01 -1.59040135e-02 2.66547818e+01] [ 1.56975071e-01 9.87599378e-01 -2.50910978e-03 1.40969888e+00] [ 1.61007118e-02 -1.88597119e-05 9.99870375e-01 2.80948636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.404340128 meters 0.01338887978228078 Centerline is valid? [True, True] Translation: X:26.68, Y:1.41, Z:0.28 [[ 9.87472752e-01 -1.56942546e-01 -1.63279174e-02 2.66822390e+01] [ 1.56921318e-01 9.87607734e-01 -2.58123237e-03 1.41388931e+00] [ 1.65306827e-02 -1.33016900e-05 9.99863359e-01 2.81052774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.434340128000002 meters 0.013513960063224202 Centerline is valid? [True, True] Translation: X:26.71, Y:1.42, Z:0.28 [[ 9.87442235e-01 -1.57177815e-01 -1.59049398e-02 2.67090785e+01] [ 1.57157641e-01 9.87570319e-01 -2.51824200e-03 1.41736501e+00] [ 1.61030582e-02 -1.29643103e-05 9.99870337e-01 2.80038376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.464340128 meters 0.013460820160086576 Centerline is valid? [True, True] Translation: X:26.74, Y:1.42, Z:0.28 [[ 9.87151759e-01 -1.58974832e-01 -1.60750855e-02 2.67372947e+01] [ 1.58954408e-01 9.87282635e-01 -2.54855131e-03 1.41844759e+00] [ 1.62758083e-02 -3.93987841e-05 9.99867539e-01 2.80930373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.494340128 meters 0.013501059366804532 Centerline is valid? [True, True] Translation: X:26.77, Y:1.42, Z:0.28 [[ 9.86891648e-01 -1.60580206e-01 -1.60895408e-02 2.67657402e+01] [ 1.60559875e-01 9.87022793e-01 -2.55596515e-03 1.42041083e+00] [ 1.62911809e-02 -6.08740073e-05 9.99867288e-01 2.81684690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.524340128000002 meters 0.01382776077721726 Centerline is valid? [True, True] Translation: X:26.79, Y:1.42, Z:0.28 [[ 9.86628296e-01 -1.62194715e-01 -1.60461935e-02 2.67937566e+01] [ 1.62174645e-01 9.86758769e-01 -2.55283771e-03 1.42174922e+00] [ 1.62477789e-02 -8.35838174e-05 9.99867993e-01 2.81861880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.554340128 meters 0.01488317732832788 Centerline is valid? [True, True] Translation: X:26.82, Y:1.42, Z:0.28 [[ 9.86043392e-01 -1.65744109e-01 -1.57263697e-02 2.68226680e+01] [ 1.65725253e-01 9.86168784e-01 -2.50380079e-03 1.41910143e+00] [ 1.59238451e-02 -1.37400369e-04 9.99873198e-01 2.81806668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.584340128 meters 0.015189738410079848 Centerline is valid? [True, True] Translation: X:26.85, Y:1.42, Z:0.28 [[ 9.85705929e-01 -1.67777425e-01 -1.53152897e-02 2.68511599e+01] [ 1.67759742e-01 9.85824888e-01 -2.44129969e-03 1.42105456e+00] [ 1.55077887e-02 -1.62885464e-04 9.99879734e-01 2.82906961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.614340128000002 meters 0.016274999589161298 Centerline is valid? [True, True] Translation: X:26.88, Y:1.42, Z:0.28 [[ 9.85192544e-01 -1.70760484e-01 -1.53788101e-02 2.68810074e+01] [ 1.70742951e-01 9.85312547e-01 -2.45565155e-03 1.42016943e+00] [ 1.55722628e-02 -2.06533825e-04 9.99878724e-01 2.83652341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.644340128 meters 0.016811051033887938 Centerline is valid? [True, True] Translation: X:26.91, Y:1.42, Z:0.28 [[ 9.84930146e-01 -1.72292396e-01 -1.50975829e-02 2.69097049e+01] [ 1.72275617e-01 9.85045827e-01 -2.41480963e-03 1.42250939e+00] [ 1.52878644e-02 -2.22526594e-04 9.99883109e-01 2.84335968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.674340128 meters 0.0172374230008197 Centerline is valid? [True, True] Translation: X:26.94, Y:1.42, Z:0.29 [[ 9.84725122e-01 -1.73470515e-01 -1.49804521e-02 2.69381855e+01] [ 1.73454070e-01 9.84839035e-01 -2.40011661e-03 1.42498080e+00] [ 1.51696834e-02 -2.34965252e-04 9.99884906e-01 2.85001076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.704340128000002 meters 0.017716839709662077 Centerline is valid? [True, True] Translation: X:26.97, Y:1.43, Z:0.29 [[ 9.84618182e-01 -1.74096888e-01 -1.47414332e-02 2.69665092e+01] [ 1.74080988e-01 9.84728499e-01 -2.36487506e-03 1.42729538e+00] [ 1.49280268e-02 -2.37704268e-04 9.99888543e-01 2.85793365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.734340128 meters 0.017863287170207864 Centerline is valid? [True, True] Translation: X:26.99, Y:1.43, Z:0.29 [[ 9.84580317e-01 -1.74290069e-01 -1.49857010e-02 2.69940482e+01] [ 1.74273628e-01 9.84694325e-01 -2.40610774e-03 1.42856433e+00] [ 1.51756954e-02 -2.42606159e-04 9.99884813e-01 2.86394857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.764340128 meters 0.01778621966152264 Centerline is valid? [True, True] Translation: X:27.02, Y:1.43, Z:0.29 [[ 9.84603047e-01 -1.74163422e-01 -1.49646725e-02 2.70219004e+01] [ 1.74146959e-01 9.84716734e-01 -2.40633971e-03 1.43237445e+00] [ 1.51550598e-02 -2.36762793e-04 9.99885127e-01 2.86780132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.794340128 meters 0.017486012173933793 Centerline is valid? [True, True] Translation: X:27.05, Y:1.44, Z:0.29 [[ 9.84682479e-01 -1.73696846e-01 -1.51598734e-02 2.70493589e+01] [ 1.73679824e-01 9.84799144e-01 -2.44234057e-03 1.43690072e+00] [ 1.53536572e-02 -2.28034173e-04 9.99882100e-01 2.86705000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.824340128 meters 0.016413061561616617 Centerline is valid? [True, True] Translation: X:27.08, Y:1.44, Z:0.29 [[ 9.84832690e-01 -1.72773412e-01 -1.59348993e-02 2.70774695e+01] [ 1.72754407e-01 9.84961573e-01 -2.57198147e-03 1.44352207e+00] [ 1.61396334e-02 -2.19852642e-04 9.99869723e-01 2.86853820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.854340128 meters 0.015275277998566745 Centerline is valid? [True, True] Translation: X:27.11, Y:1.45, Z:0.29 [[ 9.85342062e-01 -1.69748821e-01 -1.69221045e-02 2.71057174e+01] [ 1.69726859e-01 9.85487345e-01 -2.73617406e-03 1.45031341e+00] [ 1.71409821e-02 -1.76068244e-04 9.99853067e-01 2.86080614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.884340128 meters 0.015318697904575225 Centerline is valid? [True, True] Translation: X:27.13, Y:1.45, Z:0.29 [[ 9.85588708e-01 -1.68266792e-01 -1.73546879e-02 2.71329837e+01] [ 1.68243401e-01 9.85741479e-01 -2.80964711e-03 1.45475017e+00] [ 1.75800060e-02 -1.50655248e-04 9.99845448e-01 2.85409691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.914340128 meters 0.014862387708913904 Centerline is valid? [True, True] Translation: X:27.16, Y:1.46, Z:0.29 [[ 9.85774278e-01 -1.67149214e-01 -1.76128688e-02 2.71605488e+01] [ 1.67124882e-01 9.85931602e-01 -2.85485091e-03 1.46070004e+00] [ 1.78422700e-02 -1.29310031e-04 9.99840806e-01 2.85743061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.944340128 meters 0.013848293749501155 Centerline is valid? [True, True] Translation: X:27.19, Y:1.47, Z:0.29 [[ 9.86251912e-01 -1.64346093e-01 -1.72489857e-02 2.71882867e+01] [ 1.64322239e-01 9.86402736e-01 -2.80093321e-03 1.46755065e+00] [ 1.74747691e-02 -7.19662205e-05 9.99847302e-01 2.87740079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.974340128 meters 0.013935395871510756 Centerline is valid? [True, True] Translation: X:27.21, Y:1.47, Z:0.29 [[ 9.86395040e-01 -1.63481807e-01 -1.72778492e-02 2.72148966e+01] [ 1.63457673e-01 9.86546348e-01 -2.80946308e-03 1.47176325e+00] [ 1.75046951e-02 -5.29565781e-05 9.99846780e-01 2.87738109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004340128000003 meters 0.013518076016721142 Centerline is valid? [True, True] Translation: X:27.24, Y:1.48, Z:0.29 [[ 9.86740754e-01 -1.61443790e-01 -1.66909426e-02 2.72422675e+01] [ 1.61420916e-01 9.86881909e-01 -2.71762132e-03 1.47791986e+00] [ 1.69107324e-02 -1.26795399e-05 9.99857003e-01 2.90244264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.034340128 meters 0.013461791910395515 Centerline is valid? [True, True] Translation: X:27.27, Y:1.48, Z:0.29 [[ 9.86873021e-01 -1.60668562e-01 -1.63478698e-02 2.72695189e+01] [ 1.60646426e-01 9.87008416e-01 -2.66695898e-03 1.48320050e+00] [ 1.65639815e-02 5.72301087e-06 9.99862808e-01 2.90766003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064340128 meters 0.013492674487056905 Centerline is valid? [True, True] Translation: X:27.30, Y:1.49, Z:0.29 [[ 9.86952790e-01 -1.60206087e-01 -1.60685786e-02 2.72965326e+01] [ 1.60184576e-01 9.87083588e-01 -2.62532768e-03 1.48802760e+00] [ 1.62816236e-02 1.71360467e-05 9.99867445e-01 2.91233039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.094340128000002 meters 0.013432347826609223 Centerline is valid? [True, True] Translation: X:27.32, Y:1.49, Z:0.29 [[ 9.87068216e-01 -1.59549038e-01 -1.55061539e-02 2.73247046e+01] [ 1.59528876e-01 9.87190004e-01 -2.53657635e-03 1.49275118e+00] [ 1.57122284e-02 3.00945893e-05 9.99876555e-01 2.92383381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.124340128 meters 0.01344466491328365 Centerline is valid? [True, True] Translation: X:27.35, Y:1.50, Z:0.29 [[ 9.87008801e-01 -1.59983813e-01 -1.47920765e-02 2.73525061e+01] [ 1.59965446e-01 9.87119638e-01 -2.42427797e-03 1.49724556e+00] [ 1.49893945e-02 2.65625687e-05 9.99887652e-01 2.93475336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.154340128 meters 0.01361126282983625 Centerline is valid? [True, True] Translation: X:27.38, Y:1.50, Z:0.29 [[ 9.87026871e-01 -1.59902011e-01 -1.44673247e-02 2.73787917e+01] [ 1.59884380e-01 9.87132892e-01 -2.37466539e-03 1.50194738e+00] [ 1.46608859e-02 3.07593036e-05 9.99892523e-01 2.92724506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.184340128000002 meters 0.013477102005344679 Centerline is valid? [True, True] Translation: X:27.41, Y:1.51, Z:0.29 [[ 9.86940006e-01 -1.60431759e-01 -1.45284652e-02 2.74068783e+01] [ 1.60413994e-01 9.87046934e-01 -2.38755039e-03 1.50552005e+00] [ 1.47233160e-02 2.57998564e-05 9.99891606e-01 2.94393894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.214340128 meters 0.013397178150484516 Centerline is valid? [True, True] Translation: X:27.43, Y:1.51, Z:0.29 [[ 9.86793951e-01 -1.61338925e-01 -1.44030750e-02 2.74340907e+01] [ 1.61321509e-01 9.86899058e-01 -2.37059795e-03 1.50869203e+00] [ 1.45968509e-02 1.57659230e-05 9.99893460e-01 2.94250392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.244340128 meters 0.01349394978068651 Centerline is valid? [True, True] Translation: X:27.46, Y:1.51, Z:0.29 [[ 9.86696228e-01 -1.61935974e-01 -1.43977111e-02 2.74609155e+01] [ 1.61918601e-01 9.86801267e-01 -2.37202454e-03 1.51248698e+00] [ 1.45917956e-02 9.21042650e-06 9.99893534e-01 2.94284453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.274340128000002 meters 0.013513164429798115 Centerline is valid? [True, True] Translation: X:27.49, Y:1.52, Z:0.29 [[ 9.86576879e-01 -1.62610212e-01 -1.49660200e-02 2.74890784e+01] [ 1.62591460e-01 9.86690387e-01 -2.46943453e-03 1.51596438e+00] [ 1.51683834e-02 2.93996230e-06 9.99884953e-01 2.93759762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.304340128 meters 0.013539183037878523 Centerline is valid? [True, True] Translation: X:27.52, Y:1.52, Z:0.29 [[ 9.86538215e-01 -1.62762852e-01 -1.58305065e-02 2.75166265e+01] [ 1.62741830e-01 9.86665219e-01 -2.61589350e-03 1.51976113e+00] [ 1.60451805e-02 4.39330015e-06 9.99871268e-01 2.93187905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.334340128 meters 0.013618996007450158 Centerline is valid? [True, True] Translation: X:27.54, Y:1.52, Z:0.29 [[ 9.86434291e-01 -1.63328035e-01 -1.64724575e-02 2.75441803e+01] [ 1.63305300e-01 9.86571818e-01 -2.72507706e-03 1.52333158e+00] [ 1.66963439e-02 -1.93015185e-06 9.99860606e-01 2.92954217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.364340128000002 meters 0.013678866219401386 Centerline is valid? [True, True] Translation: X:27.57, Y:1.53, Z:0.29 [[ 9.86238913e-01 -1.64518748e-01 -1.63214194e-02 2.75717136e+01] [ 1.64496527e-01 9.86373956e-01 -2.70397076e-03 1.52560323e+00] [ 1.65438769e-02 -1.80556260e-05 9.99863141e-01 2.92975901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.394340128 meters 0.013822941804386665 Centerline is valid? [True, True] Translation: X:27.60, Y:1.53, Z:0.29 [[ 9.86078155e-01 -1.65434869e-01 -1.67683159e-02 2.75982394e+01] [ 1.65411498e-01 9.86220717e-01 -2.78083467e-03 1.52899451e+00] [ 1.69973076e-02 -3.15519361e-05 9.99855535e-01 2.92568811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.424340128 meters 0.014046717124222268 Centerline is valid? [True, True] Translation: X:27.63, Y:1.53, Z:0.29 [[ 9.85691682e-01 -1.67753623e-01 -1.64508496e-02 2.76267423e+01] [ 1.67731385e-01 9.85828949e-01 -2.73221772e-03 1.53095945e+00] [ 1.66760632e-02 -6.61995022e-05 9.99860943e-01 2.92428115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.454340128000002 meters 0.014432329546587712 Centerline is valid? [True, True] Translation: X:27.66, Y:1.53, Z:0.29 [[ 9.85348808e-01 -1.69798330e-01 -1.60079011e-02 2.76550278e+01] [ 1.69777466e-01 9.85478827e-01 -2.66339519e-03 1.53302177e+00] [ 1.62276877e-02 -9.34076134e-05 9.99868318e-01 2.92693558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.484340128 meters 0.015014482206923484 Centerline is valid? [True, True] Translation: X:27.68, Y:1.53, Z:0.29 [[ 9.85034119e-01 -1.71623601e-01 -1.59098646e-02 2.76825285e+01] [ 1.71603173e-01 9.85162588e-01 -2.65054402e-03 1.53456541e+00] [ 1.61286993e-02 -1.19306955e-04 9.99869917e-01 2.92867256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.514340128 meters 0.015471131388669138 Centerline is valid? [True, True] Translation: X:27.71, Y:1.54, Z:0.29 [[ 9.84690274e-01 -1.73585272e-01 -1.59128000e-02 2.77110830e+01] [ 1.73565052e-01 9.84818832e-01 -2.65358999e-03 1.53639283e+00] [ 1.61318492e-02 -1.48941704e-04 9.99869862e-01 2.93150213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.544340128 meters 0.017393543784106083 Centerline is valid? [True, True] Translation: X:27.74, Y:1.53, Z:0.29 [[ 9.83838093e-01 -1.78347482e-01 -1.59619210e-02 2.77404073e+01] [ 1.78327695e-01 9.83967543e-01 -2.66600639e-03 1.53435104e+00] [ 1.61814877e-02 -2.23533930e-04 9.99869046e-01 2.92903982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.574340128 meters 0.018649501900484894 Centerline is valid? [True, True] Translation: X:27.77, Y:1.54, Z:0.29 [[ 9.83475424e-01 -1.80348454e-01 -1.58279975e-02 2.77686893e+01] [ 1.80329207e-01 9.83602751e-01 -2.64673078e-03 1.53557377e+00] [ 1.60457957e-02 -2.51255561e-04 9.99871226e-01 2.92547758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.604340128 meters 0.020434666399520025 Centerline is valid? [True, True] Translation: X:27.80, Y:1.54, Z:0.29 [[ 9.82868453e-01 -1.83582054e-01 -1.63473044e-02 2.77978134e+01] [ 1.83561926e-01 9.83004340e-01 -2.73621197e-03 1.53563318e+00] [ 1.65717905e-02 -3.11406254e-04 9.99862630e-01 2.91283812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.634340128 meters 0.021107787106030267 Centerline is valid? [True, True] Translation: X:27.83, Y:1.54, Z:0.29 [[ 9.82657961e-01 -1.84665039e-01 -1.67974617e-02 2.78263521e+01] [ 1.84643871e-01 9.82801461e-01 -2.81592305e-03 1.53870275e+00] [ 1.70285724e-02 -3.34459133e-04 9.99854947e-01 2.90760049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.664340128 meters 0.021294242738367504 Centerline is valid? [True, True] Translation: X:27.85, Y:1.54, Z:0.29 [[ 9.82632137e-01 -1.84781697e-01 -1.70237703e-02 2.78526657e+01] [ 1.84759913e-01 9.82779533e-01 -2.85729120e-03 1.54254295e+00] [ 1.72585882e-02 -3.37644162e-04 9.99851002e-01 2.90284367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.694340128 meters 0.020787708980489816 Centerline is valid? [True, True] Translation: X:27.88, Y:1.55, Z:0.29 [[ 9.82755591e-01 -1.84157476e-01 -1.66574941e-02 2.78805084e+01] [ 1.84136480e-01 9.82896700e-01 -2.79878341e-03 1.54846570e+00] [ 1.68880129e-02 -3.16732289e-04 9.99857337e-01 2.90675988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.724340128 meters 0.019785495904945473 Centerline is valid? [True, True] Translation: X:27.91, Y:1.55, Z:0.29 [[ 9.83140435e-01 -1.82110961e-01 -1.64463928e-02 2.79080907e+01] [ 1.82090157e-01 9.83277948e-01 -2.76632743e-03 1.55432214e+00] [ 1.66751539e-02 -2.75037886e-04 9.99860922e-01 2.90876065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.754340128000003 meters 0.019476760484442013 Centerline is valid? [True, True] Translation: X:27.94, Y:1.56, Z:0.29 [[ 9.83295121e-01 -1.81241411e-01 -1.68004721e-02 2.79353471e+01] [ 1.81219543e-01 9.83438601e-01 -2.82771334e-03 1.55921978e+00] [ 1.70347315e-02 -2.64097142e-04 9.99854864e-01 2.90610240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.784340128 meters 0.019476760484442013 Centerline is valid? [True, True] Translation: X:27.96, Y:1.56, Z:0.29 [[ 9.83245336e-01 -1.81511354e-01 -1.67999318e-02 2.79625130e+01] [ 1.81489471e-01 9.83388813e-01 -2.83092009e-03 1.56399862e+00] [ 1.70347092e-02 -2.65521761e-04 9.99854864e-01 2.90879400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.814340128 meters 0.0193926777370065 Centerline is valid? [True, True] Translation: X:27.99, Y:1.57, Z:0.29 [[ 9.83443661e-01 -1.80401493e-01 -1.71425676e-02 2.79900241e+01] [ 1.80378480e-01 9.83593025e-01 -2.89208926e-03 1.56901520e+00] [ 1.73830471e-02 -2.47943427e-04 9.99848873e-01 2.90618489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.844340128000002 meters 0.017634903911387917 Centerline is valid? [True, True] Translation: X:28.02, Y:1.58, Z:0.29 [[ 9.83911690e-01 -1.77839612e-01 -1.70545826e-02 2.80175632e+01] [ 1.77816404e-01 9.84059466e-01 -2.87988389e-03 1.57750473e+00] [ 1.72948809e-02 -1.99033132e-04 9.99850413e-01 2.90750536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.874340128 meters 0.017026036811371475 Centerline is valid? [True, True] Translation: X:28.05, Y:1.58, Z:0.29 [[ 9.84105253e-01 -1.76776558e-01 -1.69381176e-02 2.80454766e+01] [ 1.76753438e-01 9.84250993e-01 -2.86431542e-03 1.58430475e+00] [ 1.71777029e-02 -1.75082658e-04 9.99852437e-01 2.91406083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904340128 meters 0.014841440692137452 Centerline is valid? [True, True] Translation: X:28.07, Y:1.60, Z:0.29 [[ 9.84588703e-01 -1.74196489e-01 -1.55135086e-02 2.80727810e+01] [ 1.74176715e-01 9.84710907e-01 -2.62715859e-03 1.59524122e+00] [ 1.57339629e-02 -1.15421296e-04 9.99876207e-01 2.94340657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.934340128000002 meters 0.015148348777048327 Centerline is valid? [True, True] Translation: X:28.10, Y:1.60, Z:0.29 [[ 9.84804763e-01 -1.73010023e-01 -1.50701720e-02 2.81003556e+01] [ 1.72991177e-01 9.84920060e-01 -2.55516367e-03 1.60035856e+00] [ 1.52849836e-02 -9.06694424e-05 9.99883174e-01 2.94214647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.964340128 meters 0.014291911478549234 Centerline is valid? [True, True] Translation: X:28.13, Y:1.61, Z:0.30 [[ 9.84883270e-01 -1.72631489e-01 -1.42587771e-02 2.81272846e+01] [ 1.72614545e-01 9.84986478e-01 -2.41995206e-03 1.60792308e+00] [ 1.44624625e-02 -7.79020107e-05 9.99895410e-01 2.96662453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.994340128 meters 0.014100644331815683 Centerline is valid? [True, True] Translation: X:28.15, Y:1.61, Z:0.30 [[ 9.85011180e-01 -1.71933162e-01 -1.38550430e-02 2.81548764e+01] [ 1.71917032e-01 9.85108615e-01 -2.35580429e-03 1.61378103e+00] [ 1.40537631e-02 -6.14243175e-05 9.99901239e-01 2.97970874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.024340128000002 meters 0.01409087045205398 Centerline is valid? [True, True] Translation: X:28.18, Y:1.62, Z:0.30 [[ 9.85118781e-01 -1.71335091e-01 -1.36115499e-02 2.81813796e+01] [ 1.71319416e-01 9.85212812e-01 -2.31804690e-03 1.61924352e+00] [ 1.38074361e-02 -4.83712435e-05 9.99904672e-01 2.98166216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.054340128 meters 0.01392140469130437 Centerline is valid? [True, True] Translation: X:28.21, Y:1.63, Z:0.30 [[ 9.85303934e-01 -1.70294180e-01 -1.32683840e-02 2.82082935e+01] [ 1.70279158e-01 9.85393267e-01 -2.26209148e-03 1.62619750e+00] [ 1.34597973e-02 -3.04816134e-05 9.99909412e-01 2.98804749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.084340128 meters 0.013945549945501623 Centerline is valid? [True, True] Translation: X:28.24, Y:1.63, Z:0.30 [[ 9.85307119e-01 -1.70273013e-01 -1.33034736e-02 2.82357909e+01] [ 1.70257851e-01 9.85396925e-01 -2.27234518e-03 1.63184530e+00] [ 1.34961211e-02 -2.60629498e-05 9.99908923e-01 2.98932966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.114340128000002 meters 0.01404628330853979 Centerline is valid? [True, True] Translation: X:28.26, Y:1.64, Z:0.30 [[ 9.85334690e-01 -1.70054758e-01 -1.40330910e-02 2.82618055e+01] [ 1.70037810e-01 9.85434614e-01 -2.40085751e-03 1.63750114e+00] [ 1.42369709e-02 -2.05078788e-05 9.99898649e-01 2.98182949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.144340128 meters 0.014138492890865105 Centerline is valid? [True, True] Translation: X:28.29, Y:1.64, Z:0.30 [[ 9.85332813e-01 -1.70037840e-01 -1.43659499e-02 2.82897421e+01] [ 1.70020036e-01 9.85437534e-01 -2.46064908e-03 1.64309439e+00] [ 1.45751497e-02 -1.79410319e-05 9.99893777e-01 2.98004692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.174340128 meters 0.014197527141791604 Centerline is valid? [True, True] Translation: X:28.32, Y:1.65, Z:0.30 [[ 9.85214667e-01 -1.70686715e-01 -1.47683685e-02 2.83174791e+01] [ 1.70667902e-01 9.85325350e-01 -2.53428402e-03 1.64865285e+00] [ 1.49842164e-02 -2.36726757e-05 9.99887730e-01 2.97891643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.204340128000002 meters 0.014412340628644082 Centerline is valid? [True, True] Translation: X:28.35, Y:1.65, Z:0.30 [[ 9.85015453e-01 -1.71740486e-01 -1.58038905e-02 2.83455421e+01] [ 1.71718994e-01 9.85142225e-01 -2.71721096e-03 1.65328488e+00] [ 1.60357350e-02 -3.73333860e-05 9.99871419e-01 2.97637336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.234340128 meters 0.014467342072709154 Centerline is valid? [True, True] Translation: X:28.37, Y:1.66, Z:0.30 [[ 9.84883739e-01 -1.72457346e-01 -1.62013966e-02 2.83732787e+01] [ 1.72434769e-01 9.85016986e-01 -2.79077591e-03 1.65755985e+00] [ 1.64399407e-02 -4.50942783e-05 9.99864854e-01 2.98149510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.264340128 meters 0.014644521912197112 Centerline is valid? [True, True] Translation: X:28.40, Y:1.66, Z:0.30 [[ 9.84789485e-01 -1.72947185e-01 -1.67015597e-02 2.84006870e+01] [ 1.72923198e-01 9.84931098e-01 -2.88080946e-03 1.66153692e+00] [ 1.69481134e-02 -5.10962476e-05 9.99856369e-01 2.98531644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.294340128 meters 0.014862390069553597 Centerline is valid? [True, True] Translation: X:28.43, Y:1.67, Z:0.30 [[ 9.84581254e-01 -1.74070202e-01 -1.73008642e-02 2.84284110e+01] [ 1.74044575e-01 9.84733243e-01 -2.98764220e-03 1.66582212e+00] [ 1.75567956e-02 -6.95450525e-05 9.99845865e-01 2.99432137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.324340128 meters 0.01513594521646512 Centerline is valid? [True, True] Translation: X:28.46, Y:1.67, Z:0.30 [[ 9.84423440e-01 -1.74926892e-01 -1.76372836e-02 2.84556416e+01] [ 1.74900325e-01 9.84581422e-01 -3.04970125e-03 1.66965295e+00] [ 1.78988165e-02 -8.25692365e-05 9.99839800e-01 2.99323044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.354340128 meters 0.015351025442649218 Centerline is valid? [True, True] Translation: X:28.48, Y:1.67, Z:0.30 [[ 9.84216713e-01 -1.76029318e-01 -1.81972571e-02 2.84846058e+01] [ 1.76001164e-01 9.84384919e-01 -3.14985532e-03 1.67384443e+00] [ 1.84675723e-02 -1.02598168e-04 9.99829455e-01 2.99697385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.384340128 meters 0.015728004954470052 Centerline is valid? [True, True] Translation: X:28.51, Y:1.68, Z:0.30 [[ 9.83797006e-01 -1.78410584e-01 -1.76950703e-02 2.85130557e+01] [ 1.78384261e-01 9.83956119e-01 -3.06772331e-03 1.67721438e+00] [ 1.79584870e-02 -1.38505031e-04 9.99838724e-01 3.01207500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.414340128000003 meters 0.016049103001590303 Centerline is valid? [True, True] Translation: X:28.54, Y:1.68, Z:0.30 [[ 9.83448783e-01 -1.80359782e-01 -1.72870127e-02 2.85418441e+01] [ 1.80334877e-01 9.83600692e-01 -3.00173399e-03 1.68106475e+00] [ 1.75449098e-02 -1.65399668e-04 9.99846063e-01 3.02752154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.444340128 meters 0.016498815544822514 Centerline is valid? [True, True] Translation: X:28.57, Y:1.68, Z:0.30 [[ 9.83125194e-01 -1.82157857e-01 -1.68335222e-02 2.85701060e+01] [ 1.82134448e-01 9.83269281e-01 -2.92632953e-03 1.68408409e+00] [ 1.70849392e-02 -1.89015978e-04 9.99854024e-01 3.03760872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.474340128 meters 0.017657494967247226 Centerline is valid? [True, True] Translation: X:28.60, Y:1.69, Z:0.31 [[ 9.82509248e-01 -1.85457035e-01 -1.67709949e-02 2.85987155e+01] [ 1.85434246e-01 9.82652344e-01 -2.91748031e-03 1.68552209e+00] [ 1.70211247e-02 -2.43465414e-04 9.99855101e-01 3.05506642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.504340128000003 meters 0.018660723780279838 Centerline is valid? [True, True] Translation: X:28.63, Y:1.69, Z:0.31 [[ 9.82223497e-01 -1.86989026e-01 -1.64956540e-02 2.86264099e+01] [ 1.86967159e-01 9.82361967e-01 -2.87167594e-03 1.68808800e+00] [ 1.67416750e-02 -2.63517983e-04 9.99859814e-01 3.06302259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.534340128 meters 0.01911694014559294 Centerline is valid? [True, True] Translation: X:28.65, Y:1.69, Z:0.31 [[ 9.81880018e-01 -1.88858360e-01 -1.56252886e-02 2.86545575e+01] [ 1.88838937e-01 9.82004299e-01 -2.72269437e-03 1.69235913e+00] [ 1.58583042e-02 -2.77303689e-04 9.99874211e-01 3.08270698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.564340128 meters 0.018894668848792092 Centerline is valid? [True, True] Translation: X:28.68, Y:1.70, Z:0.31 [[ 9.81776330e-01 -1.89439676e-01 -1.50946020e-02 2.86815499e+01] [ 1.89421553e-01 9.81892323e-01 -2.63448732e-03 1.69816533e+00] [ 1.53203503e-02 -2.72765668e-04 9.99882599e-01 3.09122385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.594340128000002 meters 0.019121944291783856 Centerline is valid? [True, True] Translation: X:28.71, Y:1.70, Z:0.31 [[ 9.81715539e-01 -1.89730772e-01 -1.53894612e-02 2.87086836e+01] [ 1.89711912e-01 9.81836115e-01 -2.68961773e-03 1.70353395e+00] [ 1.56202320e-02 -2.79124582e-04 9.99877958e-01 3.09432405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.624340128 meters 0.019157026818559696 Centerline is valid? [True, True] Translation: X:28.74, Y:1.71, Z:0.31 [[ 9.81649795e-01 -1.90049761e-01 -1.56450688e-02 2.87363928e+01] [ 1.90030265e-01 9.81774417e-01 -2.73713139e-03 1.70958208e+00] [ 1.58801195e-02 -2.86132112e-04 9.99873862e-01 3.09572292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.654340128 meters 0.01895138829049769 Centerline is valid? [True, True] Translation: X:28.76, Y:1.72, Z:0.31 [[ 9.81662627e-01 -1.89970634e-01 -1.58001812e-02 2.87638817e+01] [ 1.89950659e-01 9.81789732e-01 -2.76924727e-03 1.71713027e+00] [ 1.60385313e-02 -2.82788280e-04 9.99871334e-01 3.09768432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.684340128000002 meters 0.019255770303649954 Centerline is valid? [True, True] Translation: X:28.79, Y:1.72, Z:0.31 [[ 9.81611199e-01 -1.90230549e-01 -1.58679588e-02 2.87902821e+01] [ 1.90210366e-01 9.81739404e-01 -2.78548699e-03 1.72243370e+00] [ 1.61080851e-02 -2.83985029e-04 9.99870216e-01 3.10193493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.714340128 meters 0.019382378325897023 Centerline is valid? [True, True] Translation: X:28.82, Y:1.73, Z:0.31 [[ 9.81669064e-01 -1.89958866e-01 -1.55395574e-02 2.88176204e+01] [ 1.89939436e-01 9.81792012e-01 -2.73040763e-03 1.72903404e+00] [ 1.57752784e-02 -2.71218055e-04 9.99875526e-01 3.10226829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.744340128 meters 0.018550634485337055 Centerline is valid? [True, True] Translation: X:28.85, Y:1.74, Z:0.31 [[ 9.81565440e-01 -1.90418833e-01 -1.64302991e-02 2.88454625e+01] [ 1.90397128e-01 9.81702900e-01 -2.88977825e-03 1.73656579e+00] [ 1.66799405e-02 -2.91775296e-04 9.99860838e-01 3.11095770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.774340128000002 meters 0.018673359401618937 Centerline is valid? [True, True] Translation: X:28.87, Y:1.74, Z:0.31 [[ 9.81285625e-01 -1.91820759e-01 -1.68320791e-02 2.88736183e+01] [ 1.91798103e-01 9.81429924e-01 -2.96523490e-03 1.74208086e+00] [ 1.70882997e-02 -3.18618465e-04 9.99853934e-01 3.11298434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.804340128 meters 0.019732582398288324 Centerline is valid? [True, True] Translation: X:28.90, Y:1.75, Z:0.31 [[ 9.81132122e-01 -1.92598672e-01 -1.68970844e-02 2.89014977e+01] [ 1.92575897e-01 9.81277556e-01 -2.98016143e-03 1.74592292e+00] [ 1.71547048e-02 -3.30039079e-04 9.99852793e-01 3.11159941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.834340128 meters 0.01910704786680756 Centerline is valid? [True, True] Translation: X:28.93, Y:1.75, Z:0.31 [[ 9.80953621e-01 -1.93505219e-01 -1.69033790e-02 2.89298037e+01] [ 1.93482509e-01 9.81099186e-01 -2.98431089e-03 1.75307931e+00] [ 1.71613711e-02 -3.43037596e-04 9.99852674e-01 3.11847544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.864340128000002 meters 0.0204156181596605 Centerline is valid? [True, True] Translation: X:28.96, Y:1.76, Z:0.31 [[ 9.80863821e-01 -1.93952996e-01 -1.69823328e-02 2.89569829e+01] [ 1.93930080e-01 9.81010761e-01 -3.00174598e-03 1.75707649e+00] [ 1.72420488e-02 -3.49081116e-04 9.99851284e-01 3.11717888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.894340128 meters 0.021372435533133224 Centerline is valid? [True, True] Translation: X:28.98, Y:1.76, Z:0.31 [[ 9.80588771e-01 -1.95393758e-01 -1.63383450e-02 2.89839359e+01] [ 1.95372716e-01 9.80724809e-01 -2.88980585e-03 1.76280501e+00] [ 1.65880704e-02 -3.58355673e-04 9.99862344e-01 3.12221457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.924340128 meters 0.019911361993404087 Centerline is valid? [True, True] Translation: X:29.01, Y:1.77, Z:0.31 [[ 9.80464623e-01 -1.96062509e-01 -1.57675276e-02 2.90111574e+01] [ 1.96042945e-01 9.80591336e-01 -2.79215438e-03 1.77066555e+00] [ 1.60089378e-02 -3.53503945e-04 9.99871786e-01 3.13793697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.954340128000002 meters 0.020350597066642565 Centerline is valid? [True, True] Translation: X:29.04, Y:1.78, Z:0.31 [[ 9.80275500e-01 -1.97040324e-01 -1.53315249e-02 2.90392273e+01] [ 1.97021874e-01 9.80395321e-01 -2.71958206e-03 1.77600550e+00] [ 1.55668226e-02 -3.54706110e-04 9.99878767e-01 3.14973766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.984340128 meters 0.02074894181661773 Centerline is valid? [True, True] Translation: X:29.07, Y:1.78, Z:0.32 [[ 9.80198039e-01 -1.97449333e-01 -1.50188299e-02 2.90663042e+01] [ 1.97431627e-01 9.80313031e-01 -2.66730952e-03 1.78091212e+00] [ 1.52498132e-02 -3.50700473e-04 9.99883653e-01 3.15838550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.014340128 meters 0.021425294356690865 Centerline is valid? [True, True] Translation: X:29.09, Y:1.79, Z:0.32 [[ 9.79853536e-01 -1.99165670e-01 -1.48351997e-02 2.90945741e+01] [ 1.99148556e-01 9.79965764e-01 -2.63709164e-03 1.78750812e+00] [ 1.50632059e-02 -3.70445025e-04 9.99886475e-01 3.16496860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.044340128 meters 0.021356303953740864 Centerline is valid? [True, True] Translation: X:29.12, Y:1.79, Z:0.32 [[ 9.79657567e-01 -2.00128108e-01 -1.48253535e-02 2.91226445e+01] [ 2.00111064e-01 9.79769664e-01 -2.63947980e-03 1.79426259e+00] [ 1.50536657e-02 -3.80930899e-04 9.99886615e-01 3.17057835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.074340128 meters 0.022296685169077242 Centerline is valid? [True, True] Translation: X:29.15, Y:1.80, Z:0.32 [[ 9.79402798e-01 -2.01360339e-01 -1.49724352e-02 2.91493971e+01] [ 2.01343049e-01 9.79517153e-01 -2.66893899e-03 1.80107115e+00] [ 1.52031755e-02 -4.00629438e-04 9.99884345e-01 3.16711260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.104340128 meters 0.02239507607134675 Centerline is valid? [True, True] Translation: X:29.18, Y:1.81, Z:0.32 [[ 9.79232119e-01 -2.02164550e-01 -1.52955114e-02 2.91770085e+01] [ 2.02146579e-01 9.79351478e-01 -2.72807703e-03 1.80795224e+00] [ 1.55312022e-02 -4.20514655e-04 9.99879295e-01 3.16672885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.134340128 meters 0.023265018695859178 Centerline is valid? [True, True] Translation: X:29.20, Y:1.81, Z:0.32 [[ 9.79102778e-01 -2.02790840e-01 -1.52848162e-02 2.92043673e+01] [ 2.02772948e-01 9.79221983e-01 -2.72769553e-03 1.81334067e+00] [ 1.55203797e-02 -4.28652980e-04 9.99879460e-01 3.16687154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.164340128000003 meters 0.02446327754364105 Centerline is valid? [True, True] Translation: X:29.23, Y:1.82, Z:0.32 [[ 9.78757605e-01 -2.04468496e-01 -1.50394166e-02 2.92312009e+01] [ 2.04451345e-01 9.78873043e-01 -2.68563356e-03 1.81962030e+00] [ 1.52708069e-02 -4.46244669e-04 9.99883295e-01 3.16571522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.194340128 meters 0.02388824950544083 Centerline is valid? [True, True] Translation: X:29.26, Y:1.83, Z:0.32 [[ 9.78475244e-01 -2.05821032e-01 -1.49632411e-02 2.92588932e+01] [ 2.05804168e-01 9.78589541e-01 -2.67493206e-03 1.82678674e+00] [ 1.51934285e-02 -4.62142579e-04 9.99884466e-01 3.17291978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.224340128 meters 0.023793065135493202 Centerline is valid? [True, True] Translation: X:29.29, Y:1.83, Z:0.32 [[ 9.78141643e-01 -2.07449771e-01 -1.42660160e-02 2.92873970e+01] [ 2.07434558e-01 9.78245562e-01 -2.55421138e-03 1.83358056e+00] [ 1.44855374e-02 -4.60884209e-04 9.99894973e-01 3.17899364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.254340128000003 meters 0.026794965009095877 Centerline is valid? [True, True] Translation: X:29.32, Y:1.84, Z:0.32 [[ 9.77538689e-01 -2.10275018e-01 -1.42312209e-02 2.93157480e+01] [ 2.10260134e-01 9.77642147e-01 -2.55102629e-03 1.83707380e+00] [ 1.44494584e-02 -4.98531511e-04 9.99895477e-01 3.18197321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.284340128 meters 0.02668677690325971 Centerline is valid? [True, True] Translation: X:29.34, Y:1.84, Z:0.32 [[ 9.77163178e-01 -2.12020046e-01 -1.41288044e-02 2.93436109e+01] [ 2.12005531e-01 9.77265179e-01 -2.53452298e-03 1.84410332e+00] [ 1.43449583e-02 -5.18742155e-04 9.99896971e-01 3.18605283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.314340128 meters 0.02723777669332252 Centerline is valid? [True, True] Translation: X:29.37, Y:1.85, Z:0.32 [[ 9.76839018e-01 -2.13515463e-01 -1.40242604e-02 2.93716104e+01] [ 2.13501260e-01 9.76939539e-01 -2.51970752e-03 1.85029993e+00] [ 1.42388510e-02 -5.32848638e-04 9.99898480e-01 3.18846270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.344340128000002 meters 0.027132433940597337 Centerline is valid? [True, True] Translation: X:29.40, Y:1.86, Z:0.32 [[ 9.76532518e-01 -2.14948344e-01 -1.34703743e-02 2.93994863e+01] [ 2.14935325e-01 9.76625276e-01 -2.42390211e-03 1.85762831e+00] [ 1.36765217e-02 -5.28240049e-04 9.99906332e-01 3.19601682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.374340128 meters 0.02956467606917732 Centerline is valid? [True, True] Translation: X:29.43, Y:1.86, Z:0.32 [[ 9.76200352e-01 -2.16471548e-01 -1.31507321e-02 2.94267259e+01] [ 2.16459235e-01 9.76288781e-01 -2.36961165e-03 1.86319435e+00] [ 1.33518657e-02 -5.33381671e-04 9.99910718e-01 3.19703090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.404340128 meters 0.02833431496905258 Centerline is valid? [True, True] Translation: X:29.45, Y:1.87, Z:0.32 [[ 9.76041458e-01 -2.17186383e-01 -1.31585433e-02 2.94541492e+01] [ 2.17174087e-01 9.76130003e-01 -2.37348703e-03 1.87198067e+00] [ 1.33599380e-02 -5.41072890e-04 9.99910606e-01 3.19307090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.434340128000002 meters 0.02976313676129347 Centerline is valid? [True, True] Translation: X:29.48, Y:1.88, Z:0.32 [[ 9.75985500e-01 -2.17416446e-01 -1.35052683e-02 2.94813362e+01] [ 2.17403473e-01 9.76078778e-01 -2.43922369e-03 1.87692527e+00] [ 1.37125331e-02 -5.55445270e-04 9.99905825e-01 3.18916798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.464340128 meters 0.03199924637904858 Centerline is valid? [True, True] Translation: X:29.51, Y:1.88, Z:0.32 [[ 9.76076839e-01 -2.16952354e-01 -1.43415714e-02 2.95098232e+01] [ 2.16937640e-01 9.76182021e-01 -2.59263067e-03 1.88345918e+00] [ 1.45624615e-02 -5.80619896e-04 9.99893793e-01 3.17925637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.494340128 meters 0.029495814897534813 Centerline is valid? [True, True] Translation: X:29.54, Y:1.89, Z:0.32 [[ 9.76171166e-01 -2.16533911e-01 -1.42449678e-02 2.95363701e+01] [ 2.16519303e-01 9.76274932e-01 -2.57836756e-03 1.89420402e+00] [ 1.44653090e-02 -5.67382435e-04 9.99895211e-01 3.18032156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524340128000002 meters 0.027754999926114562 Centerline is valid? [True, True] Translation: X:29.56, Y:1.90, Z:0.32 [[ 9.76258922e-01 -2.16117135e-01 -1.45568433e-02 2.95635025e+01] [ 2.16101798e-01 9.76367276e-01 -2.63729506e-03 1.90416573e+00] [ 1.47827901e-02 -5.71077176e-04 9.99890566e-01 3.17844105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.554340128 meters 0.02883467653756718 Centerline is valid? [True, True] Translation: X:29.59, Y:1.91, Z:0.32 [[ 9.76606507e-01 -2.14497222e-01 -1.51878898e-02 2.95910616e+01] [ 2.14480261e-01 9.76724435e-01 -2.75606045e-03 1.91190349e+00] [ 1.54255504e-02 -5.65915994e-04 9.99880859e-01 3.17296929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.584340128 meters 0.027292811165228848 Centerline is valid? [True, True] Translation: X:29.62, Y:1.92, Z:0.32 [[ 9.76730398e-01 -2.13957481e-01 -1.48299239e-02 2.96191195e+01] [ 2.13941187e-01 9.76842825e-01 -2.69520059e-03 1.92097306e+00] [ 1.50631631e-02 -5.40247177e-04 9.99886398e-01 3.17860021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.614340128000002 meters 0.028822289060571736 Centerline is valid? [True, True] Translation: X:29.65, Y:1.93, Z:0.32 [[ 9.76913271e-01 -2.13133150e-01 -1.46533559e-02 2.96474213e+01] [ 2.13117089e-01 9.77023026e-01 -2.66717388e-03 1.92582113e+00] [ 1.48851293e-02 -5.17283001e-04 9.99889077e-01 3.17307652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.644340128 meters 0.028822289060571736 Centerline is valid? [True, True] Translation: X:29.67, Y:1.93, Z:0.32 [[ 9.76840931e-01 -2.13464510e-01 -1.46525667e-02 2.96745321e+01] [ 2.13448420e-01 9.76950682e-01 -2.67150408e-03 1.93098931e+00] [ 1.48851063e-02 -5.17932676e-04 9.99889077e-01 3.17576627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.674340128 meters 0.030750282539769528 Centerline is valid? [True, True] Translation: X:29.70, Y:1.94, Z:0.32 [[ 9.77252917e-01 -2.11575159e-01 -1.45838395e-02 2.97017863e+01] [ 2.11558952e-01 9.77361611e-01 -2.66286517e-03 1.93707299e+00] [ 1.48170810e-02 -4.83049059e-04 9.99890104e-01 3.16927677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.704340128000002 meters 0.029004407000376185 Centerline is valid? [True, True] Translation: X:29.73, Y:1.95, Z:0.32 [[ 9.77319382e-01 -2.11256518e-01 -1.47481589e-02 2.97295335e+01] [ 2.11239870e-01 9.77430536e-01 -2.69542873e-03 1.94684726e+00] [ 1.49847277e-02 -4.81104425e-04 9.99887607e-01 3.17356014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.734340128 meters 0.027495120400337095 Centerline is valid? [True, True] Translation: X:29.76, Y:1.96, Z:0.32 [[ 9.77461006e-01 -2.10676291e-01 -1.36191557e-02 2.97567861e+01] [ 2.10661985e-01 9.77555785e-01 -2.49290311e-03 1.95714859e+00] [ 1.38386800e-02 -4.32322788e-04 9.99904147e-01 3.18641174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.764340128 meters 0.02778029734598586 Centerline is valid? [True, True] Translation: X:29.78, Y:1.96, Z:0.32 [[ 9.77490095e-01 -2.10556181e-01 -1.33868936e-02 2.97838840e+01] [ 2.10542300e-01 9.77581668e-01 -2.45381947e-03 1.96302636e+00] [ 1.36034486e-02 -4.19923143e-04 9.99907381e-01 3.19172802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.794340128 meters 0.0269423740244637 Centerline is valid? [True, True] Translation: X:29.81, Y:1.97, Z:0.32 [[ 9.77525398e-01 -2.10411380e-01 -1.30823616e-02 2.98115415e+01] [ 2.10398078e-01 9.77612851e-01 -2.40049095e-03 1.97056389e+00] [ 1.32945755e-02 -4.05962885e-04 9.99911541e-01 3.19904589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.824340128000003 meters 0.02954972707007984 Centerline is valid? [True, True] Translation: X:29.84, Y:1.97, Z:0.32 [[ 9.77727189e-01 -2.09522405e-01 -1.22435875e-02 2.98389280e+01] [ 2.09510648e-01 9.77803778e-01 -2.24955666e-03 1.97471649e+00] [ 1.24431586e-02 -3.65709241e-04 9.99922514e-01 3.20802398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.854340128 meters 0.02687924231982416 Centerline is valid? [True, True] Translation: X:29.87, Y:1.99, Z:0.32 [[ 9.77730033e-01 -2.09492677e-01 -1.25220186e-02 2.98657983e+01] [ 2.09480351e-01 9.77810145e-01 -2.30272787e-03 1.98558752e+00] [ 1.27265614e-02 -3.71670644e-04 9.99918945e-01 3.21198795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.884340128 meters 0.025908981296034694 Centerline is valid? [True, True] Translation: X:29.89, Y:1.99, Z:0.32 [[ 9.77838387e-01 -2.08985258e-01 -1.25399373e-02 2.98933947e+01] [ 2.08972802e-01 9.77918724e-01 -2.31012436e-03 1.99356599e+00] [ 1.27458214e-02 -3.61577563e-04 9.99918703e-01 3.21396239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.914340128000003 meters 0.026072379500386374 Centerline is valid? [True, True] Translation: X:29.92, Y:2.00, Z:0.32 [[ 9.77801840e-01 -2.09143232e-01 -1.27542466e-02 2.99208043e+01] [ 2.09130309e-01 9.77884950e-01 -2.35357606e-03 2.00023159e+00] [ 1.29644203e-02 -3.65968531e-04 9.99915891e-01 3.21020525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.944340128 meters 0.025978373649613237 Centerline is valid? [True, True] Translation: X:29.95, Y:2.01, Z:0.32 [[ 9.77974319e-01 -2.08292284e-01 -1.34371097e-02 2.99476626e+01] [ 2.08277808e-01 9.78066556e-01 -2.48339744e-03 2.00825255e+00] [ 1.36596602e-02 -3.69952838e-04 9.99906634e-01 3.21029150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.974340128 meters 0.02593181042012685 Centerline is valid? [True, True] Translation: X:29.97, Y:2.02, Z:0.32 [[ 9.77957821e-01 -2.08381519e-01 -1.32530172e-02 2.99748557e+01] [ 2.08367415e-01 9.78047550e-01 -2.45156972e-03 2.01503163e+00] [ 1.34729428e-02 -3.63965162e-04 9.99909170e-01 3.21608963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.004340128 meters 0.025791300377460868 Centerline is valid? [True, True] Translation: X:30.00, Y:2.02, Z:0.32 [[ 9.78127391e-01 -2.07598124e-01 -1.30317035e-02 3.00017905e+01] [ 2.07584371e-01 9.78214139e-01 -2.41411418e-03 2.02278281e+00] [ 1.32489621e-02 -3.43866761e-04 9.99912170e-01 3.22574082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.034340128000004 meters 0.02693659081737282 Centerline is valid? [True, True] Translation: X:30.03, Y:2.03, Z:0.32 [[ 9.78122889e-01 -2.07616408e-01 -1.30782672e-02 3.00287312e+01] [ 2.07602539e-01 9.78210258e-01 -2.42422007e-03 2.02746649e+00] [ 1.32966030e-02 -3.43896333e-04 9.99911537e-01 3.22723171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.064340128 meters 0.026344727460992083 Centerline is valid? [True, True] Translation: X:30.06, Y:2.04, Z:0.32 [[ 9.78063052e-01 -2.07899287e-01 -1.30595671e-02 3.00555845e+01] [ 2.07885450e-01 9.78150176e-01 -2.42322833e-03 2.03542774e+00] [ 1.32780053e-02 -3.44823877e-04 9.99911784e-01 3.23023872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.094340128 meters 0.02654012001103703 Centerline is valid? [True, True] Translation: X:30.08, Y:2.04, Z:0.32 [[ 9.77953440e-01 -2.08406181e-01 -1.31883625e-02 3.00825720e+01] [ 2.08392059e-01 9.78042300e-01 -2.45139910e-03 2.04209672e+00] [ 1.34096631e-02 -3.50995833e-04 9.99910025e-01 3.22982426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.124340128 meters 0.027617848687487095 Centerline is valid? [True, True] Translation: X:30.11, Y:2.05, Z:0.32 [[ 9.77800176e-01 -2.09155103e-01 -1.26869298e-02 3.01093032e+01] [ 2.09142055e-01 9.77882418e-01 -2.36146368e-03 2.04832618e+00] [ 1.29002377e-02 -3.44330968e-04 9.99916729e-01 3.23126252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.154340128 meters 0.028766839980604076 Centerline is valid? [True, True] Translation: X:30.14, Y:2.05, Z:0.32 [[ 9.77665122e-01 -2.09779987e-01 -1.27775537e-02 3.01364980e+01] [ 2.09766789e-01 9.77748552e-01 -2.37960163e-03 2.05267617e+00] [ 1.29924274e-02 -3.53852889e-04 9.99915532e-01 3.23414352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.184340128 meters 0.027244130446943342 Centerline is valid? [True, True] Translation: X:30.16, Y:2.06, Z:0.32 [[ 9.77520915e-01 -2.10429910e-01 -1.31192069e-02 3.01637048e+01] [ 2.10416037e-01 9.77608877e-01 -2.44454973e-03 2.06128525e+00] [ 1.33398595e-02 -3.70893041e-04 9.99910951e-01 3.24333391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.214340128 meters 0.030095939501902147 Centerline is valid? [True, True] Translation: X:30.19, Y:2.07, Z:0.32 [[ 9.77331908e-01 -2.11283387e-01 -1.34785953e-02 3.01913066e+01] [ 2.11268805e-01 9.77424768e-01 -2.51291895e-03 2.06584424e+00] [ 1.37052509e-02 -3.91650846e-04 9.99906002e-01 3.24008506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.244340128000005 meters 0.030218657103952717 Centerline is valid? [True, True] Translation: X:30.22, Y:2.07, Z:0.32 [[ 9.77188931e-01 -2.11952499e-01 -1.33390971e-02 3.02195876e+01] [ 2.11938254e-01 9.77279889e-01 -2.48888734e-03 2.07269264e+00] [ 1.35635572e-02 -3.94951779e-04 9.99907933e-01 3.24524862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.274340128 meters 0.031396178309861925 Centerline is valid? [True, True] Translation: X:30.25, Y:2.08, Z:0.33 [[ 9.77079831e-01 -2.12489964e-01 -1.27678876e-02 3.02464255e+01] [ 2.12476921e-01 9.77163174e-01 -2.38510188e-03 2.07943448e+00] [ 1.29831198e-02 -3.82446505e-04 9.99915643e-01 3.25424117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.304340128 meters 0.028611594495162356 Centerline is valid? [True, True] Translation: X:30.27, Y:2.09, Z:0.33 [[ 9.77080820e-01 -2.12486131e-01 -1.27560199e-02 3.02732717e+01] [ 2.12473087e-01 9.77164009e-01 -2.38482405e-03 2.09003941e+00] [ 1.29714655e-02 -3.80145090e-04 9.99915795e-01 3.26638820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.334340128 meters 0.0287978436016436 