+ python -m lidar_slam --no-model /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e Lidar SLAM 0.0.12 ===================================================== The recording path: /working/7ae021bb-bbd1-4800-97eb-4863a0eb229e 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 0.022260615 Adjusted end_distance from 9.223372036854776e+18 to 23.002260615 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.022260615 meters 0.048645062271580795 Centerline is valid? [0, True] SLAMing on 0.052260614999999996 meters 0.044291198272453536 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.01, Z:0.00 [[ 9.99903586e-01 -1.37243753e-02 2.11189307e-03 3.09428206e-02] [ 1.37240930e-02 9.99905809e-01 1.48071541e-04 -1.32743625e-02] [-2.11372633e-03 -1.19073448e-04 9.99997759e-01 1.80307770e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.082260615 meters 0.04230243332049787 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.02, Z:0.00 [[ 9.99804369e-01 -1.96074733e-02 2.60199496e-03 6.27254006e-02] [ 1.96070650e-02 9.99807746e-01 1.82350346e-04 -2.01020646e-02] [-2.60507014e-03 -1.31297188e-04 9.99996598e-01 2.35359273e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11226061499999998 meters 0.04157447355172476 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.03, Z:0.00 [[ 9.99682809e-01 -2.49840039e-02 3.17494343e-03 9.39646529e-02] [ 2.49834232e-02 9.99687841e-01 2.22431685e-04 -2.51789030e-02] [-3.17950957e-03 -1.43040176e-04 9.99994935e-01 2.59036023e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.14226061499999998 meters 0.043927433525789795 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.03, Z:0.00 [[ 9.99454719e-01 -3.27183521e-02 4.44671719e-03 1.25008378e-01] [ 3.27172897e-02 9.99464598e-01 3.11480843e-04 -3.12477164e-02] [-4.45452754e-03 -1.65826464e-04 9.99990065e-01 2.87016574e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17226061499999998 meters 0.04862623014598343 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.03, Z:0.00 [[ 9.99244595e-01 -3.85148268e-02 5.18145725e-03 1.56898445e-01] [ 3.85134643e-02 9.99258016e-01 3.62516622e-04 -3.39926244e-02] [-5.19157496e-03 -1.62686907e-04 9.99986510e-01 2.70549682e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20226061499999998 meters 0.05255278480232474 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.03, Z:0.00 [[ 9.99129631e-01 -4.10682215e-02 7.30623603e-03 1.88140312e-01] [ 4.10655839e-02 9.99156323e-01 5.10726588e-04 -3.27644269e-02] [-7.32104655e-03 -2.10247219e-04 9.99973179e-01 4.57456802e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23226061499999998 meters 0.06219315414844683 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.03, Z:0.01 [[ 9.98825390e-01 -4.68184847e-02 1.24848080e-02 2.20963422e-01] [ 4.68112486e-02 9.98903373e-01 8.71345271e-04 -3.36666925e-02] [-1.25119119e-02 -2.85892326e-04 9.99921682e-01 9.16107727e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.262260615 meters 0.06670350090076228 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.03, Z:0.01 [[ 9.98622180e-01 -5.04826995e-02 1.43261395e-02 2.53254346e-01] [ 5.04735656e-02 9.98724898e-01 9.98645784e-04 -3.32513320e-02] [-1.43582865e-02 -2.74178488e-04 9.99896877e-01 9.93856299e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.29226061499999995 meters 0.07815705292068058 Centerline is valid? [True, True] Translation: X:0.29, Y:-0.03, Z:0.01 [[ 9.98116799e-01 -5.87216644e-02 1.77375586e-02 2.85926237e-01] [ 5.87089972e-02 9.98274376e-01 1.23447123e-03 -3.12341086e-02] [-1.77794404e-02 -1.90792198e-04 9.99841915e-01 1.12160995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3222606149999999 meters 0.09721758789920693 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.03, Z:0.01 [[ 9.97633245e-01 -6.57089477e-02 2.02544248e-02 3.17439502e-01] [ 6.56939143e-02 9.97838829e-01 1.40742379e-03 -2.83135074e-02] [-2.03031319e-02 -7.35003158e-05 9.99793867e-01 1.22426209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35226061499999994 meters 0.11058868962294376 Centerline is valid? [True, False] Translation: X:0.32, Y:-0.03, Z:0.01 [[ 0.99790702 -0.06155348 0.01981778 0.31799365] [ 0.06144714 0.99809271 0.00593152 -0.02897872] [-0.02014509 -0.00470136 0.99978601 0.01179607] [ 0. 0. 0. 1. ]] SLAMing on 0.3822606149999999 meters 0.12187951148750273 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.03, Z:0.01 [[ 0.99787263 -0.06212724 0.01975919 0.31812635] [ 0.06204185 0.99806149 0.0049062 -0.02639565] [-0.0200257 -0.00366987 0.99979273 0.01177716] [ 0. 0. 0. 1. ]] SLAMing on 0.41226061499999994 meters 0.13464365211963555 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:0.01 [[ 0.99791361 -0.06195077 0.01818065 0.31989169] [ 0.06187519 0.99807287 0.00469088 -0.01794867] [-0.01843622 -0.00355616 0.99982371 0.0125001 ] [ 0. 0. 0. 1. ]] SLAMing on 0.4422606149999999 meters 0.13525818944154666 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.01, Z:0.01 [[ 0.99811733 -0.05873993 0.01764673 0.32023499] [ 0.05861741 0.99825323 0.00738218 -0.01415351] [-0.01804954 -0.00633387 0.99981703 0.01270881] [ 0. 0. 0. 1. ]] SLAMing on 0.47226061499999994 meters 0.14755806114790954 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.00, Z:0.01 [[ 9.98184373e-01 -5.80411381e-02 1.60991943e-02 3.22759438e-01] [ 5.79272387e-02 9.98292983e-01 7.45357154e-03 -3.60339666e-04] [-1.65043265e-02 -6.50745676e-03 9.99842618e-01 1.23639384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.502260615 meters 0.15526663078522535 Centerline is valid? [False, False] Translation: X:0.32, Y:0.01, Z:0.01 [[ 0.9983492 -0.05526823 0.01563032 0.32338059] [ 0.05512638 0.99843547 0.00936501 0.00575427] [-0.01612346 -0.00848791 0.99983398 0.01213857] [ 0. 0. 0. 1. ]] SLAMing on 0.5322606149999999 meters 0.16570696614527983 Centerline is valid? [False, False] Translation: X:0.33, Y:0.02, Z:0.01 [[ 0.99858416 -0.05156676 0.01305933 0.32760503] [ 0.0514053 0.99860075 0.01241129 0.02150585] [-0.01368107 -0.0117224 0.99983769 0.01152034] [ 0. 0. 0. 1. ]] SLAMing on 0.5622606149999999 meters 0.1618570204735115 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:0.01 [[ 0.99864251 -0.05124579 0.00932738 0.33283657] [ 0.05115236 0.99864085 0.00999396 0.04371404] [-0.00982685 -0.00950327 0.99990656 0.0135671 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5922606149999999 meters 0.1691388137417636 Centerline is valid? [False, False] Translation: X:0.33, Y:0.05, Z:0.01 [[ 0.99876515 -0.04892778 0.00861646 0.33401347] [ 0.04882849 0.99874234 0.01138014 0.05264909] [-0.00916243 -0.01094536 0.99989812 0.013271 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6222606149999999 meters 0.17156816575324377 Centerline is valid? [False, False] Translation: X:0.34, Y:0.07, Z:0.01 [[ 0.99881136 -0.04848562 0.00500213 0.33955492] [ 0.04842714 0.99876374 0.01121621 0.07453145] [-0.00553978 -0.01096064 0.99992458 0.01430559] [ 0. 0. 0. 1. ]] SLAMing on 0.6522606149999999 meters 0.17942358358306687 Centerline is valid? [False, False] Translation: X:0.34, Y:0.08, Z:0.01 [[ 0.99891809 -0.04629266 0.00443072 0.34004461] [ 0.04623422 0.99885253 0.0124905 0.08335281] [-0.00500385 -0.01227214 0.99991217 0.01466383] [ 0. 0. 0. 1. ]] SLAMing on 0.6822606149999999 meters 0.17880757711539405 Centerline is valid? [False, False] Translation: X:0.34, Y:0.11, Z:0.02 [[ 9.98904836e-01 -4.67784311e-02 9.52736923e-04 3.43644933e-01] [ 4.67643725e-02 9.98839423e-01 1.15282564e-02 1.05285382e-01] [-1.49090495e-03 -1.14710769e-02 9.99933094e-01 1.82778959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7122606149999999 meters 0.18052277362138322 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:0.02 [[ 0.99894048 -0.04590239 -0.00329902 0.34876931] [ 0.04594351 0.99884998 0.01370808 0.12520025] [ 0.00266599 -0.01384512 0.9999006 0.02070649] [ 0. 0. 0. 1. ]] SLAMing on 0.7422606149999998 meters 0.19005981879613779 Centerline is valid? [False, False] Translation: X:0.35, Y:0.13, Z:0.02 [[ 0.99901871 -0.04408112 -0.00429689 0.35072028] [ 0.04414021 0.9989158 0.01479434 0.13449513] [ 0.00364008 -0.01496949 0.99988133 0.0200632 ] [ 0. 0. 0. 1. ]] SLAMing on 0.7722606149999999 meters 0.1865422562528826 Centerline is valid? [False, False] Translation: X:0.35, Y:0.14, Z:0.02 [[ 0.99905573 -0.04306292 -0.00576546 0.35349734] [ 0.04314634 0.99895276 0.01522442 0.14444448] [ 0.00510382 -0.0154588 0.99986748 0.01942936] [ 0. 0. 0. 1. ]] SLAMing on 0.8022606149999999 meters 0.18667352988876526 Centerline is valid? [False, False] Translation: X:0.36, Y:0.17, Z:0.02 [[ 0.99898984 -0.04375427 -0.01024007 0.36155575] [ 0.04393226 0.99887494 0.01785528 0.16671949] [ 0.00944731 -0.01828711 0.99978814 0.01900605] [ 0. 0. 0. 1. ]] SLAMing on 0.8322606149999998 meters 0.18980359970282118 Centerline is valid? [False, False] Translation: X:0.38, Y:0.20, Z:0.02 [[ 0.99901984 -0.04376121 -0.00665726 0.37599389] [ 0.04386393 0.99890686 0.0161565 0.1952683 ] [ 0.00594295 -0.01643268 0.99984731 0.01804277] [ 0. 0. 0. 1. ]] SLAMing on 0.8622606149999998 meters 0.18349826254435855 Centerline is valid? [False, False] Translation: X:0.37, Y:0.21, Z:0.02 [[ 0.99907117 -0.04257185 -0.00666528 0.3745826 ] [ 0.04266385 0.99898671 0.01432973 0.2092466 ] [ 0.00604848 -0.01460079 0.99987511 0.0210723 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8922606149999999 meters 0.18142727227086658 Centerline is valid? [False, False] Translation: X:0.37, Y:0.22, Z:0.02 [[ 0.99911861 -0.04151803 -0.0061844 0.37269055] [ 0.04158915 0.99906449 0.01185265 0.22357738] [ 0.00568652 -0.01209941 0.99991063 0.02425349] [ 0. 0. 0. 1. ]] SLAMing on 0.9222606149999999 meters 0.17194161249270107 Centerline is valid? [False, False] Translation: X:0.38, Y:0.25, Z:0.02 [[ 0.99943136 -0.03278666 -0.00787366 0.37541367] [ 0.03287606 0.99939319 0.01150759 0.24879907] [ 0.00749159 -0.0117599 0.99990279 0.02475423] [ 0. 0. 0. 1. ]] SLAMing on 0.9522606149999998 meters 0.16341793530193224 Centerline is valid? [False, False] Translation: X:0.38, Y:0.27, Z:0.02 [[ 0.99968102 -0.02512465 -0.00257198 0.38433292] [ 0.02514888 0.99963503 0.0098658 0.27325468] [ 0.00232316 -0.00992734 0.99994802 0.02340854] [ 0. 0. 0. 1. ]] SLAMing on 0.9822606149999998 meters 0.15880662939076184 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:0.02 [[ 9.99794985e-01 -2.02480328e-02 7.31128655e-05 3.80157605e-01] [ 2.02479623e-02 9.99794617e-01 8.62696958e-04 2.77076846e-01] [-9.05657657e-05 -8.61039705e-04 9.99999625e-01 1.92562941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.012260615 meters 0.15860573229255917 Centerline is valid? [False, False] Translation: X:0.38, Y:0.27, Z:0.02 [[ 9.99803075e-01 -1.98442335e-02 1.36266555e-04 3.80141116e-01] [ 1.98439470e-02 9.99801371e-01 1.85354987e-03 2.74249240e-01] [-1.73021765e-04 -1.85048079e-03 9.99998273e-01 1.90626192e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0422606149999998 meters 0.1509697621684291 Centerline is valid? [False, False] Translation: X:0.38, Y:0.27, Z:0.02 [[ 9.99874518e-01 -1.58370259e-02 3.70330077e-04 3.79208851e-01] [ 1.58344764e-02 9.99856056e-01 6.09400784e-03 2.73445094e-01] [-4.66787730e-04 -6.08737917e-03 9.99981363e-01 1.96088921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0722606149999998 meters 0.15289803792955653 Centerline is valid? [False, False] Translation: X:0.38, Y:0.27, Z:0.02 [[ 9.99930890e-01 -1.17304464e-02 7.81629456e-04 3.78403125e-01] [ 1.17214592e-02 9.99874565e-01 1.06518078e-02 2.71865834e-01] [-9.06481872e-04 -1.06419098e-02 9.99942962e-01 1.95249890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1022606149999998 meters 0.15289803792955653 Centerline is valid? [False, False] Translation: X:0.38, Y:0.27, Z:0.02 [[ 9.99930890e-01 -1.17304464e-02 7.81629456e-04 3.78403125e-01] [ 1.17214592e-02 9.99874565e-01 1.06518078e-02 2.71865834e-01] [-9.06481872e-04 -1.06419098e-02 9.99942962e-01 1.95249890e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1322606149999999 meters 0.14240377325309742 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:0.02 [[ 0.99998208 -0.0053914 0.00260337 0.37289618] [ 0.00538783 0.99998454 0.0013785 0.27624961] [-0.00261076 -0.00136445 0.99999566 0.0192306 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1622606149999999 meters 0.13851286111905386 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:0.02 [[ 0.99998273 -0.00535866 0.0024119 0.37276826] [ 0.00535577 0.99998494 0.00120185 0.27650146] [-0.00241831 -0.00118891 0.99999637 0.01996721] [ 0. 0. 0. 1. ]] SLAMing on 1.192260615 meters 0.13858767872434258 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:0.02 [[ 0.99998598 -0.00487108 0.00207609 0.37411112] [ 0.00486752 0.99998668 0.00171719 0.27586878] [-0.00208443 -0.00170706 0.99999637 0.01886508] [ 0. 0. 0. 1. ]] SLAMing on 1.2222606149999997 meters 0.1314903016498395 Centerline is valid? [False, False] Translation: X:0.38, Y:0.27, Z:0.02 [[ 0.99998975 -0.00415288 0.0018019 0.37583769] [ 0.00414844 0.99998837 0.00245832 0.2747267 ] [-0.00181209 -0.00245082 0.99999535 0.01704414] [ 0. 0. 0. 1. ]] SLAMing on 1.2522606149999997 meters 0.13156171841760772 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:0.02 [[ 0.99998983 -0.00419756 0.00165225 0.37580747] [ 0.00419372 0.99998852 0.00231994 0.27516778] [-0.00166197 -0.00231299 0.99999594 0.01752354] [ 0. 0. 0. 1. ]] SLAMing on 1.2822606149999998 meters 0.1288698998701483 Centerline is valid? [False, False] Translation: X:0.38, Y:0.28, Z:0.02 [[ 0.99998819 -0.00462117 0.00150769 0.37507064] [ 0.00461867 0.99998796 0.00165476 0.2763806 ] [-0.00151532 -0.00164778 0.99999749 0.01907019] [ 0. 0. 0. 1. ]] SLAMing on 1.3122606149999998 meters 0.11755059146466393 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:0.02 [[ 9.99983208e-01 -5.59927110e-03 1.49379310e-03 3.73261993e-01] [ 5.59850862e-03 9.99984196e-01 5.14129233e-04 2.77256204e-01] [-1.49664824e-03 -5.05757586e-04 9.99998752e-01 2.18422396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3422606149999998 meters 0.11601010792666983 Centerline is valid? [False, False] Translation: X:0.37, Y:0.28, Z:0.02 [[ 0.99998635 -0.0050719 0.00125818 0.37454082] [ 0.00507002 0.99998603 0.00149244 0.2756498 ] [-0.00126573 -0.00148604 0.99999809 0.02049554] [ 0. 0. 0. 1. ]] SLAMing on 1.3722606149999999 meters 0.11166930932814922 Centerline is valid? [False, False] Translation: X:0.38, Y:0.27, Z:0.02 [[ 0.99998829 -0.00466728 0.00128208 0.37568807] [ 0.00466383 0.99998553 0.00267975 0.27312486] [-0.00129456 -0.00267374 0.99999559 0.01851529] [ 0. 0. 0. 1. ]] SLAMing on 1.4022606149999999 meters 0.11114288228780587 Centerline is valid? [False, False] Translation: X:0.38, Y:0.27, Z:0.02 [[ 0.99998978 -0.00427239 0.00147784 0.37612023] [ 0.00426681 0.99998384 0.00375713 0.27060756] [-0.00149387 -0.00375079 0.99999185 0.01728273] [ 0. 0. 0. 1. ]] SLAMing on 1.4322606149999997 meters 0.10668887036037274 Centerline is valid? [False, False] Translation: X:0.38, Y:0.27, Z:0.02 [[ 0.99999142 -0.00381805 0.00160894 0.3770857 ] [ 0.00381026 0.99998114 0.00481657 0.26861986] [-0.0016273 -0.0048104 0.99998711 0.01534177] [ 0. 0. 0. 1. ]] SLAMing on 1.4622606149999997 meters 0.10538466692707592 Centerline is valid? [False, False] Translation: X:0.38, Y:0.27, Z:0.02 [[ 0.9999913 -0.00394529 0.0013548 0.37730181] [ 0.0039393 0.99998257 0.00439696 0.26972312] [-0.00137212 -0.00439158 0.99998942 0.01571037] [ 0. 0. 0. 1. ]] SLAMing on 1.4922606149999997 meters 0.0974358384775369 Centerline is valid? [False, True] Translation: X:0.38, Y:0.27, Z:0.02 [[ 9.99988738e-01 -4.65342583e-03 9.32937743e-04 3.76719766e-01] [ 4.65083047e-03 9.99985362e-01 2.76505473e-03 2.72979973e-01] [-9.45791064e-04 -2.76068466e-03 9.99995742e-01 1.77821967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5222606149999998 meters 0.09891019824477684 Centerline is valid? [True, True] Translation: X:0.41, Y:0.28, Z:0.02 [[ 9.99992670e-01 -3.82485956e-03 -1.76756933e-04 4.08710417e-01] [ 3.82486015e-03 9.99992685e-01 3.03940160e-06 2.77503148e-01] [ 1.76744015e-04 -3.71544987e-06 9.99999984e-01 1.84956201e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5522606149999998 meters 0.09350709236069378 Centerline is valid? [True, True] Translation: X:0.44, Y:0.28, Z:0.02 [[ 9.99983900e-01 -5.45003129e-03 -1.58026764e-03 4.40903949e-01] [ 5.45008487e-03 9.99985148e-01 2.96064842e-05 2.75598637e-01] [ 1.58008282e-03 -3.82186003e-05 9.99998751e-01 1.79524500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5822606149999998 meters 0.0915033073808097 Centerline is valid? [True, True] Translation: X:0.47, Y:0.27, Z:0.02 [[ 9.99980047e-01 -6.31704929e-03 -2.56799222e-05 4.72553357e-01] [ 6.31704930e-03 9.99980047e-01 2.66906232e-07 2.73551732e-01] [ 2.56777237e-05 -4.29122241e-07 1.00000000e+00 1.90691982e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6122606149999998 meters 0.08873969554821741 Centerline is valid? [True, True] Translation: X:0.50, Y:0.27, Z:0.02 [[ 9.99981129e-01 -6.04586637e-03 1.09068496e-03 5.04850888e-01] [ 6.04589296e-03 9.99981723e-01 -2.10835621e-05 2.73138450e-01] [-1.09053756e-03 2.76773288e-05 9.99999405e-01 2.01422793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6422606149999996 meters 0.08515256628510257 Centerline is valid? [True, True] Translation: X:0.54, Y:0.27, Z:0.02 [[ 9.99989006e-01 -4.68862722e-03 6.37609917e-05 5.36351173e-01] [ 4.68862732e-03 9.99989008e-01 -1.43727199e-06 2.72555372e-01] [-6.37535520e-05 1.73620771e-06 9.99999998e-01 2.03203330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6722606149999997 meters 0.08396551638297088 Centerline is valid? [True, True] Translation: X:0.57, Y:0.28, Z:0.02 [[ 9.99994125e-01 -2.99671110e-03 -1.66437780e-03 5.68619844e-01] [ 2.99676796e-03 9.99995509e-01 3.16692319e-05 2.75749433e-01] [ 1.66427542e-03 -3.66567999e-05 9.99998614e-01 1.92466434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7022606149999997 meters 0.08096716964063036 Centerline is valid? [True, True] Translation: X:0.60, Y:0.28, Z:0.02 [[ 9.99994872e-01 -1.02366559e-03 -3.03449193e-03 6.00021284e-01] [ 1.02384703e-03 9.99999474e-01 5.82405208e-05 2.77718726e-01] [ 3.03443072e-03 -6.13470777e-05 9.99995394e-01 1.79000573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7322606149999997 meters 0.0745016326601249 Centerline is valid? [True, True] Translation: X:0.63, Y:0.28, Z:0.02 [[ 9.99982088e-01 4.36415903e-03 -4.09602073e-03 6.29943497e-01] [-4.36387282e-03 9.99990475e-01 7.88104386e-05 2.80874520e-01] [ 4.09632566e-03 -6.09345134e-05 9.99991608e-01 1.63750223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7622606149999998 meters 0.07299388935869527 Centerline is valid? [True, True] Translation: X:0.66, Y:0.28, Z:0.02 [[ 9.99960729e-01 7.90906883e-03 -3.99845449e-03 6.58523149e-01] [-7.90882482e-03 9.99968722e-01 7.68334860e-05 2.84473655e-01] [ 3.99893711e-03 -4.52073926e-05 9.99992003e-01 1.65379871e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7922606149999998 meters 0.06868085229491994 Centerline is valid? [True, True] Translation: X:0.69, Y:0.29, Z:0.02 [[ 9.99866336e-01 1.59067943e-02 -3.77936615e-03 6.86069019e-01] [-1.59066371e-02 9.99873479e-01 7.16449526e-05 2.90490974e-01] [ 3.78002763e-03 -1.15183702e-05 9.99992856e-01 1.78040440e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8222606149999998 meters 0.06666871892501865 Centerline is valid? [True, True] Translation: X:0.71, Y:0.29, Z:0.02 [[ 9.99780805e-01 2.07022018e-02 -3.12427361e-03 7.12566476e-01] [-2.07021186e-02 9.99785686e-01 5.89986597e-05 2.93637459e-01] [ 3.12482544e-03 5.69335516e-06 9.99995118e-01 1.90845328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8522606149999996 meters 0.0671477178206537 Centerline is valid? [True, True] Translation: X:0.74, Y:0.30, Z:0.02 [[ 9.99640332e-01 2.66746079e-02 -2.76972569e-03 7.41179548e-01] [-2.66745664e-02 9.99644169e-01 5.19322689e-05 2.97645986e-01] [ 2.77012541e-03 2.19676411e-05 9.99996163e-01 2.07947819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8822606149999996 meters 0.06364081556675329 Centerline is valid? [True, True] Translation: X:0.77, Y:0.31, Z:0.02 [[ 9.98997336e-01 4.47297678e-02 -1.88954293e-03 7.71354058e-01] [-4.47297811e-02 9.98999122e-01 3.52409442e-05 3.07971173e-01] [ 1.88922805e-03 4.93132323e-05 9.99998214e-01 2.27940183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9122606149999997 meters 0.06503943816467793 Centerline is valid? [True, True] Translation: X:0.80, Y:0.33, Z:0.02 [[ 9.97471597e-01 7.10571513e-02 -1.13808013e-03 8.01385293e-01] [-7.10571732e-02 9.97472244e-01 2.12448852e-05 3.26039115e-01] [ 1.13671294e-03 5.96775872e-05 9.99999352e-01 2.45376634e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9422606149999997 meters 0.06778911325655393 Centerline is valid? [True, True] Translation: X:0.83, Y:0.33, Z:0.02 [[ 9.96152793e-01 8.76169693e-02 -1.69683002e-03 8.32371632e-01] [-8.76170419e-02 9.96154232e-01 3.16238905e-05 3.34672960e-01] [ 1.69307519e-03 1.17169000e-04 9.99998560e-01 2.44972392e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9722606149999997 meters 0.0784771628706735 Centerline is valid? [True, True] Translation: X:0.86, Y:0.35, Z:0.02 [[ 9.93600677e-01 1.12921449e-01 2.53800660e-03 8.61601519e-01] [-1.12921694e-01 9.93603889e-01 -4.71866028e-05 3.46612908e-01] [-2.52710161e-03 -2.39711364e-04 9.99996778e-01 2.49639772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.002260615 meters 0.08533170361897432 Centerline is valid? [True, True] Translation: X:0.89, Y:0.35, Z:0.03 [[ 9.92639801e-01 1.20950286e-01 6.10364645e-03 8.90851158e-01] [-1.20951851e-01 9.92658369e-01 -1.13477108e-04 3.54155318e-01] [-6.07256081e-03 -6.25605439e-04 9.99981366e-01 2.73079713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0322606149999998 meters 0.09186509415357379 Centerline is valid? [True, True] Translation: X:0.92, Y:0.34, Z:0.03 [[ 9.91979646e-01 1.25555298e-01 1.45687700e-02 9.20678106e-01] [-1.25564706e-01 9.92085395e-01 -2.70761311e-04 3.43560069e-01] [-1.44874595e-02 -1.56073361e-03 9.99893833e-01 3.24820310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0622606149999996 meters 0.09012511479552528 Centerline is valid? [True, True] Translation: X:0.95, Y:0.32, Z:0.04 [[ 9.92612578e-01 1.19289275e-01 2.21435881e-02 9.50079968e-01] [-1.19309489e-01 9.92857028e-01 -4.10752273e-04 3.17643971e-01] [-2.20344154e-02 -2.23422231e-03 9.99754716e-01 3.60404441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.092260615 meters 0.08941407870464278 Centerline is valid? [True, True] Translation: X:0.98, Y:0.30, Z:0.04 [[ 9.92979401e-01 1.15283272e-01 2.64891819e-02 9.79711225e-01] [-1.15310800e-01 9.93329340e-01 -4.91059124e-04 3.02463416e-01] [-2.63690925e-02 -2.56687716e-03 9.99648979e-01 3.69454031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1222606149999996 meters 0.09726498963793184 Centerline is valid? [True, True] Translation: X:1.01, Y:0.30, Z:0.04 [[ 9.93158821e-01 1.13458249e-01 2.76184992e-02 1.00856239e+00] [-1.13487509e-01 9.93539292e-01 -5.10808792e-04 3.00749136e-01] [-2.74980196e-02 -2.62704040e-03 9.99618406e-01 3.98071481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.152260615 meters 0.09682372185908272 Centerline is valid? [True, True] Translation: X:1.04, Y:0.28, Z:0.04 [[ 9.92886948e-01 1.14655988e-01 3.20860146e-02 1.03791733e+00] [-1.14696129e-01 9.93400446e-01 -5.92779918e-04 2.75964580e-01] [-3.19422270e-02 -3.09157823e-03 9.99484935e-01 3.76933877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1822606149999997 meters 0.10274392538794623 Centerline is valid? [True, False] Translation: X:1.03, Y:0.27, Z:0.03 [[ 0.99464692 0.0971898 0.03509477 1.03209912] [-0.09739036 0.99523803 0.00404714 0.2716622 ] [-0.03453431 -0.00744337 0.99937579 0.03484134] [ 0. 0. 0. 1. ]] SLAMing on 2.2122606149999995 meters 0.10766300818324548 Centerline is valid? [False, False] Translation: X:1.03, Y:0.26, Z:0.04 [[ 9.95310518e-01 9.02695291e-02 3.47618387e-02 1.03092265e+00] [-9.02423960e-02 9.95917054e-01 -2.35193571e-03 2.62345543e-01] [-3.48322161e-02 -7.96085260e-04 9.99392857e-01 3.52185914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2422606149999997 meters 0.10886259222544384 Centerline is valid? [False, False] Translation: X:1.03, Y:0.26, Z:0.03 [[ 0.9964768 0.07498666 0.03756322 1.02569663] [-0.0751527 0.99716745 0.0030261 0.25785552] [-0.0372299 -0.00583842 0.99928967 0.03425959] [ 0. 0. 0. 1. ]] SLAMing on 2.2722606149999995 meters 0.11266871115109953 Centerline is valid? [False, False] Translation: X:1.03, Y:0.25, Z:0.04 [[ 0.99721753 0.05984594 0.04444834 1.03297813] [-0.05965579 0.99820334 -0.00559328 0.24890528] [-0.04470321 0.00292611 0.99899603 0.03664312] [ 0. 0. 0. 1. ]] SLAMing on 2.302260615 meters 0.11257182894711039 Centerline is valid? [False, False] Translation: X:1.03, Y:0.24, Z:0.04 [[ 0.99764809 0.05211478 0.04452353 1.03138833] [-0.05158804 0.99858514 -0.01289959 0.24449174] [-0.0451328 0.01057237 0.99892505 0.03746125] [ 0. 0. 0. 1. ]] SLAMing on 2.3322606149999996 meters 0.11481773515656632 Centerline is valid? [False, False] Translation: X:1.04, Y:0.23, Z:0.04 [[ 0.99846823 0.03635395 0.04170822 1.03929159] [-0.03590499 0.99928946 -0.01146353 0.23252302] [-0.04209533 0.00994844 0.99906407 0.03560859] [ 0. 0. 0. 1. ]] SLAMing on 2.362260615 meters 0.11580335707380501 Centerline is valid? [False, False] Translation: X:1.04, Y:0.23, Z:0.04 [[ 0.9986028 0.03294722 0.04131494 1.0399072 ] [-0.0323834 0.99937403 -0.01424276 0.22910717] [-0.04175834 0.01288495 0.99904465 0.03512049] [ 0. 0. 0. 1. ]] SLAMing on 2.3922606149999996 meters 0.1188481382272058 Centerline is valid? [False, False] Translation: X:1.05, Y:0.22, Z:0.03 [[ 0.99912042 0.02192053 0.03574746 1.05190976] [-0.02160666 0.99972474 -0.00914316 0.22316751] [-0.03593804 0.00836273 0.99931903 0.03403425] [ 0. 0. 0. 1. ]] SLAMing on 2.4222606149999995 meters 0.12087801486701574 Centerline is valid? [False, False] Translation: X:1.05, Y:0.22, Z:0.03 [[ 0.99919678 0.01818902 0.0357064 1.0524625 ] [-0.01774183 0.99976065 -0.01280125 0.22202366] [-0.03593069 0.01215747 0.99928033 0.03307433] [ 0. 0. 0. 1. ]] SLAMing on 2.4522606149999997 meters 0.12749632274647557 Centerline is valid? [False, False] Translation: X:1.05, Y:0.22, Z:0.03 [[ 0.99915014 0.01928489 0.03642918 1.05242305] [-0.01889781 0.99976156 -0.01094016 0.21757364] [-0.03663147 0.01024243 0.99927635 0.03128781] [ 0. 0. 0. 1. ]] SLAMing on 2.4822606149999995 meters 0.1419851686000029 Centerline is valid? [False, False] Translation: X:1.05, Y:0.22, Z:0.03 [[ 0.99915158 0.01921804 0.03642497 1.05253609] [-0.01882319 0.99976063 -0.01115214 0.21828728] [-0.03663057 0.01045705 0.99927416 0.03115307] [ 0. 0. 0. 1. ]] SLAMing on 2.5122606149999998 meters 0.16371951622362618 Centerline is valid? [False, False] Translation: X:1.06, Y:0.22, Z:0.03 [[ 9.98973324e-01 1.82046869e-02 4.14835682e-02 1.05971092e+00] [-1.82635185e-02 9.99832668e-01 1.03961910e-03 2.21930195e-01] [-4.14577007e-02 -1.79618767e-03 9.99138645e-01 2.85169630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5422606149999996 meters 0.18255867904147113 Centerline is valid? [False, False] Translation: X:1.06, Y:0.23, Z:0.03 [[ 9.99024409e-01 1.74489246e-02 4.05680293e-02 1.06010863e+00] [-1.74416860e-02 9.99847740e-01 -5.32382138e-04 2.26475546e-01] [-4.05711419e-02 -1.75712079e-04 9.99176637e-01 3.02435173e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.572260615 meters 0.22905619630958501 Centerline is valid? [False, False] Translation: X:1.06, Y:0.23, Z:0.03 [[ 0.99848305 0.01728922 0.05227502 1.06297274] [-0.01760411 0.99982953 0.00556918 0.23143579] [-0.05216982 -0.00648099 0.9986172 0.02973277] [ 0. 0. 0. 1. ]] SLAMing on 2.6022606149999996 meters 0.2694120379796766 Centerline is valid? [False, False] Translation: X:1.06, Y:0.23, Z:0.03 [[ 0.99847208 0.01697159 0.05258775 1.06229981] [-0.0172481 0.99983968 0.00480854 0.23304686] [-0.05249771 -0.00570824 0.99860473 0.0300779 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6322606149999994 meters 0.3163653606459947 Centerline is valid? [False, False] Translation: X:1.06, Y:0.24, Z:0.03 [[ 0.99847831 0.0169374 0.05248035 1.06402344] [-0.01719039 0.99984267 0.00437288 0.23608112] [-0.05239803 -0.00526838 0.99861238 0.0280882 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6622606149999997 meters 0.3319070337653416 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:0.03 [[ 0.99851884 0.01659567 0.0518141 1.06539868] [-0.01681601 0.99985131 0.00381939 0.23818259] [-0.05174301 -0.00468504 0.99864944 0.02777098] [ 0. 0. 0. 1. ]] SLAMing on 2.6922606149999995 meters 0.3502862020321828 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:0.03 [[ 0.99858046 0.01570806 0.05089526 1.06628222] [-0.01585842 0.99987099 0.00255184 0.2421218 ] [-0.05084861 -0.00335534 0.99870074 0.02894046] [ 0. 0. 0. 1. ]] SLAMing on 2.7222606149999997 meters 0.35345204031261174 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:0.03 [[ 0.9986005 0.01531479 0.05062121 1.06646931] [-0.01542711 0.99987932 0.00182878 0.24432439] [-0.0505871 -0.00260715 0.99871625 0.02943239] [ 0. 0. 0. 1. ]] SLAMing on 2.7522606149999995 meters 0.36904986142775875 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:0.03 [[ 0.99859364 0.01613399 0.05050184 1.06878445] [-0.01624299 0.99986654 0.00174866 0.24935653] [-0.05046688 -0.0025665 0.99872244 0.02663319] [ 0. 0. 0. 1. ]] SLAMing on 2.7822606149999998 meters 0.36665606840503434 Centerline is valid? [False, False] Translation: X:1.07, Y:0.25, Z:0.02 [[ 0.99859962 0.01667406 0.05020735 1.070753 ] [-0.01677198 0.99985817 0.00152969 0.25313103] [-0.05017472 -0.00236963 0.99873764 0.0245198 ] [ 0. 0. 0. 1. ]] SLAMing on 2.8122606149999996 meters 0.3640028529329308 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:0.02 [[ 0.99834896 0.02526384 0.05158574 1.06914724] [-0.02574246 0.99963132 0.00863468 0.25787872] [-0.05134857 -0.00994837 0.99863124 0.02444422] [ 0. 0. 0. 1. ]] SLAMing on 2.8422606149999994 meters 0.3613727540195846 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:0.03 [[ 0.99824302 0.02883354 0.05176384 1.06728446] [-0.02947634 0.99949703 0.01169766 0.26051 ] [-0.05140052 -0.01320292 0.99859084 0.02696726] [ 0. 0. 0. 1. ]] SLAMing on 2.8722606149999996 meters 0.3777793549992378 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:0.03 [[ 0.99835245 0.0249086 0.05169087 1.06757589] [-0.02533134 0.99965068 0.00753914 0.26041308] [-0.05148502 -0.00883612 0.99863468 0.02642216] [ 0. 0. 0. 1. ]] SLAMing on 2.9022606149999994 meters 0.36758396667513693 Centerline is valid? [False, False] Translation: X:1.07, Y:0.26, Z:0.03 [[ 9.98531019e-01 1.69096430e-02 5.14768747e-02 1.06758647e+00] [-1.68838080e-02 9.99857020e-01 -9.36716562e-04 2.60055576e-01] [-5.14853541e-02 6.62148744e-05 9.98673747e-01 2.64103873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9322606149999997 meters 0.3674969247120375 Centerline is valid? [False, False] Translation: X:1.06, Y:0.25, Z:0.02 [[ 0.99904606 0.01180628 0.04204254 1.06242866] [-0.01127597 0.99985413 -0.01282843 0.24948788] [-0.04218786 0.01234213 0.99903346 0.0249689 ] [ 0. 0. 0. 1. ]] SLAMing on 2.9622606149999995 meters 0.3670490521781675 Centerline is valid? [False, False] Translation: X:1.06, Y:0.25, Z:0.02 [[ 0.99905479 0.0085027 0.0426289 1.06233851] [-0.00784492 0.99984794 -0.01557398 0.24520161] [-0.04275484 0.01522484 0.99896958 0.02336668] [ 0. 0. 0. 1. ]] SLAMing on 2.9922606149999997 meters 0.3670490521781675 Centerline is valid? [False, False] Translation: X:1.06, Y:0.25, Z:0.02 [[ 0.99905479 0.0085027 0.0426289 1.06233851] [-0.00784492 0.99984794 -0.01557398 0.24520161] [-0.04275484 0.01522484 0.99896958 0.02336668] [ 0. 0. 0. 