Centerline is valid? [True, True] Translation: X:30.30, Y:2.10, Z:0.33 [[ 9.77080131e-01 -2.12494977e-01 -1.26610800e-02 3.03007562e+01] [ 2.12482075e-01 9.77162088e-01 -2.37115764e-03 2.09656772e+00] [ 1.28757864e-02 -3.73441529e-04 9.99917034e-01 3.27244613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.364340128 meters 0.026476809632847806 Centerline is valid? [True, True] Translation: X:30.33, Y:2.11, Z:0.33 [[ 9.77320643e-01 -2.11404027e-01 -1.23570963e-02 3.03282959e+01] [ 2.11391602e-01 9.77398699e-01 -2.31806293e-03 2.10720910e+00] [ 1.25678577e-02 -3.46695629e-04 9.99920961e-01 3.28300724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.394340128 meters 0.024581195659396583 Centerline is valid? [True, True] Translation: X:30.36, Y:2.12, Z:0.33 [[ 9.77472737e-01 -2.10716454e-01 -1.20674836e-02 3.03561260e+01] [ 2.10704509e-01 9.77547170e-01 -2.26725887e-03 2.11665516e+00] [ 1.22742832e-02 -3.26489477e-04 9.99924615e-01 3.29078226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.424340128000004 meters 0.024476241369948557 Centerline is valid? [True, True] Translation: X:30.38, Y:2.12, Z:0.33 [[ 9.77730680e-01 -2.09532228e-01 -1.17882386e-02 3.03827841e+01] [ 2.09520706e-01 9.77801695e-01 -2.21791146e-03 2.12362821e+00] [ 1.19912836e-02 -3.01359993e-04 9.99928057e-01 3.29635511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.454340128 meters 0.02220438232781809 Centerline is valid? [True, True] Translation: X:30.41, Y:2.14, Z:0.33 [[ 9.78335913e-01 -2.06686546e-01 -1.18115704e-02 3.04102943e+01] [ 2.06674754e-01 9.78407176e-01 -2.22369026e-03 2.13665581e+00] [ 1.20161321e-02 -2.65637370e-04 9.99927768e-01 3.30106081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.484340128 meters 0.021983323211456417 Centerline is valid? [True, True] Translation: X:30.44, Y:2.14, Z:0.33 [[ 9.78629547e-01 -2.05304927e-01 -1.15800561e-02 3.04373931e+01] [ 2.05293476e-01 9.78698027e-01 -2.18180239e-03 2.14416326e+00] [ 1.17813129e-02 -2.42133691e-04 9.99930569e-01 3.30073481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.514340128 meters 0.021100912167418804 Centerline is valid? [True, True] Translation: X:30.47, Y:2.15, Z:0.33 [[ 9.78879941e-01 -2.04111958e-01 -1.15052084e-02 3.04653367e+01] [ 2.04100553e-01 9.78947526e-01 -2.16929928e-03 2.15266175e+00] [ 1.17057752e-02 -2.24735839e-04 9.99931460e-01 3.30321760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.544340128 meters 0.020409466599126517 Centerline is valid? [True, True] Translation: X:30.49, Y:2.16, Z:0.33 [[ 9.79048174e-01 -2.03323386e-01 -1.11478286e-02 3.04934497e+01] [ 2.03312591e-01 9.79111617e-01 -2.10515661e-03 2.16058387e+00] [ 1.13429960e-02 -2.05444184e-04 9.99935645e-01 3.31251429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.574340128 meters 0.01961773289671295 Centerline is valid? [True, True] Translation: X:30.52, Y:2.17, Z:0.33 [[ 9.79331055e-01 -2.01990861e-01 -1.05060388e-02 3.05215404e+01] [ 2.01981165e-01 9.79387391e-01 -1.98693733e-03 2.16879831e+00] [ 1.06908252e-02 -1.76152529e-04 9.99942836e-01 3.32351602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.604340128000004 meters 0.019920694765820174 Centerline is valid? [True, True] Translation: X:30.55, Y:2.17, Z:0.33 [[ 9.79301015e-01 -2.02137238e-01 -1.04909516e-02 3.05484122e+01] [ 2.02127546e-01 9.79357191e-01 -1.98704961e-03 2.17443621e+00] [ 1.06760456e-02 -1.74590611e-04 9.99942994e-01 3.32615377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.634340128 meters 0.019746820120231833 Centerline is valid? [True, True] Translation: X:30.58, Y:2.18, Z:0.33 [[ 9.79218230e-01 -2.02535970e-01 -1.05279895e-02 3.05759212e+01] [ 2.02526215e-01 9.79274808e-01 -1.99578375e-03 2.18112880e+00] [ 1.07140128e-02 -1.77886015e-04 9.99942587e-01 3.32761312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.664340128 meters 0.020109948145939138 Centerline is valid? [True, True] Translation: X:30.60, Y:2.19, Z:0.33 [[ 9.79120722e-01 -2.03001861e-01 -1.06233851e-02 3.06033031e+01] [ 2.02991919e-01 9.79178335e-01 -2.01724010e-03 2.18674609e+00] [ 1.08116921e-02 -1.81339756e-04 9.99941536e-01 3.32656539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.694340128 meters 0.01965344171628973 Centerline is valid? [True, True] Translation: X:30.63, Y:2.19, Z:0.33 [[ 9.79008620e-01 -2.03585547e-01 -9.74918734e-03 3.06307862e+01] [ 2.03577194e-01 9.79057146e-01 -1.85220988e-03 2.19412124e+00] [ 9.92209470e-03 -1.71382764e-04 9.99950760e-01 3.32988141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.724340128 meters 0.019800436833609065 Centerline is valid? [True, True] Translation: X:30.66, Y:2.20, Z:0.33 [[ 9.78875174e-01 -2.04239867e-01 -9.45882391e-03 3.06579506e+01] [ 2.04232004e-01 9.78920859e-01 -1.80019335e-03 2.19992630e+00] [ 9.62711128e-03 -1.69629986e-04 9.99953644e-01 3.33315347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.754340128 meters 0.019983346053055795 Centerline is valid? [True, True] Translation: X:30.69, Y:2.21, Z:0.33 [[ 9.78764912e-01 -2.04783502e-01 -9.10845763e-03 3.06859423e+01] [ 2.04776206e-01 9.78807279e-01 -1.73650784e-03 2.20550217e+00] [ 9.27103279e-03 -1.65562451e-04 9.99957009e-01 3.33426676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.784340128000004 meters 0.020791603119299285 Centerline is valid? [True, True] Translation: X:30.71, Y:2.21, Z:0.33 [[ 9.78586130e-01 -2.05626597e-01 -9.32139984e-03 3.07135861e+01] [ 2.05618963e-01 9.78630508e-01 -1.78040400e-03 2.21065094e+00] [ 9.48830468e-03 -1.74377907e-04 9.99954970e-01 3.33558230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.814340128 meters 0.020783754625822118 Centerline is valid? [True, True] Translation: X:30.74, Y:2.22, Z:0.33 [[ 9.78521266e-01 -2.05934282e-01 -9.33828803e-03 3.07413553e+01] [ 2.05926625e-01 9.78565808e-01 -1.78461077e-03 2.21637343e+00] [ 9.50564191e-03 -1.76722548e-04 9.99954805e-01 3.33600612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.844340128 meters 0.020271232717256827 Centerline is valid? [True, True] Translation: X:30.77, Y:2.22, Z:0.33 [[ 9.78361398e-01 -2.06689827e-01 -9.39632791e-03 3.07683728e+01] [ 2.06682101e-01 9.78406501e-01 -1.79663524e-03 2.22274068e+00] [ 9.56477454e-03 -1.84294230e-04 9.99954240e-01 3.33591195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.874340128 meters 0.021324436632345404 Centerline is valid? [True, True] Translation: X:30.80, Y:2.23, Z:0.33 [[ 9.78104503e-01 -2.07902718e-01 -9.38303351e-03 3.07956993e+01] [ 2.07895037e-01 9.78149489e-01 -1.79740808e-03 2.22669902e+00] [ 9.55169546e-03 -1.92633165e-04 9.99954363e-01 3.32997490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.904340128 meters 0.021333586476214885 Centerline is valid? [True, True] Translation: X:30.82, Y:2.23, Z:0.33 [[ 9.77940302e-01 -2.08650940e-01 -9.87681022e-03 3.08240397e+01] [ 2.08642456e-01 9.77990154e-01 -1.89316613e-03 2.23266672e+00] [ 1.00544340e-02 -2.09318480e-04 9.99949431e-01 3.32869209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.934340128 meters 0.021292300875112833 Centerline is valid? [True, True] Translation: X:30.85, Y:2.24, Z:0.33 [[ 9.77854360e-01 -2.09070255e-01 -9.51206515e-03 3.08510769e+01] [ 2.09062380e-01 9.77900602e-01 -1.82600023e-03 2.23807596e+00] [ 9.68361657e-03 -2.03052689e-04 9.99953092e-01 3.33542435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.964340128 meters 0.021200238788460557 Centerline is valid? [True, True] Translation: X:30.88, Y:2.24, Z:0.33 [[ 9.77834520e-01 -2.09168744e-01 -9.38548630e-03 3.08788296e+01] [ 2.09161051e-01 9.77879541e-01 -1.80490127e-03 2.24407194e+00] [ 9.55540397e-03 -1.98183408e-04 9.99954326e-01 3.33922317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.994340128000005 meters 0.020729302222180213 Centerline is valid? [True, True] Translation: X:30.91, Y:2.25, Z:0.33 [[ 9.77836860e-01 -2.09158032e-01 -9.38050310e-03 3.09057273e+01] [ 2.09150315e-01 9.77881833e-01 -1.80718560e-03 2.25064405e+00] [ 9.55101095e-03 -1.94802485e-04 9.99954369e-01 3.34309781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.024340128 meters 0.020271743576685975 Centerline is valid? [True, True] Translation: X:30.93, Y:2.26, Z:0.34 [[ 9.77939667e-01 -2.08693731e-01 -8.99639358e-03 3.09334971e+01] [ 2.08686586e-01 9.77981030e-01 -1.73624268e-03 2.25723888e+00] [ 9.16064522e-03 -1.79486078e-04 9.99958024e-01 3.35171485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.054340128 meters 0.019223042966625383 Centerline is valid? [True, True] Translation: X:30.96, Y:2.27, Z:0.34 [[ 9.78349503e-01 -2.06756850e-01 -9.15722408e-03 3.09612025e+01] [ 2.06749336e-01 9.78392344e-01 -1.77013840e-03 2.26545588e+00] [ 9.32534617e-03 -1.61435970e-04 9.99956505e-01 3.35282254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.084340128 meters 0.01920215800894793 Centerline is valid? [True, True] Translation: X:30.99, Y:2.27, Z:0.34 [[ 9.78646237e-01 -2.05340740e-01 -9.31250772e-03 3.09882435e+01] [ 2.05332877e-01 9.78690533e-01 -1.80309184e-03 2.27109840e+00] [ 9.48431135e-03 -1.47574952e-04 9.99955012e-01 3.35387380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.114340128 meters 0.0184593672330949 Centerline is valid? [True, True] Translation: X:31.02, Y:2.28, Z:0.34 [[ 9.78978274e-01 -2.03759828e-01 -9.13624239e-03 3.10150482e+01] [ 2.03752181e-01 9.79020897e-01 -1.76992789e-03 2.27799953e+00] [ 9.30521242e-03 -1.28808360e-04 9.99956697e-01 3.35633330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.144340128 meters 0.017179608308413384 Centerline is valid? [True, True] Translation: X:31.04, Y:2.29, Z:0.34 [[ 9.79314842e-01 -2.02132980e-01 -9.20315183e-03 3.10428439e+01] [ 2.02125141e-01 9.79358078e-01 -1.78375920e-03 2.28640674e+00] [ 9.37373766e-03 -1.13326498e-04 9.99956059e-01 3.35792125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.174340128000004 meters 0.015690375502382795 Centerline is valid? [True, True] Translation: X:31.07, Y:2.30, Z:0.34 [[ 9.80093119e-01 -1.98300349e-01 -9.71847781e-03 3.10704617e+01] [ 1.98291389e-01 9.80141299e-01 -1.88669460e-03 2.29526718e+00] [ 9.89961366e-03 -7.79540671e-05 9.99950995e-01 3.35960118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.204340128 meters 0.015190293610343136 Centerline is valid? [True, True] Translation: X:31.10, Y:2.30, Z:0.34 [[ 9.80499623e-01 -1.96261835e-01 -1.00886322e-02 3.10972143e+01] [ 1.96252040e-01 9.80551523e-01 -1.96160849e-03 2.30209731e+00] [ 1.02774126e-02 -5.65582709e-05 9.99947184e-01 3.35985892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.234340128 meters 0.014818241865357724 Centerline is valid? [True, True] Translation: X:31.13, Y:2.31, Z:0.34 [[ 9.81248334e-01 -1.92483548e-01 -1.00891644e-02 3.11253346e+01] [ 1.92473540e-01 9.81300200e-01 -1.96287464e-03 2.31029661e+00] [ 1.02783201e-02 -1.58297236e-05 9.99947177e-01 3.36186454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.264340128 meters 0.01473876355493782 Centerline is valid? [True, True] Translation: X:31.15, Y:2.32, Z:0.34 [[ 9.81521566e-01 -1.91077647e-01 -1.02346454e-02 3.11531001e+01] [ 1.91067240e-01 9.81574925e-01 -1.99426655e-03 2.31676570e+00] [ 1.04271310e-02 1.91018464e-06 9.99945636e-01 3.36809298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.294340128 meters 0.014753014526071258 Centerline is valid? [True, True] Translation: X:31.18, Y:2.32, Z:0.34 [[ 9.81794839e-01 -1.89649843e-01 -1.05750493e-02 3.11794187e+01] [ 1.89638611e-01 9.81851790e-01 -2.06409347e-03 2.32278901e+00] [ 1.07745860e-02 2.10786562e-05 9.99941952e-01 3.36803396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.324340128 meters 0.01486926924345576 Centerline is valid? [True, True] Translation: X:31.21, Y:2.33, Z:0.34 [[ 9.81920511e-01 -1.88992828e-01 -1.06686645e-02 3.12064777e+01] [ 1.88981338e-01 9.81978467e-01 -2.08415151e-03 2.32825155e+00] [ 1.08702885e-02 3.02926348e-05 9.99940916e-01 3.36430354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.354340128000004 meters 0.015086488179934191 Centerline is valid? [True, True] Translation: X:31.23, Y:2.33, Z:0.34 [[ 9.82080073e-01 -1.88123534e-01 -1.13255067e-02 3.12341377e+01] [ 1.88110480e-01 9.82145373e-01 -2.21657587e-03 2.33198147e+00] [ 1.15402840e-02 4.64084928e-05 9.99933408e-01 3.36488070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.384340128 meters 0.01496168729571267 Centerline is valid? [True, True] Translation: X:31.26, Y:2.34, Z:0.34 [[ 9.81952750e-01 -1.88791618e-01 -1.12481651e-02 3.12624763e+01] [ 1.88778742e-01 9.82017171e-01 -2.20530386e-03 2.33558798e+00] [ 1.14622342e-02 4.20897293e-05 9.99934306e-01 3.36628875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.414340128 meters 0.014831394710141855 Centerline is valid? [True, True] Translation: X:31.29, Y:2.34, Z:0.34 [[ 9.81836713e-01 -1.89378678e-01 -1.15058832e-02 3.12890899e+01] [ 1.89365202e-01 9.81904127e-01 -2.25954304e-03 2.33844871e+00] [ 1.17255835e-02 3.96884135e-05 9.99931252e-01 3.36643484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.444340128 meters 0.014730106964702868 Centerline is valid? [True, True] Translation: X:31.32, Y:2.34, Z:0.34 [[ 9.81466064e-01 -1.91211892e-01 -1.27427521e-02 3.13164022e+01] [ 1.91195490e-01 9.81548782e-01 -2.50450671e-03 2.33789149e+00] [ 1.29865243e-02 2.17316006e-05 9.99915671e-01 3.35405982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.474340128 meters 0.014731481523563298 Centerline is valid? [True, True] Translation: X:31.34, Y:2.34, Z:0.34 [[ 9.81228019e-01 -1.92385027e-01 -1.34006275e-02 3.13449410e+01] [ 1.92366958e-01 9.81319521e-01 -2.63664685e-03 2.34006203e+00] [ 1.36575487e-02 9.31381097e-06 9.99906731e-01 3.35540726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.504340128 meters 0.014673841829273393 Centerline is valid? [True, True] Translation: X:31.37, Y:2.34, Z:0.33 [[ 9.80986266e-01 -1.93579309e-01 -1.38923511e-02 3.13724144e+01] [ 1.93559951e-01 9.81084630e-01 -2.73753651e-03 2.34231272e+00] [ 1.41595025e-02 -3.51707988e-06 9.99899749e-01 3.34799040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.534340128000004 meters 0.014745708712818386 Centerline is valid? [True, True] Translation: X:31.40, Y:2.34, Z:0.33 [[ 9.80638564e-01 -1.95306553e-01 -1.42603249e-02 3.14011387e+01] [ 1.95286293e-01 9.80742244e-01 -2.81317406e-03 2.34164355e+00] [ 1.45351343e-02 -2.61390076e-05 9.99894359e-01 3.34689678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.564340128 meters 0.014745708712818386 Centerline is valid? [True, True] Translation: X:31.43, Y:2.35, Z:0.33 [[ 9.80572939e-01 -1.95635838e-01 -1.42593771e-02 3.14281311e+01] [ 1.95615544e-01 9.80676612e-01 -2.81797128e-03 2.34719954e+00] [ 1.45351338e-02 -2.61294205e-05 9.99894359e-01 3.34958304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.594340128 meters 0.014895150113338996 Centerline is valid? [True, True] Translation: X:31.46, Y:2.35, Z:0.33 [[ 9.80318323e-01 -1.96869074e-01 -1.47835419e-02 3.14555643e+01] [ 1.96847329e-01 9.80429786e-01 -2.92625639e-03 2.34879323e+00] [ 1.50703142e-02 -4.14379846e-05 9.99886436e-01 3.34216569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.624340128 meters 0.014786838934456314 Centerline is valid? [True, True] Translation: X:31.48, Y:2.35, Z:0.34 [[ 9.80075350e-01 -1.98059385e-01 -1.49929501e-02 3.14836287e+01] [ 1.98037095e-01 9.80190021e-01 -2.97187381e-03 2.35040472e+00] [ 1.52845476e-02 -5.65000250e-05 9.99883183e-01 3.35142606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.654340128 meters 0.015138637562411544 Centerline is valid? [True, True] Translation: X:31.51, Y:2.35, Z:0.34 [[ 9.79637194e-01 -2.00186286e-01 -1.53758903e-02 3.15134441e+01] [ 2.00163025e-01 9.79757849e-01 -3.05291484e-03 2.34832215e+00] [ 1.56758009e-02 -8.69357865e-05 9.99877123e-01 3.35211134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.684340128 meters 0.015356281714443514 Centerline is valid? [True, True] Translation: X:31.54, Y:2.35, Z:0.34 [[ 9.79507633e-01 -2.00798842e-01 -1.56404118e-02 3.15418028e+01] [ 2.00774794e-01 9.79632490e-01 -3.10901526e-03 2.35036793e+00] [ 1.59461422e-02 -9.48962827e-05 9.99872848e-01 3.35289510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.714340128 meters 0.01539790592372203 Centerline is valid? [True, True] Translation: X:31.57, Y:2.35, Z:0.34 [[ 9.79340022e-01 -2.01630696e-01 -1.54331975e-02 3.15698023e+01] [ 2.01607338e-01 9.79461613e-01 -3.07081576e-03 2.35319763e+00] [ 1.57353952e-02 -1.04073089e-04 9.99876186e-01 3.35241643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.744340128000005 meters 0.015672918704028403 Centerline is valid? [True, True] Translation: X:31.60, Y:2.35, Z:0.34 [[ 9.79174515e-01 -2.02416274e-01 -1.56499698e-02 3.15970787e+01] [ 2.02392280e-01 9.79299565e-01 -3.11864947e-03 2.35306225e+00] [ 1.59572740e-02 -1.13730989e-04 9.99872668e-01 3.35355286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.774340128 meters 0.015590446696717438 Centerline is valid? [True, True] Translation: X:31.63, Y:2.36, Z:0.34 [[ 9.79118442e-01 -2.02710665e-01 -1.53447744e-02 3.16250841e+01] [ 2.02687570e-01 9.79238670e-01 -3.06192040e-03 2.35635011e+00] [ 1.56468804e-02 -1.12212292e-04 9.99877574e-01 3.36086148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.804340128 meters 0.015537854753647435 Centerline is valid? [True, True] Translation: X:31.65, Y:2.36, Z:0.34 [[ 9.79082601e-01 -2.02922811e-01 -1.48187104e-02 3.16531521e+01] [ 2.02901223e-01 9.79194731e-01 -2.96181972e-03 2.36014673e+00] [ 1.51114240e-02 -1.06868312e-04 9.99885810e-01 3.37107169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.834340128 meters 0.015116392600439895 Centerline is valid? [True, True] Translation: X:31.68, Y:2.36, Z:0.34 [[ 9.79214014e-01 -2.02312722e-01 -1.44732985e-02 3.16807474e+01] [ 2.02292007e-01 9.79320966e-01 -2.89648558e-03 2.36439489e+00] [ 1.47600006e-02 -9.15533323e-05 9.99891061e-01 3.38389915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.864340128 meters 0.014763188587185458 Centerline is valid? [True, True] Translation: X:31.71, Y:2.37, Z:0.34 [[ 9.79398952e-01 -2.01410586e-01 -1.45419656e-02 3.17083324e+01] [ 2.01389537e-01 9.79506901e-01 -2.91283654e-03 2.36706577e+00] [ 1.48306318e-02 -7.57706690e-05 9.99890017e-01 3.38865275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.894340128 meters 0.014778379457596245 Centerline is valid? [True, True] Translation: X:31.74, Y:2.37, Z:0.34 [[ 9.79524905e-01 -2.00810809e-01 -1.43519839e-02 3.17357092e+01] [ 2.00790174e-01 9.79630040e-01 -2.87941336e-03 2.37066827e+00] [ 1.46378519e-02 -6.12802411e-05 9.99892859e-01 3.38696585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.924340128000004 meters 0.014475811154650346 Centerline is valid? [True, True] Translation: X:31.76, Y:2.38, Z:0.34 [[ 9.79674490e-01 -2.00065614e-01 -1.45479479e-02 3.17636887e+01] [ 2.00044256e-01 9.79782500e-01 -2.92362953e-03 2.37546024e+00] [ 1.48387425e-02 -4.60281468e-05 9.99889899e-01 3.39674832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.954340128 meters 0.014450469457409503 Centerline is valid? [True, True] Translation: X:31.79, Y:2.38, Z:0.34 [[ 9.79839182e-01 -1.99201834e-01 -1.52907554e-02 3.17917357e+01] [ 1.99178053e-01 9.79958483e-01 -3.07809647e-03 2.37864567e+00] [ 1.55974679e-02 -2.95433679e-05 9.99878352e-01 3.39262149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.984340128 meters 0.014384006979329723 Centerline is valid? [True, True] Translation: X:31.82, Y:2.38, Z:0.34 [[ 9.79895432e-01 -1.98920201e-01 -1.53524079e-02 3.18195828e+01] [ 1.98896117e-01 9.80015690e-01 -3.09539906e-03 2.38298081e+00] [ 1.56613380e-02 -2.03669229e-05 9.99877354e-01 3.39457337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.014340128 meters 0.014332799869636226 Centerline is valid? [True, True] Translation: X:31.85, Y:2.39, Z:0.34 [[ 9.79924061e-01 -1.98799797e-01 -1.50822819e-02 3.18474697e+01] [ 1.98776465e-01 9.80040122e-01 -3.04568355e-03 2.38712556e+00] [ 1.53867226e-02 -1.34640890e-05 9.99881617e-01 3.40008406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.044340128 meters 0.014345230575783009 Centerline is valid? [True, True] Translation: X:31.88, Y:2.39, Z:0.34 [[ 9.79973924e-01 -1.98576508e-01 -1.47810353e-02 3.18755929e+01] [ 1.98554003e-01 9.80085389e-01 -2.98953625e-03 2.39096283e+00] [ 1.50803284e-02 -5.16615816e-06 9.99886285e-01 3.40578939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.074340128 meters 0.014254283222719977 Centerline is valid? [True, True] Translation: X:31.90, Y:2.39, Z:0.34 [[ 9.80016280e-01 -1.98398096e-01 -1.43626963e-02 3.19041636e+01] [ 1.98376762e-01 9.80121521e-01 -2.90944252e-03 2.39292178e+00] [ 1.46544156e-02 2.07584401e-06 9.99892618e-01 3.41963806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.104340128000004 meters 0.01427512330102652 Centerline is valid? [True, True] Translation: X:31.93, Y:2.40, Z:0.34 [[ 9.79946689e-01 -1.98744136e-01 -1.43267426e-02 3.19319175e+01] [ 1.98722879e-01 9.80051411e-01 -2.90672502e-03 2.39690153e+00] [ 1.46186388e-02 1.38403292e-06 9.99893142e-01 3.42096531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.134340128 meters 0.014338416586305283 Centerline is valid? [True, True] Translation: X:31.96, Y:2.40, Z:0.34 [[ 9.79959294e-01 -1.98654951e-01 -1.46966952e-02 3.19592674e+01] [ 1.98632500e-01 9.80069493e-01 -2.98654852e-03 2.40088484e+00] [ 1.49970752e-02 7.45467652e-06 9.99887538e-01 3.42615203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.164340128 meters 0.014329155198475997 Centerline is valid? [True, True] Translation: X:31.99, Y:2.40, Z:0.34 [[ 9.79808182e-01 -1.99410489e-01 -1.45390271e-02 3.19871470e+01] [ 1.99388532e-01 9.79916046e-01 -2.95910882e-03 2.40329670e+00] [ 1.48371033e-02 4.43770653e-07 9.99889924e-01 3.42731084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.194340128 meters 0.014339550267933647 Centerline is valid? [True, True] Translation: X:32.02, Y:2.41, Z:0.34 [[ 9.79670079e-01 -2.00107191e-01 -1.42705667e-02 3.20151031e+01] [ 2.00086046e-01 9.79774011e-01 -2.90895156e-03 2.40735035e+00] [ 1.45640325e-02 -5.52846129e-06 9.99893939e-01 3.43005297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.224340128 meters 0.014429775965190943 Centerline is valid? [True, True] Translation: X:32.04, Y:2.41, Z:0.34 [[ 9.79581326e-01 -2.00519855e-01 -1.45675594e-02 3.20430604e+01] [ 2.00497797e-01 9.79689638e-01 -2.97418199e-03 2.41134048e+00] [ 1.48680695e-02 -7.31042938e-06 9.99889464e-01 3.43531031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.254340128 meters 0.014490412108501922 Centerline is valid? [True, True] Translation: X:32.07, Y:2.41, Z:0.34 [[ 9.79423566e-01 -2.01332161e-01 -1.39584917e-02 3.20705025e+01] [ 2.01311936e-01 9.79523027e-01 -2.85371474e-03 2.41276825e+00] [ 1.42472086e-02 -1.50155239e-05 9.99898503e-01 3.44534201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.284340128000004 meters 0.014413827132766543 Centerline is valid? [True, True] Translation: X:32.10, Y:2.42, Z:0.35 [[ 9.79344038e-01 -2.01742398e-01 -1.36110080e-02 3.20982327e+01] [ 2.01723161e-01 9.79438617e-01 -2.78600132e-03 2.41709062e+00] [ 1.38932014e-02 -1.72017761e-05 9.99903485e-01 3.45396031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.314340128 meters 0.014544251204181893 Centerline is valid? [True, True] Translation: X:32.12, Y:2.42, Z:0.35 [[ 9.79267305e-01 -2.02138933e-01 -1.32437874e-02 3.21249264e+01] [ 2.02120709e-01 9.79356856e-01 -2.71436389e-03 2.42112153e+00] [ 1.35190726e-02 -1.87558859e-05 9.99908613e-01 3.45043116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.344340128 meters 0.014603169408927448 Centerline is valid? [True, True] Translation: X:32.15, Y:2.42, Z:0.34 [[ 9.79104436e-01 -2.02896050e-01 -1.37002022e-02 3.21516789e+01] [ 2.02876594e-01 9.79200282e-01 -2.80983812e-03 2.42343890e+00] [ 1.39853469e-02 -2.83253917e-05 9.99902200e-01 3.44707219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.374340128 meters 0.014760212151517385 Centerline is valid? [True, True] Translation: X:32.18, Y:2.43, Z:0.34 [[ 9.78966037e-01 -2.03530214e-01 -1.41757077e-02 3.21795643e+01] [ 2.03509412e-01 9.79068665e-01 -2.91003364e-03 2.42753623e+00] [ 1.44712710e-02 -3.60658340e-05 9.99895285e-01 3.44427331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.404340128 meters 0.014927056389873338 Centerline is valid? [True, True] Translation: X:32.21, Y:2.43, Z:0.34 [[ 9.78732483e-01 -2.04602828e-01 -1.48461805e-02 3.22074849e+01] [ 2.04580066e-01 9.78845075e-01 -3.05220679e-03 2.43126062e+00] [ 1.51566008e-02 -4.99386623e-05 9.99885131e-01 3.44071248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.434340128 meters 0.015021150692271881 Centerline is valid? [True, True] Translation: X:32.24, Y:2.43, Z:0.34 [[ 9.78363765e-01 -2.06336531e-01 -1.51518787e-02 3.22358412e+01] [ 2.06312960e-01 9.78481083e-01 -3.11966012e-03 2.43236885e+00] [ 1.54695265e-02 -7.38665140e-05 9.99880337e-01 3.43734257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.464340128 meters 0.015082882351452215 Centerline is valid? [True, True] Translation: X:32.26, Y:2.44, Z:0.34 [[ 9.78104537e-01 -2.07543311e-01 -1.54041687e-02 3.22636292e+01] [ 2.07519021e-01 9.78225826e-01 -3.17645172e-03 2.43529590e+00] [ 1.57280069e-02 -8.97561693e-05 9.99876303e-01 3.44302686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.494340128000005 meters 0.015438888308895978 Centerline is valid? [True, True] Translation: X:32.29, Y:2.44, Z:0.34 [[ 9.77865676e-01 -2.08640154e-01 -1.57482033e-02 3.22913513e+01] [ 2.08614850e-01 9.77992472e-01 -3.25110740e-03 2.43760792e+00] [ 1.60799359e-02 -1.06162738e-04 9.99870704e-01 3.44434580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.524340128 meters 0.015752841078065363 Centerline is valid? [True, True] Translation: X:32.32, Y:2.44, Z:0.35 [[ 9.77533314e-01 -2.10206506e-01 -1.55513348e-02 3.23200956e+01] [ 2.10181988e-01 9.77656999e-01 -3.21301920e-03 2.44050077e+00] [ 1.58792689e-02 -1.27777164e-04 9.99873908e-01 3.45068970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.554340128 meters 0.0165474585584213 Centerline is valid? [True, True] Translation: X:32.35, Y:2.44, Z:0.35 [[ 9.77010324e-01 -2.12656975e-01 -1.50943155e-02 3.23486083e+01] [ 2.12634122e-01 9.77126903e-01 -3.12165354e-03 2.44079273e+00] [ 1.54129032e-02 -1.59678798e-04 9.99881201e-01 3.45623193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.584340128 meters 0.01630623856924879 Centerline is valid? [True, True] Translation: X:32.38, Y:2.45, Z:0.35 [[ 9.76735810e-01 -2.13945541e-01 -1.46445440e-02 3.23764027e+01] [ 2.13924137e-01 9.76845574e-01 -3.03115872e-03 2.44518834e+00] [ 1.49539609e-02 -1.72180172e-04 9.99888168e-01 3.46790588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.614340128 meters 0.016629160941784696 Centerline is valid? [True, True] Translation: X:32.41, Y:2.45, Z:0.35 [[ 9.76272586e-01 -2.16105526e-01 -1.37927699e-02 3.24056741e+01] [ 2.16086697e-01 9.76369994e-01 -2.85895357e-03 2.44645852e+00] [ 1.40846824e-02 -1.89316093e-04 9.99900788e-01 3.48092669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.644340128 meters 0.0168588285815621 Centerline is valid? [True, True] Translation: X:32.43, Y:2.45, Z:0.35 [[ 9.76079465e-01 -2.17002947e-01 -1.33640970e-02 3.24340711e+01] [ 2.16985302e-01 9.76170930e-01 -2.77396826e-03 2.45021885e+00] [ 1.36476023e-02 -1.92199158e-04 9.99906849e-01 3.48759910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.674340128000004 meters 0.01709937808994528 Centerline is valid? [True, True] Translation: X:32.46, Y:2.45, Z:0.35 [[ 9.76019027e-01 -2.17266887e-01 -1.34891760e-02 3.24608287e+01] [ 2.17248884e-01 9.76112218e-01 -2.80360416e-03 2.45407276e+00] [ 1.37760798e-02 -1.94137427e-04 9.99905086e-01 3.49245770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.704340128 meters 0.017061183621892503 Centerline is valid? [True, True] Translation: X:32.49, Y:2.46, Z:0.35 [[ 9.75995149e-01 -2.17409022e-01 -1.29145516e-02 3.24880104e+01] [ 2.17392506e-01 9.76080572e-01 -2.68618294e-03 2.45836035e+00] [ 1.31896433e-02 -1.85825226e-04 9.99912996e-01 3.49897496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.734340128 meters 0.01662412574906953 Centerline is valid? [True, True] Translation: X:32.52, Y:2.46, Z:0.35 [[ 9.76167101e-01 -2.16628695e-01 -1.30307003e-02 3.25169153e+01] [ 2.16611770e-01 9.76254054e-01 -2.71339569e-03 2.46361022e+00] [ 1.33090733e-02 -1.73875451e-04 9.99911415e-01 3.50424343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.764340128 meters 0.016115600753334812 Centerline is valid? [True, True] Translation: X:32.54, Y:2.47, Z:0.35 [[ 9.76430266e-01 -2.15428352e-01 -1.32121563e-02 3.25448742e+01] [ 2.15410793e-01 9.76519637e-01 -2.75488814e-03 2.47065653e+00] [ 1.34954111e-02 -1.56084924e-04 9.99908921e-01 3.50492034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.794340128 meters 0.015519729668391562 Centerline is valid? [True, True] Translation: X:32.57, Y:2.48, Z:0.35 [[ 9.76633274e-01 -2.14506472e-01 -1.32068689e-02 3.25731837e+01] [ 2.14488793e-01 9.76722557e-01 -2.75749403e-03 2.47829807e+00] [ 1.34909471e-02 -1.39664944e-04 9.99908983e-01 3.50750748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.824340128 meters 0.015208979924721602 Centerline is valid? [True, True] Translation: X:32.60, Y:2.49, Z:0.35 [[ 9.76823254e-01 -2.13624676e-01 -1.34472188e-02 3.26001383e+01] [ 2.13606208e-01 9.76915801e-01 -2.81174406e-03 2.48508983e+00] [ 1.37374584e-02 -1.25832427e-04 9.99905629e-01 3.50625078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.854340128000004 meters 0.014855378703917352 Centerline is valid? [True, True] Translation: X:32.63, Y:2.49, Z:0.35 [[ 9.77271830e-01 -2.11563962e-01 -1.34335715e-02 3.26272187e+01] [ 2.11545289e-01 9.77364150e-01 -2.81240826e-03 2.49103700e+00] [ 1.37244954e-02 -9.33213982e-05 9.99905810e-01 3.50883767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.884340128 meters 0.014604148955153195 Centerline is valid? [True, True] Translation: X:32.65, Y:2.50, Z:0.35 [[ 9.77401410e-01 -2.10939910e-01 -1.38144438e-02 3.26545842e+01] [ 2.10920067e-01 9.77499027e-01 -2.89450143e-03 2.49819580e+00] [ 1.41141712e-02 -8.46536249e-05 9.99900387e-01 3.50908278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.914340128 meters 0.014384656104471538 Centerline is valid? [True, True] Translation: X:32.68, Y:2.50, Z:0.35 [[ 9.77432076e-01 -2.10807545e-01 -1.36643720e-02 3.26824061e+01] [ 2.10788057e-01 9.77527582e-01 -2.86740175e-03 2.50475854e+00] [ 1.39617705e-02 -7.75959862e-05 9.99902527e-01 3.50700625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.944340128 meters 0.01449882946655822 Centerline is valid? [True, True] Translation: X:32.71, Y:2.51, Z:0.35 [[ 9.77185363e-01 -2.11914975e-01 -1.41707605e-02 3.27098777e+01] [ 2.11894065e-01 9.77288102e-01 -2.97834221e-03 2.51013607e+00] [ 1.44800710e-02 -9.23076320e-05 9.99895154e-01 3.50600352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.974340128 meters 0.014590856835841872 Centerline is valid? [True, True] Translation: X:32.74, Y:2.51, Z:0.35 [[ 9.76986619e-01 -2.12850481e-01 -1.38499004e-02 3.27370125e+01] [ 2.12830552e-01 9.77084778e-01 -2.91437887e-03 2.51481072e+00] [ 1.41528538e-02 -1.00372789e-04 9.99899838e-01 3.50619122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.004340128 meters 0.014796329786922077 Centerline is valid? [True, True] Translation: X:32.77, Y:2.52, Z:0.35 [[ 9.76720210e-01 -2.14044984e-01 -1.42259158e-02 3.27657926e+01] [ 2.14024052e-01 9.76823797e-01 -2.99579891e-03 2.51960562e+00] [ 1.45374488e-02 -1.18630795e-04 9.99894319e-01 3.50747202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.034340128000004 meters 0.015519231217858052 Centerline is valid? [True, True] Translation: X:32.79, Y:2.52, Z:0.35 [[ 9.76055125e-01 -2.17089863e-01 -1.37253072e-02 3.27946412e+01] [ 2.17070626e-01 9.76151611e-01 -2.89413558e-03 2.52174953e+00] [ 1.40262682e-02 -1.54525147e-04 9.99901615e-01 3.51255595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.064340128000005 meters 0.016103621064422216 Centerline is valid? [True, True] Translation: X:32.82, Y:2.53, Z:0.35 [[ 9.75722243e-01 -2.18603209e-01 -1.33694461e-02 3.28226812e+01] [ 2.18585055e-01 9.75813819e-01 -2.82227836e-03 2.52559844e+00] [ 1.36630493e-02 -1.68601332e-04 9.99906642e-01 3.52180180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.094340128 meters 0.01638760499024681 Centerline is valid? [True, True] Translation: X:32.85, Y:2.53, Z:0.35 [[ 9.75408369e-01 -2.20024163e-01 -1.29568781e-02 3.28515862e+01] [ 2.20007207e-01 9.75494405e-01 -2.73750609e-03 2.53075701e+00] [ 1.32416795e-02 -1.80420202e-04 9.99912309e-01 3.53290192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.124340128 meters 0.016831069241394554 Centerline is valid? [True, True] Translation: X:32.88, Y:2.54, Z:0.35 [[ 9.74951297e-01 -2.22086384e-01 -1.21493788e-02 3.28799927e+01] [ 2.22071595e-01 9.75026975e-01 -2.57011472e-03 2.53564548e+00] [ 1.24167595e-02 -1.92295250e-04 9.99922891e-01 3.54403458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.154340128 meters 0.016747723543247276 Centerline is valid? [True, True] Translation: X:32.91, Y:2.54, Z:0.35 [[ 9.74723841e-01 -2.23090958e-01 -1.19941248e-02 3.29083041e+01] [ 2.23076580e-01 9.74797612e-01 -2.54061250e-03 2.54214241e+00] [ 1.22586319e-02 -1.99212764e-04 9.99924840e-01 3.54511661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.184340128 meters 0.01700584134427796 Centerline is valid? [True, True] Translation: X:32.94, Y:2.55, Z:0.35 [[ 9.74599280e-01 -2.23633208e-01 -1.20179446e-02 3.29360284e+01] [ 2.23618778e-01 9.74673354e-01 -2.54865534e-03 2.54769873e+00] [ 1.22835344e-02 -2.03520423e-04 9.99924534e-01 3.54389676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.214340128 meters 0.017283931296836145 Centerline is valid? [True, True] Translation: X:32.96, Y:2.55, Z:0.35 [[ 9.74524316e-01 -2.23933432e-01 -1.24970151e-02 3.29636955e+01] [ 2.23917836e-01 9.74604418e-01 -2.65155491e-03 2.55341214e+00] [ 1.27734180e-02 -2.14299855e-04 9.99918394e-01 3.54064592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.244340128000005 meters 0.018285426804871642 Centerline is valid? [True, True] Translation: X:32.99, Y:2.56, Z:0.35 [[ 9.74400262e-01 -2.24468877e-01 -1.25639615e-02 3.29900094e+01] [ 2.24453137e-01 9.74481234e-01 -2.66737626e-03 2.55765785e+00] [ 1.28420877e-02 -2.20928446e-04 9.99917513e-01 3.53498714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.274340128 meters 0.017492406599941987 Centerline is valid? [True, True] Translation: X:33.02, Y:2.57, Z:0.35 [[ 9.74232630e-01 -2.25202893e-01 -1.24274018e-02 3.30166664e+01] [ 2.25187515e-01 9.74311863e-01 -2.64135998e-03 2.56505943e+00] [ 1.27030069e-02 -2.25196652e-04 9.99919288e-01 3.53797752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.304340128 meters 0.018609035299008772 Centerline is valid? [True, True] Translation: X:33.04, Y:2.57, Z:0.35 [[ 9.73849969e-01 -2.26814328e-01 -1.30957310e-02 3.30443966e+01] [ 2.26797349e-01 9.73937983e-01 -2.78700670e-03 2.56968704e+00] [ 1.33865629e-02 -2.55950678e-04 9.99910363e-01 3.53560971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.334340128 meters 0.019053295824718982 Centerline is valid? [True, True] Translation: X:33.07, Y:2.58, Z:0.35 [[ 9.73593035e-01 -2.27930259e-01 -1.28218627e-02 3.30729055e+01] [ 2.27914055e-01 9.73677425e-01 -2.73055234e-03 2.57521993e+00] [ 1.31067337e-02 -2.63835975e-04 9.99914068e-01 3.53858149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.364340128 meters 0.019801249044555807 Centerline is valid? [True, True] Translation: X:33.10, Y:2.58, Z:0.35 [[ 9.73281942e-01 -2.29240689e-01 -1.30754383e-02 3.31012948e+01] [ 2.29223908e-01 9.73369727e-01 -2.78819621e-03 2.58073010e+00] [ 1.33664039e-02 -2.83502041e-04 9.99910625e-01 3.54090056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.394340128 meters 0.020585027072189375 Centerline is valid? [True, True] Translation: X:33.13, Y:2.59, Z:0.35 [[ 9.72893372e-01 -2.30905904e-01 -1.26866200e-02 3.31294980e+01] [ 2.30890203e-01 9.72976041e-01 -2.70867145e-03 2.58600886e+00] [ 1.29692255e-02 -2.93967757e-04 9.99915853e-01 3.54866288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.424340128000004 meters 0.022418850632685058 Centerline is valid? [True, True] Translation: X:33.16, Y:2.59, Z:0.36 [[ 9.72342138e-01 -2.33238562e-01 -1.22694685e-02 3.31569130e+01] [ 2.33224028e-01 9.72419496e-01 -2.62238520e-03 2.58946341e+00] [ 1.25427118e-02 -3.11679244e-04 9.99921289e-01 3.55242304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.454340128 meters 0.022418850632685058 Centerline is valid? [True, True] Translation: X:33.18, Y:2.60, Z:0.36 [[ 9.72274250e-01 -2.33521416e-01 -1.22691117e-02 3.31838551e+01] [ 2.33506883e-01 9.72351608e-01 -2.62405376e-03 2.59541296e+00] [ 1.25426632e-02 -3.13622121e-04 9.99921289e-01 3.55511675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.484340128 meters 0.02197578374170149 Centerline is valid? [True, True] Translation: X:33.21, Y:2.60, Z:0.36 [[ 9.72033271e-01 -2.34532395e-01 -1.20779432e-02 3.32113981e+01] [ 2.34518351e-01 9.72108252e-01 -2.58627701e-03 2.60205200e+00] [ 1.23476340e-02 -3.18552025e-04 9.99923714e-01 3.56090365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.514340128 meters 0.024055613864120542 Centerline is valid? [True, True] Translation: X:33.24, Y:2.61, Z:0.36 [[ 9.71798326e-01 -2.35507025e-01 -1.20189617e-02 3.32395464e+01] [ 2.35493178e-01 9.71872591e-01 -2.57481794e-03 2.60531015e+00] [ 1.22872871e-02 -3.28179715e-04 9.99924455e-01 3.56346460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.544340128 meters 0.02206872078634688 Centerline is valid? [True, True] Translation: X:33.27, Y:2.62, Z:0.36 [[ 9.71323021e-01 -2.37451983e-01 -1.21714446e-02 3.32666970e+01] [ 2.37437913e-01 9.71399212e-01 -2.60917314e-03 2.61532426e+00] [ 1.24428851e-02 -3.55612478e-04 9.99922521e-01 3.57012109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.574340128 meters 0.023122609905211634 Centerline is valid? [True, True] Translation: X:33.29, Y:2.62, Z:0.36 [[ 9.71124671e-01 -2.38278873e-01 -1.18343184e-02 3.32937152e+01] [ 2.38265599e-01 9.71196712e-01 -2.53979688e-03 2.62042112e+00] [ 1.20986311e-02 -3.53251559e-04 9.99926746e-01 3.57101694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.604340128000004 meters 0.023298569590760855 Centerline is valid? [True, True] Translation: X:33.32, Y:2.63, Z:0.36 [[ 9.70942848e-01 -2.39011197e-01 -1.19847037e-02 3.33218042e+01] [ 2.38997618e-01 9.71016743e-01 -2.57373619e-03 2.62708063e+00] [ 1.22524997e-02 -3.65364892e-04 9.99924869e-01 3.57428570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.634340128 meters 0.023819361271183524 Centerline is valid? [True, True] Translation: X:33.35, Y:2.63, Z:0.36 [[ 9.70642197e-01 -2.40200809e-01 -1.25418259e-02 3.33497311e+01] [ 2.40185991e-01 9.70723141e-01 -2.69704123e-03 2.63339786e+00] [ 1.28224722e-02 -3.94508862e-04 9.99917711e-01 3.57376351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.664340128 meters 0.024467934069547347 Centerline is valid? [True, True] Translation: X:33.38, Y:2.64, Z:0.36 [[ 9.70500410e-01 -2.40760599e-01 -1.27783958e-02 3.33768235e+01] [ 2.40745225e-01 9.70584447e-01 -2.75098353e-03 2.63847754e+00] [ 1.30648407e-02 -4.06507128e-04 9.99914569e-01 3.57625774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.694340128 meters 0.024112736650301128 Centerline is valid? [True, True] Translation: X:33.40, Y:2.65, Z:0.36 [[ 9.70373031e-01 -2.41268845e-01 -1.28656879e-02 3.34037280e+01] [ 2.41253278e-01 9.70458228e-01 -2.77180644e-03 2.64507278e+00] [ 1.31543632e-02 -4.14203162e-04 9.99913392e-01 3.58036310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.724340128 meters 0.025157566849536565 Centerline is valid? [True, True] Translation: X:33.43, Y:2.65, Z:0.36 [[ 9.70262644e-01 -2.41704665e-01 -1.30098366e-02 3.34311936e+01] [ 2.41688738e-01 9.70349771e-01 -2.80650429e-03 2.65030809e+00] [ 1.33024371e-02 -4.21284715e-04 9.99911430e-01 3.58871340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.754340128 meters 0.025084212308965546 Centerline is valid? [True, True] Translation: X:33.46, Y:2.66, Z:0.36 [[ 9.70172117e-01 -2.42080071e-01 -1.27789921e-02 3.34584627e+01] [ 2.42064705e-01 9.70256186e-01 -2.75913986e-03 2.65726035e+00] [ 1.30668289e-02 -4.16502396e-04 9.99914539e-01 3.59490748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.784340128000004 meters 0.024725274624537018 Centerline is valid? [True, True] Translation: X:33.49, Y:2.66, Z:0.36 [[ 9.70172023e-01 -2.42082425e-01 -1.27415074e-02 3.34852787e+01] [ 2.42067096e-01 9.70255601e-01 -2.75508627e-03 2.66459328e+00] [ 1.30294769e-02 -4.11392086e-04 9.99915028e-01 3.60034881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.814340128000005 meters 0.025372823929348063 Centerline is valid? [True, True] Translation: X:33.51, Y:2.67, Z:0.36 [[ 9.70333028e-01 -2.41421970e-01 -1.30094893e-02 3.35120142e+01] [ 2.41405882e-01 9.70420149e-01 -2.81665916e-03 2.67149481e+00] [ 1.33046740e-02 -4.07469837e-04 9.99911406e-01 3.60338255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.844340128 meters 0.02482001873059707 Centerline is valid? [True, True] Translation: X:33.54, Y:2.68, Z:0.36 [[ 9.70398621e-01 -2.41151098e-01 -1.31401673e-02 3.35399703e+01] [ 2.41134629e-01 9.70487498e-01 -2.84735605e-03 2.67918685e+00] [ 1.34390111e-02 -4.05478978e-04 9.99909610e-01 3.60733214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.874340128 meters 0.024484835452239343 Centerline is valid? [True, True] Translation: X:33.57, Y:2.69, Z:0.36 [[ 9.70434294e-01 -2.41016907e-01 -1.29665462e-02 3.35679282e+01] [ 2.41000811e-01 9.70520837e-01 -2.81325612e-03 2.68663396e+00] [ 1.32623456e-02 -3.94867930e-04 9.99911973e-01 3.61212572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.904340128 meters 0.024604512779141226 Centerline is valid? [True, True] Translation: X:33.60, Y:2.69, Z:0.36 [[ 9.70507544e-01 -2.40715010e-01 -1.30916665e-02 3.35954335e+01] [ 2.40698532e-01 9.70595761e-01 -2.84357114e-03 2.69318426e+00] [ 1.33912062e-02 -3.91437662e-04 9.99910257e-01 3.61800882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.934340128 meters 0.023826970612897836 Centerline is valid? [True, True] Translation: X:33.62, Y:2.70, Z:0.36 [[ 9.70724799e-01 -2.39842023e-01 -1.30065013e-02 3.36232442e+01] [ 2.39825649e-01 9.70811858e-01 -2.82740459e-03 2.70186554e+00] [ 1.33049961e-02 -3.74660861e-04 9.99911414e-01 3.62390388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.964340128 meters 0.023360025662249186 Centerline is valid? [True, True] Translation: X:33.65, Y:2.71, Z:0.36 [[ 9.70818767e-01 -2.39475563e-01 -1.27427271e-02 3.36514934e+01] [ 2.39459771e-01 9.70902326e-01 -2.77349663e-03 2.70920945e+00] [ 1.30361280e-02 -3.58807930e-04 9.99914962e-01 3.62759734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.994340128000005 meters 0.02343379458818887 Centerline is valid? [True, True] Translation: X:33.68, Y:2.72, Z:0.36 [[ 9.70843999e-01 -2.39365497e-01 -1.28875155e-02 3.36782946e+01] [ 2.39349285e-01 9.70929468e-01 -2.80869426e-03 2.71597114e+00] [ 1.31851731e-02 -3.57813657e-04 9.99913008e-01 3.63263146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.024340128 meters 0.02395228744071848 Centerline is valid? [True, True] Translation: X:33.71, Y:2.72, Z:0.36 [[ 9.70997908e-01 -2.38754221e-01 -1.26287082e-02 3.37059531e+01] [ 2.38738554e-01 9.71079970e-01 -2.75603350e-03 2.72238452e+00] [ 1.29215002e-02 -3.38856762e-04 9.99916457e-01 3.63873919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.054340128 meters 0.023639394271424207 Centerline is valid? [True, True] Translation: X:33.73, Y:2.73, Z:0.36 [[ 9.70979249e-01 -2.38818724e-01 -1.28419385e-02 3.37333019e+01] [ 2.38802482e-01 9.71064107e-01 -2.80618665e-03 2.72989956e+00] [ 1.31405155e-02 -3.41937779e-04 9.99913601e-01 3.64222559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.084340128 meters 0.02277999443019552 Centerline is valid? [True, True] Translation: X:33.76, Y:2.74, Z:0.36 [[ 9.71069978e-01 -2.38455536e-01 -1.27301095e-02 3.37614833e+01] [ 2.38439495e-01 9.71153360e-01 -2.78547634e-03 2.73794998e+00] [ 1.30271009e-02 -3.30468445e-04 9.99915089e-01 3.64830666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.114340128 meters 0.022454265427384667 Centerline is valid? [True, True] Translation: X:33.79, Y:2.75, Z:0.37 [[ 9.71230086e-01 -2.37816615e-01 -1.24650316e-02 3.37893640e+01] [ 2.37801141e-01 9.71310023e-01 -2.73077707e-03 2.74572765e+00] [ 1.27568343e-02 -3.11985897e-04 9.99918580e-01 3.65767327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.144340128 meters 0.0230557298841152 Centerline is valid? [True, True] Translation: X:33.82, Y:2.75, Z:0.37 [[ 9.71269598e-01 -2.37668674e-01 -1.22052868e-02 3.38169707e+01] [ 2.37653792e-01 9.71346236e-01 -2.67663196e-03 2.75156645e+00] [ 1.24917110e-02 -3.00901448e-04 9.99921930e-01 3.65880531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.174340128000004 meters 0.023059819279893968 Centerline is valid? [True, True] Translation: X:33.84, Y:2.76, Z:0.37 [[ 9.71246833e-01 -2.37767883e-01 -1.20840378e-02 3.38441314e+01] [ 2.37753282e-01 9.71321958e-01 -2.65169287e-03 2.75827732e+00] [ 1.23679787e-02 -2.97571354e-04 9.99923469e-01 3.66326478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.204340128 meters 0.023473309685851727 Centerline is valid? [True, True] Translation: X:33.87, Y:2.76, Z:0.37 [[ 9.71194927e-01 -2.37957559e-01 -1.25145066e-02 3.38712507e+01] [ 2.37941874e-01 9.71275504e-01 -2.74936580e-03 2.76411882e+00] [ 1.28092661e-02 -3.07555028e-04 9.99917911e-01 3.66212301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.234340128 meters 0.02365961821161391 Centerline is valid? [True, True] Translation: X:33.90, Y:2.77, Z:0.37 [[ 9.70947659e-01 -2.38935299e-01 -1.30600850e-02 3.38997701e+01] [ 2.38918280e-01 9.71035433e-01 -2.87105760e-03 2.77001726e+00] [ 1.33678023e-02 -3.32646402e-04 9.99910592e-01 3.66112644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.264340128 meters 0.021836928136867554 Centerline is valid? [True, True] Translation: X:33.93, Y:2.78, Z:0.37 [[ 9.70757745e-01 -2.39691949e-01 -1.33105173e-02 3.39272618e+01] [ 2.39674294e-01 9.70848932e-01 -2.92970209e-03 2.77915350e+00] [ 1.36247275e-02 -3.46157839e-04 9.99907119e-01 3.66778306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.294340128 meters 0.02426534258000989 Centerline is valid? [True, True] Translation: X:33.96, Y:2.78, Z:0.37 [[ 9.70613881e-01 -2.40278784e-01 -1.32212035e-02 3.39553000e+01] [ 2.40261379e-01 9.70703860e-01 -2.91306677e-03 2.78178842e+00] [ 1.35338214e-02 -3.49081532e-04 9.99908353e-01 3.66531678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.324340128 meters 0.02556126963947632 Centerline is valid? [True, True] Translation: X:33.98, Y:2.79, Z:0.37 [[ 9.70422710e-01 -2.41036276e-01 -1.34639545e-02 3.39823854e+01] [ 2.41018279e-01 9.70516038e-01 -2.96787499e-03 2.78659150e+00] [ 1.37823494e-02 -3.64965864e-04 9.99904952e-01 3.66290541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.354340128000004 meters 0.02251971817239478 Centerline is valid? [True, True] Translation: X:34.01, Y:2.80, Z:0.37 [[ 9.70319833e-01 -2.41433216e-01 -1.37631283e-02 3.40091492e+01] [ 2.41414419e-01 9.70417364e-01 -3.03606985e-03 2.79761596e+00] [ 1.40889868e-02 -3.76658847e-04 9.99900674e-01 3.67288697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.384340128 meters 0.023897310660597897 Centerline is valid? [True, True] Translation: X:34.04, Y:2.80, Z:0.37 [[ 9.70142331e-01 -2.42153592e-01 -1.36196651e-02 3.40366173e+01] [ 2.42135209e-01 9.70237854e-01 -3.00784836e-03 2.80213283e+00] [ 1.39426759e-02 -3.79759418e-04 9.99902724e-01 3.67162725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.414340128 meters 0.023192561264332567 Centerline is valid? [True, True] Translation: X:34.06, Y:2.81, Z:0.37 [[ 9.69962232e-01 -2.42871720e-01 -1.36600346e-02 3.40644111e+01] [ 2.42853270e-01 9.70058336e-01 -3.01885939e-03 2.81006576e+00] [ 1.39842260e-02 -3.89204466e-04 9.99902140e-01 3.67604038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.444340128 meters 0.023586200940178992 Centerline is valid? [True, True] Translation: X:34.09, Y:2.82, Z:0.37 [[ 9.69811639e-01 -2.43487997e-01 -1.33783099e-02 3.40919343e+01] [ 2.43470306e-01 9.69903833e-01 -2.96042472e-03 2.81607834e+00] [ 1.36965020e-02 -3.86166859e-04 9.99906124e-01 3.68323404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.474340128 meters 0.024798328795892482 Centerline is valid? [True, True] Translation: X:34.12, Y:2.82, Z:0.37 [[ 9.69850129e-01 -2.43351523e-01 -1.30676608e-02 3.41197704e+01] [ 2.43334587e-01 9.69938090e-01 -2.89498883e-03 2.82077049e+00] [ 1.33793219e-02 -3.72108545e-04 9.99910424e-01 3.68544832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.504340128 meters 0.023271183152169597 Centerline is valid? [True, True] Translation: X:34.15, Y:2.83, Z:0.37 [[ 9.69878911e-01 -2.43222874e-01 -1.33240825e-02 3.41463086e+01] [ 2.43205225e-01 9.69970357e-01 -2.95395018e-03 2.83067184e+00] [ 1.36424333e-02 -3.75512512e-04 9.99906867e-01 3.69268766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.534340128000004 meters 0.023196007245925895 Centerline is valid? [True, True] Translation: X:34.17, Y:2.84, Z:0.37 [[ 9.69924240e-01 -2.43055283e-01 -1.30804255e-02 3.41741831e+01] [ 2.43038206e-01 9.70012370e-01 -2.90387207e-03 2.83757269e+00] [ 1.33939760e-02 -3.62507250e-04 9.99910231e-01 3.69478984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.564340128000005 meters 0.023552683197392947 Centerline is valid? [True, True] Translation: X:34.20, Y:2.84, Z:0.37 [[ 9.70032315e-01 -2.42619859e-01 -1.31496038e-02 3.42008991e+01] [ 2.42602521e-01 9.70121373e-01 -2.92222236e-03 2.84402408e+00] [ 1.34657008e-02 -3.55476906e-04 9.99909270e-01 3.69661875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.594340128 meters 0.020224929599062125 Centerline is valid? [True, True] Translation: X:34.23, Y:2.86, Z:0.37 [[ 9.70437417e-01 -2.41000139e-01 -1.30442382e-02 3.42278327e+01] [ 2.40982905e-01 9.70525026e-01 -2.90076025e-03 2.85722615e+00] [ 1.33588432e-02 -3.28432125e-04 9.99910713e-01 3.70427352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.624340128 meters 0.02003113489235707 Centerline is valid? [True, True] Translation: X:34.26, Y:2.86, Z:0.37 [[ 9.70566911e-01 -2.40496184e-01 -1.27065459e-02 3.42554133e+01] [ 2.40479739e-01 9.70650035e-01 -2.82932496e-03 2.86443423e+00] [ 1.30140511e-02 -3.09617665e-04 9.99915266e-01 3.70887689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.654340128 meters 0.019817422452751636 Centerline is valid? [True, True] Translation: X:34.28, Y:2.87, Z:0.37 [[ 9.70844324e-01 -2.39413842e-01 -1.19293787e-02 3.42821212e+01] [ 2.39399231e-01 9.70917575e-01 -2.65913787e-03 2.87150152e+00] [ 1.22190778e-02 -2.74275176e-04 9.99925307e-01 3.71125463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.684340128 meters 0.018925529520893367 Centerline is valid? [True, True] Translation: X:34.31, Y:2.88, Z:0.37 [[ 9.71312691e-01 -2.37505033e-01 -1.19588974e-02 3.43091936e+01] [ 2.37490185e-01 9.71386276e-01 -2.66740210e-03 2.88125984e+00] [ 1.22502302e-02 -2.49239237e-04 9.99924932e-01 3.70712968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.714340128 meters 0.018423472302958724 Centerline is valid? [True, True] Translation: X:34.34, Y:2.89, Z:0.37 [[ 9.71546422e-01 -2.36556558e-01 -1.17704716e-02 3.43366728e+01] [ 2.36542064e-01 9.71617693e-01 -2.62871922e-03 2.88918425e+00] [ 1.20582392e-02 -2.30288886e-04 9.99927270e-01 3.70727486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.744340128000005 meters 0.01817803763090022 Centerline is valid? [True, True] Translation: X:34.36, Y:2.90, Z:0.37 [[ 9.71794849e-01 -2.35549364e-01 -1.14572377e-02 3.43636899e+01] [ 2.35535526e-01 9.71862363e-01 -2.56171969e-03 2.89661954e+00] [ 1.17382696e-02 -2.09120521e-04 9.99931082e-01 3.70659638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.774340128 meters 0.01794060464194521 Centerline is valid? [True, True] Translation: X:34.39, Y:2.90, Z:0.37 [[ 9.72061227e-01 -2.34468425e-01 -1.10239922e-02 3.43904134e+01] [ 2.34455528e-01 9.72123718e-01 -2.46638898e-03 2.90408009e+00] [ 1.12949746e-02 -1.87154811e-04 9.99936192e-01 3.70652211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.804340128 meters 0.01699826342792182 Centerline is valid? [True, True] Translation: X:34.42, Y:2.91, Z:0.37 [[ 9.72595473e-01 -2.32239698e-01 -1.10800666e-02 3.44181705e+01] [ 2.32226508e-01 9.72658572e-01 -2.48032221e-03 2.91354082e+00] [ 1.13531510e-02 -1.60735012e-04 9.99935538e-01 3.70206644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.834340128 meters 0.01665441826237363 Centerline is valid? [True, True] Translation: X:34.44, Y:2.92, Z:0.37 [[ 9.72881189e-01 -2.31045784e-01 -1.09561736e-02 3.44448946e+01] [ 2.31032781e-01 9.72942869e-01 -2.45535277e-03 2.92044359e+00] [ 1.12270299e-02 -1.42468734e-04 9.99936965e-01 3.70143070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.864340128 meters 0.016234733366466577 Centerline is valid? [True, True] Translation: X:34.47, Y:2.93, Z:0.37 [[ 9.73067226e-01 -2.30265283e-01 -1.08661839e-02 3.44726035e+01] [ 2.30252430e-01 9.73127886e-01 -2.43647824e-03 2.92785586e+00] [ 1.11352229e-02 -1.31108114e-04 9.99937993e-01 3.70239255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.894340128 meters 0.015418506167095508 Centerline is valid? [True, True] Translation: X:34.50, Y:2.94, Z:0.37 [[ 9.73603473e-01 -2.28018216e-01 -1.01965755e-02 3.45007138e+01] [ 2.28006747e-01 9.73656861e-01 -2.28895217e-03 2.93683206e+00] [ 1.04498885e-02 -9.63562394e-05 9.99945394e-01 3.70867662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.924340128000004 meters 0.015014428926556545 Centerline is valid? [True, True] Translation: X:34.53, Y:2.94, Z:0.37 [[ 9.73794359e-01 -2.27207013e-01 -1.00757358e-02 3.45278503e+01] [ 2.27195744e-01 9.73846480e-01 -2.26437669e-03 2.94481761e+00] [ 1.03267021e-02 -8.41270449e-05 9.99946675e-01 3.71044098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.954340128 meters 0.014575125371816659 Centerline is valid? [True, True] Translation: X:34.56, Y:2.95, Z:0.37 [[ 9.74232824e-01 -2.25347040e-01 -9.44014450e-03 3.45550642e+01] [ 2.25337034e-01 9.74278558e-01 -2.12437185e-03 2.95284354e+00] [ 9.67605127e-03 -5.75813768e-05 9.99953184e-01 3.71296314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.984340128 meters 0.014304129980092714 Centerline is valid? [True, True] Translation: X:34.58, Y:2.96, Z:0.37 [[ 9.74392788e-01 -2.24674688e-01 -8.94312966e-03 3.45825255e+01] [ 2.24665669e-01 9.74433827e-01 -2.01368146e-03 2.95999121e+00] [ 9.16691131e-03 -4.70975096e-05 9.99957982e-01 3.71809297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.014340128 meters 0.014027762210119091 Centerline is valid? [True, True] Translation: X:34.61, Y:2.97, Z:0.37 [[ 9.74514426e-01 -2.24170360e-01 -8.32370291e-03 3.46099486e+01] [ 2.24162509e-01 9.74549972e-01 -1.87654632e-03 2.96738073e+00] [ 8.53253051e-03 -3.71406657e-05 9.99963597e-01 3.71903786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.044340128 meters 0.01398712949905451 Centerline is valid? [True, True] Translation: X:34.64, Y:2.97, Z:0.37 [[ 9.74616021e-01 -2.23700390e-01 -9.04139852e-03 3.46364632e+01] [ 2.23691076e-01 9.74657958e-01 -2.04154265e-03 2.97352207e+00] [ 9.26896491e-03 -3.27599926e-05 9.99957042e-01 3.71566825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.074340128 meters 0.01377370832500818 Centerline is valid? [True, True] Translation: X:34.66, Y:2.98, Z:0.37 [[ 9.74858958e-01 -2.22615523e-01 -9.60936662e-03 3.46639812e+01] [ 2.22604928e-01 9.74906318e-01 -2.17200616e-03 2.98050864e+00] [ 9.85175451e-03 -2.16927043e-05 9.99951470e-01 3.70577485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.104340128000004 meters 0.013785463192368948 Centerline is valid? [True, True] Translation: X:34.69, Y:2.99, Z:0.37 [[ 9.74949606e-01 -2.22195535e-01 -1.01197720e-02 3.46912976e+01] [ 2.22183728e-01 9.75002125e-01 -2.29068929e-03 2.98773095e+00] [ 1.03757801e-02 -1.51420357e-05 9.99946170e-01 3.69978532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.134340128 meters 0.01371423859083893 Centerline is valid? [True, True] Translation: X:34.72, Y:2.99, Z:0.37 [[ 9.75111227e-01 -2.21437822e-01 -1.11079238e-02 3.47178958e+01] [ 2.21423504e-01 9.75174493e-01 -2.51809619e-03 2.99417306e+00] [ 1.13897657e-02 -4.13155382e-06 9.99935135e-01 3.68861798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.164340128 meters 0.013631347724200847 Centerline is valid? [True, True] Translation: X:34.75, Y:3.00, Z:0.37 [[ 9.75120090e-01 -2.21379453e-01 -1.14868771e-02 3.47455465e+01] [ 2.21364113e-01 9.75187745e-01 -2.60607395e-03 3.00035389e+00] [ 1.17787930e-02 -1.54730003e-06 9.99930628e-01 3.68779614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.194340128 meters 0.01365638782943062 Centerline is valid? [True, True] Translation: X:34.77, Y:3.01, Z:0.37 [[ 9.75133759e-01 -2.21321540e-01 -1.14423785e-02 3.47733425e+01] [ 2.21306271e-01 9.75200890e-01 -2.59972774e-03 3.00676465e+00] [ 1.17339934e-02 2.81218004e-06 9.99931154e-01 3.68801201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.224340128 meters 0.013735715297211463 Centerline is valid? [True, True] Translation: X:34.80, Y:3.01, Z:0.37 [[ 9.75127144e-01 -2.21330433e-01 -1.18276564e-02 3.47998239e+01] [ 2.21314076e-01 9.75198872e-01 -2.69082728e-03 3.01285724e+00] [ 1.21298791e-02 6.27187918e-06 9.99926430e-01 3.68975845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.254340128 meters 0.013648860130983582 Centerline is valid? [True, True] Translation: X:34.83, Y:3.02, Z:0.37 [[ 9.75087556e-01 -2.21524966e-01 -1.14432631e-02 3.48268317e+01] [ 2.21509645e-01 9.75154700e-01 -2.60530519e-03 3.01898591e+00] [ 1.17360919e-02 5.60752492e-06 9.99931130e-01 3.69702725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.284340128000004 meters 0.013630392236594615 Centerline is valid? [True, True] Translation: X:34.85, Y:3.02, Z:0.37 [[ 9.74993007e-01 -2.21995983e-01 -1.03159771e-02 3.48530320e+01] [ 2.21983528e-01 9.75047580e-01 -2.35155680e-03 3.02379084e+00] [ 1.05806047e-02 2.77443255e-06 9.99944024e-01 3.70755931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.314340128000005 meters 0.013568328348298268 Centerline is valid? [True, True] Translation: X:34.88, Y:3.03, Z:0.37 [[ 9.74784501e-01 -2.22912417e-01 -1.02582412e-02 3.48806134e+01] [ 2.22900135e-01 9.74838476e-01 -2.33996703e-03 3.02902512e+00] [ 1.05217359e-02 -5.59975746e-06 9.99944645e-01 3.71436891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.344340128 meters 0.01357399074911274 Centerline is valid? [True, True] Translation: X:34.91, Y:3.03, Z:0.37 [[ 9.74635852e-01 -2.23567962e-01 -1.01154829e-02 3.49077074e+01] [ 2.23556021e-01 9.74688343e-01 -2.31065229e-03 3.03437067e+00] [ 1.03760311e-02 -9.33253789e-06 9.99946167e-01 3.72027737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.374340128 meters 0.01357399074911274 Centerline is valid? [True, True] Translation: X:34.93, Y:3.04, Z:0.37 [[ 9.74566210e-01 -2.23871379e-01 -1.01147623e-02 3.49345490e+01] [ 2.23859422e-01 9.74618698e-01 -2.31380228e-03 3.04068741e+00] [ 1.03760306e-02 -9.33132904e-06 9.99946168e-01 3.72296360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.404340128 meters 0.01360064084446281 Centerline is valid? [True, True] Translation: X:34.96, Y:3.05, Z:0.37 [[ 9.74382243e-01 -2.24651762e-01 -1.05276155e-02 3.49609259e+01] [ 2.24638817e-01 9.74439113e-01 -2.41171603e-03 3.04576804e+00] [ 1.08003166e-02 -1.49778161e-05 9.99941675e-01 3.72674118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.434340128 meters 0.013631051878589706 Centerline is valid? [True, True] Translation: X:34.99, Y:3.05, Z:0.37 [[ 9.74286755e-01 -2.25062929e-01 -1.05828555e-02 3.49881892e+01] [ 2.25049845e-01 9.74344230e-01 -2.42684526e-03 3.05167972e+00] [ 1.08575371e-02 -1.72268086e-05 9.99941055e-01 3.73199247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.464340128 meters 0.013639971605635366 Centerline is valid? [True, True] Translation: X:35.02, Y:3.06, Z:0.37 [[ 9.74191138e-01 -2.25494229e-01 -1.01970500e-02 3.50158602e+01] [ 2.25482071e-01 9.74244503e-01 -2.34157505e-03 3.05780162e+00] [ 1.04624315e-02 -1.81102876e-05 9.99945267e-01 3.73895899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.494340128000005 meters 0.013567280223723444 Centerline is valid? [True, True] Translation: X:35.04, Y:3.06, Z:0.37 [[ 9.74210386e-01 -2.25428580e-01 -9.80196237e-03 3.50417504e+01] [ 2.25417313e-01 9.74259696e-01 -2.25385145e-03 3.06399212e+00] [ 1.00577394e-02 -1.38065266e-05 9.99949420e-01 3.74165967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.524340128 meters 0.013541855437035127 Centerline is valid? [True, True] Translation: X:35.07, Y:3.07, Z:0.37 [[ 9.74068620e-01 -2.26040549e-01 -9.79766511e-03 3.50694934e+01] [ 2.26029309e-01 9.74117893e-01 -2.25428365e-03 3.07044924e+00] [ 1.00536404e-02 -1.87325082e-05 9.99949461e-01 3.74365187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.554340128 meters 0.013735213176949958 Centerline is valid? [True, True] Translation: X:35.10, Y:3.08, Z:0.37 [[ 9.74002355e-01 -2.26329730e-01 -9.70902978e-03 3.50970563e+01] [ 2.26318676e-01 9.74050745e-01 -2.23696352e-03 3.07589176e+00] [ 9.96337904e-03 -1.85270234e-05 9.99950364e-01 3.74986367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.584340128 meters 0.013670231000458843 Centerline is valid? [True, True] Translation: X:35.12, Y:3.08, Z:0.38 [[ 9.73956358e-01 -2.26505730e-01 -1.02062343e-02 3.51231509e+01] [ 2.26493489e-01 9.74009833e-01 -2.35485144e-03 3.08162784e+00] [ 1.04743599e-02 -1.81230767e-05 9.99945142e-01 3.75723883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.614340128 meters 0.01360452503521894 Centerline is valid? [True, True] Translation: X:35.15, Y:3.09, Z:0.38 [[ 9.73896456e-01 -2.26757305e-01 -1.03352195e-02 3.51508420e+01] [ 2.26744743e-01 9.73951295e-01 -2.38695545e-03 3.08816905e+00] [ 1.06072600e-02 -1.88092315e-05 9.99943741e-01 3.76157751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.644340128 meters 0.013800371088619959 Centerline is valid? [True, True] Translation: X:35.18, Y:3.09, Z:0.38 [[ 9.73907516e-01 -2.26657197e-01 -1.14308644e-02 3.51770153e+01] [ 2.26641780e-01 9.73974596e-01 -2.64363699e-03 3.09430141e+00] [ 1.17325709e-02 -1.60535157e-05 9.99931171e-01 3.75851664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.674340128000004 meters 0.013772085661907336 Centerline is valid? [True, True] Translation: X:35.20, Y:3.10, Z:0.38 [[ 9.73858246e-01 -2.26870234e-01 -1.14023538e-02 3.52044968e+01] [ 2.26854886e-01 9.73924995e-01 -2.63895846e-03 3.10088262e+00] [ 1.17037385e-02 -1.67082145e-05 9.99931509e-01 3.76082066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.704340128 meters 0.013811838039137539 Centerline is valid? [True, True] Translation: X:35.23, Y:3.11, Z:0.38 [[ 9.73783324e-01 -2.27169569e-01 -1.18332233e-02 3.52312188e+01] [ 2.27153019e-01 9.73855219e-01 -2.74213856e-03 3.10681298e+00] [ 1.21467767e-02 -1.77035837e-05 9.99926225e-01 3.76076130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.734340128 meters 0.013856464017284137 Centerline is valid? [True, True] Translation: X:35.26, Y:3.11, Z:0.38 [[ 9.73659694e-01 -2.27678589e-01 -1.22172561e-02 3.52590925e+01] [ 2.27660960e-01 9.73736340e-01 -2.83330367e-03 3.11293313e+00] [ 1.25414688e-02 -2.27186768e-05 9.99921352e-01 3.75792208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.764340128 meters 0.01401324157952262 Centerline is valid? [True, True] Translation: X:35.29, Y:3.12, Z:0.38 [[ 9.73244656e-01 -2.29404152e-01 -1.29836186e-02 3.52867891e+01] [ 2.29384339e-01 9.73331256e-01 -3.01522872e-03 3.11682949e+00] [ 1.33290678e-02 -4.36835460e-05 9.99911163e-01 3.75974950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.794340128 meters 0.014062409558976125 Centerline is valid? [True, True] Translation: X:35.31, Y:3.12, Z:0.38 [[ 9.72945682e-01 -2.30657319e-01 -1.31871706e-02 3.53148838e+01] [ 2.30636937e-01 9.73035044e-01 -3.06682351e-03 3.12167503e+00] [ 1.35389644e-02 -5.75959421e-05 9.99908342e-01 3.76307564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.824340128 meters 0.01429447740560693 Centerline is valid? [True, True] Translation: X:35.34, Y:3.13, Z:0.38 [[ 9.72721226e-01 -2.31569580e-01 -1.37457599e-02 3.53427213e+01] [ 2.31547461e-01 9.72818341e-01 -3.20130424e-03 3.12662023e+00] [ 1.41134520e-02 -6.88192273e-05 9.99900398e-01 3.76906961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.854340128000004 meters 0.014415553589324274 Centerline is valid? [True, True] Translation: X:35.37, Y:3.13, Z:0.38 [[ 9.72427032e-01 -2.32788210e-01 -1.39755862e-02 3.53701369e+01] [ 2.32765405e-01 9.72527451e-01 -3.25945001e-03 3.13223033e+00] [ 1.43504028e-02 -8.34556784e-05 9.99897024e-01 3.77143304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.884340128 meters 0.014768200863712524 Centerline is valid? [True, True] Translation: X:35.40, Y:3.14, Z:0.38 [[ 9.72179512e-01 -2.33744484e-01 -1.51826289e-02 3.53979388e+01] [ 2.33717623e-01 9.72298054e-01 -3.54499561e-03 3.13707799e+00] [ 1.55906637e-02 -1.02075846e-04 9.99878453e-01 3.76924356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.914340128 meters 0.014791257245678143 Centerline is valid? [True, True] Translation: X:35.42, Y:3.14, Z:0.38 [[ 9.72056384e-01 -2.34248214e-01 -1.53022835e-02 3.54243591e+01] [ 2.34220955e-01 9.72176816e-01 -3.57521908e-03 3.14199145e+00] [ 1.57140139e-02 -1.08800908e-04 9.99876521e-01 3.76658744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.944340128 meters 0.014897803346463982 Centerline is valid? [True, True] Translation: X:35.45, Y:3.15, Z:0.38 [[ 9.71902148e-01 -2.34901211e-01 -1.50875918e-02 3.54518953e+01] [ 2.34874729e-01 9.72019243e-01 -3.52896604e-03 3.14683021e+00] [ 1.54943880e-02 -1.13884355e-04 9.99879948e-01 3.77722496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.974340128 meters 0.014863881040309576 Centerline is valid? [True, True] Translation: X:35.48, Y:3.15, Z:0.38 [[ 9.71841632e-01 -2.35144790e-01 -1.51911335e-02 3.54791724e+01] [ 2.35117896e-01 9.71960346e-01 -3.55811369e-03 3.15252856e+00] [ 1.56018513e-02 -1.13784338e-04 9.99878277e-01 3.78125705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.004340128 meters 0.014574098916080195 Centerline is valid? [True, True] Translation: X:35.51, Y:3.16, Z:0.38 [[ 9.71895564e-01 -2.34917552e-01 -1.52563474e-02 3.55063445e+01] [ 2.34890321e-01 9.72015294e-01 -3.57835868e-03 3.15825149e+00] [ 1.56700222e-02 -1.05777396e-04 9.99877212e-01 3.78875077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.034340128000004 meters 0.01456125707607342 Centerline is valid? [True, True] Translation: X:35.53, Y:3.16, Z:0.38 [[ 9.71916154e-01 -2.34805460e-01 -1.56647695e-02 3.55334107e+01] [ 2.34776652e-01 9.72042379e-01 -3.67939542e-03 3.16446475e+00] [ 1.60907619e-02 -1.01658287e-04 9.99870530e-01 3.78889843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.064340128000005 meters 0.014326577891089222 Centerline is valid? [True, True] Translation: X:35.56, Y:3.17, Z:0.38 [[ 9.72032973e-01 -2.34330240e-01 -1.55318651e-02 3.55602968e+01] [ 2.34301777e-01 9.72157051e-01 -3.65327195e-03 3.17114250e+00] [ 1.59554843e-02 -8.80428059e-05 9.99872699e-01 3.79333766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.094340128 meters 0.014428563061499892 Centerline is valid? [True, True] Translation: X:35.59, Y:3.18, Z:0.38 [[ 9.72077326e-01 -2.34132490e-01 -1.57369157e-02 3.55868232e+01] [ 2.34103170e-01 9.72204696e-01 -3.70610652e-03 3.17682237e+00] [ 1.61672233e-02 -8.14397411e-05 9.99869299e-01 3.78471095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.124340128 meters 0.014060097010420934 Centerline is valid? [True, True] Translation: X:35.61, Y:3.18, Z:0.38 [[ 9.71977247e-01 -2.34545115e-01 -1.57740221e-02 3.56140326e+01] [ 2.34515643e-01 9.72105232e-01 -3.71903850e-03 3.18263543e+00] [ 1.62062918e-02 -8.44341450e-05 9.99868666e-01 3.79383796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.154340128 meters 0.014310079323522186 Centerline is valid? [True, True] Translation: X:35.64, Y:3.19, Z:0.38 [[ 9.71817595e-01 -2.35209141e-01 -1.57233131e-02 3.56410990e+01] [ 2.35179881e-01 9.71944778e-01 -3.71105885e-03 3.18701549e+00] [ 1.61550671e-02 -9.13346211e-05 9.99869494e-01 3.79388964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.184340128 meters 0.01432495963337219 Centerline is valid? [True, True] Translation: X:35.67, Y:3.19, Z:0.38 [[ 9.71487709e-01 -2.36554386e-01 -1.59265161e-02 3.56688144e+01] [ 2.36524489e-01 9.71618243e-01 -3.76247553e-03 3.19187869e+00] [ 1.63645237e-02 -1.11812348e-04 9.99866086e-01 3.80336842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.214340128 meters 0.01495463572651934 Centerline is valid? [True, True] Translation: X:35.70, Y:3.19, Z:0.38 [[ 9.70888168e-01 -2.38982074e-01 -1.62398792e-02 3.56972351e+01] [ 2.38951264e-01 9.71023967e-01 -3.84034891e-03 3.19426116e+00] [ 1.66870865e-02 -1.51990344e-04 9.99860749e-01 3.80630302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.244340128000005 meters 0.015297664376904543 Centerline is valid? [True, True] Translation: X:35.73, Y:3.20, Z:0.38 [[ 9.70465431e-01 -2.40666462e-01 -1.66283226e-02 3.57256433e+01] [ 2.40634357e-01 9.70607861e-01 -3.93518419e-03 3.19894839e+00] [ 1.70866475e-02 -1.82385474e-04 9.99853996e-01 3.80530556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.274340128 meters 0.015904655864462262 Centerline is valid? [True, True] Translation: X:35.75, Y:3.20, Z:0.38 [[ 9.70056853e-01 -2.42284258e-01 -1.69717721e-02 3.57547553e+01] [ 2.42250976e-01 9.70205285e-01 -4.02126678e-03 3.20337601e+00] [ 1.74403926e-02 -2.10570955e-04 9.99847883e-01 3.80382073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.304340128 meters 0.017477131787585018 Centerline is valid? [True, True] Translation: X:35.78, Y:3.20, Z:0.38 [[ 9.69138774e-01 -2.45899719e-01 -1.74173505e-02 3.57832358e+01] [ 2.45865187e-01 9.69295234e-01 -4.13034503e-03 3.20438355e+00] [ 1.78982055e-02 -2.79442613e-04 9.99839775e-01 3.80510024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.334340128 meters 0.018654726013431457 Centerline is valid? [True, True] Translation: X:35.81, Y:3.21, Z:0.38 [[ 9.68603128e-01 -2.47966526e-01 -1.79048358e-02 3.58106062e+01] [ 2.47930351e-01 9.68768546e-01 -4.24789262e-03 3.20776075e+00] [ 1.83989770e-02 -3.24630162e-04 9.99830672e-01 3.80534027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.364340128 meters 0.020404728206783827 Centerline is valid? [True, True] Translation: X:35.84, Y:3.21, Z:0.38 [[ 9.67740645e-01 -2.51288228e-01 -1.82282682e-02 3.58395062e+01] [ 2.51251285e-01 9.67912223e-01 -4.32660314e-03 3.20860962e+00] [ 1.87305880e-02 -3.92846091e-04 9.99824490e-01 3.80698287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.394340128 meters 0.02163173157789536 Centerline is valid? [True, True] Translation: X:35.87, Y:3.21, Z:0.38 [[ 9.67372616e-01 -2.52673284e-01 -1.86127230e-02 3.58674456e+01] [ 2.52634987e-01 9.67551564e-01 -4.41967167e-03 3.21205983e+00] [ 1.91255022e-02 -4.26755694e-04 9.99817000e-01 3.80605915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.424340128000004 meters 0.02198950726927819 Centerline is valid? [True, True] Translation: X:35.90, Y:3.22, Z:0.38 [[ 9.67049770e-01 -2.53873261e-01 -1.90554164e-02 3.58960954e+01] [ 2.53833286e-01 9.67237384e-01 -4.52829504e-03 3.21695959e+00] [ 1.95807242e-02 -4.57812278e-04 9.99808174e-01 3.81258180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.454340128 meters 0.02297450078265302 Centerline is valid? [True, True] Translation: X:35.92, Y:3.22, Z:0.38 [[ 9.66835898e-01 -2.54677925e-01 -1.91702869e-02 3.59238421e+01] [ 2.54637555e-01 9.67025817e-01 -4.55908640e-03 3.22134276e+00] [ 1.96992610e-02 -4.73586591e-04 9.99805839e-01 3.81178221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.484340128 meters 0.02312693085267475 Centerline is valid? [True, True] Translation: X:35.95, Y:3.23, Z:0.38 [[ 9.66689756e-01 -2.55208255e-01 -1.94849073e-02 3.59524912e+01] [ 2.55166585e-01 9.66885985e-01 -4.63746744e-03 3.22615360e+00] [ 2.00232038e-02 -4.88905001e-04 9.99799396e-01 3.82161884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.514340128 meters 0.023671647075225087 Centerline is valid? [True, True] Translation: X:35.98, Y:3.23, Z:0.38 [[ 9.66754994e-01 -2.54943205e-01 -1.97166057e-02 3.59795535e+01] [ 2.54900413e-01 9.66955907e-01 -4.69611238e-03 3.23105955e+00] [ 2.02623303e-02 -4.85780840e-04 9.99794580e-01 3.82545619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.544340128 meters 0.02311635604554413 Centerline is valid? [True, True] Translation: X:36.01, Y:3.24, Z:0.38 [[ 9.66791682e-01 -2.54800426e-01 -1.97632590e-02 3.60067947e+01] [ 2.54757320e-01 9.66993543e-01 -4.71117312e-03 3.23776496e+00] [ 2.03113527e-02 -4.80111918e-04 9.99793588e-01 3.83326905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.574340128 meters 0.022351155836734735 Centerline is valid? [True, True] Translation: X:36.04, Y:3.24, Z:0.38 [[ 9.67149036e-01 -2.53435606e-01 -1.98276575e-02 3.60351293e+01] [ 2.53391821e-01 9.67352156e-01 -4.73203746e-03 3.24480104e+00] [ 2.03795940e-02 -4.47580766e-04 9.99792214e-01 3.84270515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.604340128000004 meters 0.018723310157471026 Centerline is valid? [True, True] Translation: X:36.06, Y:3.26, Z:0.39 [[ 9.67412425e-01 -2.52413294e-01 -2.00182322e-02 3.60618754e+01] [ 2.52368330e-01 9.67619423e-01 -4.78305009e-03 3.25642486e+00] [ 2.05773358e-02 -4.24785742e-04 9.99788174e-01 3.87396141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.634340128000005 meters 0.019218744581630694 Centerline is valid? [True, True] Translation: X:36.09, Y:3.26, Z:0.39 [[ 9.67774174e-01 -2.51062373e-01 -1.95149171e-02 3.60894153e+01] [ 2.51019293e-01 9.67970835e-01 -4.66650197e-03 3.26200040e+00] [ 2.00614537e-02 -3.82500599e-04 9.99798676e-01 3.87257563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.664340128 meters 0.017819278560247703 Centerline is valid? [True, True] Translation: X:36.12, Y:3.27, Z:0.39 [[ 9.68513908e-01 -2.48165174e-01 -1.98709747e-02 3.61167445e+01] [ 2.48119818e-01 9.68717679e-01 -4.75547430e-03 3.27053640e+00] [ 2.04295076e-02 -3.24639631e-04 9.99791243e-01 3.88648800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.694340128 meters 0.017476682728459286 Centerline is valid? [True, True] Translation: X:36.14, Y:3.28, Z:0.39 [[ 9.68872010e-01 -2.46749460e-01 -2.00432532e-02 3.61436243e+01] [ 2.46702936e-01 9.69079263e-01 -4.80035046e-03 3.27782548e+00] [ 2.06079849e-02 -2.93804226e-04 9.99787590e-01 3.89120040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.724340128 meters 0.015989415109782298 Centerline is valid? [True, True] Translation: X:36.17, Y:3.29, Z:0.39 [[ 9.69270032e-01 -2.45178503e-01 -2.00775222e-02 3.61716236e+01] [ 2.45131431e-01 9.69477919e-01 -4.81111662e-03 3.28698599e+00] [ 2.06442968e-02 -2.58360582e-04 9.99786850e-01 3.91176257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.754340128 meters 0.015022068572836104 Centerline is valid? [True, True] Translation: X:36.20, Y:3.30, Z:0.39 [[ 9.70047702e-01 -2.42106923e-01 -1.97912399e-02 3.61984563e+01] [ 2.42060483e-01 9.70249557e-01 -4.74549664e-03 3.29507085e+00] [ 2.03513594e-02 -1.87318987e-04 9.99792872e-01 3.92701490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.784340128000004 meters 0.014495486504574676 Centerline is valid? [True, True] Translation: X:36.23, Y:3.30, Z:0.39 [[ 9.70328320e-01 -2.40960754e-01 -2.00216370e-02 3.62258196e+01] [ 2.40912883e-01 9.70534847e-01 -4.80558734e-03 3.30330302e+00] [ 2.05896544e-02 -1.60472808e-04 9.99787998e-01 3.93686823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.814340128000005 meters 0.01381704070856339 Centerline is valid? [True, True] Translation: X:36.25, Y:3.31, Z:0.40 [[ 9.70999830e-01 -2.38242023e-01 -2.00017193e-02 3.62535442e+01] [ 2.38193545e-01 9.71205812e-01 -4.80686690e-03 3.31256584e+00] [ 2.05709838e-02 -9.68134852e-05 9.99788390e-01 3.95263281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.844340128 meters 0.013546056847044755 Centerline is valid? [True, True] Translation: X:36.28, Y:3.32, Z:0.40 [[ 9.71289248e-01 -2.37063448e-01 -1.99529139e-02 3.62803381e+01] [ 2.37014833e-01 9.71494167e-01 -4.80120260e-03 3.32045804e+00] [ 2.05223291e-02 -6.57800990e-05 9.99789393e-01 3.95664259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.874340128 meters 0.01346095309787617 Centerline is valid? [True, True] Translation: X:36.31, Y:3.33, Z:0.40 [[ 9.71588246e-01 -2.35856825e-01 -1.96935915e-02 3.63072664e+01] [ 2.35809136e-01 9.71787815e-01 -4.74285175e-03 3.32856094e+00] [ 2.02566262e-02 -3.58297707e-05 9.99794813e-01 3.96002845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.904340128 meters 0.013148005848261689 Centerline is valid? [True, True] Translation: X:36.33, Y:3.34, Z:0.40 [[ 9.71858860e-01 -2.34795717e-01 -1.90086396e-02 3.63345357e+01] [ 2.34751007e-01 9.72044737e-01 -4.58189410e-03 3.33703658e+00] [ 1.95530572e-02 -9.34289047e-06 9.99808821e-01 3.97046299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.934340128 meters 0.013193642757924975 Centerline is valid? [True, True] Translation: X:36.36, Y:3.35, Z:0.40 [[ 9.72239496e-01 -2.33197305e-01 -1.92192208e-02 3.63605363e+01] [ 2.33151182e-01 9.72429440e-01 -4.63790679e-03 3.34631372e+00] [ 1.97708835e-02 2.81721146e-05 9.99804537e-01 3.97397833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.964340128 meters 0.013211604981431575 Centerline is valid? [True, True] Translation: X:36.39, Y:3.35, Z:0.40 [[ 9.72304116e-01 -2.32918351e-01 -1.93325564e-02 3.63878100e+01] [ 2.32871523e-01 9.72496293e-01 -4.67048973e-03 3.35366482e+00] [ 1.98886822e-02 3.91345351e-05 9.99802200e-01 3.97914169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.994340128000005 meters 0.01322041557940946 Centerline is valid? [True, True] Translation: X:36.41, Y:3.36, Z:0.40 [[ 9.72281524e-01 -2.33018449e-01 -1.92624089e-02 3.64149984e+01] [ 2.32971859e-01 9.72472313e-01 -4.65969031e-03 3.36055705e+00] [ 1.98179531e-02 4.29316063e-05 9.99803604e-01 3.98656819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.024340128 meters 0.013241579776020996 Centerline is valid? [True, True] Translation: X:36.44, Y:3.37, Z:0.40 [[ 9.72083512e-01 -2.33862815e-01 -1.90217988e-02 3.64417313e+01] [ 2.33817458e-01 9.72269604e-01 -4.60581678e-03 3.36594485e+00] [ 1.95714461e-02 2.96099103e-05 9.99808460e-01 3.98789935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.054340128 meters 0.01312845697330884 Centerline is valid? [True, True] Translation: X:36.47, Y:3.37, Z:0.40 [[ 9.71878662e-01 -2.34710687e-01 -1.90462590e-02 3.64694895e+01] [ 2.34665291e-01 9.72065272e-01 -4.61607454e-03 3.37204775e+00] [ 1.95976490e-02 1.67684338e-05 9.99807947e-01 4.00030712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.084340128 meters 0.013205046107157588 Centerline is valid? [True, True] Translation: X:36.50, Y:3.38, Z:0.40 [[ 9.71624246e-01 -2.35751204e-01 -1.91753586e-02 3.64955788e+01] [ 2.35705308e-01 9.71813444e-01 -4.65170697e-03 3.37788758e+00] [ 1.97315168e-02 -2.25172466e-08 9.99805315e-01 4.00732696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.114340128 meters 0.013214432531828454 Centerline is valid? [True, True] Translation: X:36.52, Y:3.38, Z:0.40 [[ 9.71041060e-01 -2.38206754e-01 -1.83521649e-02 3.65230281e+01] [ 2.38165073e-01 9.71214467e-01 -4.45614865e-03 3.38442019e+00] [ 1.88853728e-02 -4.37413985e-05 9.99821654e-01 4.02204864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.144340128 meters 0.013435312736370967 Centerline is valid? [True, True] Translation: X:36.55, Y:3.39, Z:0.40 [[ 9.70779656e-01 -2.39288105e-01 -1.81125193e-02 3.65492037e+01] [ 2.39247601e-01 9.70948608e-01 -4.40293565e-03 3.39086472e+00] [ 1.86398955e-02 -5.90964470e-05 9.99826260e-01 4.01787467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.174340128000004 meters 0.013652236117286453 Centerline is valid? [True, True] Translation: X:36.58, Y:3.40, Z:0.40 [[ 9.70452203e-01 -2.40626117e-01 -1.79330518e-02 3.65766488e+01] [ 2.40586554e-01 9.70617878e-01 -4.36398688e-03 3.39730982e+00] [ 1.84562299e-02 -7.94104562e-05 9.99829666e-01 4.02166362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.204340128 meters 0.01412288404713546 Centerline is valid? [True, True] Translation: X:36.60, Y:3.40, Z:0.40 [[ 9.69766123e-01 -2.43407355e-01 -1.75078894e-02 3.66049094e+01] [ 2.43370007e-01 9.69924144e-01 -4.26560378e-03 3.40339892e+00] [ 1.80196040e-02 -1.24257144e-04 9.99837626e-01 4.03613349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.234340128 meters 0.01468090162333399 Centerline is valid? [True, True] Translation: X:36.63, Y:3.41, Z:0.40 [[ 9.69477235e-01 -2.44574751e-01 -1.72360375e-02 3.66320034e+01] [ 2.44538679e-01 9.69630430e-01 -4.20273651e-03 3.40945674e+00] [ 1.77404697e-02 -1.40420484e-04 9.99842616e-01 4.03365581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.264340128 meters 0.014850145483478237 Centerline is valid? [True, True] Translation: X:36.66, Y:3.42, Z:0.40 [[ 9.69200637e-01 -2.45654974e-01 -1.74286526e-02 3.66594403e+01] [ 2.45618210e-01 9.69357317e-01 -4.25285135e-03 3.41706391e+00] [ 1.79393260e-02 -1.58928206e-04 9.99839065e-01 4.04085162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.294340128 meters 0.014850145483478237 Centerline is valid? [True, True] Translation: X:36.69, Y:3.42, Z:0.40 [[ 9.69126975e-01 -2.45945500e-01 -1.74274642e-02 3.66861950e+01] [ 2.45908695e-01 9.69283646e-01 -4.25771697e-03 3.42378313e+00] [ 1.79393224e-02 -1.59296612e-04 9.99839065e-01 4.04353927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.324340128 meters 0.015195068825628953 Centerline is valid? [True, True] Translation: X:36.71, Y:3.43, Z:0.41 [[ 9.68745281e-01 -2.47484641e-01 -1.68502943e-02 3.67133521e+01] [ 2.47450374e-01 9.68891801e-01 -4.12200790e-03 3.43260030e+00] [ 1.73462456e-02 -1.76435923e-04 9.99849527e-01 4.05239124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.354340128000004 meters 0.015525065949098351 Centerline is valid? [True, True] Translation: X:36.74, Y:3.44, Z:0.41 [[ 9.68666291e-01 -2.47860997e-01 -1.58285621e-02 3.67392637e+01] [ 2.47830749e-01 9.68795591e-01 -3.87584444e-03 3.43971898e+00] [ 1.62953118e-02 -1.68404536e-04 9.99867208e-01 4.05237878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.384340128000005 meters 0.01578465009777017 Centerline is valid? [True, True] Translation: X:36.77, Y:3.45, Z:0.41 [[ 9.68538202e-01 -2.48417060e-01 -1.49236625e-02 3.67652331e+01] [ 2.48390207e-01 9.68653156e-01 -3.65625423e-03 3.44745434e+00] [ 1.53641287e-02 -1.65669731e-04 9.99881951e-01 4.05913124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.414340128 meters 0.01607402470383219 Centerline is valid? [True, True] Translation: X:36.79, Y:3.46, Z:0.41 [[ 9.68425195e-01 -2.48954232e-01 -1.32072369e-02 3.67910287e+01] [ 2.48933229e-01 9.68515238e-01 -3.23736480e-03 3.45654540e+00] [ 1.35973659e-02 -1.52574498e-04 9.99907540e-01 4.07570837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.444340128 meters 0.016035918307412314 Centerline is valid? [True, True] Translation: X:36.82, Y:3.47, Z:0.41 [[ 9.68278302e-01 -2.49568205e-01 -1.23628982e-02 3.68179729e+01] [ 2.49549825e-01 9.68357211e-01 -3.03247783e-03 3.46508299e+00] [ 1.27285116e-02 -1.48876590e-04 9.99918978e-01 4.08668874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.474340128 meters 0.016259361733182688 Centerline is valid? [True, True] Translation: X:36.84, Y:3.48, Z:0.41 [[ 9.68144705e-01 -2.50173273e-01 -1.04481791e-02 3.68441963e+01] [ 2.50160151e-01 9.68201072e-01 -2.56560090e-03 3.47539565e+00] [ 1.07577830e-02 -1.29845140e-04 9.99942125e-01 4.09508583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.504340128 meters 0.01623121989055928 Centerline is valid? [True, True] Translation: X:36.87, Y:3.48, Z:0.41 [[ 9.68024640e-01 -2.50646754e-01 -1.02226109e-02 3.68708484e+01] [ 2.50634186e-01 9.68078606e-01 -2.51329884e-03 3.48480063e+00] [ 1.05262411e-02 -1.29200558e-04 9.99944589e-01 4.09454537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.534340128000004 meters 0.01568866625370513 Centerline is valid? [True, True] Translation: X:36.90, Y:3.50, Z:0.41 [[ 9.68061034e-01 -2.50535195e-01 -9.48422130e-03 3.68971635e+01] [ 2.50524345e-01 9.68107485e-01 -2.33451280e-03 3.49535846e+00] [ 9.76662325e-03 -1.16077455e-04 9.99952299e-01 4.09437399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.564340128000005 meters 0.01600041733926383 Centerline is valid? [True, True] Translation: X:36.92, Y:3.51, Z:0.41 [[ 9.68179334e-01 -2.50106786e-01 -8.68174710e-03 3.69235247e+01] [ 2.50097652e-01 9.68218253e-01 -2.13976812e-03 3.50608078e+00] [ 8.94099654e-03 -9.96052927e-05 9.99960024e-01 4.09551825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.594340128 meters 0.016108346429664595 Centerline is valid? [True, True] Translation: X:36.95, Y:3.51, Z:0.41 [[ 9.68202839e-01 -2.50043928e-01 -7.82923782e-03 3.69494409e+01] [ 2.50036494e-01 9.68234489e-01 -1.93017208e-03 3.51461230e+00] [ 8.06316589e-03 -8.87970947e-05 9.99967488e-01 4.09678130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.624340128 meters 0.016048368255523887 Centerline is valid? [True, True] Translation: X:36.98, Y:3.52, Z:0.41 [[ 9.68265291e-01 -2.49809042e-01 -7.60062936e-03 3.69762400e+01] [ 2.49802018e-01 9.68295118e-01 -1.87519398e-03 3.52371044e+00] [ 7.82809272e-03 -8.29673058e-05 9.99969357e-01 4.09567231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.654340128 meters 0.015551013487660336 Centerline is valid? [True, True] Translation: X:37.00, Y:3.54, Z:0.41 [[ 9.68274114e-01 -2.49782640e-01 -7.33985198e-03 3.70018545e+01] [ 2.49776073e-01 9.68301929e-01 -1.81293456e-03 3.53580410e+00] [ 7.56003241e-03 -7.79017963e-05 9.99971420e-01 4.08697078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.684340128 meters 0.015599791239132741 Centerline is valid? [True, True] Translation: X:37.03, Y:3.54, Z:0.41 [[ 9.68256549e-01 -2.49847818e-01 -7.43796430e-03 3.70276331e+01] [ 2.49841054e-01 9.68285114e-01 -1.84005694e-03 3.54429115e+00] [ 7.66180433e-03 -7.66616569e-05 9.99970645e-01 4.08260072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.714340128 meters 0.015832307168640897 Centerline is valid? [True, True] Translation: X:37.05, Y:3.55, Z:0.41 [[ 9.68147264e-01 -2.50280187e-01 -7.12056071e-03 3.70537061e+01] [ 2.50273992e-01 9.68173446e-01 -1.76259690e-03 3.55497433e+00] [ 7.33508089e-03 -7.56377826e-05 9.99973095e-01 4.07743207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.744340128000005 meters 0.015779546266945645 Centerline is valid? [True, True] Translation: X:37.08, Y:3.56, Z:0.41 [[ 9.68028311e-01 -2.50757163e-01 -6.48346803e-03 3.70802627e+01] [ 2.50752038e-01 9.68050019e-01 -1.60477648e-03 3.56384881e+00] [ 6.67873055e-03 -7.22737538e-05 9.99977694e-01 4.07598381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.774340128 meters 0.015995814506488838 Centerline is valid? [True, True] Translation: X:37.11, Y:3.57, Z:0.41 [[ 9.67954969e-01 -2.51054210e-01 -5.91284737e-03 3.71066441e+01] [ 2.51049938e-01 9.67973026e-01 -1.46602583e-03 3.57147664e+00] [ 6.09152872e-03 -6.53729774e-05 9.99981444e-01 4.08004909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.804340128 meters 0.016230961370711734 Centerline is valid? [True, True] Translation: X:37.13, Y:3.58, Z:0.41 [[ 9.67804627e-01 -2.51646805e-01 -5.29999622e-03 3.71332621e+01] [ 2.51643385e-01 9.67819137e-01 -1.31361589e-03 3.57959938e+00] [ 5.46000501e-03 -6.23854522e-05 9.99985092e-01 4.08016286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.834340128 meters 0.01662022652658672 Centerline is valid? [True, True] Translation: X:37.16, Y:3.59, Z:0.41 [[ 9.67396246e-01 -2.53212184e-01 -5.30037965e-03 3.71610995e+01] [ 2.53208776e-01 9.67410763e-01 -1.31555290e-03 3.58885535e+00] [ 5.46075834e-03 -6.94417030e-05 9.99985088e-01 4.07479159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.864340128 meters 0.01698798806901734 Centerline is valid? [True, True] Translation: X:37.19, Y:3.60, Z:0.41 [[ 9.67128936e-01 -2.54227656e-01 -5.46990749e-03 3.71894401e+01] [ 2.54224033e-01 9.67144401e-01 -1.35923966e-03 3.59646199e+00] [ 5.63574672e-03 -7.60219330e-05 9.99984116e-01 4.06918515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.894340128 meters 0.016998512207427496 Centerline is valid? [True, True] Translation: X:37.22, Y:3.60, Z:0.41 [[ 9.66839746e-01 -2.55326961e-01 -5.38964449e-03 3.72171528e+01] [ 2.55323454e-01 9.66854765e-01 -1.34072499e-03 3.60432503e+00] [ 5.55332669e-03 -7.98364374e-05 9.99984577e-01 4.06467489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.924340128000004 meters 0.01787572228611297 Centerline is valid? [True, True] Translation: X:37.24, Y:3.61, Z:0.41 [[ 9.66276677e-01 -2.57436186e-01 -5.99942168e-03 3.72449227e+01] [ 2.57431868e-01 9.66295296e-01 -1.49441061e-03 3.61177033e+00] [ 6.18192832e-03 -1.00428210e-04 9.99980887e-01 4.05641417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.954340128 meters 0.01825171797857469 Centerline is valid? [True, True] Translation: X:37.27, Y:3.62, Z:0.41 [[ 9.66074380e-01 -2.58189319e-01 -6.21022246e-03 3.72719306e+01] [ 2.58184692e-01 9.66094335e-01 -1.54937747e-03 3.61871750e+00] [ 6.39969345e-03 -1.06570495e-04 9.99979516e-01 4.05368603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.984340128 meters 0.01853085419536371 Centerline is valid? [True, True] Translation: X:37.30, Y:3.63, Z:0.41 [[ 9.65609256e-01 -2.59935909e-01 -5.66453921e-03 3.72994197e+01] [ 2.59932091e-01 9.65625865e-01 -1.41300675e-03 3.62701733e+00] [ 5.83711677e-03 -1.07983125e-04 9.99982958e-01 4.05020095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.014340128 meters 0.01927683268346696 Centerline is valid? [True, True] Translation: X:37.33, Y:3.63, Z:0.41 [[ 9.65467584e-01 -2.60460050e-01 -5.73646223e-03 3.73262586e+01] [ 2.60456131e-01 9.65484619e-01 -1.43313725e-03 3.63315746e+00] [ 5.91174105e-03 -1.10449195e-04 9.99982519e-01 4.05325419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.044340128 meters 0.01917306586415225 Centerline is valid? [True, True] Translation: X:37.35, Y:3.64, Z:0.40 [[ 9.65296828e-01 -2.61086251e-01 -6.00029114e-03 3.73529638e+01] [ 2.61081972e-01 9.65315469e-01 -1.49944753e-03 3.64085655e+00] [ 6.18365900e-03 -1.19155898e-04 9.99980874e-01 4.04688609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.074340128 meters 0.01929089198794746 Centerline is valid? [True, True] Translation: X:37.38, Y:3.65, Z:0.40 [[ 9.65170358e-01 -2.61556343e-01 -5.87017081e-03 3.73799555e+01] [ 2.61552245e-01 9.65188202e-01 -1.46876671e-03 3.64828599e+00] [ 6.04998486e-03 -1.17746269e-04 9.99981692e-01 4.04392905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.104340128000004 meters 0.020380337356246864 Centerline is valid? [True, True] Translation: X:37.41, Y:3.65, Z:0.40 [[ 9.64865108e-01 -2.62665113e-01 -6.50861896e-03 3.74070332e+01] [ 2.62660080e-01 9.64887050e-01 -1.63163049e-03 3.65406551e+00] [ 6.70865456e-03 -1.35251044e-04 9.99977488e-01 4.03421111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.134340128000005 meters 0.020766484143125916 Centerline is valid? [True, True] Translation: X:37.44, Y:3.66, Z:0.40 [[ 9.64655769e-01 -2.63433504e-01 -6.48353847e-03 3.74353349e+01] [ 2.63428526e-01 9.64677547e-01 -1.62546741e-03 3.66056289e+00] [ 6.68272656e-03 -1.39932465e-04 9.99977661e-01 4.03004566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.164340128 meters 0.021259429169263388 Centerline is valid? [True, True] Translation: X:37.46, Y:3.67, Z:0.40 [[ 9.64194287e-01 -2.65112825e-01 -6.67584923e-03 3.74634149e+01] [ 2.65107575e-01 9.64217385e-01 -1.67556606e-03 3.66673652e+00] [ 6.88118395e-03 -1.54246978e-04 9.99976312e-01 4.02111097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.194340128 meters 0.02144748869385974 Centerline is valid? [True, True] Translation: X:37.49, Y:3.67, Z:0.40 [[ 9.63888835e-01 -2.66231130e-01 -6.26890019e-03 3.74916710e+01] [ 2.66226514e-01 9.63909209e-01 -1.57500128e-03 3.67311804e+00] [ 6.46196499e-03 -1.50821299e-04 9.99979110e-01 4.02237156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.224340128 meters 0.022032444216081196 Centerline is valid? [True, True] Translation: X:37.52, Y:3.68, Z:0.40 [[ 9.63612981e-01 -2.67230266e-01 -6.16510318e-03 3.75203367e+01] [ 2.67225811e-01 9.63632690e-01 -1.55062091e-03 3.67900073e+00] [ 6.35526779e-03 -1.53276263e-04 