1. ]] SLAMing on 3.0222606149999995 meters 0.3674485946257885 Centerline is valid? [False, False] Translation: X:1.06, Y:0.24, Z:0.02 [[ 9.99114256e-01 1.40056953e-03 4.20564234e-02 1.06294371e+00] [-5.16208642e-04 9.99778681e-01 -2.10314638e-02 2.38861884e-01] [-4.20765715e-02 2.09911254e-02 9.98893856e-01 2.33578226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0522606149999993 meters 0.367132199472956 Centerline is valid? [False, False] Translation: X:1.07, Y:0.24, Z:0.02 [[ 0.99909483 0.00212209 0.04248538 1.06518932] [-0.00128437 0.99980441 -0.01973544 0.23531338] [-0.04251896 0.01966301 0.99890215 0.01896691] [ 0. 0. 0. 1. ]] SLAMing on 3.0822606149999996 meters 0.3704463939543836 Centerline is valid? [False, False] Translation: X:1.06, Y:0.23, Z:0.01 [[ 0.99939438 0.00940322 0.03350308 1.06381731] [-0.008726 0.9997558 -0.02030265 0.22831395] [-0.03368581 0.01999801 0.99923238 0.0114539 ] [ 0. 0. 0. 1. ]] SLAMing on 3.1122606149999994 meters 0.3688805852292549 Centerline is valid? [False, False] Translation: X:1.06, Y:0.23, Z:0.01 [[ 0.99928503 0.01461491 0.03486886 1.06472679] [-0.01409701 0.99978732 -0.01505265 0.22507081] [-0.03508143 0.01455034 0.99927853 0.00705602] [ 0. 0. 0. 1. ]] SLAMing on 3.1422606149999996 meters 0.3606870308267023 Centerline is valid? [False, False] Translation: X:1.06, Y:0.22, Z:0.01 [[ 0.99913035 0.01958678 0.03680886 1.06254093] [-0.01921359 0.99976063 -0.01046515 0.22232426] [-0.03700503 0.00974882 0.99926753 0.00533271] [ 0. 0. 0. 1. ]] SLAMing on 3.1722606149999995 meters 0.3539429300587122 Centerline is valid? [False, False] Translation: X:1.06, Y:0.22, Z:0.01 [[ 0.99912402 0.02004485 0.03673426 1.06159593] [-0.01969645 0.99975776 -0.00982175 0.22127991] [-0.03692224 0.00908961 0.9992768 0.00665357] [ 0. 0. 0. 1. ]] SLAMing on 3.2022606149999997 meters 0.3489455717978013 Centerline is valid? [False, False] Translation: X:1.06, Y:0.22, Z:0.01 [[ 0.99911258 0.02039048 0.03685475 1.06025375] [-0.02007035 0.99975774 -0.00903572 0.2189068 ] [-0.03703007 0.00828801 0.99927978 0.00794721] [ 0. 0. 0. 1. ]] SLAMing on 3.2322606149999995 meters 0.3465173664692235 Centerline is valid? [False, False] Translation: X:1.06, Y:0.21, Z:0.01 [[ 0.99912762 0.01714379 0.03808006 1.05824582] [-0.01671959 0.99979488 -0.01143032 0.20801469] [-0.0382682 0.01078367 0.99920932 0.00708936] [ 0. 0. 0. 1. ]] SLAMing on 3.2622606149999993 meters 0.34755169904162203 Centerline is valid? [False, False] Translation: X:1.05, Y:0.19, Z:0.00 [[ 9.99401733e-01 1.60176567e-02 3.06530694e-02 1.05297171e+00] [-1.54726429e-02 9.99719419e-01 -1.79354414e-02 1.88341011e-01] [-3.09317525e-02 1.74504272e-02 9.99369156e-01 2.01288642e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2922606149999996 meters 0.3479617579163586 Centerline is valid? [False, False] Translation: X:1.05, Y:0.18, Z:-0.00 [[ 0.99939167 0.01391142 0.03198069 1.05382025] [-0.01329206 0.99972153 -0.01949844 0.17981123] [-0.03224303 0.01906148 0.99929828 -0.00477157] [ 0. 0. 0. 1. ]] SLAMing on 3.3222606149999994 meters 0.34872908735280217 Centerline is valid? [False, False] Translation: X:1.05, Y:0.17, Z:-0.01 [[ 0.99939426 0.01167869 0.03278306 1.0547535 ] [-0.01099593 0.99972047 -0.02093 0.171863 ] [-0.03301833 0.02055684 0.99924332 -0.00845985] [ 0. 0. 0. 1. ]] SLAMing on 3.3522606149999996 meters 0.3485640908116396 Centerline is valid? [False, False] Translation: X:1.06, Y:0.15, Z:-0.01 [[ 0.99942635 0.00849974 0.03278294 1.05814678] [-0.00780772 0.9997452 -0.02117975 0.15303719] [-0.03295461 0.02091164 0.99923806 -0.01427765] [ 0. 0. 0. 1. ]] SLAMing on 3.3822606149999994 meters 0.3498287810936651 Centerline is valid? [False, False] Translation: X:1.06, Y:0.13, Z:-0.02 [[ 0.99963263 0.01065597 0.02492095 1.05639472] [-0.01002288 0.99962732 -0.02539208 0.12722955] [-0.02518224 0.02513298 0.99936689 -0.02374879] [ 0. 0. 0. 1. ]] SLAMing on 3.4122606149999997 meters 0.351803103270272 Centerline is valid? [False, False] Translation: X:1.06, Y:0.11, Z:-0.03 [[ 0.99961043 0.01069011 0.02578211 1.0598822 ] [-0.01008484 0.99967312 -0.02349339 0.11232048] [-0.02602483 0.02322423 0.99939149 -0.03133739] [ 0. 0. 0. 1. ]] SLAMing on 3.4422606149999995 meters 0.35201965623695997 Centerline is valid? [False, False] Translation: X:1.06, Y:0.10, Z:-0.04 [[ 0.99959779 0.0106168 0.02629727 1.06323298] [-0.01005554 0.99972076 -0.02138413 0.09735856] [-0.02651695 0.02111109 0.99942542 -0.03811383] [ 0. 0. 0. 1. ]] SLAMing on 3.4722606149999993 meters 0.3535703596630878 Centerline is valid? [False, False] Translation: X:1.08, Y:0.06, Z:-0.05 [[ 0.9996969 0.01209608 0.02144274 1.07973476] [-0.011827 0.99985028 -0.01263117 0.06070949] [-0.02159231 0.01237374 0.99969028 -0.05211392] [ 0. 0. 0. 1. ]] SLAMing on 3.5022606149999995 meters 0.35403893086362975 Centerline is valid? [False, False] Translation: X:1.09, Y:0.04, Z:-0.06 [[ 0.99977741 0.01124425 0.01785236 1.08854111] [-0.01111731 0.99991232 -0.00719397 0.04183038] [-0.01793168 0.00699389 0.99981475 -0.05979505] [ 0. 0. 0. 1. ]] SLAMing on 3.5322606149999993 meters 0.35687039938180865 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.07 [[ 0.99993619 0.00939215 0.0062771 1.11166165] [-0.00940436 0.99995394 0.00191868 0.00545338] [-0.00625879 -0.00197759 0.99997846 -0.06846546] [ 0. 0. 0. 1. ]] SLAMing on 3.5622606149999996 meters 0.3563137450262313 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.01, Z:-0.07 [[ 9.99975097e-01 4.24341297e-03 5.63905857e-03 1.11441242e+00] [-4.24301121e-03 9.99990995e-01 -8.32060378e-05 -7.63136842e-03] [-5.63936087e-03 5.92773769e-05 9.99984097e-01 -7.06120895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5922606149999994 meters 0.36071505797458026 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.04, Z:-0.08 [[ 0.99994542 -0.0094284 -0.00450094 1.14151002] [ 0.00939413 0.99992717 -0.00757596 -0.04308619] [ 0.00457204 0.00753327 0.99996117 -0.07972294] [ 0. 0. 0. 1. ]] SLAMing on 3.6222606149999996 meters 0.36441057928758164 Centerline is valid? [False, False] Translation: X:1.16, Y:-0.07, Z:-0.09 [[ 0.99984745 -0.01407403 -0.01034421 1.1628463 ] [ 0.01397853 0.99985954 -0.0092472 -0.06805294] [ 0.0104729 0.00910119 0.99990374 -0.08954764] [ 0. 0. 0. 1. ]] SLAMing on 3.6522606149999994 meters 0.3684767213906472 Centerline is valid? [False, False] Translation: X:1.19, Y:-0.11, Z:-0.10 [[ 0.99949196 -0.01712841 -0.02687831 1.19135325] [ 0.0166541 0.99970335 -0.01777241 -0.11292254] [ 0.02717475 0.01731574 0.99948071 -0.1018075 ] [ 0. 0. 0. 1. ]] SLAMing on 3.6822606149999992 meters 0.3656776277104703 Centerline is valid? [False, False] Translation: X:1.20, Y:-0.13, Z:-0.11 [[ 0.99935522 -0.01788938 -0.03113074 1.20151529] [ 0.01757416 0.99979179 -0.01036987 -0.13337998] [ 0.03130977 0.00981609 0.99946153 -0.10922468] [ 0. 0. 0. 1. ]] SLAMing on 3.7122606149999995 meters 0.3615121776264557 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.16, Z:-0.12 [[ 0.9990303 -0.01985123 -0.03929877 1.21564741] [ 0.01996544 0.99979751 0.00251584 -0.16400119] [ 0.03924087 -0.00329802 0.99922434 -0.11678924] [ 0. 0. 0. 1. ]] SLAMing on 3.7422606149999993 meters 0.3619726516712363 Centerline is valid? [False, False] Translation: X:1.22, Y:-0.18, Z:-0.12 [[ 0.99892225 -0.02028629 -0.041747 1.22339367] [ 0.02053317 0.99977408 0.00549338 -0.17618209] [ 0.04162613 -0.00634465 0.99911311 -0.12256127] [ 0. 0. 0. 1. ]] SLAMing on 3.7722606149999995 meters 0.3576418411597989 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.20, Z:-0.14 [[ 0.99837902 -0.02531652 -0.05097461 1.24263786] [ 0.02596371 0.99958996 0.01207438 -0.20124394] [ 0.05064803 -0.0133783 0.99862696 -0.13626387] [ 0. 0. 0. 1. ]] SLAMing on 3.8022606149999993 meters 0.35680095646947557 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.21, Z:-0.14 [[ 0.99815583 -0.03241277 -0.05132603 1.24855913] [ 0.03280918 0.99943782 0.00689947 -0.21041794] [ 0.05107354 -0.00857071 0.99865812 -0.14245615] [ 0. 0. 0. 1. ]] SLAMing on 3.8322606149999996 meters 0.3538415220140773 Centerline is valid? [False, False] Translation: X:1.25, Y:-0.23, Z:-0.15 [[ 9.97389720e-01 -3.87675956e-02 -6.09165036e-02 1.25122681e+00] [ 3.88509445e-02 9.99245000e-01 1.83966601e-04 -2.34943755e-01] [ 6.08633797e-02 -2.55015010e-03 9.98142848e-01 -1.52055667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8622606149999994 meters 0.3312563223861683 Centerline is valid? [False, False] Translation: X:1.27, Y:-0.24, Z:-0.15 [[ 9.97050188e-01 -3.81066033e-02 -6.66243951e-02 1.26534425e+00] [ 3.79904437e-02 9.99273569e-01 -3.01004603e-03 -2.41622217e-01] [ 6.66906997e-02 4.70076629e-04 9.97773586e-01 -1.49448143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.892260614999999 meters 0.3188978155442329 Centerline is valid? [False, False] Translation: X:1.28, Y:-0.25, Z:-0.15 [[ 9.96800451e-01 -3.55985213e-02 -7.15653957e-02 1.27627706e+00] [ 3.54602894e-02 9.99365958e-01 -3.20151818e-03 -2.48007514e-01] [ 7.16339895e-02 6.53545128e-04 9.97430772e-01 -1.46498683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9222606149999995 meters 0.29481786645234914 Centerline is valid? [False, False] Translation: X:1.24, Y:-0.26, Z:-0.15 [[ 0.99657548 -0.04066475 -0.07199787 1.24228209] [ 0.04141688 0.99910156 0.00898406 -0.25959416] [ 0.07156785 -0.01193522 0.99736432 -0.14616632] [ 0. 0. 0. 1. ]] SLAMing on 3.9522606149999993 meters 0.2337752531902358 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.31, Z:-0.15 [[ 0.99150306 -0.04953082 -0.12028458 1.0050081 ] [ 0.05310111 0.99823324 0.02665848 -0.31004578] [ 0.11875165 -0.03281921 0.99238145 -0.15245828] [ 0. 0. 0. 1. ]] SLAMing on 3.9822606149999995 meters 0.2454301837084308 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.28, Z:-0.14 [[ 0.99621835 -0.00361624 -0.08680971 1.07588529] [ 0.00474504 0.99990681 0.01280029 -0.28314254] [ 0.08675533 -0.0131638 0.99614267 -0.14434084] [ 0. 0. 0. 1. ]] SLAMing on 4.012260615 meters 0.2483409821848889 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.30, Z:-0.15 [[ 0.99686482 -0.01346965 -0.07796853 1.00548925] [ 0.0151736 0.99965791 0.02130328 -0.2960451 ] [ 0.07765491 -0.02241956 0.99672819 -0.15134453] [ 0. 0. 0. 1. ]] SLAMing on 4.042260615 meters 0.2619470933137228 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.26, Z:-0.14 [[ 0.99858218 0.01912206 -0.0496787 1.09558261] [-0.01829283 0.99968655 0.0170933 -0.26444659] [ 0.04998998 -0.0161603 0.99861897 -0.14032736] [ 0. 0. 0. 1. ]] SLAMing on 4.072260615 meters 0.2550193990138428 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.25, Z:-0.15 [[ 0.99968478 0.00522727 -0.02455643 1.09296969] [-0.00484315 0.9998654 0.01567563 -0.25160782] [ 0.02463507 -0.01555176 0.99957554 -0.14599212] [ 0. 0. 0. 1. ]] SLAMing on 4.102260615 meters 0.24215589115803554 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.23, Z:-0.14 [[ 0.99991095 -0.0093311 -0.00954093 1.08416203] [ 0.0093857 0.99993974 0.00569391 -0.22737372] [ 0.00948723 -0.00578295 0.99993827 -0.1446829 ] [ 0. 0. 0. 1. ]] SLAMing on 4.132260615 meters 0.22628292415409626 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.21, Z:-0.14 [[ 0.99985344 -0.01242253 -0.01178088 1.08414919] [ 0.01244538 0.99992081 0.00186837 -0.20878993] [ 0.01175673 -0.00201471 0.99992886 -0.13740602] [ 0. 0. 0. 1. ]] SLAMing on 4.162260615 meters 0.22207983203913528 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.20, Z:-0.14 [[ 0.99982806 -0.01422696 -0.01189317 1.08393023] [ 0.01420358 0.99989703 -0.00204821 -0.19950052] [ 0.01192109 0.00187893 0.99992718 -0.13728861] [ 0. 0. 0. 1. ]] SLAMing on 4.1922606149999995 meters 0.21846847276746018 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.19, Z:-0.14 [[ 0.999845 -0.01200277 -0.0128802 1.08754002] [ 0.01198693 0.9999273 -0.00130632 -0.19392341] [ 0.01289494 0.00115173 0.99991619 -0.14036642] [ 0. 0. 0. 1. ]] SLAMing on 4.222260615 meters 0.2181983256702263 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.18, Z:-0.15 [[ 0.99979664 -0.00905969 -0.01801681 1.08450355] [ 0.00881026 0.99986491 -0.01387561 -0.1805801 ] [ 0.01814009 0.01371405 0.9997414 -0.14684419] [ 0. 0. 0. 1. ]] SLAMing on 4.252260615 meters 0.210029861560971 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.17, Z:-0.15 [[ 0.99980226 -0.00644092 -0.01881356 1.08661913] [ 0.0061975 0.9998967 -0.0129681 -0.17266664] [ 0.01889514 0.01284894 0.99973891 -0.14805802] [ 0. 0. 0. 1. ]] SLAMing on 4.282260615 meters 0.20665537248229002 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.15, Z:-0.15 [[ 0.99975058 -0.00982863 -0.02005409 1.09434676] [ 0.00957384 0.99987273 -0.01276169 -0.14775663] [ 0.02017697 0.01256651 0.99971745 -0.15123897] [ 0. 0. 0. 1. ]] SLAMing on 4.312260615 meters 0.1867390125483266 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.14, Z:-0.15 [[ 0.999709 -0.01164051 -0.02112853 1.0983021 ] [ 0.01131251 0.99981466 -0.0155778 -0.14459175] [ 0.02130595 0.01533425 0.9996554 -0.15448079] [ 0. 0. 0. 1. ]] SLAMing on 4.342260615 meters 0.18616760157378676 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.15, Z:-0.16 [[ 0.99970256 -0.01082735 -0.02185306 1.10180695] [ 0.01054098 0.99985761 -0.01317747 -0.15151446] [ 0.02199263 0.0129432 0.99967435 -0.15711498] [ 0. 0. 0. 1. ]] SLAMing on 4.372260615 meters 0.18475848696137973 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.16 [[ 0.9997569 -0.01603463 -0.01513381 1.11384802] [ 0.01590619 0.99983676 -0.00856969 -0.15716524] [ 0.01526875 0.00832688 0.99984875 -0.16358437] [ 0. 0. 0. 1. ]] SLAMing on 4.402260614999999 meters 0.14638960512453406 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.16, Z:-0.16 [[ 0.99976746 -0.01558964 -0.01489913 1.11351465] [ 0.01547693 0.99985096 -0.00765054 -0.15935681] [ 0.01501618 0.00741817 0.99985973 -0.16354492] [ 0. 0. 0. 1. ]] SLAMing on 4.432260615 meters 0.1445290523572809 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.16, Z:-0.17 [[ 0.9999513 -0.00861924 -0.0048062 1.11911969] [ 0.00857638 0.99992391 -0.00886718 -0.15517597] [ 0.00488226 0.00882553 0.99994914 -0.16544847] [ 0. 0. 0. 1. ]] SLAMing on 4.462260615 meters 0.14403866086619269 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.15, Z:-0.16 [[ 0.99999631 -0.00175885 0.00206882 1.09841837] [ 0.0017498 0.99998893 0.0043679 -0.14797372] [-0.00207648 -0.00436426 0.99998832 -0.15714408] [ 0. 0. 0. 1. ]] SLAMing on 4.492260615 meters 0.13678642129131272 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.14, Z:-0.15 [[ 0.99998765 0.00391648 0.00305966 1.10131195] [-0.00390747 0.99998803 -0.00294585 -0.14038761] [-0.00307116 0.00293385 0.99999098 -0.14923221] [ 0. 0. 0. 1. ]] SLAMing on 4.5222606149999995 meters 0.13006858228153945 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.14, Z:-0.14 [[ 0.99998529 0.00387659 0.00379396 1.09659435] [-0.00386419 0.99998719 -0.00326976 -0.1390017 ] [-0.00380659 0.00325505 0.99998746 -0.1439456 ] [ 0. 0. 0. 1. ]] SLAMing on 4.552260615 meters 0.12584241374025967 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.14, Z:-0.14 [[ 0.99998438 0.00418713 0.00370221 1.09667497] [-0.00417818 0.99998834 -0.00242096 -0.1410098 ] [-0.0037123 0.00240546 0.99999022 -0.14366077] [ 0. 0. 0. 1. ]] SLAMing on 4.582260615 meters 0.12203018164732793 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.14, Z:-0.14 [[ 9.99999314e-01 5.80360410e-04 -1.01784208e-03 1.10596621e+00] [-5.80478220e-04 9.99999825e-01 -1.15453213e-04 -1.42828156e-01] [ 1.01777490e-03 1.16043969e-04 9.99999475e-01 -1.41726157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.612260614999999 meters 0.11749271725700725 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.14, Z:-0.14 [[ 9.99999182e-01 3.07978638e-04 -1.24161790e-03 1.10663759e+00] [-3.08787967e-04 9.99999740e-01 -6.51695107e-04 -1.41709354e-01] [ 1.24141687e-03 6.52077971e-04 9.99999017e-01 -1.42311753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.642260615 meters 0.11077234361274288 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.14, Z:-0.14 [[ 9.99998730e-01 -8.76521045e-04 -1.33082355e-03 1.10647805e+00] [ 8.71991849e-04 9.99993840e-01 -3.40007799e-03 -1.35074316e-01] [ 1.33379560e-03 3.39891321e-03 9.99993334e-01 -1.42336117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.672260615 meters 0.10522490588020147 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.13, Z:-0.14 [[ 0.99999785 -0.00164772 -0.00126143 1.10589443] [ 0.00164105 0.9999848 -0.00526419 -0.13056969] [ 0.00127008 0.00526211 0.99998535 -0.14189629] [ 0. 0. 0. 1. ]] SLAMing on 4.702260615 meters 0.10021288303757343 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.13, Z:-0.14 [[ 0.9999958 -0.00236778 -0.00166895 1.10700871] [ 0.00235627 0.99997368 -0.00686207 -0.12693914] [ 0.00168516 0.00685811 0.99997506 -0.14293116] [ 0. 0. 0. 1. ]] SLAMing on 4.7322606149999995 meters 0.09833564250334514 Centerline is valid? [False, True] Translation: X:1.11, Y:-0.13, Z:-0.14 [[ 0.99999544 0.0020253 -0.00224141 1.10844593] [-0.00202896 0.99999661 -0.00163061 -0.12959766] [ 0.0022381 0.00163515 0.99999616 -0.14381181] [ 0. 0. 0. 1. ]] SLAMing on 4.762260615 meters 0.09461338967632227 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.14, Z:-0.14 [[ 9.99998498e-01 -1.39483855e-03 -1.02852236e-03 1.13884948e+00] [ 1.39478629e-03 9.99999026e-01 -5.15293755e-05 -1.37584554e-01] [ 1.02859324e-03 5.00947292e-05 9.99999470e-01 -1.40054089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.792260615 meters 0.08877012620063623 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.15, Z:-0.13 [[ 9.99942676e-01 -9.64214637e-03 4.65544638e-03 1.16937728e+00] [ 9.64119765e-03 9.99953497e-01 2.26186423e-04 -1.48650481e-01] [-4.65741081e-03 -1.81289378e-04 9.99989138e-01 -1.34535387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.822260614999999 meters 0.08334595987662616 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.16, Z:-0.12 [[ 9.99870689e-01 -1.25666913e-02 1.00341418e-02 1.20136076e+00] [ 1.25624057e-02 9.99920970e-01 4.90021046e-04 -1.55638205e-01] [-1.00395067e-02 -3.63904721e-04 9.99949537e-01 -1.24081922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.852260615 meters 0.07863161585133424 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.15, Z:-0.11 [[ 9.99756970e-01 -1.28344972e-02 1.79242050e-02 1.23249534e+00] [ 1.28208875e-02 9.99917427e-01 8.74005913e-04 -1.54223321e-01] [-1.79339424e-02 -6.43989288e-04 9.99838967e-01 -1.08529231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.882260615 meters 0.07699563319954894 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.15, Z:-0.10 [[ 9.99667556e-01 -1.24149166e-02 2.25975022e-02 1.26450782e+00] [ 1.23931509e-02 9.99922594e-01 1.10298354e-03 -1.46997807e-01] [-2.26094464e-02 -8.22562604e-04 9.99744035e-01 -1.01369058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.912260615 meters 0.07396868673888556 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.13, Z:-0.09 [[ 9.99516463e-01 -9.77498654e-03 2.95176051e-02 1.29579479e+00] [ 9.73675159e-03 9.99951562e-01 1.43878683e-03 -1.26454446e-01] [-2.95302394e-02 -1.15068554e-03 9.99563225e-01 -9.09916499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9422606149999995 meters 0.07396868673888556 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.13, Z:-0.09 [[ 9.99517447e-01 -9.67367845e-03 2.95176745e-02 1.32827060e+00] [ 9.63544144e-03 9.99952545e-01 1.43736096e-03 -1.25043488e-01] [-2.95301783e-02 -1.15225153e-03 9.99563225e-01 -9.25079633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.972260615 meters 0.07359681221862754 Centerline is valid? [True, True] Translation: X:1.36, Y:-0.12, Z:-0.10 [[ 9.99540762e-01 -9.67811704e-03 2.87158300e-02 1.36016716e+00] [ 9.64202964e-03 9.99952542e-01 1.39491271e-03 -1.17382062e-01] [-2.87279673e-02 -1.11739323e-03 9.99586642e-01 -9.74789051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.002260615 meters 0.07346936609924173 Centerline is valid? [True, True] Translation: X:1.39, Y:-0.11, Z:-0.12 [[ 9.99761019e-01 -1.04921797e-02 1.91786189e-02 1.38994031e+00] [ 1.04762670e-02 9.99944690e-01 9.29994385e-04 -1.13796534e-01] [-1.91873158e-02 -7.28851802e-04 9.99815641e-01 -1.18114280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.032260614999999 meters 0.07144380601651486 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.12, Z:-0.14 [[ 9.99834180e-01 -1.37775570e-02 1.19075885e-02 1.42098712e+00] [ 1.37716413e-02 9.99904999e-01 5.78660795e-04 -1.19938226e-01] [-1.19144298e-02 -4.14577804e-04 9.99928935e-01 -1.36861265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.062260615 meters 0.07157676734480646 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.12, Z:-0.14 [[ 9.99848167e-01 -1.36452075e-02 1.08374968e-02 1.45261307e+00] [ 1.36402967e-02 9.99906828e-01 5.26918773e-04 -1.20745413e-01] [-1.08436769e-02 -3.79012098e-04 9.99941134e-01 -1.42880311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.092260615 meters 0.0710371585950725 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.12, Z:-0.14 [[ 9.99850940e-01 -1.24251581e-02 1.19880079e-02 1.48433451e+00] [ 1.24190752e-02 9.99922711e-01 5.81730294e-04 -1.18513218e-01] [-1.19943095e-02 -4.32763609e-04 9.99927972e-01 -1.43855076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.122260615 meters 0.0723089551746406 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.11, Z:-0.14 [[ 9.99885915e-01 -5.87584747e-03 1.39151238e-02 1.51386834e+00] [ 5.86704056e-03 9.99982562e-01 6.73640052e-04 -1.10926481e-01] [-1.39188393e-02 -5.91922605e-04 9.99902953e-01 -1.42020822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.152260614999999 meters 0.07416698203640945 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.11, Z:-0.14 [[ 9.99907183e-01 -2.38375661e-03 1.34143075e-02 1.54470623e+00] [ 2.37527830e-03 9.99996969e-01 6.47930979e-04 -1.08994663e-01] [-1.34158114e-02 -6.16008126e-04 9.99909814e-01 -1.41978657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.182260615 meters 0.0740542367389135 Centerline is valid? [True, True] Translation: X:1.58, Y:-0.11, Z:-0.14 [[ 9.99906060e-01 -7.91615680e-04 1.36837408e-02 1.57619885e+00] [ 7.82647692e-04 9.99999475e-01 6.60718089e-04 -1.11379273e-01] [-1.36842567e-02 -6.49946472e-04 9.99906155e-01 -1.40504527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.212260615 meters 0.07371920365275242 Centerline is valid? [True, True] Translation: X:1.61, Y:-0.11, Z:-0.14 [[ 9.99887551e-01 -3.88162851e-04 1.49911539e-02 1.60815308e+00] [ 3.77360564e-04 9.99999667e-01 7.23399426e-04 -1.11246941e-01] [-1.49914297e-02 -7.17661010e-04 9.99887365e-01 -1.39555858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.242260614999999 meters 0.07591840652320418 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.11, Z:-0.13 [[ 9.99781427e-01 4.94372691e-03 2.03139751e-02 1.63805290e+00] [-4.96457915e-03 9.99987200e-01 9.76195227e-04 -1.07995216e-01] [-2.03088890e-02 -1.07683219e-03 9.99793173e-01 -1.33586893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2722606149999995 meters 0.07158588806998553 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.11, Z:-0.13 [[ 9.99676623e-01 7.17455954e-03 2.43962175e-02 1.67209072e+00] [-7.20544478e-03 9.99973346e-01 1.17831335e-03 -1.14653631e-01] [-2.43871134e-02 -1.35371791e-03 9.99701674e-01 -1.25890151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.302260615 meters 0.0630451739053375 Centerline is valid? [True, True] Translation: X:1.70, Y:-0.13, Z:-0.11 [[ 9.99498104e-01 5.32071079e-03 3.12286627e-02 1.70490386e+00] [-5.36993838e-03 9.99984468e-01 1.49270173e-03 -1.34702600e-01] [-3.12202354e-02 -1.65964854e-03 9.99511152e-01 -1.12994015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.332260615 meters 0.054703689245771715 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.15, Z:-0.10 [[ 9.99371189e-01 3.98969030e-03 3.52322059e-02 1.73800566e+00] [-4.05152217e-03 9.99990375e-01 1.68376140e-03 -1.51532535e-01] [-3.52251491e-02 -1.82544669e-03 9.99377735e-01 -1.04387710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.362260614999999 meters 0.05277668681009629 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.15, Z:-0.10 [[ 0.99915229 0.00395024 0.04097667 1.77082182] [-0.00403373 0.99998995 0.0019551 -0.15100123] [-0.04096854 -0.00211873 0.99915819 -0.09557352] [ 0. 0. 0. 1. ]] SLAMing on 5.392260615 meters 0.05232742604163105 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.14, Z:-0.10 [[ 0.99907074 0.00511007 0.04279652 1.80205428] [-0.00520165 0.99998441 0.00202885 -0.14494801] [-0.04278548 -0.00224957 0.99908175 -0.09525098] [ 0. 0. 0. 1. ]] SLAMing on 5.422260615 meters 0.050533813506722855 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.14, Z:-0.10 [[ 0.99906947 0.00668358 0.04260897 1.83367025] [-0.00677531 0.99997503 0.00200871 -0.1364156 ] [-0.04259448 -0.00229553 0.99908981 -0.09755518] [ 0. 0. 0. 1. ]] SLAMing on 5.452260614999999 meters 0.051615529259203645 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.13, Z:-0.10 [[ 0.99903402 0.00872457 0.04306875 1.86412404] [-0.00881961 0.99995907 0.00201711 -0.12752614] [-0.04304939 -0.00239501 0.99907007 -0.09927879] [ 0. 0. 0. 1. ]] SLAMing on 5.4822606149999995 meters 0.052158697983758134 Centerline is valid? [True, True] Translation: X:1.90, Y:-0.12, Z:-0.10 [[ 0.9989912 0.01221047 0.04321434 1.89509372] [-0.01230912 0.9999222 0.00201747 -0.1218348 ] [-0.04318634 -0.00254737 0.99906379 -0.10059674] [ 0. 0. 0. 1. ]] SLAMing on 5.512260615 meters 0.05353806572499645 Centerline is valid? [True, True] Translation: X:1.93, Y:-0.12, Z:-0.11 [[ 9.99047954e-01 1.56448490e-02 4.07237659e-02 1.92625126e+00] [-1.57352240e-02 9.99874389e-01 1.89961532e-03 -1.17132688e-01] [-4.06889314e-02 -2.53860438e-03 9.99168638e-01 -1.05296393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.542260615 meters 0.0511746747298604 Centerline is valid? [True, True] Translation: X:1.96, Y:-0.12, Z:-0.11 [[ 9.99119347e-01 1.44102017e-02 3.94065553e-02 1.95801007e+00] [-1.44938728e-02 9.99893268e-01 1.83840191e-03 -1.19920165e-01] [-3.93758576e-02 -2.40793652e-03 9.99221569e-01 -1.11986702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.572260614999999 meters 0.05109581924908755 Centerline is valid? [True, True] Translation: X:1.99, Y:-0.12, Z:-0.12 [[ 9.99141849e-01 1.24473564e-02 3.95048079e-02 1.98880341e+00] [-1.25293900e-02 9.99919830e-01 1.82963483e-03 -1.20663184e-01] [-3.94788667e-02 -2.32303588e-03 9.99217705e-01 -1.15181276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.602260615 meters 0.0509721573234929 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.12, Z:-0.12 [[ 9.99041668e-01 1.36335956e-02 4.15917243e-02 2.02113001e+00] [-1.37255316e-02 9.99903946e-01 1.92566969e-03 -1.20627507e-01] [-4.15614754e-02 -2.49469278e-03 9.99132834e-01 -1.15076809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.632260615 meters 0.04992940219112667 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.12, Z:-0.12 [[ 9.99053130e-01 1.41144880e-02 4.11536804e-02 2.05423469e+00] [-1.42044321e-02 9.99897318e-01 1.89396429e-03 -1.19933383e-01] [-4.11227223e-02 -2.47673561e-03 9.99151033e-01 -1.16510225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.662260614999999 meters 0.05055192167526274 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.12, Z:-0.12 [[ 9.99135821e-01 1.33457024e-02 3.93637215e-02 2.08490831e+00] [-1.34268879e-02 9.99908237e-01 1.79878632e-03 -1.19960134e-01] [-3.93361033e-02 -2.32576412e-03 9.99223329e-01 -1.19955809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6922606149999995 meters 0.04791955483356592 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.13, Z:-0.13 [[ 9.99296011e-01 8.83088844e-03 3.64622714e-02 2.11479855e+00] [-8.89712551e-03 9.99959051e-01 1.65472987e-03 -1.26520243e-01] [-3.64461656e-02 -1.97797436e-03 9.99333660e-01 -1.25762975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.722260615 meters 0.043121527607187085 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.13, Z:-0.13 [[ 9.99279971e-01 2.72743631e-03 3.78430942e-02 2.14542695e+00] [-2.79442719e-03 9.99994621e-01 1.71744633e-03 -1.31491106e-01] [-3.78382064e-02 -1.82195949e-03 9.99282218e-01 -1.27761740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.752260615 meters 0.04150258693122516 Centerline is valid? [True, True] Translation: X:2.18, Y:-0.13, Z:-0.13 [[ 9.99302239e-01 3.51595590e-04 3.73485261e-02 2.17599549e+00] [-4.15187093e-04 9.99998477e-01 1.69490854e-03 -1.31304397e-01] [-3.73478733e-02 -1.70923253e-03 9.99300863e-01 -1.29115340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.782260614999999 meters 0.04739334930998188 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.12, Z:-0.13 [[ 9.99299144e-01 1.91740079e-03 3.73837567e-02 2.20630036e+00] [-1.98218437e-03 9.99996597e-01 1.69594706e-03 -1.18646386e-01] [-3.73803777e-02 -1.76885994e-03 9.99299544e-01 -1.28832391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.812260615 meters 0.045388830144188236 Centerline is valid? [True, True] Translation: X:2.24, Y:-0.12, Z:-0.12 [[ 9.99110338e-01 6.35531523e-03 4.16910411e-02 2.23744245e+00] [-6.43967273e-03 9.99977480e-01 1.88941052e-03 -1.18554352e-01] [-4.16780944e-02 -2.15620625e-03 9.99128764e-01 -1.23124351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.842260615 meters 0.05485827682861237 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.10, Z:-0.12 [[ 9.98923430e-01 1.17437268e-02 4.48783535e-02 2.26667560e+00] [-1.18468632e-02 9.99927757e-01 2.03284687e-03 -1.03886883e-01] [-4.48512381e-02 -2.56232608e-03 9.98990391e-01 -1.18111200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.872260614999999 meters 0.05718598669069709 Centerline is valid? [True, True] Translation: X:2.30, Y:-0.09, Z:-0.11 [[ 9.98721864e-01 1.98351702e-02 4.64887461e-02 2.29680379e+00] [-1.99546104e-02 9.99798668e-01 2.10650870e-03 -9.06434347e-02] [-4.64376034e-02 -3.03148112e-03 9.98916593e-01 -1.13678457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.902260614999999 meters 0.0537096940272047 Centerline is valid? [True, True] Translation: X:2.33, Y:-0.08, Z:-0.11 [[ 9.98476771e-01 2.45595256e-02 4.94061497e-02 2.32716752e+00] [-2.47001884e-02 9.99692398e-01 2.23845273e-03 -8.07056463e-02] [-4.93359769e-02 -3.45538426e-03 9.98776262e-01 -1.14340245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.932260615 meters 0.06258219359586852 Centerline is valid? [True, True] Translation: X:2.36, Y:-0.07, Z:-0.12 [[ 9.98417558e-01 2.48437974e-02 5.04496260e-02 2.35852437e+00] [-2.49907625e-02 9.99685072e-01 2.28431169e-03 -6.57861797e-02] [-5.03769870e-02 -3.54147152e-03 9.98723994e-01 -1.15305311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.962260615 meters 0.05012659813060768 Centerline is valid? [True, True] Translation: X:2.39, Y:-0.08, Z:-0.12 [[ 9.98385308e-01 2.16011993e-02 5.25372637e-02 2.38953650e+00] [-2.17553486e-02 9.99760530e-01 2.36392271e-03 -7.98095322e-02] [-5.24736190e-02 -3.50307219e-03 9.98616166e-01 -1.16311971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.992260614999999 meters 0.039090347268723465 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.10, Z:-0.12 [[ 0.99845997 0.00988556 0.05458899 2.42051942] [-0.01003457 0.99994664 0.00245621 -0.0963804 ] [-0.05456179 -0.00300021 0.99850589 -0.11703889] [ 0. 0. 0. 1. ]] SLAMing on 6.0222606149999995 meters 0.034738596956474105 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.10, Z:-0.12 [[ 0.99849567 0.00322624 0.05473557 2.45137834] [-0.00336607 0.9999913 0.00246261 -0.10352312] [-0.05472715 -0.00264315 0.99849785 -0.11840475] [ 0. 0. 0. 1. ]] SLAMing on 6.052260615 meters 0.03432963232089505 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.11, Z:-0.12 [[ 9.98409052e-01 -6.91469569e-04 5.63816199e-02 2.48288720e+00] [ 5.49358895e-04 9.99996634e-01 2.53597446e-03 -1.09335731e-01] [-5.63831836e-02 -2.50096611e-03 9.98406071e-01 -1.15353795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.082260614999999 meters 0.040809758531770435 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.10, Z:-0.11 [[ 0.99827247 0.00896269 0.05806665 2.51420952] [-0.00912956 0.99995492 0.0026092 -0.10243873] [-0.05804065 -0.00313481 0.9983093 -0.1116839 ] [ 0. 