9.99979793e-01 4.02210144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.254340128 meters 0.022573597683703973 Centerline is valid? [True, True] Translation: X:37.55, Y:3.68, Z:0.40 [[ 9.63409749e-01 -2.67973863e-01 -5.62718658e-03 3.75474528e+01] [ 2.67970153e-01 9.63426172e-01 -1.41717044e-03 3.68468798e+00] [ 5.80114346e-03 -1.42602231e-04 9.99983163e-01 4.02679108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.284340128000004 meters 0.02323937549619351 Centerline is valid? [True, True] Translation: X:37.58, Y:3.69, Z:0.40 [[ 9.63244053e-01 -2.68591775e-01 -4.39926378e-03 3.75752330e+01] [ 2.68589512e-01 9.63254092e-01 -1.10852740e-03 3.68978153e+00] [ 4.53535018e-03 -1.13813680e-04 9.99989709e-01 4.03514001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.314340128000005 meters 0.02318971495304735 Centerline is valid? [True, True] Translation: X:37.60, Y:3.70, Z:0.40 [[ 9.63186199e-01 -2.68804762e-01 -4.04301147e-03 3.76021150e+01] [ 2.68802856e-01 9.63194678e-01 -1.01791792e-03 3.69615086e+00] [ 4.16782832e-03 -1.06328538e-04 9.99991309e-01 4.03807902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.344340128 meters 0.023273959073148966 Centerline is valid? [True, True] Translation: X:37.63, Y:3.70, Z:0.40 [[ 9.63309058e-01 -2.68368413e-01 -3.74880876e-03 3.76297300e+01] [ 2.68366763e-01 9.63316348e-01 -9.46028340e-04 3.70236200e+00] [ 3.86517289e-03 -9.47380010e-05 9.99992526e-01 4.04265285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.374340128 meters 0.022665868039897546 Centerline is valid? [True, True] Translation: X:37.66, Y:3.71, Z:0.40 [[ 9.63593897e-01 -2.67347784e-01 -3.45898562e-03 3.76582081e+01] [ 2.67346375e-01 9.63600101e-01 -8.72120519e-04 3.70867486e+00] [ 3.56623839e-03 -8.43772596e-05 9.99993637e-01 4.04877308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.404340128 meters 0.02232986922288828 Centerline is valid? [True, True] Translation: X:37.69, Y:3.72, Z:0.41 [[ 9.63868603e-01 -2.66360028e-01 -3.10671593e-03 3.76850613e+01] [ 2.66358880e-01 9.63873607e-01 -7.84977829e-04 3.71532371e+00] [ 3.20356820e-03 -7.08858920e-05 9.99994866e-01 4.05227548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.434340128 meters 0.020855517955587762 Centerline is valid? [True, True] Translation: X:37.71, Y:3.72, Z:0.40 [[ 9.64563405e-01 -2.63824088e-01 -3.77989250e-03 3.77128214e+01] [ 2.63822371e-01 9.64570809e-01 -9.54662365e-04 3.72351820e+00] [ 3.89783689e-03 -7.63878219e-05 9.99992400e-01 4.04452055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.464340128 meters 0.02011177011991482 Centerline is valid? [True, True] Translation: X:37.74, Y:3.73, Z:0.40 [[ 9.64938610e-01 -2.62452131e-01 -3.51531019e-03 3.77409346e+01] [ 2.62450635e-01 9.64945011e-01 -8.88603356e-04 3.73147051e+00] [ 3.62529687e-03 -6.51477026e-05 9.99993426e-01 4.04850637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.494340128000005 meters 0.01874027275728497 Centerline is valid? [True, True] Translation: X:37.77, Y:3.74, Z:0.40 [[ 9.65284797e-01 -2.61175240e-01 -3.57141228e-03 3.77684768e+01] [ 2.61173683e-01 9.65291402e-01 -9.03694805e-04 3.74050805e+00] [ 3.68347627e-03 -6.04360432e-05 9.99993214e-01 4.04746640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.524340128 meters 0.01845308561922942 Centerline is valid? [True, True] Translation: X:37.80, Y:3.75, Z:0.41 [[ 9.65817241e-01 -2.59203679e-01 -3.24193416e-03 3.77951460e+01] [ 2.59202380e-01 9.65822681e-01 -8.21775944e-04 3.74701564e+00] [ 3.34414089e-03 -4.66316757e-05 9.99994407e-01 4.06176938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.554340128 meters 0.016673024671976323 Centerline is valid? [True, True] Translation: X:37.82, Y:3.76, Z:0.41 [[ 9.66733530e-01 -2.55767651e-01 -3.03156643e-03 3.78223048e+01] [ 2.55766500e-01 9.66738283e-01 -7.67990868e-04 3.75639332e+00] [ 3.12715854e-03 -3.29306109e-05 9.99995110e-01 4.06508229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.584340128 meters 0.01624405559766057 Centerline is valid? [True, True] Translation: X:37.85, Y:3.76, Z:0.41 [[ 9.67002609e-01 -2.54751018e-01 -2.80586680e-03 3.78499242e+01] [ 2.54750027e-01 9.67006679e-01 -7.11127750e-04 3.76338287e+00] [ 2.89445246e-03 -2.71322542e-05 9.99995811e-01 4.07372724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.614340128 meters 0.015663891829062863 Centerline is valid? [True, True] Translation: X:37.88, Y:3.77, Z:0.41 [[ 9.67665103e-01 -2.52226859e-01 -2.42064656e-03 3.78778370e+01] [ 2.52226112e-01 9.67668131e-01 -6.14074291e-04 3.77044707e+00] [ 2.49726856e-03 -1.63320076e-05 9.99996882e-01 4.09171997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.644340128 meters 0.01542609879408712 Centerline is valid? [True, True] Translation: X:37.90, Y:3.78, Z:0.41 [[ 9.67859443e-01 -2.51480492e-01 -2.37943279e-03 3.79047311e+01] [ 2.51479767e-01 9.67862367e-01 -6.03837736e-04 3.77775550e+00] [ 2.45481687e-03 -1.39491499e-05 9.99996987e-01 4.09051038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.674340128000004 meters 0.015283981666658288 Centerline is valid? [True, True] Translation: X:37.93, Y:3.78, Z:0.41 [[ 9.68051452e-01 -2.50740263e-01 -2.38869472e-03 3.79320066e+01] [ 2.50739529e-01 9.68054399e-01 -6.06977876e-04 3.78466613e+00] [ 2.46458022e-03 -1.13543742e-05 9.99996963e-01 4.09110227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.704340128 meters 0.015093396915763033 Centerline is valid? [True, True] Translation: X:37.96, Y:3.79, Z:0.41 [[ 9.68479147e-01 -2.49077359e-01 -2.93454615e-03 3.79595652e+01] [ 2.49076234e-01 9.68483593e-01 -7.48527735e-04 3.79096938e+00] [ 3.02850111e-03 -5.99220033e-06 9.99995414e-01 4.09276636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.734340128 meters 0.015180280830650476 Centerline is valid? [True, True] Translation: X:37.99, Y:3.80, Z:0.41 [[ 9.68643153e-01 -2.48437110e-01 -3.07310128e-03 3.79860938e+01] [ 2.48435872e-01 9.68648028e-01 -7.84448069e-04 3.79762160e+00] [ 3.17163951e-03 -3.61834372e-06 9.99994970e-01 4.09983857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.764340128 meters 0.015123848825980965 Centerline is valid? [True, True] Translation: X:38.01, Y:3.80, Z:0.41 [[ 9.68747977e-01 -2.48028667e-01 -3.02287197e-03 3.80133821e+01] [ 2.48027469e-01 9.68752693e-01 -7.70874891e-04 3.80436908e+00] [ 3.11961443e-03 -2.97179301e-06 9.99995134e-01 4.10933130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.794340128 meters 0.015257568029629399 Centerline is valid? [True, True] Translation: X:38.04, Y:3.81, Z:0.41 [[ 9.69157802e-01 -2.46420082e-01 -3.20894333e-03 3.80402389e+01] [ 2.46418719e-01 9.69163115e-01 -8.19526909e-04 3.81088766e+00] [ 3.31193740e-03 3.50719184e-06 9.99994516e-01 4.11624411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.824340128 meters 0.01538195372211707 Centerline is valid? [True, True] Translation: X:38.07, Y:3.82, Z:0.41 [[ 9.69294849e-01 -2.45873386e-01 -3.71123596e-03 3.80660665e+01] [ 2.45871549e-01 9.69301954e-01 -9.50502223e-04 3.81711040e+00] [ 3.83101147e-03 8.82957304e-06 9.99992662e-01 4.11796372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.854340128000004 meters 0.015415865935704636 Centerline is valid? [True, True] Translation: X:38.09, Y:3.82, Z:0.41 [[ 9.69461775e-01 -2.45203624e-01 -4.36461561e-03 3.80933512e+01] [ 2.45201077e-01 9.69471600e-01 -1.11768651e-03 3.82381521e+00] [ 4.50543166e-03 1.33459031e-05 9.99989850e-01 4.11438386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.884340128000005 meters 0.015658464087705697 Centerline is valid? [True, True] Translation: X:38.12, Y:3.83, Z:0.41 [[ 9.69695688e-01 -2.44267703e-01 -4.85404682e-03 3.81194811e+01] [ 2.44264527e-01 9.69707837e-01 -1.24584554e-03 3.83013710e+00] [ 5.01132707e-03 2.24195941e-05 9.99987443e-01 4.12009743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.914340128 meters 0.015736586820638374 Centerline is valid? [True, True] Translation: X:38.15, Y:3.84, Z:0.41 [[ 9.69737376e-01 -2.44100663e-01 -4.92821280e-03 3.81470962e+01] [ 2.44097387e-01 9.69749899e-01 -1.26485828e-03 3.83675415e+00] [ 5.08788661e-03 2.36164841e-05 9.99987056e-01 4.12187630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.944340128 meters 0.015876126373854518 Centerline is valid? [True, True] Translation: X:38.17, Y:3.84, Z:0.41 [[ 9.69769061e-01 -2.43967796e-01 -5.26149995e-03 3.81733752e+01] [ 2.43964046e-01 9.69783333e-01 -1.35295682e-03 3.84160966e+00] [ 5.43259286e-03 2.84388502e-05 9.99985243e-01 4.12298033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.974340128 meters 0.015793284196046493 Centerline is valid? [True, True] Translation: X:38.20, Y:3.85, Z:0.41 [[ 9.69650848e-01 -2.44441581e-01 -5.05426897e-03 3.82010839e+01] [ 2.44438128e-01 9.69664021e-01 -1.29946559e-03 3.84647918e+00] [ 5.21858619e-03 2.45718690e-05 9.99986383e-01 4.12446606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.004340128 meters 0.015672587557585743 Centerline is valid? [True, True] Translation: X:38.23, Y:3.85, Z:0.41 [[ 9.69403506e-01 -2.45410535e-01 -5.52384003e-03 3.82289541e+01] [ 2.45406410e-01 9.69419243e-01 -1.42313051e-03 3.85184120e+00] [ 5.70416804e-03 2.40019590e-05 9.99983731e-01 4.13239046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.034340128000004 meters 0.015384564431672743 Centerline is valid? [True, True] Translation: X:38.26, Y:3.85, Z:0.41 [[ 9.68795879e-01 -2.47788857e-01 -5.93528107e-03 3.82573613e+01] [ 2.47784140e-01 9.68814060e-01 -1.52899721e-03 3.85350153e+00] [ 6.12905222e-03 1.06176810e-05 9.99981217e-01 4.12724866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.064340128000005 meters 0.01542119604590796 Centerline is valid? [True, True] Translation: X:38.29, Y:3.86, Z:0.41 [[ 9.68419543e-01 -2.49257523e-01 -5.85450705e-03 3.82855162e+01] [ 2.49252949e-01 9.68437240e-01 -1.51005713e-03 3.85814906e+00] [ 6.04611575e-03 3.11569189e-06 9.99981722e-01 4.13507488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.094340128 meters 0.015411160216308922 Centerline is valid? [True, True] Translation: X:38.31, Y:3.86, Z:0.41 [[ 9.68147605e-01 -2.50316731e-01 -5.63465321e-03 3.83121178e+01] [ 2.50312498e-01 9.68164002e-01 -1.45575521e-03 3.86278694e+00] [ 5.81966829e-03 -1.03819869e-06 9.99983066e-01 4.14822184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.124340128 meters 0.01549596270040395 Centerline is valid? [True, True] Translation: X:38.34, Y:3.87, Z:0.42 [[ 9.67910995e-01 -2.51222520e-01 -5.96242106e-03 3.83402750e+01] [ 2.51217795e-01 9.67929360e-01 -1.54073129e-03 3.86698849e+00] [ 6.15826880e-03 -6.57551909e-06 9.99981038e-01 4.15203877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.154340128 meters 0.015443823055129504 Centerline is valid? [True, True] Translation: X:38.37, Y:3.87, Z:0.42 [[ 9.67869609e-01 -2.51374145e-01 -6.28174610e-03 3.83674634e+01] [ 2.51368890e-01 9.67889993e-01 -1.62539472e-03 3.87312055e+00] [ 6.48862140e-03 -5.86539316e-06 9.99978949e-01 4.15158725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.184340128 meters 0.015397728896575409 Centerline is valid? [True, True] Translation: X:38.39, Y:3.88, Z:0.41 [[ 9.68057522e-01 -2.50619633e-01 -7.37790628e-03 3.83947748e+01] [ 2.50612340e-01 9.68085637e-01 -1.91186235e-03 3.87969011e+00] [ 7.62159534e-03 1.79836495e-06 9.99970955e-01 4.14922843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.214340128 meters 0.015397728896575409 Centerline is valid? [True, True] Translation: X:38.42, Y:3.89, Z:0.42 [[ 9.67984392e-01 -2.50901956e-01 -7.37734799e-03 3.84214183e+01] [ 2.50894656e-01 9.68012504e-01 -1.91401387e-03 3.88680142e+00] [ 7.62159492e-03 1.79836483e-06 9.99970955e-01 4.15191463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.244340128000005 meters 0.015472925220213526 Centerline is valid? [True, True] Translation: X:38.45, Y:3.89, Z:0.42 [[ 9.68188783e-01 -2.50097135e-01 -7.86790246e-03 3.84487856e+01] [ 2.50088783e-01 9.68220751e-01 -2.04393413e-03 3.89454160e+00] [ 8.12904850e-03 1.12399469e-05 9.99966959e-01 4.15172154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.274340128 meters 0.01568092257363214 Centerline is valid? [True, True] Translation: X:38.48, Y:3.90, Z:0.42 [[ 9.68323874e-01 -2.49552939e-01 -8.49737263e-03 3.84751848e+01] [ 2.49543149e-01 9.68361157e-01 -2.21049032e-03 3.90223007e+00] [ 8.78015995e-03 2.00094254e-05 9.99961453e-01 4.15269682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.304340128 meters 0.015808030372660934 Centerline is valid? [True, True] Translation: X:38.50, Y:3.91, Z:0.42 [[ 9.68502750e-01 -2.48855150e-01 -8.57541834e-03 3.85019993e+01] [ 2.48845144e-01 9.68540713e-01 -2.23180318e-03 3.90901007e+00] [ 8.86103752e-03 2.75563113e-05 9.99960740e-01 4.15330912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.334340128 meters 0.016033070688993355 Centerline is valid? [True, True] Translation: X:38.53, Y:3.92, Z:0.42 [[ 9.68754115e-01 -2.47855272e-01 -9.12296682e-03 3.85281890e+01] [ 2.47843874e-01 9.68797070e-01 -2.37731517e-03 3.91627280e+00] [ 9.42753362e-03 4.19624154e-05 9.99955559e-01 4.15102915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.364340128 meters 0.01604766683579398 Centerline is valid? [True, True] Translation: X:38.56, Y:3.92, Z:0.42 [[ 9.68834340e-01 -2.47518546e-01 -9.72574944e-03 3.85554473e+01] [ 2.47505554e-01 9.68883154e-01 -2.53657203e-03 3.92288089e+00] [ 1.00509634e-02 5.03410920e-05 9.99949487e-01 4.15051977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.394340128 meters 0.016292659165690282 Centerline is valid? [True, True] Translation: X:38.58, Y:3.93, Z:0.42 [[ 9.68939200e-01 -2.47108824e-01 -9.69823134e-03 3.85816271e+01] [ 2.47095853e-01 9.68987732e-01 -2.53252496e-03 3.93008065e+00] [ 1.00232765e-02 5.74699629e-05 9.99949764e-01 4.15038762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.424340128000004 meters 0.016525754038429718 Centerline is valid? [True, True] Translation: X:38.61, Y:3.94, Z:0.42 [[ 9.68970027e-01 -2.46962692e-01 -1.03206163e-02 3.86093698e+01] [ 2.46947976e-01 9.69024987e-01 -2.69675735e-03 3.93667952e+00] [ 1.06669336e-02 6.44217259e-05 9.99943105e-01 4.15331792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.454340128 meters 0.016665224481132508 Centerline is valid? [True, True] Translation: X:38.64, Y:3.94, Z:0.42 [[ 9.68900357e-01 -2.47240914e-01 -1.01994141e-02 3.86363116e+01] [ 2.47226523e-01 9.68954037e-01 -2.66832760e-03 3.94347152e+00] [ 1.05424833e-02 6.37778760e-05 9.99944424e-01 4.15625847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.484340128 meters 0.017101311302744202 Centerline is valid? [True, True] Translation: X:38.66, Y:3.95, Z:0.42 [[ 9.68814605e-01 -2.47563759e-01 -1.05093349e-02 3.86626618e+01] [ 2.47548463e-01 9.68871602e-01 -2.75267067e-03 3.95091536e+00] [ 1.08636576e-02 6.52578445e-05 9.99940987e-01 4.15794736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.514340128 meters 0.0171001162399082 Centerline is valid? [True, True] Translation: X:38.69, Y:3.96, Z:0.42 [[ 9.68640743e-01 -2.48258640e-01 -1.01370331e-02 3.86895129e+01] [ 2.48244432e-01 9.68693783e-01 -2.65661505e-03 3.95729212e+00] [ 1.04792086e-02 5.68435462e-05 9.99945090e-01 4.16173511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.544340128 meters 0.017078588191505036 Centerline is valid? [True, True] Translation: X:38.72, Y:3.96, Z:0.42 [[ 9.68481748e-01 -2.48889611e-01 -9.85221373e-03 3.87165753e+01] [ 2.48876194e-01 9.68531858e-01 -2.58475447e-03 3.96360821e+00] [ 1.01855014e-02 5.13060723e-05 9.99948125e-01 4.16592041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.574340128 meters 0.016817522985489566 Centerline is valid? [True, True] Translation: X:38.74, Y:3.97, Z:0.42 [[ 9.68141110e-01 -2.50216662e-01 -9.71669519e-03 3.87440206e+01] [ 2.50203650e-01 9.68189868e-01 -2.55197646e-03 3.96817685e+00] [ 1.00461529e-02 3.95207188e-05 9.99949535e-01 4.17203775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.604340128000004 meters 0.016751949413294828 Centerline is valid? [True, True] Translation: X:38.77, Y:3.97, Z:0.42 [[ 9.67468904e-01 -2.52835576e-01 -8.83698177e-03 3.87716417e+01] [ 2.52824898e-01 9.67509262e-01 -2.32370318e-03 3.97209520e+00] [ 9.13737654e-03 1.39015517e-05 9.99958253e-01 4.18311014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.634340128000005 meters 0.016846029281105665 Centerline is valid? [True, True] Translation: X:38.80, Y:3.98, Z:0.42 [[ 9.67170010e-01 -2.53995489e-01 -8.27427398e-03 3.87994308e+01] [ 2.53986166e-01 9.67205403e-01 -2.17626600e-03 3.97805192e+00] [ 8.55568425e-03 3.26808820e-06 9.99963399e-01 4.19082423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.664340128 meters 0.01703773552346231 Centerline is valid? [True, True] Translation: X:38.83, Y:3.98, Z:0.42 [[ 9.66663445e-01 -2.55906588e-01 -8.57922032e-03 3.88259498e+01] [ 2.55896613e-01 9.66701515e-01 -2.25947292e-03 3.98242397e+00] [ 8.87175928e-03 -1.12435441e-05 9.99960645e-01 4.18475345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.694340128 meters 0.01715781987953995 Centerline is valid? [True, True] Translation: X:38.85, Y:3.99, Z:0.42 [[ 9.66284105e-01 -2.57338518e-01 -8.48036554e-03 3.88528391e+01] [ 2.57328816e-01 9.66321317e-01 -2.23459419e-03 3.98746715e+00] [ 8.76980515e-03 -2.29895854e-05 9.99961544e-01 4.18700047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.724340128 meters 0.0172511170605271 Centerline is valid? [True, True] Translation: X:38.88, Y:3.99, Z:0.42 [[ 9.65920711e-01 -2.58706353e-01 -8.25856169e-03 3.88806230e+01] [ 2.58697195e-01 9.65956014e-01 -2.17703579e-03 3.99370585e+00] [ 8.54062032e-03 -3.36227835e-05 9.99963528e-01 4.18802041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.754340128 meters 0.017761182548642524 Centerline is valid? [True, True] Translation: X:38.91, Y:4.00, Z:0.42 [[ 9.65255651e-01 -2.61203633e-01 -7.36141293e-03 3.89091750e+01] [ 2.61196413e-01 9.65283720e-01 -1.94258037e-03 3.99774193e+00] [ 7.61326110e-03 -4.76879732e-05 9.99971018e-01 4.18839042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.784340128000004 meters 0.017843228708382165 Centerline is valid? [True, True] Translation: X:38.94, Y:4.00, Z:0.42 [[ 9.64910208e-01 -2.62495793e-01 -6.65201978e-03 3.89362990e+01] [ 2.62489919e-01 9.64933136e-01 -1.75676518e-03 4.00420171e+00] [ 6.87989777e-03 -5.09674791e-05 9.99976332e-01 4.19210759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.814340128000005 meters 0.0191530412861533 Centerline is valid? [True, True] Translation: X:38.96, Y:4.01, Z:0.42 [[ 9.64459489e-01 -2.64156720e-01 -6.25472640e-03 3.89649106e+01] [ 2.64151546e-01 9.64479769e-01 -1.65428645e-03 4.00573986e+00] [ 6.46954795e-03 -5.67033831e-05 9.99979071e-01 4.20454327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.844340128 meters 0.021463497348275205 Centerline is valid? [True, True] Translation: X:38.99, Y:4.01, Z:0.42 [[ 9.64119052e-01 -2.65409355e-01 -5.68583719e-03 3.89924037e+01] [ 2.65405099e-01 9.64135816e-01 -1.50414303e-03 4.01356972e+00] [ 5.88113291e-03 -5.88772324e-05 9.99982704e-01 4.20736768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.874340128 meters 0.01867047438041661 Centerline is valid? [True, True] Translation: X:39.02, Y:4.02, Z:0.42 [[ 9.63925901e-01 -2.66105163e-01 -5.90760011e-03 3.90190445e+01] [ 2.66100573e-01 9.63944002e-01 -1.56424253e-03 4.02195901e+00] [ 6.11084871e-03 -6.42018815e-05 9.99981327e-01 4.19677460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.904340128 meters 0.01889597987288057 Centerline is valid? [True, True] Translation: X:39.04, Y:4.03, Z:0.42 [[ 9.63835870e-01 -2.66434517e-01 -5.75009614e-03 3.90449970e+01] [ 2.66430159e-01 9.63853020e-01 -1.52502811e-03 4.02844318e+00] [ 5.94856765e-03 -6.21222342e-05 9.99982305e-01 4.19733150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.934340128 meters 0.01960546659980109 Centerline is valid? [True, True] Translation: X:39.07, Y:4.03, Z:0.42 [[ 9.63717468e-01 -2.66881213e-01 -4.80213141e-03 3.90724152e+01] [ 2.66878178e-01 9.63729430e-01 -1.27403296e-03 4.03348945e+00] [ 4.96797083e-03 -5.37762657e-05 9.99987658e-01 4.21153500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.964340128 meters 0.019568585936554625 Centerline is valid? [True, True] Translation: X:39.10, Y:4.04, Z:0.42 [[ 9.63786246e-01 -2.66633459e-01 -4.76146850e-03 3.90993656e+01] [ 2.66630471e-01 9.63798006e-01 -1.26329123e-03 4.04095663e+00] [ 4.92592956e-03 -5.20098728e-05 9.99987866e-01 4.21714967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.994340128000005 meters 0.019574220972766183 Centerline is valid? [True, True] Translation: X:39.13, Y:4.05, Z:0.42 [[ 9.63742281e-01 -2.66789280e-01 -4.92904936e-03 3.91267131e+01] [ 2.66786072e-01 9.63754885e-01 -1.30928271e-03 4.04882591e+00] [ 5.09969799e-03 -5.31906096e-05 9.99986995e-01 4.21953831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.024340128 meters 0.018633974131229695 Centerline is valid? [True, True] Translation: X:39.15, Y:4.06, Z:0.42 [[ 9.64205367e-01 -2.65120849e-01 -4.35260368e-03 3.91536761e+01] [ 2.65118327e-01 9.64215191e-01 -1.15714974e-03 4.06054105e+00] [ 4.50363111e-03 -3.82250136e-05 9.99989858e-01 4.20977481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.054340128 meters 0.01849118855047077 Centerline is valid? [True, True] Translation: X:39.18, Y:4.07, Z:0.42 [[ 9.64382483e-01 -2.64476419e-01 -4.31862175e-03 3.91802937e+01] [ 2.64473925e-01 9.64392152e-01 -1.14910525e-03 4.06940611e+00] [ 4.46875617e-03 -3.39858737e-05 9.99990014e-01 4.21278529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.084340128 meters 0.018507996224332576 Centerline is valid? [True, True] Translation: X:39.21, Y:4.08, Z:0.42 [[ 9.64910604e-01 -2.62545035e-01 -4.19900164e-03 3.92065162e+01] [ 2.62542649e-01 9.64919740e-01 -1.11970107e-03 4.07832399e+00] [ 4.34567153e-03 -2.20055769e-05 9.99990557e-01 4.23198995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.114340128 meters 0.01823567155218863 Centerline is valid? [True, True] Translation: X:39.23, Y:4.09, Z:0.42 [[ 9.65136680e-01 -2.61713317e-01 -4.16284291e-03 3.92328499e+01] [ 2.61710967e-01 9.65145657e-01 -1.10934717e-03 4.08799557e+00] [ 4.30808068e-03 -1.87899980e-05 9.99990720e-01 4.22488296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.144340128 meters 0.018122233364629016 Centerline is valid? [True, True] Translation: X:39.26, Y:4.10, Z:0.42 [[ 9.65118066e-01 -2.61781634e-01 -4.18269759e-03 3.92592758e+01] [ 2.61779256e-01 9.65127129e-01 -1.11592137e-03 4.09609192e+00] [ 4.32896263e-03 -1.79475891e-05 9.99990630e-01 4.22563083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.174340128000004 meters 0.018158202593227053 Centerline is valid? [True, True] Translation: X:39.29, Y:4.10, Z:0.42 [[ 9.65076191e-01 -2.61939800e-01 -3.93532656e-03 3.92859729e+01] [ 2.61937692e-01 9.65084214e-01 -1.05100076e-03 4.10398608e+00] [ 4.07322047e-03 -1.65145463e-05 9.99991704e-01 4.22948566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.204340128000005 meters 0.018271360363275743 Centerline is valid? [True, True] Translation: X:39.31, Y:4.11, Z:0.42 [[ 9.64871034e-01 -2.62690928e-01 -4.16697640e-03 3.93130490e+01] [ 2.62688565e-01 9.64880032e-01 -1.11437025e-03 4.11157721e+00] [ 4.31336728e-03 -1.93934773e-05 9.99990697e-01 4.23049492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.234340128 meters 0.0183380659860713 Centerline is valid? [True, True] Translation: X:39.34, Y:4.12, Z:0.42 [[ 9.64759394e-01 -2.63094562e-01 -4.53463312e-03 3.93405024e+01] [ 2.63091760e-01 9.64770051e-01 -1.21437949e-03 4.11944193e+00] [ 4.69437487e-03 -2.14405929e-05 9.99988981e-01 4.22873931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.264340128 meters 0.018390070088581564 Centerline is valid? [True, True] Translation: X:39.37, Y:4.13, Z:0.42 [[ 9.64643519e-01 -2.63517238e-01 -4.64171848e-03 3.93668405e+01] [ 2.63514298e-01 9.64654687e-01 -1.24504585e-03 4.12702510e+00] [ 4.80574653e-03 -2.21337785e-05 9.99988452e-01 4.22783207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.294340128 meters 0.018618548153483024 Centerline is valid? [True, True] Translation: X:39.39, Y:4.13, Z:0.42 [[ 9.64420358e-01 -2.64338845e-01 -4.28355581e-03 3.93934918e+01] [ 2.64336343e-01 9.64429870e-01 -1.15032139e-03 4.13462210e+00] [ 4.43526380e-03 -2.29061106e-05 9.99990164e-01 4.23050619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.324340128 meters 0.018555111894483913 Centerline is valid? [True, True] Translation: X:39.42, Y:4.14, Z:0.42 [[ 9.64286849e-01 -2.64825561e-01 -4.27725319e-03 3.94203794e+01] [ 2.64823074e-01 9.64296335e-01 -1.14795807e-03 4.14248443e+00] [ 4.42854821e-03 -2.57544710e-05 9.99990194e-01 4.22809864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.354340128000004 meters 0.018537063118919523 Centerline is valid? [True, True] Translation: X:39.45, Y:4.15, Z:0.42 [[ 9.63978718e-01 -2.65939487e-01 -4.60665607e-03 3.94472913e+01] [ 2.65936608e-01 9.63989724e-01 -1.23784187e-03 4.15144927e+00] [ 4.76996014e-03 -3.18252752e-05 9.99988623e-01 4.21980819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.384340128000005 meters 0.018604725022757087 Centerline is valid? [True, True] Translation: X:39.47, Y:4.16, Z:0.42 [[ 9.63906933e-01 -2.66196538e-01 -4.77773416e-03 3.94738627e+01] [ 2.66193432e-01 9.63918774e-01 -1.28639831e-03 4.15839338e+00] [ 4.94778242e-03 -3.18332001e-05 9.99987759e-01 4.22159530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.414340128 meters 0.018690769462333605 Centerline is valid? [True, True] Translation: X:39.50, Y:4.17, Z:0.42 [[ 9.63580718e-01 -2.67350116e-01 -6.00960935e-03 3.95012624e+01] [ 2.67345220e-01 9.63599457e-01 -1.61867661e-03 4.16576594e+00] [ 6.22360968e-03 -4.69147671e-05 9.99980632e-01 4.20974588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.444340128 meters 0.01879742915681517 Centerline is valid? [True, True] Translation: X:39.53, Y:4.17, Z:0.42 [[ 9.63449206e-01 -2.67812238e-01 -6.49867959e-03 3.95269543e+01] [ 2.67806504e-01 9.63471122e-01 -1.75329874e-03 4.17261551e+00] [ 6.73084497e-03 -5.11743854e-05 9.99977346e-01 4.21018422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.474340128 meters 0.018892980369350727 Centerline is valid? [True, True] Translation: X:39.55, Y:4.18, Z:0.42 [[ 9.63161109e-01 -2.68835011e-01 -6.95809160e-03 3.95541452e+01] [ 2.68828460e-01 9.63186240e-01 -1.87786768e-03 4.18008811e+00] [ 7.20677466e-03 -6.18439275e-05 9.99974029e-01 4.20709649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.504340128 meters 0.01896508145747398 Centerline is valid? [True, True] Translation: X:39.58, Y:4.19, Z:0.42 [[ 9.62931502e-01 -2.69649737e-01 -7.20703484e-03 3.95813792e+01] [ 2.69642714e-01 9.62958470e-01 -1.94745372e-03 4.18766831e+00] [ 7.46520563e-03 -6.80598945e-05 9.99972133e-01 4.20996346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.534340128000004 meters 0.019442601333417717 Centerline is valid? [True, True] Translation: X:39.61, Y:4.19, Z:0.42 [[ 9.62510954e-01 -2.71129567e-01 -7.83715866e-03 3.96084836e+01] [ 2.71121284e-01 9.62542857e-01 -2.12092766e-03 4.19457498e+00] [ 8.11864728e-03 -8.34044134e-05 9.99967040e-01 4.20508086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.564340128000005 meters 0.01957611657837195 Centerline is valid? [True, True] Translation: X:39.64, Y:4.20, Z:0.42 [[ 9.62210770e-01 -2.72182512e-01 -8.19236218e-03 3.96357062e+01] [ 2.72173495e-01 9.62245639e-01 -2.21765152e-03 4.20201894e+00] [ 8.48667075e-03 -9.58956721e-05 9.99963983e-01 4.20582531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.594340128 meters 0.01984261280287342 Centerline is valid? [True, True] Translation: X:39.66, Y:4.21, Z:0.42 [[ 9.61891459e-01 -2.73302687e-01 -8.39424675e-03 3.96631688e+01] [ 2.73293236e-01 9.61928080e-01 -2.27534111e-03 4.20917269e+00] [ 8.69651850e-03 -1.05459671e-04 9.99962179e-01 4.21010612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.624340128 meters 0.020248499008234964 Centerline is valid? [True, True] Translation: X:39.69, Y:4.22, Z:0.42 [[ 9.61323229e-01 -2.75294526e-01 -8.40079926e-03 3.96914748e+01] [ 2.75285130e-01 9.61359927e-01 -2.27777591e-03 4.21617680e+00] [ 8.70325100e-03 -1.22936227e-04 9.99962118e-01 4.21824852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.654340128 meters 0.020696256160409685 Centerline is valid? [True, True] Translation: X:39.72, Y:4.22, Z:0.42 [[ 9.61089482e-01 -2.76099791e-01 -8.71281493e-03 3.97181682e+01] [ 2.76089692e-01 9.61128965e-01 -2.36511671e-03 4.22250135e+00] [ 9.02714702e-03 -1.32429597e-04 9.99959246e-01 4.21699577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.684340128 meters 0.020978493190950822 Centerline is valid? [True, True] Translation: X:39.75, Y:4.23, Z:0.42 [[ 9.60819468e-01 -2.77014869e-01 -9.41868511e-03 3.97457267e+01] [ 2.77003102e-01 9.60865620e-01 -2.55775964e-03 4.22982423e+00] [ 9.75862815e-03 -1.51459732e-04 9.99952372e-01 4.22251625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.714340128 meters 0.02150056994296946 Centerline is valid? [True, True] Translation: X:39.77, Y:4.24, Z:0.42 [[ 9.60671754e-01 -2.77515873e-01 -9.73251687e-03 3.97727215e+01] [ 2.77503307e-01 9.60721039e-01 -2.64575881e-03 4.23671833e+00] [ 1.00844738e-02 -1.59099855e-04 9.99949138e-01 4.22066598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.744340128000005 meters 0.02154431547227838 Centerline is valid? [True, True] Translation: X:39.80, Y:4.24, Z:0.42 [[ 9.60524748e-01 -2.78012800e-01 -1.00544342e-02 3.97997531e+01] [ 2.77999403e-01 9.60577355e-01 -2.73443780e-03 4.24436265e+00] [ 1.04182705e-02 -1.68631529e-04 9.99945714e-01 4.22368864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.774340128 meters 0.022101729133037117 Centerline is valid? [True, True] Translation: X:39.83, Y:4.25, Z:0.42 [[ 9.60335403e-01 -2.78633769e-01 -1.09150171e-02 3.98267791e+01] [ 2.78617982e-01 9.60397411e-01 -2.97186871e-03 4.25069386e+00] [ 1.13108171e-02 -1.87129288e-04 9.99936013e-01 4.22850946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.804340128 meters 0.022091691711245476 Centerline is valid? [True, True] Translation: X:39.85, Y:4.26, Z:0.42 [[ 9.60262176e-01 -2.78856805e-01 -1.16377049e-02 3.98540775e+01] [ 2.78838855e-01 9.60332673e-01 -3.17031104e-03 4.25833292e+00] [ 1.20601310e-02 -2.00714528e-04 9.99927254e-01 4.23185359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.834340128 meters 0.021328829200028498 Centerline is valid? [True, True] Translation: X:39.88, Y:4.27, Z:0.42 [[ 9.60102821e-01 -2.79399628e-01 -1.17652683e-02 3.98809505e+01] [ 2.79381277e-01 9.60174883e-01 -3.20881904e-03 4.26729073e+00] [ 1.21932579e-02 -2.06199459e-04 9.99925638e-01 4.23958698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.864340128 meters 0.022038527035841204 Centerline is valid? [True, True] Translation: X:39.91, Y:4.27, Z:0.42 [[ 9.60170515e-01 -2.79148477e-01 -1.21946559e-02 3.99075478e+01] [ 2.79128696e-01 9.60247929e-01 -3.32958670e-03 4.27308900e+00] [ 1.26393421e-02 -2.06907413e-04 9.99920099e-01 4.24026694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.894340128 meters 0.021435645736774457 Centerline is valid? [True, True] Translation: X:39.93, Y:4.28, Z:0.43 [[ 9.60207027e-01 -2.79027310e-01 -1.20924230e-02 3.99339288e+01] [ 2.79007821e-01 9.60283146e-01 -3.30389064e-03 4.28216711e+00] [ 1.25340257e-02 -2.01461573e-04 9.99921426e-01 4.25151977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.924340128000004 meters 0.021256516693582833 Centerline is valid? [True, True] Translation: X:39.96, Y:4.29, Z:0.43 [[ 9.60204600e-01 -2.79048413e-01 -1.17944558e-02 3.99608838e+01] [ 2.79029829e-01 9.60277015e-01 -3.22626115e-03 4.29049409e+00] [ 1.22262278e-02 -1.93134174e-04 9.99925238e-01 4.25599482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.954340128000005 meters 0.02143418712459335 Centerline is valid? [True, True] Translation: X:39.99, Y:4.30, Z:0.43 [[ 9.60170011e-01 -2.79158616e-01 -1.20007384e-02 3.99867524e+01] [ 2.79139339e-01 9.60244984e-01 -3.28641162e-03 4.29703747e+00] [ 1.24410790e-02 -1.94364309e-04 9.99922588e-01 4.26374458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.984340128 meters 0.021470569697668584 Centerline is valid? [True, True] Translation: X:40.01, Y:4.30, Z:0.43 [[ 9.60069922e-01 -2.79505513e-01 -1.19336618e-02 4.00134200e+01] [ 2.79486441e-01 9.60144067e-01 -3.27093049e-03 4.30431811e+00] [ 1.23722777e-02 -1.94974686e-04 9.99923441e-01 4.26772446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.014340128 meters 0.02200194408287606 Centerline is valid? [True, True] Translation: X:40.04, Y:4.31, Z:0.43 [[ 9.59926344e-01 -2.79999413e-01 -1.19055571e-02 4.00396448e+01] [ 2.79980425e-01 9.60000151e-01 -3.26677398e-03 4.31027910e+00] [ 1.23440315e-02 -1.97460550e-04 9.99923790e-01 4.27470923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.044340128 meters 0.02158655861213103 Centerline is valid? [True, True] Translation: X:40.07, Y:4.32, Z:0.43 [[ 9.59787314e-01 -2.80503217e-01 -1.12363911e-02 4.00668059e+01] [ 2.80486308e-01 9.59853067e-01 -3.08567703e-03 4.31850621e+00] [ 1.16508268e-02 -1.90060190e-04 9.99932109e-01 4.29200110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.074340128 meters 0.02185045688480298 Centerline is valid? [True, True] Translation: X:40.09, Y:4.33, Z:0.43 [[ 9.59756936e-01 -2.80606987e-01 -1.12402042e-02 4.00927407e+01] [ 2.80590036e-01 9.59822735e-01 -3.09000272e-03 4.32574154e+00] [ 1.16556799e-02 -1.88237758e-04 9.99932053e-01 4.30036643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.104340128000004 meters 0.02185045688480298 Centerline is valid? [True, True] Translation: X:40.12, Y:4.33, Z:0.43 [[ 9.59674876e-01 -2.80887522e-01 -1.12397232e-02 4.01192881e+01] [ 2.80870570e-01 9.59740675e-01 -3.09175134e-03 4.33323519e+00] [ 1.16556539e-02 -1.89831376e-04 9.99932053e-01 4.30305832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.134340128000005 meters 0.02187784668635075 Centerline is valid? [True, True] Translation: X:40.15, Y:4.34, Z:0.43 [[ 9.59658206e-01 -2.80947482e-01 -1.11642341e-02 4.01458605e+01] [ 2.80930721e-01 9.59723126e-01 -3.07447341e-03 4.34129227e+00] [ 1.15783392e-02 -1.85932697e-04 9.99932951e-01 4.30365356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.164340128 meters 0.021928710480782286 Centerline is valid? [True, True] Translation: X:40.17, Y:4.35, Z:0.43 [[ 9.59622350e-01 -2.81062823e-01 -1.13417637e-02 4.01728438e+01] [ 2.81045490e-01 9.59689353e-01 -3.12694983e-03 4.34988731e+00] [ 1.17634392e-02 -1.86860586e-04 9.99930791e-01 4.30473726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.194340128 meters 0.02113698569962398 Centerline is valid? [True, True] Translation: X:40.20, Y:4.36, Z:0.43 [[ 9.59978406e-01 -2.79851320e-01 -1.11668802e-02 4.01993480e+01] [ 2.79834397e-01 9.60043338e-01 -3.08209845e-03 4.36081659e+00] [ 1.15832182e-02 -1.66129223e-04 9.99932898e-01 4.30691096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.224340128 meters 0.020657382426290574 Centerline is valid? [True, True] Translation: X:40.23, Y:4.37, Z:0.43 [[ 9.60243845e-01 -2.78949984e-01 -1.08933586e-02 4.02263240e+01] [ 2.78933789e-01 9.60305620e-01 -3.00951836e-03 4.37051516e+00] [ 1.13004586e-02 -1.48654291e-04 9.99936137e-01 4.30844809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.254340128 meters 0.020392111067804544 Centerline is valid? [True, True] Translation: X:40.25, Y:4.38, Z:0.43 [[ 9.60704167e-01 -2.77324997e-01 -1.17622013e-02 4.02523873e+01] [ 2.77305956e-01 9.60776159e-01 -3.25257359e-03 4.38046784e+00] [ 1.22028626e-02 -1.36967477e-04 9.99925533e-01 4.30338730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.284340128000004 meters 0.02023461469445559 Centerline is valid? [True, True] Translation: X:40.28, Y:4.39, Z:0.43 [[ 9.60865185e-01 -2.76737613e-01 -1.24253809e-02 4.02793693e+01] [ 2.76716292e-01 9.60945511e-01 -3.43782599e-03 4.38967157e+00] [ 1.28914897e-02 -1.35018008e-04 9.99916892e-01 4.30465810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.314340128000005 meters 0.019380601710061347 Centerline is valid? [True, True] Translation: X:40.31, Y:4.40, Z:0.43 [[ 9.61208868e-01 -2.75512388e-01 -1.30551142e-02 4.03064407e+01] [ 2.75488683e-01 9.61297514e-01 -3.61601736e-03 4.40184681e+00] [ 1.35461064e-02 -1.20788271e-04 9.99908240e-01 4.31018270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.344340128 meters 0.01921662914770499 Centerline is valid? [True, True] Translation: X:40.33, Y:4.41, Z:0.43 [[ 9.61269383e-01 -2.75317776e-01 -1.27001796e-02 4.03330076e+01] [ 2.75295280e-01 9.61353270e-01 -3.52124564e-03 4.41078523e+00] [ 1.31788207e-02 -1.11433880e-04 9.99913149e-01 4.31722555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.374340128 meters 0.01911452046400242 Centerline is valid? [True, True] Translation: X:40.36, Y:4.42, Z:0.43 [[ 9.61284615e-01 -2.75248388e-01 -1.30465935e-02 4.03594896e+01] [ 2.75224585e-01 9.61373139e-01 -3.62143807e-03 4.41991293e+00] [ 1.35394395e-02 -1.09510582e-04 9.99908332e-01 4.32204134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.404340128 meters 0.019086327320998832 Centerline is valid? [True, True] Translation: X:40.39, Y:4.43, Z:0.43 [[ 9.61298021e-01 -2.75212090e-01 -1.28226911e-02 4.03851661e+01] [ 2.75189049e-01 9.61383532e-01 -3.56263189e-03 4.42802396e+00] [ 1.33080034e-02 -1.03913185e-04 9.99911439e-01 4.32646008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.434340128 meters 0.018922020933224225 Centerline is valid? [True, True] Translation: X:40.41, Y:4.44, Z:0.43 [[ 9.61327658e-01 -2.75106008e-01 -1.28770738e-02 4.04121197e+01] [ 2.75082731e-01 9.61413893e-01 -3.58009115e-03 4.43748616e+00] [ 1.33651023e-02 -1.00619990e-04 9.99910678e-01 4.33786744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.464340128 meters 0.018516763134998122 Centerline is valid? [True, True] Translation: X:40.44, Y:4.45, Z:0.43 [[ 9.61261773e-01 -2.75317047e-01 -1.32788619e-02 4.04386869e+01] [ 2.75292255e-01 9.61353480e-01 -3.69610763e-03 4.44676855e+00] [ 1.37832815e-02 -1.02640869e-04 9.99905001e-01 4.34600082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.494340128000005 meters 0.019000298205297153 Centerline is valid? [True, True] Translation: X:40.46, Y:4.46, Z:0.43 [[ 9.61122915e-01 -2.75767455e-01 -1.39661376e-02 4.04644662e+01] [ 2.75740014e-01 9.61224375e-01 -3.89178131e-03 4.45534738e+00] [ 1.44978185e-02 -1.10542789e-04 9.99894895e-01 4.33677007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.524340128 meters 0.018713075168808397 Centerline is valid? [True, True] Translation: X:40.49, Y:4.46, Z:0.43 [[ 9.60983336e-01 -2.76241102e-01 -1.42084963e-02 4.04910614e+01] [ 2.76212697e-01 9.61088362e-01 -3.96310489e-03 4.46495045e+00] [ 1.47503929e-02 -1.16089331e-04 9.99891200e-01 4.34022363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.554340128 meters 0.019202009178802583 Centerline is valid? [True, True] Translation: X:40.52, Y:4.47, Z:0.43 [[ 9.60834422e-01 -2.76760218e-01 -1.41772946e-02 4.05172501e+01] [ 2.76731937e-01 9.60939003e-01 -3.95822532e-03 4.47199723e+00] [ 1.47189947e-02 -1.20111083e-04 9.99891663e-01 4.33433581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.584340128 meters 0.019277420853817128 Centerline is valid? [True, True] Translation: X:40.55, Y:4.48, Z:0.43 [[ 9.60372930e-01 -2.78354302e-01 -1.42379237e-02 4.05450239e+01] [ 2.78325914e-01 9.60478455e-01 -3.97787074e-03 4.48144024e+00] [ 1.47824764e-02 -1.42543751e-04 9.99890723e-01 4.34170067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.614340128 meters 0.01957422340843813 Centerline is valid? [True, True] Translation: X:40.57, Y:4.49, Z:0.43 [[ 9.59973358e-01 -2.79746193e-01 -1.39003557e-02 4.05730152e+01] [ 2.79719225e-01 9.60073978e-01 -3.88739062e-03 4.48879992e+00] [ 1.44328525e-02 -1.56405297e-04 9.99895829e-01 4.34883424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.644340128 meters 0.020146434610555413 Centerline is valid? [True, True] Translation: X:40.60, Y:4.50, Z:0.44 [[ 9.59596677e-01 -2.81024421e-01 -1.41241954e-02 4.06003293e+01] [ 2.80996670e-01 9.59700601e-01 -3.95312832e-03 4.49518702e+00] [ 1.46659244e-02 -1.75443077e-04 9.99892434e-01 4.35373809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.674340128000004 meters 0.020932219029583175 Centerline is valid? [True, True] Translation: X:40.63, Y:4.50, Z:0.44 [[ 9.58653130e-01 -2.84208738e-01 -1.44765444e-02 4.06278674e+01] [ 2.84179926e-01 9.58762401e-01 -4.05321401e-03 4.50192401e+00] [ 1.50315253e-02 -2.28317029e-04 9.99886994e-01 4.36037743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.704340128000005 meters 0.021670030886490953 Centerline is valid? [True, True] Translation: X:40.66, Y:4.51, Z:0.44 [[ 9.58085102e-01 -2.86075438e-01 -1.52899064e-02 4.06563261e+01] [ 2.86043492e-01 9.58207061e-01 -4.28363889e-03 4.50911578e+00] [ 1.58763401e-02 -2.69487616e-04 9.99873927e-01 4.35975572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.734340128 meters 0.02307565577586199 Centerline is valid? [True, True] Translation: X:40.68, Y:4.51, Z:0.44 [[ 9.57586997e-01 -2.87729718e-01 -1.54516140e-02 4.06831778e+01] [ 2.87697247e-01 9.57711607e-01 -4.33273346e-03 4.51473463e+00] [ 1.60448462e-02 -2.96417587e-04 9.99871229e-01 4.35274002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.764340128 meters 0.023810718741525166 Centerline is valid? [True, True] Translation: X:40.71, Y:4.52, Z:0.44 [[ 9.56681206e-01 -2.90712079e-01 -1.57339394e-02 4.07110220e+01] [ 2.90678757e-01 9.56810517e-01 -4.41538142e-03 4.52235763e+00] [ 1.63380034e-02 -3.49409524e-04 9.99866465e-01 4.35644165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.794340128 meters 0.025355074134214062 Centerline is valid? [True, True] Translation: X:40.74, Y:4.53, Z:0.44 [[ 9.56126234e-01 -2.92538822e-01 -1.56096882e-02 4.07382535e+01] [ 2.92506214e-01 9.56253574e-01 -4.38376200e-03 4.52805403e+00] [ 1.62092407e-02 -3.74500933e-04 9.99868551e-01 4.35091981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.824340128 meters 0.0254850550550603 Centerline is valid? [True, True] Translation: X:40.77, Y:4.54, Z:0.44 [[ 9.55061489e-01 -2.95980187e-01 -1.59148312e-02 4.07662366e+01] [ 2.95946735e-01 9.55193978e-01 -4.47150333e-03 4.53648164e+00] [ 1.65252273e-02 -4.39381700e-04 9.99863353e-01 4.35616690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.854340128000004 meters 0.02797650315497997 Centerline is valid? [True, True] Translation: X:40.79, Y:4.54, Z:0.44 [[ 9.54408864e-01 -2.98082930e-01 -1.58204453e-02 4.07935222e+01] [ 2.98050117e-01 9.54539861e-01 -4.44773325e-03 4.54056843e+00] [ 1.64270390e-02 -4.70329530e-04 9.99864956e-01 4.35134246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.884340128000005 meters 0.029209975036944048 Centerline is valid? [True, True] Translation: X:40.82, Y:4.55, Z:0.44 [[ 9.53743496e-01 -3.00189260e-01 -1.61168279e-02 4.08218209e+01] [ 3.00155446e-01 9.53879523e-01 -4.53466975e-03 4.54725354e+00] [ 1.67347713e-02 -5.12641891e-04 9.99859832e-01 4.35468439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.914340128 meters 0.030313209731438622 Centerline is valid? [True, True] Translation: X:40.85, Y:4.56, Z:0.44 [[ 9.52641779e-01 -3.03635545e-01 -1.67061802e-02 4.08506778e+01] [ 3.03599689e-01 9.52788070e-01 -4.70347060e-03 4.55527714e+00] [ 1.73455901e-02 -5.91268520e-04 9.99849379e-01 4.35236109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.944340128 meters 0.03150873236504602 Centerline is valid? [True, True] Translation: X:40.88, Y:4.56, Z:0.44 [[ 9.52229012e-01 -3.04920505e-01 -1.68343057e-02 4.08774918e+01] [ 3.04884278e-01 9.52377605e-01 -4.74067279e-03 4.56145004e+00] [ 1.74781441e-02 -6.18308953e-04 9.99847054e-01 4.35348706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.974340128 meters 0.030889818349107628 Centerline is valid? [True, True] Translation: X:40.91, Y:4.57, Z:0.44 [[ 9.51926537e-01 -3.05879750e-01 -1.65362410e-02 4.09050616e+01] [ 3.05844887e-01 9.52069951e-01 -4.65970042e-03 4.57036734e+00] [ 1.71689661e-02 -6.21832267e-04 9.99852409e-01 4.36389643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.004340128 meters 0.0303828164948914 Centerline is valid? [True, True] Translation: X:40.93, Y:4.58, Z:0.44 [[ 9.51753219e-01 -3.06423623e-01 -1.64430218e-02 4.09318780e+01] [ 3.06389153e-01 9.51895044e-01 -4.63813315e-03 4.58005801e+00] [ 1.70732645e-02 -6.23605361e-04 9.99854047e-01 4.37797554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.034340128000004 meters 0.03126890226111716 Centerline is valid? [True, True] Translation: X:40.96, Y:4.59, Z:0.44 [[ 9.51936562e-01 -3.05875405e-01 -1.60317950e-02 4.09585544e+01] [ 3.05842505e-01 9.52071364e-01 -4.52545982e-03 4.58774188e+00] [ 1.66476398e-02 -5.95253672e-04 9.99861241e-01 4.37815009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.064340128000005 meters 0.030764173244550184 Centerline is valid? [True, True] Translation: X:40.99, Y:4.60, Z:0.44 [[ 9.52277647e-01 -3.04832015e-01 -1.56436881e-02 4.09860041e+01] [ 3.04800505e-01 9.52405968e-01 -4.41858535e-03 4.59768798e+00] [ 1.62460682e-02 -5.60483952e-04 9.99867867e-01 4.38529306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.094340128 meters 0.029940114423616004 Centerline is valid? [True, True] Translation: X:41.01, Y:4.61, Z:0.44 [[ 9.53115977e-01 -3.02224229e-01 -1.51805831e-02 4.10115958e+01] [ 3.02194177e-01 9.53236732e-01 -4.29090207e-03 4.60877789e+00] [ 1.57675040e-02 -4.97756485e-04 9.99875561e-01 4.38426807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.124340128 meters 0.028819442220331823 Centerline is valid? [True, True] Translation: X:41.04, Y:4.62, Z:0.44 [[ 9.53554281e-01 -3.00851708e-01 -1.49158437e-02 4.10383917e+01] [ 3.00822489e-01 9.53670821e-01 -4.21851136e-03 4.61936838e+00] [ 1.54939513e-02 -4.64441675e-04 9.99879854e-01 4.39059642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.154340128 meters 0.027162221529589473 Centerline is valid? [True, True] Translation: X:41.07, Y:4.63, Z:0.44 [[ 9.54059842e-01 -2.99237806e-01 -1.50517057e-02 4.10654101e+01] [ 2.99207786e-01 9.54178465e-01 -4.26115995e-03 4.63093638e+00] [ 1.56371136e-02 -4.38185945e-04 9.99877637e-01 4.39449251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.184340128 meters 0.025602835846582274 Centerline is valid? [True, True] Translation: X:41.09, Y:4.64, Z:0.44 [[ 9.55182969e-01 -2.95620481e-01 -1.52979280e-02 4.10911632e+01] [ 2.95588955e-01 9.55305388e-01 -4.33415245e-03 4.64275417e+00] [ 1.58954573e-02 -3.81989949e-04 9.99873586e-01 4.38901791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.214340128 meters 0.02513864961998911 Centerline is valid? [True, True] Translation: X:41.12, Y:4.65, Z:0.44 [[ 9.55598579e-01 -2.94276206e-01 -1.52601124e-02 4.11171763e+01] [ 2.94244639e-01 9.55720350e-01 -4.32494883e-03 4.65210625e+00] [ 1.58571295e-02 -3.57291314e-04 9.99874204e-01 4.38845046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.244340128000005 meters 0.024052430099996195 Centerline is valid? [True, True] Translation: X:41.14, Y:4.66, Z:0.44 [[ 9.55946154e-01 -2.93126232e-01 -1.56193016e-02 4.11440083e+01] [ 2.93092965e-01 9.56073687e-01 -4.42944469e-03 4.66300986e+00] [ 1.62315897e-02 -3.43596782e-04 9.99868200e-01 4.39189660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.274340128 meters 0.022957505879442158 Centerline is valid? [True, True] Translation: X:41.17, Y:4.67, Z:0.44 [[ 9.56596540e-01 -2.91038960e-01 -1.48116174e-02 4.11705823e+01] [ 2.91008733e-01 9.56711159e-01 -4.20434274e-03 4.67460934e+00] [ 1.53940672e-02 -2.88450301e-04 9.99881463e-01 4.40385355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.304340128 meters 0.022910929257030213 Centerline is valid? [True, True] Translation: X:41.20, Y:4.68, Z:0.44 [[ 9.56726034e-01 -2.90649641e-01 -1.40741457e-02 4.11971362e+01] [ 2.90622266e-01 9.56829512e-01 -3.99785460e-03 4.68293993e+00] [ 1.46285330e-02 -2.65408553e-04 9.99892962e-01 4.41218322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.334340128 meters 0.02304072400938703 Centerline is valid? [True, True] Translation: X:41.22, Y:4.69, Z:0.44 [[ 9.57020384e-01 -2.89756171e-01 -1.23832585e-02 4.12239455e+01] [ 2.89734889e-01 9.57100472e-01 -3.51868528e-03 4.69123372e+00] [ 1.28715833e-02 -2.20408492e-04 9.99917133e-01 4.43279968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.364340128 meters 0.022142806683793544 Centerline is valid? [True, True] Translation: X:41.25, Y:4.70, Z:0.44 [[ 9.56980697e-01 -2.89914632e-01 -1.17240036e-02 4.12499781e+01] [ 2.89895548e-01 9.57052487e-01 -3.33297727e-03 4.70125443e+00] [ 1.21867657e-02 -2.09141530e-04 9.99925717e-01 4.43991368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.394340128 meters 0.02173202679871778 Centerline is valid? [True, True] Translation: X:41.28, Y:4.71, Z:0.44 [[ 9.56850529e-01 -2.90343702e-01 -1.17302818e-02 4.12760937e+01] [ 2.90324585e-01 9.56922405e-01 -3.33851620e-03 4.71119405e+00] [ 1.21942867e-02 -2.11128203e-04 9.99925625e-01 4.44385533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.424340128000004 meters 0.021930990326216867 Centerline is valid? [True, True] Translation: X:41.30, Y:4.72, Z:0.44 [[ 9.56747797e-01 -2.90722308e-01 -1.06860703e-02 4.13019472e+01] [ 2.90706433e-01 9.56807453e-01 -3.04434439e-03 4.71991101e+00] [ 1.11095705e-02 -1.93839579e-04 9.99938268e-01 4.44582755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.454340128000005 meters 0.022924459810424434 Centerline is valid? [True, True] Translation: X:41.33, Y:4.73, Z:0.44 [[ 9.56618119e-01 -2.91170564e-01 -1.00735882e-02 4.13287393e+01] [ 2.91156467e-01 9.56671139e-01 -2.87119244e-03 4.72622449e+00] [ 1.04731179e-02 -1.86355653e-04 9.99945138e-01 4.44960820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.484340128 meters 0.022380285837282434 Centerline is valid? [True, True] Translation: X:41.36, Y:4.74, Z:0.45 [[ 9.56398227e-01 -2.91902900e-01 -9.75338300e-03 4.13563191e+01] [ 2.91889713e-01 9.56447940e-01 -2.78094168e-03 4.73588322e+00] [ 1.01403680e-02 -1.87224477e-04 9.99948568e-01 4.45845106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.514340128 meters 0.022635441343844046 Centerline is valid? [True, True] Translation: X:41.38, Y:4.74, Z:0.45 [[ 9.56197372e-01 -2.92583494e-01 -9.02684704e-03 4.13827427e+01] [ 2.92572206e-01 9.56239963e-01 -2.57621630e-03 4.74325493e+00] [ 9.38559025e-03 -1.77633298e-04 9.99955939e-01 4.46603012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.544340128 meters 0.023210489494272974 Centerline is valid? [True, True] Translation: X:41.41, Y:4.75, Z:0.45 [[ 9.55747181e-01 -2.94076322e-01 -8.15125391e-03 4.14103863e+01] [ 2.94067168e-01 9.55781924e-01 -2.32682634e-03 4.75128698e+00] [ 8.47508568e-03 -1.73158437e-04 9.99964071e-01 4.47266445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.574340128 meters 0.02375552817278131 Centerline is valid? [True, True] Translation: X:41.44, Y:4.76, Z:0.45 [[ 9.55608810e-01 -2.94543526e-01 -7.47748744e-03 4.14374240e+01] [ 2.94535820e-01 9.55638052e-01 -2.13663325e-03 4.75841659e+00] [ 7.77510301e-03 -1.60602335e-04 9.99969761e-01 4.47983666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.604340128000004 meters 0.024610055989111996 Centerline is valid? [True, True] Translation: X:41.46, Y:4.77, Z:0.45 [[ 9.55228825e-01 -2.95796815e-01 -6.49128727e-03 4.14639101e+01] [ 2.95791030e-01 9.55250869e-01 -1.85577654e-03 4.76595270e+00] [ 6.74974060e-03 -1.47373304e-04 9.99977209e-01 4.48540656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.634340128000005 meters 0.023220644676330077 Centerline is valid? [True, True] Translation: X:41.49, Y:4.78, Z:0.45 [[ 9.55108071e-01 -2.96193119e-01 -6.18129262e-03 4.14905069e+01] [ 2.96187884e-01 9.55128062e-01 -1.76694902e-03 4.77680526e+00] [ 6.42728418e-03 -1.43196711e-04 9.99979335e-01 4.48147727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.664340128 meters 0.024793558941318048 Centerline is valid? [True, True] Translation: X:41.52, Y:4.78, Z:0.45 [[ 9.54921061e-01 -2.96798389e-01 -6.04015364e-03 4.15176445e+01] [ 2.96793385e-01 9.54940153e-01 -1.72932445e-03 4.78180051e+00] [ 6.28124595e-03 -1.41309304e-04 9.99980263e-01 4.48914810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.694340128 meters 0.023726017276457272 Centerline is valid? [True, True] Translation: X:41.54, Y:4.79, Z:0.45 [[ 9.54666877e-01 -2.97632289e-01 -5.11608899e-03 4.15442757e+01] [ 2.97628713e-01 9.54680577e-01 -1.46432824e-03 4.79316416e+00] [ 5.32006216e-03 -1.24749316e-04 9.99985841e-01 4.48124501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.724340128 meters 0.024584563554396227 Centerline is valid? [True, True] Translation: X:41.57, Y:4.80, Z:0.45 [[ 9.54542187e-01 -2.98035079e-01 -4.92996562e-03 4.15708854e+01] [ 2.98031755e-01 9.54554911e-01 -1.41269228e-03 4.79972034e+00] [ 5.12695475e-03 -1.20811925e-04 9.99986850e-01 4.48421994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.754340128 meters 0.024601993110198214 Centerline is valid? [True, True] Translation: X:41.60, Y:4.81, Z:0.45 [[ 9.54433385e-01 -2.98384323e-01 -4.86920738e-03 4.15980327e+01] [ 2.98381083e-01 9.54445798e-01 -1.39593096e-03 4.80825839e+00] [ 5.06391843e-03 -1.20556259e-04 9.99987171e-01 4.48379996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.784340128000004 meters 0.02426100600537032 Centerline is valid? [True, True] Translation: X:41.63, Y:4.82, Z:0.45 [[ 9.54189708e-01 -2.99175171e-01 -4.02713052e-03 4.16251152e+01] [ 2.99172957e-01 9.54198201e-01 -1.15547641e-03 4.81710113e+00] [ 4.18837055e-03 -1.02264844e-04 9.99991224e-01 4.48917135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.814340128000005 meters 0.025090933674482615 Centerline is valid? [True, True] Translation: X:41.65, Y:4.82, Z:0.45 [[ 9.53974233e-01 -2.99864702e-01 -3.78458817e-03 4.16525180e+01] [ 2.99862745e-01 9.53981735e-01 -1.08758746e-03 4.82362546e+00] [ 3.93655708e-03 -9.73265807e-05 9.99992247e-01 4.50058720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.844340128 meters 0.024925472059770627 Centerline is valid? [True, True] Translation: X:41.68, Y:4.83, Z:0.45 [[ 9.53767884e-01 -3.00523180e-01 -3.55543361e-03 4.16805286e+01] [ 3.00521459e-01 9.53774506e-01 -1.02141509e-03 4.83220843e+00] [ 3.69804085e-03 -9.42911847e-05 9.99993158e-01 4.50193176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.874340128 meters 0.024936298749085234 Centerline is valid? [True, True] Translation: X:41.71, Y:4.84, Z:0.45 [[ 9.53365906e-01 -3.01797777e-01 -3.39870647e-03 4.17080401e+01] [ 3.01796210e-01 9.53371959e-01 -9.77210684e-04 4.84058521e+00] [ 3.53515146e-03 -9.40773828e-05 9.99993747e-01 4.50026191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.904340128 meters 0.025160944425731274 Centerline is valid? [True, True] Translation: X:41.74, Y:4.85, Z:0.45 [[ 9.53136775e-01 -3.02524648e-01 -3.02087254e-03 4.17356112e+01] [ 3.02523411e-01 9.53141558e-01 -8.69159103e-04 4.84856416e+00] [ 3.14226121e-03 -8.54571607e-05 9.99995059e-01 4.50140621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.934340128 meters 0.026550325569247434 Centerline is valid? [True, True] Translation: X:41.76, Y:4.85, Z:0.45 [[ 9.52919581e-01 -3.03215332e-01 -2.17573609e-03 4.17625988e+01] [ 3.03214690e-01 9.52922063e-01 -6.27234756e-04 4.85425314e+00] [ 2.26349412e-03 -6.20108623e-05 9.99997436e-01 4.51157555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.964340128 meters 0.027884689549473828 Centerline is valid? [True, True] Translation: X:41.79, Y:4.86, Z:0.45 [[ 9.52753647e-01 -3.03740311e-01 -1.52047658e-03 4.17899657e+01] [ 3.03739998e-01 9.52754859e-01 -4.38219575e-04 4.86092721e+00] [ 1.58174640e-03 -4.43142569e-05 9.99998748e-01 4.51837088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.994340128000005 meters 0.026789289487098827 Centerline is valid? [True, True] Translation: X:41.82, Y:4.87, Z:0.45 [[ 9.52715250e-01 -3.03863439e-01 -8.13847118e-04 4.18167730e+01] [ 3.03863351e-01 9.52715598e-01 -2.32316069e-04 4.87102282e+00] [ 8.45957203e-04 -2.59672508e-05 9.99999642e-01 4.51484105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.024340128 meters 0.026789289487098827 Centerline is valid? [True, True] Translation: X:41.84, Y:4.88, Z:0.45 [[ 9.52625234e-01 -3.04145526e-01 -8.13777882e-04 4.18432164e+01] [ 3.04145439e-01 9.52625581e-01 -2.32556921e-04 4.87885733e+00] [ 8.45956775e-04 -2.59672390e-05 9.99999642e-01 4.51752833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.054340128 meters 0.027581488427162567 Centerline is valid? [True, True] Translation: X:41.87, Y:4.89, Z:0.45 [[ 9.52618185e-01 -3.04168125e-01 -5.88584782e-04 4.18689551e+01] [ 3.04168078e-01 9.52618366e-01 -1.69158758e-04 4.88567369e+00] [ 6.12149375e-04 -1.78849927e-05 9.99999812e-01 4.51545936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.084340128 meters 0.02683023234637516 Centerline is valid? [True, True] Translation: X:41.90, Y:4.90, Z:0.45 [[ 9.52498828e-01 -3.04541670e-01 -5.94806795e-04 4.18950773e+01] [ 3.04541624e-01 9.52499013e-01 -1.69448895e-04 4.89507001e+00] [ 6.18157135e-04 -1.97435535e-05 9.99999809e-01 4.51000089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.114340128 meters 0.026898255033778396 Centerline is valid? [True, True] Translation: X:41.92, Y:4.90, Z:0.45 [[ 9.52461748e-01 -3.04657358e-01 -7.15744668e-04 4.19218472e+01] [ 3.04657290e-01 9.52462017e-01 -2.04748935e-04 4.90296907e+00] [ 7.44097880e-04 -2.30413023e-05 9.99999723e-01 4.50960442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.144340128 meters 0.027655355137065907 Centerline is valid? [True, True] Translation: X:41.95, Y:4.91, Z:0.45 [[ 9.52485752e-01 -3.04581101e-01 -1.11631326e-03 4.19491846e+01] [ 3.04580932e-01 9.52486405e-01 -3.22779687e-04 4.90976489e+00] [ 1.16158579e-03 -3.25646790e-05 9.99999325e-01 4.50834854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.174340128000004 meters 0.02705423109994748 Centerline is valid? [True, True] Translation: X:41.98, Y:4.92, Z:0.45 [[ 9.52469377e-01 -3.04630843e-01 -1.46143525e-03 4.19753486e+01] [ 3.04630554e-01 9.52470497e-01 -4.21924808e-04 4.91899733e+00] [ 1.52050527e-03 -4.33273714e-05 9.99998843e-01 4.50218213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.204340128000005 meters 0.02723180171500931 Centerline is valid? [True, True] Translation: X:42.00, Y:4.93, Z:0.45 [[ 9.52461476e-01 -3.04654880e-01 -1.59409399e-03 4.20020924e+01] [ 3.04654535e-01 9.52462809e-01 -4.61006351e-04 4.92709657e+00] [ 1.65876308e-03 -4.65571748e-05 9.99998623e-01 4.50283777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.234340128 meters 0.025774166419037983 Centerline is valid? [True, True] Translation: X:42.03, Y:4.94, Z:0.45 [[ 9.52405724e-01 -3.04827771e-01 -1.83476844e-03 4.20276208e+01] [ 3.04827312e-01 9.52407490e-01 -5.31490401e-04 4.93812768e+00] [ 1.90946024e-03 -5.30930316e-05 9.99998176e-01 4.49271908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.264340128 meters 0.02781172743271637 Centerline is valid? [True, True] Translation: X:42.05, Y:4.94, Z:0.45 [[ 9.52377075e-01 -3.04914456e-01 -2.25416001e-03 4.20543096e+01] [ 3.04913757e-01 9.52379741e-01 -6.55752240e-04 4.94299542e+00] [ 2.34676466e-03 -6.28009974e-05 9.99997244e-01 4.49526236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.294340128 meters 0.02594982349252242 Centerline is valid? [True, True] Translation: X:42.08, Y:4.95, Z:0.45 [[ 9.52250179e-01 -3.05310811e-01 -2.21466262e-03 4.20800880e+01] [ 3.05310140e-01 9.52252752e-01 -6.43221453e-04 4.95403107e+00] [ 2.30530104e-03 -6.36512124e-05 9.99997341e-01 4.48694858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.324340128 meters 0.026286177670721805 Centerline is valid? [True, True] Translation: X:42.11, Y:4.96, Z:0.45 [[ 9.52207942e-01 -3.05445219e-01 -1.80391027e-03 4.21075509e+01] [ 3.05444774e-01 9.52209649e-01 -5.23983227e-04 4.96163486e+00] [ 1.87774893e-03 -5.20539750e-05 9.99998236e-01 4.47881982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.354340128000004 meters 0.02697543748733213 Centerline is valid? [True, True] Translation: X:42.14, Y:4.97, Z:0.45 [[ 9.52054239e-01 -3.05923107e-01 -1.94378520e-03 4.21350557e+01] [ 3.05922586e-01 9.52056222e-01 -5.67134911e-04 4.96855956e+00] [ 2.02409247e-03 -5.47045979e-05 9.99997950e-01 4.47543440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.384340128000005 meters 0.026786071240440135 Centerline is valid? [True, True] Translation: X:42.16, Y:4.98, Z:0.45 [[ 9.51935080e-01 -3.06293941e-01 -1.90383141e-03 4.21615589e+01] [ 3.06293445e-01 9.51936983e-01 -5.54001972e-04 4.97655505e+00] [ 1.98201498e-03 -5.57571690e-05 9.99998034e-01 4.46790305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.414340128 meters 0.026915302835398787 Centerline is valid? [True, True] Translation: X:42.19, Y:4.98, Z:0.45 [[ 9.51789246e-01 -3.06746754e-01 -1.91340713e-03 4.21887772e+01] [ 3.06746252e-01 9.51791167e-01 -5.57435702e-04 4.98420549e+00] [ 1.99215559e-03 -5.63691588e-05 9.99998014e-01 4.46691966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.444340128 meters 0.026675320257797393 Centerline is valid? [True, True] Translation: X:42.22, Y:4.99, Z:0.45 [[ 9.51480786e-01 -3.07699389e-01 -2.32398907e-03 4.22162495e+01] [ 3.07698648e-01 9.51483621e-01 -6.78687412e-04 4.99214109e+00] [ 2.42006924e-03 -6.93302638e-05 9.99997069e-01 4.45127873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.474340128 meters 0.027950084230074664 Centerline is valid? [True, True] Translation: X:42.24, Y:5.00, Z:0.45 [[ 9.51296318e-01 -3.08268964e-01 -2.35822971e-03 4.22439328e+01] [ 3.08268198e-01 9.51299238e-01 -6.90675586e-04 4.99743392e+00] [ 2.45629598e-03 -6.99300825e-05 9.99996981e-01 4.45822031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.504340128 meters 0.027081007002614073 Centerline is valid? [True, True] Translation: X:42.27, Y:5.01, Z:0.45 [[ 9.50947234e-01 -3.09346347e-01 -2.04817309e-03 4.22714875e+01] [ 3.09345774e-01 9.50949438e-01 -5.98655256e-04 5.00635606e+00] [ 2.13290086e-03 -6.43041295e-05 9.99997723e-01 4.45280095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.534340128000004 meters 0.027553208493764695 Centerline is valid? [True, True] Translation: X:42.30, Y:5.01, Z:0.45 [[ 9.50339806e-01 -3.11208929e-01 -1.80440588e-03 4.22989946e+01] [ 3.11208485e-01 9.50341517e-01 -5.28881691e-04 5.01207169e+00] [ 1.87939452e-03 -5.89290967e-05 9.99998232e-01 4.45140538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.564340128000005 meters 0.02810156221507264 Centerline is valid? [True, True] Translation: X:42.33, Y:5.02, Z:0.44 [[ 9.49914984e-01 -3.12505119e-01 -1.44021104e-03 4.23271563e+01] [ 3.12504840e-01 9.49916074e-01 -4.20640360e-04 5.01884886e+00] [ 1.49953188e-03 -5.05003389e-05 9.99998874e-01 4.44862534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.594340128 meters 0.03163149165665274 Centerline is valid? [True, True] Translation: X:42.36, Y:5.02, Z:0.45 [[ 9.49346227e-01 -3.14228835e-01 -1.40704387e-03 4.23562104e+01] [ 3.14228569e-01 9.49347269e-01 -4.12374114e-04 5.01954241e+00] [ 1.46535309e-03 -5.06475724e-05 9.99998925e-01 4.45166428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.624340128 meters 0.029407904387053103 Centerline is valid? [True, True] Translation: X:42.38, Y:5.03, Z:0.44 [[ 9.49022370e-01 -3.15203935e-01 -1.73824746e-03 4.23832857e+01] [ 3.15203530e-01 9.49023959e-01 -5.09006756e-04 5.03006810e+00] [ 1.81007942e-03 -6.48429385e-05 9.99998360e-01 4.43785640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.654340128 meters 0.030781973224668507 Centerline is valid? [True, True] Translation: X:42.41, Y:5.03, Z:0.44 [[ 9.48825226e-01 -3.15795091e-01 -2.03731624e-03 4.24106959e+01] [ 3.15794532e-01 9.48827410e-01 -5.99013409e-04 5.03458873e+00] [ 2.12222699e-03 -7.50142947e-05 9.99997745e-01 4.44110664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.684340128 meters 0.030013440100773787 Centerline is valid? [True, True] Translation: X:42.44, Y:5.04, Z:0.44 [[ 9.48816533e-01 -3.15820672e-01 -2.11900883e-03 4.24382527e+01] [ 3.15820070e-01 9.48818896e-01 -6.21672239e-04 5.04184158e+00] [ 2.20689256e-03 -7.93726197e-05 9.99997562e-01 4.43037994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.714340128 meters 0.031180172492319583 Centerline is valid? [True, True] Translation: X:42.47, Y:5.05, Z:0.44 [[ 9.48958618e-01 -3.15392150e-01 -2.30948749e-03 4.24655927e+01] [ 3.15391428e-01 9.48961424e-01 -6.80158658e-04 5.04743428e+00] [ 2.40613124e-03 -8.29501359e-05 9.99997102e-01 4.43504639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.744340128000005 meters 0.029744776024557034 Centerline is valid? [True, True] Translation: X:42.49, Y:5.06, Z:0.44 [[ 9.49087487e-01 -3.15004022e-01 -2.32571229e-03 4.24925532e+01] [ 3.15003290e-01 9.49090333e-01 -6.83909406e-04 5.05721540e+00] [ 2.42274526e-03 -8.35171638e-05 9.99997062e-01 4.43251654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.774340128000006 meters 0.029425535413463284 Centerline is valid? [True, True] Translation: X:42.52, Y:5.06, Z:0.44 [[ 9.49815836e-01 -3.12803605e-01 -1.94470597e-03 4.25190981e+01] [ 3.12803086e-01 9.49817825e-01 -5.73326518e-04 5.06441506e+00] [ 2.02645499e-03 -6.37554225e-05 9.99997945e-01 4.43786144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.804340128 meters 0.02911309209371363 Centerline is valid? [True, True] Translation: X:42.55, Y:5.07, Z:0.44 [[ 9.50189722e-01 -3.11662953e-01 -2.38673202e-03 4.25455225e+01] [ 3.11662167e-01 9.50192716e-01 -7.04108839e-04 5.07211866e+00] [ 2.48730002e-03 -7.48170911e-05 9.99996904e-01 4.43941721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.834340128 meters 0.027513351896409997 Centerline is valid? [True, True] Translation: X:42.57, Y:5.08, Z:0.44 [[ 9.50618676e-01 -3.10352958e-01 -2.27484104e-03 4.25731259e+01] [ 3.10352243e-01 9.50621395e-01 -6.70013476e-04 5.08192457e+00] [ 2.37045323e-03 -6.90746951e-05 9.99997188e-01 4.43896965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.864340128 meters 0.026491726610727573 Centerline is valid? [True, True] Translation: X:42.60, Y:5.09, Z:0.44 [[ 9.51290667e-01 -3.08283913e-01 -2.66387409e-03 4.26002931e+01] [ 3.08282920e-01 9.51294394e-01 -7.85778728e-04 5.08992428e+00] [ 2.77637142e-03 -7.37229120e-05 9.99996143e-01 4.44385259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.894340128 meters 0.02567088360841066 Centerline is valid? [True, True] Translation: X:42.63, Y:5.10, Z:0.44 [[ 9.51558751e-01 -3.07459841e-01 -2.09541129e-03 4.26274290e+01] [ 3.07459224e-01 9.51561056e-01 -6.18106309e-04 5.09874001e+00] [ 2.18395465e-03 -5.60890637e-05 9.99997614e-01 4.44270380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.924340128000004 meters 0.0239747202307745 Centerline is valid? [True, True] Translation: X:42.65, Y:5.11, Z:0.44 [[ 9.52191676e-01 -3.05491349e-01 -2.45922171e-03 4.26541909e+01] [ 3.05490491e-01 9.52194850e-01 -7.26495513e-04 5.10890547e+00] [ 2.56359634e-03 -5.95058658e-05 9.99996712e-01 4.43075099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.954340128000005 meters 0.023731385603865982 Centerline is valid? [True, True] Translation: X:42.68, Y:5.12, Z:0.44 [[ 9.52495032e-01 -3.04544385e-01 -2.43554882e-03 4.26810100e+01] [ 3.04543536e-01 9.52498144e-01 -7.21424287e-04 5.11717949e+00] [ 2.53956145e-03 -5.45776001e-05 9.99996774e-01 4.43054100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.984340128 meters 0.023261625422250697 Centerline is valid? [True, True] Translation: X:42.71, Y:5.13, Z:0.44 [[ 9.52763738e-01 -3.03701776e-01 -2.54766603e-03 4.27087592e+01] [ 3.03700846e-01 9.52767143e-01 -7.53711704e-04 5.12619258e+00] [ 2.65623607e-03 -5.56191472e-05 9.99996471e-01 4.42859961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.014340128 meters 0.02261656630886789 Centerline is valid? [True, True] Translation: X:42.74, Y:5.14, Z:0.44 [[ 9.53168925e-01 -3.02426849e-01 -2.64595410e-03 4.27365219e+01] [ 3.02425839e-01 9.53172596e-01 -7.83637447e-04 5.13516641e+00] [ 2.75904395e-03 -5.32660266e-05 9.99996192e-01 4.43388408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.044340128 meters 0.021655882347234222 Centerline is valid? [True, True] Translation: X:42.76, Y:5.14, Z:0.44 [[ 9.53949429e-01 -2.99950572e-01 -3.18462343e-03 4.27628039e+01] [ 2.99949086e-01 9.53954743e-01 -9.45688427e-04 5.14393652e+00] [ 3.32164641e-03 -5.30859527e-05 9.99994482e-01 4.43772086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.074340128 meters 0.021058282428568886 Centerline is valid? [True, True] Translation: X:42.79, Y:5.15, Z:0.44 [[ 9.54298928e-01 -2.98832980e-01 -3.52229371e-03 4.27901246e+01] [ 2.98831157e-01 9.54305426e-01 -1.04538045e-03 5.15309446e+00] [ 3.67373816e-03 -5.49656603e-05 9.99993250e-01 4.43722964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.104340128000004 meters 0.020127028602566 Centerline is valid? [True, True] Translation: X:42.82, Y:5.16, Z:0.44 [[ 9.54608476e-01 -2.97841159e-01 -3.64712643e-03 4.28173694e+01] [ 2.97839193e-01 9.54615442e-01 -1.08341054e-03 5.16361122e+00] [ 3.80428746e-03 -5.20243034e-05 9.99992762e-01 4.43503105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.134340128000005 meters 0.019259767411753462 Centerline is valid? [True, True] Translation: X:42.84, Y:5.17, Z:0.44 [[ 9.55504189e-01 -2.94948671e-01 -4.12633374e-03 4.28436872e+01] [ 2.94946118e-01 9.55513098e-01 -1.22804735e-03 5.17345213e+00] [ 4.30497687e-03 -4.36417313e-05 9.99990733e-01 4.43856703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.164340128 meters 0.01887554567790614 Centerline is valid? [True, True] Translation: X:42.87, Y:5.18, Z:0.44 [[ 9.56006601e-01 -2.93316064e-01 -4.13093910e-03 4.28708689e+01] [ 2.93313490e-01 9.56015526e-01 -1.22935098e-03 5.18312759e+00] [ 4.30983030e-03 -3.63925116e-05 9.99990712e-01 4.43889887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.194340128 meters 0.018434395099013352 Centerline is valid? [True, True] Translation: X:42.90, Y:5.19, Z:0.44 [[ 9.57017426e-01 -2.89987854e-01 -4.96906220e-03 4.28967923e+01] [ 2.89984070e-01 9.57030326e-01 -1.48154781e-03 5.19431144e+00] [ 5.18517409e-03 -2.30818147e-05 9.99986557e-01 4.43434716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.224340128 meters 0.018266008895183632 Centerline is valid? [True, True] Translation: X:42.92, Y:5.20, Z:0.44 [[ 9.57396441e-01 -2.88730911e-01 -5.14937587e-03 4.29229542e+01] [ 2.88726831e-01 9.57410289e-01 -1.53493219e-03 5.20393899e+00] [ 5.37324781e-03 -1.72243657e-05 9.99985564e-01 4.43652032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.254340128 meters 0.018276082157348463 Centerline is valid? [True, True] Translation: X:42.95, Y:5.21, Z:0.44 [[ 9.57864248e-01 -2.87164729e-01 -5.70102381e-03 4.29496790e+01] [ 2.87159683e-01 9.57881213e-01 -1.70234299e-03 5.21309077e+00] [ 5.94975647e-03 -6.49070582e-06 9.99982300e-01 4.43387112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.284340128000004 meters 0.018342453250018327 Centerline is valid? [True, True] Translation: X:42.97, Y:5.22, Z:0.44 [[ 9.58166287e-01 -2.86141951e-01 -6.33644780e-03 4.29749560e+01] [ 2.86135691e-01 9.58187238e-01 -1.89270093e-03 5.22181415e+00] [ 6.61308456e-03 4.38352132e-07 9.99978133e-01 4.43295911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.314340128000005 meters 0.01841712840191871 Centerline is valid? [True, True] Translation: X:43.00, Y:5.23, Z:0.44 [[ 9.58684886e-01 -2.84389536e-01 -6.77352326e-03 4.30016100e+01] [ 2.84382335e-01 9.58708815e-01 -2.02380086e-03 5.23166007e+00] [ 7.06938424e-03 1.39169319e-05 9.99975011e-01 4.42386766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.344340128 meters 0.018269538985746424 Centerline is valid? [True, True] Translation: X:43.03, Y:5.24, Z:0.44 [[ 9.58749855e-01 -2.84156423e-01 -7.33775503e-03 4.30276050e+01] [ 2.84147943e-01 9.58777934e-01 -2.19538460e-03 5.24023095e+00] [ 7.65911024e-03 1.98166685e-05 9.99970668e-01 4.42492697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.374340128 meters 0.01815601477728209 Centerline is valid? [True, True] Translation: X:43.05, Y:5.25, Z:0.44 [[ 9.58739177e-01 -2.84178620e-01 -7.85510375e-03 4.30548019e+01] [ 2.84168895e-01 9.58771355e-01 -2.35111040e-03 5.24900510e+00] [ 8.19938378e-03 2.19254907e-05 9.99966384e-01 4.42017578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.404340128 meters 0.01812597774511711 Centerline is valid? [True, True] Translation: X:43.08, Y:5.26, Z:0.44 [[ 9.58714309e-01 -2.84254464e-01 -8.14086534e-03 4.30805662e+01] [ 2.84243997e-01 9.58748872e-01 -2.43947358e-03 5.25655404e+00] [ 8.49847671e-03 2.47661238e-05 9.99963887e-01 4.42174573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.434340128 meters 0.018002525793442574 Centerline is valid? [True, True] Translation: X:43.11, Y:5.26, Z:0.44 [[ 9.58502935e-01 -2.84962642e-01 -8.27143692e-03 4.31068798e+01] [ 2.84951852e-01 9.58538623e-01 -2.47981172e-03 5.26402520e+00] [ 8.63514546e-03 1.99455434e-05 9.99962716e-01 4.42557860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.464340128 meters 0.017837555119914323 Centerline is valid? [True, True] Translation: X:43.13, Y:5.27, Z:0.44 [[ 9.57928913e-01 -2.86890042e-01 -8.14250138e-03 4.31341010e+01] [ 2.86879649e-01 9.57963519e-01 -2.44203828e-03 5.26994168e+00] [ 8.50081574e-03 3.38114080e-06 9.99963867e-01 4.42924290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.494340128000005 meters 0.01773505352505546 Centerline is valid? [True, True] Translation: X:43.16, Y:5.28, Z:0.44 [[ 9.57539050e-01 -2.88184859e-01 -8.27370041e-03 4.31613253e+01] [ 2.88174153e-01 9.57574794e-01 -2.48406116e-03 5.27707400e+00] [ 8.63855578e-03 -5.68104477e-06 9.99962687e-01 4.43565502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.524340128000006 meters 0.017745298221793437 Centerline is valid? [True, True] Translation: X:43.19, Y:5.28, Z:0.44 [[ 9.57203761e-01 -2.89302536e-01 -8.06246194e-03 4.31884497e+01] [ 2.89292389e-01 9.57237715e-01 -2.42314004e-03 5.28484522e+00] [ 8.41871320e-03 -1.29701178e-05 9.99964562e-01 4.43789625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.554340128 meters 0.017809926373652824 Centerline is valid? [True, True] Translation: X:43.22, Y:5.29, Z:0.44 [[ 9.56641539e-01 -2.91142876e-01 -8.53185782e-03 4.32151945e+01] [ 2.91131557e-01 9.56679583e-01 -2.56739461e-03 5.29089818e+00] [ 8.90973283e-03 -2.78167231e-05 9.99960307e-01 4.43661279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.584340128 meters 0.017679221799300808 Centerline is valid? [True, True] Translation: X:43.24, Y:5.30, Z:0.44 [[ 9.56292097e-01 -2.92294247e-01 -8.33657985e-03 4.32420765e+01] [ 2.92283476e-01 9.56328433e-01 -2.50961354e-03 5.29828836e+00] [ 8.70605394e-03 -3.67209425e-05 9.99962101e-01 4.43596987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.614340128 meters 0.017783209617923675 Centerline is valid? [True, True] Translation: X:43.27, Y:5.30, Z:0.44 [[ 9.55996898e-01 -2.93247401e-01 -8.71161148e-03 4.32688894e+01] [ 2.93235649e-01 9.56036589e-01 -2.62565257e-03 5.30483042e+00] [ 9.09858512e-03 -4.44393347e-05 9.99958606e-01 4.43956551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.644340128 meters 0.01787939704736376 Centerline is valid? [True, True] Translation: X:43.30, Y:5.31, Z:0.44 [[ 9.55463456e-01 -2.94961373e-01 -9.34735518e-03 4.32971552e+01] [ 2.94947916e-01 9.55509175e-01 -2.81827901e-03 5.31117954e+00] [ 9.76276709e-03 -6.42203283e-05 9.99952341e-01 4.43777244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.674340128000004 meters 0.01812646251042255 Centerline is valid? [True, True] Translation: X:43.32, Y:5.32, Z:0.44 [[ 9.55230665e-01 -2.95691640e-01 -1.00414145e-02 4.33239265e+01] [ 2.95676120e-01 9.55283439e-01 -3.03045340e-03 5.31785578e+00] [ 1.04884767e-02 -7.42244580e-05 9.99944992e-01 4.43977080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.704340128000005 meters 0.018204790746592408 Centerline is valid? [True, True] Translation: X:43.35, Y:5.33, Z:0.44 [[ 9.54900698e-01 -2.96744768e-01 -1.03536966e-02 4.33512630e+01] [ 2.96728316e-01 9.54956824e-01 -3.12598177e-03 5.32548451e+00] [ 1.08149519e-02 -8.72327735e-05 9.99941513e-01 4.44307568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.734340128 meters 0.018366333064851113 Centerline is valid? [True, True] Translation: X:43.38, Y:5.33, Z:0.45 [[ 9.54681112e-01 -2.97462144e-01 -1.00123953e-02 4.33778681e+01] [ 2.97446766e-01 9.54733610e-01 -3.02588797e-03 5.33274484e+00] [ 1.04592575e-02 -8.93965196e-05 9.99945296e-01 4.45160664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.764340128 meters 0.018302464843383808 Centerline is valid? [True, True] Translation: X:43.40, Y:5.34, Z:0.45 [[ 9.54554756e-01 -2.97881076e-01 -9.59593939e-03 4.34033231e+01] [ 2.97866963e-01 9.54602984e-01 -2.90096505e-03 5.34036020e+00] [ 1.00244550e-02 -8.91833316e-05 9.99949750e-01 4.45777941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.794340128 meters 0.018377380352982732 Centerline is valid? [True, True] Translation: X:43.43, Y:5.35, Z:0.45 [[ 9.54343655e-01 -2.98548299e-01 -9.85397797e-03 4.34300758e+01] [ 2.98533430e-01 9.54394522e-01 -2.98118030e-03 5.34755455e+00] [ 1.02946089e-02 -9.66713344e-05 9.99947004e-01 4.46152106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.824340128 meters 0.01838005195852965 Centerline is valid? [True, True] Translation: X:43.46, Y:5.36, Z:0.45 [[ 9.54317797e-01 -2.98632701e-01 -9.80058417e-03 4.34569154e+01] [ 2.98617966e-01 9.54368116e-01 -2.96804876e-03 5.35536185e+00] [ 1.02397215e-02 -9.41687571e-05 9.99947568e-01 4.46602529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.854340128000004 meters 0.01845564396245852 Centerline is valid? [True, True] Translation: X:43.48, Y:5.36, Z:0.45 [[ 9.54182730e-01 -2.99064033e-01 -9.79910463e-03 4.34835695e+01] [ 2.99049294e-01 9.54233040e-01 -2.97062119e-03 5.36318563e+00] [ 1.02390354e-02 -9.58998907e-05 9.99947575e-01 4.47269207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.884340128000005 meters 0.018538801907173306 Centerline is valid? [True, True] Translation: X:43.51, Y:5.37, Z:0.45 [[ 9.54012984e-01 -2.99597553e-01 -1.00266210e-02 4.35108470e+01] [ 2.99582119e-01 9.54065667e-01 -3.04272466e-03 5.37073587e+00] [ 1.04776477e-02 -1.00997537e-04 9.99945103e-01 4.47316567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.914340128 meters 0.018538801907173306 Centerline is valid? [True, True] Translation: X:43.54, Y:5.38, Z:0.45 [[ 9.53929566e-01 -2.99863079e-01 -1.00257732e-02 4.35371658e+01] [ 2.99847630e-01 9.53982245e-01 -3.04551570e-03 5.37893880e+00] [ 1.04776474e-02 -1.00996870e-04 9.99945103e-01 4.47585194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.944340128 meters 0.01893860290301236 Centerline is valid? [True, True] Translation: X:43.56, Y:5.39, Z:0.45 [[ 9.53573638e-01 -3.00965435e-01 -1.08223422e-02 4.35642943e+01] [ 3.00947469e-01 9.53635042e-01 -3.29069591e-03 5.38509150e+00] [ 1.13109504e-02 -1.19035601e-04 9.99936022e-01 4.46753958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.974340128 meters 0.018979168589653865 Centerline is valid? [True, True] Translation: X:43.59, Y:5.39, Z:0.45 [[ 9.53538397e-01 -3.01069564e-01 -1.10291816e-02 4.35915602e+01] [ 3.01050894e-01 9.53602172e-01 -3.35498683e-03 5.39297954e+00] [ 1.15275360e-02 -1.21236217e-04 9.99933548e-01 4.46712690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.004340128 meters 0.01926153145664468 Centerline is valid? [True, True] Translation: X:43.62, Y:5.40, Z:0.45 [[ 9.53407311e-01 -3.01474574e-01 -1.12951522e-02 4.36187199e+01] [ 3.01454986e-01 9.53474208e-01 -3.43893558e-03 5.40064816e+00] [ 1.18063879e-02 -1.26273618e-04 9.99930294e-01 4.46414737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.034340128000004 meters 0.018962162618309634 Centerline is valid? [True, True] Translation: X:43.65, Y:5.41, Z:0.45 [[ 9.53427380e-01 -3.01405605e-01 -1.14407927e-02 4.36456574e+01] [ 3.01385485e-01 9.53496012e-01 -3.48479172e-03 5.40948940e+00] [ 1.19590860e-02 -1.25593022e-04 9.99928480e-01 4.46804072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.064340128000005 meters 0.01916574012825131 Centerline is valid? [True, True] Translation: X:43.67, Y:5.42, Z:0.45 [[ 9.53614945e-01 -3.00816421e-01 -1.13144823e-02 4.36723171e+01] [ 3.00796666e-01 9.53682058e-01 -3.44932346e-03 5.41663073e+00] [ 1.18280319e-02 -1.14032143e-04 9.99930040e-01 4.47064038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.094340128 meters 0.019161490017550572 Centerline is valid? [True, True] Translation: X:43.70, Y:5.42, Z:0.45 [[ 9.53613796e-01 -3.00809364e-01 -1.15954319e-02 4.36990855e+01] [ 3.00788596e-01 9.53684284e-01 -3.53652454e-03 5.42489406e+00] [ 1.21222009e-02 -1.15295099e-04 9.99926517e-01 4.47251331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.124340128 meters 0.0190525899468775 Centerline is valid? [True, True] Translation: X:43.73, Y:5.43, Z:0.45 [[ 9.53588472e-01 -3.00873012e-01 -1.20190089e-02 4.37256541e+01] [ 3.00850660e-01 9.53664206e-01 -3.66927577e-03 5.43340516e+00] [ 1.25660846e-02 -1.16947673e-04 9.99921037e-01 4.47371383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.154340128 meters 0.018621717074014187 Centerline is valid? [True, True] Translation: X:43.75, Y:5.44, Z:0.45 [[ 9.53612523e-01 -3.00768323e-01 -1.27110914e-02 4.37517958e+01] [ 3.00743262e-01 9.53697228e-01 -3.88439201e-03 5.44225795e+00] [ 1.32908347e-02 -1.18570225e-04 9.99911666e-01 4.47461276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.184340128 meters 0.018180559054905756 Centerline is valid? [True, True] Translation: X:43.78, Y:5.45, Z:0.45 [[ 9.53726181e-01 -3.00353621e-01 -1.39310050e-02 4.37781152e+01] [ 3.00323410e-01 9.53827913e-01 -4.26164805e-03 5.45187464e+00] [ 1.45677829e-02 -1.19361609e-04 9.99893877e-01 4.47638211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.214340128 meters 0.01778821024846034 Centerline is valid? [True, True] Translation: X:43.81, Y:5.46, Z:0.45 [[ 9.53847772e-01 -2.99951767e-01 -1.42605956e-02 4.38050361e+01] [ 2.99919995e-01 9.53954362e-01 -4.36707607e-03 5.46143590e+00] [ 1.49138696e-02 -1.11511982e-04 9.99888776e-01 4.48044632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.244340128000005 meters 0.017661902563760316 Centerline is valid? [True, True] Translation: X:43.83, Y:5.47, Z:0.45 [[ 9.53984553e-01 -2.99479797e-01 -1.50107891e-02 4.38314660e+01] [ 2.99444456e-01 9.54102636e-01 -4.60190799e-03 5.47024888e+00] [ 1.57000119e-02 -1.04748450e-04 9.99876742e-01 4.47715074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.274340128000006 meters 0.017380979860314994 Centerline is valid? [True, True] Translation: X:43.86, Y:5.48, Z:0.45 [[ 9.54317303e-01 -2.98358013e-01 -1.61549408e-02 4.38581020e+01] [ 2.98316823e-01 9.54454026e-01 -4.95828464e-03 5.48008998e+00] [ 1.68984922e-02 -8.75137924e-05 9.99857206e-01 4.47871947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.304340128 meters 0.01735818060181986 Centerline is valid? [True, True] Translation: X:43.88, Y:5.49, Z:0.45 [[ 9.54459063e-01 -2.97915530e-01 -1.59447322e-02 4.38841736e+01] [ 2.97875276e-01 9.54592233e-01 -4.89783263e-03 5.48857104e+00] [ 1.66798580e-02 -7.47607778e-05 9.99860879e-01 4.47426617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.334340128 meters 0.01737943286949738 Centerline is valid? [True, True] Translation: X:43.91, Y:5.50, Z:0.45 [[ 9.54645037e-01 -2.97302899e-01 -1.62431122e-02 4.39095434e+01] [ 2.97260996e-01 9.54783212e-01 -4.99184010e-03 5.49634383e+00] [ 1.69927394e-02 -6.30083358e-05 9.99855611e-01 4.47621512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.364340128 meters 0.017307028886183896 Centerline is valid? [True, True] Translation: X:43.94, Y:5.50, Z:0.45 [[ 9.54617791e-01 -2.97387139e-01 -1.63022344e-02 4.39364901e+01] [ 2.97344881e-01 9.54756977e-01 -5.01356592e-03 5.50438510e+00] [ 1.70556421e-02 -6.13467260e-05 9.99854540e-01 4.48525604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.394340128 meters 0.017221292861113954 Centerline is valid? [True, True] Translation: X:43.96, Y:5.51, Z:0.45 [[ 9.54589252e-01 -2.97453143e-01 -1.67626994e-02 4.39631875e+01] [ 2.97408376e-01 9.54736416e-01 -5.16074985e-03 5.51276401e+00] [ 1.75390408e-02 -5.89708661e-05 9.99846177e-01 4.49714222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.424340128000004 meters 0.01770528661700219 Centerline is valid? [True, True] Translation: X:43.99, Y:5.52, Z:0.45 [[ 9.54447610e-01 -2.97875047e-01 -1.73267126e-02 4.39899383e+01] [ 2.97827214e-01 9.54604867e-01 -5.33843939e-03 5.52017415e+00] [ 1.81303521e-02 -6.51058288e-05 9.99835630e-01 4.48548894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.454340128000005 meters 0.01775814596215458 Centerline is valid? [True, True] Translation: X:44.02, Y:5.53, Z:0.45 [[ 9.54236969e-01 -2.98545318e-01 -1.73925519e-02 4.40172201e+01] [ 2.98497165e-01 9.54395457e-01 -5.36233259e-03 5.52837650e+00] [ 1.82002718e-02 -7.46914489e-05 9.99834359e-01 4.48818712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.484340128 meters 0.017904854443294396 Centerline is valid? [True, True] Translation: X:44.04, Y:5.54, Z:0.45 [[ 9.53969387e-01 -2.99384376e-01 -1.76466414e-02 4.40442195e+01] [ 2.99334842e-01 9.54132584e-01 -5.44648947e-03 5.53591672e+00] [ 1.84678294e-02 -8.64704058e-05 9.99829451e-01 4.49371520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.514340128 meters 0.018035261584465546 Centerline is valid? [True, True] Translation: X:44.07, Y:5.54, Z:0.45 [[ 9.53643710e-01 -3.00450810e-01 -1.71168364e-02 4.40704379e+01] [ 3.00404305e-01 9.53797306e-01 -5.28702471e-03 5.54237715e+00] [ 1.79144833e-02 -1.00033497e-04 9.99839518e-01 4.50019243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.544340128 meters 0.018159959406251033 Centerline is valid? [True, True] Translation: X:44.10, Y:5.55, Z:0.45 [[ 9.53304848e-01 -3.01525999e-01 -1.70862133e-02 4.40975263e+01] [ 3.01479765e-01 9.53457948e-01 -5.28137664e-03 5.55013293e+00] [ 1.78834583e-02 -1.16385626e-04 9.99840071e-01 4.50550144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.574340128 meters 0.01832348925390776 Centerline is valid? [True, True] Translation: X:44.12, Y:5.56, Z:0.45 [[ 9.53012539e-01 -3.02458564e-01 -1.69091167e-02 4.41244575e+01] [ 3.02413335e-01 9.53162526e-01 -5.23203176e-03 5.55764851e+00] [ 1.76996092e-02 -1.27350486e-04 9.99843342e-01 4.51401599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.604340128000004 meters 0.018677782371565282 Centerline is valid? [True, True] Translation: X:44.15, Y:5.56, Z:0.45 [[ 9.52599952e-01 -3.03781424e-01 -1.64371092e-02 4.41520114e+01] [ 3.03738819e-01 9.52741741e-01 -5.08958903e-03 5.56414891e+00] [ 1.72064427e-02 -1.44245882e-04 9.99851948e-01 4.53517872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.634340128000005 meters 0.018856354890976378 Centerline is valid? [True, True] Translation: X:44.18, Y:5.57, Z:0.45 [[ 9.52331877e-01 -3.04609323e-01 -1.66480216e-02 4.41787832e+01] [ 3.04565688e-01 9.52477367e-01 -5.15812282e-03 5.57177053e+00] [ 1.74280761e-02 -1.58171389e-04 9.99848107e-01 4.54383957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.664340128 meters 0.019045686600855417 Centerline is valid? [True, True] Translation: X:44.21, Y:5.58, Z:0.46 [[ 9.52011363e-01 -3.05595356e-01 -1.69069012e-02 4.42067888e+01] [ 3.05550419e-01 9.52161461e-01 -5.24337848e-03 5.57985778e+00] [ 1.77004519e-02 -1.74154858e-04 9.99843320e-01 4.55096327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.694340128 meters 0.019574066187765304 Centerline is valid? [True, True] Translation: X:44.23, Y:5.59, Z:0.46 [[ 9.51591346e-01 -3.06897964e-01 -1.69572800e-02 4.42337988e+01] [ 3.06852908e-01 9.51742403e-01 -5.26230901e-03 5.58595565e+00] [ 1.77539543e-02 -1.95822949e-04 9.99842367e-01 4.56070923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.724340128 meters 0.019708220010160975 Centerline is valid? [True, True] Translation: X:44.26, Y:5.59, Z:0.46 [[ 9.51436399e-01 -3.07390955e-01 -1.67206087e-02 4.42596485e+01] [ 3.07347191e-01 9.51583291e-01 -5.19074555e-03 5.59293978e+00] [ 1.75066401e-02 -2.00367846e-04 9.99846727e-01 4.56958864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.754340128 meters 0.02005113962144087 Centerline is valid? [True, True] Translation: X:44.29, Y:5.60, Z:0.46 [[ 9.51214387e-01 -3.08078857e-01 -1.66915610e-02 4.42863227e+01] [ 3.08035310e-01 9.51360801e-01 -5.18403005e-03 5.60026120e+00] [ 1.74767868e-02 -2.10466185e-04 9.99847247e-01 4.57753756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.784340128000004 meters 0.020293161634020757 Centerline is valid? [True, True] Translation: X:44.31, Y:5.61, Z:0.46 [[ 9.50976885e-01 -3.08794097e-01 -1.70050039e-02 4.43145127e+01] [ 3.08748953e-01 9.51128885e-01 -5.28476781e-03 5.60848418e+00] [ 1.78058555e-02 -2.24585120e-04 9.99841438e-01 4.58436302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.814340128000005 meters 0.020106009303243393 Centerline is valid? [True, True] Translation: X:44.34, Y:5.62, Z:0.46 [[ 9.50725866e-01 -3.09579315e-01 -1.67623570e-02 4.43416907e+01] [ 3.09535488e-01 9.50873595e-01 -5.21410371e-03 5.61717520e+00] [ 1.75530614e-02 -2.31361111e-04 9.99845906e-01 4.59821455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.844340128 meters 0.019642524616305945 Centerline is valid? [True, True] Translation: X:44.37, Y:5.63, Z:0.46 [[ 9.50556923e-01 -3.10101203e-01 -1.66967033e-02 4.43682644e+01] [ 3.10057708e-01 9.50703523e-01 -5.19897769e-03 5.62677643e+00] [ 1.74858238e-02 -2.35017301e-04 9.99847084e-01 4.61111884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.874340128 meters 0.02010775481135797 Centerline is valid? [True, True] Translation: X:44.40, Y:5.63, Z:0.46 [[ 9.50284241e-01 -3.10918378e-01 -1.70183075e-02 4.43950299e+01] [ 3.10873252e-01 9.50436583e-01 -5.30299356e-03 5.63437024e+00] [ 1.78236202e-02 -2.51185401e-04 9.99841115e-01 4.60876196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.904340128 meters 0.020125931828851112 Centerline is valid? [True, True] Translation: X:44.42, Y:5.64, Z:0.46 [[ 9.50013967e-01 -3.11727076e-01 -1.73116381e-02 4.44230491e+01] [ 3.11680457e-01 9.50171647e-01 -5.39765417e-03 5.64305496e+00] [ 1.81316226e-02 -2.67852415e-04 9.99835573e-01 4.61256282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.934340128 meters 0.02111397883747279 Centerline is valid? [True, True] Translation: X:44.45, Y:5.65, Z:0.46 [[ 9.49280464e-01 -3.13951749e-01 -1.73464404e-02 4.44509344e+01] [ 3.13905223e-01 9.49438890e-01 -5.41349838e-03 5.64964449e+00] [ 1.81689624e-02 -3.06209960e-04 9.99834884e-01 4.62024546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.964340128 meters 0.021543534913877477 Centerline is valid? [True, True] Translation: X:44.48, Y:5.66, Z:0.46 [[ 9.48885222e-01 -3.15144567e-01 -1.73417591e-02 4.44791138e+01] [ 3.15098174e-01 9.49043622e-01 -5.41700527e-03 5.65746395e+00] [ 1.81652256e-02 -3.24240371e-04 9.99834946e-01 4.62634848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.994340128000005 meters 0.022104780090953628 Centerline is valid? [True, True] Translation: X:44.51, Y:5.66, Z:0.46 [[ 9.48621316e-01 -3.15954074e-01 -1.70476135e-02 4.45056092e+01] [ 3.15909312e-01 9.48774427e-01 -5.32853145e-03 5.66446162e+00] [ 1.78579109e-02 -3.30741329e-04 9.99840480e-01 4.63495133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.024340128000006 meters 0.0228777934354519 Centerline is valid? [True, True] Translation: X:44.53, Y:5.67, Z:0.47 [[ 9.48076103e-01 -3.17638917e-01 -1.60381154e-02 4.45323056e+01] [ 3.17599508e-01 9.48211687e-01 -5.01488586e-03 5.67147488e+00] [ 1.68004514e-02 -3.39204128e-04 9.99858805e-01 4.65102210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.054340128 meters 0.02300284809802386 Centerline is valid? [True, True] Translation: X:44.56, Y:5.68, Z:0.47 [[ 9.47971362e-01 -3.17953232e-01 -1.60012119e-02 4.45593529e+01] [ 3.17913990e-01 9.48106337e-01 -5.00686734e-03 5.68001647e+00] [ 1.67628001e-02 -3.40642266e-04 9.99859436e-01 4.65664338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.084340128 meters 0.02448206782989899 Centerline is valid? [True, True] Translation: X:44.59, Y:5.69, Z:0.47 [[ 9.47850794e-01 -3.18290417e-01 -1.64341735e-02 4.45861851e+01] [ 3.18248982e-01 9.47993189e-01 -5.14765744e-03 5.68848536e+00] [ 1.72179346e-02 -3.50947783e-04 9.99851699e-01 4.66588500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.114340128 meters 0.022861634784598153 Centerline is valid? [True, True] Translation: X:44.61, Y:5.70, Z:0.47 [[ 9.48210342e-01 -3.17196596e-01 -1.68364518e-02 4.46126932e+01] [ 3.17152862e-01 9.48359746e-01 -5.27779350e-03 5.69818658e+00] [ 1.76411113e-02 -3.35270486e-04 9.99844327e-01 4.65292190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.144340128 meters 0.021934182359815292 Centerline is