0. 0. 1. ]] SLAMing on 6.112260614999999 meters 0.04226125031120043 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.10, Z:-0.11 [[ 0.99815061 0.01486124 0.05894492 2.54466788] [-0.01504334 0.99988334 0.00264675 -0.09715122] [-0.05889871 -0.00352859 0.99825773 -0.11217186] [ 0. 0. 0. 1. ]] SLAMing on 6.142260615 meters 0.044043443862172904 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.09, Z:-0.11 [[ 0.9981311 0.01951513 0.05790904 2.57489537] [-0.01969864 0.99980258 0.00259971 -0.08856155] [-0.05784688 -0.00373558 0.99831848 -0.1147362 ] [ 0. 0. 0. 1. ]] SLAMing on 6.172260615 meters 0.0464890144186571 Centerline is valid? [True, True] Translation: X:2.61, Y:-0.08, Z:-0.12 [[ 9.98191667e-01 2.08722478e-02 5.63715011e-02 2.60536581e+00] [-2.10480646e-02 9.99775272e-01 2.52690524e-03 -7.76872027e-02] [-5.63060906e-02 -3.70884674e-03 9.98406665e-01 -1.20299231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.202260614999999 meters 0.04151259690525919 Centerline is valid? [True, True] Translation: X:2.64, Y:-0.08, Z:-0.12 [[ 9.98272301e-01 1.69551871e-02 5.62577606e-02 2.63678981e+00] [-1.71233479e-02 9.99850238e-01 2.50838464e-03 -8.49401467e-02] [-5.62068052e-02 -3.46737212e-03 9.98413127e-01 -1.23142305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2322606149999995 meters 0.036945857493319884 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.10, Z:-0.12 [[ 9.98418513e-01 6.02249982e-03 5.58945610e-02 2.66691363e+00] [-6.17137107e-03 9.99977854e-01 2.49120277e-03 -9.90174047e-02] [-5.58783199e-02 -2.83220904e-03 9.98433569e-01 -1.24016503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.262260615 meters 0.033082433654543 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.11, Z:-0.12 [[ 9.98402755e-01 9.88769102e-04 5.64885906e-02 2.69807094e+00] [-1.13279353e-03 9.99996189e-01 2.51765613e-03 -1.05796108e-01] [-5.64858860e-02 -2.57762473e-03 9.98400070e-01 -1.24925756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.292260614999999 meters 0.026545983290483237 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.12, Z:-0.12 [[ 9.97996336e-01 -1.14951820e-02 6.22187549e-02 2.72805440e+00] [ 1.13446617e-02 9.99931805e-01 2.77194964e-03 -1.16199386e-01] [-6.22463759e-02 -2.06054486e-03 9.98058687e-01 -1.18088416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.322260614999999 meters 0.02350806556684208 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.12, Z:-0.11 [[ 9.97623830e-01 -1.82375514e-02 6.64385864e-02 2.75860149e+00] [ 1.80807524e-02 9.99832146e-01 2.96064010e-03 -1.20661248e-01] [-6.64814293e-02 -1.75234549e-03 9.97786124e-01 -1.12742211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.352260615 meters 0.020003520487406286 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.13, Z:-0.11 [[ 9.97238671e-01 -2.39590502e-02 7.02922318e-02 2.79099858e+00] [ 2.37982814e-02 9.99711900e-01 3.12383230e-03 -1.27039932e-01] [-7.03468246e-02 -1.44237206e-03 9.97521551e-01 -1.09644450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.382260615 meters 0.016943396254621827 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.13, Z:-0.11 [[ 9.97125677e-01 -3.15176071e-02 6.88986551e-02 2.82251823e+00] [ 3.13822708e-02 9.99502814e-01 3.04605269e-03 -1.30747861e-01] [-6.89604040e-02 -8.75101099e-04 9.97619014e-01 -1.06298861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.412260614999999 meters 0.017221102365990882 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.12, Z:-0.11 [[ 9.97226336e-01 -3.01177381e-02 6.80628812e-02 2.85492405e+00] [ 2.99831558e-02 9.99545907e-01 2.99824596e-03 -1.21113661e-01] [-6.81222748e-02 -9.49189866e-04 9.97676528e-01 -1.05149754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4422606149999995 meters 0.01850548354223718 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.11, Z:-0.10 [[ 9.97255489e-01 -2.70253106e-02 6.89283830e-02 2.88657171e+00] [ 2.68815611e-02 9.99634087e-01 3.01236345e-03 -1.12046353e-01] [-6.89845713e-02 -1.15119345e-03 9.97617063e-01 -1.04342010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.472260615 meters 0.02121217897247764 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.09, Z:-0.10 [[ 9.97252209e-01 -2.12898901e-02 7.09561271e-02 2.91768851e+00] [ 2.11246208e-02 9.99772110e-01 3.07885491e-03 -8.99270346e-02] [-7.10055054e-02 -1.57147358e-03 9.97474686e-01 -1.02149708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.502260614999999 meters 0.021381946198558384 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.08, Z:-0.10 [[ 9.97300810e-01 -1.91714690e-02 7.08770072e-02 2.94932134e+00] [ 1.90027440e-02 9.99814767e-01 3.05410557e-03 -8.12905778e-02] [-7.09224301e-02 -1.69900434e-03 9.97480387e-01 -1.03610851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.532260614999999 meters 0.022627375446266938 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.07, Z:-0.10 [[ 9.97363663e-01 -1.65026806e-02 7.06638842e-02 2.98146378e+00] [ 1.63298878e-02 9.99862091e-01 3.02230753e-03 -7.26573968e-02] [-7.07040152e-02 -1.86040641e-03 9.97495605e-01 -1.04485362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.562260615 meters 0.027207789778494255 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.06, Z:-0.11 [[ 9.97491866e-01 -9.18637383e-03 7.01825265e-02 3.01060747e+00] [ 8.99889983e-03 9.99955048e-01 2.98694715e-03 -5.91966220e-02] [-7.02068108e-02 -2.34788996e-03 9.97529694e-01 -1.05688808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.592260615 meters 0.02918640427390348 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.05, Z:-0.11 [[ 9.97450820e-01 -4.45716474e-03 7.12179404e-02 3.04099293e+00] [ 4.25212096e-03 9.99986368e-01 3.03045032e-03 -5.38418188e-02] [-7.12304768e-02 -2.71989786e-03 9.97456175e-01 -1.07100192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.622260614999999 meters 0.034793370670971706 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.04, Z:-0.10 [[ 0.99709729 0.00309183 0.07607524 3.07114362] [-0.00334767 0.99998916 0.00323569 -0.04380634] [-0.07606441 -0.00348097 0.99709683 -0.10454882] [ 0. 0. 0. 1. ]] SLAMing on 6.652260614999999 meters 0.03426078872771326 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.04, Z:-0.11 [[ 0.99699868 0.00503716 0.07725454 3.10266154] [-0.00530609 0.99998056 0.00327626 -0.04082182] [-0.07723654 -0.00367634 0.99700602 -0.10625782] [ 0. 0. 0. 1. ]] SLAMing on 6.682260615 meters 0.034492626418644395 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.04, Z:-0.11 [[ 0.99675206 0.00488358 0.08038329 3.13506959] [-0.00517229 0.9999809 0.00338384 -0.03694451] [-0.08036523 -0.00378862 0.99675828 -0.10537683] [ 0. 0. 0. 1. ]] SLAMing on 6.712260614999999 meters 0.034513981004275184 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.04, Z:-0.10 [[ 0.99670693 0.00339152 0.08101729 3.16651238] [-0.00367787 0.99998751 0.00338551 -0.03856258] [-0.08100479 -0.00367233 0.99670695 -0.1045732 ] [ 0. 0. 0. 1. ]] SLAMing on 6.742260614999999 meters 0.031024567517832488 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.05, Z:-0.10 [[ 9.96380564e-01 -3.43786792e-03 8.49349902e-02 3.19898615e+00] [ 3.14921020e-03 9.99988803e-01 3.53232018e-03 -5.29260491e-02] [-8.49461828e-02 -3.25205704e-03 9.96380234e-01 -1.00064269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7722606149999995 meters 0.028185420924986652 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.06, Z:-0.10 [[ 9.96289201e-01 -7.95081828e-03 8.57007140e-02 3.23071995e+00] [ 7.67398694e-03 9.99964220e-01 3.55917090e-03 -5.94297667e-02] [-8.57259460e-02 -2.88829737e-03 9.96314569e-01 -9.92814549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.802260615 meters 0.028185420924986652 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.06, Z:-0.10 [[ 9.96292001e-01 -7.58412458e-03 8.57013978e-02 3.26324063e+00] [ 7.30736169e-03 9.99967026e-01 3.54263182e-03 -5.82948481e-02] [-8.57254396e-02 -2.90324464e-03 9.96314569e-01 -1.00799427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.832260614999999 meters 0.026052070346054328 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.06, Z:-0.10 [[ 9.96607199e-01 -1.29591407e-02 8.12782371e-02 3.29271736e+00] [ 1.27294178e-02 9.99913386e-01 3.34393140e-03 -6.21821090e-02] [-8.13145318e-02 -2.29796146e-03 9.96685841e-01 -1.04789256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.862260614999999 meters 0.025178898475937482 Centerline is valid? [True, True] Translation: X:3.33, Y:-0.06, Z:-0.11 [[ 9.96614942e-01 -1.38007638e-02 8.10444148e-02 3.32540741e+00] [ 1.35754179e-02 9.99902302e-01 3.33090472e-03 -6.14988702e-02] [-8.10824660e-02 -2.21941762e-03 9.96704925e-01 -1.06142175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.892260615 meters 0.024606111079259065 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.06, Z:-0.10 [[ 9.96157970e-01 -1.67226649e-02 8.59630829e-02 3.35731962e+00] [ 1.64809032e-02 9.99857980e-01 3.52135941e-03 -6.07404138e-02] [-8.60097610e-02 -2.09108099e-03 9.96292100e-01 -9.97149172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.922260614999999 meters 0.02333222292130719 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.06, Z:-0.10 [[ 9.95931078e-01 -1.98911700e-02 8.78955583e-02 3.39018043e+00] [ 1.96526793e-02 9.99800465e-01 3.57796105e-03 -6.08066313e-02] [-8.79491900e-02 -1.83601938e-03 9.96123270e-01 -9.82768958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.952260614999999 meters 0.0207142396970349 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.06, Z:-0.10 [[ 9.95852801e-01 -2.42762091e-02 8.76804663e-02 3.42265393e+00] [ 2.40585525e-02 9.99704289e-01 3.53845623e-03 -6.24165573e-02] [-8.77404386e-02 -1.41431645e-03 9.96142367e-01 -1.00509427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9822606149999995 meters 0.019469522595695544 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.07, Z:-0.10 [[ 9.95662821e-01 -3.46404261e-02 8.63457510e-02 3.45334008e+00] [ 3.44696532e-02 9.99399726e-01 3.46838395e-03 -6.67118857e-02] [-8.64140662e-02 -4.77032854e-04 9.96259194e-01 -1.00115806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.012260615 meters 0.015957629498354352 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.07, Z:-0.11 [[ 9.96167184e-01 -4.13324721e-02 7.70880608e-02 3.48356140e+00] [ 4.12165401e-02 9.99145444e-01 3.09498751e-03 -7.22377330e-02] [-7.71501082e-02 9.41781551e-05 9.97019484e-01 -1.14594536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.042260614999999 meters 0.01548392237363362 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.07, Z:-0.12 [[ 9.96441550e-01 -4.06975673e-02 7.38101959e-02 3.51450172e+00] [ 4.05902214e-02 9.99171509e-01 2.95442412e-03 -7.03064634e-02] [-7.38692827e-02 5.20612428e-05 9.97267931e-01 -1.19186709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.072260614999999 meters 0.015482220636475301 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.06, Z:-0.12 [[ 9.96527950e-01 -3.81456801e-02 7.40064385e-02 3.54768460e+00] [ 3.80325262e-02 9.99272182e-01 2.93814421e-03 -6.33013112e-02] [-7.40646528e-02 -1.13291009e-04 9.97253435e-01 -1.20777548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.102260615 meters 0.017355642545336575 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.04, Z:-0.11 [[ 9.96038518e-01 -3.40610744e-02 8.21408167e-02 3.57845473e+00] [ 3.39094785e-02 9.99419655e-01 3.24029621e-03 -4.30269300e-02] [-8.22035147e-02 -4.42107580e-04 9.96615466e-01 -1.14284817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.132260614999999 meters 0.0186269162055821 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.03, Z:-0.11 [[ 9.95857501e-01 -3.21310495e-02 8.50613486e-02 3.60879372e+00] [ 3.19617832e-02 9.99483473e-01 3.35136229e-03 -2.82360705e-02] [-8.51250949e-02 -6.18766890e-04 9.96370080e-01 -1.10747346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.162260614999999 meters 0.018321272356357807 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.02, Z:-0.11 [[ 9.95905825e-01 -3.10449272e-02 8.48987655e-02 3.64113944e+00] [ 3.08737827e-02 9.99517749e-01 3.32838445e-03 -2.26521103e-02] [-8.49611525e-02 -6.93611421e-04 9.96384023e-01 -1.13058629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1922606149999995 meters 0.019408482306128193 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.01, Z:-0.12 [[ 9.96121478e-01 -2.71789080e-02 8.36857707e-02 3.67154740e+00] [ 2.70010286e-02 9.99630100e-01 3.25682553e-03 -1.48344687e-02] [-8.37433323e-02 -9.84591973e-04 9.96486871e-01 -1.15198827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.222260615 meters 0.020538446597694 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.01, Z:-0.12 [[ 9.96106743e-01 -2.37582476e-02 8.48934812e-02 3.70338128e+00] [ 2.35645714e-02 9.99716927e-01 3.28286578e-03 -9.00699616e-03] [-8.49474453e-02 -1.26960625e-03 9.96384624e-01 -1.15298737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.252260614999999 meters 0.022275226150264442 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.00, Z:-0.12 [[ 9.96282199e-01 -1.84087129e-02 8.41599646e-02 3.73469590e+00] [ 1.82015260e-02 9.99829126e-01 3.22850632e-03 -5.03495766e-04] [-8.42050165e-02 -1.68466359e-03 9.96447027e-01 -1.17598121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.282260614999999 meters 0.02726777394381371 Centerline is valid? [True, True] Translation: X:3.76, Y:0.02, Z:-0.13 [[ 9.97014917e-01 -6.54469804e-03 7.69312868e-02 3.76475826e+00] [ 6.33807823e-03 9.99975623e-01 2.92962690e-03 1.55130639e-02] [-7.69485850e-02 -2.43328521e-03 9.97032093e-01 -1.25912332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.312260615 meters 0.03152714884796936 Centerline is valid? [True, True] Translation: X:3.80, Y:0.03, Z:-0.14 [[ 9.97476456e-01 3.50804213e-03 7.09113067e-02 3.79543531e+00] [-3.70787488e-03 9.99989517e-01 2.68663131e-03 2.58127950e-02] [-7.09011385e-02 -2.94278173e-03 9.97479007e-01 -1.35206164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.342260614999999 meters 0.03209968848708073 Centerline is valid? [True, True] Translation: X:3.83, Y:0.03, Z:-0.14 [[ 9.97609146e-01 7.27623876e-03 6.87244324e-02 3.82722860e+00] [-7.47253388e-03 9.99968701e-01 2.59961591e-03 2.93212834e-02] [-6.87033660e-02 -3.10694626e-03 9.97632294e-01 -1.40217192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.372260614999999 meters 0.035040994405979506 Centerline is valid? [True, True] Translation: X:3.86, Y:0.04, Z:-0.15 [[ 9.97909172e-01 1.32169313e-02 6.32660856e-02 3.85770258e+00] [-1.33948134e-02 9.99907433e-01 2.38831444e-03 3.66576238e-02] [-6.32286630e-02 -3.23075829e-03 9.97993837e-01 -1.50085880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.402260614999999 meters 0.037266557619247236 Centerline is valid? [True, True] Translation: X:3.89, Y:0.04, Z:-0.16 [[ 9.98031268e-01 1.62051692e-02 6.05886134e-02 3.88938766e+00] [-1.63735641e-02 9.99863336e-01 2.28383562e-03 3.97736244e-02] [-6.05433232e-02 -3.27139091e-03 9.98160210e-01 -1.55605016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.432260615 meters 0.040517259718651846 Centerline is valid? [True, True] Translation: X:3.92, Y:0.04, Z:-0.16 [[ 9.98060057e-01 2.19011377e-02 5.82791796e-02 3.92038136e+00] [-2.20663269e-02 9.99754105e-01 2.19233043e-03 4.16834184e-02] [-5.82168345e-02 -3.47408487e-03 9.98297917e-01 -1.60432073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.462260614999999 meters 0.043963387018898105 Centerline is valid? [True, True] Translation: X:3.95, Y:0.04, Z:-0.16 [[ 9.98056931e-01 2.26245250e-02 5.80559562e-02 3.95170616e+00] [-2.27894085e-02 9.99737912e-01 2.17947773e-03 4.49650960e-02] [-5.79914308e-02 -3.49830376e-03 9.98310951e-01 -1.62384262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.492260614999999 meters 0.03929572700851158 Centerline is valid? [True, True] Translation: X:3.98, Y:0.04, Z:-0.16 [[ 9.98124249e-01 1.98983409e-02 5.78968046e-02 3.98387427e+00] [-2.00569093e-02 9.99796509e-01 2.15894170e-03 3.81043397e-02] [-5.78420638e-02 -3.31612302e-03 9.98320239e-01 -1.64830601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5222606149999995 meters 0.03517017933614504 Centerline is valid? [True, True] Translation: X:4.01, Y:0.03, Z:-0.17 [[ 9.98240352e-01 1.11685766e-02 5.82362701e-02 4.01442529e+00] [-1.13140205e-02 9.99933643e-01 2.16834403e-03 2.72361185e-02] [-5.82081885e-02 -2.82341486e-03 9.98300473e-01 -1.65214467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.552260614999999 meters 0.03148661164714365 Centerline is valid? [True, True] Translation: X:4.05, Y:0.02, Z:-0.17 [[ 9.98367152e-01 7.73967980e-03 5.65961849e-02 4.04635403e+00] [-7.87150253e-03 9.99966800e-01 2.10662104e-03 1.74389168e-02] [-5.65780013e-02 -2.54867826e-03 9.98394929e-01 -1.70141479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.582260614999999 meters 0.031726998621260154 Centerline is valid? [True, True] Translation: X:4.08, Y:0.02, Z:-0.17 [[ 9.98454511e-01 7.12881178e-03 5.51159656e-02 4.07717526e+00] [-7.25262673e-03 9.99971605e-01 2.04674854e-03 1.55461420e-02] [-5.50998096e-02 -2.44332084e-03 9.98477862e-01 -1.73567098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.612260614999999 meters 0.03075109287294823 Centerline is valid? [True, True] Translation: X:4.11, Y:0.01, Z:-0.18 [[ 9.98551318e-01 8.09671900e-03 5.31950059e-02 4.11008054e+00] [-8.21283346e-03 9.99964344e-01 1.96457103e-03 1.11947859e-02] [-5.31772026e-02 -2.39860671e-03 9.98582211e-01 -1.78465204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.642260615 meters 0.036694229434420855 Centerline is valid? [True, True] Translation: X:4.14, Y:0.01, Z:-0.18 [[ 9.98608364e-01 1.43542002e-02 5.07473461e-02 4.14011325e+00] [-1.44670637e-02 9.99893621e-01 1.85738969e-03 1.48721566e-02] [-5.07152863e-02 -2.58896996e-03 9.98709796e-01 -1.82943978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.672260614999999 meters 0.03789891210130125 Centerline is valid? [True, True] Translation: X:4.17, Y:0.02, Z:-0.18 [[ 9.98474286e-01 1.79831908e-02 5.22082824e-02 4.17160800e+00] [-1.81075285e-02 9.99834222e-01 1.90950514e-03 1.66571261e-02] [-5.21652884e-02 -2.85195474e-03 9.98634392e-01 -1.82611960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.702260614999999 meters 0.04022747799951813 Centerline is valid? [True, True] Translation: X:4.20, Y:0.02, Z:-0.18 [[ 9.98393761e-01 1.96981183e-02 5.31213889e-02 4.20259320e+00] [-1.98290511e-02 9.99801505e-01 1.93881591e-03 1.63659815e-02] [-5.30726535e-02 -2.98904844e-03 9.98586180e-01 -1.81294110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7322606149999995 meters 0.03565237380248891 Centerline is valid? [True, True] Translation: X:4.24, Y:0.01, Z:-0.19 [[ 9.98480488e-01 1.86053720e-02 5.18705667e-02 4.23506907e+00] [-1.87279514e-02 9.99822853e-01 1.87809642e-03 6.37141893e-03] [-5.18264353e-02 -2.84667208e-03 9.98652050e-01 -1.85260193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.762260614999999 meters 0.0367177706978577 Centerline is valid? [True, True] Translation: X:4.27, Y:0.01, Z:-0.19 [[ 9.98455876e-01 1.82192855e-02 5.24778127e-02 4.26683245e+00] [-1.83433157e-02 9.99829975e-01 1.88276942e-03 6.49626004e-03] [-5.24345874e-02 -2.84247928e-03 9.98620315e-01 -1.85533625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.792260614999999 meters 0.03598136606562528 Centerline is valid? [True, True] Translation: X:4.30, Y:0.00, Z:-0.19 [[ 9.98411569e-01 1.88284522e-02 5.31020503e-02 4.29941849e+00] [-1.89553940e-02 9.99818548e-01 1.88785533e-03 4.55112109e-03] [-5.30568694e-02 -2.89142689e-03 9.98587306e-01 -1.86897416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.822260614999999 meters 0.04106480617136275 Centerline is valid? [True, True] Translation: X:4.33, Y:0.01, Z:-0.19 [[ 9.98222081e-01 2.58777368e-02 5.36937666e-02 4.32879059e+00] [-2.60168666e-02 9.99659710e-01 1.89369940e-03 8.57915231e-03] [-5.36264905e-02 -3.28727612e-03 9.98555654e-01 -1.87840544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.852260615 meters 0.04804586188068942 Centerline is valid? [True, True] Translation: X:4.36, Y:0.02, Z:-0.19 [[ 9.97835417e-01 3.60799444e-02 5.49792614e-02 4.35945021e+00] [-3.62412661e-02 9.99341187e-01 1.93971983e-03 1.65549363e-02] [-5.48730554e-02 -3.92803919e-03 9.98485612e-01 -1.88108450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.882260614999999 meters 0.05272180105839516 Centerline is valid? [True, True] Translation: X:4.39, Y:0.02, Z:-0.19 [[ 9.97598689e-01 4.02193264e-02 5.63849347e-02 4.38908653e+00] [-4.03955722e-02 9.99181786e-01 1.98903363e-03 2.22591567e-02] [-5.62588022e-02 -4.26195905e-03 9.98407123e-01 -1.87340427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.912260614999999 meters 0.04956167336546702 Centerline is valid? [True, True] Translation: X:4.42, Y:0.02, Z:-0.19 [[ 9.97397668e-01 4.27015245e-02 5.80902064e-02 4.42083144e+00] [-4.28928068e-02 9.99077578e-01 2.04939405e-03 1.90947951e-02] [-5.79491105e-02 -4.53571285e-03 9.98309235e-01 -1.86969949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9422606149999995 meters 0.05082208781612767 Centerline is valid? [True, True] Translation: X:4.45, Y:0.02, Z:-0.19 [[ 9.97257038e-01 4.27388812e-02 6.04300328e-02 4.45340282e+00] [-4.29455658e-02 9.99075154e-01 2.12499482e-03 2.16970408e-02] [-6.02833244e-02 -4.71436800e-03 9.98170174e-01 -1.85118623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.972260614999999 meters 0.048314881615832035 Centerline is valid? [True, True] Translation: X:4.49, Y:0.02, Z:-0.19 [[ 9.97215139e-01 4.32390740e-02 6.07646958e-02 4.48597937e+00] [-4.34477324e-02 9.99053460e-01 2.11619660e-03 1.67341379e-02] [-6.06156772e-02 -4.75039154e-03 9.98149875e-01 -1.87257415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.002260614999999 meters 0.04835358303270219 Centerline is valid? [True, True] Translation: X:4.52, Y:0.01, Z:-0.19 [[ 9.97389805e-01 4.32130901e-02 5.78463918e-02 4.51838998e+00] [-4.34010641e-02 9.99055735e-01 1.99655423e-03 1.00757271e-02] [-5.77054922e-02 -4.50193779e-03 9.98323499e-01 -1.91450724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.032260614999998 meters 0.05278468061088608 Centerline is valid? [True, True] Translation: X:4.55, Y:0.02, Z:-0.19 [[ 9.97516318e-01 4.22930780e-02 5.63248633e-02 4.54907032e+00] [-4.24688316e-02 9.99095935e-01 1.92650725e-03 1.57462481e-02] [-5.61924640e-02 -4.31377355e-03 9.98410636e-01 -1.93951887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.062260615 meters 0.05035715499904184 Centerline is valid? [True, True] Translation: X:4.58, Y:0.02, Z:-0.20 [[ 9.97637163e-01 3.75880665e-02 5.75085057e-02 4.57998354e+00] [-3.77627198e-02 9.99284826e-01 1.95289686e-03 1.66176966e-02] [-5.73939715e-02 -4.11996007e-03 9.98343106e-01 -1.96223078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.092260614999999 meters 0.044911036074615794 Centerline is valid? [True, True] Translation: X:4.61, Y:0.01, Z:-0.20 [[ 9.97765204e-01 3.34710542e-02 5.78298047e-02 4.61106099e+00] [-3.36407594e-02 9.99432061e-01 1.96325075e-03 9.79653892e-03] [-5.77312488e-02 -3.90430183e-03 9.98324526e-01 -1.97956358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.122260615 meters 0.04111730891010708 Centerline is valid? [True, True] Translation: X:4.64, Y:0.00, Z:-0.20 [[ 9.97985714e-01 2.75741084e-02 5.71330234e-02 4.64231858e+00] [-2.77300439e-02 9.99613569e-01 1.93819145e-03 8.92205004e-04] [-5.70575015e-02 -3.51858863e-03 9.98364693e-01 -1.98585353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.152260615 meters 0.04098269973416481 Centerline is valid? [True, True] Translation: X:4.67, Y:0.00, Z:-0.20 [[ 9.98123491e-01 2.46451652e-02 5.60545527e-02 4.67263893e+00] [-2.47906446e-02 9.99690857e-01 1.90133331e-03 5.04872169e-04] [-5.59903651e-02 -3.28739394e-03 9.98425897e-01 -1.99677812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.182260614999999 meters 0.034890859885517156 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.00, Z:-0.20 [[ 9.98276953e-01 1.61966358e-02 5.63985253e-02 4.70371347e+00] [-1.63304105e-02 9.99864822e-01 1.91186004e-03 -4.73431658e-03] [-5.63599358e-02 -2.82957688e-03 9.98406506e-01 -2.00975487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.212260615 meters 0.032739492895752044 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.01, Z:-0.20 [[ 9.98226279e-01 1.16768364e-02 5.83776354e-02 4.73555570e+00] [-1.18124101e-02 9.99928275e-01 1.97780017e-03 -5.86691765e-03] [-5.83503538e-02 -2.66387267e-03 9.98292612e-01 -2.00306604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.242260615 meters 0.028055386271134686 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.01, Z:-0.20 [[ 9.97991241e-01 3.61661382e-03 6.32487378e-02 4.76638054e+00] [-3.75944800e-03 9.99990645e-01 2.13942918e-03 -1.31578603e-02] [-6.32404086e-02 -2.37291192e-03 9.97995501e-01 -1.95960006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.272260614999999 meters 0.026602489507446734 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.02, Z:-0.20 [[ 9.97991838e-01 3.64349006e-04 6.33415948e-02 4.79682277e+00] [-5.00927468e-04 9.99997584e-01 2.14035342e-03 -1.62575421e-02] [-6.33406619e-02 -2.16778479e-03 9.97989610e-01 -1.96510223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.302260615 meters 0.02452580186325478 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.02, Z:-0.19 [[ 9.97788635e-01 -2.66411368e-03 6.64134251e-02 4.82876190e+00] [ 2.52147455e-03 9.99994331e-01 2.23147543e-03 -1.64989983e-02] [-6.64189935e-02 -2.05908107e-03 9.97789696e-01 -1.94758294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.332260615 meters 0.02667810542962926 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.01, Z:-0.19 [[ 9.97594623e-01 -2.24305760e-04 6.93175137e-02 4.85989063e+00] [ 6.45291690e-05 9.99997336e-01 2.30722659e-03 -9.71443972e-03] [-6.93178466e-02 -2.29720384e-03 9.97591980e-01 -1.92481236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.362260614999999 meters 0.03440654015627029 Centerline is valid? [True, True] Translation: X:4.89, Y:0.00, Z:-0.19 [[ 9.97164210e-01 1.22625068e-02 7.42507219e-02 4.89082644e+00] [-1.24792770e-02 9.99919114e-01 2.45618334e-03 4.64628325e-03] [-7.42145971e-02 -3.37581344e-03 9.97236580e-01 -1.88630693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.392260615 meters 0.03877816254413147 Centerline is valid? [True, True] Translation: X:4.92, Y:0.01, Z:-0.19 [[ 9.96854389e-01 2.27258250e-02 7.59266950e-02 4.92125141e+00] [-2.29825740e-02 9.99732716e-01 2.50938168e-03 1.37072943e-02] [-7.58493733e-02 -4.24647904e-03 9.97110245e-01 -1.90207808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.422260614999999 meters 0.05059231957585756 Centerline is valid? [True, True] Translation: X:4.95, Y:0.03, Z:-0.19 [[ 9.96140915e-01 4.05357978e-02 7.78468110e-02 4.95036608e+00] [-4.08596265e-02 9.99161589e-01 2.57086465e-03 3.37155526e-02] [-7.76773314e-02 -5.74173509e-03 9.96962018e-01 -1.90802132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.452260614999998 meters 0.053449943370778547 Centerline is valid? [True, True] Translation: X:4.98, Y:0.04, Z:-0.19 [[ 9.95956721e-01 4.58433372e-02 7.72567076e-02 4.98096549e+00] [-4.61780151e-02 9.98929971e-01 2.55021179e-03 3.81795709e-02] [-7.70571305e-02 -6.10746198e-03 9.97007973e-01 -1.93846865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.482260615 meters 0.0583247861063884 Centerline is valid? [True, True] Translation: X:5.01, Y:0.04, Z:-0.20 [[ 9.96074098e-01 5.24766997e-02 7.12922600e-02 5.01051203e+00] [-5.27783259e-02 9.98603482e-01 2.35240553e-03 4.23554859e-02] [-7.10692526e-02 -6.10585635e-03 9.97452696e-01 -2.00712069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.512260614999999 meters 0.056391962213441366 Centerline is valid? [True, True] Translation: X:5.04, Y:0.04, Z:-0.21 [[ 9.96211494e-01 5.45734386e-02 6.77081957e-02 5.04235503e+00] [-5.48497047e-02 9.98492139e-01 2.22656612e-03 3.86889967e-02] [-6.74845898e-02 -5.93190530e-03 9.97702682e-01 -2.07372827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.542260615 meters 0.05958946783177585 Centerline is valid? [True, True] Translation: X:5.07, Y:0.04, Z:-0.21 [[ 9.96333409e-01 5.68573401e-02 6.39294966e-02 5.07333986e+00] [-5.71070188e-02 9.98365888e-01 2.08357307e-03 4.02689300e-02] [-6.37065623e-02 -5.72675642e-03 9.97952242e-01 -2.12614947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.572260615 meters 0.06339734090178466 Centerline is valid? [True, True] Translation: X:5.10, Y:0.04, Z:-0.22 [[ 9.96276295e-01 6.06670850e-02 6.12621254e-02 5.10326559e+00] [-6.09026772e-02 9.98141737e-01 1.98399998e-03 3.80374076e-02] [-6.10279207e-02 -5.70763960e-03 9.98119740e-01 -2.18875195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.602260614999999 meters 0.061650164815048376 Centerline is valid? [True, True] Translation: X:5.14, Y:0.03, Z:-0.22 [[ 9.96304317e-01 6.12400127e-02 6.02276424e-02 5.13639947e+00] [-6.14684866e-02 9.98107127e-01 1.94637281e-03 3.31725021e-02] [-5.99944432e-02 -5.64128166e-03 9.98182770e-01 -2.22882638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.632260615 meters 0.061002277974852956 Centerline is valid? [True, True] Translation: X:5.17, Y:0.03, Z:-0.23 [[ 9.96475848e-01 6.02856002e-02 5.83226368e-02 5.16810024e+00] [-6.04972362e-02 9.98166616e-01 1.86824821e-03 3.09939454e-02] [-5.81030806e-02 -5.39002256e-03 9.98296038e-01 -2.28066736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.662260615 meters 0.05618143706486497 Centerline is valid? [True, True] Translation: X:5.20, Y:0.01, Z:-0.24 [[ 9.97071414e-01 5.40996419e-02 5.40538928e-02 5.19944180e+00] [-5.42722022e-02 9.98524682e-01 1.72852851e-03 1.39422261e-02] [-5.38806334e-02 -4.65709017e-03 9.98536524e-01 -2.36678794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.692260614999999 meters 0.05515911637490849 Centerline is valid? [True, True] Translation: X:5.23, Y:0.01, Z:-0.24 [[ 9.97342320e-01 5.10483291e-02 5.19842834e-02 5.22944363e+00] [-5.12037485e-02 9.98686846e-01 1.66147390e-03 7.36988032e-03] [-5.18312046e-02 -4.31884840e-03 9.98646521e-01 -2.41122665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.722260615 meters 0.05515911637490849 Centerline is valid? [True, True] Translation: X:5.26, Y:0.01, Z:-0.24 [[ 9.97324560e-01 5.13940729e-02 5.19843430e-02 5.26204174e+00] [-5.15498613e-02 9.98669043e-01 1.65959778e-03 8.20907188e-03] [-5.18298606e-02 -4.33494329e-03 9.98646521e-01 -2.42643908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.752260614999999 meters 0.055604317414940714 Centerline is valid? [True, True] Translation: X:5.29, Y:0.00, Z:-0.25 [[ 9.97513841e-01 5.02459850e-02 4.94113045e-02 5.29371551e+00] [-5.03845450e-02 9.98728671e-01 1.56189417e-03 4.04031354e-03] [-4.92700076e-02 -4.04757715e-03 9.98777294e-01 -2.48045029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.782260614999998 meters 0.05561495347725911 Centerline is valid? [True, True] Translation: X:5.33, Y:0.00, Z:-0.25 [[ 9.97455155e-01 5.20108374e-02 4.87656338e-02 5.32537245e+00] [-5.21477125e-02 9.98638198e-01 1.53787968e-03 4.63707805e-03] [-4.86192382e-02 -4.07698226e-03 9.98809065e-01 -2.50426518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.812260615 meters 0.05647697527631416 Centerline is valid? [True, True] Translation: X:5.36, Y:0.01, Z:-0.25 [[ 9.97188709e-01 5.29229783e-02 5.30456044e-02 5.35728863e+00] [-5.30854409e-02 9.98588598e-01 1.65743474e-03 6.07330613e-03] [-5.28830193e-02 -4.46872451e-03 9.98590715e-01 -2.48553383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.842260614999999 meters 0.05316073234599933 Centerline is valid? [True, True] Translation: X:5.39, Y:0.00, Z:-0.25 [[ 9.97160894e-01 