valid? [True, True] Translation: X:44.64, Y:5.71, Z:0.46 [[ 9.48988365e-01 -3.14806512e-01 -1.78309789e-02 4.46383199e+01] [ 3.14756994e-01 9.49155818e-01 -5.59182600e-03 5.71043046e+00] [ 1.86847206e-02 -3.05847521e-04 9.99825379e-01 4.63773172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.174340128000004 meters 0.020671565723690215 Centerline is valid? [True, True] Translation: X:44.66, Y:5.72, Z:0.46 [[ 9.49561912e-01 -3.13050934e-01 -1.82013195e-02 4.46644537e+01] [ 3.12998950e-01 9.49736299e-01 -5.71137641e-03 5.72261627e+00] [ 1.90744056e-02 -2.73688393e-04 9.99818030e-01 4.63873724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.204340128000005 meters 0.01923684789325844 Centerline is valid? [True, True] Translation: X:44.69, Y:5.74, Z:0.46 [[ 9.50730488e-01 -3.09502249e-01 -1.78856674e-02 4.46905421e+01] [ 3.09451330e-01 9.50898691e-01 -5.61731604e-03 5.73650109e+00] [ 1.87460297e-02 -1.94189953e-04 9.99824259e-01 4.64152069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.234340128 meters 0.01858149138390422 Centerline is valid? [True, True] Translation: X:44.72, Y:5.75, Z:0.47 [[ 9.51220676e-01 -3.07999931e-01 -1.77557822e-02 4.47171256e+01] [ 3.07949392e-01 9.51386366e-01 -5.58160309e-03 5.74764159e+00] [ 1.86117425e-02 -1.58546079e-04 9.99826774e-01 4.65185084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.264340128 meters 0.018151947150462554 Centerline is valid? [True, True] Translation: X:44.74, Y:5.76, Z:0.47 [[ 9.51765495e-01 -3.06353061e-01 -1.70365481e-02 4.47444742e+01] [ 3.06306184e-01 9.51917952e-01 -5.36035364e-03 5.75810480e+00] [ 1.78595567e-02 -1.16600397e-04 9.99840499e-01 4.65986980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.294340128 meters 0.017731513966521346 Centerline is valid? [True, True] Translation: X:44.77, Y:5.77, Z:0.47 [[ 9.52641069e-01 -3.03667015e-01 -1.61659229e-02 4.47702334e+01] [ 3.03624364e-01 9.52778222e-01 -5.08968431e-03 5.76925969e+00] [ 1.69481086e-02 -5.97257753e-05 9.99856369e-01 4.67082185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.324340128 meters 0.01764570082837686 Centerline is valid? [True, True] Translation: X:44.80, Y:5.78, Z:0.47 [[ 9.52909828e-01 -3.02862370e-01 -1.54027641e-02 4.47965592e+01] [ 3.02823499e-01 9.53034303e-01 -4.85228754e-03 5.77904181e+00] [ 1.61489379e-02 -4.05264476e-05 9.99869597e-01 4.68103290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.354340128000004 meters 0.01749569622770841 Centerline is valid? [True, True] Translation: X:44.82, Y:5.79, Z:0.47 [[ 9.53131435e-01 -3.02176741e-01 -1.51553799e-02 4.48228156e+01] [ 3.02138945e-01 9.53251917e-01 -4.77925457e-03 5.78904399e+00] [ 1.58910745e-02 -2.37727249e-05 9.99873729e-01 4.69547663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.384340128000005 meters 0.017396801240307392 Centerline is valid? [True, True] Translation: X:44.85, Y:5.80, Z:0.47 [[ 9.53625462e-01 -3.00633883e-01 -1.47562534e-02 4.48491427e+01] [ 3.00597792e-01 9.53739623e-01 -4.65828304e-03 5.80018079e+00] [ 1.54740613e-02 6.56011360e-06 9.99880270e-01 4.71505027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.414340128 meters 0.01756165634041301 Centerline is valid? [True, True] Translation: X:44.87, Y:5.81, Z:0.47 [[ 9.53939962e-01 -2.99633911e-01 -1.47671160e-02 4.48747071e+01] [ 2.99597576e-01 9.54054253e-01 -4.66623066e-03 5.81017961e+00] [ 1.54867908e-02 2.71117363e-05 9.99880072e-01 4.71787581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.444340128 meters 0.017669570073785588 Centerline is valid? [True, True] Translation: X:44.90, Y:5.82, Z:0.47 [[ 9.54117883e-01 -2.99059776e-01 -1.49102585e-02 4.48996873e+01] [ 2.99022616e-01 9.54234378e-01 -4.71446889e-03 5.81985097e+00] [ 1.56377892e-02 3.96545842e-05 9.99877722e-01 4.72342739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.474340128 meters 0.01765171218065473 Centerline is valid? [True, True] Translation: X:44.93, Y:5.83, Z:0.47 [[ 9.54649280e-01 -2.97352206e-01 -1.50471728e-02 4.49258081e+01] [ 2.97314118e-01 9.54767857e-01 -4.75968726e-03 5.83125120e+00] [ 1.57818604e-02 7.00951159e-05 9.99875456e-01 4.73716603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.504340128 meters 0.017825491680917394 Centerline is valid? [True, True] Translation: X:44.95, Y:5.84, Z:0.47 [[ 9.54804585e-01 -2.96826251e-01 -1.55685656e-02 4.49520334e+01] [ 2.96785357e-01 9.54931500e-01 -4.92772614e-03 5.84140016e+00] [ 1.63295922e-02 8.44932181e-05 9.99866660e-01 4.74249209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.534340128000004 meters 0.018009423304433916 Centerline is valid? [True, True] Translation: X:44.98, Y:5.85, Z:0.47 [[ 9.55124359e-01 -2.95782315e-01 -1.58202610e-02 4.49782340e+01] [ 2.95739874e-01 9.55255364e-01 -5.01159952e-03 5.85158393e+00] [ 1.65947317e-02 1.08018784e-04 9.99862292e-01 4.74348956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.564340128000005 meters 0.01817184326564304 Centerline is valid? [True, True] Translation: X:45.00, Y:5.86, Z:0.47 [[ 9.55598455e-01 -2.94232143e-01 -1.60946722e-02 4.50048916e+01] [ 2.94187939e-01 9.55733972e-01 -5.10201705e-03 5.86268024e+00] [ 1.68834025e-02 1.40621159e-04 9.99857455e-01 4.74936625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.594340128 meters 0.01840625436786227 Centerline is valid? [True, True] Translation: X:45.03, Y:5.87, Z:0.47 [[ 9.55849327e-01 -2.93393361e-01 -1.65045449e-02 4.50311505e+01] [ 2.93346689e-01 9.55991794e-01 -5.23551721e-03 5.87260268e+00] [ 1.73142755e-02 1.62811997e-04 9.99850083e-01 4.74946732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.624340128 meters 0.018663562930627074 Centerline is valid? [True, True] Translation: X:45.06, Y:5.88, Z:0.47 [[ 9.56003786e-01 -2.92841227e-01 -1.73429110e-02 4.50581295e+01] [ 2.92789541e-01 9.56161065e-01 -5.50480862e-03 5.88249365e+00] [ 1.81946512e-02 1.84794914e-04 9.99834447e-01 4.74885359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.654340128 meters 0.019398300337356605 Centerline is valid? [True, True] Translation: X:45.08, Y:5.89, Z:0.47 [[ 9.56554661e-01 -2.90997254e-01 -1.79938344e-02 4.50837566e+01] [ 2.90941219e-01 9.56723860e-01 -5.71510731e-03 5.89330948e+00] [ 1.88782112e-02 2.31664427e-04 9.99821764e-01 4.74552715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.684340128 meters 0.019386229511559137 Centerline is valid? [True, True] Translation: X:45.11, Y:5.90, Z:0.48 [[ 9.56768679e-01 -2.90285910e-01 -1.81048548e-02 4.51106953e+01] [ 2.90228987e-01 9.56939929e-01 -5.75389736e-03 5.90263224e+00] [ 1.89955338e-02 2.50595127e-04 9.99819537e-01 4.75205999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.714340128 meters 0.020169216460579634 Centerline is valid? [True, True] Translation: X:45.14, Y:5.91, Z:0.48 [[ 9.57345706e-01 -2.88421218e-01 -1.73896603e-02 4.51365729e+01] [ 2.88368325e-01 9.57503589e-01 -5.53046351e-03 5.91310540e+00] [ 1.82457651e-02 2.79938288e-04 9.99833493e-01 4.75936832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.744340128000005 meters 0.02052072939961269 Centerline is valid? [True, True] Translation: X:45.16, Y:5.92, Z:0.48 [[ 9.57494133e-01 -2.87952560e-01 -1.69796800e-02 4.51640783e+01] [ 2.87901994e-01 9.57644632e-01 -5.40368437e-03 5.92244580e+00] [ 1.78165042e-02 2.85512329e-04 9.99841233e-01 4.76784628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.774340128000006 meters 0.02082790967334006 Centerline is valid? [True, True] Translation: X:45.19, Y:5.93, Z:0.48 [[ 9.57564324e-01 -2.87731281e-01 -1.67712698e-02 4.51908361e+01] [ 2.87681826e-01 9.57711139e-01 -5.34243834e-03 5.93129588e+00] [ 1.75992185e-02 2.90938841e-04 9.99845079e-01 4.77442432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.804340128 meters 0.02082790967334006 Centerline is valid? [True, True] Translation: X:45.22, Y:5.94, Z:0.48 [[ 9.57478879e-01 -2.88015578e-01 -1.67696832e-02 4.52170446e+01] [ 2.87966080e-01 9.57625679e-01 -5.34741500e-03 5.93984826e+00] [ 1.75992181e-02 2.90936984e-04 9.99845079e-01 4.77711094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.834340128 meters 0.021249767400725924 Centerline is valid? [True, True] Translation: X:45.24, Y:5.95, Z:0.48 [[ 9.57566561e-01 -2.87725387e-01 -1.67446570e-02 4.52442004e+01] [ 2.87675925e-01 9.57712907e-01 -5.34322756e-03 5.94754116e+00] [ 1.75739563e-02 2.99461355e-04 9.99845521e-01 4.78146308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.864340128 meters 0.02123926563788334 Centerline is valid? [True, True] Translation: X:45.27, Y:5.95, Z:0.48 [[ 9.57424039e-01 -2.88202915e-01 -1.66820035e-02 4.52699919e+01] [ 2.88153850e-01 9.57569316e-01 -5.32578281e-03 5.95459024e+00] [ 1.75090808e-02 2.92048961e-04 9.99846662e-01 4.78640846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.894340128 meters 0.02085026848200898 Centerline is valid? [True, True] Translation: X:45.30, Y:5.96, Z:0.48 [[ 9.57116558e-01 -2.89210220e-01 -1.68920836e-02 4.52978523e+01] [ 2.89159995e-01 9.57265569e-01 -5.39703476e-03 5.96129795e+00] [ 1.77310876e-02 2.81076527e-04 9.99842752e-01 4.79037953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.924340128000004 meters 0.02005015781675197 Centerline is valid? [True, True] Translation: X:45.33, Y:5.97, Z:0.48 [[ 9.56171477e-01 -2.92356781e-01 -1.62363500e-02 4.53252525e+01] [ 2.92310778e-01 9.56309294e-01 -5.19072116e-03 5.96571969e+00] [ 1.70445150e-02 2.17159407e-04 9.99854708e-01 4.79247661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.954340128000005 meters 0.018849871193326245 Centerline is valid? [True, True] Translation: X:45.35, Y:5.97, Z:0.48 [[ 9.55505626e-01 -2.94539293e-01 -1.59876200e-02 4.53542404e+01] [ 2.94494948e-01 9.55639353e-01 -5.11393493e-03 5.97117190e+00] [ 1.67846536e-02 1.78120276e-04 9.99859112e-01 4.80325335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.984340128 meters 0.01809810325035264 Centerline is valid? [True, True] Translation: X:45.38, Y:5.98, Z:0.48 [[ 9.54675009e-01 -2.97220507e-01 -1.59874131e-02 4.53824864e+01] [ 2.97176465e-01 9.54808856e-01 -5.11824461e-03 5.97751256e+00] [ 1.67861709e-02 1.35177308e-04 9.99859093e-01 4.80442652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.014340128 meters 0.01729386311102423 Centerline is valid? [True, True] Translation: X:45.41, Y:5.98, Z:0.48 [[ 9.53235829e-01 -3.01754290e-01 -1.69057056e-02 4.54098242e+01] [ 3.01705695e-01 9.53385727e-01 -5.41566984e-03 5.98397733e+00] [ 1.77518601e-02 6.18628724e-05 9.99842421e-01 4.78004226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.044340128 meters 0.016983322315569944 Centerline is valid? [True, True] Translation: X:45.44, Y:5.99, Z:0.48 [[ 9.52534840e-01 -3.03955490e-01 -1.69834981e-02 4.54371015e+01] [ 3.03906733e-01 9.52686234e-01 -5.44406672e-03 5.99193843e+00] [ 1.78346988e-02 2.42637970e-05 9.99840949e-01 4.78704914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.074340128 meters 0.017204800486266835 Centerline is valid? [True, True] Translation: X:45.46, Y:6.00, Z:0.48 [[ 9.52159121e-01 -3.05111213e-01 -1.73249990e-02 4.54626155e+01] [ 3.05060588e-01 9.52316727e-01 -5.55787255e-03 6.00101272e+00] [ 1.81946556e-02 6.80465482e-06 9.99834464e-01 4.76773083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.104340128000004 meters 0.017145200320994154 Centerline is valid? [True, True] Translation: X:45.49, Y:6.01, Z:0.48 [[ 9.51628169e-01 -3.06757221e-01 -1.74308752e-02 4.54885261e+01] [ 3.06706178e-01 9.51787795e-01 -5.59584920e-03 6.01154882e+00] [ 1.83070614e-02 -2.09893761e-05 9.99832411e-01 4.78213421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.134340128000005 meters 0.017123836549349635 Centerline is valid? [True, True] Translation: X:45.52, Y:6.02, Z:0.48 [[ 9.51238484e-01 -3.07996599e-01 -1.68357119e-02 4.55150705e+01] [ 3.07949081e-01 9.51387457e-01 -5.41018090e-03 6.02054891e+00] [ 1.76836025e-02 -3.81697376e-05 9.99843632e-01 4.79564159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.164340128 meters 0.017065634478262932 Centerline is valid? [True, True] Translation: X:45.54, Y:6.03, Z:0.48 [[ 9.50850517e-01 -3.09263411e-01 -1.54737811e-02 4.55415145e+01] [ 3.09223359e-01 9.50976414e-01 -4.97735690e-03 6.02951102e+00] [ 1.62545153e-02 -5.21322010e-05 9.99867885e-01 4.81881454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.194340128 meters 0.01735270721514446 Centerline is valid? [True, True] Translation: X:45.57, Y:6.04, Z:0.49 [[ 9.49747144e-01 -3.12763140e-01 -1.26325483e-02 4.55671278e+01] [ 3.12736717e-01 9.49831148e-01 -4.06642517e-03 6.03876981e+00] [ 1.32706158e-02 -8.85859908e-05 9.99911938e-01 4.85888189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.224340128 meters 0.017645222073428068 Centerline is valid? [True, True] Translation: X:45.59, Y:6.05, Z:0.49 [[ 9.49098004e-01 -3.14783896e-01 -1.11390016e-02 4.55940586e+01] [ 3.14763470e-01 9.49163363e-01 -3.58735024e-03 6.04870324e+00] [ 1.17019723e-02 -1.01403837e-04 9.99931524e-01 4.88365950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.254340128 meters 0.017879753822735166 Centerline is valid? [True, True] Translation: X:45.62, Y:6.06, Z:0.49 [[ 9.48592490e-01 -3.16361280e-01 -9.37171959e-03 4.56211296e+01] [ 3.16346876e-01 9.48638778e-01 -3.02044163e-03 6.05961830e+00] [ 9.84592740e-03 -9.95459711e-05 9.99951523e-01 4.90245634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.284340128000004 meters 0.019174664380888596 Centerline is valid? [True, True] Translation: X:45.65, Y:6.07, Z:0.49 [[ 9.48091855e-01 -3.17901970e-01 -7.75711222e-03 4.56472414e+01] [ 3.17892137e-01 9.48123583e-01 -2.50210580e-03 6.06820529e+00] [ 8.15012540e-03 -9.36988477e-05 9.99966783e-01 4.91952735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.314340128000005 meters 0.018957156607601798 Centerline is valid? [True, True] Translation: X:45.67, Y:6.08, Z:0.50 [[ 9.47463554e-01 -3.19828356e-01 -4.75778825e-03 4.56720118e+01] [ 3.19824685e-01 9.47475497e-01 -1.53395664e-03 6.08450420e+00] [ 4.99849061e-03 -6.82901173e-05 9.99987505e-01 4.95465515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.344340128000006 meters 0.01871581129371737 Centerline is valid? [True, True] Translation: X:45.70, Y:6.10, Z:0.50 [[ 9.47404986e-01 -3.20019830e-01 -3.33186640e-03 4.56976604e+01] [ 3.20018031e-01 9.47410843e-01 -1.07404243e-03 6.09728643e+00] [ 3.50036123e-03 -4.87041711e-05 9.99993873e-01 4.96828065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.374340128 meters 0.019247865511339012 Centerline is valid? [True, True] Translation: X:45.72, Y:6.11, Z:0.50 [[ 9.47609085e-01 -3.19428439e-01 -1.57912539e-03 4.57220403e+01] [ 3.19428033e-01 9.47610401e-01 -5.09657369e-04 6.11271200e+00] [ 1.65919470e-03 -2.14609636e-05 9.99998623e-01 4.99764845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.404340128 meters 0.01846826544188986 Centerline is valid? [True, True] Translation: X:45.75, Y:6.13, Z:0.50 [[ 9.47795484e-01 -3.18878335e-01 -5.72754696e-04 4.57461698e+01] [ 3.18878284e-01 9.47795657e-01 -1.82105946e-04 6.12794169e+00] [ 6.00924055e-04 -1.00398413e-05 9.99999819e-01 4.99829096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.434340128 meters 0.019889711823892806 Centerline is valid? [True, True] Translation: X:45.77, Y:6.14, Z:0.50 [[ 9.48220063e-01 -3.17614023e-01 2.12926149e-04 4.57710001e+01] [ 3.17614015e-01 9.48220087e-01 6.99879421e-05 6.14088715e+00] [-2.24130003e-04 1.26435820e-06 9.99999975e-01 5.02582290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.464340128 meters 0.020773546822590108 Centerline is valid? [True, True] Translation: X:45.79, Y:6.16, Z:0.50 [[ 9.49326839e-01 -3.14288664e-01 1.08977096e-03 4.57942034e+01] [ 3.14288462e-01 9.49327465e-01 3.56151689e-04 6.16375271e+00] [-1.14648394e-03 4.39808105e-06 9.99999343e-01 5.03553473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.494340128000005 meters 0.017077572358129352 Centerline is valid? [True, True] Translation: X:45.82, Y:6.18, Z:0.50 [[ 9.49854996e-01 -3.12683443e-01 2.13328302e-03 4.58182631e+01] [ 3.12682669e-01 9.49857392e-01 6.95564292e-04 6.17988322e+00] [-2.24380608e-03 6.35541139e-06 9.99997483e-01 5.02997398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.524340128000006 meters 0.01718341603820752 Centerline is valid? [True, True] Translation: X:45.84, Y:6.20, Z:0.50 [[ 9.51366494e-01 -3.08048842e-01 2.77578541e-03 4.58393869e+01] [ 3.08047517e-01 9.51370543e-01 9.03687368e-04 6.20155140e+00] [-2.91918032e-03 -4.66407914e-06 9.99995739e-01 5.04531785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.554340128 meters 0.01780119058132283 Centerline is valid? [True, True] Translation: X:45.86, Y:6.22, Z:0.51 [[ 9.52131587e-01 -3.05669734e-01 3.38455551e-03 4.58632573e+01] [ 3.05667754e-01 9.52137602e-01 1.10049741e-03 6.21709547e+00] [-3.55895131e-03 -1.32688614e-05 9.99993667e-01 5.06193098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.584340128 meters 0.0210865571384811 Centerline is valid? [True, True] Translation: X:45.89, Y:6.23, Z:0.51 [[ 9.52944903e-01 -3.03125759e-01 3.28418705e-03 4.58886843e+01] [ 3.03123869e-01 9.52950562e-01 1.07059451e-03 6.23220845e+00] [-3.45419267e-03 -2.47020901e-05 9.99994034e-01 5.06538450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.614340128 meters 0.022114607115619318 Centerline is valid? [True, True] Translation: X:45.91, Y:6.25, Z:0.51 [[ 9.53705539e-01 -3.00720249e-01 3.61630551e-03 4.59140510e+01] [ 3.00717937e-01 9.53712394e-01 1.17972187e-03 6.24812523e+00] [-3.80368164e-03 -3.76193451e-05 9.99992765e-01 5.06146654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.644340128 meters 0.022644593747751032 Centerline is valid? [True, True] Translation: X:45.94, Y:6.27, Z:0.51 [[ 9.55294142e-01 -2.95599962e-01 5.81069725e-03 4.59359288e+01] [ 2.95593918e-01 9.55311810e-01 1.89246893e-03 6.27250921e+00] [-6.11044145e-03 -9.02577235e-05 9.99981327e-01 5.07286322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.674340128000004 meters 0.026332027846974918 Centerline is valid? [True, True] Translation: X:45.96, Y:6.29, Z:0.51 [[ 9.56012211e-01 -2.93270135e-01 5.76890472e-03 4.59612488e+01] [ 2.93264115e-01 9.56029611e-01 1.88221622e-03 6.28809988e+00] [-6.06724154e-03 -1.07608952e-04 9.99981588e-01 5.08777151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.704340128000005 meters 0.029367900254034886 Centerline is valid? [True, True] Translation: X:45.99, Y:6.30, Z:0.51 [[ 9.56679197e-01 -2.91076672e-01 6.26777821e-03 4.59860316e+01] [ 2.91069526e-01 9.56699720e-01 2.04371882e-03 6.30329471e+00] [-6.59126053e-03 -1.30824049e-04 9.99978269e-01 5.09582293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.734340128 meters 0.031786535570760346 Centerline is valid? [True, True] Translation: X:46.01, Y:6.32, Z:0.51 [[ 9.57949712e-01 -2.86867095e-01 6.29433321e-03 4.60090931e+01] [ 2.86859796e-01 9.57970377e-01 2.05267606e-03 6.32313050e+00] [-6.61862998e-03 -1.60769301e-04 9.99978084e-01 5.08536990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.764340128 meters 0.033129703511996886 Centerline is valid? [True, True] Translation: X:46.03, Y:6.34, Z:0.51 [[ 9.58452648e-01 -2.85191932e-01 5.83803460e-03 4.60347320e+01] [ 2.85185617e-01 9.58470415e-01 1.90465803e-03 6.33576553e+00] [-6.13877655e-03 -1.60601030e-04 9.99981145e-01 5.07640186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.794340128 meters 0.031900295100839644 Centerline is valid? [True, True] Translation: X:46.06, Y:6.35, Z:0.50 [[ 9.59055734e-01 -2.83162813e-01 5.56054991e-03 4.60608703e+01] [ 2.83157031e-01 9.59071839e-01 1.81745691e-03 6.34917484e+00] [-5.84760304e-03 -1.68533669e-04 9.99982888e-01 5.03875903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.824340128 meters 0.033756144730134496 Centerline is valid? [True, True] Translation: X:46.09, Y:6.36, Z:0.50 [[ 9.59336145e-01 -2.82225819e-01 4.76948196e-03 4.60874054e+01] [ 2.82221544e-01 9.59347989e-01 1.56060329e-03 6.36120307e+00] [-5.01603547e-03 -1.51092582e-04 9.99987408e-01 5.03544208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.854340128000004 meters 0.032637795923354765 Centerline is valid? [True, True] Translation: X:46.11, Y:6.37, Z:0.50 [[ 9.59406707e-01 -2.81970646e-01 5.59697732e-03 4.61140868e+01] [ 2.81964749e-01 9.59423015e-01 1.83245502e-03 6.37312076e+00] [-5.88656738e-03 -1.79919330e-04 9.99982658e-01 5.02378006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.884340128000005 meters 0.031459007877711664 Centerline is valid? [True, True] Translation: X:46.14, Y:6.38, Z:0.50 [[ 9.59599753e-01 -2.81306760e-01 5.90093148e-03 4.61416238e+01] [ 2.81300182e-01 9.59617876e-01 1.93367097e-03 6.38120164e+00] [-6.20659405e-03 -1.95617086e-04 9.99980720e-01 5.01029560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.914340128 meters 0.03426091052180573 Centerline is valid? [True, True] Translation: X:46.17, Y:6.39, Z:0.50 [[ 9.60159299e-01 -2.79403231e-01 5.28720783e-03 4.61670793e+01] [ 2.79397923e-01 9.60173838e-01 1.73239019e-03 6.39203134e+00] [-5.56067405e-03 -1.86135663e-04 9.99984522e-01 5.00446888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.944340128 meters 0.03421834753530298 Centerline is valid? [True, True] Translation: X:46.19, Y:6.40, Z:0.50 [[ 9.60495559e-01 -2.78248109e-01 5.12550333e-03 4.61938321e+01] [ 2.78243089e-01 9.60509216e-01 1.68218595e-03 6.40207430e+00] [-5.39115824e-03 -1.89596256e-04 9.99985450e-01 4.98893629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.974340128 meters 0.03261033570591475 Centerline is valid? [True, True] Translation: X:46.22, Y:6.41, Z:0.50 [[ 9.60834184e-01 -2.77076268e-01 5.13925757e-03 4.62219529e+01] [ 2.77071194e-01 9.60847908e-01 1.68844517e-03 6.40812204e+00] [-5.40587297e-03 -1.98375602e-04 9.99985368e-01 4.96831247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.004340128 meters 0.03927541824491405 Centerline is valid? [True, True] Translation: X:46.25, Y:6.42, Z:0.50 [[ 9.61615866e-01 -2.74361422e-01 4.55367675e-03 4.62479193e+01] [ 2.74357416e-01 9.61626630e-01 1.49442846e-03 6.42193870e+00] [-4.78895034e-03 -1.87731132e-04 9.99988515e-01 4.97980904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.034340128000004 meters 0.03636678413041328 Centerline is valid? [True, True] Translation: X:46.28, Y:6.43, Z:0.50 [[ 9.61952888e-01 -2.73179878e-01 4.40400153e-03 4.62770675e+01] [ 2.73176102e-01 9.61962950e-01 1.44891095e-03 6.42501157e+00] [-4.63229962e-03 -1.90716103e-04 9.99989253e-01 4.95423860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.064340128000005 meters 0.03973244258823278 Centerline is valid? [True, True] Translation: X:46.31, Y:6.43, Z:0.49 [[ 9.62867769e-01 -2.69940368e-01 4.22572588e-03 4.63051750e+01] [ 2.69936869e-01 9.62877022e-01 1.38840744e-03 6.43191713e+00] [-4.44364157e-03 -1.96173562e-04 9.99990108e-01 4.94172834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.094340128000006 meters 0.03961873050671222 Centerline is valid? [True, True] Translation: X:46.33, Y:6.44, Z:0.49 [[ 9.63250194e-01 -2.68565128e-01 4.67295435e-03 4.63324509e+01] [ 2.68560825e-01 9.63261502e-01 1.53693183e-03 6.43821837e+00] [-4.91404332e-03 -2.25477413e-04 9.99987901e-01 4.93556766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.124340128 meters 0.046838846519157984 Centerline is valid? [True, True] Translation: X:46.36, Y:6.45, Z:0.50 [[ 9.63539432e-01 -2.67530537e-01 4.37889852e-03 4.63572248e+01] [ 2.67526736e-01 9.63549357e-01 1.44275931e-03 6.45158016e+00] [-4.60526703e-03 -2.18683059e-04 9.99989372e-01 4.95805716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.154340128 meters 0.043083989272712016 Centerline is valid? [True, True] Translation: X:46.39, Y:6.45, Z:0.49 [[ 9.64117035e-01 -2.65434700e-01 4.77094196e-03 4.63895802e+01] [ 2.65430173e-01 9.64128808e-01 1.56989220e-03 6.44650732e+00] [-5.01650645e-03 -2.47207866e-04 9.99987387e-01 4.92912509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.184340128 meters 0.04274214200861193 Centerline is valid? [True, True] Translation: X:46.42, Y:6.45, Z:0.49 [[ 9.64411985e-01 -2.64354795e-01 5.10547821e-03 4.64176256e+01] [ 2.64349587e-01 9.64425460e-01 1.68156006e-03 6.45204225e+00] [-5.36838164e-03 -2.72085619e-04 9.99985553e-01 4.91857801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.214340128 meters 0.0408108461049211 Centerline is valid? [True, True] Translation: X:46.45, Y:6.45, Z:0.49 [[ 9.64541554e-01 -2.63874840e-01 5.44602302e-03 4.64483964e+01] [ 2.63868890e-01 9.64556883e-01 1.79662244e-03 6.45220746e+00] [-5.72708245e-03 -2.95880954e-04 9.99983556e-01 4.91134470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.244340128000005 meters 0.0434635903502669 Centerline is valid? [True, True] Translation: X:46.48, Y:6.45, Z:0.49 [[ 9.64914241e-01 -2.62481751e-01 6.62100225e-03 4.64782138e+01] [ 2.62472937e-01 9.64936887e-01 2.18227117e-03 6.45190574e+00] [-6.96165566e-03 -3.67870627e-04 9.99975700e-01 4.92125439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.274340128000006 meters 0.04394107691359533 Centerline is valid? [True, True] Translation: X:46.51, Y:6.46, Z:0.49 [[ 9.65127490e-01 -2.61668211e-01 7.65998424e-03 4.65064874e+01] [ 2.61656374e-01 9.65157790e-01 2.52642954e-03 6.45659367e+00] [-8.05417976e-03 -4.34042896e-04 9.99967470e-01 4.92482039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.304340128 meters 0.0443723420214297 Centerline is valid? [True, True] Translation: X:46.54, Y:6.46, Z:0.49 [[ 9.65264152e-01 -2.61116160e-01 9.13604287e-03 4.65352119e+01] [ 2.61099295e-01 9.65307245e-01 3.01345226e-03 6.46029030e+00] [-9.60594945e-03 -5.23363093e-04 9.99953725e-01 4.93468270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.334340128 meters 0.045386316933406834 Centerline is valid? [True, True] Translation: X:46.57, Y:6.46, Z:0.50 [[ 9.65462055e-01 -2.60229593e-01 1.27898282e-02 4.65666648e+01] [ 2.60196463e-01 9.65546479e-01 4.21865835e-03 6.45874470e+00] [-1.34469934e-02 -7.45086496e-04 9.99909307e-01 4.97231105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.364340128 meters 0.047495804281222735 Centerline is valid? [True, True] Translation: X:46.59, Y:6.46, Z:0.50 [[ 9.65516059e-01 -2.59900110e-01 1.51879039e-02 4.65940071e+01] [ 2.59853320e-01 9.65635095e-01 5.01150356e-03 6.46391358e+00] [-1.59684634e-02 -8.92059917e-04 9.99872098e-01 5.00785184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.394340128 meters 0.049870815057914374 Centerline is valid? [True, True] Translation: X:46.63, Y:6.47, Z:0.51 [[ 9.65910009e-01 -2.58133129e-01 1.96250373e-02 4.66254377e+01] [ 2.58054652e-01 9.66108623e-01 6.47495695e-03 6.46507944e+00] [-2.06313187e-02 -1.18989355e-03 9.99786444e-01 5.07005094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.424340128000004 meters 0.05163826184757745 Centerline is valid? [True, True] Translation: X:46.65, Y:6.47, Z:0.51 [[ 9.65780475e-01 -2.58396127e-01 2.23498670e-02 4.66536844e+01] [ 2.58294339e-01 9.66038102e-01 7.37698274e-03 6.46844786e+00] [-2.34970069e-02 -1.35170177e-03 9.99722993e-01 5.11354194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.454340128000005 meters 0.052545169623743296 Centerline is valid? [True, True] Translation: X:46.68, Y:6.47, Z:0.51 [[ 9.65536239e-01 -2.59072580e-01 2.49232779e-02 4.66830564e+01] [ 2.58945994e-01 9.65856695e-01 8.23505192e-03 6.47049792e+00] [-2.62057909e-02 -1.49745809e-03 9.99655448e-01 5.14718512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.484340128 meters 0.05186576508404208 Centerline is valid? [True, True] Translation: X:46.71, Y:6.47, Z:0.52 [[ 9.64796493e-01 -2.61430016e-01 2.86718298e-02 4.67140832e+01] [ 2.61263490e-01 9.65221024e-01 9.47441099e-03 6.46552616e+00] [-3.01515483e-02 -1.64997618e-03 9.99543977e-01 5.20128513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.514340128 meters 0.05062264719193047 Centerline is valid? [True, True] Translation: X:46.74, Y:6.47, Z:0.52 [[ 9.63787446e-01 -2.64861291e-01 3.10202541e-02 4.67443586e+01] [ 2.64668058e-01 9.64285074e-01 1.02526045e-02 6.46566755e+00] [-3.26278861e-02 -1.67126114e-03 9.99466171e-01 5.23264658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.544340128 meters 0.045315592961105856 Centerline is valid? [True, True] Translation: X:46.78, Y:6.46, Z:0.52 [[ 9.61612087e-01 -2.72612448e-01 3.13791045e-02 4.67771312e+01] [ 2.72418829e-01 9.62122873e-01 1.03710197e-02 6.46281552e+00] [-3.30178233e-02 -1.42463896e-03 9.99453748e-01 5.21666150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.574340128 meters 0.040489472636239095 Centerline is valid? [True, True] Translation: X:46.81, Y:6.46, Z:0.52 [[ 9.59471345e-01 -2.79918324e-01 3.25648696e-02 4.68089415e+01] [ 2.79713928e-01 9.60023044e-01 1.07644658e-02 6.46003667e+00] [-3.42761965e-02 -1.21934891e-03 9.99411655e-01 5.22432543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.604340128000004 meters 0.030183251938437853 Centerline is valid? [True, True] Translation: X:46.85, Y:6.43, Z:0.53 [[ 9.53253143e-01 -2.99941259e-01 3.66563197e-02 4.68490610e+01] [ 2.99696845e-01 9.53957504e-01 1.21194844e-02 6.43495716e+00] [-3.86037047e-02 -5.67153277e-04 9.99254438e-01 5.27273768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.634340128000005 meters 0.02881618344017846 Centerline is valid? [True, True] Translation: X:46.88, Y:6.43, Z:0.53 [[ 9.49770921e-01 -3.10483774e-01 3.91793886e-02 4.68822673e+01] [ 3.10212958e-01 9.50578666e-01 1.29661430e-02 6.42582759e+00] [-4.12688680e-02 -1.60911595e-04 9.99148064e-01 5.31866279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.664340128 meters 0.030527375779406014 Centerline is valid? [True, True] Translation: X:46.92, Y:6.40, Z:0.54 [[ 9.43581355e-01 -3.28399084e-01 4.25237346e-02 4.69205576e+01] [ 3.28098101e-01 9.44538823e-01 1.40729479e-02 6.40258533e+00] [-4.47868614e-02 6.72985345e-04 9.98996338e-01 5.37742599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.694340128 meters 0.030527375779406014 Centerline is valid? [True, True] Translation: X:46.95, Y:6.41, Z:0.54 [[ 9.43491313e-01 -3.28658275e-01 4.25191753e-02 4.69467228e+01] [ 3.28356934e-01 9.44448669e-01 1.40867186e-02 6.41145702e+00] [-4.47868951e-02 6.70769409e-04 9.98996338e-01 5.38012465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.724340128 meters 0.030203636774830185 Centerline is valid? [True, True] Translation: X:46.98, Y:6.41, Z:0.53 [[ 9.40592843e-01 -3.36665555e-01 4.40614054e-02 4.69790072e+01] [ 3.36350748e-01 9.41623659e-01 1.45965645e-02 6.40992359e+00] [-4.64034223e-02 1.09066252e-03 9.98922186e-01 5.32287507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.754340128 meters 0.03804960198124781 Centerline is valid? [True, True] Translation: X:47.01, Y:6.40, Z:0.54 [[ 9.38094543e-01 -3.43447736e-01 4.49697770e-02 4.70111139e+01] [ 3.43127420e-01 9.39170668e-01 1.49006720e-02 6.40308169e+00] [-4.73518976e-02 1.45212448e-03 9.98877214e-01 5.42526629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.784340128000004 meters 0.03626978754373152 Centerline is valid? [True, True] Translation: X:47.04, Y:6.41, Z:0.53 [[ 9.35827757e-01 -3.49495303e-01 4.56009167e-02 4.70406495e+01] [ 3.49172590e-01 9.36936439e-01 1.51199282e-02 6.40727855e+00] [-4.80095044e-02 1.77294174e-03 9.98845305e-01 5.34295484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.814340128000005 meters 0.048264170844962144 Centerline is valid? [True, True] Translation: X:47.07, Y:6.40, Z:0.55 [[ 9.33554017e-01 -3.55232057e-01 4.78234573e-02 4.70714665e+01] [ 3.54884476e-01 9.34775638e-01 1.58592522e-02 6.40379878e+00] [-5.03379176e-02 2.16633401e-03 9.98729894e-01 5.48299393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.844340128000006 meters 0.048375284942361214 Centerline is valid? [True, True] Translation: X:47.10, Y:6.41, Z:0.55 [[ 9.32923072e-01 -3.56962445e-01 4.72477985e-02 4.70993083e+01] [ 3.56624715e-01 9.34116099e-01 1.56820434e-02 6.41229420e+00] [-4.97328298e-02 2.21959260e-03 9.98760091e-01 5.46115345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.874340128 meters 0.03812289837675291 Centerline is valid? [True, True] Translation: X:47.12, Y:6.43, Z:0.53 [[ 9.32384653e-01 -3.58605476e-01 4.53979232e-02 4.71227231e+01] [ 3.58294964e-01 9.33486613e-01 1.50818553e-02 6.43322090e+00] [-4.77867894e-02 2.20375681e-03 9.98855128e-01 5.28349888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.904340128 meters 0.04370517351525528 Centerline is valid? [True, True] Translation: X:47.15, Y:6.44, Z:0.53 [[ 9.32086503e-01 -3.59542586e-01 4.40894638e-02 4.71513924e+01] [ 3.59250507e-01 9.33126128e-01 1.46527508e-02 6.43640992e+00] [-4.64093185e-02 2.18153102e-03 9.98920125e-01 5.34429112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.934340128 meters 0.03942065505074247 Centerline is valid? [True, True] Translation: X:47.18, Y:6.45, Z:0.53 [[ 9.31852664e-01 -3.60268281e-01 4.30973130e-02 4.71765930e+01] [ 3.59989353e-01 9.32846248e-01 1.43367852e-02 6.45123110e+00] [-4.53682556e-02 2.15480235e-03 9.98968007e-01 5.27198536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.964340128 meters 0.04471048889522284 Centerline is valid? [True, True] Translation: X:47.20, Y:6.46, Z:0.53 [[ 9.31927135e-01 -3.60148831e-01 4.24810003e-02 4.72047205e+01] [ 3.59877584e-01 9.32892461e-01 1.41344152e-02 6.45500911e+00] [-4.47206981e-02 2.11571464e-03 9.98997289e-01 5.33570750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.994340128000005 meters 0.03551308925134893 Centerline is valid? [True, True] Translation: X:47.23, Y:6.48, Z:0.52 [[ 9.32453580e-01 -3.58895909e-01 4.15216593e-02 4.72281478e+01] [ 3.58634956e-01 9.33375455e-01 1.38285388e-02 6.47746740e+00] [-4.37183036e-02 1.99664798e-03 9.99041903e-01 5.20119993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.024340128000006 meters 0.034993162944579354 Centerline is valid? [True, True] Translation: X:47.25, Y:6.49, Z:0.52 [[ 9.33044761e-01 -3.57397368e-01 4.11654649e-02 4.72545100e+01] [ 3.57139343e-01 9.33950470e-01 1.37116606e-02 6.49032177e+00] [-4.33470167e-02 1.90821403e-03 9.99058254e-01 5.18668939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.054340128 meters 0.03346983576041335 Centerline is valid? [True, True] Translation: X:47.28, Y:6.51, Z:0.51 [[ 9.34669227e-01 -3.53374658e-01 3.89844401e-02 4.72783085e+01] [ 3.53139664e-01 9.35480465e-01 1.29875572e-02 6.50862849e+00] [-4.10586558e-02 1.62788205e-03 9.99155412e-01 5.14073506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.084340128 meters 0.03379720611718909 Centerline is valid? [True, True] Translation: X:47.30, Y:6.52, Z:0.51 [[ 9.35579910e-01 -3.51095807e-01 3.77089672e-02 4.73039347e+01] [ 3.50873962e-01 9.36338379e-01 1.25659528e-02 6.52072323e+00] [-3.97202066e-02 1.47464175e-03 9.99209753e-01 5.14468191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.114340128 meters 0.03189619574542506 Centerline is valid? [True, True] Translation: X:47.33, Y:6.54, Z:0.51 [[ 9.36365023e-01 -3.49161501e-01 3.61495496e-02 4.73302985e+01] [ 3.48955781e-01 9.37061626e-01 1.20570245e-02 6.53575156e+00] [-3.80842045e-02 1.32481833e-03 9.99273655e-01 5.10474173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.144340128 meters 0.02921007613738961 Centerline is valid? [True, True] Translation: X:47.35, Y:6.55, Z:0.50 [[ 9.38178895e-01 -3.44829957e-01 3.02103047e-02 4.73540908e+01] [ 3.44684024e-01 9.38664680e-01 1.00768474e-02 6.55449243e+00] [-3.18321448e-02 9.59123840e-04 9.99492769e-01 5.02654223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.174340128000004 meters 0.027945608953105452 Centerline is valid? [True, True] Translation: X:47.38, Y:6.57, Z:0.50 [[ 9.38796044e-01 -3.43402078e-01 2.71477420e-02 4.73802585e+01] [ 3.43283393e-01 9.39188137e-01 9.06395744e-03 6.56900931e+00] [-2.86094190e-02 8.10161602e-04 9.99590338e-01 4.98024880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.204340128000005 meters 0.027007179204947763 Centerline is valid? [True, True] Translation: X:47.41, Y:6.58, Z:0.49 [[ 9.39311495e-01 -3.42216168e-01 2.41248882e-02 4.74066984e+01] [ 3.42121899e-01 9.39621003e-01 8.06083684e-03 6.58361101e+00] [-2.54268003e-02 6.82015853e-04 9.99676454e-01 4.93954397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.234340128 meters 0.025352368702505138 Centerline is valid? [True, True] Translation: X:47.43, Y:6.60, Z:0.48 [[ 9.40222562e-01 -3.40053624e-01 1.85759842e-02 4.74300439e+01] [ 3.39997315e-01 9.40405924e-01 6.20669160e-03 6.60491755e+00] [-1.95795736e-02 4.80113294e-04 9.99808186e-01 4.84794583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.264340128 meters 0.026057604279982542 Centerline is valid? [True, True] Translation: X:47.46, Y:6.62, Z:0.48 [[ 9.40535388e-01 -3.39338537e-01 1.55737521e-02 4.74556821e+01] [ 3.39298763e-01 9.40664239e-01 5.20959300e-03 6.62047213e+00] [-1.64174873e-02 3.84348252e-04 9.99865150e-01 4.80432146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.294340128 meters 0.02372323865150702 Centerline is valid? [True, True] Translation: X:47.48, Y:6.64, Z:0.48 [[ 9.40813478e-01 -3.38676354e-01 1.29741078e-02 4.74808174e+01] [ 3.38648691e-01 9.40902880e-01 4.33973859e-03 6.63570306e+00] [-1.36771423e-02 3.10780082e-04 9.99906415e-01 4.75758193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.324340128 meters 0.023339744122250813 Centerline is valid? [True, True] Translation: X:47.51, Y:6.65, Z:0.47 [[ 9.40942790e-01 -3.38423737e-01 9.80004414e-03 4.75060394e+01] [ 3.38407931e-01 9.40993794e-01 3.27898694e-03 6.65000531e+00] [-1.03314677e-02 2.31073540e-04 9.99946602e-01 4.71629106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.354340128000004 meters 0.02281851382276357 Centerline is valid? [True, True] Translation: X:47.53, Y:6.67, Z:0.46 [[ 9.41099485e-01 -3.38116240e-01 3.02797064e-03 4.75296234e+01] [ 3.38114727e-01 9.41104353e-01 1.01381793e-03 6.66956743e+00] [-3.19242466e-03 6.96979370e-05 9.99994902e-01 4.62376337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.384340128000005 meters 0.023663307753357767 Centerline is valid? [True, True] Translation: X:47.56, Y:6.68, Z:0.46 [[ 9.40801614e-01 -3.38957309e-01 -5.15040721e-04 4.75557805e+01] [ 3.38957267e-01 9.40801755e-01 -1.69965491e-04 6.68384861e+00] [ 5.42162260e-04 -1.46729870e-05 9.99999853e-01 4.57443572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.414340128 meters 0.02624266627013372 Centerline is valid? [True, True] Translation: X:47.58, Y:6.70, Z:0.45 [[ 9.39944025e-01 -3.41239719e-01 -7.78998000e-03 4.75786351e+01] [ 3.41229812e-01 9.39976282e-01 -2.60840224e-03 6.70326778e+00] [ 8.21248689e-03 -2.06421312e-04 9.99966256e-01 4.46149062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.444340128 meters 0.022895287534346217 Centerline is valid? [True, True] Translation: X:47.60, Y:6.72, Z:0.44 [[ 9.39175257e-01 -3.43253581e-01 -1.12612793e-02 4.76028574e+01] [ 3.43232999e-01 9.39242714e-01 -3.77260494e-03 6.72309193e+00] [ 1.18720347e-02 -3.22105466e-04 9.99929473e-01 4.40630052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.474340128 meters 0.028221416824046833 Centerline is valid? [True, True] Translation: X:47.63, Y:6.73, Z:0.44 [[ 9.38221938e-01 -3.45741395e-01 -1.42296423e-02 4.76296168e+01] [ 3.45708759e-01 9.38329735e-01 -4.77101640e-03 6.73216264e+00] [ 1.50016343e-02 -4.43039717e-04 9.99887371e-01 4.35191075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.504340128 meters 0.03278323820289819 Centerline is valid? [True, True] Translation: X:47.65, Y:6.75, Z:0.43 [[ 9.35364912e-01 -3.53155634e-01 -1.93282085e-02 4.76544734e+01] [ 3.53096947e-01 9.35564279e-01 -6.48281391e-03 6.75016596e+00] [ 2.03722237e-02 -7.60934750e-04 9.99792175e-01 4.29480074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.534340128000004 meters 0.03793464380943368 Centerline is valid? [True, True] Translation: X:47.68, Y:6.76, Z:0.43 [[ 9.33548574e-01 -3.57862304e-01 -2.05336534e-02 4.76825840e+01] [ 3.57797166e-01 9.33773920e-01 -6.88877921e-03 6.75714108e+00] [ 2.16390244e-02 -9.15872987e-04 9.99765429e-01 4.27031163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.564340128000005 meters 0.04232066570238338 Centerline is valid? [True, True] Translation: X:47.71, Y:6.77, Z:0.43 [[ 9.31611308e-01 -3.62841692e-01 -2.11252967e-02 4.77112338e+01] [ 3.62773994e-01 9.31850193e-01 -7.08847827e-03 6.76560564e+00] [ 2.22576072e-02 -1.06000173e-03 9.99751707e-01 4.26699673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.594340128000006 meters 0.04833661111131001 Centerline is valid? [True, True] Translation: X:47.74, Y:6.77, Z:0.43 [[ 9.29583565e-01 -3.67961146e-01 -2.18858507e-02 4.77401446e+01] [ 3.67889824e-01 9.29840363e-01 -7.34685255e-03 6.77364437e+00] [ 2.30537036e-02 -1.22206836e-03 9.99733481e-01 4.26631711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.624340128 meters 0.049518006739767785 Centerline is valid? [True, True] Translation: X:47.77, Y:6.79, Z:0.43 [[ 9.26724253e-01 -3.75078206e-01 -2.23270716e-02 4.77662303e+01] [ 3.75005958e-01 9.26992077e-01 -7.49803660e-03 6.79001066e+00] [ 2.35093686e-02 -1.42417251e-03 9.99722602e-01 4.28374010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.654340128 meters 0.058502112190857526 Centerline is valid? [True, True] Translation: X:47.80, Y:6.79, Z:0.43 [[ 9.25586433e-01 -3.77867779e-01 -2.24877121e-02 4.77950619e+01] [ 3.77795266e-01 9.25858347e-01 -7.55366914e-03 6.79499501e+00] [ 2.36747242e-02 -1.50417752e-03 9.99718583e-01 4.28061751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.684340128 meters 0.05760945355162895 Centerline is valid? [True, True] Translation: X:47.82, Y:6.82, Z:0.43 [[ 9.24777295e-01 -3.80011922e-01 -1.94395048e-02 4.78182610e+01] [ 3.79958131e-01 9.24980612e-01 -6.53352157e-03 6.81661238e+00] [ 2.04639811e-02 -1.34414551e-03 9.99789687e-01 4.33948301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.714340128 meters 0.05442026686411487 Centerline is valid? [True, True] Translation: X:47.84, Y:6.83, Z:0.44 [[ 9.24773043e-01 -3.80122528e-01 -1.73689862e-02 4.78431415e+01] [ 3.80079510e-01 9.24935364e-01 -5.84282580e-03 6.83365255e+00] [ 1.82861793e-02 -1.19830797e-03 9.99832076e-01 4.37732354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.744340128000005 meters 0.05528217509276494 Centerline is valid? [True, True] Translation: X:47.87, Y:6.85, Z:0.44 [[ 9.24884374e-01 -3.79910747e-01 -1.60224393e-02 4.78680508e+01] [ 3.79874044e-01 9.25022496e-01 -5.39371922e-03 6.84596655e+00] [ 1.68702487e-02 -1.09794220e-03 9.99857084e-01 4.40477060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.774340128000006 meters 0.05360345551600204 Centerline is valid? [True, True] Translation: X:47.89, Y:6.86, Z:0.45 [[ 9.25166333e-01 -3.79323355e-01 -1.34554519e-02 4.78916754e+01] [ 3.79297371e-01 9.25263726e-01 -4.53221970e-03 6.86497455e+00] [ 1.41690183e-02 -9.10560452e-04 9.99899200e-01 4.46567572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.804340128 meters 0.055359699367241166 Centerline is valid? [True, True] Translation: X:47.92, Y:6.87, Z:0.45 [[ 9.25294494e-01 -3.79048638e-01 -1.23380943e-02 4.79178442e+01] [ 3.79026725e-01 9.25376380e-01 -4.15908712e-03 6.87489398e+00] [ 1.29938773e-02 -8.28087047e-04 9.99915233e-01 4.49378522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.834340128 meters 0.05490803390225964 Centerline is valid? [True, True] Translation: X:47.94, Y:6.89, Z:0.45 [[ 9.25319566e-01 -3.79032516e-01 -1.08652081e-02 4.79426624e+01] [ 3.79015500e-01 9.25383068e-01 -3.66445788e-03 6.89097766e+00] [ 1.14434283e-02 -7.27287691e-04 9.99934257e-01 4.53802659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.864340128 meters 0.05520512996899982 Centerline is valid? [True, True] Translation: X:47.97, Y:6.90, Z:0.45 [[ 9.25495541e-01 -3.78590551e-01 -1.12781941e-02 4.79679414e+01] [ 3.78572145e-01 9.25563957e-01 -3.80698150e-03 6.90229843e+00] [ 1.18799772e-02 -7.46265726e-04 9.99929152e-01 4.54555238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.894340128 meters 0.05630719635459485 Centerline is valid? [True, True] Translation: X:47.99, Y:6.91, Z:0.45 [[ 9.26000837e-01 -3.77325577e-01 -1.21597011e-02 4.79941420e+01] [ 3.77304055e-01 9.26080338e-01 -4.10595558e-03 6.91238273e+00] [ 1.28101422e-02 -7.85786229e-04 9.99917638e-01 4.54386469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.924340128000004 meters 0.051748820910327065 Centerline is valid? [True, True] Translation: X:48.02, Y:6.93, Z:0.45 [[ 9.26742482e-01 -3.75449282e-01 -1.36458236e-02 4.80192131e+01] [ 3.75421952e-01 9.26842550e-01 -4.60929182e-03 6.92750811e+00] [ 1.43780853e-02 -8.51315204e-04 9.99896268e-01 4.54368685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.954340128000005 meters 0.05152451524816537 Centerline is valid? [True, True] Translation: X:48.05, Y:6.94, Z:0.45 [[ 9.27617997e-01 -3.73234377e-01 -1.48644661e-02 4.80457581e+01] [ 3.73201643e-01 9.27736660e-01 -5.02227447e-03 6.93965832e+00] [ 1.56647957e-02 -8.88691006e-04 9.99876905e-01 4.53832889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.984340128 meters 0.044052190715607405 Centerline is valid? [True, True] Translation: X:48.07, Y:6.96, Z:0.45 [[ 9.30800209e-01 -3.65157290e-01 -1.64658700e-02 4.80695405e+01] [ 3.65115837e-01 9.30945466e-01 -5.56462564e-03 6.95895829e+00] [ 1.73607906e-02 -8.32395183e-04 9.99848944e-01 4.53735978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.014340128 meters 0.04321183586607858 Centerline is valid? [True, True] Translation: X:48.10, Y:6.97, Z:0.45 [[ 9.32264837e-01 -3.61361455e-01 -1.73255151e-02 4.80952481e+01] [ 3.61314884e-01 9.32425471e-01 -5.85631237e-03 6.97361614e+00] [ 1.82709971e-02 -8.00332388e-04 9.99832751e-01 4.53235596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.044340128 meters 0.03656915435127331 Centerline is valid? [True, True] Translation: X:48.12, Y:6.99, Z:0.45 [[ 9.34378303e-01 -3.55851394e-01 -1.75206294e-02 4.81203575e+01] [ 3.55802776e-01 9.34542293e-01 -5.92348767e-03 6.98966950e+00] [ 1.84816505e-02 -6.99110211e-04 9.99828955e-01 4.54061741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.074340128 meters 0.029365620398354393 Centerline is valid? [True, True] Translation: X:48.14, Y:7.01, Z:0.45 [[ 9.38242243e-01 -3.45455587e-01 -1.90244952e-02 4.81437064e+01] [ 3.45396098e-01 9.38434948e-01 -6.43307580e-03 7.01252254e+00] [ 2.00755931e-02 -5.35202945e-04 9.99798322e-01 4.53185853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.104340128000004 meters 0.024096743630182556 Centerline is valid? [True, True] Translation: X:48.17, Y:7.03, Z:0.45 [[ 9.40197218e-01 -3.40110096e-01 -1.88232526e-02 4.81698130e+01] [ 3.40050730e-01 9.40385533e-01 -6.36785122e-03 7.02875313e+00] [ 1.98668849e-02 -4.13824781e-04 9.99802548e-01 4.53543014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.134340128000005 meters 0.018351154551327853 Centerline is valid? [True, True] Translation: X:48.20, Y:7.05, Z:0.45 [[ 9.43388098e-01 -3.31118369e-01 -1.94813313e-02 4.81951090e+01] [ 3.31052758e-01 9.43589198e-01 -6.59528286e-03 7.04740109e+00] [ 2.05661930e-02 -2.27437087e-04 9.99788468e-01 4.54368136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.164340128 meters 0.016007873745836187 Centerline is valid? [True, True] Translation: X:48.22, Y:7.06, Z:0.46 [[ 9.44570845e-01 -3.27759829e-01 -1.89581831e-02 4.82214636e+01] [ 3.27696917e-01 9.44761067e-01 -6.42318335e-03 7.06119231e+00] [ 2.00162148e-02 -1.45386433e-04 9.99799645e-01 4.57219918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.194340128 meters 0.015922743048952297 Centerline is valid? [True, True] Translation: X:48.25, Y:7.07, Z:0.46 [[ 9.45442132e-01 -3.25257061e-01 -1.86284477e-02 4.82473001e+01] [ 3.25195758e-01 9.45625633e-01 -6.31521705e-03 7.07087979e+00] [ 1.96696065e-02 -8.72198944e-05 9.99806531e-01 4.56580755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.224340128 meters 0.015552433263374948 Centerline is valid? [True, True] Translation: X:48.27, Y:7.08, Z:0.46 [[ 9.45966077e-01 -3.23729914e-01 -1.86312671e-02 4.82738756e+01] [ 3.23668216e-01 9.46149534e-01 -6.32028054e-03 7.07886073e+00] [ 1.96740285e-02 -5.15779843e-05 9.99806446e-01 4.58458491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.254340128 meters 0.019061947184664616 Centerline is valid? [True, True] Translation: X:48.30, Y:7.09, Z:0.46 [[ 9.45498051e-01 -3.25042871e-01 -1.95081498e-02 4.83024308e+01] [ 3.24975376e-01 9.45699279e-01 -6.62410812e-03 7.08512095e+00] [ 2.06019623e-02 -7.65870032e-05 9.99787754e-01 4.59905927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.284340128000004 meters 0.015474744572410984 Centerline is valid? [True, True] Translation: X:48.33, Y:7.09, Z:0.46 [[ 9.45134200e-01 -3.26095672e-01 -1.95692923e-02 4.83300214e+01] [ 3.26027841e-01 9.45336768e-01 -6.65153797e-03 7.09153854e+00] [ 2.06686092e-02 -9.35380750e-05 9.99786377e-01 4.61852172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.314340128000005 meters 0.01914506307424921 Centerline is valid? [True, True] Translation: X:48.36, Y:7.09, Z:0.46 [[ 9.44270484e-01 -3.28554235e-01 -2.01337551e-02 4.83588763e+01] [ 3.28482892e-01 9.44485094e-01 -6.84811676e-03 7.09194477e+00] [ 2.12660093e-02 -1.47119583e-04 9.99773842e-01 4.62008205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.344340128000006 meters 0.020164074345770496 Centerline is valid? [True, True] Translation: X:48.39, Y:7.10, Z:0.46 [[ 9.43872989e-01 -3.29691696e-01 -2.01783757e-02 4.83866732e+01] [ 3.29620249e-01 9.44088638e-01 -6.86552459e-03 7.09530553e+00] [ 2.13136817e-02 -1.71018003e-04 9.99772823e-01 4.60715749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.374340128 meters 0.01721592378168494 Centerline is valid? [True, True] Translation: X:48.41, Y:7.10, Z:0.46 [[ 9.43529318e-01 -3.30683874e-01 -2.00150141e-02 4.84138210e+01] [ 3.30613703e-01 9.43741564e-01 -6.81463092e-03 7.10180447e+00] [ 2.11424893e-02 -1.87433844e-04 9.99776455e-01 4.63188018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.404340128 meters 0.01801825981007694 Centerline is valid? [True, True] Translation: X:48.44, Y:7.10, Z:0.46 [[ 9.42756165e-01 -3.32892477e-01 -1.98346212e-02 4.84444228e+01] [ 3.32823921e-01 9.42964764e-01 -6.75953985e-03 7.10193403e+00] [ 2.09535489e-02 -2.28838526e-04 9.99780424e-01 4.64232209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.434340128 meters 0.018670686828824258 Centerline is valid? [True, True] Translation: X:48.47, Y:7.10, Z:0.47 [[ 9.42328246e-01 -3.34122865e-01 -1.94778754e-02 4.84731120e+01] [ 3.34056937e-01 9.42529495e-01 -6.64177450e-03 7.10455074e+00] [ 2.05776408e-02 -2.47987676e-04 9.99788227e-01 4.66079936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.464340128 meters 0.019820982467482887 Centerline is valid? [True, True] Translation: X:48.50, Y:7.10, Z:0.47 [[ 9.41521815e-01 -3.36476765e-01 -1.78901562e-02 4.85042391e+01] [ 3.36421538e-01 9.41691729e-01 -6.10217873e-03 7.09986119e+00] [ 1.89002535e-02 -2.73299478e-04 9.99821337e-01 4.69494456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.494340128000005 meters 0.020466206663192193 Centerline is valid? [True, True] Translation: X:48.53, Y:7.10, Z:0.47 [[ 9.41064721e-01 -3.37709866e-01 -1.86878867e-02 4.85327208e+01] [ 3.37649769e-01 9.41250207e-01 -6.37824097e-03 7.10460989e+00] [ 1.97439722e-02 -3.07623080e-04 9.99805021e-01 4.70758176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.524340128000006 meters 0.022822115852214678 Centerline is valid? [True, True] Translation: X:48.56, Y:7.11, Z:0.47 [[ 9.40716724e-01 -3.38618175e-01 -1.97427660e-02 4.85613965e+01] [ 3.38551212e-01 9.40923810e-01 -6.74249796e-03 7.10594569e+00] [ 2.08595709e-02 -3.41156750e-04 9.99782357e-01 4.69140758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.554340128 meters 0.02343798967010768 Centerline is valid? [True, True] Translation: X:48.59, Y:7.11, Z:0.47 [[ 9.40019707e-01 -3.40499037e-01 -2.05756034e-02 4.85918944e+01] [ 3.40426657e-01 9.40244782e-01 -7.03146033e-03 7.10503765e+00] [ 2.17403092e-02 -3.94772609e-04 9.99763574e-01 4.69693838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.584340128 meters 0.02237972995842056 Centerline is valid? [True, True] Translation: X:48.62, Y:7.11, Z:0.47 [[ 9.39714332e-01 -3.41367090e-01 -2.01366357e-02 4.86207351e+01] [ 3.41297868e-01 9.39929970e-01 -6.88599396e-03 7.10808039e+00] [ 2.12776791e-02 -4.01723610e-04 9.99773524e-01 4.70350170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.614340128 meters 0.02259481753159205 Centerline is valid? [True, True] Translation: X:48.65, Y:7.11, Z:0.47 [[ 9.39273198e-01 -3.42563043e-01 -2.04063765e-02 4.86496669e+01] [ 3.42492127e-01 9.39494745e-01 -6.98327177e-03 7.11257378e+00] [ 2.15638943e-02 -4.29823273e-04 9.99767380e-01 4.71764355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.644340128 meters 0.02259481753159205 Centerline is valid? [True, True] Translation: X:48.68, Y:7.12, Z:0.47 [[ 9.39163720e-01 -3.42863199e-01 -2.04042647e-02 4.86756773e+01] [ 3.42792220e-01 9.39385247e-01 -6.98943836e-03 7.12172052e+00] [ 2.15638864e-02 -4.30196252e-04 9.99767380e-01 4.72033137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.674340128000004 meters 0.02334359534444744 Centerline is valid? [True, True] Translation: X:48.70, Y:7.12, Z:0.47 [[ 9.38753914e-01 -3.43976583e-01 -2.05231530e-02 4.87041974e+01] [ 3.43904941e-01 9.38978117e-01 -7.03472749e-03 7.12481159e+00] [ 2.16905730e-02 -4.54135752e-04 9.99764629e-01 4.73086595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.704340128000005 meters 0.023349233398602974 Centerline is valid? [True, True] Translation: X:48.74, Y:7.12, Z:0.48 [[ 9.37862208e-01 -3.46467445e-01 -1.93594660e-02 4.87353472e+01] [ 3.46404148e-01 9.38061874e-01 -6.63975318e-03 7.12298995e+00] [ 2.04608353e-02 -4.79025752e-04 9.99790540e-01 4.75790774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.734340128 meters 0.023177468925712857 Centerline is valid? [True, True] Translation: X:48.76, Y:7.13, Z:0.48 [[ 9.37345483e-01 -3.47915843e-01 -1.83850924e-02 4.87643498e+01] [ 3.47858933e-01 9.37525646e-01 -6.31081993e-03 7.12752914e+00] [ 1.94321299e-02 -4.80000088e-04 9.99811063e-01 4.76949545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.764340128 meters 0.024965148052061903 Centerline is valid? [True, True] Translation: X:48.79, Y:7.13, Z:0.48 [[ 9.36718859e-01 -3.49621121e-01 -1.79680526e-02 4.87935155e+01] [ 3.49567001e-01 9.36891041e-01 -6.17169344e-03 7.13014019e+00] [ 1.89918619e-02 -4.99896628e-04 9.99819513e-01 4.77360294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.794340128 meters 0.02547924155097725 Centerline is valid? [True, True] Translation: X:48.82, Y:7.12, Z:0.48 [[ 9.35475726e-01 -3.52997825e-01 -1.66644038e-02 4.88242432e+01] [ 3.52951761e-01 9.35623995e-01 -5.72660034e-03 7.12473182e+00] [ 1.76130936e-02 -5.24635067e-04 9.99844740e-01 4.77585538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.824340128 meters 0.02720236988487057 Centerline is valid? [True, True] Translation: X:48.85, Y:7.13, Z:0.48 [[ 9.35014002e-01 -3.54179268e-01 -1.74889239e-02 4.88532766e+01] [ 3.54128691e-01 9.35177373e-01 -6.01254518e-03 7.12588773e+00] [ 1.84847648e-02 -5.71515788e-04 9.99828979e-01 4.76755452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.854340128000004 meters 0.0274298697650524 Centerline is valid? [True, True] Translation: X:48.88, Y:7.12, Z:0.47 [[ 9.34561482e-01 -3.55234546e-01 -2.00811878e-02 4.88837757e+01] [ 3.55168060e-01 9.34776956e-01 -6.90593080e-03 7.12439861e+00] [ 2.12246568e-02 -6.78179574e-04 9.99774502e-01 4.74125637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.884340128000005 meters 0.029134133442062653 Centerline is valid? [True, True] Translation: X:48.91, Y:7.13, Z:0.47 [[ 9.34392997e-01 -3.55546801e-01 -2.22755512e-02 4.89132478e+01] [ 3.55464965e-01 9.34658174e-01 -7.66535236e-03 7.12889261e+00] [ 2.35454175e-02 -7.55726461e-04 9.99722483e-01 4.72888345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.914340128000006 meters 0.028044277244573142 Centerline is valid? [True, True] Translation: X:48.94, Y:7.13, Z:0.47 [[ 9.34742723e-01 -3.54596580e-01 -2.27443995e-02 4.89413921e+01] [ 3.54510884e-01 9.35019097e-01 -7.83075946e-03 7.13335654e+00] [ 2.40432085e-02 -7.43391763e-04 9.99710644e-01 4.71367646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.944340128 meters 0.027946377815861158 Centerline is valid? [True, True] Translation: X:48.97, Y:7.14, Z:0.47 [[ 9.35007253e-01 -3.53855653e-01 -2.34011408e-02 4.89697260e+01] [ 3.53764582e-01 9.35299753e-01 -8.06178401e-03 7.13919588e+00] [ 2.47397890e-02 -7.40668258e-04 9.99693650e-01 4.71195372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.974340128 meters 0.027553145586546195 Centerline is valid? [True, True] Translation: X:49.00, Y:7.14, Z:0.47 [[ 9.35565602e-01 -3.52390535e-01 -2.31929889e-02 4.89994315e+01] [ 3.52300469e-01 9.35852785e-01 -7.99651664e-03 7.14087807e+00] [ 2.45231200e-02 -6.89634960e-04 9.99699025e-01 4.72653453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.004340128 meters 0.02632507460455423 Centerline is valid? [True, True] Translation: X:49.03, Y:7.15, Z:0.47 [[ 9.35813365e-01 -3.51800035e-01 -2.21377745e-02 4.90288696e+01] [ 3.51717679e-01 9.36074959e-01 -7.63846604e-03 7.14577159e+00] [ 2.34098290e-02 -6.38068069e-04 9.99725749e-01 4.73837271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.034340128000004 meters 0.02370256054905103 Centerline is valid? [True, True] Translation: X:49.06, Y:7.15, Z:0.48 [[ 9.36300961e-01 -3.50611867e-01 -2.02935967e-02 4.90580944e+01] [ 3.50542265e-01 9.36520696e-01 -7.00761181e-03 7.14997812e+00] [ 2.14623252e-02 -5.52529707e-04 9.99769505e-01 4.79254162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.064340128000005 meters 0.027595634589565026 Centerline is valid? [True, True] Translation: X:49.09, Y:7.15, Z:0.48 [[ 9.36618049e-01 -3.49753923e-01 -2.04651556e-02 4.90866023e+01] [ 3.49682850e-01 9.36841453e-01 -7.07080808e-03 7.15239541e+00] [ 2.16456490e-02 -5.33667453e-04 9.99765563e-01 4.78449455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.094340128000006 meters 0.024806512439836968 Centerline is valid? [True, True] Translation: X:49.11, Y:7.16, Z:0.48 [[ 9.37884415e-01 -3.46436637e-01 -1.88276633e-02 4.91123296e+01] [ 3.46375778e-01 9.38073281e-01 -6.50686013e-03 7.16398795e+00] [ 1.99159426e-02 -4.18763804e-04 9.99801570e-01 4.80294837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.124340128 meters 0.0191994948075641 Centerline is valid? [True, True] Translation: X:49.14, Y:7.18, Z:0.48 [[ 9.39337709e-01 -3.42581905e-01 -1.68019691e-02 4.91377788e+01] [ 3.42532796e-01 9.39487918e-01 -5.80818341e-03 7.17784353e+00] [ 1.77750255e-02 -2.99379770e-04 9.99841967e-01 4.83074848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.154340128 meters 0.01621289485346952 Centerline is valid? [True, True] Translation: X:49.16, Y:7.19, Z:0.49 [[ 9.41521530e-01 -3.36627262e-01 -1.48086251e-02 4.91647821e+01] [ 3.36588343e-01 9.41637966e-01 -5.12128127e-03 7.18980595e+00] [ 1.56683266e-02 -1.62614024e-04 9.99877231e-01 4.87128512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.184340128 meters 0.016260193629195615 Centerline is valid? [True, True] Translation: X:49.19, Y:7.20, Z:0.49 [[ 9.42422104e-01 -3.34097926e-01 -1.48038647e-02 4.91904380e+01] [ 3.34058671e-01 9.42538361e-01 -5.12270067e-03 7.20003767e+00] [ 1.56646941e-02 -1.17613032e-04 9.99877294e-01 4.88547357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.214340128 meters 0.015802512450509103 Centerline is valid? [True, True] Translation: X:49.22, Y:7.21, Z:0.49 [[ 9.43286095e-01 -3.31653597e-01 -1.47389124e-02 4.92175867e+01] [ 3.31614348e-01 9.43401233e-01 -5.10275138e-03 7.21135371e+00] [ 1.55970540e-02 -7.42804195e-05 9.99878356e-01 4.89452101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.244340128000005 meters 0.01485999810226276 Centerline is valid? [True, True] Translation: X:49.24, Y:7.23, Z:0.49 [[ 9.44852715e-01 -3.27139776e-01 -1.52614873e-02 4.92421394e+01] [ 3.27097050e-01 9.44975961e-01 -5.28703023e-03 7.22577046e+00] [ 1.61513365e-02 3.47740005e-06 9.99869559e-01 4.88532991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.274340128000006 meters 0.01621217435699524 Centerline is valid? [True, True] Translation: X:49.27, Y:7.24, Z:0.49 [[ 9.45386762e-01 -3.25541823e-01 -1.63215326e-02 4.92680202e+01] [ 3.25492687e-01 9.45527641e-01 -5.65598207e-03 7.23769977e+00] [ 1.72737189e-02 3.45510667e-05 9.99850798e-01 4.88570315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.304340128 meters 0.016036877618475175 Centerline is valid? [True, True] Translation: X:49.29, Y:7.25, Z:0.49 [[ 9.47081030e-01 -3.20534442e-01 -1.71812193e-02 4.92914833e+01] [ 3.20479133e-01 9.47236852e-01 -5.95583554e-03 7.25371191e+00] [ 1.81837345e-02 1.34436597e-04 9.99834653e-01 4.86426812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.334340128 meters 0.017294489571427384 Centerline is valid? [True, True] Translation: X:49.32, Y:7.27, Z:0.49 [[ 9.47605950e-01 -3.18954517e-01 -1.76346008e-02 4.93180701e+01] [ 3.18895911e-01 9.47770007e-01 -6.11648686e-03 7.26608026e+00] [ 1.86644268e-02 1.72417258e-04 9.99825790e-01 4.86301133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.364340128 meters 0.017070807837195695 Centerline is valid? [True, True] Translation: X:49.34, Y:7.28, Z:0.49 [[ 9.48071933e-01 -3.17590596e-01 -1.71995078e-02 4.93445652e+01] [ 3.17534536e-01 9.48227912e-01 -5.97034661e-03 7.27717672e+00] [ 1.82051793e-02 1.98880335e-04 9.99834252e-01 4.87286156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.394340128 meters 0.017180917345858707 Centerline is valid? [True, True] Translation: X:49.37, Y:7.29, Z:0.49 [[ 9.48302752e-01 -3.16929445e-01 -1.66618593e-02 4.93710630e+01] [ 3.16876644e-01 9.48449094e-01 -5.78871630e-03 7.28705271e+00] [ 1.76375400e-02 2.09701531e-04 9.99844425e-01 4.88581725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.424340128000004 meters 0.01748019708227328 Centerline is valid? [True, True] Translation: X:49.40, Y:7.30, Z:0.49 [[ 9.48466614e-01 -3.16425266e-01 -1.69154969e-02 4.93977627e+01] [ 3.16370669e-01 9.48617415e-01 -5.88220589e-03 7.29876321e+00] [ 1.79076135e-02 2.27508822e-04 9.99839620e-01 4.89517893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.454340128000005 meters 0.019643136805418345 Centerline is valid? [True, True] Translation: X:49.42, Y:7.31, Z:0.49 [[ 9.48096140e-01 -3.17492397e-01 -1.76716483e-02 4.94228278e+01] [ 3.17432905e-01 9.48260792e-01 -6.14991063e-03 7.30944929e+00] [ 1.87098811e-02 2.21143875e-04 9.99824930e-01 4.89266357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.484340128 meters 0.017301758985647016 Centerline is valid? [True, True] Translation: X:49.45, Y:7.32, Z:0.49 [[ 9.48081365e-01 -3.17586023e-01 -1.67583775e-02 4.94489947e+01] [ 3.17532457e-01 9.48229441e-01 -5.83659647e-03 7.31968246e+00] [ 1.77444084e-02 2.12239570e-04 9.99842533e-01 4.89843254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.514340128 meters 0.016776589416709595 Centerline is valid? [True, True] Translation: X:49.48, Y:7.33, Z:0.49 [[ 9.47557429e-01 -3.19175860e-01 -1.61768072e-02 4.94763909e+01] [ 3.19126094e-01 9.47695488e-01 -5.63905748e-03 7.32779984e+00] [ 1.71305383e-02 1.80889507e-04 9.99853245e-01 4.91611072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.544340128 meters 0.016540921280796886 Centerline is valid? [True, True] Translation: X:49.50, Y:7.34, Z:0.49 [[ 9.47164331e-01 -3.20322846e-01 -1.65228165e-02 4.95030088e+01] [ 3.20271011e-01 9.47308422e-01 -5.76485312e-03 7.33618998e+00] [ 1.74988174e-02 1.68484099e-04 9.99846870e-01 4.92004494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.574340128 meters 0.016444854187577837 Centerline is valid? [True, True] Translation: X:49.53, Y:7.34, Z:0.49 [[ 9.46743353e-01 -3.21592485e-01 -1.59780447e-02 4.95300193e+01] [ 3.21544109e-01 9.46878162e-01 -5.57968880e-03 7.34495489e+00] [ 1.69236476e-02 1.44887136e-04 9.99856774e-01 4.92171015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.604340128000004 meters 0.015517287131513978 Centerline is valid? [True, True] Translation: X:49.56, Y:7.35, Z:0.50 [[ 9.46019310e-01 -3.23786311e-01 -1.44875495e-02 4.95581566e+01] [ 3.23746736e-01 9.46130231e-01 -5.06319927e-03 7.35244780e+00] [ 1.53465031e-02 9.95874325e-05 9.99882231e-01 4.95135855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.634340128000005 meters 0.01620795529418879 Centerline is valid? [True, True] Translation: X:49.58, Y:7.36, Z:0.50 [[ 9.45680988e-01 -3.24817251e-01 -1.34618868e-02 4.95843937e+01] [ 3.24783143e-01 9.45776795e-01 -4.70780068e-03 7.36254078e+00] [ 1.42611150e-02 7.98837073e-05 9.99898302e-01 4.95757032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.664340128000006 meters 0.015310596679768888 Centerline is valid? [True, True] Translation: X:49.61, Y:7.37, Z:0.50 [[ 9.45525067e-01 -3.25283290e-01 -1.31578250e-02 4.96110707e+01] [ 3.25250718e-01 9.45616611e-01 -4.60378372e-03 7.37258818e+00] [ 1.39397918e-02 7.34008889e-05 9.99902834e-01 4.96119339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.694340128 meters 0.015257033811913462 Centerline is valid? [True, True] Translation: X:49.64, Y:7.38, Z:0.50 [[ 9.45185816e-01 -3.26275763e-01 -1.29576572e-02 4.96365493e+01] [ 3.26244219e-01 9.45274628e-01 -4.53726370e-03 7.38343874e+00] [ 1.37289437e-02 6.11965501e-05 9.99905752e-01 4.96070305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.724340128 meters 0.015178697315363768 Centerline is valid? [True, True] Translation: X:49.66, Y:7.39, Z:0.50 [[ 9.44992996e-01 -3.26838063e-01 -1.28498288e-02 4.96630233e+01] [ 3.26807064e-01 9.45080355e-01 -4.50170828e-03 7.39215747e+00] [ 1.36154504e-02 5.46679691e-05 9.99907304e-01 4.97279502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.754340128 meters 0.01511264795018888 Centerline is valid? [True, True] Translation: X:49.69, Y:7.40, Z:0.50 [[ 9.44647171e-01 -3.27837037e-01 -1.28296544e-02 4.96892248e+01] [ 3.27806168e-01 9.44734288e-01 -4.49898204e-03 7.40107162e+00] [ 1.35955474e-02 4.43107950e-05 9.99907575e-01 4.97897660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.784340128000004 meters 0.015064297591101365 Centerline is valid? [True, True] Translation: X:49.72, Y:7.41, Z:0.50 [[ 9.43932852e-01 -3.29889374e-01 -1.27973636e-02 4.97152042e+01] [ 3.29858800e-01 9.44019598e-01 -4.49128057e-03 7.40996192e+00] [ 1.35625878e-02 1.81442674e-05 9.99908024e-01 4.98026568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.814340128000005 meters 0.015929342782182002 Centerline is valid? [True, True] Translation: X:49.74, Y:7.42, Z:0.50 [[ 9.43232219e-01 -3.31876711e-01 -1.30701948e-02 4.97414716e+01] [ 3.31844974e-01 9.43322770e-01 -4.58968123e-03 7.41873112e+00] [ 1.38526207e-02 -8.14323328e-06 9.99904048e-01 4.98428535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.844340128000006 meters 0.017468641144829985 Centerline is valid? [True, True] Translation: X:49.77, Y:7.43, Z:0.50 [[ 9.42624207e-01 -3.33613224e-01 -1.27208879e-02 4.97671179e+01] [ 3.33583267e-01 9.42710038e-01 -4.47078257e-03 7.42660704e+00] [ 1.34836209e-02 -2.92074801e-05 9.99909091e-01 4.99543061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.874340128 meters 0.015339712966227022 Centerline is valid? [True, True] Translation: X:49.79, Y:7.44, Z:0.50 [[ 9.42267270e-01 -3.34652674e-01 -1.18313404e-02 4.97941532e+01] [ 3.34626807e-01 9.42341545e-01 -4.16093564e-03 7.43558837e+00] [ 1.25416318e-02 -3.83701856e-05 9.99921350e-01 5.00723442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.904340128 meters 0.01636257164096341 Centerline is valid? [True, True] Translation: X:49.82, Y:7.44, Z:0.50 [[ 9.41510540e-01 -3.36792061e-01 -1.13582879e-02 4.98203798e+01] [ 3.36768334e-01 9.41579048e-01 -3.99818449e-03 7.44425801e+00] [ 1.20412827e-02 -6.07788641e-05 9.99927499e-01 5.02242696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.934340128 meters 0.016530578650771174 Centerline is valid? [True, True] Translation: X:49.85, Y:7.45, Z:0.50 [[ 9.41306971e-01 -3.37370639e-01 -1.10561361e-02 4.98455015e+01] [ 3.37348159e-01 9.41371897e-01 -3.89510100e-03 7.45323707e+00] [ 1.17220285e-02 -6.32814270e-05 9.99931293e-01 5.02157935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.964340128 meters 0.02049509688989155 Centerline is valid? [True, True] Translation: X:49.87, Y:7.46, Z:0.50 [[ 9.40643353e-01 -3.39174674e-01 -1.22728220e-02 4.98731699e+01] [ 3.39147096e-01 9.40723409e-01 -4.32611485e-03 7.46256244e+00] [ 1.30126396e-02 -9.29607805e-05 9.99915328e-01 5.01030664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.994340128000005 meters 0.016332834293284006 Centerline is valid? [True, True] Translation: X:49.90, Y:7.47, Z:0.50 [[ 9.40533304e-01 -3.39479833e-01 -1.22697447e-02 4.98987620e+01] [ 3.39452251e-01 9.40613329e-01 -4.32839017e-03 7.47053388e+00] [ 1.30104865e-02 -9.39973419e-05 9.99915356e-01 4.99602786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.024340128000006 meters 0.0164840266556029 Centerline is valid? [True, True] Translation: X:49.93, Y:7.48, Z:0.50 [[ 9.40127052e-01 -3.40590405e-01 -1.26215347e-02 4.99267704e+01] [ 3.40561277e-01 9.40211766e-01 -4.45560177e-03 7.47928910e+00] [ 1.33844506e-02 -1.09574207e-04 9.99910418e-01 4.99634710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.054340128 meters 0.01854309250522533 Centerline is valid? [True, True] Translation: X:49.95, Y:7.48, Z:0.50 [[ 9.39599629e-01 -3.42013933e-01 -1.33793110e-02 4.99539259e+01] [ 3.41981301e-01 9.39694871e-01 -4.72633323e-03 7.48469660e+00] [ 1.41889418e-02 -1.34613234e-04 9.99899323e-01 5.00924891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.084340128 meters 0.017996259779227922 Centerline is valid? [True, True] Translation: X:49.98, Y:7.49, Z:0.50 [[ 9.39251884e-01 -3.42983125e-01 -1.29797649e-02 4.99807099e+01] [ 3.42952475e-01 9.39341554e-01 -4.58740036e-03 7.49430569e+00] [ 1.37658335e-02 -1.42718083e-04 9.99905236e-01 5.02578273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.114340128 meters 0.017252859300168167 Centerline is valid? [True, True] Translation: X:50.01, Y:7.50, Z:0.50 [[ 9.38972042e-01 -3.43784315e-01 -1.19937254e-02 5.00069783e+01] [ 3.43758170e-01 9.39048628e-01 -4.24214932e-03 7.50288173e+00] [ 1.27210758e-02 -1.39681490e-04 9.99919074e-01 5.03502080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.144340128 meters 0.019956437279102363 Centerline is valid? [True, True] Translation: X:50.03, Y:7.51, Z:0.50 [[ 9.38308571e-01 -3.45595331e-01 -1.18698348e-02 5.00338865e+01] [ 3.45569850e-01 9.38383632e-01 -4.19972137e-03 7.51117960e+00] [ 1.25898628e-02 -1.61222478e-04 9.99920732e-01 5.04900222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.174340128000004 meters 0.018052830247514126 Centerline is valid? [True, True] Translation: X:50.06, Y:7.52, Z:0.50 [[ 9.38103372e-01 -3.46158722e-01 -1.16706043e-02 5.00608258e+01] [ 3.46134105e-01 9.38175949e-01 -4.13146623e-03 7.52031553e+00] [ 1.23792234e-02 -1.63851783e-04 9.99923361e-01 5.04602983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.204340128000005 meters 0.018947765024442852 Centerline is valid? [True, True] Translation: X:50.09, Y:7.53, Z:0.51 [[ 9.37845866e-01 -3.46870444e-01 -1.12261824e-02 5.00872916e+01] [ 3.46847674e-01 9.37913039e-01 -3.97774198e-03 7.52850039e+00] [ 1.19089439e-02 -1.63266378e-04 9.99929073e-01 5.05084707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.234340128 meters 0.017549472465346893 Centerline is valid? [True, True] Translation: X:50.11, Y:7.54, Z:0.51 [[ 9.37950751e-01 -3.46607799e-01 -1.05557115e-02 5.01140711e+01] [ 3.46587614e-01 9.38010134e-01 -3.74349272e-03 7.53811671e+00] [ 1.11988881e-02 -1.47267045e-04 9.99937280e-01 5.06311076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.264340128 meters 0.02096391000934741 Centerline is valid? [True, True] Translation: X:50.14, Y:7.55, Z:0.51 [[ 9.37875030e-01 -3.46808647e-01 -1.06860372e-02 5.01405484e+01] [ 3.46787931e-01 9.37935894e-01 -3.79344269e-03 7.54764370e+00] [ 1.13384166e-02 -1.48013564e-04 9.99935707e-01 5.07880776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.294340128 meters 0.01882716855208672 Centerline is valid? [True, True] Translation: X:50.17, Y:7.56, Z:0.51 [[ 9.38167229e-01 -3.46044337e-01 -9.77588048e-03 5.01666239e+01] [ 3.46026928e-01 9.38218152e-01 -3.47330913e-03 7.55741943e+00] [ 1.03738275e-02 -1.24173083e-04 9.99946183e-01 5.08136784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.324340128 meters 0.021082978592424573 Centerline is valid? [True, True] Translation: X:50.19, Y:7.57, Z:0.51 [[ 9.38367195e-01 -3.45510145e-01 -9.47349158e-03 5.01914996e+01] [ 3.45493758e-01 9.38415008e-01 -3.36690899e-03 7.56996784e+00] [ 1.00533679e-02 -1.13635261e-04 9.99949457e-01 5.08883945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.354340128000004 meters 0.01966942613419341 Centerline is valid? [True, True] Translation: X:50.22, Y:7.58, Z:0.51 [[ 9.38390942e-01 -3.45449251e-01 -9.34107218e-03 5.02174806e+01] [ 3.45433286e-01 9.38437426e-01 -3.32290394e-03 7.58149599e+00] [ 9.91390642e-03 -1.08534295e-04 9.99950850e-01 5.09238928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.384340128000005 meters 0.019312703769165114 Centerline is valid? [True, True] Translation: X:50.24, Y:7.59, Z:0.51 [[ 9.38302788e-01 -3.45694685e-01 -9.11383201e-03 5.02432498e+01] [ 3.45679468e-01 9.38347043e-01 -3.24526651e-03 7.59020299e+00] [ 9.67380870e-03 -1.05421982e-04 9.99953202e-01 5.09928144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.414340128000006 meters 0.01830933343149493 Centerline is valid? [True, True] Translation: X:50.27, Y:7.60, Z:0.51 [[ 9.38407454e-01 -3.45429170e-01 -8.37488370e-03 5.02684746e+01] [ 3.45416301e-01 9.38444820e-01 -2.98316715e-03 7.60026507e+00] [ 8.88983918e-03 -9.33950545e-05 9.99960480e-01 5.10924942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.444340128 meters 0.017130274385983878 Centerline is valid? [True, True] Translation: X:50.29, Y:7.61, Z:0.51 [[ 9.38462072e-01 -3.45287343e-01 -8.09874894e-03 5.02932333e+01] [ 3.45275279e-01 9.38497013e-01 -2.88766983e-03 7.61053233e+00] [ 8.59772753e-03 -8.63291833e-05 9.99963035e-01 5.10500894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.474340128 meters 0.017870974792851897 Centerline is valid? [True, True] Translation: X:50.32, Y:7.62, Z:0.51 [[ 9.38344248e-01 -3.45586018e-01 -8.96530295e-03 5.03188207e+01] [ 3.45571234e-01 9.38387071e-01 -3.19804477e-03 7.62226167e+00] [ 9.51812393e-03 -9.72838917e-05 9.99954697e-01 5.10317866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.504340128 meters 0.01748703288123197 Centerline is valid? [True, True] Translation: X:50.34, Y:7.63, Z:0.51 [[ 9.38113627e-01 -3.46185006e-01 -9.93806815e-03 5.03440995e+01] [ 3.46166833e-01 9.38166259e-01 -3.54886531e-03 7.63447556e+00] [ 1.05521242e-02 -1.10990670e-04 9.99944319e-01 5.08924320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.534340128000004 meters 0.01748703288123197 Centerline is valid? [True, True] Translation: X:50.37, Y:7.64, Z:0.51 [[ 9.38006296e-01 -3.46475751e-01 -9.93696639e-03 5.03700185e+01] [ 3.46457562e-01 9.38058922e-01 -3.55194772e-03 7.64392205e+00] [ 1.05521237e-02 -1.10987823e-04 9.99944319e-01 5.09192952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.564340128000005 meters 0.016919905958875523 Centerline is valid? [True, True] Translation: X:50.39, Y:7.65, Z:0.51 [[ 9.37803708e-01 -3.47011658e-01 -1.03495758e-02 5.03949719e+01] [ 3.46991920e-01 9.37860808e-01 -3.70305697e-03 7.65429824e+00] [ 1.09914655e-02 -1.18478633e-04 9.99939585e-01 5.08578080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.594340128000006 meters 0.017034748726355495 Centerline is valid? [True, True] Translation: X:50.42, Y:7.67, Z:0.51 [[ 9.37529243e-01 -3.47745305e-01 -1.05887292e-02 5.04211940e+01] [ 3.47724660e-01 9.37589029e-01 -3.79133789e-03 7.66505940e+00] [ 1.12462962e-02 -1.27472103e-04 9.99936750e-01 5.08191743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.624340128 meters 0.01799945600019266 Centerline is valid? [True, True] Translation: X:50.45, Y:7.67, Z:0.51 [[ 9.37109122e-01 -3.48858432e-01 -1.11484666e-02 5.04482457e+01] [ 3.48835579e-01 9.37175423e-01 -3.99568281e-03 7.67480697e+00] [ 1.18419965e-02 -1.44590985e-04 9.99929871e-01 5.07992093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.654340128 meters 0.019421594274475346 Centerline is valid? [True, True] Translation: X:50.47, Y:7.68, Z:0.51 [[ 9.36318253e-01 -3.50979978e-01 -1.10083267e-02 5.04743280e+01] [ 3.50957806e-01 9.36382949e-01 -3.94851676e-03 7.68326219e+00] [ 1.16938598e-02 -1.66389894e-04 9.99931611e-01 5.08614385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.684340128 meters 0.018496595666234766 Centerline is valid? [True, True] Translation: X:50.50, Y:7.69, Z:0.51 [[ 9.35858817e-01 -3.52237655e-01 -9.84427091e-03 5.05014378e+01] [ 3.52219976e-01 9.35910577e-01 -3.53271046e-03 7.69408308e+00] [ 1.04577109e-02 -1.61230635e-04 9.99945304e-01 5.09682163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.714340128 meters 0.020396284735869828 Centerline is valid? [True, True] Translation: X:50.53, Y:7.70, Z:0.51 [[ 9.35230026e-01 -3.53918685e-01 -9.29315829e-03 5.05275501e+01] [ 3.53902988e-01 9.35276182e-01 -3.33751163e-03 7.70343836e+00] [ 9.87287733e-03 -1.67535393e-04 9.99951248e-01 5.11019740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.744340128000005 meters 0.01913530396546706 Centerline is valid? [True, True] Translation: X:50.55, Y:7.71, Z:0.51 [[ 9.35076777e-01 -3.54333184e-01 -8.91159208e-03 5.05535162e+01] [ 3.54318760e-01 9.35119227e-01 -3.20130136e-03 7.71351352e+00] [ 9.46772840e-03 -1.64081698e-04 9.99955167e-01 5.11717494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.774340128000006 meters 0.01833335056404749 Centerline is valid? [True, True] Translation: X:50.58, Y:7.72, Z:0.51 [[ 9.34979726e-01 -3.54596082e-01 -8.63313162e-03 5.05790764e+01] [ 3.54582531e-01 9.35019569e-01 -3.10407231e-03 7.72463375e+00] [ 9.17283888e-03 -1.58912985e-04 9.99957916e-01 5.12252140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.804340128 meters 0.019702426631314916 Centerline is valid? [True, True] Translation: X:50.61, Y:7.73, Z:0.51 [[ 9.34856630e-01 -3.54904325e-01 -9.27367341e-03 5.06064258e+01] [ 3.54888669e-01 9.34902610e-01 -3.33789472e-03 7.73200934e+00] [ 9.85461475e-03 -1.70668604e-04 9.99951428e-01 5.13167864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.834340128 meters 0.018956849096056088 Centerline is valid? [True, True] Translation: X:50.63, Y:7.74, Z:0.51 [[ 9.34866633e-01 -3.54872656e-01 -9.47505715e-03 5.06323061e+01] [ 3.54856299e-01 9.34914632e-01 -3.41150305e-03 7.74358860e+00] [ 1.00690187e-02 -1.72983348e-04 9.99949291e-01 5.13403910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.864340128 meters 0.018662962854087427 Centerline is valid? [True, True] Translation: X:50.66, Y:7.76, Z:0.51 [[ 9.34734968e-01 -3.55196849e-01 -1.02829040e-02 5.06578394e+01] [ 3.55177563e-01 9.34791508e-01 -3.70611133e-03 7.75669722e+00] [ 1.09287704e-02 -1.88024942e-04 9.99940262e-01 5.12069260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.894340128 meters 0.019662238171946372 Centerline is valid? [True, True] Translation: X:50.68, Y:7.77, Z:0.51 [[ 9.34794695e-01 -3.55023112e-01 -1.08382822e-02 5.06830677e+01] [ 3.55001634e-01 9.34857504e-01 -3.90984882e-03 7.76561669e+00] [ 1.15203362e-02 -1.92701970e-04 9.99933620e-01 5.11112334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.924340128000004 meters 0.020640639178617283 Centerline is valid? [True, True] Translation: X:50.71, Y:7.78, Z:0.51 [[ 9.34663088e-01 -3.55346445e-01 -1.15679212e-02 5.07084554e+01] [ 3.55321975e-01 9.34734647e-01 -4.17533348e-03 7.77813004e+00] [ 1.22966266e-02 -2.07806513e-04 9.99924372e-01 5.11204206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.954340128000005 meters 0.01839032409870981 Centerline is valid? [True, True] Translation: X:50.74, Y:7.79, Z:0.51 [[ 9.34810345e-01 -3.54982378e-01 -1.08227078e-02 5.07356820e+01] [ 3.54960895e-01 9.34872973e-01 -3.90978780e-03 7.78879838e+00] [ 1.15057628e-02 -1.86727977e-04 9.99933789e-01 5.11531246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.984340128 meters 0.018698077424425537 Centerline is valid? [True, True] Translation: X:50.76, Y:7.80, Z:0.51 [[ 9.34647620e-01 -3.55441914e-01 -9.74024964e-03 5.07614025e+01] [ 3.55424513e-01 9.34698356e-01 -3.52127315e-03 7.79907421e+00] [ 1.03558034e-02 -1.70773913e-04 9.99946363e-01 5.12551520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.014340128 meters 0.018932998126181814 Centerline is valid? [True, True] Translation: X:50.79, Y:7.81, Z:0.51 [[ 9.34444346e-01 -3.55988996e-01 -9.25194018e-03 5.07872508e+01] [ 3.55973313e-01 9.34490132e-01 -3.34568394e-03 7.80972152e+00] [ 9.83687347e-03 -1.67088358e-04 9.99951603e-01 5.13448647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.044340128 meters 0.01844607192771492 Centerline is valid? [True, True] Translation: X:50.81, Y:7.82, Z:0.51 [[ 9.34327399e-01 -3.56312445e-01 -8.58795997e-03 5.08129647e+01] [ 3.56298920e-01 9.34366854e-01 -3.10837622e-03 7.82199719e+00] [ 9.13185827e-03 -1.55639799e-04 9.99958292e-01 5.14284953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.074340128 meters 0.020079938676708462 Centerline is valid? [True, True] Translation: X:50.84, Y:7.83, Z:0.51 [[ 9.33816584e-01 -3.57640792e-01 -8.92473197e-03 5.08391073e+01] [ 3.57626237e-01 9.33859215e-01 -3.23128488e-03 7.83104926e+00] [ 9.49008248e-03 -1.74290904e-04 9.99954953e-01 5.14513231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.104340128000004 meters 0.021310608695877385 Centerline is valid? [True, True] Translation: X:50.87, Y:7.84, Z:0.51 [[ 9.33434133e-01 -3.58609874e-01 -9.98390418e-03 5.08661452e+01] [ 3.58591700e-01 9.33487502e-01 -3.61611365e-03 7.84156965e+00] [ 1.06166238e-02 -2.04741268e-04 9.99943621e-01 5.14027532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.134340128000005 meters 0.01903215929673127 Centerline is valid? [True, True] Translation: X:50.89, Y:7.85, Z:0.51 [[ 9.33284966e-01 -3.58997372e-01 -1.00029968e-02 5.08917436e+01] [ 3.58979119e-01 9.33338548e-01 -3.62594359e-03 7.85440906e+00] [ 1.06378867e-02 -2.06828333e-04 9.99943395e-01 5.13654952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.164340128000006 meters 0.019403238688985313 Centerline is valid? [True, True] Translation: X:50.92, Y:7.87, Z:0.51 [[ 9.32907487e-01 -3.59973123e-01 -1.01475374e-02 5.09185279e+01] [ 3.59954358e-01 9.32962649e-01 -3.68191558e-03 7.86563632e+00] [ 1.07926640e-02 -2.17763702e-04 9.99941734e-01 5.14017621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.194340128 meters 0.019436166926350206 Centerline is valid? [True, True] Translation: X:50.94, Y:7.88, Z:0.51 [[ 9.32871025e-01 -3.60076818e-01 -9.81507221e-03 5.09435633e+01] [ 3.60059240e-01 9.32922634e-01 -3.56409516e-03 7.87623772e+00] [ 1.04400511e-02 -2.09166332e-04 9.99945479e-01 5.14244939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.224340128 meters 0.021489192854366013 Centerline is valid? [True, True] Translation: X:50.97, Y:7.88, Z:0.51 [[ 9.32692895e-01 -3.60543586e-01 -9.60659938e-03 5.09705717e+01] [ 3.60526757e-01 9.32742343e-01 -3.48979984e-03 7.88475949e+00] [ 1.02187070e-02 -2.08524603e-04 9.99947766e-01 5.14302637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.254340128 meters 0.019913415264243735 Centerline is valid? [True, True] Translation: X:51.00, Y:7.90, Z:0.51 [[ 9.32662316e-01 -3.60627675e-01 -9.41720544e-03 5.09952122e+01] [ 3.60611496e-01 9.32709836e-01 -3.42204107e-03 7.89987869e+00] [ 1.00176029e-02 -2.04343792e-04 9.99949802e-01 5.14948350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.284340128000004 meters 0.019822461679948188 Centerline is valid? [True, True] Translation: X:51.02, Y:7.91, Z:0.52 [[ 9.32676292e-01 -3.60580004e-01 -9.84860575e-03 5.10213042e+01] [ 3.60562270e-01 9.32728265e-01 -3.58228776e-03 7.91076741e+00] [ 1.04777743e-02 -2.09920784e-04 9.99945085e-01 5.15078181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.314340128000005 meters 0.020320867194860235 Centerline is valid? [True, True] Translation: X:51.05, Y:7.92, Z:0.51 [[ 9.32587413e-01 -3.60781074e-01 -1.08505221e-02 5.10462277e+01] [ 3.60759519e-01 9.32650505e-01 -3.95037490e-03 7.92252250e+00] [ 1.15449655e-02 -2.30359244e-04 9.99933328e-01 5.14649043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.344340128000006 meters 0.02030163871006452 Centerline is valid? [True, True] Translation: X:51.07, Y:7.93, Z:0.51 [[ 9.32401191e-01 -3.61263213e-01 -1.08124926e-02 5.10714476e+01] [ 3.61241820e-01 9.32463853e-01 -3.93840432e-03 7.93386694e+00] [ 1.15050591e-02 -2.33751626e-04 9.99933787e-01 5.14905358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.374340128 meters 0.01925310611271076 Centerline is valid? [True, True] Translation: X:51.10, Y:7.95, Z:0.52 [[ 9.32162561e-01 -3.61872739e-01 -1.10037090e-02 5.10963861e+01] [ 3.61850581e-01 9.32227474e-01 -4.01179636e-03 7.94683373e+00] [ 1.17097195e-02 -2.42052109e-04 9.99931410e-01 5.15344721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.404340128 meters 0.02338457172205932 Centerline is valid? [True, True] Translation: X:51.12, Y:7.95, Z:0.52 [[ 9.31837570e-01 -3.62692153e-01 -1.15388819e-02 5.11228727e+01] [ 3.62667805e-01 9.31908973e-01 -4.21056327e-03 7.95477421e+00] [ 1.22803258e-02 -2.61219930e-04 9.99924560e-01 5.15641984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.434340128 meters 0.022044834988587052 Centerline is valid? [True, True] Translation: X:51.15, Y:7.97, Z:0.52 [[ 9.31066947e-01 -3.64687969e-01 -1.08178344e-02 5.11494875e+01] [ 3.64666688e-01 9.31129751e-01 -3.94888430e-03 7.96683654e+00] [ 1.15129181e-02 -2.68228199e-04 9.99933688e-01 5.17040994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.464340128 meters 0.021201355763944028 Centerline is valid? [True, True] Translation: X:51.18, Y:7.98, Z:0.52 [[ 9.30781925e-01 -3.65433554e-01 -1.01648984e-02 5.11751285e+01] [ 3.65414779e-01 9.30837392e-01 -3.71330696e-03 7.97669928e+00] [ 1.08188345e-02 -2.58125112e-04 9.99941441e-01 5.17604480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.494340128000005 meters 0.021611234793308575 Centerline is valid? [True, True] Translation: X:51.20, Y:7.99, Z:0.52 [[ 9.30217296e-01 -3.66886459e-01 -9.49252467e-03 5.12020614e+01] [ 3.66870146e-01 9.30265694e-01 -3.46915182e-03 7.98783327e+00] [ 1.01033549e-02 -2.55458884e-04 9.99948927e-01 5.18206550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.524340128000006 meters 0.024273605380439177 Centerline is valid? [True, True] Translation: X:51.23, Y:8.00, Z:0.52 [[ 9.29650501e-01 -3.68312717e-01 -9.78207735e-03 5.12302569e+01] [ 3.68295441e-01 9.29701923e-01 -3.57799884e-03 7.99573825e+00] [ 1.04122386e-02 -2.76406073e-04 9.99945753e-01 5.18353029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.554340128 meters 0.02496493408530681 Centerline is valid? [True, True] Translation: X:51.26, Y:8.01, Z:0.52 [[ 9.28566306e-01 -3.71017459e-01 -1.05195133e-02 5.12560034e+01] [ 3.70997616e-01 9.28625833e-01 -3.85103075e-03 8.00876272e+00] [ 1.11974915e-02 -3.26776973e-04 9.99937253e-01 5.17505246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.584340128 meters 0.02759539518153753 Centerline is valid? [True, True] Translation: X:51.28, Y:8.02, Z:0.52 [[ 9.28102134e-01 -3.72172909e-01 -1.06655864e-02 5.12832544e+01] [ 3.72152549e-01 9.28163352e-01 -3.90789199e-03 8.01503509e+00] [ 1.13538180e-02 -3.42302295e-04 9.99935485e-01 5.17234195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.614340128 meters 0.02686750874354552 Centerline is valid? [True, True] Translation: X:51.31, Y:8.03, Z:0.52 [[ 9.27174299e-01 -3.74498210e-01 -9.94537571e-03 5.13087503e+01] [ 3.74480611e-01 9.27227574e-01 -3.64675037e-03 8.02813071e+00] [ 1.05873281e-02 -3.43177160e-04 9.99943894e-01 5.19512101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.644340128 meters 0.028763439499017322 Centerline is valid? [True, True] Translation: X:51.33, Y:8.04, Z:0.52 [[ 9.26710134e-01 -3.75649443e-01 -9.78893384e-03 5.13349909e+01] [ 3.75632447e-01 9.26761768e-01 -3.59044650e-03 8.03897342e+00] [ 1.04207589e-02 -3.49738011e-04 9.99945641e-01 5.20620626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.674340128000004 meters 0.026561087628173337 Centerline is valid? [True, True] Translation: X:51.36, Y:8.05, Z:0.52 [[ 9.26646509e-01 -3.75813679e-01 -9.50401225e-03 5.13598392e+01] [ 3.75797656e-01 9.26695183e-01 -3.48697548e-03 8.05222060e+00] [ 1.01177755e-02 -3.40391870e-04 9.99948756e-01 5.21639726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.704340128000005 meters 0.025170618124242806 Centerline is valid? [True, True] Translation: X:51.38, Y:8.07, Z:0.52 [[ 9.26852333e-01 -3.75276561e-01 -1.05950823e-02 5.13843453e+01] [ 3.75256568e-01 9.26912815e-01 -3.89121066e-03 8.06809362e+00] [ 1.12809977e-02 -3.69296564e-04 9.99936299e-01 5.20793470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.734340128 meters 0.029307991055510123 Centerline is valid? [True, True] Translation: X:51.41, Y:8.07, Z:0.52 [[ 9.27013316e-01 -3.74863505e-01 -1.11204977e-02 5.14118634e+01] [ 3.74841408e-01 9.27079937e-01 -4.08773924e-03 8.07459413e+00] [ 1.18419346e-02 -3.79034323e-04 9.99929810e-01 5.20238185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.764340128 meters 0.029052289189639813 Centerline is valid? [True, True] Translation: X:51.44, Y:8.09, Z:0.52 [[ 9.27188450e-01 -3.74433621e-01 -1.10019084e-02 5.14374729e+01] [ 3.74411922e-01 9.27253649e-01 -4.04763519e-03 8.08713334e+00] [ 1.17171304e-02 -3.66325074e-04 9.99931285e-01 5.20265571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.794340128 meters 0.028529690599895498 Centerline is valid? [True, True] Translation: X:51.46, Y:8.10, Z:0.52 [[ 9.27633483e-01 -3.73333009e-01 -1.08897566e-02 5.14628508e+01] [ 3.73311639e-01 9.27697335e-01 -4.00937892e-03 8.09972029e+00] [ 1.15992317e-02 -3.46038771e-04 9.99932667e-01 5.20211294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.824340128 meters 0.025069762874662956 Centerline is valid? [True, True] Translation: X:51.49, Y:8.12, Z:0.52 [[ 9.28667731e-01 -3.70697812e-01 -1.26244551e-02 5.14866432e+01] [ 3.70668818e-01 9.28753467e-01 -4.65032348e-03 8.11822252e+00] [ 1.34488712e-02 -3.60886509e-04 9.99909495e-01 5.19602916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.854340128000004 meters 0.02437926811273581 Centerline is valid? [True, True] Translation: X:51.51, Y:8.13, Z:0.52 [[ 9.29322052e-01 -3.69026404e-01 -1.34177918e-02 5.15113547e+01] [ 3.68993426e-01 9.29418844e-01 -4.94614079e-03 8.13070007e+00] [ 1.42960051e-02 -3.54519268e-04 9.99897744e-01 5.19126761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.884340128000005 meters 0.023479822033417783 Centerline is valid? [True, True] Translation: X:51.54, Y:8.14, Z:0.52 [[ 9.29840348e-01 -3.67705192e-01 -1.37774922e-02 5.15376623e+01] [ 3.67670242e-01 9.29942351e-01 -5.08112136e-03 8.14431507e+00] [ 1.46806282e-02 -3.40942235e-04 9.99892176e-01 5.19463394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.914340128000006 meters 0.02198714912247438 Centerline is valid? [True, True] Translation: X:51.56, Y:8.16, Z:0.52 [[ 9.30777683e-01 -3.65360863e-01 -1.28196565e-02 5.15617362e+01] [ 3.65330340e-01 9.30865920e-01 -4.73092823e-03 8.15982436e+00] [ 1.36618774e-02 -2.79967054e-04 9.99906633e-01 5.21526620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.944340128 meters 0.02094508595387276 Centerline is valid? [True, True] Translation: X:51.59, Y:8.17, Z:0.52 [[ 9.31059228e-01 -3.64668702e-01 -1.20603572e-02 5.15881089e+01] [ 3.64641600e-01 9.31137302e-01 -4.45302125e-03 8.17304887e+00] [ 1.28537260e-02 -2.51681430e-04 9.99917356e-01 5.22553406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.974340128 meters 0.01996227352635539 Centerline is valid? [True, True] Translation: X:51.61, Y:8.19, Z:0.52 [[ 9.31417620e-01 -3.63777478e-01 -1.12766357e-02 5.16132472e+01] [ 3.63753679e-01 9.31485855e-01 -4.16698598e-03 8.18711347e+00] [ 1.20198823e-02 -2.20713559e-04 9.99927734e-01 5.23169797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.004340128 meters 0.018750359077658103 Centerline is valid? [True, True] Translation: X:51.64, Y:8.20, Z:0.52 [[ 9.31587146e-01 -3.63348637e-01 -1.10976421e-02 5.16380388e+01] [ 3.63325521e-01 9.31653221e-01 -4.10387557e-03 8.19941583e+00] [ 1.18302916e-02 -2.08938874e-04 9.99929998e-01 5.23579245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.034340128000004 meters 0.01842553326650518 Centerline is valid? [True, True] Translation: X:51.66, Y:8.21, Z:0.52 [[ 9.31680348e-01 -3.63107264e-01 -1.11733770e-02 5.16634994e+01] [ 3.63083793e-01 9.31747322e-01 -4.13356342e-03 8.21007907e+00] [ 1.19116910e-02 -2.05712300e-04 9.99929032e-01 5.23677293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.064340128000005 meters 0.018160914602676805 Centerline is valid? [True, True] Translation: X:51.69, Y:8.22, Z:0.52 [[ 9.31978660e-01 -3.62331686e-01 -1.14685156e-02 5.16885407e+01] [ 3.62306859e-01 9.32049200e-01 -4.24608838e-03 8.22252451e+00] [ 1.22277132e-02 -1.97858118e-04 9.99925219e-01 5.23016208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.094340128000006 meters 0.017466606128949007 Centerline is valid? [True, True] Translation: X:51.71, Y:8.24, Z:0.52 [[ 9.31970559e-01 -3.62333749e-01 -1.20470601e-02 5.17139376e+01] [ 3.62306330e-01 9.32048396e-01 -4.46224474e-03 8.23509235e+00] [ 1.28452649e-02 -2.06045407e-04 9.99917475e-01 5.22547067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.124340128 meters 0.01718724963649563 Centerline is valid? [True, True] Translation: X:51.74, Y:8.25, Z:0.52 [[ 9.32066543e-01 -3.62088035e-01 -1.20089196e-02 5.17401318e+01] [ 3.62060717e-01 9.32143881e-01 -4.45217039e-03 8.24648017e+00] [ 1.28061186e-02 -1.98238977e-04 9.99917979e-01 5.22399740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.154340128 meters 0.01702847421350436 Centerline is valid? [True, True] Translation: X:51.77, Y:8.26, Z:0.52 [[ 9.32209065e-01 -3.61712027e-01 -1.22747150e-02 5.17660770e+01] [ 3.61683408e-01 9.32289854e-01 -4.55421593e-03 8.25730429e+00] [ 1.30909069e-02 -1.94079368e-04 9.99914292e-01 5.22231870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.184340128 meters 0.017285201346828642 Centerline is valid? [True, True] Translation: X:51.79, Y:8.27, Z:0.52 [[ 9.32124926e-01 -3.61935796e-01 -1.20665627e-02 5.17915304e+01] [ 3.61908140e-01 9.32203005e-01 -4.47835587e-03 8.26676854e+00] [ 1.28693633e-02 -1.92600130e-04 9.99917168e-01 5.22588841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.214340128 meters 0.01739049460923896 Centerline is valid? [True, True] Translation: X:51.82, Y:8.28, Z:0.52 [[ 9.31828519e-01 -3.62714803e-01 -1.15577644e-02 5.18179308e+01] [ 3.62689465e-01 9.31900174e-01 -4.29160212e-03 8.27678808e+00] [ 1.23273102e-02 -1.92842125e-04 9.99923997e-01 5.23327937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.244340128000005 meters 0.017002932887300728 Centerline is valid? [True, True] Translation: X:51.85, Y:8.29, Z:0.52 [[ 9.31477542e-01 -3.63618470e-01 -1.14541131e-02 5.18451562e+01] [ 3.63593606e-01 9.31547942e-01 -4.25683342e-03 8.28772933e+00] [ 1.22179188e-02 -1.99497569e-04 9.99925339e-01 5.24093116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.274340128000006 meters 0.020235911992732083 Centerline is valid? [True, True] Translation: X:51.87, Y:8.30, Z:0.52 [[ 9.31107411e-01 -3.64564877e-01 -1.14647079e-02 5.18720403e+01] [ 3.64540002e-01 9.31177967e-01 -4.26377536e-03 8.29585752e+00] [ 1.22301061e-02 -2.09311792e-04 9.99925188e-01 5.23092464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.304340128 meters 0.01845784624547282 Centerline is valid? [True, True] Translation: X:51.90, Y:8.31, Z:0.52 [[ 9.30465753e-01 -3.66165209e-01 -1.25108540e-02 5.18984576e+01] [ 3.66135705e-01 9.30549825e-01 -4.65488923e-03 8.30700894e+00] [ 1.33464315e-02 -2.49455341e-04 9.99910901e-01 5.22676447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.334340128 meters 0.018443341836614023 Centerline is valid? [True, True] Translation: X:51.93, Y:8.32, Z:0.52 [[ 9.29895919e-01 -3.67622304e-01 -1.21417454e-02 5.19253119e+01] [ 3.67594594e-01 9.29975147e-01 -4.52107826e-03 8.31705306e+00] [ 1.29535707e-02 -2.59107766e-04 9.99916065e-01 5.23089310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.364340128 meters 0.020085297910376415 Centerline is valid? [True, True] Translation: X:51.95, Y:8.32, Z:0.52 [[ 9.28810797e-01 -3.70397346e-01 -1.07846901e-02 5.19526339e+01] [ 3.70375640e-01 9.28873370e-01 -4.01844915e-03 8.32225271e+00] [ 1.15060343e-02 -2.62007540e-04 9.99933769e-01 5.24892575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.394340128 meters 0.020885725818546474 Centerline is valid? [True, True] Translation: X:51.98, Y:8.33, Z:0.53 [[ 9.28200695e-01 -3.71928297e-01 -1.06213043e-02 5.19803294e+01] [ 3.71907326e-01 9.28261421e-01 -3.95917273e-03 8.33036439e+00] [ 1.13318754e-02 -2.75234000e-04 9.99935754e-01 5.25461873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.424340128000004 meters 0.02162011645535897 Centerline is valid? [True, True] Translation: X:52.01, Y:8.34, Z:0.53 [[ 9.27641908e-01 -3.73322239e-01 -1.05354449e-02 5.20081976e+01] [ 3.73301660e-01 9.27701689e-01 -3.93030012e-03 8.33938945e+00] [ 1.12410185e-02 -2.86987989e-04 9.99936777e-01 5.25777891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.454340128000005 meters 0.02162011645535897 Centerline is valid? [True, True] Translation: X:52.03, Y:8.35, Z:0.53 [[ 9.27530357e-01 -3.73599336e-01 -1.05343947e-02 5.20339592e+01] [ 3.73578743e-01 9.27590132e-01 -3.93311329e-03 8.34919841e+00] [ 1.12410091e-02 -2.87343944e-04 9.99936777e-01 5.26046682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.48434012800001 meters 0.023116331037259658 Centerline is valid? [True, True] Translation: X:52.06, Y:8.36, Z:0.53 [[ 9.26831442e-01 -3.75349131e-01 -9.82387481e-03 5.20606808e+01] [ 3.75331288e-01 9.26883460e-01 -3.67093813e-03 8.35733789e+00] [ 1.04834705e-02 -2.84866710e-04 9.99945006e-01 5.26053293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.514340128 meters 0.025319518694358036 Centerline is valid? [True, True] Translation: X:52.09, Y:8.36, Z:0.53 [[ 9.26687051e-01 -3.75713574e-01 -9.50892631e-03 5.20875328e+01] [ 3.75696848e-01 9.26735795e-01 -3.55598648e-03 8.36442219e+00] [ 1.01482948e-02 -2.77187021e-04 9.99948466e-01 5.26573237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.544340128 meters 0.02330808343930831 Centerline is valid? [True, True] Translation: X:52.11, Y:8.38, Z:0.53 [[ 9.26968068e-01 -3.75020319e-01 -9.48478306e-03 5.21129589e+01] [ 3.75003611e-01 9.27016553e-01 -3.55004350e-03 8.37719347e+00] [ 1.01238893e-02 -2.66050929e-04 9.99948717e-01 5.26566954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.574340128 meters 0.022692182261880817 Centerline is valid? [True, True] Translation: X:52.14, Y:8.39, Z:0.53 [[ 9.27084782e-01 -3.74727710e-01 -9.64109703e-03 5.21398586e+01] [ 3.74710418e-01 9.27134873e-01 -3.60973258e-03 8.38892703e+00] [ 1.02912641e-02 -2.66091360e-04 9.99947008e-01 5.26673145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.604340128000004 meters 0.024319351257887006 Centerline is valid? [True, True] Translation: X:52.17, Y:8.40, Z:0.53 [[ 9.27396696e-01 -3.73955818e-01 -9.61328946e-03 5.21665435e+01] [ 3.73938555e-01 9.27446485e-01 -3.60216128e-03 8.39697899e+00] [ 1.02628607e-02 -2.54147092e-04 9.99947303e-01 5.26534545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.634340128000005 meters 0.023933185598865325 Centerline is valid? [True, True] Translation: X:52.19, Y:8.41, Z:0.53 [[ 9.27672176e-01 -3.73277972e-01 -9.37489670e-03 5.21926832e+01] [ 3.73261509e-01 9.27719515e-01 -3.51394892e-03 8.40824341e+00] [ 1.00089543e-02 -2.39495448e-04 9.99949880e-01 5.26851451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.664340128000006 meters 0.01999752052601833 Centerline is valid? [True, True] Translation: X:52.22, Y:8.43, Z:0.53 [[ 9.28796488e-01 -3.70475509e-01 -9.21851105e-03 5.22170291e+01] [ 3.70459425e-01 9.28842213e-01 -3.45808156e-03 8.42519411e+00] [ 9.84367673e-03 -2.03230300e-04 9.99951529e-01 5.26949592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.694340128 meters 0.020917681431175287 Centerline is valid? [True, True] Translation: X:52.24, Y:8.44, Z:0.53 [[ 9.29331163e-01 -3.69137657e-01 -8.99889898e-03 5.22428174e+01] [ 3.69122240e-01 9.29374713e-01 -3.37858306e-03 8.43526099e+00] [ 9.61051139e-03 -1.81871222e-04 9.99953801e-01 5.26865379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.724340128 meters 0.019334838195862195 Centerline is valid? [True, True] Translation: X:52.27, Y:8.45, Z:0.53 [[ 9.29769334e-01 -3.68038666e-01 -8.74784965e-03 5.22679284e+01] [ 3.68024036e-01 9.29810472e-01 -3.28571538e-03 8.44941566e+00] [ 9.34311251e-03 -1.64461533e-04 9.99956339e-01 5.26710296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.754340128 meters 0.018653849575115955 Centerline is valid? [True, True] Translation: X:52.29, Y:8.46, Z:0.53 [[ 9.30141436e-01 -3.67117747e-01 -7.84025341e-03 5.22940820e+01] [ 3.67105945e-01 9.30174468e-01 -2.94692248e-03 8.46162612e+00] [ 8.37467109e-03 -1.37148931e-04 9.99964922e-01 5.27175287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.784340128000004 meters 0.017599413460210128 Centerline is valid? [True, True] Translation: X:52.32, Y:8.47, Z:0.53 [[ 9.30429606e-01 -3.66405479e-01 -6.91182821e-03 5.23205282e+01] [ 3.66396274e-01 9.30455271e-01 -2.59969139e-03 8.47342686e+00] [ 7.38368816e-03 -1.13638266e-04 9.99972734e-01 5.28092540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.814340128000005 meters 0.01772720410093528 Centerline is valid? [True, True] Translation: X:52.35, Y:8.48, Z:0.53 [[ 9.30358945e-01 -3.66591282e-01 -6.56247359e-03 5.23465965e+01] [ 3.66582976e-01 9.30382083e-01 -2.47008024e-03 8.48303272e+00] [ 7.01111773e-03 -1.07629854e-04 9.99975416e-01 5.28175892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.844340128000006 meters 0.017975402746268677 Centerline is valid? [True, True] Translation: X:52.37, Y:8.49, Z:0.53 [[ 9.30321421e-01 -3.66698491e-01 -5.85415346e-03 5.23726720e+01] [ 3.66691868e-01 9.30339835e-01 -2.20585596e-03 8.49061200e+00] [ 6.25523621e-03 -9.45154184e-05 9.99980431e-01 5.28531548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.874340128 meters 0.016761960207038427 Centerline is valid? [True, True] Translation: X:52.40, Y:8.50, Z:0.53 [[ 9.30298196e-01 -3.66764961e-01 -5.36007888e-03 5.23984864e+01] [ 3.66759411e-01 9.30313633e-01 -2.01954643e-03 8.50132921e+00] [ 5.72725333e-03 -8.70789768e-05 9.99983595e-01 5.28595047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.904340128 meters 0.015909686996336294 Centerline is valid? [True, True] Translation: X:52.42, Y:8.51, Z:0.53 [[ 9.30355477e-01 -3.66626619e-01 -4.85881724e-03 5.24238930e+01] [ 3.66622049e-01 9.30368162e-01 -1.83221178e-03 8.51239597e+00] [ 5.19222648e-03 -7.67412723e-05 9.99986517e-01 5.28396645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.934340128 meters 0.016457339313073634 Centerline is valid? [True, True] Translation: X:52.45, Y:8.52, Z:0.53 [[ 9.31133251e-01 -3.64645933e-01 -4.92056692e-03 5.24504281e+01] [ 3.64641207e-01 9.31146250e-01 -1.85761538e-03 8.52151658e+00] [ 5.25913934e-03 -6.45540084e-05 9.99986169e-01 5.28059811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.964340128 meters 0.015799301402818492 Centerline is valid? [True, True] Translation: X:52.48, Y:8.53, Z:0.53 [[ 9.31565588e-01 -3.63547100e-01 -4.36584815e-03 5.24774504e+01] [ 3.63543362e-01 9.31575817e-01 -1.64938754e-03 8.53249756e+00] [ 4.66674862e-03 -5.06624373e-05 9.99989109e-01 5.27655783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.994340128000005 meters 0.013735843473540019 Centerline is valid? [True, True] Translation: X:52.50, Y:8.54, Z:0.53 [[ 9.32818176e-01 -3.60322507e-01 -4.23566633e-03 5.25038851e+01] [ 3.60318951e-01 9.32827792e-01 -1.60127680e-03 8.54365496e+00] [ 4.52812334e-03 -3.24907412e-05 9.99989747e-01 5.25241736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.024340128000006 meters 0.01356708070547736 Centerline is valid? [True, True] Translation: X:52.53, Y:8.55, Z:0.53 [[ 9.33408787e-01 -3.58792160e-01 -4.02780591e-03 5.25293318e+01] [ 3.58788925e-01 9.33417477e-01 -1.52364053e-03 8.55212603e+00] [ 4.30629471e-03 -2.29527021e-05 9.99990728e-01 5.25500779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.054340128 meters 0.013262519163540104 Centerline is valid? [True, True] Translation: X:52.56, Y:8.56, Z:0.53 [[ 9.33868741e-01 -3.57602453e-01 -3.10826821e-03 5.25558579e+01] [ 3.57600519e-01 9.33873913e-01 -1.17617055e-03 8.56171319e+00] [ 3.32333207e-03 -1.31294127e-05 9.99994478e-01 5.25323378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.084340128 meters 0.013243162212303365 Centerline is valid? [True, True] Translation: X:52.58, Y:8.57, Z:0.53 [[ 9.34037999e-01 -3.57168249e-01 -1.96424805e-03 5.25824491e+01] [ 3.57167476e-01 9.34040065e-01 -7.42887152e-04 8.57059735e+00] [ 2.10002207e-03 -7.68068735e-06 9.99997795e-01 5.26142411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.114340128 meters 0.013483492938387444 Centerline is valid? [True, True] Translation: X:52.61, Y:8.58, Z:0.53 [[ 9.34014450e-01 -3.57235145e-01 -2.40843866e-04 5.26094887e+01] [ 3.57235133e-01 9.34014481e-01 -9.05270236e-05 8.57723216e+00] [ 2.57291093e-04 -1.48434257e-06 9.99999967e-01 5.26149600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.144340128 meters 0.013497297085343567 Centerline is valid? [True, True] Translation: X:52.64, Y:8.58, Z:0.53 [[ 9.33700561e-01 -3.58054733e-01 -2.66025057e-04 5.26356430e+01] [ 3.58054719e-01 9.33700599e-01 -9.97676330e-05 8.58447575e+00] [ 2.84110028e-04 -2.09843202e-06 9.99999960e-01 5.25419817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.174340128000004 meters 0.013637834142213133 Centerline is valid? [True, True] Translation: X:52.66, Y:8.59, Z:0.52 [[ 9.33200267e-01 -3.59356659e-01 -2.30081531e-04 5.26630841e+01] [ 3.59356649e-01 9.33200296e-01 -8.44608447e-05 8.59016201e+00] [ 2.45063720e-04 -3.86244501e-06 9.99999970e-01 5.24618892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.204340128000005 meters 0.014032374302543268 Centerline is valid? [True, True] Translation: X:52.69, Y:8.59, Z:0.52 [[ 9.32617035e-01 -3.60867578e-01 2.38843271e-04 5.26912745e+01] [ 3.60867566e-01 9.32617066e-01 9.18222057e-05 8.59426521e+00] [-2.55884967e-04 5.55836638e-07 9.99999967e-01 5.24753553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.23434012800001 meters 0.014811206073926836 Centerline is valid? [True, True] Translation: X:52.72, Y:8.59, Z:0.53 [[ 9.31061674e-01 -3.64858429e-01 1.57671901e-03 5.27221642e+01] [ 3.64857931e-01 9.31063009e-01 6.03199648e-04 8.59318834e+00] [-1.68810722e-03 1.36623601e-05 9.99998575e-01 5.25042009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.264340128 meters 0.015605013520242817 Centerline is valid? [True, True] Translation: X:52.75, Y:8.60, Z:0.53 [[ 9.30076310e-01 -3.67359292e-01 2.28197193e-03 5.27512602e+01] [ 3.67358257e-01 9.30079109e-01 8.72439964e-04 8.59906684e+00] [-2.44291335e-03 2.68654907e-05 9.99997016e-01 5.25692739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.294340128 meters 0.017010484548144394 Centerline is valid? [True, True] Translation: X:52.78, Y:8.60, Z:0.52 [[ 9.28729941e-01 -3.70741197e-01 3.41478103e-03 5.27807019e+01] [ 3.70738913e-01 9.28736217e-01 1.30272086e-03 8.60127280e+00] [-3.65440310e-03 5.61163381e-05 9.99993321e-01 5.24813755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.324340128 meters 0.017446345390855295 Centerline is valid? [True, True] Translation: X:52.81, Y:8.61, Z:0.52 [[ 9.28145126e-01 -3.72196826e-01 4.01851796e-03 5.28094352e+01] [ 3.72193663e-01 9.28153822e-01 1.53591685e-03 8.60827300e+00] [-4.30146618e-03 7.01131772e-05 9.99990746e-01 5.24502561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.354340128000004 meters 0.01813321088560305 Centerline is valid? [True, True] Translation: X:52.84, Y:8.61, Z:0.52 [[ 9.27714694e-01 -3.73257247e-01 4.94718988e-03 5.28367063e+01] [ 3.73252475e-01 9.27727880e-01 1.88969594e-03 8.61446104e+00] [-5.29498868e-03 9.34521801e-05 9.99985977e-01 5.24927818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.384340128000005 meters 0.01934517800865632 Centerline is valid? [True, True] Translation: X:52.87, Y:8.62, Z:0.53 [[ 9.27163628e-01 -3.74576640e-01 7.74257410e-03 5.28650868e+01] [ 3.74565002e-01 9.27195943e-01 2.95695312e-03 8.61722046e+00] [-8.28648886e-03 1.58517897e-04 9.99965654e-01 5.27224615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.414340128000006 meters 0.019859225445233424 Centerline is valid? [True, True] Translation: X:52.89, Y:8.62, Z:0.53 [[ 9.27080802e-01 -3.74755745e-01 8.90606700e-03 5.28925357e+01] [ 3.74740347e-01 9.27123561e-01 3.40208183e-03 8.62309740e+00] [-9.53197427e-03 1.83457889e-04 9.99954553e-01 5.29110927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.444340128 meters 0.020316479380624683 Centerline is valid? [True, True] Translation: X:52.92, Y:8.63, Z:0.53 [[ 9.27026935e-01 -3.74882309e-01 9.18239228e-03 5.29203225e+01] [ 3.74865930e-01 9.27072391e-01 3.50942051e-03 8.62941755e+00] [-9.82836203e-03 1.88838687e-04 9.99951683e-01 5.30485627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.474340128 meters 0.018237658364209902 Centerline is valid? [True, True] Translation: X:52.95, Y:8.64, Z:0.53 [[ 9.27262715e-01 -3.74275990e-01 1.00668459e-02 5.29468967e+01] [ 3.74256210e-01 9.27317338e-01 3.85279505e-03 8.63736914e+00] [-1.07771694e-02 1.95026381e-04 9.99941906e-01 5.28321231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.504340128 meters 0.018007964208947187 Centerline is valid? [True, True] Translation: X:52.97, Y:8.65, Z:0.53 [[ 9.27377093e-01 -3.73998340e-01 9.84730932e-03 5.29746706e+01] [ 3.73979369e-01 9.27429354e-01 3.77151443e-03 8.64656577e+00] [-1.05432239e-02 1.85074435e-04 9.99944402e-01 5.28067307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.534340128000004 meters 0.01809034826209686 Centerline is valid? [True, True] Translation: X:53.00, Y:8.65, Z:0.53 [[ 9.27553246e-01 -3.73564114e-01 9.73798326e-03 5.30008020e+01] [ 3.73545535e-01 9.27604345e-01 3.72995780e-03 8.65499204e+00] [-1.04263740e-02 1.77845701e-04 9.99945628e-01 5.28010469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.564340128000005 meters 0.017327371350244064 Centerline is valid? [True, True] Translation: X:53.03, Y:8.66, Z:0.53 [[ 9.28063112e-01 -3.72310182e-01 9.16449732e-03 5.30285680e+01] [ 3.72293624e-01 9.28108348e-01 3.51452181e-03 8.66343689e+00] [-9.81413872e-03 1.50185864e-04 9.99951829e-01 5.26875432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.594340128000006 meters 0.017357231921641153 Centerline is valid? [True, True] Translation: X:53.06, Y:8.67, Z:0.53 [[ 9.28054153e-01 -3.72330691e-01 9.23828353e-03 5.30555959e+01] [ 3.72313830e-01 9.28100121e-01 3.54644370e-03 8.67173790e+00] [-9.89450190e-03 1.48248920e-04 9.99951037e-01 5.27552062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.624340128 meters 0.01721372063665662 Centerline is valid? [True, True] Translation: X:53.08, Y:8.68, Z:0.53 [[ 9.28255639e-01 -3.71833595e-01 9.01366852e-03 5.30820503e+01] [ 3.71817532e-01 9.28299390e-01 3.45905562e-03 8.67956533e+00] [-9.65357608e-03 1.40552105e-04 9.99953393e-01 5.28473141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.654340128 meters 0.016809995315786797 Centerline is valid? [True, True] Translation: X:53.11, Y:8.69, Z:0.53 [[ 9.28661052e-01 -3.70857196e-01 7.32063741e-03 5.31086884e+01] [ 3.70846562e-01 9.28689900e-01 2.81031042e-03 8.68782894e+00] [-7.84082586e-03 1.05007391e-04 9.99969255e-01 5.27102748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.684340128 meters 0.016735234880217498 Centerline is valid? [True, True] Translation: X:53.14, Y:8.70, Z:0.53 [[ 9.28643578e-01 -3.70917571e-01 6.42352910e-03 5.31361357e+01] [ 3.70909359e-01 9.28665789e-01 2.46972903e-03 8.69779815e+00] [-6.88137761e-03 8.90490596e-05 9.99976319e-01 5.26354344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.714340128 meters 0.016992380529154957 Centerline is valid? [True, True] Translation: X:53.16, Y:8.71, Z:0.53 [[ 9.28608591e-01 -3.71016910e-01 5.70419457e-03 5.31629904e+01] [ 3.71010442e-01 9.28626107e-01 2.19229991e-03 8.70538294e+00] [-6.11044433e-03 8.05272211e-05 9.99981328e-01 5.26445609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.744340128000005 meters 0.016981791563336443 Centerline is valid? [True, True] Translation: X:53.19, Y:8.71, Z:0.53 [[ 9.28542735e-01 -3.71182454e-01 5.65471515e-03 5.31895202e+01] [ 3.71176076e-01 9.28559950e-01 2.17731807e-03 8.71426840e+00] [-6.05892428e-03 7.71621097e-05 9.99981642e-01 5.26912201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.774340128000006 meters 0.01715937790225345 Centerline is valid? [True, True] Translation: X:53.22, Y:8.72, Z:0.53 [[ 9.28463215e-01 -3.71388389e-01 5.16948282e-03 5.32161702e+01] [ 3.71383069e-01 9.28477603e-01 1.98915680e-03 8.72323857e+00] [-5.53849876e-03 7.29994812e-05 9.99984660e-01 5.27346529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.804340128 meters 0.01705255230475566 Centerline is valid? [True, True] Translation: X:53.24, Y:8.73, Z:0.53 [[ 9.28451039e-01 -3.71423515e-01 4.82096322e-03 5.32426817e+01] [ 3.71418869e-01 9.28463553e-01 1.85884087e-03 8.73336284e+00] [-5.16650585e-03 6.47539698e-05 9.99986651e-01 5.27225395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.834340128 meters 0.016655975678991682 Centerline is valid? [True, True] Translation: X:53.27, Y:8.74, Z:0.53 [[ 9.28604876e-01 -3.71062167e-01 2.41906600e-03 5.32699251e+01] [ 3.71060991e-01 9.28608027e-01 9.34581392e-04 8.74289144e+00] [-2.59315190e-03 2.97641906e-05 9.99996637e-01 5.25388314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.864340128 meters 0.01630384871034944 Centerline is valid? [True, True] Translation: X:53.30, Y:8.75, Z:0.52 [[ 9.28680212e-01 -3.70877830e-01 1.64289398e-03 5.32969990e+01] [ 3.70877285e-01 9.28681665e-01 6.36100881e-04 8.75357221e+00] [-1.76164123e-03 1.85777564e-05 9.99998448e-01 5.24873077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.894340128 meters 0.016331388153515307 Centerline is valid? [True, True] Translation: X:53.32, Y:8.76, Z:0.53 [[ 9.28841507e-01 -3.70475364e-01 1.20798582e-03 5.33226343e+01] [ 3.70475070e-01 9.28842293e-01 4.66802874e-04 8.76359892e+00] [-1.29496729e-03 1.39427472e-05 9.99999161e-01 5.25068655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.924340128000004 meters 0.015894596677106927 Centerline is valid? [True, True] Translation: X:53.35, Y:8.78, Z:0.52 [[ 9.29016339e-01 -3.70037346e-01 1.00226852e-03 5.33484522e+01] [ 3.70037141e-01 9.29016880e-01 3.89993074e-04 8.77511895e+00] [-1.07543638e-03 8.56664141e-06 9.99999422e-01 5.24331907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.954340128000005 meters 0.01559675329541033 Centerline is valid? [True, True] Translation: X:53.37, Y:8.79, Z:0.52 [[ 9.29430886e-01 -3.68996244e-01 1.62436993e-05 5.33732546e+01] [ 3.68996244e-01 9.29430886e-01 7.24256144e-06 8.78762792e+00] [-1.77698739e-05 -7.37596252e-07 1.00000000e+00 5.22716057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98434012800001 meters 0.015381995135694054 Centerline is valid? [True, True] Translation: X:53.40, Y:8.80, Z:0.52 [[ 9.29643860e-01 -3.68458532e-01 -7.77167153e-04 5.33997538e+01] [ 3.68458412e-01 9.29644185e-01 -2.97582480e-04 8.79941680e+00] [ 8.32135728e-04 -9.70805042e-06 9.99999654e-01 5.21920526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.014340128 meters 0.015207622023583358 Centerline is valid? [True, True] Translation: X:53.43, Y:8.81, Z:0.52 [[ 9.29679028e-01 -3.68367965e-01 -1.39562929e-03 5.34253881e+01] [ 3.68367575e-01 9.29680075e-01 -5.36615792e-04 8.81045088e+00] [ 1.49516081e-03 -1.52241273e-05 9.99998882e-01 5.20893866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.044340128 meters 0.014834384842254696 Centerline is valid? [True, True] Translation: X:53.45, Y:8.82, Z:0.52 [[ 9.30039523e-01 -3.67438305e-01 -3.94679275e-03 5.34521799e+01] [ 3.67435143e-01 9.30047897e-01 -1.52478756e-03 8.82149141e+00] [ 4.23097165e-03 -3.20776670e-05 9.99991049e-01 5.18478886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.074340128 meters 0.014568169048739754 Centerline is valid? [True, True] Translation: X:53.48, Y:8.83, Z:0.52 [[ 9.30320215e-01 -3.66709251e-01 -5.35002898e-03 5.34784693e+01] [ 3.66703413e-01 9.30335597e-01 -2.06945499e-03 8.83348985e+00] [ 5.73621070e-03 -3.66180752e-05 9.99983547e-01 5.16927590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.104340128000004 meters 0.014209408064069342 Centerline is valid? [True, True] Translation: X:53.50, Y:8.85, Z:0.51 [[ 9.31086875e-01 -3.64716594e-01 -7.68360747e-03 5.35034113e+01] [ 3.64704455e-01 9.31118577e-01 -2.97583010e-03 8.84734971e+00] [ 8.23968428e-03 -3.14895252e-05 9.99966053e-01 5.13727103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.134340128000005 meters 0.014134083663373069 Centerline is valid? [True, True] Translation: X:53.53, Y:8.86, Z:0.51 [[ 9.31377571e-01 -3.63948510e-01 -8.79223146e-03 5.35288560e+01] [ 3.63932571e-01 9.31419069e-01 -3.40617937e-03 8.85915494e+00] [ 9.42892594e-03 -2.73403389e-05 9.99955546e-01 5.12546912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.164340128000006 meters 0.01401854480805451 Centerline is valid? [True, True] Translation: X:53.55, Y:8.87, Z:0.51 [[ 9.31606616e-01 -3.63342882e-01 -9.54272468e-03 5.35547930e+01] [ 3.63324039e-01 9.31655489e-01 -3.70034875e-03 8.87092229e+00] [ 1.02350272e-02 -1.98318978e-05 9.99947621e-01 5.11741339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.194340128 meters 0.014049969562401185 Centerline is valid? [True, True] Translation: X:53.58, Y:8.88, Z:0.51 [[ 9.31886319e-01 -3.62569999e-01 -1.14404739e-02 5.35795466e+01] [ 3.62542804e-01 9.31956542e-01 -4.44065348e-03 8.88431397e+00] [ 1.22720722e-02 -9.47725688e-06 9.99924695e-01 5.09623350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.224340128 meters 0.014152915835183088 Centerline is valid? [True, True] Translation: X:53.60, Y:8.90, Z:0.51 [[ 9.31998770e-01 -3.62255552e-01 -1.22150465e-02 5.36048486e+01] [ 3.62224465e-01 9.32078814e-01 -4.74572355e-03 8.89606415e+00] [ 1.31045508e-02 -1.58018570e-06 9.99914132e-01 5.08542202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.254340128 meters 0.01420024057063095 Centerline is valid? [True, True] Translation: X:53.63, Y:8.91, Z:0.51 [[ 9.32187935e-01 -3.61737868e-01 -1.30907871e-02 5.36304089e+01] [ 3.61702060e-01 9.32279848e-01 -5.08974297e-03 8.90798179e+00] [ 1.40454297e-02 9.63234496e-06 9.99901358e-01 5.07096483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.284340128000004 meters 0.014230738088981407 Centerline is valid? [True, True] Translation: X:53.66, Y:8.92, Z:0.51 [[ 9.32260068e-01 -3.61518264e-01 -1.39896576e-02 5.36559784e+01] [ 3.61477304e-01 9.32365028e-01 -5.44191627e-03 8.91949120e+00] [ 1.50108196e-02 1.63375231e-05 9.99887331e-01 5.06547548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.314340128000005 meters 0.014622587620854477 Centerline is valid? [True, True] Translation: X:53.68, Y:8.93, Z:0.50 [[ 9.32288456e-01 -3.61367692e-01 -1.58626865e-02 5.36815344e+01] [ 3.61314935e-01 9.32423396e-01 -6.17472357e-03 8.93157003e+00] [ 1.70220856e-02 2.51979598e-05 9.99855113e-01 5.03795044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.344340128000006 meters 0.014622587620854477 Centerline is valid? [True, True] Translation: X:53.71, Y:8.94, Z:0.50 [[ 9.32188995e-01 -3.61624233e-01 -1.58616399e-02 5.37071480e+01] [ 3.61571467e-01 9.32323932e-01 -6.17741111e-03 8.94176080e+00] [ 1.70220880e-02 2.33982486e-05 9.99855113e-01 5.04064208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.374340128 meters 0.014571149422858054 Centerline is valid? [True, True] Translation: X:53.73, Y:8.95, Z:0.50 [[ 9.32067438e-01 -3.61906488e-01 -1.65524684e-02 5.37325247e+01] [ 3.61848972e-01 9.32214403e-01 -6.45197061e-03 8.95277596e+00] [ 1.77654595e-02 2.41780492e-05 9.99842181e-01 5.04126528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.404340128 meters 0.014690965733042977 Centerline is valid? [True, True] Translation: X:53.76, Y:8.96, Z:0.50 [[ 9.31863483e-01 -3.62397526e-01 -1.72766523e-02 5.37578461e+01] [ 3.62334842e-01 9.32023622e-01 -6.74017039e-03 8.96403470e+00] [ 1.85448692e-02 2.09855657e-05 9.99828029e-01 5.03303845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.434340128 meters 0.014920857770533374 Centerline is valid? [True, True] Translation: X:53.78, Y:8.97, Z:0.50 [[ 9.31325564e-01 -3.63714033e-01 -1.85687073e-02 5.37834396e+01] [ 3.63641798e-01 9.31510656e-01 -7.24848801e-03 8.97492033e+00] [ 1.99333255e-02 -1.65590593e-06 9.99801312e-01 5.01400284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.464340128 meters 0.015046219003266196 Centerline is valid? [True, True] Translation: X:53.81, Y:8.99, Z:0.50 [[ 9.30761055e-01 -3.65123036e-01 -1.92100912e-02 5.38100635e+01] [ 3.65045944e-01 9.30959273e-01 -7.50274470e-03 8.98540828e+00] [ 2.06232374e-02 -2.93032969e-05 9.99787318e-01 5.00830945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.494340128000005 meters 0.015589109803601937 Centerline is valid? [True, True] Translation: X:53.84, Y:9.00, Z:0.50 [[ 9.29790071e-01 -3.67535272e-01 -2.02051177e-02 5.38366730e+01] [ 3.67450458e-01 9.30009579e-01 -7.89583375e-03 8.99521624e+00] [ 2.16929504e-02 -8.29119192e-05 9.99764677e-01 5.00254427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.524340128000006 meters 0.015701547921124458 Centerline is valid? [True, True] Translation: X:53.86, Y:9.01, Z:0.50 [[ 9.29071868e-01 -3.69325014e-01 -2.06033454e-02 5.38634881e+01] [ 3.69237154e-01 9.29300285e-01 -8.05635180e-03 9.00521130e+00] [ 2.21221070e-02 -1.22590802e-04 9.99755269e-01 5.01297189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.554340128 meters 0.016694568980342776 Centerline is valid? [True, True] Translation: X:53.89, Y:9.01, Z:0.50 [[ 9.28359381e-01 -3.71096637e-01 -2.08840776e-02 5.38901811e+01] [ 3.71006724e-01 9.28594238e-01 -8.17016314e-03 9.01382578e+00] [ 2.24247542e-02 -1.63285633e-04 9.99748520e-01 4.99732527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.584340128 meters 0.01780945563924344 Centerline is valid? [True, True] Translation: X:53.92, Y:9.02, Z:0.50 [[ 9.26831041e-01 -3.74881040e-01 -2.11761109e-02 5.39172356e+01] [ 3.74789478e-01 9.27072889e-01 -8.28887458e-03 9.02298391e+00] [ 2.27391402e-02 -2.54197292e-04 9.99741400e-01 4.99728109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.614340128 meters 0.018442535231626606 Centerline is valid? [True, True] Translation: X:53.94, Y:9.03, Z:0.50 [[ 9.25981120e-01 -3.76978894e-01 -2.11158640e-02 5.39449172e+01] [ 3.76888259e-01 9.26221801e-01 -8.27143480e-03 9.03235254e+00] [ 2.26761299e-02 -2.99128754e-04 9.99742819e-01 5.00752198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.644340128 meters 0.019179312160973336 Centerline is valid? [True, True] Translation: X:53.97, Y:9.04, Z:0.50 [[ 9.25198118e-01 -3.78938816e-01 -2.03424751e-02 5.39724429e+01] [ 3.78855044e-01 9.25421669e-01 -7.97433899e-03 9.04045032e+00] [ 2.18471539e-02 -3.29005885e-04 9.99761268e-01 5.02037678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.674340128000004 meters 0.020850308537920505 Centerline is valid? [True, True] Translation: X:54.00, Y:9.05, Z:0.50 [[ 9.23725740e-01 -3.82581315e-01 -1.90340529e-02 5.40012326e+01] [ 3.82508635e-01 9.23921745e-01 -7.46680388e-03 9.04705820e+00] [ 2.04426350e-02 -3.83410669e-04 9.99790954e-01 5.04980880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.704340128000005 meters 0.021988920311224607 Centerline is valid? [True, True] Translation: X:54.03, Y:9.06, Z:0.51 [[ 9.22938221e-01 -3.84478086e-01 -1.90168714e-02 5.40283567e+01] [ 3.84405865e-01 9.23134023e-01 -7.46372944e-03 9.05578266e+00] [ 2.04247614e-02 -4.21635740e-04 9.99791304e-01 5.05112201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.73434012800001 meters 0.022721758224919092 Centerline is valid? [True, True] Translation: X:54.05, Y:9.06, Z:0.50 [[ 9.22592671e-01 -3.85306118e-01 -1.90252285e-02 5.40546470e+01] [ 3.85233969e-01 9.22788710e-01 -7.46896323e-03 9.06457476e+00] [ 2.04341033e-02 -4.38353546e-04 9.99791106e-01 5.04703354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.764340128 meters 0.023258622806790488 Centerline is valid? [True, True] Translation: X:54.08, Y:9.07, Z:0.51 [[ 9.22129326e-01 -3.86434680e-01 -1.85942164e-02 5.40822872e+01] [ 3.86365921e-01 9.22316668e-01 -7.30337330e-03 9.07442599e+00] [ 1.99720325e-02 -4.49516859e-04 9.99800438e-01 5.05439320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.794340128 meters 0.023489574211966735 Centerline is valid? [True, True] Translation: X:54.11, Y:9.08, Z:0.51 [[ 9.21914924e-01 -3.87029208e-01 -1.67709523e-02 5.41088536e+01] [ 3.86973284e-01 9.22067363e-01 -6.59206218e-03 9.08219411e+00] [ 1.80152684e-02 -4.12589999e-04 9.99837627e-01 5.08541489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.824340128 meters 0.023342297745054433 Centerline is valid? [True, True] Translation: X:54.14, Y:9.09, Z:0.51 [[ 9.21870787e-01 -3.87148410e-01 -1.64426391e-02 5.41355852e+01] [ 3.87094581e-01 9.22017325e-01 -6.46827493e-03 9.09103689e+00] [ 1.76645804e-02 -4.01942777e-04 9.99843888e-01 5.09788872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.854340128000004 meters 0.020183173447836995 Centerline is valid? [True, True] Translation: X:54.16, Y:9.10, Z:0.51 [[ 9.22405299e-01 -3.85839514e-01 -1.72143233e-02 5.41612024e+01] [ 3.85780182e-01 9.22565834e-01 -6.77744563e-03 9.10448906e+00] [ 1.84963529e-02 -3.89393013e-04 9.99828852e-01 5.10614893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.884340128000005 meters 0.019173790040487918 Centerline is valid? [True, True] Translation: X:54.19, Y:9.12, Z:0.51 [[ 9.22949935e-01 -3.84524355e-01 -1.74481310e-02 5.41878942e+01] [ 3.84463061e-01 9.23114775e-01 -6.87500146e-03 9.11595783e+00] [ 1.87502330e-02 -3.62879709e-04 9.99824133e-01 5.10609538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.914340128000006 meters 0.020849331005551253 Centerline is valid? [True, True] Translation: X:54.22, Y:9.12, Z:0.51 [[ 9.23664726e-01 -3.82788171e-01 -1.77957943e-02 5.42156862e+01] [ 3.82723979e-01 9.23836083e-01 -7.01763978e-03 9.12297126e+00] [ 1.91266664e-02 -3.28930891e-04 9.99817014e-01 5.08304733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.944340128 meters 0.018433528860495717 Centerline is valid? [True, True] Translation: X:54.24, Y:9.14, Z:0.51 [[ 9.25410479e-01 -3.78576974e-01 -1.71732210e-02 5.42406289e+01] [ 3.78516404e-01 9.25569782e-01 -6.77566996e-03 9.13608884e+00] [ 1.84601271e-02 -2.30069877e-04 9.99829571e-01 5.09262489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.974340128 meters 0.016041575924397766 Centerline is valid? [True, True] Translation: X:54.27, Y:9.15, Z:0.51 [[ 9.26168471e-01 -3.76758561e-01 -1.62772906e-02 5.42655431e+01] [ 3.76703812e-01 9.26311478e-01 -6.42526984e-03 9.15139467e+00] [ 1.74986165e-02 -1.80835081e-04 9.99846871e-01 5.12458504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.004340128 meters 0.015497116313058978 Centerline is valid? [True, True] Translation: X:54.29, Y:9.16, Z:0.51 [[ 9.26906590e-01 -3.74970990e-01 -1.55219341e-02 5.42911260e+01] [ 3.74920896e-01 9.27036536e-01 -6.13051886e-03 9.16257477e+00] [ 1.66881667e-02 -1.37079102e-04 9.99860733e-01 5.12661350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.034340128000004 meters 0.014782530600914104 Centerline is valid? [True, True] Translation: X:54.32, Y:9.17, Z:0.51 [[ 9.27918475e-01 -3.72482547e-01 -1.49685066e-02 5.43179861e+01] [ 3.72435593e-01 9.28039194e-01 -5.91471287e-03 9.17285340e+00] [ 1.60944882e-02 -8.64333027e-05 9.99870472e-01 5.13948809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.064340128000005 meters 0.014595636038548318 Centerline is valid? [True, True] Translation: X:54.34, Y:9.18, Z:0.51 [[ 9.28214281e-01 -3.71754876e-01 -1.47160146e-02 5.43444697e+01] [ 3.71709327e-01 9.28330926e-01 -5.81966251e-03 9.18301008e+00] [ 1.58248194e-02 -6.81860266e-05 9.99874777e-01 5.14847790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.094340128000006 meters 0.014489790358678405 Centerline is valid? [True, True] Translation: X:54.37, Y:9.19, Z:0.52 [[ 9.28382696e-01 -3.71328798e-01 -1.48490315e-02 5.43709559e+01] [ 3.71282284e-01 9.28501438e-01 -5.87752402e-03 9.19312051e+00] [ 1.59698410e-02 -5.65907331e-05 9.99872472e-01 5.15292205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.124340128 meters 0.014409447117163873 Centerline is valid? [True, True] Translation: X:54.40, Y:9.20, Z:0.52 [[ 9.28799719e-01 -3.70292384e-01 -1.46503388e-02 5.43964223e+01] [ 3.70246906e-01 9.28915254e-01 -5.80339383e-03 9.20254823e+00] [ 1.57578757e-02 -3.40520319e-05 9.99875836e-01 5.15849202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.154340128 meters 0.014232428241644498 Centerline is valid? [True, True] Translation: X:54.42, Y:9.21, Z:0.52 [[ 9.29070025e-01 -3.69631250e-01 -1.41995672e-02 5.44217817e+01] [ 3.69588391e-01 9.29178529e-01 -5.62873203e-03 9.21393154e+00] [ 1.52744882e-02 -1.85089813e-05 9.99883338e-01 5.16708930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.184340128 meters 0.01419855165042978 Centerline is valid? [True, True] Translation: X:54.45, Y:9.22, Z:0.52 [[ 9.29040226e-01 -3.69713516e-01 -1.40062432e-02 5.44478952e+01] [ 3.69671752e-01 9.29145799e-01 -5.55693127e-03 9.22492796e+00] [ 1.50683146e-02 -1.50997925e-05 9.99886466e-01 5.16555414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.214340128 meters 0.014232907946287865 Centerline is valid? [True, True] Translation: X:54.47, Y:9.24, Z:0.52 [[ 9.29525683e-01 -3.68426960e-01 -1.56070681e-02 5.44734746e+01] [ 3.68374829e-01 9.29656698e-01 -6.19758778e-03 9.23821906e+00] [ 1.67925738e-02 1.15659627e-05 9.99858995e-01 5.15510320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.244340128000005 meters 0.014254553262922666 Centerline is valid? [True, True] Translation: X:54.50, Y:9.25, Z:0.52 [[ 9.29724208e-01 -3.67920332e-01 -1.57329502e-02 5.44991494e+01] [ 3.67867196e-01 9.29857316e-01 -6.25277771e-03 9.24976089e+00] [ 1.69299229e-02 2.57225124e-05 9.99856678e-01 5.15621162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.274340128000006 meters 0.014260075141914708 Centerline is valid? [True, True] Translation: X:54.53, Y:9.26, Z:0.52 [[ 9.29721037e-01 -3.67904301e-01 -1.62854984e-02 5.45254895e+01] [ 3.67847261e-01 9.29863659e-01 -6.47829673e-03 9.25948799e+00] [ 1.75266864e-02 3.24327607e-05 9.99846395e-01 5.15607665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.304340128 meters 0.014335553240571177 Centerline is valid? [True, True] Translation: X:54.55, Y:9.27, Z:0.52 [[ 9.29314749e-01 -3.68861626e-01 -1.77538359e-02 5.45524699e+01] [ 3.68793890e-01 9.29484320e-01 -7.06864428e-03 9.26895282e+00] [ 1.91092637e-02 2.14891839e-05 9.99817401e-01 5.15536314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.334340128 meters 0.014321986884447555 Centerline is valid? [True, True] Translation: X:54.58, Y:9.28, Z:0.51 [[ 9.28922180e-01 -3.69815251e-01 -1.84462502e-02 5.45778046e+01] [ 3.69742226e-01 9.29105312e-01 -7.34888654e-03 9.27939885e+00] [ 1.98562393e-02 6.18610603e-06 9.99802845e-01 5.14344826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.364340128 meters 0.014527071992075492 Centerline is valid? [True, True] Translation: X:54.60, Y:9.29, Z:0.51 [[ 9.28461445e-01 -3.70944940e-01 -1.89524749e-02 5.46041432e+01] [ 3.70868033e-01 9.28654861e-01 -7.55320732e-03 9.28951779e+00] [ 2.04021320e-02 -1.60052822e-05 9.99791855e-01 5.13542223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.394340128 meters 0.014734714048135134 Centerline is valid? [True, True] Translation: X:54.63, Y:9.30, Z:0.51 [[ 9.27478888e-01 -3.73398291e-01 -1.88846029e-02 5.46305436e+01] [ 3.73322401e-01 9.27671123e-01 -7.52817959e-03 9.29764007e+00] [ 2.03297102e-02 -6.78176704e-05 9.99793328e-01 5.14636990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.424340128000004 meters 0.014680988157259793 Centerline is valid? [True, True] Translation: X:54.66, Y:9.31, Z:0.52 [[ 9.26997543e-01 -3.74621854e-01 -1.82762587e-02 5.46561769e+01] [ 3.74550930e-01 9.27177685e-01 -7.28982095e-03 9.30876712e+00] [ 1.96762655e-02 -8.77435957e-05 9.99806400e-01 5.16829951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.454340128000005 meters 0.014902429717766437 Centerline is valid? [True, True] Translation: X:54.68, Y:9.32, Z:0.52 [[ 9.26141335e-01 -3.76746391e-01 -1.80106814e-02 5.46820264e+01] [ 3.76677794e-01 9.26316437e-01 -7.19015920e-03 9.31934833e+00] [ 1.93924568e-02 -1.25120093e-04 9.99811941e-01 5.17576015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48434012800001 meters 0.016361497502666113 Centerline is valid? [True, True] Translation: X:54.71, Y:9.33, Z:0.52 [[ 9.24178808e-01 -3.81501478e-01 -1.87124076e-02 5.47102057e+01] [ 3.81428304e-01 9.24368201e-01 -7.47520920e-03 9.32528735e+00] [ 2.01489579e-02 -2.29011975e-04 9.99796963e-01 5.18455052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.514340128 meters 0.0175441315090021 Centerline is valid? [True, True] Translation: X:54.74, Y:9.33, Z:0.52 [[ 9.23081946e-01 -3.84152611e-01 -1.86142881e-02 5.47371809e+01] [ 3.84080690e-01 9.23269566e-01 -7.43854723e-03 9.33292726e+00] [ 2.00435431e-02 -2.82999978e-04 9.99799068e-01 5.19392263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.544340128 meters 0.019612597459486944 Centerline is valid? [True, True] Translation: X:54.77, Y:9.34, Z:0.52 [[ 9.21214900e-01 -3.88540737e-01 -1.99800633e-02 5.47656825e+01] [ 3.88458865e-01 9.21431458e-01 -7.98612176e-03 9.33992954e+00] [ 2.15131925e-02 -4.04498354e-04 9.99768483e-01 5.20012392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.574340128 meters 0.020481859063872163 Centerline is valid? [True, True] Translation: X:54.79, Y:9.35, Z:0.52 [[ 9.20333232e-01 -3.90566474e-01 -2.10848676e-02 5.47930807e+01] [ 3.90475729e-01 9.20574606e-01 -8.43206148e-03 9.34938311e+00] [ 2.27034742e-02 -4.72822643e-04 9.99742131e-01 5.19942823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.604340128000004 meters 0.02110653685406541 Centerline is valid? [True, True] Translation: X:54.82, Y:9.36, Z:0.52 [[ 9.19918885e-01 -3.91494727e-01 -2.19345168e-02 5.48198008e+01] [ 3.91396621e-01 9.20180210e-01 -8.77870230e-03 9.36130761e+00] [ 2.36205240e-02 -5.09401739e-04 9.99720867e-01 5.19690895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.634340128000005 meters 0.022488809225285518 Centerline is valid? [True, True] Translation: X:54.85, Y:9.37, Z:0.52 [[ 9.19168357e-01 -3.93088516e-01 -2.47174220e-02 5.48466596e+01] [ 3.92964298e-01 9.19500431e-01 -9.90038797e-03 9.37305839e+00] [ 2.66194090e-02 -6.12941054e-04 9.99645453e-01 5.18097339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.664340128000006 meters 0.02313120853868178 Centerline is valid? [True, True] Translation: X:54.87, Y:9.38, Z:0.52 [[ 9.18892523e-01 -3.93688790e-01 -2.54100056e-02 5.48731876e+01] [ 3.93557528e-01 9.19243562e-01 -1.01855777e-02 9.38430276e+00] [ 2.73679318e-02 -6.40847815e-04 9.99625223e-01 5.18595861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.694340128 meters 0.024196255798395107 Centerline is valid? [True, True] Translation: X:54.90, Y:9.39, Z:0.52 [[ 9.18656233e-01 -3.94237606e-01 -2.54447446e-02 5.48989418e+01] [ 3.94106072e-01 9.19008315e-01 -1.02039978e-02 9.39435316e+00] [ 2.74067315e-02 -6.53962162e-04 9.99624151e-01 5.18798563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.724340128 meters 0.0244044216371794 Centerline is valid? [True, True] Translation: X:54.93, Y:9.41, Z:0.52 [[ 9.18317403e-01 -3.94990016e-01 -2.60006802e-02 5.49256299e+01] [ 3.94852803e-01 9.18685157e-01 -1.04329585e-02 9.40581485e+00] [ 2.80073534e-02 -6.85674119e-04 9.99607482e-01 5.20180781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.754340128 meters 0.02652932936051182 Centerline is valid? [True, True] Translation: X:54.95, Y:9.41, Z:0.52 [[ 9.17377246e-01 -3.97034077e-01 -2.79808962e-02 5.49531719e+01] [ 3.96875990e-01 9.17803519e-01 -1.12316243e-02 9.41371566e+00] [ 3.01403025e-02 -8.01309341e-04 9.99545357e-01 5.20318982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.784340128000004 meters 0.02756159583777557 Centerline is valid? [True, True] Translation: X:54.98, Y:9.42, Z:0.52 [[ 9.16883119e-01 -3.98128535e-01 -2.86184639e-02 5.49800734e+01] [ 3.97963580e-01 9.17329244e-01 -1.14911702e-02 9.42227311e+00] [ 3.08275166e-02 -8.53046405e-04 9.99524355e-01 5.21009334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.814340128000005 meters 0.029405389062018943 Centerline is valid? [True, True] Translation: X:55.01, Y:9.43, Z:0.52 [[ 9.15911380e-01 -4.00323203e-01 -2.91148895e-02 5.50060613e+01] [ 4.00153458e-01 9.16373533e-01 -1.16944082e-02 9.43087576e+00] [ 3.13616571e-02 -9.39382137e-04 9.99507661e-01 5.23083283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.844340128000006 meters 0.030193441161726307 Centerline is valid? [True, True] Translation: X:55.03, Y:9.44, Z:0.52 [[ 9.15461840e-01 -4.01368227e-01 -2.88646122e-02 5.50330549e+01] [ 4.01201697e-01 9.15916275e-01 -1.16006562e-02 9.44144596e+00] [ 3.10937030e-02 -9.60573308e-04 9.99516012e-01 5.23831883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.874340128 meters 0.030370374255401844 Centerline is valid? [True, True] Translation: X:55.06, Y:9.45, Z:0.53 [[ 9.15074477e-01 -4.02242985e-01 -2.89703828e-02 5.50596590e+01] [ 4.02075409e-01 9.15532418e-01 -1.16514919e-02 9.45203538e+00] [ 3.12100555e-02 -9.86295682e-04 9.99512361e-01 5.25227080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.904340128 meters 0.03135261991132723 Centerline is valid? [True, True] Translation: X:55.09, Y:9.46, Z:0.53 [[ 9.14707237e-01 -4.03125464e-01 -2.82936664e-02 5.50865540e+01] [ 4.02965911e-01 9.15144187e-01 -1.13838268e-02 9.45957619e+00] [ 3.04818948e-02 -9.88514277e-04 9.99534830e-01 5.28194929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.934340128 meters 0.031444145372225535 Centerline is valid? [True, True] Translation: X:55.11, Y:9.47, Z:0.53 [[ 9.14812985e-01 -4.02901419e-01 -2.80650791e-02 5.51126291e+01] [ 4.02744214e-01 9.15242868e-01 -1.12956297e-02 9.46998227e+00] [ 3.02373887e-02 -9.69659465e-04 9.99542275e-01 5.29617001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.964340128 meters 0.031101368869513018 Centerline is valid? [True, True] Translation: X:55.14, Y:9.48, Z:0.53 [[ 9.15031519e-01 -4.02389083e-01 -2.82903751e-02 5.51386511e+01] [ 4.02228893e-01 9.15468249e-01 -1.13930870e-02 9.48160037e+00] [ 3.04833940e-02 -9.54172508e-04 9.99534818e-01 5.30247729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 895.42 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%| | 0/1999 [00:00