4.91724763e-02 5.70282353e-02 5.38874031e+00] [-4.93537510e-02 9.98779786e-01 1.77377132e-03 1.13750421e-03] [-5.68714279e-02 -4.58329272e-03 9.98370990e-01 -2.46324077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.872260614999998 meters 0.0459680910034476 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.01, Z:-0.24 [[ 9.97280119e-01 3.83985435e-02 6.29119640e-02 5.42010402e+00] [-3.85978359e-02 9.99252913e-01 1.95507975e-03 -1.21920325e-02] [-6.27898911e-02 -4.37802783e-03 9.98017165e-01 -2.41036033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.902260615 meters 0.04178680102240205 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.02, Z:-0.24 [[ 9.97334201e-01 3.25432457e-02 6.53102547e-02 5.45055869e+00] [-3.27455389e-02 9.99461661e-01 2.02907619e-03 -1.87136064e-02] [-6.52090629e-02 -4.16228657e-03 9.97862943e-01 -2.39643262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.932260614999999 meters 0.03861967165351114 Centerline is valid? [True, True] Translation: X:5.48, Y:-0.02, Z:-0.24 [[ 9.97361268e-01 2.35893786e-02 6.86588864e-02 5.48070356e+00] [-2.37918984e-02 9.99714657e-01 2.13330568e-03 -2.44386649e-02] [-6.85889717e-02 -3.76120170e-03 9.97637913e-01 -2.35281625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.962260615 meters 0.03638328729323003 Centerline is valid? [True, True] Translation: X:5.51, Y:-0.03, Z:-0.23 [[ 9.97268036e-01 2.10320398e-02 7.08104294e-02 5.51353210e+00] [-2.12409565e-02 9.99771968e-01 2.19859062e-03 -2.76054809e-02] [-7.07480415e-02 -3.69666540e-03 9.97487368e-01 -2.34205724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.992260615 meters 0.0341222018220811 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.03, Z:-0.23 [[ 9.97003357e-01 1.94804634e-02 7.48653348e-02 5.54687980e+00] [-1.97085194e-02 9.99803103e-01 2.30857544e-03 -3.06640183e-02] [-7.48056219e-02 -3.77714237e-03 9.97190981e-01 -2.32649289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.022260614999999 meters 0.03894186440142841 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.02, Z:-0.22 [[ 9.96524252e-01 2.15578067e-02 8.04653676e-02 5.57749887e+00] [-2.18265842e-02 9.99758740e-01 2.46211287e-03 -2.31728324e-02] [-8.03928768e-02 -4.20983930e-03 9.96754364e-01 -2.23983696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.052260615 meters 0.04095446533885148 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.02, Z:-0.23 [[ 9.96287466e-01 2.88172699e-02 8.11224412e-02 5.60801897e+00] [-2.91142544e-02 9.99573013e-01 2.48021923e-03 -1.57840882e-02] [-8.10163298e-02 -4.83283072e-03 9.96701058e-01 -2.25645539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.082260615 meters 0.041520646767557505 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.01, Z:-0.23 [[ 9.96215456e-01 3.13576014e-02 8.10645820e-02 5.63952063e+00] [-3.16622940e-02 9.99495558e-01 2.47559791e-03 -1.38162925e-02] [-8.09460608e-02 -5.03291953e-03 9.96705777e-01 -2.27654993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.112260614999999 meters 0.04264891017338807 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.01, Z:-0.23 [[ 9.96341402e-01 3.21784377e-02 7.91729693e-02 5.67051619e+00] [-3.24706822e-02 9.99469792e-01 2.40623259e-03 -1.18385584e-02] [-7.90535624e-02 -4.96822948e-03 9.96857989e-01 -2.30069598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.142260615 meters 0.040787394869453104 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.02, Z:-0.24 [[ 9.96847751e-01 2.94176738e-02 7.36828459e-02 5.70127855e+00] [-2.96622107e-02 9.99557500e-01 2.22645505e-03 -1.59546881e-02] [-7.35847441e-02 -4.40503281e-03 9.97279239e-01 -2.38891789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.172260614999999 meters 0.037102654949674754 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.02, Z:-0.24 [[ 9.97132757e-01 2.13253442e-02 7.26050611e-02 5.73078383e+00] [-2.15414090e-02 9.99765549e-01 2.19406379e-03 -2.04436057e-02] [-7.25412496e-02 -3.75178819e-03 9.97358356e-01 -2.43017635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.202260614999998 meters 0.03487409929645525 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.02, Z:-0.25 [[ 9.97288140e-01 1.70271263e-02 7.15991791e-02 5.76172765e+00] [-1.72262307e-02 9.99849275e-01 2.16420989e-03 -2.19627431e-02] [-7.15515371e-02 -3.39172484e-03 9.97431137e-01 -2.46000533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.232260615 meters 0.030716905176257348 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.03, Z:-0.25 [[ 9.97574945e-01 1.11893119e-02 6.86951907e-02 5.79244330e+00] [-1.13586622e-02 9.99933335e-01 2.07512002e-03 -2.53847290e-02] [-6.86673919e-02 -2.85037320e-03 9.97635537e-01 -2.50865521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.262260614999999 meters 0.029403998834670254 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.03, Z:-0.25 [[ 9.97717582e-01 9.36084357e-03 6.68730180e-02 5.82424142e+00] [-9.51704253e-03 9.99952677e-01 2.01755634e-03 -2.53179311e-02] [-6.68509673e-02 -2.64938479e-03 9.97759454e-01 -2.53731328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.292260614999998 meters 0.027756608099187608 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.03, Z:-0.26 [[ 9.97848076e-01 7.23867606e-03 6.51676278e-02 5.85548725e+00] [-7.38215438e-03 9.99970828e-01 1.96115227e-03 -2.63981470e-02] [-6.51515306e-02 -2.43800951e-03 9.97872404e-01 -2.56419513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.322260615 meters 0.02375151442271795 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.03, Z:-0.26 [[ 9.97862109e-01 -6.47023612e-04 6.53513041e-02 5.88522438e+00] [ 5.19745856e-04 9.99997935e-01 1.96457565e-03 -2.89577644e-02] [-6.53524403e-02 -1.92640953e-03 9.97860385e-01 -2.55370065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.352260614999999 meters 0.017690238770709868 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.03, Z:-0.26 [[ 9.97893642e-01 -1.16997739e-02 6.38074809e-02 5.91558384e+00] [ 1.16010074e-02 9.99930866e-01 1.91816846e-03 -3.15083824e-02] [-6.38255118e-02 -1.17389706e-03 9.97960383e-01 -2.58111784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.382260615 meters 0.01575667885513139 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.03, Z:-0.26 [[ 9.98028553e-01 -1.75436101e-02 6.02596791e-02 5.94599968e+00] [ 1.74661956e-02 9.99845814e-01 1.81121405e-03 -3.03321662e-02] [-6.02821631e-02 -7.55136000e-04 9.98181091e-01 -2.61377948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.412260615 meters 0.01128130766498891 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.02, Z:-0.27 [[ 9.98292173e-01 -2.63531137e-02 5.21368397e-02 5.97661223e+00] [ 2.63072617e-02 9.99652678e-01 1.56563327e-03 -2.35469465e-02] [-5.21599907e-02 -1.91381954e-04 9.98638723e-01 -2.72240428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.442260614999999 meters 0.010758415171113854 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.01, Z:-0.28 [[ 9.98290350e-01 -2.93132020e-02 5.05679067e-02 6.00853902e+00] [ 2.92741448e-02 9.99570275e-01 1.51299773e-03 -1.48527449e-02] [-5.05905272e-02 -3.00788101e-05 9.98719479e-01 -2.76279498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.472260615 meters 0.010698829276271487 Centerline is valid? [True, True] Translation: X:6.04, Y:-0.01, Z:-0.28 [[ 9.98306689e-01 -3.09270423e-02 4.92673628e-02 6.04109165e+00] [ 3.08926809e-02 9.99521642e-01 1.45894117e-03 -6.61270899e-03] [-4.92889162e-02 6.55301844e-05 9.98784561e-01 -2.79724745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.502260614999999 meters 0.010938262862866716 Centerline is valid? [True, True] Translation: X:6.07, Y:0.00, Z:-0.29 [[ 9.98401725e-01 -3.11495737e-02 4.71561163e-02 6.07283889e+00] [ 3.11191050e-02 9.99514730e-01 1.38030171e-03 4.82559296e-03] [-4.71762287e-02 8.93605309e-05 9.98886578e-01 -2.86566585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.532260614999998 meters 0.010894501998183427 Centerline is valid? [True, True] Translation: X:6.11, Y:0.01, Z:-0.29 [[ 9.98505183e-01 -2.98958884e-02 4.57562599e-02 6.10525935e+00] [ 2.98663335e-02 9.99553017e-01 1.32958122e-03 1.01615250e-02] [-4.57755567e-02 3.89779838e-05 9.98951749e-01 -2.90589856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.562260615 meters 0.010981789875208795 Centerline is valid? [True, True] Translation: X:6.14, Y:0.02, Z:-0.29 [[ 9.98412881e-01 -2.77612828e-02 4.90003030e-02 6.13848487e+00] [ 2.77257169e-02 9.99614580e-01 1.40550593e-03 2.21216667e-02] [-4.90204359e-02 -4.47066955e-05 9.98797775e-01 -2.89719960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.592260614999999 meters 0.011446728544177514 Centerline is valid? [True, True] Translation: X:6.17, Y:0.03, Z:-0.29 [[ 9.98236427e-01 -2.57418724e-02 5.34919838e-02 6.17057661e+00] [ 2.56976699e-02 9.99668614e-01 1.51409216e-03 2.86376691e-02] [-5.35132328e-02 -1.36802610e-04 9.98567131e-01 -2.86167832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.622260614999998 meters 0.013078648228841312 Centerline is valid? [True, True] Translation: X:6.20, Y:0.04, Z:-0.27 [[ 9.97660894e-01 -2.34517102e-02 6.42087101e-02 6.20249890e+00] [ 2.33847134e-02 9.99724929e-01 1.79485312e-03 4.02934564e-02] [-6.42331405e-02 -2.89152482e-04 9.97934878e-01 -2.72225030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.652260615 meters 0.013529341701987593 Centerline is valid? [True, True] Translation: X:6.23, Y:0.05, Z:-0.27 [[ 9.97482710e-01 -2.44089170e-02 6.65766262e-02 6.23399369e+00] [ 2.43403454e-02 9.99702035e-01 1.84104084e-03 4.61539822e-02] [-6.66017264e-02 -2.15908334e-04 9.97779617e-01 -2.67878673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.682260614999999 meters 0.01298964715259079 Centerline is valid? [True, True] Translation: X:6.27, Y:0.05, Z:-0.27 [[ 9.97459929e-01 -3.01574423e-02 6.45307633e-02 6.26577799e+00] [ 3.01062568e-02 9.99545144e-01 1.76567419e-03 5.29792344e-02] [-6.45546593e-02 1.81590477e-04 9.97914156e-01 -2.69646947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.712260614999998 meters 0.01336519981105628 Centerline is valid? [True, True] Translation: X:6.30, Y:0.06, Z:-0.27 [[ 9.97488959e-01 -3.23708667e-02 6.29913025e-02 6.29724146e+00] [ 3.23277114e-02 9.99475870e-01 1.70444166e-03 5.58536473e-02] [-6.30134611e-02 3.36202915e-04 9.98012621e-01 -2.71308747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.742260615 meters 0.0149272175036328 Centerline is valid? [True, True] Translation: X:6.33, Y:0.06, Z:-0.27 [[ 9.97222986e-01 -3.66441367e-02 6.48345848e-02 6.32883185e+00] [ 3.66086876e-02 9.99328171e-01 1.73508330e-03 6.14035973e-02] [-6.48546077e-02 6.43244113e-04 9.97894517e-01 -2.73762401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.772260614999999 meters 0.016465033585928667 Centerline is valid? [True, True] Translation: X:6.36, Y:0.06, Z:-0.28 [[ 9.97061892e-01 -3.96108722e-02 6.55634261e-02 6.36010309e+00] [ 3.95822932e-02 9.99214807e-01 1.73532448e-03 6.45449834e-02] [-6.55806838e-02 8.64924850e-04 9.97846895e-01 -2.75417690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.802260615 meters 0.01865869736646456 Centerline is valid? [True, True] Translation: X:6.39, Y:0.08, Z:-0.28 [[ 9.96864665e-01 -4.43941322e-02 6.54980976e-02 6.39218619e+00] [ 4.43771813e-02 9.99013377e-01 1.71436968e-03 7.66701367e-02] [-6.55095836e-02 1.19762639e-03 9.97851221e-01 -2.77660154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.832260615 meters 0.01966614158400645 Centerline is valid? [True, True] Translation: X:6.42, Y:0.08, Z:-0.28 [[ 9.96775575e-01 -4.67393882e-02 6.52217945e-02 6.42434188e+00] [ 4.67289012e-02 9.98906184e-01 1.68711279e-03 8.31730603e-02] [-6.52293084e-02 1.36606997e-03 9.97869366e-01 -2.79556114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.862260614999999 meters 0.023533086307763046 Centerline is valid? [True, True] Translation: X:6.46, Y:0.09, Z:-0.28 [[ 9.96581974e-01 -5.12779342e-02 6.47683798e-02 6.45538804e+00] [ 5.12784249e-02 9.98683023e-01 1.65587609e-03 9.07289376e-02] [-6.47679912e-02 1.67100424e-03 9.97898950e-01 -2.81159072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.892260615 meters 0.023584535746149916 Centerline is valid? [True, True] Translation: X:6.49, Y:0.10, Z:-0.29 [[ 9.96496135e-01 -5.32462678e-02 6.45002895e-02 6.48762341e+00] [ 5.32520736e-02 9.98579771e-01 1.63038494e-03 9.80758101e-02] [-6.44954962e-02 1.81010188e-03 9.97916356e-01 -2.85177302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.922260614999999 meters 0.024286341834379097 Centerline is valid? [True, True] Translation: X:6.52, Y:0.11, Z:-0.29 [[ 9.96423652e-01 -5.42220114e-02 6.48064682e-02 6.51918105e+00] [ 5.42312225e-02 9.98527093e-01 1.61827392e-03 1.13789389e-01] [-6.47987603e-02 1.90204758e-03 9.97896539e-01 -2.87363740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.952260614999998 meters 0.023212062278354713 Centerline is valid? [True, True] Translation: X:6.55, Y:0.13, Z:-0.29 [[ 9.96420910e-01 -5.23135381e-02 6.63977746e-02 6.55111519e+00] [ 5.23203636e-02 9.98629010e-01 1.63728941e-03 1.26824534e-01] [-6.63923963e-02 1.84252631e-03 9.97791890e-01 -2.86963175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.982260615 meters 0.02032791661181372 Centerline is valid? [True, True] Translation: X:6.58, Y:0.16, Z:-0.28 [[ 9.96697462e-01 -4.46397605e-02 6.78340764e-02 6.58117041e+00] [ 4.46301767e-02 9.99002202e-01 1.65750291e-03 1.55970800e-01] [-6.78403822e-02 1.37541788e-03 9.97695239e-01 -2.82589716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.012260614999999 meters 0.018382752954518265 Centerline is valid? [True, True] Translation: X:6.61, Y:0.17, Z:-0.28 [[ 9.96893803e-01 -3.93177603e-02 6.82411812e-02 6.61354560e+00] [ 3.92958421e-02 9.99226235e-01 1.66404053e-03 1.72141409e-01] [-6.82538048e-02 1.02272299e-03 9.97667466e-01 -2.81905108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.042260614999998 meters 0.015726190772469492 Centerline is valid? [True, True] Translation: X:6.64, Y:0.20, Z:-0.28 [[ 9.97191927e-01 -2.78593845e-02 6.95134246e-02 6.64495908e+00] [ 2.78096871e-02 9.99611819e-01 1.68276243e-03 1.95097931e-01] [-6.95333216e-02 2.55109474e-04 9.97579597e-01 -2.80410380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.072260615 meters 0.01563800258011146 Centerline is valid? [True, True] Translation: X:6.68, Y:0.20, Z:-0.28 [[ 9.97278026e-01 -2.18308207e-02 7.04269436e-02 6.67813947e+00] [ 2.17664208e-02 9.99761669e-01 1.68180712e-03 2.00556983e-01] [-7.04468739e-02 -1.44286790e-04 9.97515522e-01 -2.81601157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.102260614999999 meters 0.01800138390954602 Centerline is valid? [True, True] Translation: X:6.71, Y:0.22, Z:-0.28 [[ 9.97538009e-01 -8.77634432e-03 6.95765468e-02 6.70946801e+00] [ 8.68337039e-03 9.99960956e-01 1.63862184e-03 2.15967667e-01] [-6.95882114e-02 -1.03042864e-03 9.97575270e-01 -2.82646491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.132260614999998 meters 0.019842717619135964 Centerline is valid? [True, True] Translation: X:6.74, Y:0.23, Z:-0.28 [[ 9.97585455e-01 -2.85880257e-03 6.93908283e-02 6.74100286e+00] [ 2.75342105e-03 9.99994906e-01 1.61426551e-03 2.28045803e-01] [-6.93950897e-02 -1.41930563e-03 9.97588245e-01 -2.83032942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.162260615 meters 0.02544325698803895 Centerline is valid? [True, True] Translation: X:6.77, Y:0.25, Z:-0.28 [[ 9.97391289e-01 9.35266912e-03 7.15761414e-02 6.77095809e+00] [-9.49517624e-03 9.99953557e-01 1.65098744e-03 2.49915238e-01] [-7.15573761e-02 -2.32630857e-03 9.97433772e-01 -2.82203034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.192260614999999 meters 0.02802629740889695 Centerline is valid? [True, True] Translation: X:6.80, Y:0.26, Z:-0.28 [[ 9.97227037e-01 1.62165735e-02 7.26309764e-02 6.80221662e+00] [-1.63813670e-02 9.99864415e-01 1.67376687e-03 2.58623394e-01] [-7.25939860e-02 -2.85892026e-03 9.97357478e-01 -2.83181141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.222260615 meters 0.03461216025135649 Centerline is valid? [True, True] Translation: X:6.83, Y:0.27, Z:-0.29 [[ 9.97206065e-01 2.77894382e-02 6.93383826e-02 6.83158307e+00] [-2.79673284e-02 9.99607564e-01 1.59589651e-03 2.74825022e-01] [-6.92668226e-02 -3.53064699e-03 9.97591921e-01 -2.89236110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.252260614999999 meters 0.03683579928420828 Centerline is valid? [True, True] Translation: X:6.86, Y:0.28, Z:-0.29 [[ 9.97290026e-01 3.08769528e-02 6.67773794e-02 6.86221886e+00] [-3.10485939e-02 9.99516699e-01 1.53379893e-03 2.80857568e-01] [-6.66977468e-02 -3.60298610e-03 9.97766721e-01 -2.94099201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.282260614999998 meters 0.03825357635218857 Centerline is valid? [True, True] Translation: X:6.89, Y:0.29, Z:-0.30 [[ 9.97398996e-01 3.23630019e-02 6.44040267e-02 6.89303727e+00] [-3.25249017e-02 9.99469849e-01 1.46667278e-03 2.89570713e-01] [-6.43224169e-02 -3.55759260e-03 9.97922828e-01 -2.99670352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.312260615 meters 0.03731605058040007 Centerline is valid? [True, True] Translation: X:6.92, Y:0.29, Z:-0.30 [[ 9.97359835e-01 3.20362072e-02 6.51693245e-02 6.92488111e+00] [-3.21999961e-02 9.99480373e-01 1.46422452e-03 2.91536132e-01] [-6.50885526e-02 -3.55881072e-03 9.97873146e-01 -3.00851064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.342260614999999 meters 0.03329222996615019 Centerline is valid? [True, True] Translation: X:6.95, Y:0.29, Z:-0.30 [[ 9.97528400e-01 2.41268593e-02 6.59923100e-02 6.95482576e+00] [-2.42765774e-02 9.99704203e-01 1.46763708e-03 2.90357748e-01] [-6.59373802e-02 -3.06607709e-03 9.97819052e-01 -3.02324164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.372260614999998 meters 0.028375255748877504 Centerline is valid? [True, True] Translation: X:6.99, Y:0.28, Z:-0.31 [[ 9.97791288e-01 1.50651701e-02 6.46961077e-02 6.98569166e+00] [-1.51900499e-02 9.99883589e-01 1.43877452e-03 2.84466228e-01] [-6.46669010e-02 -2.41833378e-03 9.97903975e-01 -3.05418899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.402260615 meters 0.016415571928684 Centerline is valid? [True, True] Translation: X:7.02, Y:0.26, Z:-0.31 [[ 9.98117585e-01 -8.90908901e-03 6.06787812e-02 7.01659854e+00] [ 8.84350685e-03 9.99959985e-01 1.34928249e-03 2.64814231e-01] [-6.06883740e-02 -8.10129360e-04 9.98156433e-01 -3.11992467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.432260614999999 meters 0.014388898037767396 Centerline is valid? [True, True] Translation: X:7.05, Y:0.25, Z:-0.32 [[ 9.98070844e-01 -2.03996540e-02 5.86382438e-02 7.04749060e+00] [ 2.03582852e-02 9.99791900e-01 1.30286715e-03 2.54340068e-01] [-5.86526192e-02 -1.06579619e-04 9.98278448e-01 -3.15195377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.462260614999998 meters 0.016202288562252032 Centerline is valid? [True, True] Translation: X:7.08, Y:0.24, Z:-0.32 [[ 9.98000274e-01 -3.44613002e-02 5.29893470e-02 7.07838262e+00] [ 3.44474804e-02 9.99405819e-01 1.17436998e-03 2.38408942e-01] [-5.29983321e-02 6.53327929e-04 9.98594387e-01 -3.22776848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.492260615 meters 0.01637297059761816 Centerline is valid? [True, True] Translation: X:7.11, Y:0.24, Z:-0.32 [[ 9.97973149e-01 -3.44272352e-02 5.35197065e-02 7.11085086e+00] [ 3.44136393e-02 9.99406984e-01 1.17585391e-03 2.43694315e-01] [-5.35284499e-02 6.68337246e-04 9.98566101e-01 -3.23918239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.522260614999999 meters 0.016203896050542142 Centerline is valid? [True, True] Translation: X:7.14, Y:0.25, Z:-0.32 [[ 9.97799126e-01 -3.27005346e-02 5.76851753e-02 7.14283936e+00] [ 3.26830206e-02 9.99464989e-01 1.24728899e-03 2.48200391e-01] [-5.76951001e-02 6.40781906e-04 9.98334045e-01 -3.21924414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.552260614999998 meters 0.016953025644287526 Centerline is valid? [True, True] Translation: X:7.17, Y:0.25, Z:-0.32 [[ 9.97611964e-01 -3.13334346e-02 6.15514849e-02 7.17380753e+00] [ 3.13119875e-02 9.99508797e-01 1.31321170e-03 2.49720053e-01] [-6.15623980e-02 6.17223626e-04 9.98103046e-01 -3.17918372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.582260615 meters 0.016504015815738713 Centerline is valid? [True, True] Translation: X:7.21, Y:0.26, Z:-0.32 [[ 9.97393830e-01 -3.05708305e-02 6.53526810e-02 7.20614756e+00] [ 3.05458935e-02 9.99532411e-01 1.38097206e-03 2.58068043e-01] [-6.53643403e-02 6.18883025e-04 9.97861273e-01 -3.15985284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.612260614999999 meters 0.016504015815738713 Centerline is valid? [True, True] Translation: X:7.24, Y:0.26, Z:-0.32 [[ 9.97404481e-01 -3.02203901e-02 6.53531170e-02 7.23871859e+00] [ 3.01960712e-02 9.99543069e-01 1.36007003e-03 2.58569374e-01] [-6.53643570e-02 6.16867429e-04 9.97861273e-01 -3.17501518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.642260615 meters 0.016516416402265137 Centerline is valid? [True, True] Translation: X:7.27, Y:0.26, Z:-0.32 [[ 9.97426492e-01 -2.95215360e-02 6.53366126e-02 7.27051126e+00] [ 2.94972019e-02 9.99563968e-01 1.33727531e-03 2.64612154e-01] [-6.53476022e-02 5.93413438e-04 9.97862385e-01 -3.17070246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.672260614999999 meters 0.01601082256372448 Centerline is valid? [True, True] Translation: X:7.30, Y:0.28, Z:-0.31 [[ 9.97369022e-01 -2.56072041e-02 6.78181769e-02 7.30289053e+00] [ 2.55734573e-02 9.99672013e-01 1.36587437e-03 2.79367069e-01] [-6.78309096e-02 3.72064473e-04 9.97696762e-01 -3.13495255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.702260614999998 meters 0.015627023373485777 Centerline is valid? [True, True] Translation: X:7.34, Y:0.29, Z:-0.31 [[ 9.97356072e-01 -2.25927153e-02 6.90683417e-02 7.33525431e+00] [ 2.25519617e-02 9.99744734e-01 1.36983438e-03 2.86399636e-01] [-6.90816591e-02 1.91413961e-04 9.97610990e-01 -3.13860401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.732260615 meters 0.015951944247576007 Centerline is valid? [True, True] Translation: X:7.37, Y:0.30, Z:-0.31 [[ 9.97467322e-01 -1.32088039e-02 6.98889777e-02 7.36617069e+00] [ 1.31455277e-02 9.99912662e-01 1.36525093e-03 2.99384461e-01] [-6.99009071e-02 -4.43065700e-04 9.97553842e-01 -3.14828442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.762260614999999 meters 0.016352444476703212 Centerline is valid? [True, True] Translation: X:7.40, Y:0.30, Z:-0.32 [[ 9.97585819e-01 -7.38137148e-03 6.90510543e-02 7.39787476e+00] [ 7.30704070e-03 9.99972420e-01 1.32898360e-03 3.04726169e-01] [-6.90589596e-02 -8.21216330e-04 9.97612242e-01 -3.19105445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.792260614999998 meters 0.01987453875046824 Centerline is valid? [True, True] Translation: X:7.43, Y:0.32, Z:-0.32 [[ 9.97537315e-01 2.81452492e-03 7.00812646e-02 7.42814979e+00] [-2.91508171e-03 9.99994863e-01 1.33262883e-03 3.18729537e-01] [-7.00771539e-02 -1.53363959e-03 9.97540395e-01 -3.17687517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.822260615 meters 0.02061647066975461 Centerline is valid? [True, True] Translation: X:7.46, Y:0.32, Z:-0.32 [[ 9.97530294e-01 6.70205105e-03 6.99170567e-02 7.46030037e+00] [-6.81096073e-03 9.99975935e-01 1.31941913e-03 3.24118775e-01] [-6.99065313e-02 -1.79236288e-03 9.97551936e-01 -3.19407009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.852260614999999 meters 0.024228571508514752 Centerline is valid? [True, True] Translation: X:7.49, Y:0.33, Z:-0.33 [[ 9.98127149e-01 1.38612199e-02 5.95823950e-02 7.49145659e+00] [-1.39519732e-02 9.99902053e-01 1.10739025e-03 3.32703759e-01] [-5.95612093e-02 -1.93660826e-03 9.98222777e-01 -3.29737969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.882260614999998 meters 0.02629701038587508 Centerline is valid? [True, True] Translation: X:7.52, Y:0.33, Z:-0.34 [[ 9.98370743e-01 1.65678828e-02 5.46018841e-02 7.52213967e+00] [-1.66472497e-02 9.99860926e-01 9.99021725e-04 3.34689670e-01] [-5.45777388e-02 -1.90636526e-03 9.98507705e-01 -3.37006440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.912260615 meters 0.027679484837919502 Centerline is valid? [True, True] Translation: X:7.55, Y:0.33, Z:-0.34 [[ 9.98194878e-01 1.73870112e-02 5.74863207e-02 7.55315979e+00] [-1.74757074e-02 9.99846747e-01 1.04050890e-03 3.33537389e-01] [-5.74594194e-02 -2.04324478e-03 9.98345752e-01 -3.36776679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.942260614999999 meters 0.026183330789402562 Centerline is valid? [True, True] Translation: X:7.59, Y:0.32, Z:-0.33 [[ 9.97706683e-01 1.57829150e-02 6.58200105e-02 7.58577657e+00] [-1.58944012e-02 9.99872991e-01 1.17046157e-03 3.24677805e-01] [-6.57931775e-02 -2.21394699e-03 9.97830825e-01 -3.30466710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.972260614999998 meters 0.023307365785807527 Centerline is valid? [True, True] Translation: X:7.62, Y:0.31, Z:-0.33 [[ 9.97661347e-01 1.24645658e-02 6.72046899e-02 7.61784322e+00] [-1.25718874e-02 9.99920281e-01 1.17423375e-03 3.13920428e-01] [-6.71846961e-02 -2.01637742e-03 9.97738518e-01 -3.32474617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.002260614999999 meters 0.021205219568468915 Centerline is valid? [True, True] Translation: X:7.65, Y:0.30, Z:-0.34 [[ 9.97825690e-01 6.91450749e-03 6.55444999e-02 7.64883561e+00] [-7.00363803e-03 9.99974836e-01 1.13017065e-03 3.03850233e-01] [-6.55350359e-02 -1.58676326e-03 9.97849007e-01 -3.35183381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.032260614999998 meters 0.01564836451295312 Centerline is valid? [True, True] Translation: X:7.68, Y:0.28, Z:-0.34 [[ 9.97693202e-01 -1.19828432e-02 6.68183117e-02 7.68047301e+00] [ 1.19326959e-02 9.99928142e-01 1.14957390e-03 2.81914168e-01] [-6.68272854e-02 -3.49599474e-04 9.97764497e-01 -3.35326370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.062260615 meters 0.017210528562296355 Centerline is valid? [True, True] Translation: X:7.71, Y:0.27, Z:-0.33 [[ 9.97347828e-01 -2.59219400e-02 6.80100161e-02 7.71162706e+00] [ 2.59026412e-02 9.99663791e-01 1.16573729e-03 2.65264311e-01] [-6.80173686e-02 5.98993486e-04 9.97683957e-01 -3.34382355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.092260614999999 meters 0.01712739312785564 Centerline is valid? [True, True] Translation: X:7.74, Y:0.26, Z:-0.34 [[ 9.97389467e-01 -2.77012252e-02 6.66850349e-02 7.74436844e+00] [ 2.76875847e-02 9.99615988e-01 1.12892241e-03 2.59681651e-01] [-6.66906996e-02 7.20372231e-04 9.97773437e-01 -3.39674687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.122260614999998 meters 0.016222899090310963 Centerline is valid? [True, True] Translation: X:7.78, Y:0.25, Z:-0.35 [[ 9.97936452e-01 -2.70130513e-02 5.82505956e-02 7.77552950e+00] [ 2.70023333e-02 9.99634899e-01 9.71252474e-04 2.53433089e-01] [-5.82555648e-02 6.03653751e-04 9.98301520e-01 -3.49937718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.152260615 meters 0.015713424618703797 Centerline is valid? [True, True] Translation: X:7.81, Y:0.25, Z:-0.35 [[ 9.98171493e-01 -2.52746843e-02 5.49077403e-02 7.80689839e+00] [ 2.52627679e-02 9.99680430e-01 9.11211017e-04 2.53582758e-01] [-5.49132240e-02 4.77576635e-04 9.98491016e-01 -3.54869649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.182260614999999 meters 0.015281152750974589 Centerline is valid? [True, True] Translation: X:7.84, Y:0.26, Z:-0.36 [[ 9.98331366e-01 -2.29943047e-02 5.29692940e-02 7.83856057e+00] [ 2.29807863e-02 9.99735533e-01 8.64342552e-04 2.55384589e-01] [-5.29751603e-02 3.54375748e-04 9.98595767e-01 -3.57017241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.212260614999998 meters 0.014455127125277611 Centerline is valid? [True, True] Translation: X:7.87, Y:0.26, Z:-0.36 [[ 9.98615462e-01 -2.00821135e-02 4.86196238e-02 7.87029734e+00] [ 2.00679332e-02 9.99798315e-01 7.79826135e-04 2.62510778e-01] [-4.86254785e-02 1.96948925e-04 9.98817062e-01 -3.62746831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.242260615 meters 0.014437800181204715 Centerline is valid? [True, True] Translation: X:7.90, Y:0.27, Z:-0.37 [[ 9.98796147e-01 -1.92142787e-02 4.51338990e-02 7.90203680e+00] [ 1.92017540e-02 9.99815376e-01 7.11070673e-04 2.65248360e-01] [-4.51392290e-02 1.56435377e-04 9.98980693e-01 -3.67822440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.272260614999999 meters 0.014572969302880009 Centerline is valid? [True, True] Translation: X:7.93, Y:0.28, Z:-0.37 [[ 9.99033450e-01 -1.70560876e-02 4.05124249e-02 7.93440541e+00] [ 1.70446929e-02 9.99854532e-01 6.26676821e-04 2.75062778e-01] [-4.05172203e-02 6.44507335e-05 9.99178838e-01 -3.74322675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.302260614999998 meters 0.014553761081815603 Centerline is valid? [True, True] Translation: X:7.97, Y:0.28, Z:-0.38 [[ 9.99073170e-01 -1.57685792e-02 4.00518771e-02 7.96636689e+00] [ 1.57569668e-02 9.99875668e-01 6.05610918e-04 2.79267960e-01] [-4.00564470e-02 2.60464791e-05 9.99197418e-01 -3.77035196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.332260615 meters 0.014406077616374649 Centerline is valid? [True, True] Translation: X:8.00, Y:0.28, Z:-0.38 [[ 9.99031741e-01 -1.36678544e-02 4.18182991e-02 7.99906722e+00] [ 1.36539437e-02 9.99906589e-01 6.18256606e-04 2.83404930e-01] [-4.18228430e-02 -4.66732703e-05 9.99125041e-01 -3.77587206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.362260614999999 meters 0.015222763026106801 Centerline is valid? [True, True] Translation: X:8.03, Y:0.29, Z:-0.38 [[ 9.99052202e-01 -6.37688276e-03 4.30584758e-02 8.03036084e+00] [ 6.35605520e-03 9.99979608e-01 6.20592663e-04 2.92792958e-01] [-4.30615552e-02 -3.46322418e-04 9.99072361e-01 -3.77232777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.392260614999998 meters 0.016465113286714274 Centerline is valid? [True, True] Translation: X:8.06, Y:0.30, Z:-0.38 [[ 9.99078519e-01 -1.04909080e-03 4.29070217e-02 8.06298062e+00] [ 1.02401701e-03 9.99999292e-01 6.06349706e-04 2.98933484e-01] [-4.29076274e-02 -5.61853446e-04 9.99078886e-01 -3.77778253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.422260614999999 meters 0.019264388723524893 Centerline is valid? [True, True] Translation: X:8.09, Y:0.31, Z:-0.38 [[ 9.99100421e-01 5.53315240e-03 4.20444239e-02 8.09390879e+00] [-5.56251114e-03 9.99984360e-01 5.81322346e-04 3.10135390e-01] [-4.20405498e-02 -8.14671977e-04 9.99115573e-01 -3.76758131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.452260614999998 meters 0.017756700805242533 Centerline is valid? [True, True] Translation: X:8.13, Y:0.31, Z:-0.37 [[ 9.98924443e-01 4.08804642e-03 4.61870594e-02 8.12664194e+00] [-4.12127369e-03 9.99991313e-01 6.24203367e-04 3.08489181e-01] [-4.61841064e-02 -8.13881514e-04 9.98932613e-01 -3.74095881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.482260615 meters 0.0169290734321783 Centerline is valid? [True, True] Translation: X:8.16, Y:0.30, Z:-0.37 [[ 9.98638817e-01 1.77581053e-03 5.21282927e-02 8.15826298e+00] [-1.81408797e-03 9.99998119e-01 6.86987349e-04 3.04106345e-01] [-5.21269746e-02 -7.80617542e-04 9.98640160e-01 -3.70856896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.512260614999999 meters 0.016098190793654925 Centerline is valid? [True, True] Translation: X:8.19, Y:0.30, Z:-0.36 [[ 9.98082509e-01 -2.30637382e-03 6.18545610e-02 8.19071996e+00] [ 2.26117471e-03 9.99997123e-01 8.00721256e-04 2.95571234e-01] [-6.18562298e-02 -6.59321911e-04 9.98084852e-01 -3.61680181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.542260614999998 meters 0.01645597889685058 Centerline is valid? [True, True] Translation: X:8.22, Y:0.30, Z:-0.36 [[ 9.98107991e-01 -1.76079474e-03 6.14600566e-02 8.22285760e+00] [ 1.71630157e-03 9.99998226e-01 7.76720847e-04 2.98332862e-01] [-6.14613152e-02 -6.69767292e-04 9.98109242e-01 -3.59402003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.572260615 meters 0.016065337886108384 Centerline is valid? [True, True] Translation: X:8.25, Y:0.31, Z:-0.36 [[ 9.98506433e-01 3.46071392e-04 5.46331810e-02 8.25444109e+00] [-3.83498140e-04 9.99999699e-01 6.74573053e-04 3.08640650e-01] [-5.46329311e-02 -6.94517256e-04 9.98506265e-01 -3.64713763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.602260614999999 meters 0.01568292615830338 Centerline is valid? [True, True] Translation: X:8.29, Y:0.31, Z:-0.37 [[ 9.98629002e-01 -3.03102703e-05 5.23461147e-02 8.28637630e+00] [-2.71090662e-06 9.99999801e-01 6.30752719e-04 3.12105084e-01] [-5.23461234e-02 -6.30029864e-04 9.98628803e-01 -3.67259520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.632260614999998 meters 0.014666026258391225 Centerline is valid? [True, True] Translation: X:8.32, Y:0.31, Z:-0.37 [[ 9.98544400e-01 -4.16012628e-03 5.37752161e-02 8.31758261e+00] [ 4.13216941e-03 9.99991263e-01 6.31058635e-04 3.11676007e-01] [-5.37773716e-02 -4.07931763e-04 9.98552867e-01 -3.69436389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.662260615 meters 0.014120483683365884 Centerline is valid? [True, True] Translation: X:8.35, Y:0.31, Z:-0.37 [[ 9.98494602e-01 -7.74972321e-03 5.42998249e-02 8.34920793e+00] [ 7.72736688e-03 9.99969950e-01 6.21663318e-04 3.07473349e-01] [-5.43030109e-02 -2.01132799e-04 9.98524483e-01 -3.72542877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.692260614999999 meters 0.013973413031592958 Centerline is valid? [True, True] Translation: X:8.38, Y:0.30, Z:-0.38 [[ 9.98462404e-01 -1.14051328e-02 5.42471208e-02 8.38202857e+00] [ 1.13890602e-02 9.99934959e-01 6.05426262e-04 3.04359904e-01] [-5.42504975e-02 1.33283611e-05 9.98527357e-01 -3.75540521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.722260614999998 meters 0.015457941502420202 Centerline is valid? [True, True] Translation: X:8.41, Y:0.31, Z:-0.38 [[ 9.98330892e-01 -2.05337644e-02 5.39795823e-02 8.41454187e+00] [ 2.05321525e-02 9.99789022e-01 5.84481052e-04 3.05455150e-01] [-5.39801954e-02 5.24811527e-04 9.98541868e-01 -3.75331606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.752260614999999 meters 0.016420525106999793 Centerline is valid? [True, True] Translation: X:8.45, Y:0.31, Z:-0.37 [[ 9.98223074e-01 -2.36239761e-02 5.47046746e-02 8.44719615e+00] [ 2.36278513e-02 9.99720657e-01 5.76012285e-04 3.10477528e-01] [-5.47030009e-02 7.17565161e-04 9.98502412e-01 -3.73845322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.782260614999998 meters 0.016649009350473188 Centerline is valid? [True, True] Translation: X:8.48, Y:0.32, Z:-0.37 [[ 9.98187078e-01 -2.41317431e-02 5.51381535e-02 8.47856598e+00] [ 2.41373077e-02 9.99708493e-01 5.65123764e-04 3.22069007e-01] [-5.51357178e-02 7.66787338e-04 9.98478575e-01 -3.70180802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.812260614999998 meters 0.015702485216973833 Centerline is valid? [True, True] Translation: X:8.51, Y:0.33, Z:-0.37 [[ 9.98234046e-01 -2.11191161e-02 5.55227229e-02 8.51111944e+00] [ 2.11206749e-02 9.99776778e-01 5.58782305e-04 3.28751595e-01] [-5.55221299e-02 6.14881858e-04 9.98457267e-01 -3.70880831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.842260614999999 meters 0.014264224636227568 Centerline is valid? [True, True] Translation: X:8.54, Y:0.34, Z:-0.37 [[ 9.98278036e-01 -1.61152788e-02 5.64026573e-02 8.54333589e+00] [ 1.61098627e-02 9.99870076e-01 5.50736323e-04 3.37380241e-01] [-5.64042046e-02 3.58851089e-04 9.98407951e-01 -3.71955057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.872260614999998 meters 0.013465797494707554 Centerline is valid? [True, True] Translation: X:8.57, Y:0.36, Z:-0.37 [[ 9.98440928e-01 -5.66202615e-03 5.55306734e-02 8.57439632e+00] [ 5.64148820e-03 9.99983948e-01 5.26601787e-04 3.55885827e-01] [-5.55327637e-02 -2.12505138e-04 9.98456843e-01 -3.72456429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.902260615 meters 0.015845857143089337 Centerline is valid? [True, True] Translation: X:8.60, Y:0.38, Z:-0.37 [[ 9.98637693e-01 7.17147329e-03 5.16848857e-02 8.60492893e+00] [-7.20603273e-03 9.99973920e-01 4.82339317e-04 3.84103758e-01] [-5.16800787e-02 -8.54125201e-04 9.98663327e-01 -3.72906405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.932260614999999 meters 0.018159713506949688 Centerline is valid? [True, True] Translation: X:8.64, Y:0.40, Z:-0.37 [[ 9.98643105e-01 1.48067193e-02 4.99270442e-02 8.63647535e+00] [-1.48483541e-02 9.99889650e-01 4.63097653e-04 3.97890157e-01] [-4.99146778e-02 -1.20380371e-03 9.98752760e-01 -3.73701232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.962260614999998 meters 0.020974702356292337 Centerline is valid? [True, True] Translation: X:8.67, Y:0.41, Z:-0.38 [[ 9.98518655e-01 2.16838240e-02 4.99029860e-02 8.66715843e+00] [-2.17333671e-02 9.99763701e-01 4.50320486e-04 4.08993559e-01] [-4.98814293e-02 -1.53421332e-03 9.98753968e-01 -3.75039588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.992260615 meters 0.024562311944827664 Centerline is valid? [True, True] Translation: X:8.70, Y:0.42, Z:-0.38 [[ 9.98249580e-01 3.06949689e-02 5.05528999e-02 8.69759065e+00] [-3.07572932e-02 9.99526779e-01 4.55198597e-04 4.22649854e-01] [-5.05150049e-02 -2.00927217e-03 9.98721281e-01 -3.75994420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.022260614999999 meters 0.02521565923985303 Centerline is valid? [True, True] Translation: X:8.73, Y:0.43, Z:-0.38 [[ 9.98216612e-01 3.19199695e-02 5.04451373e-02 8.73000430e+00] [-3.19835233e-02 9.99488294e-01 4.52936519e-04 4.29247516e-01] [-5.04048665e-02 -2.06554198e-03 9.98726731e-01 -3.76368256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.052260614999998 meters 0.023411429988995452 Centerline is valid? [True, True] Translation: X:8.76, Y:0.44, Z:-0.38 [[ 9.98385103e-01 2.73624089e-02 4.97843903e-02 8.76160788e+00] [-2.74179832e-02 9.99623962e-01 4.33597726e-04 4.36336851e-01] [-4.97538052e-02 -1.79788509e-03 9.98759894e-01 -3.77420547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.082260615 meters 0.02153973873536086 Centerline is valid? [True, True] Translation: X:8.79, Y:0.44, Z:-0.38 [[ 9.98529756e-01 2.20684249e-02 4.95107113e-02 8.79211823e+00] [-2.21167457e-02 9.99755303e-01 4.28268148e-04 4.36047530e-01] [-4.94891450e-02 -1.52265430e-03 9.98773501e-01 -3.79207084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.112260614999999 meters 0.018008830057465685 Centerline is valid? [True, True] Translation: X:8.82, Y:0.43, Z:-0.38 [[ 9.98637467e-01 1.66120766e-02 4.94696808e-02 8.82405817e+00] [-1.66535253e-02 9.99861230e-01 4.25774886e-04 4.31356368e-01] [-4.94557429e-02 -1.24903933e-03 9.98775535e-01 -3.81769010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.142260614999998 meters 0.014409121342283017 Centerline is valid? [True, True] Translation: X:8.85, Y:0.43, Z:-0.38 [[ 9.98573863e-01 5.78220987e-03 5.30735860e-02 8.85403468e+00] [-5.81440760e-03 9.99982994e-01 4.52276157e-04 4.26046252e-01] [-5.30700683e-02 -7.60222611e-04 9.98590502e-01 -3.80605580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.172260614999999 meters 0.012886798004758422 Centerline is valid? [True, True] Translation: X:8.89, Y:0.42, Z:-0.38 [[ 9.98451180e-01 -8.25797974e-04 5.56287624e-02 8.88529301e+00] [ 8.00798997e-04 9.99999568e-01 4.71678905e-04 4.23461207e-01] [-5.56291278e-02 -4.26400902e-04 9.98451410e-01 -3.78461137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.202260614999998 meters 0.013918252575837101 Centerline is valid? [True, True] Translation: X:8.92, Y:0.41, Z:-0.37 [[ 9.98110433e-01 -1.71100259e-02 5.90153419e-02 8.91716528e+00] [ 1.71112766e-02 9.99853474e-01 4.84198647e-04 4.13212727e-01] [-5.90149793e-02 5.26544115e-04 9.98256958e-01 -3.74848361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.232260614999998 meters 0.015828609177114757 Centerline is valid? [True, True] Translation: X:8.95, Y:0.41, Z:-0.38 [[ 9.97984975e-01 -2.25891025e-02 5.92935236e-02 8.94937865e+00] [ 2.26009570e-02 9.99744455e-01 4.70783765e-04 4.09549838e-01] [-5.92890060e-02 8.70255255e-04 9.98240480e-01 -3.76306222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.262260614999999 meters 0.015143289048838968 Centerline is valid? [True, True] Translation: X:8.98, Y:0.41, Z:-0.38 [[ 9.97917122e-01 -2.01948107e-02 6.12665270e-02 8.98207964e+00] [ 2.02040923e-02 9.99795767e-01 4.68064743e-04 4.11557054e-01] [-6.12634669e-02 7.70744743e-04 9.98121332e-01 -3.80280416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.292260614999998 meters 0.013933092199034387 Centerline is valid? [True, True] Translation: X:9.01, Y:0.42, Z:-0.38 [[ 9.97932821e-01 -1.44375064e-02 6.26230201e-02 9.01404029e+00] [ 1.44371443e-02 9.99895674e-01 4.58299926e-04 4.16676212e-01] [-6.26231036e-02 4.46745037e-04 9.98037147e-01 -3.81399905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.322260615 meters 0.012949630732903849 Centerline is valid? [True, True] Translation: X:9.05, Y:0.44, Z:-0.37 [[ 9.97899765e-01 -4.07054830e-03 6.46489660e-02 9.04747026e+00] [ 4.04969886e-03 9.99991697e-01 4.53541028e-04 4.37139679e-01] [-6.46502754e-02 -1.90779641e-04 9.97907964e-01 -3.72760112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.352260614999999 meters 0.013244641657626451 Centerline is valid? [True, True] Translation: X:9.08, Y:0.45, Z:-0.37 [[ 9.97830380e-01 -2.04268376e-03 6.58054649e-02 9.08040960e+00] [ 2.01805151e-03 9.99997867e-01 4.40788549e-04 4.46822854e-01] [-6.58062249e-02 -3.07033388e-04 9.97832374e-01 -3.67088437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.382260614999998 meters 0.01310950580085409 Centerline is valid? [True, True] Translation: X:9.11, Y:0.45, Z:-0.37 [[ 9.97847739e-01 -9.82072229e-04 6.55661890e-02 9.11382122e+00] [ 9.56591892e-04 9.99999454e-01 4.20012760e-04 4.52059674e-01] [-6.55665657e-02 -3.56388698e-04 9.97848134e-01 -3.65543779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.412260615 meters 0.012766027984782118 Centerline is valid? [True, True] Translation: X:9.15, Y:0.45, Z:-0.38 [[ 9.98069087e-01 -1.27684039e-03 6.21004665e-02 9.14548282e+00] [ 1.25571317e-03 9.99999140e-01 3.79237030e-04 4.48845296e-01] [-6.21008973e-02 -3.00524382e-04 9.98069831e-01 -3.75150781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.442260614999999 meters 0.012330680597860895 Centerline is valid? [True, True] Translation: X:9.18, Y:0.44, Z:-0.39 [[ 9.98308432e-01 -4.15829496e-03 5.79912276e-02 9.17606984e+00] [ 4.14561756e-03 9.99991349e-01 3.38913563e-04 4.39683283e-01] [-5.79921353e-02 -9.79308160e-05 9.98317035e-01 -3.86398412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.472260614999998 meters 0.01218615048051132 Centerline is valid? [True, True] Translation: X:9.21, Y:0.44, Z:-0.39 [[ 9.98386404e-01 -4.39704836e-03 5.66149574e-02 9.20822248e+00] [ 4.38618266e-03 9.99990331e-01 3.16183375e-04 4.37442522e-01] [-5.66158002e-02 -6.73496388e-05 9.98396037e-01 -3.91484804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.502260614999999 meters 0.012057265558812633 Centerline is valid? [True, True] Translation: X:9.24, Y:0.44, Z:-0.40 [[ 9.98693093e-01 -3.06815721e-03 5.10165912e-02 9.23933336e+00] [ 3.05827696e-03 9.99995287e-01 2.71728633e-04 4.37145535e-01] [-5.10171844e-02 -1.15350644e-04 9.98697769e-01 -3.99416425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.532260614999998 meters 0.012057265558812633 Centerline is valid? [True, True] Translation: X:9.27, Y:0.44, Z:-0.40 [[ 9.98694029e-01 -2.74538122e-03 5.10166607e-02 9.27194610e+00] [ 2.73578043e-03 9.99996224e-01 2.58019169e-04 4.37151822e-01] [-5.10171764e-02 -1.18111822e-04 9.98697769e-01 -4.00932935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.562260614999998 meters 0.01223842772887435 Centerline is valid? [True, True] Translation: X:9.30, Y:0.44, Z:-0.40 [[ 9.98861617e-01 -1.10375625e-03 4.76891149e-02 9.30485384e+00] [ 1.09418663e-03 9.99999376e-01 2.26771431e-04 4.39055429e-01] [-4.76893354e-02 -1.74332487e-04 9.98862201e-01 -4.04755526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.592260614999999 meters 0.012325546847100972 Centerline is valid? [True, True] Translation: X:9.34, Y:0.44, Z:-0.41 [[ 9.99048515e-01 -2.04239780e-05 4.36126721e-02 9.33774907e+00] [ 1.19500205e-05 9.99999981e-01 1.94561053e-04 4.43850223e-01] [-4.36126753e-02 -1.93854759e-04 9.99048496e-01 -4.06080783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.622260614999998 meters 0.012118822252821222 Centerline is valid? [True, True] Translation: X:9.37, Y:0.44, Z:-0.41 [[ 9.99037847e-01 -3.10389360e-03 4.37463763e-02 9.37125438e+00] [ 3.09894140e-03 9.99995182e-01 1.81018281e-04 4.39997480e-01] [-4.37467274e-02 -4.52766575e-05 9.99042653e-01 -4.08361379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.652260614999998 meters 0.01567137189233491 Centerline is valid? [True, True] Translation: X:9.40, Y:0.42, Z:-0.41 [[ 9.98677694e-01 -1.93757194e-02 4.76176891e-02 9.40373467e+00] [ 1.93891141e-02 9.99811997e-01 1.80626106e-04 4.18556051e-01] [-4.76122366e-02 7.42877543e-04 9.98865618e-01 -4.12104236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.682260614999999 meters 0.01954093871082548 Centerline is valid? [True, True] Translation: X:9.44, Y:0.41, Z:-0.41 [[ 9.98439261e-01 -2.79285627e-02 4.83636023e-02 9.43513061e+00] [ 2.79525915e-02 9.99609234e-01 1.79563562e-04 4.09964209e-01] [-4.83497184e-02 1.17260471e-03 9.98829780e-01 -4.13847137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.712260614999998 meters 0.026418115394105157 Centerline is valid? [True, True] Translation: X:9.47, Y:0.40, Z:-0.41 [[ 9.98045854e-01 -3.95701122e-02 4.83599028e-02 9.46512914e+00] [ 3.96078675e-02 9.99215285e-01 1.77689748e-04 4.03914583e-01] [-4.83289852e-02 1.73809011e-03 9.98829960e-01 -4.11976432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.742260615 meters 0.02644718474346397 Centerline is valid? [True, True] Translation: X:9.50, Y:0.41, Z:-0.41 [[ 9.98031555e-01 -4.05429379e-02 4.78464826e-02 9.49764978e+00] [ 4.05810015e-02 9.99176236e-01 1.75982275e-04 4.08881987e-01] [-4.78142033e-02 1.76602232e-03 9.98854686e-01 -4.11604876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.772260614999999 meters 0.02044132939320017 Centerline is valid? [True, True] Translation: X:9.53, Y:0.43, Z:-0.41 [[ 9.98277592e-01 -3.09236991e-02 4.98555293e-02 9.52897296e+00] [ 3.09537421e-02 9.99520804e-01 1.69557290e-04 4.29155438e-01] [-4.98368820e-02 1.37394995e-03 9.98756425e-01 -4.05570844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.802260614999998 meters 0.01682347144239952 Centerline is valid? [True, True] Translation: X:9.56, Y:0.44, Z:-0.40 [[ 9.98429219e-01 -2.19811505e-02 5.15356618e-02 9.55918333e+00] [ 2.20013825e-02 9.99757925e-01 1.74758519e-04 4.40981004e-01] [-5.15270277e-02 9.59371797e-04 9.98671140e-01 -4.01775267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.832260615 meters 0.012469801028603443 Centerline is valid? [True, True] Translation: X:9.59, Y:0.46, Z:-0.40 [[ 9.98632865e-01 -1.91691076e-03 5.22372099e-02 9.58998745e+00] [ 1.91027768e-03 9.99998160e-01 1.76907584e-04 4.64985083e-01] [-5.22374529e-02 -7.68781517e-05 9.98634689e-01 -3.99115210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.862260614999999 meters 0.016357410448268765 Centerline is valid? [True, True] Translation: X:9.62, Y:0.49, Z:-0.40 [[ 9.98626926e-01 1.60278476e-02 4.98735457e-02 9.62147639e+00] [-1.60561542e-02 9.99871078e-01 1.66954423e-04 4.85843698e-01] [-4.98644399e-02 -9.67502522e-04 9.98755526e-01 -3.99286180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.892260614999998 meters 0.018588488434870442 Centerline is valid? [True, True] Translation: X:9.65, Y:0.49, Z:-0.40 [[ 9.98537728e-01 2.17663572e-02 4.94836518e-02 9.65361837e+00] [-2.18011546e-02 9.99762313e-01 1.63523993e-04 4.93422019e-01] [-4.94683309e-02 -1.24208562e-03 9.98774920e-01 -4.00233709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.922260614999999 meters 0.01997877203896371 Centerline is valid? [True, True] Translation: X:9.69, Y:0.50, Z:-0.40 [[ 9.98367754e-01 2.51746902e-02 5.12646390e-02 9.68568392e+00] [-2.52163075e-02 9.99682005e-01 1.65093260e-04 5.00063822e-01] [-5.12441809e-02 -1.45752869e-03 9.98685090e-01 -3.97095851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.952260614999998 meters 0.02181956090859762 Centerline is valid? [True, True] Translation: X:9.72, Y:0.51, Z:-0.39 [[ 9.97707365e-01 2.87930727e-02 6.12451793e-02 9.71663726e+00] [-2.88590035e-02 9.99583474e-01 1.92026465e-04 5.08373720e-01] [-6.12141400e-02 -1.95906106e-03 9.98122734e-01 -3.87582322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.982260614999998 meters 0.021377022496008882 Centerline is valid? [True, True] Translation: X:9.75, Y:0.51, Z:-0.39 [[ 9.97511869e-01 3.03377361e-02 6.36372008e-02 9.74896635e+00] [-3.04116143e-02 9.99537441e-01 1.92388109e-04 5.05740205e-01] [-6.36019282e-02 -2.12721943e-03 9.97973081e-01 -3.90054799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.012260614999999 meters 0.019806048379209344 Centerline is valid? [True, True] Translation: X:9.78, Y:0.50, Z:-0.40 [[ 9.97914240e-01 2.31607615e-02 6.02557007e-02 9.77846938e+00] [-2.32131429e-02 9.99730524e-01 1.69371464e-04 4.96304337e-01] [-6.02355405e-02 -1.56774238e-03 9.98182960e-01 -3.99659942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.042260614999998 meters 0.015569846928222079 Centerline is valid? [True, True] Translation: X:9.81, Y:0.49, Z:-0.40 [[ 9.98127027e-01 1.46986589e-02 5.93833931e-02 9.80859773e+00] [-1.47345727e-02 9.99891426e-01 1.66919513e-04 4.86424401e-01] [-5.93744921e-02 -1.04159580e-03 9.98235235e-01 -4.04172499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.072260614999998 meters 0.01313550540140424 Centerline is valid? [True, True] Translation: X:9.84, Y:0.47, Z:-0.40 [[ 9.97934261e-01 -2.02106417e-03 6.42115735e-02 9.84053329e+00] [ 2.01393067e-03 9.99997957e-01 1.75819221e-04 4.74438662e-01] [-6.42117976e-02 -4.61383670e-05 9.97936292e-01 -3.97667406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.102260614999999 meters 0.014099262623583273 Centerline is valid? [True, True] Translation: X:9.87, Y:0.47, Z:-0.39 [[ 9.97635787e-01 -7.25724962e-03 6.83386264e-02 9.87250046e+00] [ 7.26273164e-03 9.99973612e-01 1.68237471e-04 4.71341617e-01] [-6.83380440e-02 3.28485382e-04 9.97662169e-01 -3.93391981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.132260614999998 meters 0.014665219812235909 Centerline is valid? [True, True] Translation: X:9.90, Y:0.47, Z:-0.39 [[ 9.97357608e-01 -8.47119785e-03 7.21529026e-02 9.90461731e+00] [ 8.48192315e-03 9.99964015e-01 1.57754389e-04 4.72424280e-01] [-7.21516425e-02 4.54657835e-04 9.97393570e-01 -3.89611276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.162260615 meters 0.013981372727208707 Centerline is valid? [True, True] Translation: X:9.94, Y:0.48, Z:-0.39 [[ 9.97259476e-01 -1.76838089e-03 7.39622229e-02 9.93663235e+00] [ 1.76280810e-03 9.99998436e-01 1.40626489e-04 4.82303745e-01] [-7.39623559e-02 -9.85989294e-06 9.97261034e-01 -3.87623887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.192260614999999 meters 0.01379783026743222 Centerline is valid? [True, True] Translation: X:9.97, Y:0.49, Z:-0.39 [[ 9.97335455e-01 2.50258309e-03 7.29090282e-02 9.96808990e+00] [-2.51786327e-03 9.99996823e-01 1.17669576e-04 4.87682961e-01] [-7.29085022e-02 -3.00931004e-04 9.97338588e-01 -3.88788412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.222260614999998 meters 0.014192185491959455 Centerline is valid? [True, True] Translation: X:10.00, Y:0.50, Z:-0.39 [[ 9.97476274e-01 9.21087370e-03 7.04005908e-02 9.99986514e+00] [-9.24043607e-03 9.99957302e-01 9.42510145e-05 4.95459815e-01] [-7.03967167e-02 -7.44545309e-04 9.97518796e-01 -3.94710645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.252260614999999 meters 0.014367766810587235 Centerline is valid? [True, True] Translation: X:10.03, Y:0.50, Z:-0.40 [[ 9.97490334e-01 9.46011124e-03 7.01679401e-02 1.00322182e+01] [-9.48861189e-03 9.99954979e-01 7.28724343e-05 4.97261862e-01] [-7.01640917e-02 -7.38485900e-04 9.97535190e-01 -3.95817233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.282260614999998 meters 0.01439290720783602 Centerline is valid? [True, True] Translation: X:10.07, Y:0.50, Z:-0.40 [[ 9.97450875e-01 9.65805101e-03 7.06998847e-02 1.00651439e+01] [-9.68587169e-03 9.99953090e-01 5.06825100e-05 4.98632834e-01] [-7.06960787e-02 -7.35343326e-04 9.97497631e-01 -3.97102452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.312260614999998 meters 0.0143744291464971 Centerline is valid? [True, True] Translation: X:10.10, Y:0.50, Z:-0.40 [[ 9.97461493e-01 1.03072848e-02 7.04580073e-02 1.00977530e+01] [-1.03348740e-02 9.99946593e-01 2.70306032e-05 4.98960854e-01] [-7.04539658e-02 -7.55136615e-04 9.97514746e-01 -4.01781161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.342260614999999 meters 0.014482803672771202 Centerline is valid? [True, True] Translation: X:10.13, Y:0.50, Z:-0.40 [[ 9.97509750e-01 1.10322600e-02 6.96605152e-02 1.01294588e+01] [-1.10594799e-02 9.99938842e-01 5.07797804e-06 4.99895747e-01] [-6.96561989e-02 -7.75474401e-04 9.97570756e-01 -4.03800244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.372260614999998 meters 0.013385905667069143 Centerline is valid? [True, True] Translation: X:10.16, Y:0.50, Z:-0.41 [[ 9.97967818e-01 7.94684155e-03 6.32224841e-02 1.01599659e+01] [-7.96229913e-03 9.99968300e-01 -7.45548817e-06 4.97944473e-01] [-6.32205392e-02 -4.95955993e-04 9.97999458e-01 -4.12828739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.402260614999998 meters 0.01237926291130868 Centerline is valid? [True, True] Translation: X:10.19, Y:0.49, Z:-0.42 [[ 9.98201778e-01 3.21483422e-03 5.98571237e-02 1.01916668e+01] [-3.21985459e-03 9.99994816e-01 -1.25795908e-05 4.93021256e-01] [-5.98568539e-02 -1.80174265e-04 9.98206955e-01 -4.19772303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.432260614999999 meters 0.013584467548596978 Centerline is valid? [True, True] Translation: X:10.22, Y:0.48, Z:-0.43 [[ 9.98372584e-01 -8.85176053e-03 5.63367590e-02 1.02245684e+01] [ 8.86737729e-03 9.99960684e-01 -2.72267245e-05 4.81914748e-01] [-5.63343030e-02 5.26741712e-04 9.98411823e-01 -4.28261205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.462260614999998 meters 0.014379597427458092 Centerline is valid? [True, True] Translation: X:10.26, Y:0.48, Z:-0.43 [[ 9.98356352e-01 -1.10802908e-02 5.62300748e-02 1.02570023e+01] [ 1.11003631e-02 9.99938388e-01 -4.46357315e-05 4.81422528e-01] [-5.62261157e-02 6.68736614e-04 9.98417837e-01 -4.29791163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.492260614999998 meters 0.013084772421203424 Centerline is valid? [True, True] Translation: X:10.29, Y:0.49, Z:-0.43 [[ 9.98268442e-01 -6.79211363e-03 5.84293090e-02 1.02899663e+01] [ 6.80743419e-03 9.99976827e-01 -6.31616228e-05 4.92323777e-01] [-5.84275261e-02 4.60805931e-04 9.98291547e-01 -4.25702524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.522260614999999 meters 0.012267670957421569 Centerline is valid? [True, True] Translation: X:10.32, Y:0.50, Z:-0.42 [[ 9.98222219e-01 -5.85764414e-04 5.95991536e-02 1.03226127e+01] [ 5.91680923e-04 9.99999822e-01 -8.16242077e-05 5.01030412e-01] [-5.95990951e-02 1.16742780e-04 9.98222387e-01 -4.24308900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.552260614999998 meters 0.012206677323411045 Centerline is valid? [True, True] Translation: X:10.36, Y:0.51, Z:-0.43 [[ 9.98275566e-01 7.05852557e-03 5.82758225e-02 1.03553321e+01] [-7.06489762e-03 9.99975039e-01 -9.66903401e-05 5.07408225e-01] [-5.82750503e-02 -3.15189115e-04 9.98300515e-01 -4.27697404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.582260615 meters 0.012288475016970073 Centerline is valid? [True, True] Translation: X:10.39, Y:0.51, Z:-0.43 [[ 9.98322346e-01 7.74129002e-03 5.73808766e-02 1.03871584e+01] [-7.74752708e-03 9.99969981e-01 -1.13769834e-04 5.05591830e-01] [-5.73800348e-02 -3.30980928e-04 9.98352354e-01 -4.29828586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.612260614999999 meters 0.012273562291057066 Centerline is valid? [True, True] Translation: X:10.42, Y:0.50, Z:-0.43 [[ 9.98286607e-01 8.13773616e-03 5.79450444e-02 1.04204628e+01] [-8.14370829e-03 9.99966831e-01 -1.33079799e-04 5.03670630e-01] [-5.79442054e-02 -3.39035758e-04 9.98319765e-01 -4.30548252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.642260614999998 meters 0.013218256775347582 Centerline is valid? [True, True] Translation: X:10.45, Y:0.50, Z:-0.42 [[ 9.97834695e-01 1.14356039e-02 6.47699646e-02 1.04525456e+01] [-1.14486012e-02 9.99934448e-01 -1.70491930e-04 5.04075802e-01] [-6.47676685e-02 -5.71402734e-04 9.97900207e-01 -4.23617215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.672260614999999 meters 0.014453268949169379 Centerline is valid? [True, True] Translation: X:10.48, Y:0.51, Z:-0.42 [[ 9.97527932e-01 1.64170995e-02 6.83264510e-02 1.04844303e+01] [-1.64419383e-02 9.99864802e-01 -1.98857544e-04 5.06051603e-01] [-6.83204781e-02 -9.25053339e-04 9.97662997e-01 -4.21914205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.702260614999998 meters 0.01908064079338354 Centerline is valid? [True, True] Translation: X:10.51, Y:0.51, Z:-0.43 [[ 9.97176569e-01 2.99261779e-02 6.88717211e-02 1.05146849e+01] [-2.99826904e-02 9.99550395e-01 -2.13246018e-04 5.10641927e-01] [-6.88471377e-02 -1.85231556e-03 9.97625501e-01 -4.26963070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.732260614999998 meters 0.021708154095914266 Centerline is valid? [True, True] Translation: X:10.55, Y:0.51, Z:-0.43 [[ 9.97088780e-01 3.65043990e-02 6.69432164e-02 1.05459922e+01] [-3.65724920e-02 9.99330981e-01 -2.08466531e-04 5.14537892e-01] [-6.69060400e-02 -2.24042061e-03 9.97756765e-01 -4.31628511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.762260614999999 meters 0.025632268923943772 Centerline is valid? [True, True] Translation: X:10.58, Y:0.52, Z:-0.43 [[ 9.96902441e-01 4.59789305e-02 6.38080086e-02 1.05764331e+01] [-4.60600048e-02 9.98938655e-01 -2.00598128e-04 5.23207544e-01] [-6.37495096e-02 -2.73902042e-03 9.97962173e-01 -4.34684318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.792260614999998 meters 0.02765352987333174 Centerline is valid? [True, True] Translation: X:10.61, Y:0.52, Z:-0.44 [[ 9.96843736e-01 4.90837094e-02 6.23967644e-02 1.06071031e+01] [-4.91672377e-02 9.98790541e-01 -1.96993778e-04 5.24949746e-01] [-6.23309672e-02 -2.87150453e-03 9.98051404e-01 -4.36902116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.822260614999998 meters 0.029864340207806997 Centerline is valid? [True, True] Translation: X:10.64, Y:0.52, Z:-0.45 [[ 9.96714681e-01 5.50285698e-02 5.94281246e-02 1.06370656e+01] [-5.51147565e-02 9.98480009e-01 -1.89134993e-04 5.17877353e-01] [-5.93482022e-02 -3.08685300e-03 9.98232569e-01 -4.45019878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.852260614999999 meters 0.03056462366672527 Centerline is valid? [True, True] Translation: X:10.67, Y:0.51, Z:-0.45 [[ 9.96722319e-01 5.65231363e-02 5.78770641e-02 1.06661045e+01] [-5.66074842e-02 9.98396494e-01 -1.82425540e-04 5.12616151e-01] [-5.77945692e-02 -3.09444739e-03 9.98323701e-01 -4.48885406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.882260614999998 meters 0.03021417932604984 Centerline is valid? [True, True] Translation: X:10.70, Y:0.51, Z:-0.45 [[ 9.96724767e-01 5.70687494e-02 5.72965615e-02 1.06952501e+01] [-5.71525205e-02 9.98365443e-01 -1.76880345e-04 5.06356984e-01] [-5.72130013e-02 -3.09834188e-03 9.98357187e-01 -4.47436244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.912260614999997 meters 0.029809344797665897 Centerline is valid? [True, True] Translation: X:10.72, Y:0.50, Z:-0.45 [[ 9.96796383e-01 5.51024480e-02 5.79714667e-02 1.07243917e+01] [-5.51851758e-02 9.98476122e-01 -1.74136439e-04 5.04398279e-01] [-5.78927206e-02 -3.02558701e-03 9.98318225e-01 -4.45821257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.942260614999999 meters 0.027353486530927486 Centerline is valid? [True, True] Translation: X:10.75, Y:0.49, Z:-0.45 [[ 9.96882108e-01 4.94647012e-02 6.14760648e-02 1.07544298e+01] [-4.95473453e-02 9.98771760e-01 -1.80307583e-04 4.89212793e-01] [-6.14094763e-02 -2.86623041e-03 9.98108542e-01 -4.47033521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.972260614999998 meters 0.025742770338828286 Centerline is valid? [True, True] Translation: X:10.79, Y:0.47, Z:-0.45 [[ 9.96869622e-01 4.62073529e-02 6.41547840e-02 1.07860908e+01] [-4.62906479e-02 9.98927996e-01 -1.88259673e-04 4.69492348e-01] [-6.40947087e-02 -2.78209616e-03 9.97939942e-01 -4.52819125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.002260614999999 meters 0.02593815646429603 Centerline is valid? [True, True] Translation: X:10.82, Y:0.47, Z:-0.45 [[ 9.96764561e-01 4.45524421e-02 6.68991050e-02 1.08179093e+01] [-4.46387601e-02 9.99003173e-01 -2.04739021e-04 4.65024240e-01] [-6.68415398e-02 -2.78221650e-03 9.97759724e-01 -4.50912294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.032260614999998 meters 0.022355856799848806 Centerline is valid? [True, True] Translation: X:10.85, Y:0.46, Z:-0.44 [[ 9.96533302e-01 4.10746154e-02 7.23481453e-02 1.08503509e+01] [-4.11649599e-02 9.99152334e-01 -2.42500498e-04 4.58595478e-01] [-7.22967789e-02 -2.73654867e-03 9.97379410e-01 -4.41350546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.062260614999998 meters 0.023558615911731112 Centerline is valid? [True, True] Translation: X:10.88, Y:0.46, Z:-0.44 [[ 9.96423646e-01 4.00333779e-02 7.44126813e-02 1.08822102e+01] [-4.01243994e-02 9.99194655e-01 -2.71954726e-04 4.58595727e-01] [-7.43636406e-02 -2.71478202e-03 9.97227496e-01 -4.37565119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.092260614999999 meters 0.022708106486564312 Centerline is valid? [True, True] Translation: X:10.91, Y:0.45, Z:-0.44 [[ 9.96598095e-01 3.88150030e-02 7.27023530e-02 1.09142998e+01] [-3.88971040e-02 9.99243180e-01 -2.86748779e-04 4.45655676e-01] [-7.26584606e-02 -2.54213770e-03 9.97353641e-01 -4.44882271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.122260614999998 meters 0.024478249622143924 Centerline is valid? [True, True] Translation: X:10.95, Y:0.44, Z:-0.45 [[ 9.96702854e-01 4.11637297e-02 6.99211568e-02 1.09464508e+01] [-4.12439992e-02 9.99149060e-01 -2.95907728e-04 4.42097829e-01] [-6.98738388e-02 -2.58889606e-03 9.97552477e-01 -4.51133143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.152260614999998 meters 0.02590737834657151 Centerline is valid? [True, True] Translation: X:10.98, Y:0.44, Z:-0.46 [[ 9.96611960e-01 4.74316331e-02 6.71925682e-02 1.09769675e+01] [-4.75189402e-02 9.98870292e-01 -2.99215775e-04 4.38879218e-01] [-6.71308525e-02 -2.89471761e-03 9.97739981e-01 -4.58942516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.182260614999999 meters 0.026162306508223234 Centerline is valid? [True, True] Translation: X:11.01, Y:0.44, Z:-0.46 [[ 9.96280343e-01 4.99892280e-02 7.01894235e-02 1.10085264e+01] [-5.00906049e-02 9.98744628e-01 -3.16114847e-04 4.39562771e-01] [-7.01171120e-02 -3.20089167e-03 9.97533631e-01 -4.57463209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.212260614999998 meters 0.028233195571613922 Centerline is valid? [True, True] Translation: X:11.04, Y:0.44, Z:-0.45 [[ 9.95834576e-01 5.31805252e-02 7.40630029e-02 1.10392562e+01] [-5.33020040e-02 9.98578381e-01 -3.36797642e-04 4.43089050e-01] [-7.39756246e-02 -3.61231174e-03 9.97253507e-01 -4.49979798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.242260614999998 meters 0.028835260565949365 Centerline is valid? [True, True] Translation: X:11.07, Y:0.44, Z:-0.45 [[ 9.95992110e-01 5.39041997e-02 7.13726470e-02 1.10718863e+01] [-5.40185092e-02 9.98539880e-01 -3.29035544e-04 4.41212539e-01] [-7.12861708e-02 -3.52772719e-03 9.97449666e-01 -4.52535903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.272260614999999 meters 0.03197015217778064 Centerline is valid? [True, True] Translation: X:11.10, Y:0.43, Z:-0.46 [[ 9.96503163e-01 5.19076169e-02 6.54755375e-02 1.11018791e+01] [-5.19991430e-02 9.98647082e-01 -3.06674846e-04 4.33329864e-01] [-6.54028732e-02 -3.09906938e-03 9.97854128e-01 -4.59999507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.302260614999998 meters 0.029702826389916136 Centerline is valid? [True, True] Translation: X:11.13, Y:0.42, Z:-0.46 [[ 9.96568545e-01 5.00211585e-02 6.59470963e-02 1.11336867e+01] [-5.01094293e-02 9.98743683e-01 -3.15936294e-04 4.24442572e-01] [-6.58800494e-02 -2.98971919e-03 9.97823071e-01 -4.62327339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.332260614999997 meters 0.02827117128622885 Centerline is valid? [True, True] Translation: X:11.17, Y:0.42, Z:-0.46 [[ 9.96304770e-01 4.82314506e-02 7.10670942e-02 1.11663787e+01] [-4.83278164e-02 9.98831462e-01 -3.63828737e-04 4.17452773e-01] [-7.10015976e-02 -3.07203318e-03 9.97471471e-01 -4.56311186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.362260614999999 meters 0.029108686278313155 Centerline is valid? [True, True] Translation: X:11.20, Y:0.42, Z:-0.45 [[ 9.96236125e-01 4.88009385e-02 7.16383349e-02 1.11984382e+01] [-4.88987140e-02 9.98803666e-01 -3.89329153e-04 4.18056147e-01] [-7.15716312e-02 -3.11515868e-03 9.97430598e-01 -4.54120914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.392260614999998 meters 0.02976483203527969 Centerline is valid? [True, True] Translation: X:11.23, Y:0.42, Z:-0.45 [[ 9.96174255e-01 5.09535979e-02 7.09970767e-02 1.12305172e+01] [-5.10535040e-02 9.98695836e-01 -4.07901303e-04 4.18033810e-01] [-7.09252689e-02 -3.21830876e-03 9.97476440e-01 -4.54957386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.422260614999999 meters 0.02976483203527969 Centerline is valid? [True, True] Translation: X:11.26, Y:0.42, Z:-0.46 [[ 9.96155818e-01 5.13129751e-02 7.09969356e-02 1.12631805e+01] [-5.14121236e-02 9.98677429e-01 -4.31344011e-04 4.17646698e-01] [-7.09251706e-02 -3.22041738e-03 9.97476440e-01 -4.56475596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.452260614999998 meters 0.030370593215965296 Centerline is valid? [True, True] Translation: X:11.30, Y:0.41, Z:-0.46 [[ 9.96231469e-01 5.39827133e-02 6.78876034e-02 1.12955811e+01] [-5.40779610e-02 9.98536622e-01 -4.35272112e-04 4.11325902e-01] [-6.78117553e-02 -3.23759139e-03 9.97692881e-01 -4.62577951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.482260614999998 meters 0.034017220578965814 Centerline is valid? [True, True] Translation: X:11.33, Y:0.41, Z:-0.47 [[ 9.96307006e-01 5.39285151e-02 6.68136655e-02 1.13267164e+01] [-5.40192667e-02 9.98539793e-01 -4.48927421e-04 4.09006710e-01] [-6.67403137e-02 -3.16195568e-03 9.97765369e-01 -4.65879533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.512260614999999 meters 0.03273837043576169 Centerline is valid? [True, True] Translation: X:11.36, Y:0.39, Z:-0.47 [[ 9.96216211e-01 5.28337810e-02 6.90061712e-02 1.13588448e+01] [-5.29265509e-02 9.98598290e-01 -4.84527096e-04 3.94106840e-01] [-6.89350440e-02 -3.16956489e-03 9.97616115e-01 -4.70425210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.542260614999998 meters 0.03343450026015592 Centerline is valid? [True, True] Translation: X:11.39, Y:0.39, Z:-0.47 [[ 9.95956141e-01 5.48964623e-02 7.11178197e-02 1.13905772e+01] [-5.49991566e-02 9.98486268e-01 -5.14863779e-04 3.93581917e-01] [-7.10384306e-02 -3.39863837e-03 9.97467789e-01 -4.67215844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.572260614999998 meters 0.03409048835033453 Centerline is valid? [True, True] Translation: X:11.42, Y:0.40, Z:-0.47 [[ 9.95807614e-01 5.80108673e-02 7.07243670e-02 1.14226943e+01] [-5.81199539e-02 9.98309473e-01 -5.16169945e-04 3.96750653e-01] [-7.06347491e-02 -3.59649099e-03 9.97495763e-01 -4.66897201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.602260614999999 meters 0.03570892214327979 Centerline is valid? [True, True] Translation: X:11.45, Y:0.40, Z:-0.47 [[ 9.95588983e-01 6.16792784e-02 7.06982516e-02 1.14536798e+01] [-6.17971630e-02 9.98088593e-01 -5.20656693e-04 3.99058917e-01] [-7.05952322e-02 -3.85059131e-03 9.97497612e-01 -4.67205549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.632260614999998 meters 0.04030116873790973 Centerline is valid? [True, True] Translation: X:11.48, Y:0.39, Z:-0.47 [[ 9.95240928e-01 6.68869557e-02 7.08634573e-02 1.14833177e+01] [-6.70183950e-02 9.97751603e-01 -5.23790160e-04 3.91734738e-01] [-7.07391628e-02 -4.22785777e-03 9.97485888e-01 -4.71756955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.662260614999997 meters 0.040007162372402004 Centerline is valid? [True, True] Translation: X:11.51, Y:0.38, Z:-0.48 [[ 9.95148510e-01 6.83359280e-02 7.07788382e-02 1.15146529e+01] [-6.84705034e-02 9.97653003e-01 -5.25923627e-04 3.79235757e-01] [-7.06486599e-02 -4.32289057e-03 9.97491894e-01 -4.78159563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.692260614999999 meters 0.04019352988621116 Centerline is valid? [True, True] Translation: X:11.55, Y:0.36, Z:-0.48 [[ 9.95355212e-01 6.86199713e-02 6.75225987e-02 1.15469898e+01] [-6.87427584e-02 9.97634290e-01 -5.06103779e-04 3.62743042e-01] [-6.73975886e-02 -4.13793665e-03 9.97717617e-01 -4.84680891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.722260614999998 meters 0.04035312739385661 Centerline is valid? [True, True] Translation: X:11.58, Y:0.35, Z:-0.48 [[ 9.95356888e-01 6.94412672e-02 6.66526494e-02 1.15784779e+01] [-6.95623226e-02 9.97577479e-01 -5.05716459e-04 3.54823511e-01] [-6.65262996e-02 -4.13314474e-03 9.97776111e-01 -4.84285985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.752260614999997 meters 0.04174326228518511 Centerline is valid? [True, True] Translation: X:11.61, Y:0.35, Z:-0.49 [[ 9.95210894e-01 7.17936699e-02 6.63396247e-02 1.16091860e+01] [-7.19186149e-02 9.97410375e-01 -5.05914085e-04 3.51902789e-01] [-6.62041514e-02 -4.26756272e-03 9.97796972e-01 -4.85041461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.782260614999998 meters 0.04352247341336914 Centerline is valid? [True, True] Translation: X:11.64, Y:0.35, Z:-0.49 [[ 9.95060660e-01 7.43329481e-02 6.57943493e-02 1.16405800e+01] [-7.44612322e-02 9.97223782e-01 -5.03702871e-04 3.47479234e-01] [-6.56491316e-02 -4.39791341e-03 9.97833077e-01 -4.87795513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.812260614999998 meters 0.04663573283000387 Centerline is valid? [True, True] Translation: X:11.67, Y:0.33, Z:-0.50 [[ 9.95115496e-01 7.60543025e-02 6.29356171e-02 1.16704312e+01] [-7.61749161e-02 9.97094352e-01 -4.84241702e-04 3.32638385e-01] [-6.27895770e-02 -4.31223893e-03 9.98017472e-01 -4.96262028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.842260614999999 meters 0.04809766127981228 Centerline is valid? [True, True] Translation: X:11.70, Y:0.32, Z:-0.50 [[ 9.95206524e-01 7.59724663e-02 6.15805018e-02 1.17001477e+01] [-7.60876854e-02 9.97101017e-01 -4.75191025e-04 3.24426529e-01] [-6.14380824e-02 -4.21260464e-03 9.98102007e-01 -5.00509260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.872260614999998 meters 0.04378992390356065 Centerline is valid? [True, True] Translation: X:11.73, Y:0.30, Z:-0.50 [[ 9.95283957e-01 7.39982265e-02 6.27224592e-02 1.17314630e+01] [-7.41137590e-02 9.97249675e-01 -4.85823648e-04 3.03013925e-01] [-6.25859022e-02 -4.16506474e-03 9.98030890e-01 -5.01841795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.902260614999998 meters 0.050345423517134856 Centerline is valid? [True, True] Translation: X:11.76, Y:0.30, Z:-0.50 [[ 9.95257557e-01 7.61448878e-02 6.05338812e-02 1.17631285e+01] [-7.62560421e-02 9.97088156e-01 -4.75165236e-04 3.03254540e-01] [-6.03937974e-02 -4.14316240e-03 9.98166030e-01 -5.01096777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.932260614999999 meters 0.049507694976832196 Centerline is valid? [True, True] Translation: X:11.79, Y:0.30, Z:-0.51 [[ 9.95309514e-01 7.70267293e-02 5.85308060e-02 1.17945634e+01] [-7.71313239e-02 9.97020830e-01 -4.73479872e-04 2.98886016e-01] [-5.83929033e-02 -4.04329953e-03 9.98285491e-01 -5.05154961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.962260614999998 meters 0.05173403669922003 Centerline is valid? [True, True] Translation: X:11.83, Y:0.30, Z:-0.51 [[ 9.95439761e-01 7.67549409e-02 5.66423900e-02 1.18250166e+01] [-7.68523139e-02 9.97042381e-01 -4.60433485e-04 2.97123547e-01] [-5.65102040e-02 -3.89476494e-03 9.98394425e-01 -5.09450963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.992260614999998 meters 0.05044947417164253 Centerline is valid? [True, True] Translation: X:11.85, Y:0.28, Z:-0.51 [[ 9.95559996e-01 7.39502171e-02 5.82379580e-02 1.18548936e+01] [-7.40483181e-02 9.97254542e-01 -4.74718739e-04 2.82297120e-01] [-5.81131737e-02 -3.83981186e-03 9.98302617e-01 -5.11946540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.022260614999999 meters 0.045131138128476106 Centerline is valid? [True, True] Translation: X:11.89, Y:0.27, Z:-0.51 [[ 9.95540678e-01 7.34035368e-02 5.92509905e-02 1.18867714e+01] [-7.35038252e-02 9.97294816e-01 -4.88072162e-04 2.67171986e-01] [-5.91265318e-02 -3.86927875e-03 9.98242997e-01 -5.13965485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.052260614999998 meters 0.049462618990629856 Centerline is valid? [True, True] Translation: X:11.92, Y:0.26, Z:-0.51 [[ 9.95249336e-01 7.59066526e-02 6.09667052e-02 1.19169189e+01] [-7.60165855e-02 9.97106419e-01 -5.17566315e-04 2.59096357e-01] [-6.08295799e-02 -4.11937323e-03 9.98139666e-01 -5.11191475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.082260614999997 meters 0.04949661093328558 Centerline is valid? [True, True] Translation: X:11.95, Y:0.25, Z:-0.51 [[ 9.94725469e-01 8.03850246e-02 6.37141142e-02 1.19472368e+01] [-8.05142451e-02 9.96753311e-01 -5.40998270e-04 2.51833256e-01] [-6.35507425e-02 -4.59174905e-03 9.97968045e-01 -5.08013797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.112260614999999 meters 0.051800451628308 Centerline is valid? [True, True] Translation: X:11.98, Y:0.25, Z:-0.51 [[ 9.94637083e-01 8.16009429e-02 6.35480881e-02 1.19784630e+01] [-8.17317554e-02 9.96654216e-01 -5.42722223e-04 2.50346681e-01] [-6.33797566e-02 -4.65408515e-03 9.97978630e-01 -5.09092760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.142260614999998 meters 0.052426144844367056 Centerline is valid? [True, True] Translation: X:12.01, Y:0.24, Z:-0.52 [[ 9.94807026e-01 8.30646460e-02 5.88153448e-02 1.20113660e+01] [-8.31785032e-02 9.96534531e-01 -5.13957904e-04 2.38783863e-01] [-5.86542138e-02 -4.38088342e-03 9.98268747e-01 -5.16075836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.172260614999997 meters 0.05369440404996883 Centerline is valid? [True, True] Translation: X:12.04, Y:0.24, Z:-0.52 [[ 9.94836790e-01 8.38948271e-02 5.71088455e-02 1.20429293e+01] [-8.40024051e-02 9.96465417e-01 -5.18499805e-04 2.35297682e-01] [-5.69504890e-02 -4.28145769e-03 9.98367823e-01 -5.19301292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.202260614999998 meters 0.052641776540733334 Centerline is valid? [True, True] Translation: X:12.07, Y:0.22, Z:-0.52 [[ 9.94946180e-01 8.20700000e-02 5.78499347e-02 1.20738301e+01] [-8.21765119e-02 9.96617645e-01 -5.39388033e-04 2.23397683e-01] [-5.76985332e-02 -4.21724378e-03 9.98325144e-01 -5.22801438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.232260614999998 meters 0.050317416697878585 Centerline is valid? [True, True] Translation: X:12.11, Y:0.21, Z:-0.52 [[ 9.95095986e-01 7.96411768e-02 5.86622641e-02 1.21050859e+01] [-7.97463587e-02 9.96815036e-01 -5.49605442e-04 2.12832092e-01] [-5.85191981e-02 -4.13119178e-03 9.98277735e-01 -5.24571648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.262260614999999 meters 0.04599288196613338 Centerline is valid? [True, True] Translation: X:12.13, Y:0.19, Z:-0.53 [[ 9.95615239e-01 7.39131078e-02 5.73336616e-02 1.21348800e+01] [-7.40039945e-02 9.97257799e-01 -5.39274406e-04 1.91198254e-01] [-5.72163007e-02 -3.70601017e-03 9.98354927e-01 -5.28429494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.292260614999998 meters 0.04778296128175935 Centerline is valid? [True, True] Translation: X:12.17, Y:0.19, Z:-0.53 [[ 9.95714484e-01 7.33755607e-02 5.62911527e-02 1.21656578e+01] [-7.34621319e-02 9.97297865e-01 -5.32611734e-04 1.87039098e-01] [-5.61781271e-02 -3.60493887e-03 9.98414254e-01 -5.29369934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.322260614999998 meters 0.04686082586432322 Centerline is valid? [True, True] Translation: X:12.20, Y:0.18, Z:-0.53 [[ 9.95561203e-01 7.45364000e-02 5.74649200e-02 1.21975591e+01] [-7.46275663e-02 9.97211317e-01 -5.60898427e-04 1.81178479e-01] [-5.73464760e-02 -3.73005842e-03 9.98347369e-01 -5.28458448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.352260614999999 meters 0.047840520949413386 Centerline is valid? [True, True] Translation: X:12.23, Y:0.18, Z:-0.53 [[ 9.95459948e-01 7.57804522e-02 5.75917933e-02 1.22296731e+01] [-7.58730657e-02 9.97117316e-01 -5.79995704e-04 1.79834919e-01] [-5.74697266e-02 -3.79230342e-03 9.98340047e-01 -5.29326175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.382260614999998 meters 0.048377967944111394 Centerline is valid? [True, True] Translation: X:12.26, Y:0.17, Z:-0.53 [[ 9.95398039e-01 7.63361867e-02 5.79269391e-02 1.22622505e+01] [-7.64297837e-02 9.97074785e-01 -6.01276109e-04 1.70235643e-01] [-5.78033895e-02 -3.82883437e-03 9.98320644e-01 -5.30793601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.412260614999997 meters 0.048481586696653776 Centerline is valid? [True, True] Translation: X:12.30, Y:0.16, Z:-0.53 [[ 9.95358668e-01 7.67688114e-02 5.80316388e-02 1.22954918e+01] [-7.68624163e-02 9.97041516e-01 -6.20691317e-04 1.63575488e-01] [-5.79076028e-02 -3.84264149e-03 9.98314551e-01 -5.32506061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.442260614999999 meters 0.05105140200615948 Centerline is valid? [True, True] Translation: X:12.33, Y:0.16, Z:-0.53 [[ 9.95335908e-01 7.79308196e-02 5.68613869e-02 1.23261108e+01] [-7.80215659e-02 9.96951475e-01 -6.25722799e-04 1.55206157e-01] [-5.67368067e-02 -3.81361007e-03 9.98381886e-01 -5.32041224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.472260614999998 meters 0.046305322572457716 Centerline is valid? [True, True] Translation: X:12.36, Y:0.14, Z:-0.53 [[ 9.95268152e-01 7.98517100e-02 5.53625362e-02 1.23583401e+01] [-7.99402531e-02 9.96799466e-01 -6.16912669e-04 1.37147865e-01] [-5.52346080e-02 -3.81170163e-03 9.98466128e-01 -5.33736729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.502260614999997 meters 0.04759197370456831 Centerline is valid? [True, True] Translation: X:12.39, Y:0.13, Z:-0.54 [[ 9.95286448e-01 8.06153055e-02 5.39078658e-02 1.23891818e+01] [-8.07000204e-02 9.96738250e-01 -6.06996255e-04 1.31407959e-01] [-5.37809650e-02 -3.74623072e-03 9.98545729e-01 -5.37271877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.532260614999998 meters 0.048896258074753375 Centerline is valid? [True, True] Translation: X:12.42, Y:0.13, Z:-0.54 [[ 9.95415127e-01 8.04155820e-02 5.17885986e-02 1.24198423e+01] [-8.04927591e-02 9.96755015e-01 -5.97130254e-04 1.26361877e-01] [-5.16685639e-02 -3.57421470e-03 9.98657892e-01 -5.42070787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.562260614999998 meters 0.05439750152366009 Centerline is valid? [True, True] Translation: X:12.45, Y:0.12, Z:-0.55 [[ 9.95548615e-01 7.93922386e-02 5.07920057e-02 1.24512562e+01] [-7.94646647e-02 9.96837506e-01 -5.95058734e-04 1.22973537e-01] [-5.06786193e-02 -3.44375980e-03 9.98709076e-01 -5.47115205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.592260614999999 meters 0.0461401612305428 Centerline is valid? [True, True] Translation: X:12.48, Y:0.11, Z:-0.55 [[ 9.95723275e-01 7.70951703e-02 5.09067270e-02 1.24821777e+01] [-7.71642013e-02 9.97018211e-01 -6.10872260e-04 1.06374166e-01] [-5.08020292e-02 -3.31991720e-03 9.98703225e-01 -5.51088192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.622260614999998 meters 0.04010127713357009 Centerline is valid? [True, True] Translation: X:12.51, Y:0.09, Z:-0.56 [[ 9.96551498e-01 6.77622120e-02 4.78893987e-02 1.25120803e+01] [-6.78124561e-02 9.97697919e-01 -5.76604313e-04 8.67057985e-02] [-4.78182254e-02 -2.67288186e-03 9.98852478e-01 -5.59165217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.652260614999998 meters 0.0357751201600503 Centerline is valid? [True, True] Translation: X:12.54, Y:0.08, Z:-0.56 [[ 9.96931812e-01 6.21850459e-02 4.75392756e-02 1.25430007e+01] [-6.22282383e-02 9.98061781e-01 -5.72313616e-04 7.56620487e-02] [-4.74827234e-02 -2.38772772e-03 9.98869206e-01 -5.61907137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.682260614999999 meters 0.03144305473694514 Centerline is valid? [True, True] Translation: X:12.57, Y:0.06, Z:-0.56 [[ 9.97396283e-01 5.35377737e-02 4.83152226e-02 1.25728473e+01] [-5.35721947e-02 9.98563809e-01 -5.83156483e-04 6.18576574e-02] [-4.82770536e-02 -2.00671440e-03 9.98831967e-01 -5.61099305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.712260614999998 meters 0.030562395473853102 Centerline is valid? [True, True] Translation: X:12.61, Y:0.06, Z:-0.56 [[ 9.97572015e-01 5.15247961e-02 4.68537041e-02 1.26052896e+01] [-5.15549320e-02 9.98670000e-01 -5.65819225e-04 5.71081776e-02] [-4.68205424e-02 -1.85109410e-03 9.98901602e-01 -5.63386886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.742260614999998 meters 0.030552721429876348 Centerline is valid? [True, True] Translation: X:12.64, Y:0.05, Z:-0.57 [[ 9.97645644e-01 5.30615065e-02 4.34470440e-02 1.26367546e+01] [-5.30887002e-02 9.98589661e-01 -5.28488740e-04 5.30480411e-02] [-4.34138114e-02 -1.77930261e-03 9.99055592e-01 -5.68519556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.772260614999999 meters 0.030019359778421708 Centerline is valid? [True, True] Translation: X:12.67, Y:0.05, Z:-0.57 [[ 9.97581618e-01 5.50963854e-02 4.23710315e-02 1.26683794e+01] [-5.51235464e-02 9.98479402e-01 -5.27939766e-04 5.19798358e-02] [-4.23356898e-02 -1.80897852e-03 9.99101805e-01 -5.70479592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.802260614999998 meters 0.032969661093753454 Centerline is valid? [True, True] Translation: X:12.70, Y:0.05, Z:-0.57 [[ 9.97385817e-01 5.90129912e-02 4.17012970e-02 1.26998593e+01] [-5.90424035e-02 9.98255336e-01 -5.27021999e-04 5.37170409e-02] [-4.16596434e-02 -1.93650054e-03 9.99129984e-01 -5.72346775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.832260614999997 meters 0.036008257291578784 Centerline is valid? [True, True] Translation: X:12.73, Y:0.06, Z:-0.57 [[ 9.97239315e-01 6.15919427e-02 4.14750578e-02 1.27309161e+01] [-6.16232055e-02 9.98099346e-01 -5.25482285e-04 5.50535438e-02] [-4.14285935e-02 -2.03179442e-03 9.99139401e-01 -5.74434929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.862260614999999 meters 0.03770707916071149 Centerline is valid? [True, True] Translation: X:12.76, Y:0.05, Z:-0.58 [[ 9.96789635e-01 6.74582545e-02 4.31254918e-02 1.27613261e+01] [-6.74972085e-02 9.97719309e-01 -5.53855521e-04 5.39100763e-02] [-4.30644980e-02 -2.35877287e-03 9.99069510e-01 -5.75115186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.892260614999998 meters 0.04030812315063596 Centerline is valid? [True, True] Translation: X:12.79, Y:0.06, Z:-0.58 [[ 9.96513036e-01 7.04899811e-02 4.46422653e-02 1.27924119e+01] [-7.05347603e-02 9.97509157e-01 -5.73301758e-04 5.61393443e-02] [-4.45714805e-02 -2.57752881e-03 9.99002873e-01 -5.75433618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.922260614999997 meters 0.04213376082491319 Centerline is valid? [True, True] Translation: X:12.82, Y:0.06, Z:-0.58 [[ 9.96305863e-01 7.24357092e-02 4.61269412e-02 1.28238475e+01] [-7.24849624e-02 9.97369321e-01 -6.06175511e-04 5.64852778e-02] [-4.60495048e-02 -2.73957339e-03 9.98935402e-01 -5.75830767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.952260614999998 meters 0.043881641881111204 Centerline is valid? [True, True] Translation: X:12.85, Y:0.05, Z:-0.57 [[ 9.95988393e-01 7.52706422e-02 4.83885405e-02 1.28548107e+01] [-7.53274984e-02 9.97158636e-01 -6.50087915e-04 5.41084368e-02] [-4.82999836e-02 -2.99750769e-03 9.98828377e-01 -5.73294032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.982260614999998 meters 0.045147063597072996 Centerline is valid? [True, True] Translation: X:12.89, Y:0.05, Z:-0.57 [[ 9.95856151e-01 7.68550799e-02 4.86191686e-02 1.28870171e+01] [-7.69141909e-02 9.97037500e-01 -6.56666373e-04 5.25329148e-02] [-4.85256024e-02 -3.08555877e-03 9.98817173e-01 -5.73599437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.012260615 meters 0.0450551664996717 Centerline is valid? [True, True] Translation: X:12.92, Y:0.05, Z:-0.58 [[ 9.95878641e-01 7.79780364e-02 4.63158513e-02 1.29185597e+01] [-7.80322546e-02 9.96950630e-01 -6.39023678e-04 4.82419621e-02] [-4.62244470e-02 -2.97774027e-03 9.98926641e-01 -5.78809065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.042260614999996 meters 0.047789941996464545 Centerline is valid? [True, True] Translation: X:12.95, Y:0.05, Z:-0.59 [[ 9.95724828e-01 8.22116225e-02 4.21107684e-02 1.29484145e+01] [-8.22596479e-02 9.96610755e-01 -5.93992094e-04 5.13475865e-02] [-4.20168777e-02 -2.87256430e-03 9.99112772e-01 -5.90866831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.072260614999998 meters 0.053706922977538124 Centerline is valid? [True, True] Translation: X:12.98, Y:0.06, Z:-0.60 [[ 9.95572311e-01 8.45874668e-02 4.09967667e-02 1.29794025e+01] [-8.46350307e-02 9.96411852e-01 -5.77151080e-04 5.87444853e-02] [-4.08984839e-02 -2.89516697e-03 9.99159112e-01 -5.97322279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.102260615 meters 0.05442861998431885 Centerline is valid? [True, True] Translation: X:13.01, Y:0.06, Z:-0.61 [[ 9.95662864e-01 8.50877612e-02 3.76235941e-02 1.30115063e+01] [-8.51278148e-02 9.96369893e-01 -5.39015950e-04 5.77197557e-02] [-3.75328801e-02 -2.66613618e-03 9.99291837e-01 -6.06841125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.132260614999996 meters 0.0504232086574758 Centerline is valid? [True, True] Translation: X:13.04, Y:0.05, Z:-0.61 [[ 9.95881114e-01 8.39579774e-02 3.42325203e-02 1.30431582e+01] [-8.39901746e-02 9.96466458e-01 -4.98934535e-04 4.94353005e-02] [-3.41534478e-02 -2.37831588e-03 9.99413771e-01 -6.12168869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.162260614999997 meters 0.04969481131471623 Centerline is valid? [True, True] Translation: X:13.07, Y:0.04, Z:-0.62 [[ 9.96115020e-01 8.30041310e-02 2.94139625e-02 1.30749417e+01] [-8.30272816e-02 9.96547179e-01 -4.35520505e-04 4.34258192e-02] [-2.93485514e-02 -2.00833284e-03 9.99567221e-01 -6.21300809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.192260615 meters 0.05129238337869772 Centerline is valid? [True, True] Translation: X:13.11, Y:0.04, Z:-0.62 [[ 9.96029941e-01 8.37595904e-02 3.01444310e-02 1.31062120e+01] [-8.37839549e-02 9.96483839e-01 -4.56152360e-04 4.33492947e-02] [-3.00766455e-02 -2.07127824e-03 9.99545449e-01 -6.22374181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.222260615 meters 0.056239641593276116 Centerline is valid? [True, True] Translation: X:13.14, Y:0.05, Z:-0.62 [[ 9.95549226e-01 8.73327171e-02 3.54222373e-02 1.31362416e+01] [-8.73680848e-02 9.96175945e-01 -5.51142633e-04 4.65352010e-02] [-3.53349136e-02 -2.54608342e-03 9.99372284e-01 -6.15663641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.252260614999997 meters 0.0514488218974995 Centerline is valid? [True, True] Translation: X:13.17, Y:0.04, Z:-0.61 [[ 9.95263076e-01 8.96860389e-02 3.75209852e-02 1.31679305e+01] [-8.97274047e-02 9.95966190e-01 -5.83398788e-04 3.78521828e-02] [-3.74219554e-02 -2.78602535e-03 9.99295670e-01 -6.11754096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.282260615 meters 0.05379520708815443 Centerline is valid? [True, True] Translation: X:13.20, Y:0.04, Z:-0.61 [[ 9.94872485e-01 9.26348727e-02 4.05896297e-02 1.31993897e+01] [-9.26856509e-02 9.95695219e-01 -6.33067726e-04 3.58479873e-02] [-4.04735444e-02 -3.13225459e-03 9.99175701e-01 -6.07859772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.312260615 meters 0.051415899545793065 Centerline is valid? [True, True] Translation: X:13.23, Y:0.03, Z:-0.61 [[ 9.94688676e-01 9.32819440e-02 4.35076627e-02 1.32320316e+01] [-9.33408673e-02 9.95633979e-01 -6.79637771e-04 3.28606416e-02] [-4.33811053e-02 -3.38501498e-03 9.99052862e-01 -6.06138350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.342260614999997 meters 0.051415899545793065 Centerline is valid? [True, True] Translation: X:13.26, Y:0.03, Z:-0.61 [[ 9.94655265e-01 9.36376462e-02 4.35074150e-02 1.32646159e+01] [-9.36962339e-02 9.95600589e-01 -6.95130292e-04 3.21403990e-02] [-4.33810984e-02 -3.38506593e-03 9.99052862e-01 -6.07658327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.372260615 meters 0.05230006025713082 Centerline is valid? [True, True] Translation: X:13.29, Y:0.03, Z:-0.60 [[ 9.94679728e-01 9.07325127e-02 4.87837006e-02 1.32946189e+01] [-9.08018220e-02 9.95868662e-01 -7.98101677e-04 3.33751080e-02] [-4.86545724e-02 -3.63579334e-03 9.98809048e-01 -6.02516702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.402260615 meters 0.04895998288300919 Centerline is valid? [True, True] Translation: X:13.33, Y:0.02, Z:-0.60 [[ 9.94858187e-01 8.84569325e-02 4.93209691e-02 1.33256592e+01] [-8.85249941e-02 9.96073629e-01 -8.07012136e-04 2.44453046e-02] [-4.91987025e-02 -3.56327586e-03 9.98782654e-01 -6.03125378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.432260614999997 meters 0.05027781111778733 Centerline is valid? [True, True] Translation: X:13.36, Y:0.01, Z:-0.60 [[ 9.94749733e-01 8.91767453e-02 5.02043421e-02 1.33561705e+01] [-8.92480347e-02 9.96009091e-01 -8.24434013e-04 1.09647600e-02] [-5.00775015e-02 -3.66053335e-03 9.98738627e-01 -6.02838800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.462260614999998 meters 0.0537260036040649 Centerline is valid? [True, True] Translation: X:13.39, Y:0.01, Z:-0.60 [[ 9.94411954e-01 9.18883551e-02 5.19749545e-02 1.33864789e+01] [-9.19678467e-02 9.95761601e-01 -8.65213682e-04 9.23455082e-03] [-5.18341670e-02 -3.91964582e-03 9.98648014e-01 -6.03319892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.492260615 meters 0.05359942475285112 Centerline is valid? [True, True] Translation: X:13.42, Y:0.00, Z:-0.60 [[ 9.93901379e-01 9.58007277e-02 5.46101551e-02 1.34167795e+01] [-9.58943085e-02 9.95391106e-01 -9.10212688e-04 2.85446610e-03] [-5.44456617e-02 -4.33214141e-03 9.98507337e-01 -6.03806207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.522260614999997 meters 0.054893940661749685 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.00, Z:-0.61 [[ 9.93968489e-01 9.56311650e-02 5.36779669e-02 1.34476562e+01] [-9.57211937e-02 9.95407780e-01 -8.97115362e-04 -1.46930466e-04] [-5.35172581e-02 -4.24641467e-03 9.98557896e-01 -6.06526715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.552260614999998 meters 0.056661609355551416 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.01, Z:-0.61 [[ 9.94424895e-01 9.31926439e-02 4.93382123e-02 1.34768344e+01] [-9.32651039e-02 9.95640960e-01 -8.36517753e-04 -1.20256610e-02] [-4.92011023e-02 -3.76967942e-03 9.98781778e-01 -6.14829305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.582260615 meters 0.05339522596986211 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.02, Z:-0.62 [[ 9.94601825e-01 9.17157918e-02 4.85327000e-02 1.35081168e+01] [-9.17841442e-02 9.95778587e-01 -8.23036643e-04 -2.40394107e-02] [-4.84033089e-02 -3.63593859e-03 9.98821255e-01 -6.18857456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.612260614999997 meters 0.047634753896408845 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.04, Z:-0.62 [[ 9.95084658e-01 8.63292239e-02 4.85158520e-02 1.35380264e+01] [-8.63909555e-02 9.96260969e-01 -8.26984375e-04 -4.20216498e-02] [-4.84058426e-02 -3.36841134e-03 9.98822070e-01 -6.23289146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.642260614999998 meters 0.04702423500857275 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.05, Z:-0.63 [[ 9.95522128e-01 8.15729700e-02 4.77654980e-02 1.35675189e+01] [-8.16273539e-02 9.96662587e-01 -8.14191022e-04 -4.65398149e-02] [-4.76725008e-02 -3.08842603e-03 9.98858245e-01 -6.26086014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.672260615 meters 0.03905304235477691 Centerline is valid? [True, True] Translation: X:13.60, Y:-0.06, Z:-0.63 [[ 9.96273591e-01 7.17057075e-02 4.79293685e-02 1.35978630e+01] [-7.17491167e-02 9.97422377e-01 -8.16350405e-04 -6.09548819e-02] [-4.78643616e-02 -2.62558150e-03 9.98850394e-01 -6.29214609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.702260614999997 meters 0.037433009714459134 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.06, Z:-0.63 [[ 9.96426052e-01 6.65300739e-02 5.20468222e-02 1.36277068e+01] [-6.65741921e-02 9.97781083e-01 -8.87466074e-04 -6.36574242e-02] [-5.19903778e-02 -2.58068082e-03 9.98644251e-01 -6.26237148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.732260614999998 meters 0.03261424034340306 Centerline is valid? [True, True] Translation: X:13.66, Y:-0.07, Z:-0.62 [[ 9.96500464e-01 6.12216921e-02 5.69098393e-02 1.36590137e+01] [-6.12658219e-02 9.98121013e-01 -9.70613077e-04 -7.08032251e-02] [-5.68623290e-02 -2.51941169e-03 9.98378850e-01 -6.20885620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.762260615 meters 0.031357951773013204 Centerline is valid? [True, True] Translation: X:13.69, Y:-0.07, Z:-0.61 [[ 9.96650080e-01 5.42721398e-02 6.11813066e-02 1.36897819e+01] [-5.43100376e-02 9.98523574e-01 -1.04456237e-03 -7.48301048e-02] [-6.11476676e-02 -2.28169589e-03 9.98126123e-01 -6.09731058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.792260614999996 meters 0.02859841271279715 Centerline is valid? [True, True] Translation: X:13.72, Y:-0.08, Z:-0.61 [[ 9.96926967e-01 5.24501649e-02 5.81859318e-02 1.37212705e+01] [-5.24813021e-02 9.98621412e-01 -9.93924464e-04 -7.92027616e-02] [-5.81578488e-02 -2.06280336e-03 9.98305269e-01 -6.12077920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.822260614999998 meters 0.02891244332234518 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.08, Z:-0.61 [[ 9.96871709e-01 5.33945408e-02 5.82736499e-02 1.37533080e+01] [-5.34270586e-02 9.98571253e-01 -1.00097165e-03 -7.71963015e-02] [-5.82438380e-02 -2.11554938e-03 9.98300145e-01 -6.13275781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.852260615 meters 0.02907521765397512 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.07, Z:-0.62 [[ 9.96858100e-01 5.37268788e-02 5.82009607e-02 1.37858073e+01] [-5.37588292e-02 9.98553430e-01 -1.01776285e-03 -7.29477239e-02] [-5.81714501e-02 -2.11425036e-03 9.98304369e-01 -6.15811737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.882260614999996 meters 0.03213606491532266 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.06, Z:-0.63 [[ 9.96812190e-01 5.87426172e-02 5.39885381e-02 1.38174726e+01] [-5.87765173e-02 9.98270703e-01 -9.61034119e-04 -6.11765894e-02] [-5.39516296e-02 -2.21528772e-03 9.98541093e-01 -6.25593669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.912260614999997 meters 0.034440760527685466 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.06, Z:-0.63 [[ 9.96589197e-01 6.46282638e-02 5.13143222e-02 1.38482127e+01] [-6.46660221e-02 9.97906533e-01 -9.25815660e-04 -5.83050900e-02] [-5.12667312e-02 -2.39563521e-03 9.98682123e-01 -6.31493527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.942260615 meters 0.04858381770850214 Centerline is valid? [True, True] Translation: X:13.88, Y:-0.04, Z:-0.64 [[ 9.95571378e-01 8.27689231e-02 4.45750726e-02 1.38780942e+01] [-8.28154493e-02 9.96564576e-01 -8.05065145e-04 -3.82728520e-02] [-4.44885726e-02 -2.89000484e-03 9.99005713e-01 -6.39686252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.972260614999996 meters 0.050900953223705886 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.03, Z:-0.64 [[ 9.94882133e-01 9.14092844e-02 4.30567661e-02 1.39092299e+01] [-9.14606938e-02 9.95808383e-01 -7.78545230e-04 -3.27042354e-02] [-4.29474549e-02 -3.16344096e-03 9.99072324e-01 -6.42463253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.002260614999997 meters 0.060365695187394715 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.02, Z:-0.64 [[ 9.94356685e-01 9.68584596e-02 4.32807343e-02 1.39387651e+01] [-9.69154761e-02 9.95292307e-01 -7.83909068e-04 -1.86176000e-02] [-4.31529101e-02 -3.41508775e-03 9.99062642e-01 -6.44807862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.032260615 meters 0.051186384578480654 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.03, Z:-0.64 [[ 9.94592533e-01 9.32360283e-02 4.57464424e-02 1.39691017e+01] [-9.32959936e-02 9.95638073e-01 -8.27190948e-04 -3.22547745e-02] [-4.56240238e-02 -3.44524186e-03 9.98952741e-01 -6.42956605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.062260615 meters 0.04628009551128802 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.04, Z:-0.64 [[ 9.94888123e-01 8.77016191e-02 5.00604524e-02 1.39999851e+01] [-8.77664871e-02 9.96140665e-01 -9.05177633e-04 -4.10936127e-02] [-4.99466379e-02 -3.49307957e-03 9.98745779e-01 -6.39922712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.092260614999997 meters 0.044024055969907244 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.05, Z:-0.63 [[ 9.95185527e-01 7.83853497e-02 5.88345544e-02 1.40297889e+01] [-7.84588364e-02 9.96916787e-01 -1.06353377e-03 -4.76791139e-02] [-5.87365204e-02 -3.55767726e-03 9.98267181e-01 -6.30675120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.122260615 meters 0.0410512781147907 Centerline is valid? [True, True] Translation: X:14.06, Y:-0.05, Z:-0.63 [[ 9.94804214e-01 7.84804028e-02 6.48490759e-02 1.40617614e+01] [-7.85696603e-02 9.96907932e-01 -1.17668353e-03 -5.33385443e-02] [-6.47409048e-02 -3.92460013e-03 9.97894390e-01 -6.26304204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.152260615 meters 0.04453450466652651 Centerline is valid? [True, True] Translation: X:14.09, Y:-0.05, Z:-0.62 [[ 9.94448605e-01 8.17165528e-02 6.62900983e-02 1.40921420e+01] [-8.18159840e-02 9.96646708e-01 -1.21801302e-03 -5.16149111e-02] [-6.61673401e-02 -4.21233827e-03 9.97799649e-01 -6.24726452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.182260614999997 meters 0.04618000917080102 Centerline is valid? [True, True] Translation: X:14.12, Y:-0.05, Z:-0.63 [[ 9.94126352e-01 8.53635550e-02 6.65271359e-02 1.41227653e+01] [-8.54716921e-02 9.96339847e-01 -1.22431015e-03 -5.40338207e-02] [-6.63881479e-02 -4.46906790e-03 9.97783865e-01 -6.25728959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.212260614999998 meters 0.04669783925438608 Centerline is valid? [True, True] Translation: X:14.15, Y:-0.06, Z:-0.63 [[ 9.93980135e-01 8.83909226e-02 6.47343535e-02 1.41533737e+01] [-8.84995082e-02 9.96075505e-01 -1.19379926e-03 -6.12418228e-02] [-6.45858249e-02 -4.54234569e-03 9.97901818e-01 -6.29241480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.242260615 meters 0.04449176053553026 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.06, Z:-0.64 [[ 9.94253846e-01 8.67820838e-02 6.26750294e-02 1.41850706e+01] [-8.68805382e-02 9.96218064e-01 -1.15788159e-03 -6.20775192e-02] [-6.25384798e-02 -4.29401206e-03 9.98033316e-01 -6.36619546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.272260614999997 meters 0.04759118773744733 Centerline is valid? [True, True] Translation: X:14.22, Y:-0.06, Z:-0.64 [[ 9.94577093e-01 8.46577998e-02 6.04107894e-02 1.42154720e+01] [-8.47451294e-02 9.96402032e-01 -1.11965562e-03 -5.76675000e-02] [-6.02882209e-02 -4.00593634e-03 9.98172972e-01 -6.41778028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.302260614999998 meters 0.04579540724229722 Centerline is valid? [True, True] Translation: X:14.25, Y:-0.06, Z:-0.65 [[ 9.94793642e-01 8.39651641e-02 5.77534499e-02 1.42469769e+01] [-8.40434880e-02 9.96461507e-01 -1.07571945e-03 -6.20906457e-02] [-5.76394127e-02 -3.78368251e-03 9.98330297e-01 -6.48130149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.332260615 meters 0.04557343456994932 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.07, Z:-0.65 [[ 9.94745618e-01 8.43858258e-02 5.79671335e-02 1.42795915e+01] [-8.44644029e-02 9.96425893e-01 -1.09764215e-03 -7.00845152e-02] [-5.78525782e-02 -3.80428460e-03 9.98317889e-01 -6.48930284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.362260614999997 meters 0.04519147049314667 Centerline is valid? [True, True] Translation: X:14.31, Y:-0.07, Z:-0.65 [[ 9.94755782e-01 8.32023916e-02 5.94835775e-02 1.43114980e+01] [-8.32818338e-02 9.96525374e-01 -1.14668074e-03 -7.39378493e-02] [-5.93723009e-02 -3.81323412e-03 9.98228626e-01 -6.48233743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.392260614999998 meters 0.040562824562027366 Centerline is valid? [True, True] Translation: X:14.34, Y:-0.08, Z:-0.65 [[ 9.95160319e-01 7.45144599e-02 6.40588342e-02 1.43417394e+01] [-7.45877549e-02 9.97213671e-01 -1.24985195e-03 -8.19809868e-02] [-6.39734772e-02 -3.53420156e-03 9.97945341e-01 -6.45837543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.422260615 meters 0.03543999937273965 Centerline is valid? [True, True] Translation: X:14.37, Y:-0.09, Z:-0.64 [[ 9.95401924e-01 6.89069151e-02 6.65345483e-02 1.43728411e+01] [-6.89735031e-02 9.97617647e-01 -1.29852488e-03 -8.70807247e-02] [-6.64655169e-02 -3.29656671e-03 9.97783277e-01 -6.44899629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.452260614999997 meters 0.029240677471661782 Centerline is valid? [True, True] Translation: X:14.40, Y:-0.09, Z:-0.64 [[ 9.96082484e-01 5.63403754e-02 6.81575188e-02 1.44022967e+01] [-5.63808485e-02 9.98408447e-01 -1.33119741e-03 -8.86768466e-02] [-6.81240426e-02 -2.51679632e-03 9.97673684e-01 -6.41806383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.482260614999998 meters 0.025443646147055667 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.09, Z:-0.64 [[ 9.96473311e-01 4.88147175e-02 6.82500031e-02 1.44320464e+01] [-4.88376895e-02 9.98805839e-01 -1.33290357e-03 -9.32935907e-02] [-6.82335669e-02 -2.00496962e-03 9.97667360e-01 -6.41080043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.512260615 meters 0.017034023144543654 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.11, Z:-0.64 [[ 9.97120497e-01 2.97573332e-02 6.97511018e-02 1.44622909e+01] [-2.97347396e-02 9.99556896e-01 -1.36240444e-03 -1.11362544e-01] [-6.97607364e-02 -7.15549465e-04 9.97563496e-01 -6.40209544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.542260614999996 meters 0.015638086010064015 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.12, Z:-0.64 [[ 9.97342078e-01 2.13592892e-02 6.96603149e-02 1.44933470e+01] [-2.13158034e-02 9.99771857e-01 -1.36761580e-03 -1.17189269e-01] [-6.96736337e-02 -1.20884789e-04 9.97569832e-01 -6.40988668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.572260614999998 meters 0.015511459665412642 Centerline is valid? [True, True] Translation: X:14.53, Y:-0.11, Z:-0.64 [[ 9.97592113e-01 1.45980557e-02 6.78002357e-02 1.45250153e+01] [-1.45399265e-02 9.99893377e-01 -1.35077978e-03 -1.14619886e-01] [-6.78127254e-02 3.61716811e-04 9.97698002e-01 -6.44904345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.602260615 meters 0.015278052684368574 Centerline is valid? [True, True] Translation: X:14.56, Y:-0.11, Z:-0.65 [[ 9.97625162e-01 1.57859444e-02 6.70435683e-02 1.45572695e+01] [-1.57303787e-02 9.99875350e-01 -1.35665582e-03 -1.10081224e-01] [-6.70566274e-02 2.98813264e-04 9.97749126e-01 -6.48125058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.632260614999996 meters 0.015512112970091484 Centerline is valid? [True, True] Translation: X:14.59, Y:-0.09, Z:-0.65 [[ 9.97351769e-01 2.09066465e-02 6.96588948e-02 1.45891437e+01] [-2.08576003e-02 9.99781432e-01 -1.43143961e-03 -9.35083851e-02] [-6.96735962e-02 -2.52685602e-05 9.97569842e-01 -6.46613392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.662260614999997 meters 0.0156749788555955 Centerline is valid? [True, True] Translation: X:14.62, Y:-0.08, Z:-0.65 [[ 9.97131008e-01 2.47338336e-02 7.15401243e-02 1.46211573e+01] [-2.46903663e-02 9.99694033e-01 -1.49197349e-03 -8.27423276e-02] [-7.15551376e-02 -2.78658843e-04 9.97436607e-01 -6.47157163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.692260615 meters 0.017064047032083775 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.06, Z:-0.64 [[ 9.96946970e-01 2.89022030e-02 7.25355246e-02 1.46524190e+01] [-2.88669455e-02 9.99582085e-01 -1.53456469e-03 -6.33362091e-02] [-7.25495632e-02 -5.63999416e-04 9.97364649e-01 -6.44287935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.722260614999996 meters 0.01698180380397089 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.06, Z:-0.64 [[ 9.96784956e-01 3.00965139e-02 7.42559909e-02 1.46844852e+01] [-3.00613204e-02 9.99546789e-01 -1.59181694e-03 -5.61241440e-02] [-7.42702454e-02 -6.45533959e-04 9.97237942e-01 -6.44994778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.752260614999997 meters 0.01728550998800311 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.05, Z:-0.64 [[ 9.96707612e-01 3.11498450e-02 7.48573473e-02 1.47171223e+01] [-3.11152537e-02 9.99514476e-01 -1.62857434e-03 -4.81657559e-02] [-7.48717321e-02 -7.05992909e-04 9.97192923e-01 -6.43934231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.782260615 meters 0.01633197700320127 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.04, Z:-0.64 [[ 9.96900733e-01 2.88169638e-02 7.32018512e-02 1.47489849e+01] [-2.87759250e-02 9.99584582e-01 -1.61542330e-03 -3.68861192e-02] [-7.32179934e-02 -4.96034306e-04 9.97315837e-01 -6.44665605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.812260614999996 meters 0.014435652859084377 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.03, Z:-0.65 [[ 9.97412157e-01 2.10626213e-02 6.87412228e-02 1.47797384e+01] [-2.10070122e-02 9.99778155e-01 -1.53182084e-03 -3.46751762e-02] [-6.87582371e-02 8.38090186e-05 9.97633348e-01 -6.52285296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.842260614999997 meters 0.014322640930964815 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.03, Z:-0.66 [[ 9.97624273e-01 1.83837449e-02 6.63916282e-02 1.48106435e+01] [-1.83254210e-02 9.99830969e-01 -1.48742566e-03 -3.30295007e-02] [-6.64077504e-02 2.67237404e-04 9.97792533e-01 -6.55998071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.872260615 meters 0.01609676944188562 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.03, Z:-0.66 [[ 9.97704713e-01 1.16352722e-02 6.67077697e-02 1.48434169e+01] [-1.15599791e-02 9.99932034e-01 -1.51460279e-03 -2.67737188e-02] [-6.67208587e-02 7.39985920e-04 9.97771406e-01 -6.56409286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.902260615 meters 0.017630408992605776 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.02, Z:-0.66 [[ 9.97666258e-01 7.44886936e-03 6.78715872e-02 1.48760602e+01] [-7.35979353e-03 9.99971696e-01 -1.56237485e-03 -2.30286560e-02] [-6.78813040e-02 1.05920780e-03 9.97692842e-01 -6.57507376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.932260614999997 meters 0.01954814439285969 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.02, Z:-0.66 [[ 9.97576183e-01 3.15584091e-03 6.95111434e-02 1.49082007e+01] [-3.05081126e-03 9.99994039e-01 -1.61708526e-03 -1.94951944e-02] [-6.95158323e-02 1.40110036e-03 9.97579864e-01 -6.57724362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.962260614999998 meters 0.02226964753511237 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.01, Z:-0.65 [[ 9.97159283e-01 -1.38677855e-03 7.53089761e-02 1.49398233e+01] [ 1.52342985e-03 9.99997296e-01 -1.75712673e-03 -6.54165685e-03] [-7.53063357e-02 1.86686317e-03 9.97158699e-01 -6.51845628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.992260615 meters 0.022144009735331167 Centerline is valid? [True, True] Translation: X:14.97, Y:0.00, Z:-0.65 [[ 9.97031798e-01 -5.34370888e-04 7.69890134e-02 1.49722547e+01] [ 6.75486568e-04 9.99998139e-01 -1.80690318e-03 2.78265296e-03] [-7.69879046e-02 1.85354497e-03 9.97030304e-01 -6.51032830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.022260614999997 meters 0.021685274501235755 Centerline is valid? [True, True] Translation: X:15.01, Y:0.03, Z:-0.65 [[ 9.96811195e-01 3.97125163e-03 7.96973747e-02 1.50056212e+01] [-3.83222643e-03 9.99990857e-01 -1.89729107e-03 2.73851681e-02] [-7.97041806e-02 1.58582259e-03 9.96817300e-01 -6.46681756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.052260614999998 meters 0.02033247188641027 Centerline is valid? [True, True] Translation: X:15.04, Y:0.06, Z:-0.65 [[ 9.96334368e-01 9.31908732e-03 8.50351765e-02 1.50389558e+01] [-9.17838710e-03 9.99955786e-01 -2.04542151e-03 5.84511034e-02] [-8.50504782e-02 1.25743798e-03 9.96375850e-01 -6.46018793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.082260615 meters 0.020334314656291427 Centerline is valid? [True, True] Translation: X:15.07, Y:0.07, Z:-0.65 [[ 9.96024715e-01 1.28853084e-02 8.81404311e-02 1.50711959e+01] [-1.27465136e-02 9.99916476e-01 -2.13737982e-03 7.05586328e-02] [-8.81606100e-02 1.00539992e-03 9.96105765e-01 -6.45542795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.112260614999997 meters 0.019616053920293565 Centerline is valid? [True, True] Translation: X:15.10, Y:0.08, Z:-0.65 [[ 9.95823460e-01 1.77485082e-02 8.95579482e-02 1.51034655e+01] [-1.76222923e-02 9.99842295e-01 -2.19988365e-03 8.39977516e-02] [-8.95828691e-02 6.12479407e-04 9.95979184e-01 -6.45320779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.142260614999998 meters 0.0182451181151265 Centerline is valid? [True, True] Translation: X:15.14, Y:0.12, Z:-0.65 [[ 9.96039160e-01 2.93698876e-02 8.39249794e-02 1.51350535e+01] [-2.92990215e-02 9.99568535e-01 -2.07617268e-03 1.16705286e-01] [-8.39497457e-02 -3.90970491e-04 9.96469913e-01 -6.50028089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.172260615 meters 0.018227214672582474 Centerline is valid? [True, True] Translation: X:15.17, Y:0.14, Z:-0.66 [[ 9.96336919e-01 3.95429944e-02 7.58227891e-02 1.51667381e+01] [-3.95143190e-02 9.99217238e-01 -1.87894490e-03 1.39168713e-01] [-7.58377370e-02 -1.12402370e-03 9.97119539e-01 -6.61878167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.202260614999997 meters 0.02051741635048153 Centerline is valid? [True, True] Translation: X:15.20, Y:0.15, Z:-0.66 [[ 9.96047526e-01 4.40365283e-02 7.71369540e-02 1.51980719e+01] [-4.40193449e-02 9.99028826e-01 -1.92387137e-03 1.48029882e-01] [-7.71467612e-02 -1.47925086e-03 9.97018650e-01 -6.60427545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.232260614999998 meters 0.02051741635048153 Centerline is valid? [True, True] Translation: X:15.23, Y:0.15, Z:-0.66 [[ 9.96031909e-01 4.43894456e-02 7.71363332e-02 1.52306269e+01] [-4.43714113e-02 9.99013204e-01 -1.94850832e-03 1.47008275e-01] [-7.71467085e-02 -1.48187151e-03 9.97018650e-01 -6.61944406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.262260615 meters 0.021826301443276946 Centerline is valid? [True, True] Translation: X:15.26, Y:0.16, Z:-0.66 [[ 9.95592965e-01 4.90774746e-02 7.99127601e-02 1.52618400e+01] [-4.90716692e-02 9.98793181e-01 -2.03770247e-03 1.63261902e-01] [-7.99163252e-02 -1.89273028e-03 9.96799779e-01 -6.59364806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.292260614999996 meters 0.022166037792983383 Centerline is valid? [True, True] Translation: X:15.29, Y:0.17, Z:-0.66 [[ 9.95740033e-01 4.99579044e-02 7.74983541e-02 1.52936521e+01] [-4.99541245e-02 9.98749534e-01 -1.98858569e-03 1.69234392e-01] [-7.75007906e-02 -1.89124805e-03 9.96990497e-01 -6.62566246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.322260614999998 meters 0.02189974691596657 Centerline is valid? [True, True] Translation: X:15.33, Y:0.17, Z:-0.67 [[ 9.95978914e-01 4.93171256e-02 7.47918732e-02 1.53253004e+01] [-4.93100718e-02 9.98781630e-01 -1.94202069e-03 1.70862226e-01] [-7.47965239e-02 -1.75378098e-03 9.97197274e-01 -6.66913474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.352260615 meters 0.018989774864322087 Centerline is valid? [True, True] Translation: X:15.36, Y:0.16, Z:-0.67 [[ 9.95990254e-01 4.18214309e-02 7.90846557e-02 1.53571162e+01] [-4.17879478e-02 9.99124339e-01 -2.07904745e-03 1.62782481e-01] [-7.91023531e-02 -1.23407446e-03 9.96865736e-01 -6.67512035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.382260614999996 meters 0.0189240015597423 Centerline is valid? [True, True] Translation: X:15.39, Y:0.16, Z:-0.66 [[ 9.95846937e-01 3.43055986e-02 8.43326989e-02 1.53883408e+01] [-3.42387916e-02 9.99411173e-01 -2.23878627e-03 1.56339337e-01] [-8.43598444e-02 -6.57961251e-04 9.96435138e-01 -6.62200960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.412260614999997 meters 0.021786665605608487 Centerline is valid? [True, True] Translation: X:15.42, Y:0.14, Z:-0.66 [[ 9.95752876e-01 1.55050225e-02 9.07513301e-02 1.54192011e+01] [-1.53489376e-02 9.99879275e-01 -2.41761622e-03 1.41340149e-01] [-9.07778594e-02 1.01441180e-03 9.95870650e-01 -6.57719151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.442260615 meters 0.02355515384147407 Centerline is valid? [True, True] Translation: X:15.45, Y:0.14, Z:-0.66 [[ 9.95750860e-01 8.34155796e-03 9.17095635e-02 1.54505480e+01] [-8.15060276e-03 9.99963766e-01 -2.45651597e-03 1.37881188e-01] [-9.17267317e-02 1.69858967e-03 9.95782768e-01 -6.61040931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.472260614999996 meters 0.02767406508179204 Centerline is valid? [True, True] Translation: X:15.48, Y:0.14, Z:-0.66 [[ 9.95947271e-01 6.91956312e-04 8.99363867e-02 1.54817121e+01] [-4.74945373e-04 9.99996924e-01 -2.43431655e-03 1.43210555e-01] [-8.99377946e-02 2.38173606e-03 9.95944537e-01 -6.61466277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.502260614999997 meters 0.027143329740145536 Centerline is valid? [True, True] Translation: X:15.51, Y:0.15, Z:-0.67 [[ 9.96164018e-01 -6.06447384e-06 8.75057052e-02 1.55145521e+01] [ 2.15652259e-04 9.99997131e-01 -2.38567948e-03 1.52383878e-01] [-8.75054397e-02 2.39539886e-03 9.96161162e-01 -6.65606645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.532260615 meters 0.024959472485195262 Centerline is valid? [True, True] Translation: X:15.55, Y:0.16, Z:-0.67 [[ 9.96346732e-01 2.70730373e-03 8.53572452e-02 1.55467082e+01] [-2.51722271e-03 9.99994107e-01 -2.33443752e-03 1.64572127e-01] [-8.53630622e-02 2.11104600e-03 9.96347676e-01 -6.70505283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.562260614999996 meters 0.019651149511194725 Centerline is valid? [True, True] Translation: X:15.58, Y:0.19, Z:-0.68 [[ 9.96542053e-01 1.59208499e-02 8.15503709e-02 1.55773325e+01] [-1.57913041e-02 9.99872815e-01 -2.23329977e-03 1.92546330e-01] [-8.15755550e-02 9.37790434e-04 9.96666719e-01 -6.78464580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.592260614999997 meters 0.018237791172706623 Centerline is valid? [True, True] Translation: X:15.61, Y:0.22, Z:-0.68 [[ 9.96197754e-01 3.34082741e-02 8.04606821e-02 1.56097370e+01] [-3.33383190e-02 9.99441674e-01 -2.21304263e-03 2.24751797e-01] [-8.04896927e-02 -4.77795791e-04 9.96755327e-01 -6.78530439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.622260615 meters 0.018220864856605838 Centerline is valid? [True, True] Translation: X:15.64, Y:0.24, Z:-0.68 [[ 9.96068117e-01 3.94101030e-02 7.93419827e-02 1.56427380e+01] [-3.93591826e-02 9.99222692e-01 -2.20617469e-03 2.39599567e-01] [-7.93672551e-02 -9.25335318e-04 9.96845014e-01 -6.81430418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.652260614999996 meters 0.017953609831102967 Centerline is valid? [True, True] Translation: X:15.68, Y:0.26, Z:-0.68 [[ 9.95999672e-01 4.30506226e-02 7.83025969e-02 1.56762300e+01] [-4.30101712e-02 9.99072204e-01 -2.20380904e-03 2.63326802e-01] [-7.83248234e-02 -1.17281501e-03 9.96927202e-01 -6.82930754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.682260614999997 meters 0.017054192113062222 Centerline is valid? [True, True] Translation: X:15.71, Y:0.27, Z:-0.69 [[ 9.95854425e-01 4.35055980e-02 7.98825875e-02 1.57085172e+01] [-4.34628250e-02 9.99052455e-01 -2.27493742e-03 2.70717020e-01] [-7.99058677e-02 -1.20641642e-03 9.96801684e-01 -6.85297160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.712260614999998 meters 0.016692725777625338 Centerline is valid? [True, True] Translation: X:15.74, Y:0.28, Z:-0.68 [[ 9.95645758e-01 3.89618803e-02 8.46846880e-02 1.57410236e+01] [-3.88958571e-02 9.99240315e-01 -2.43003139e-03 2.79516817e-01] [-8.47150330e-02 -8.74433077e-04 9.96404837e-01 -6.84068840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.742260615 meters 0.016692858040206437 Centerline is valid? [True, True] Translation: X:15.77, Y:0.28, Z:-0.69 [[ 9.95604456e-01 3.33729493e-02 8.75100737e-02 1.57734650e+01] [-3.32794651e-02 9.99442890e-01 -2.52740198e-03 2.77348714e-01] [-8.75456678e-02 -3.95995768e-04 9.96160428e-01 -6.85445517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.772260614999997 meters 0.02094519843266041 Centerline is valid? [True, True] Translation: X:15.80, Y:0.27, Z:-0.68 [[ 9.95246194e-01 2.09820359e-02 9.51039865e-02 1.58029470e+01] [-2.08137661e-02 9.99779558e-01 -2.76107356e-03 2.71946507e-01] [-9.51409544e-02 7.68475823e-04 9.95463514e-01 -6.79800267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.802260614999998 meters 0.021984041790666313 Centerline is valid? [True, True] Translation: X:15.83, Y:0.27, Z:-0.68 [[ 9.95065101e-01 1.57118783e-02 9.79723540e-02 1.58339197e+01] [-1.55077540e-02 9.99875701e-01 -2.84468638e-03 2.71503538e-01] [-9.80048715e-02 1.31131698e-03 9.95185071e-01 -6.80797309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.832260615 meters 0.023652068301179822 Centerline is valid? [True, True] Translation: X:15.87, Y:0.27, Z:-0.68 [[ 9.94957055e-01 1.21713413e-02 9.95606201e-02 1.58656175e+01] [-1.19425195e-02 9.99924498e-01 -2.89399946e-03 2.74637669e-01] [-9.95883269e-02 1.69040054e-03 9.95027290e-01 -6.79676948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.862260614999997 meters 0.025582064797156346 Centerline is valid? [True, True] Translation: X:15.90, Y:0.29, Z:-0.68 [[ 9.95221176e-01 7.85000104e-03 9.73303028e-02 1.58970218e+01] [-7.60922867e-03 9.99967003e-01 -2.84471024e-03 2.87766240e-01] [-9.73494222e-02 2.09050734e-03 9.95248069e-01 -6.77017342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.892260614999998 meters 0.02478797109117079 Centerline is valid? [True, True] Translation: X:15.93, Y:0.30, Z:-0.68 [[ 9.95522166e-01 4.59015281e-03 9.44168798e-02 1.59294481e+01] [-4.34653852e-03 9.99986674e-01 -2.78569045e-03 3.02264703e-01] [-9.44284083e-02 2.36282999e-03 9.95528851e-01 -6.82832782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.922260615 meters 0.025046026335970445 Centerline is valid? [True, True] Translation: X:15.96, Y:0.31, Z:-0.68 [[ 9.95519435e-01 3.76082414e-03 9.44823267e-02 1.59618299e+01] [-3.51051570e-03 9.99989875e-01 -2.81533553e-03 3.08690481e-01] [-9.44919580e-02 2.47103954e-03 9.95522558e-01 -6.84461550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.952260614999997 meters 0.023428689327469807 Centerline is valid? [True, True] Translation: X:15.99, Y:0.32, Z:-0.69 [[ 9.95803907e-01 8.13047112e-03 9.11508366e-02 1.59918581e+01] [-7.91462265e-03 9.99964954e-01 -2.72925668e-03 3.21255532e-01] [-9.11698323e-02 1.99637998e-03 9.95833358e-01 -6.92183230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.982260614999998 meters 0.020646886567533863 Centerline is valid? [True, True] Translation: X:16.02, Y:0.33, Z:-0.70 [[ 9.96053046e-01 1.10352018e-02 8.80712977e-02 1.60232629e+01] [-1.08448389e-02 9.99937709e-01 -2.63967424e-03 3.26319779e-01] [-8.80949410e-02 1.67413653e-03 9.96110676e-01 -7.00585189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.012260615 meters 0.017736873837982756 Centerline is valid? [True, True] Translation: X:16.05, Y:0.34, Z:-0.70 [[ 9.96149663e-01 1.82381884e-02 8.57509045e-02 1.60541276e+01] [-1.80841392e-02 9.99833158e-01 -2.57299223e-03 3.39011647e-01] [-8.57835244e-02 1.01235405e-03 9.96313285e-01 -7.03403024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.042260614999996 meters 0.017226417848082046 Centerline is valid? [True, True] Translation: X:16.09, Y:0.34, Z:-0.70 [[ 9.96107273e-01 2.08281641e-02 8.56532972e-02 1.60865972e+01] [-2.06830292e-02 9.99782750e-01 -2.58160949e-03 3.43892897e-01] [-8.56884593e-02 7.99990346e-04 9.96321659e-01 -7.03115749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.072260614999998 meters 0.016785270298556455 Centerline is valid? [True, True] Translation: X:16.12, Y:0.35, Z:-0.70 [[ 9.96017819e-01 2.34308715e-02 8.60203397e-02 1.61202428e+01] [-2.32918320e-02 9.99725276e-01 -2.61978506e-03 3.47911327e-01] [-8.60580917e-02 6.05781300e-04 9.96289937e-01 -7.02152010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.102260615 meters 0.016896259364956305 Centerline is valid? [True, True] Translation: X:16.15, Y:0.35, Z:-0.70 [[ 9.95801564e-01 2.67485296e-02 8.75429143e-02 1.61519685e+01] [-2.66153369e-02 9.99642134e-01 -2.68854582e-03 3.54092002e-01] [-8.75835003e-02 3.47273979e-04 9.96157121e-01 -6.99582030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.132260614999996 meters 0.01720713153742601 Centerline is valid? [True, True] Translation: X:16.18, Y:0.35, Z:-0.71 [[ 9.96033960e-01 2.45876616e-02 8.55090506e-02 1.61838045e+01] [-2.44510791e-02 9.99697530e-01 -2.64439253e-03 3.46962486e-01] [-8.55482061e-02 5.43116210e-04 9.96333885e-01 -7.07707312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.162260614999997 meters 0.01776019816884657 Centerline is valid? [True, True] Translation: X:16.22, Y:0.34, Z:-0.71 [[ 9.96151389e-01 2.19368279e-02 8.48598051e-02 1.62167915e+01] [-2.17905117e-02 9.99759046e-01 -2.65017955e-03 3.38883738e-01] [-8.48974943e-02 7.90841464e-04 9.96389377e-01 -7.13891423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.192260615 meters 0.01978852389871678 Centerline is valid? [True, True] Translation: X:16.25, Y:0.32, Z:-0.72 [[ 9.96651298e-01 1.35658295e-02 8.06359661e-02 1.62485150e+01] [-1.34044318e-02 9.99906924e-01 -2.54256895e-03 3.23849638e-01] [-8.06629529e-02 1.45317534e-03 9.96740376e-01 -7.22386860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.222260614999996 meters 0.021271399162383638 Centerline is valid? [True, True] Translation: X:16.28, Y:0.32, Z:-0.73 [[ 9.96939465e-01 9.34669300e-03 7.76166356e-02 1.62810780e+01] [-9.18263031e-03 9.99954787e-01 -2.47039638e-03 3.17338311e-01] [-7.76362164e-02 1.75011077e-03 9.96980218e-01 -7.27510065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.252260614999997 meters 0.022417746018275373 Centerline is valid? [True, True] Translation: X:16.31, Y:0.31, Z:-0.73 [[ 9.97193209e-01 6.16223949e-03 7.46172248e-02 1.63136720e+01] [-5.99995508e-03 9.99979123e-01 -2.39886132e-03 3.12045850e-01] [-7.46304494e-02 1.94442822e-03 9.97209364e-01 -7.33119025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.282260615 meters 0.023189942814771998 Centerline is valid? [True, True] Translation: X:16.35, Y:0.31, Z:-0.74 [[ 9.97580634e-01 3.81529543e-03 6.94141400e-02 1.63456991e+01] [-3.66778696e-03 9.99990737e-01 -2.25237750e-03 3.08981373e-01] [-6.94220905e-02 1.99233190e-03 9.97585387e-01 -7.40033869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.312260614999996 meters 0.023420657605939872 Centerline is valid? [True, True] Translation: X:16.38, Y:0.31, Z:-0.74 [[ 9.97758289e-01 6.03367141e-03 6.66482654e-02 1.63765934e+01] [-5.90174043e-03 9.99980217e-01 -2.17622487e-03 3.11726011e-01] [-6.66600775e-02 1.77800564e-03 9.97774159e-01 -7.41966422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.342260614999997 meters 0.020741220028197376 Centerline is valid? [True, True] Translation: X:16.41, Y:0.32, Z:-0.75 [[ 9.97849650e-01 7.45577523e-03 6.51190258e-02 1.64093016e+01] [-7.33261878e-03 9.99970847e-01 -2.13005027e-03 3.16744374e-01] [-6.51330086e-02 1.64797692e-03 9.97875230e-01 -7.46350583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.372260615 meters 0.020306295541027353 Centerline is valid? [True, True] Translation: X:16.44, Y:0.32, Z:-0.75 [[ 9.97985662e-01 8.39526036e-03 6.28819385e-02 1.64415619e+01] [-8.28171470e-03 9.99963571e-01 -2.06612597e-03 3.17847150e-01] [-6.28969935e-02 1.54119382e-03 9.98018834e-01 -7.49796234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.402260614999996 meters 0.019889668161554224 Centerline is valid? [True, True] Translation: X:16.47, Y:0.32, Z:-0.76 [[ 9.98337468e-01 7.71845249e-03 5.71202707e-02 1.64738975e+01] [-7.62293451e-03 9.99969159e-01 -1.88992993e-03 3.17972617e-01] [-5.71330964e-02 1.45136378e-03 9.98365516e-01 -7.59392084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.432260614999997 meters 0.02117982333599354 Centerline is valid? [True, True] Translation: X:16.51, Y:0.31, Z:-0.76 [[ 9.98441922e-01 7.07455539e-03 5.53505076e-02 1.65055192e+01] [-6.98352669e-03 9.99973926e-01 -1.83783535e-03 3.14719631e-01] [-5.53620662e-02 1.44843011e-03 9.98465294e-01 -7.63696867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.462260614999998 meters 0.021504965682160312 Centerline is valid? [True, True] Translation: X:16.54, Y:0.32, Z:-0.77 [[ 9.98668816e-01 5.98671492e-03 5.12323683e-02 1.65386453e+01] [-5.90678355e-03 9.99981090e-01 -1.71144119e-03 3.15032900e-01] [-5.12416454e-02 1.40654443e-03 9.98685293e-01 -7.67247461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.492260614999996 meters 0.021004851713834722 Centerline is valid? [True, True] Translation: X:16.57, Y:0.32, Z:-0.77 [[ 9.98629055e-01 5.86205043e-03 5.20158399e-02 1.65712483e+01] [-5.77860651e-03 9.99981765e-01 -1.75444980e-03 3.15241199e-01] [-5.20251761e-02 1.45146547e-03 9.98644719e-01 -7.66158781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.522260614999997 meters 0.021471208485939895 Centerline is valid? [True, True] Translation: X:16.60, Y:0.31, Z:-0.77 [[ 9.98514751e-01 6.45364039e-03 5.40984474e-02 1.66034901e+01] [-6.36335156e-03 9.99978059e-01 -1.84105827e-03 3.11196967e-01] [-5.41091419e-02 1.49407640e-03 9.98533910e-01 -7.65798794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.552260614999998 meters 0.021231640963018685 Centerline is valid? [True, True] Translation: X:16.64, Y:0.31, Z:-0.77 [[ 9.98390728e-01 7.34165838e-03 5.62321468e-02 1.66364713e+01] [-7.24448246e-03 9.99971892e-01 -1.93177591e-03 3.06780375e-01] [-5.62447487e-02 1.52129436e-03 9.98415852e-01 -7.66643175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.582260615 meters 0.022793085929141373 Centerline is valid? [True, True] Translation: X:16.67, Y:0.29, Z:-0.77 [[ 9.98172200e-01 4.83644410e-03 6.02400910e-02 1.66677825e+01] [-4.71912862e-03 9.99986682e-01 -2.08958326e-03 2.92470356e-01] [-6.02493949e-02 1.80148318e-03 9.98181729e-01 -7.70638512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.612260614999997 meters 0.025545215978853765 Centerline is valid? [True, True] Translation: X:16.70, Y:0.28, Z:-0.77 [[ 9.98008846e-01 3.14606878e-03 6.29956053e-02 1.66987961e+01] [-3.01328564e-03 9.99993034e-01 -2.20271141e-03 2.82203232e-01] [-6.30020964e-02 2.00850172e-03 9.98011374e-01 -7.71859372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.642260614999998 meters 0.02672798967834075 Centerline is valid? [True, True] Translation: X:16.73, Y:0.28, Z:-0.77 [[ 9.97562662e-01 1.09622690e-03 6.97677157e-02 1.67294217e+01] [-9.27288995e-04 9.99996560e-01 -2.45377455e-03 2.75530079e-01] [-6.97701656e-02 2.38309904e-03 9.97560246e-01 -7.68899122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.672260615 meters 0.02684023668046531 Centerline is valid? [True, True] Translation: X:16.76, Y:0.28, Z:-0.77 [[ 9.97296816e-01 9.44767843e-04 7.34722276e-02 1.67617822e+01] [-7.56716163e-04 9.99996367e-01 -2.58728769e-03 2.75679823e-01] [-7.34744051e-02 2.52469615e-03 9.97293907e-01 -7.66240114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.702260614999997 meters 0.02722178055586075 Centerline is valid? [True, True] Translation: X:16.79, Y:0.28, Z:-0.76 [[ 9.96803605e-01 7.38084817e-04 7.98875979e-02 1.67926516e+01] [-5.14515770e-04 9.99995894e-01 -2.81909355e-03 2.75351742e-01] [-7.98893506e-02 2.76897919e-03 9.96799892e-01 -7.62232637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.732260614999998 meters 0.02778466762151938 Centerline is valid? [True, True] Translation: X:16.82, Y:0.27, Z:-0.76 [[ 9.96677213e-01 9.31865764e-04 8.14473088e-02 1.68239867e+01] [-6.99461207e-04 9.99995603e-01 -2.88191989e-03 2.71635187e-01] [-8.14496363e-02 2.81537465e-03 9.96673482e-01 -7.63217529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.762260615 meters 0.027765763037771035 Centerline is valid? [True, True] Translation: X:16.85, Y:0.27, Z:-0.77 [[ 9.96434610e-01 -5.34238162e-04 8.43669481e-02 1.68545053e+01] [ 7.89597198e-04 9.99995208e-01 -2.99342787e-03 2.65926013e-01] [-8.43649446e-02 3.04937104e-03 9.96430257e-01 -7.66907067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.792260614999996 meters 0.030398315743015318 Centerline is valid? [True, True] Translation: X:16.89, Y:0.26, Z:-0.77 [[ 9.96375630e-01 -1.08844512e-03 8.50553843e-02 1.68860610e+01] [ 1.35100142e-03 9.99994499e-01 -3.02938802e-03 2.60209210e-01] [-8.50516191e-02 3.13331835e-03 9.96371620e-01 -7.65261545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.822260614999998 meters 0.029655088380762935 Centerline is valid? [True, True] Translation: X:16.92, Y:0.26, Z:-0.77 [[ 9.96349186e-01 -2.34259617e-03 8.53393872e-02 1.69183989e+01] [ 2.61357195e-03 9.99991892e-01 -3.06368627e-03 2.58615524e-01] [-8.53315182e-02 3.27554195e-03 9.96347230e-01 -7.66857604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.852260615 meters 0.030115467524229188 Centerline is valid? [True, True] Translation: X:16.95, Y:0.26, Z:-0.77 [[ 9.96295403e-01 -2.79295441e-03 8.59515551e-02 1.69503155e+01] [ 3.07170196e-03 9.99990443e-01 -3.11099462e-03 2.56414150e-01] [-8.59420448e-02 3.36348720e-03 9.96294460e-01 -7.67220035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.882260614999996 meters 0.03162599361016879 Centerline is valid? [True, True] Translation: X:16.98, Y:0.25, Z:-0.77 [[ 9.96337065e-01 -1.76359736e-03 8.54946983e-02 1.69813296e+01] [ 2.03766508e-03 9.99993061e-01 -3.11851054e-03 2.52863624e-01] [-8.54886053e-02 3.28129720e-03 9.96333745e-01 -7.67747744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.912260614999997 meters 0.03002400512969733 Centerline is valid? [True, True] Translation: X:17.01, Y:0.25, Z:-0.78 [[ 9.96438031e-01 -6.12096065e-04 8.43260116e-02 1.70130333e+01] [ 8.76550121e-04 9.99994814e-01 -3.09910290e-03 2.49750018e-01] [-8.43236773e-02 3.16197996e-03 9.96433399e-01 -7.77055468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.942260615 meters 0.029833504003490427 Centerline is valid? [True, True] Translation: X:17.04, Y:0.25, Z:-0.78 [[ 9.96516146e-01 2.65833649e-04 8.33996350e-02 1.70448949e+01] [-8.25083350e-06 9.99995229e-01 -3.08886594e-03 2.48161135e-01] [-8.34000583e-02 3.07741667e-03 9.96511395e-01 -7.81100846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.972260614999996 meters 0.030396331812745134 Centerline is valid? [True, True] Translation: X:17.08, Y:0.25, Z:-0.78 [[ 9.96712737e-01 8.02783455e-04 8.10128141e-02 1.70751893e+01] [-5.60438818e-04 9.99995300e-01 -3.01413026e-03 2.50139267e-01] [-8.10148531e-02 2.95881930e-03 9.96708503e-01 -7.83646699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.002260614999997 meters 0.028469242498493735 Centerline is valid? [True, True] Translation: X:17.11, Y:0.25, Z:-0.79 [[ 9.96909562e-01 1.52144380e-03 7.85430449e-02 1.71076558e+01] [-1.29512102e-03 9.99994862e-01 -2.93237233e-03 2.54482527e-01] [-7.85471028e-02 2.82158727e-03 9.96906410e-01 -7.87563339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.032260615 meters 0.02665591008572713 Centerline is valid? [True, True] Translation: X:17.14, Y:0.26, Z:-0.79 [[ 9.97317744e-01 2.86441151e-03 7.31376243e-02 1.71386443e+01] [-2.67088776e-03 9.99992669e-01 -2.74368707e-03 2.61868980e-01] [-7.31449471e-02 2.54098542e-03 9.97318084e-01 -7.93551128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.062260614999996 meters 0.02636780126824982 Centerline is valid? [True, True] Translation: X:17.17, Y:0.26, Z:-0.80 [[ 9.97445480e-01 4.08258507e-03 7.13151241e-02 1.71704798e+01] [-3.90113007e-03 9.99988790e-01 -2.68350869e-03 2.63896667e-01] [-7.13252803e-02 2.39844403e-03 9.97450225e-01 -7.95846849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.092260614999997 meters 0.024349429191684084 Centerline is valid? [True, True] Translation: X:17.20, Y:0.27, Z:-0.80 [[ 9.97577157e-01 7.49900726e-03 6.91634321e-02 1.72023032e+01] [-7.33556001e-03 9.99969670e-01 -2.61688453e-03 2.71356132e-01] [-6.91809584e-02 2.10319173e-03 9.97601910e-01 -7.98927118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.122260615 meters 0.02352546097518634 Centerline is valid? [True, True] Translation: X:17.23, Y:0.27, Z:-0.80 [[ 9.97604784e-01 9.43158353e-03 6.85254722e-02 1.72344459e+01] [-9.27506505e-03 9.99953601e-01 -2.60190324e-03 2.72606247e-01] [-6.85468327e-02 1.96009291e-03 9.97645974e-01 -8.02326751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.152260614999996 meters 0.02352546097518634 Centerline is valid? [True, True] Translation: X:17.27, Y:0.27, Z:-0.80 [[ 9.97601687e-01 9.75915448e-03 6.85246870e-02 1.72670462e+01] [-9.60199744e-03 9.99950461e-01 -2.62244425e-03 2.71201778e-01] [-6.85468852e-02 1.95818094e-03 9.97645974e-01 -8.03843876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.182260614999997 meters 0.022326945301623408 Centerline is valid? [True, True] Translation: X:17.30, Y:0.27, Z:-0.81 [[ 9.97581459e-01 1.25380121e-02 6.83668849e-02 1.72994959e+01] [-1.23866201e-02 9.99919803e-01 -2.63788504e-03 2.69842945e-01] [-6.83944759e-02 1.78467058e-03 9.97656760e-01 -8.07989241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.212260614999998 meters 0.022176174777204325 Centerline is valid? [True, True] Translation: X:17.33, Y:0.27, Z:-0.81 [[ 9.97612204e-01 1.24667622e-02 6.79298934e-02 1.73325397e+01] [-1.23157545e-02 9.99920670e-01 -2.64134459e-03 2.66165639e-01] [-6.79574335e-02 1.79842971e-03 9.97686601e-01 -8.11113805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.242260614999996 meters 0.023884735169470414 Centerline is valid? [True, True] Translation: X:17.36, Y:0.26, Z:-0.81 [[ 9.97780330e-01 1.06691910e-02 6.57311328e-02 1.73645768e+01] [-1.05225516e-02 9.99941317e-01 -2.57670728e-03 2.57332041e-01] [-6.57547668e-02 1.87932860e-03 9.97834044e-01 -8.11667433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.272260614999997 meters 0.02431437473261945 Centerline is valid? [True, True] Translation: X:17.40, Y:0.25, Z:-0.81 [[ 9.97856037e-01 9.32747260e-03 6.47790719e-02 1.73964836e+01] [-9.18098011e-03 9.99954580e-01 -2.55873572e-03 2.53748431e-01] [-6.47999962e-02 1.95851451e-03 9.97896350e-01 -8.13124841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.302260614999998 meters 0.02493224823432785 Centerline is valid? [True, True] Translation: X:17.43, Y:0.25, Z:-0.81 [[ 9.97864306e-01 8.42349816e-03 6.47755437e-02 1.74280373e+01] [-8.27394489e-03 9.99962451e-01 -2.57670680e-03 2.48385232e-01] [-6.47948163e-02 2.03525446e-03 9.97896532e-01 -8.14863773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.332260614999996 meters 0.02496589725088418 Centerline is valid? [True, True] Translation: X:17.46, Y:0.24, Z:-0.82 [[ 9.97743493e-01 6.76680040e-03 6.67991934e-02 1.74597694e+01] [-6.60306917e-03 9.99974631e-01 -2.67158060e-03 2.37571733e-01] [-6.68155768e-02 2.22447246e-03 9.97762863e-01 -8.20619918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.362260614999997 meters 0.026996063954513327 Centerline is valid? [True, True] Translation: X:17.49, Y:0.22, Z:-0.83 [[ 9.97677786e-01 4.07494552e-03 6.79884546e-02 1.74906977e+01] [-3.89861114e-03 9.99988685e-01 -2.72607574e-03 2.24574798e-01] [-6.79987939e-02 2.45468466e-03 9.97682384e-01 -8.26543142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.392260614999998 meters 0.02858157629265097 Centerline is valid? [True, True] Translation: X:17.52, Y:0.22, Z:-0.83 [[ 9.97721132e-01 1.31321701e-03 6.74597588e-02 1.75228021e+01] [-1.13277574e-03 9.99995678e-01 -2.71298095e-03 2.19374635e-01] [-6.74630300e-02 2.63038164e-03 9.97718307e-01 -8.29338944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.422260615 meters 0.03263319215211994 Centerline is valid? [True, True] Translation: X:17.55, Y:0.22, Z:-0.83 [[ 9.98005311e-01 -5.14799428e-03 6.29197664e-02 1.75532461e+01] [ 5.31797329e-03 9.99982648e-01 -2.53434873e-03 2.19237757e-01] [-6.29056278e-02 2.86389913e-03 9.98015371e-01 -8.30015763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.452260614999997 meters 0.03277256728688984 Centerline is valid? [True, True] Translation: X:17.59, Y:0.22, Z:-0.83 [[ 9.98126721e-01 -6.74981347e-03 6.08069755e-02 1.75857902e+01] [ 6.91181673e-03 9.99973101e-01 -2.45427528e-03 2.24812597e-01] [-6.07887740e-02 2.86996441e-03 9.98146526e-01 -8.29866537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.482260614999998 meters 0.0327126854167606 Centerline is valid? [True, True] Translation: X:17.62, Y:0.23, Z:-0.83 [[ 9.98157745e-01 -6.81210072e-03 6.02885758e-02 1.76191148e+01] [ 6.97253882e-03 9.99972687e-01 -2.45119347e-03 2.30913446e-01] [-6.02702314e-02 2.86704218e-03 9.98177980e-01 -8.28853080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.512260615 meters 0.028799618277258104 Centerline is valid? [True, True] Translation: X:17.65, Y:0.24, Z:-0.83 [[ 9.98255750e-01 7.13639200e-04 5.90334513e-02 1.76502266e+01] [-5.72051131e-04 9.99996920e-01 -2.41530298e-03 2.42282663e-01] [-5.90349931e-02 2.37731994e-03 9.98253083e-01 -8.32401750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.542260614999996 meters 0.025162209420123913 Centerline is valid? [True, True] Translation: X:17.68, Y:0.24, Z:-0.84 [[ 9.98310884e-01 6.20373611e-03 5.77658392e-02 1.76811739e+01] [-6.07732244e-03 9.99978739e-01 -2.36380314e-03 2.42825915e-01] [-5.77792755e-02 2.00874878e-03 9.98327361e-01 -8.39644869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.572260614999998 meters 0.025903759274205816 Centerline is valid? [True, True] Translation: X:17.71, Y:0.24, Z:-0.84 [[ 9.98291907e-01 7.09124347e-03 5.79912229e-02 1.77118786e+01] [-6.96509800e-03 9.99972918e-01 -2.37709177e-03 2.36292661e-01] [-5.80065089e-02 1.96911693e-03 9.98314263e-01 -8.42779505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.602260615 meters 0.02549107879910221 Centerline is valid? [True, True] Translation: X:17.74, Y:0.23, Z:-0.85 [[ 9.98264754e-01 7.34547665e-03 5.84253780e-02 1.77448619e+01] [-7.21689564e-03 9.99971050e-01 -2.41147683e-03 2.29551974e-01] [-5.84414001e-02 1.98564247e-03 9.98288866e-01 -8.46584506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.632260614999996 meters 0.02774034610337339 Centerline is valid? [True, True] Translation: X:17.78, Y:0.21, Z:-0.85 [[ 9.98323457e-01 4.77276954e-03 5.76844496e-02 1.77750337e+01] [-4.64217540e-03 9.99986350e-01 -2.39773097e-03 2.11650061e-01] [-5.76951061e-02 2.12592974e-03 9.98331986e-01 -8.50889057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.662260614999997 meters 0.0287566383053954 Centerline is valid? [True, True] Translation: X:17.81, Y:0.20, Z:-0.85 [[ 9.98335109e-01 2.43475601e-03 5.76288383e-02 1.78063595e+01] [-2.29996684e-03 9.99994463e-01 -2.40513049e-03 1.99036453e-01] [-5.76343751e-02 2.26858179e-03 9.98335180e-01 -8.52627362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.692260615 meters 0.028780624590721008 Centerline is valid? [True, True] Translation: X:17.84, Y:0.19, Z:-0.85 [[ 9.98301287e-01 2.47374561e-03 5.82101427e-02 1.78385746e+01] [-2.33535632e-03 9.99994283e-01 -2.44531701e-03 1.94434665e-01] [-5.82158590e-02 2.30522169e-03 9.98301357e-01 -8.52803141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.722260614999996 meters 0.029665120332045252 Centerline is valid? [True, True] Translation: X:17.87, Y:0.19, Z:-0.85 [[ 9.98252876e-01 2.79011998e-03 5.90204306e-02 1.78704674e+01] [-2.64736555e-03 9.99993379e-01 -2.49678330e-03 1.90241602e-01] [-5.90270061e-02 2.33617245e-03 9.98253653e-01 -8.52526669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.752260614999997 meters 0.029384443069329736 Centerline is valid? [True, True] Translation: X:17.90, Y:0.19, Z:-0.85 [[ 9.98147904e-01 4.17828448e-03 6.06902228e-02 1.79031436e+01] [-4.02874779e-03 9.99988541e-01 -2.58609090e-03 1.89709633e-01] [-6.07003328e-02 2.33679561e-03 9.98153299e-01 -8.50590612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.782260615 meters 0.025136269359341504 Centerline is valid? [True, True] Translation: X:17.94, Y:0.20, Z:-0.85 [[ 9.97867555e-01 9.98597847e-03 6.45028948e-02 1.79351057e+01] [-9.82817718e-03 9.99947884e-01 -2.76326999e-03 1.95522898e-01] [-6.45271271e-02 2.12343159e-03 9.97913694e-01 -8.47055757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.812260614999996 meters 0.023362715541283777 Centerline is valid? [True, True] Translation: X:17.97, Y:0.20, Z:-0.84 [[ 9.97634155e-01 1.57056209e-02 6.69285200e-02 1.79660750e+01] [-1.55483549e-02 9.99874998e-01 -2.87004398e-03 1.97433633e-01] [-6.69652296e-02 1.82262552e-03 9.97753645e-01 -8.44787074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.842260614999997 meters 0.02176662259888521 Centerline is valid? [True, True] Translation: X:18.00, Y:0.20, Z:-0.85 [[ 9.97555011e-01 1.78538989e-02 6.75665438e-02 1.79986555e+01] [-1.76979903e-02 9.99839157e-01 -2.90540726e-03 1.98761457e-01] [-6.76075491e-02 1.70251153e-03 9.97710540e-01 -8.45475136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.872260615 meters 0.020836452613377538 Centerline is valid? [True, True] Translation: X:18.03, Y:0.20, Z:-0.84 [[ 9.97398022e-01 2.04273803e-02 6.91368757e-02 1.80314694e+01] [-2.02688917e-02 9.99790084e-01 -2.99318893e-03 2.00421453e-01] [-6.91835058e-02 1.58407287e-03 9.97602693e-01 -8.44091631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.902260614999996 meters 0.01836325486684626 Centerline is valid? [True, True] Translation: X:18.06, Y:0.21, Z:-0.84 [[ 9.96855237e-01 2.88462777e-02 7.38073820e-02 1.80634663e+01] [-2.86870331e-02 9.99583266e-01 -3.21698596e-03 2.08135619e-01] [-7.38694221e-02 1.08955448e-03 9.97267327e-01 -8.38890259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.932260614999997 meters 0.016581726538838243 Centerline is valid? [True, True] Translation: X:18.10, Y:0.21, Z:-0.84 [[ 9.96642415e-01 3.26965104e-02 7.50655373e-02 1.80961662e+01] [-3.25410976e-02 9.99464974e-01 -3.29284141e-03 2.10505810e-01] [-7.51330397e-02 8.39070441e-04 9.97173166e-01 -8.40084083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.962260614999998 meters 0.015866615388815158 Centerline is valid? [True, True] Translation: X:18.13, Y:0.21, Z:-0.84 [[ 9.96302588e-01 3.79844781e-02 7.70605779e-02 1.81283292e+01] [-3.78346808e-02 9.99278216e-01 -3.40344112e-03 2.12836093e-01] [-7.71342347e-02 4.75294832e-04 9.97020604e-01 -8.39041736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.992260614999996 meters 0.015712535091054535 Centerline is valid? [True, True] Translation: X:18.16, Y:0.21, Z:-0.84 [[ 9.96149918e-01 4.04307391e-02 7.77862237e-02 1.81620271e+01] [-4.02836544e-02 9.99182294e-01 -3.45973467e-03 2.13900800e-01] [-7.78624971e-02 3.12901060e-04 9.96964058e-01 -8.38969857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.022260614999997 meters 0.015568472229116675 Centerline is valid? [True, True] Translation: X:18.19, Y:0.22, Z:-0.83 [[ 9.95713724e-01 4.47893824e-02 8.09202701e-02 1.81948180e+01] [-4.46429984e-02 9.98996452e-01 -3.61822714e-03 2.20212395e-01] [-8.10011209e-02 -9.80506115e-06 9.96714010e-01 -8.32805484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.052260614999998 meters 0.016322594698618888 Centerline is valid? [True, True] Translation: X:18.23, Y:0.22, Z:-0.83 [[ 9.95347843e-01 4.71415394e-02 8.40258751e-02 1.82275985e+01] [-4.69914447e-02 9.98888199e-01 -3.76424820e-03 2.22861395e-01] [-8.41099075e-02 -2.01760940e-04 9.96456463e-01 -8.29814098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.082260614999996 meters 0.018020578103340637 Centerline is valid? [True, True] Translation: X:18.26, Y:0.22, Z:-0.82 [[ 9.94646889e-01 4.94464432e-02 9.07337570e-02 1.82577074e+01] [-4.92806272e-02 9.98776686e-01 -4.06829968e-03 2.22887170e-01] [-9.08239241e-02 -4.24894838e-04 9.95866876e-01 -8.21986265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.112260614999997 meters 0.018533246168261196 Centerline is valid? [True, True] Translation: X:18.29, Y:0.22, Z:-0.82 [[ 9.94474428e-01 4.99556220e-02 9.23311912e-02 1.82902276e+01] [-4.97849502e-02 9.98751329e-01 -4.15227021e-03 2.19050220e-01] [-9.24233292e-02 -4.67377223e-04 9.95719694e-01 -8.21214105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.142260614999998 meters 0.01820529743663921 Centerline is valid? [True, True] Translation: X:18.32, Y:0.21, Z:-0.83 [[ 9.94367851e-01 5.23662519e-02 9.21431055e-02 1.83228332e+01] [-5.22039617e-02 9.98627728e-01 -4.17231350e-03 2.11470096e-01] [-9.22351484e-02 -6.61420732e-04 9.95737034e-01 -8.26546331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.172260614999995 meters 0.018110282875529782 Centerline is valid? [True, True] Translation: X:18.35, Y:0.21, Z:-0.83 [[ 9.94156021e-01 5.45989144e-02 9.31276788e-02 1.83544980e+01] [-5.44407461e-02 9.98508001e-01 -4.23995689e-03 2.09077077e-01] [-9.32202294e-02 -8.54761645e-04 9.95645147e-01 -8.28429507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.202260614999997 meters 0.019588397795651736 Centerline is valid? [True, True] Translation: X:18.39, Y:0.21, Z:-0.82 [[ 9.93572769e-01 5.70409566e-02 9.77726069e-02 1.83852540e+01] [-5.68775323e-02 9.98371200e-01 -4.46015573e-03 2.09003432e-01] [-9.78677665e-02 -1.12957534e-03 9.95198786e-01 -8.22538779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.232260614999998 meters 0.020455178022436286 Centerline is valid? [True, True] Translation: X:18.42, Y:0.21, Z:-0.82 [[ 9.93311573e-01 5.83207528e-02 9.96534458e-02 1.84169227e+01] [-5.81558532e-02 9.98297095e-01 -4.56136903e-03 2.08637496e-01] [-9.97497680e-02 -1.26457052e-03 9.95011751e-01 -8.18771649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.262260615 meters 0.02091185543324086 Centerline is valid? [True, True] Translation: X:18.45, Y:0.21, Z:-0.81 [[ 9.93002993e-01 6.08128273e-02 1.01226754e-01 1.84491737e+01] [-6.06535005e-02 9.98148032e-01 -4.65387198e-03 2.09625969e-01] [-1.01322300e-01 -1.51844814e-03 9.94852495e-01 -8.13216158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.292260614999996 meters 0.02086282786050842 Centerline is valid? [True, True] Translation: X:18.48, Y:0.21, Z:-0.81 [[ 9.92772708e-01 6.10231625e-02 1.03336944e-01 1.84817311e+01] [-6.08570624e-02 9.98135130e-01 -4.76239746e-03 2.08132140e-01] [-1.03434851e-01 -1.56080464e-03 9.94635006e-01 -8.12564030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.322260614999998 meters 0.022545289177983343 Centerline is valid? [True, True] Translation: X:18.51, Y:0.21, Z:-0.81 [[ 9.92457240e-01 6.05422036e-02 1.06598632e-01 1.85119458e+01] [-6.03622473e-02 9.98164427e-01 -4.91680406e-03 2.05865121e-01] [-1.06700636e-01 -1.55481518e-03 9.94289976e-01 -8.08469103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.352260615 meters 0.024031859556570105 Centerline is valid? [True, True] Translation: X:18.54, Y:0.20, Z:-0.80 [[ 9.91771989e-01 5.94800207e-02 1.13359820e-01 1.85424685e+01] [-5.92695085e-02 9.98228320e-01 -5.22939107e-03 1.98622365e-01] [-1.13470027e-01 -1.53241726e-03 9.93540238e-01 -8.04176039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.382260614999996 meters 0.02531531788213961 Centerline is valid? [True, True] Translation: X:18.57, Y:0.19, Z:-0.80 [[ 9.91420848e-01 5.82143778e-02 1.17029004e-01 1.85736316e+01] [-5.79809904e-02 9.98303079e-01 -5.40062631e-03 1.94383020e-01] [-1.17144809e-01 -1.43116403e-03 9.93113813e-01 -8.01214792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.412260614999997 meters 0.026131355634215342 Centerline is valid? [True, True] Translation: X:18.61, Y:0.19, Z:-0.80 [[ 9.91573337e-01 5.41182353e-02 1.17701040e-01 1.86051605e+01] [-5.38506904e-02 9.98534102e-01 -5.45445223e-03 1.87065206e-01] [-1.17823687e-01 -9.29792847e-04 9.93034095e-01 -7.98287354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.442260615 meters 0.025655844856039042 Centerline is valid? [True, True] Translation: X:18.64, Y:0.18, Z:-0.80 [[ 9.91909539e-01 5.15154268e-02 1.16024251e-01 1.86368142e+01] [-5.12355832e-02 9.98672023e-01 -5.39500822e-03 1.82550069e-01] [-1.16148100e-01 -5.93210060e-04 9.93231729e-01 -7.99962063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.472260614999996 meters 0.02517837855585582 Centerline is valid? [True, True] Translation: X:18.67, Y:0.18, Z:-0.80 [[ 9.92189466e-01 4.66727989e-02 1.15679357e-01 1.86692605e+01] [-4.63591670e-02 9.98910231e-01 -5.40164838e-03 1.77318388e-01] [-1.15805403e-01 -3.34001550e-06 9.93271921e-01 -8.01254731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.502260614999997 meters 0.02596264172978372 Centerline is valid? [True, True] Translation: X:18.70, Y:0.18, Z:-0.80 [[ 9.91940475e-01 4.61364822e-02 1.18006440e-01 1.87001405e+01] [-4.58041934e-02 9.98935142e-01 -5.52783427e-03 1.76728623e-01] [-1.18135815e-01 7.80927399e-05 9.92997444e-01 -7.99446248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.532260615 meters 0.028481060983440373 Centerline is valid? [True, True] Translation: X:18.73, Y:0.18, Z:-0.79 [[ 9.90858802e-01 4.40150830e-02 1.27520616e-01 1.87315225e+01] [-4.36088656e-02 9.99030801e-01 -5.97703605e-03 1.77589427e-01] [-1.27660103e-01 3.61369380e-04 9.91817911e-01 -7.87720790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.562260614999996 meters 0.02744873446187681 Centerline is valid? [True, True] Translation: X:18.76, Y:0.17, Z:-0.79 [[ 9.90699047e-01 4.09763282e-02 1.29754916e-01 1.87622717e+01] [-4.05294341e-02 9.99159822e-01 -6.08400088e-03 1.74350535e-01] [-1.29895199e-01 7.68520566e-04 9.91527431e-01 -7.90490485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.592260614999997 meters 0.029751748759305533 Centerline is valid? [True, True] Translation: X:18.79, Y:0.16, Z:-0.80 [[ 9.91778020e-01 2.81431488e-02 1.24837180e-01 1.87914231e+01] [-2.76282382e-02 9.99601124e-01 -5.85437602e-03 1.60610391e-01] [-1.24952146e-01 2.35721012e-03 9.92159969e-01 -7.97811050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.622260615 meters 0.03333019133498531 Centerline is valid? [True, True] Translation: X:18.82, Y:0.15, Z:-0.80 [[ 9.92470530e-01 2.12929027e-02 1.20618649e-01 1.88220335e+01] [-2.07616343e-02 9.99768435e-01 -5.65967046e-03 1.52495541e-01] [-1.20711229e-01 3.11281586e-03 9.92682784e-01 -8.00050915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.652260614999996 meters 0.032371102307906706 Centerline is valid? [True, True] Translation: X:18.85, Y:0.15, Z:-0.81 [[ 9.92942434e-01 1.57569119e-02 1.17545913e-01 1.88538362e+01] [-1.52111830e-02 9.99868964e-01 -5.53841477e-03 1.51328647e-01] [-1.17617779e-01 3.71131464e-03 9.93052005e-01 -8.10001239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.682260614999997 meters 0.03262877771585786 Centerline is valid? [True, True] Translation: X:18.88, Y:0.16, Z:-0.82 [[ 9.93512145e-01 1.73520233e-02 1.12394508e-01 1.88832153e+01] [-1.68621756e-02 9.99843736e-01 -5.30751488e-03 1.55230518e-01] [-1.12469041e-01 3.37786456e-03 9.93649488e-01 -8.15449391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.712260614999998 meters 0.033855444316798405 Centerline is valid? [True, True] Translation: X:18.91, Y:0.16, Z:-0.81 [[ 9.93534564e-01 2.11583857e-02 1.11540994e-01 1.89145522e+01] [-2.06996885e-02 9.99771855e-01 -5.26893753e-03 1.57097306e-01] [-1.11627029e-01 2.92600772e-03 9.93745865e-01 -8.12644493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.742260614999996 meters 0.028392088201166593 Centerline is valid? [True, True] Translation: X:18.95, Y:0.17, Z:-0.82 [[ 9.93502246e-01 2.65082085e-02 1.10682440e-01 1.89469276e+01] [-2.60890079e-02 9.99645921e-01 -5.23420444e-03 1.70071276e-01] [-1.10781999e-01 2.31259883e-03 9.93842040e-01 -8.17011639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.772260614999997 meters 0.02871356711009366 Centerline is valid? [True, True] Translation: X:18.98, Y:0.17, Z:-0.81 [[ 9.93578433e-01 2.77978231e-02 1.09677612e-01 1.89783846e+01] [-2.73926103e-02 9.99611228e-01 -5.19986965e-03 1.73918228e-01] [-1.09779518e-01 2.16212224e-03 9.93953612e-01 -8.14571961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.802260614999998 meters 0.025213989913870118 Centerline is valid? [True, True] Translation: X:19.01, Y:0.18, Z:-0.82 [[ 9.93903230e-01 2.81615339e-02 1.06598769e-01 1.90094549e+01] [-2.77800093e-02 9.99601241e-01 -5.06256540e-03 1.78303620e-01] [-1.06698832e-01 2.07038529e-03 9.94289230e-01 -8.23572785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.832260614999996 meters 0.024933123182918546 Centerline is valid? [True, True] Translation: X:19.04, Y:0.18, Z:-0.83 [[ 9.94457522e-01 2.81155407e-02 1.01310186e-01 1.90384701e+01] [-2.77708138e-02 9.99602736e-01 -4.81172405e-03 1.77284707e-01] [-1.01405223e-01 1.97158887e-03 9.94843251e-01 -8.30822231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.862260614999997 meters 0.024865458276818728 Centerline is valid? [True, True] Translation: X:19.07, Y:0.18, Z:-0.83 [[ 9.94049777e-01 3.22833785e-02 1.04032808e-01 1.90699703e+01] [-3.19417162e-02 9.99477481e-01 -4.94895692e-03 1.75726519e-01] [-1.04138218e-01 1.59652310e-03 9.94561553e-01 -8.32594937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.892260614999998 meters 0.02612821785613126 Centerline is valid? [True, True] Translation: X:19.10, Y:0.17, Z:-0.83 [[ 9.93687905e-01 3.40252879e-02 1.06895399e-01 1.91007689e+01] [-3.36736424e-02 9.99419903e-01 -5.09337905e-03 1.74888885e-01] [-1.07006693e-01 1.46167173e-03 9.94257226e-01 -8.28698895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.922260614999995 meters 0.024818680066945233 Centerline is valid? [True, True] Translation: X:19.13, Y:0.18, Z:-0.83 [[ 9.93401674e-01 3.55945409e-02 1.09023590e-01 1.91327466e+01] [-3.52361462e-02 9.99365420e-01 -5.21269446e-03 1.76184293e-01] [-1.09139949e-01 1.33672825e-03 9.94025495e-01 -8.29108084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.952260614999997 meters 0.025863466651280163 Centerline is valid? [True, True] Translation: X:19.16, Y:0.18, Z:-0.82 [[ 9.93424671e-01 3.44099788e-02 1.09194212e-01 1.91645188e+01] [-3.40400865e-02 9.99406677e-01 -5.25028595e-03 1.76199266e-01] [-1.09310087e-01 1.49878317e-03 9.94006569e-01 -8.23372378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.982260614999998 meters 0.024031441723651705 Centerline is valid? [True, True] Translation: X:19.20, Y:0.18, Z:-0.83 [[ 9.93680041e-01 3.31248447e-02 1.07250734e-01 1.91967492e+01] [-3.27573052e-02 9.99449874e-01 -5.18729750e-03 1.75297357e-01] [-1.07363561e-01 1.64126896e-03 9.94218473e-01 -8.30810537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.012260614999995 meters 0.024406419165499203 Centerline is valid? [True, True] Translation: X:19.23, Y:0.17, Z:-0.83 [[ 9.94014970e-01 3.20343805e-02 1.04441552e-01 1.92272890e+01] [-3.16782328e-02 9.99485273e-01 -5.06746521e-03 1.72884807e-01] [-1.04550126e-01 1.72861248e-03 9.94518116e-01 -8.34113339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.042260614999996 meters 0.024406419165499203 Centerline is valid? [True, True] Translation: X:19.26, Y:0.17, Z:-0.84 [[ 9.94004270e-01 3.23680459e-02 1.04440511e-01 1.92599113e+01] [-3.20114893e-02 9.99474546e-01 -5.08883813e-03 1.71143360e-01] [-1.04550348e-01 1.71503051e-03 9.94518116e-01 -8.35636619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.072260614999998 meters 0.02519632050300462 Centerline is valid? [True, True] Translation: X:19.29, Y:0.17, Z:-0.84 [[ 9.94494742e-01 3.09562483e-02 1.00109537e-01 1.92896018e+01] [-3.06201233e-02 9.99519119e-01 -4.89274531e-03 1.65817862e-01] [-1.00212857e-01 1.80044314e-03 9.94964392e-01 -8.43491247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.102260615 meters 0.023133510215635058 Centerline is valid? [True, True] Translation: X:19.32, Y:0.17, Z:-0.85 [[ 9.94461362e-01 3.32569837e-02 9.97024221e-02 1.93219342e+01] [-3.29335544e-02 9.99445588e-01 -4.88852982e-03 1.66460868e-01] [-9.98097236e-02 1.57789888e-03 9.95005291e-01 -8.50620910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.132260614999996 meters 0.021957168667893087 Centerline is valid? [True, True] Translation: X:19.35, Y:0.17, Z:-0.85 [[ 9.94000736e-01 3.91615369e-02 1.02122042e-01 1.93544737e+01] [-3.88500743e-02 9.99232351e-01 -5.03781717e-03 1.69387382e-01] [-1.02240937e-01 1.04014505e-03 9.94759121e-01 -8.53959760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.162260614999997 meters 0.02191785698586452 Centerline is valid? [True, True] Translation: X:19.39, Y:0.17, Z:-0.85 [[ 9.93685926e-01 4.22010252e-02 1.03958425e-01 1.93865204e+01] [-4.18916637e-02 9.99108843e-01 -5.15841567e-03 1.71415024e-01] [-1.04083472e-01 7.70853649e-04 9.94568266e-01 -8.52446977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.192260615 meters 0.0230797667972913 Centerline is valid? [True, True] Translation: X:19.42, Y:0.17, Z:-0.85 [[ 9.93635085e-01 4.40018321e-02 1.03697426e-01 1.94187983e+01] [-4.37008363e-02 9.99031265e-01 -5.17391591e-03 1.74846758e-01] [-1.03824632e-01 6.09320136e-04 9.94595433e-01 -8.45474820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.222260614999996 meters 0.02100895592305387 Centerline is valid? [True, True] Translation: X:19.45, Y:0.18, Z:-0.85 [[ 9.93788713e-01 4.40006791e-02 1.02215140e-01 1.94509457e+01] [-4.37052539e-02 9.99031303e-01 -5.12906185e-03 1.75766238e-01] [-1.02341807e-01 6.29865125e-04 9.94749093e-01 -8.51100498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.252260614999997 meters 0.021921754582580902 Centerline is valid? [True, True] Translation: X:19.48, Y:0.18, Z:-0.85 [[ 9.94117529e-01 4.35327833e-02 9.91727511e-02 1.94822076e+01] [-4.32508521e-02 9.99051772e-01 -4.99203713e-03 1.76399861e-01] [-9.92960300e-02 6.73365629e-04 9.95057709e-01 -8.48686034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.282260615 meters 0.02062877702036734 Centerline is valid? [True, True] Translation: X:19.51, Y:0.17, Z:-0.86 [[ 9.94143343e-01 4.38843919e-02 9.87581531e-02 1.95146210e+01] [-4.36048320e-02 9.99036403e-01 -4.98846449e-03 1.74790464e-01] [-9.88819058e-02 6.52916091e-04 9.95098961e-01 -8.55007908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.312260614999996 meters 0.02211181599034952 Centerline is valid? [True, True] Translation: X:19.54, Y:0.17, Z:-0.86 [[ 9.93886252e-01 4.36240602e-02 1.01425146e-01 1.95441810e+01] [-4.33263669e-02 9.99047764e-01 -5.13718202e-03 1.66908691e-01] [-1.01552670e-01 7.11391479e-04 9.94829910e-01 -8.57159899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.342260614999997 meters 0.024348732498039188 Centerline is valid? [True, True] Translation: X:19.57, Y:0.16, Z:-0.85 [[ 9.93540040e-01 4.36436400e-02 1.04754104e-01 1.95741459e+01] [-4.33261244e-02 9.99046894e-01 -5.30579370e-03 1.61914242e-01] [-1.04885827e-01 7.32929119e-04 9.94484000e-01 -8.53254863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.372260615 meters 0.02400929881683298 Centerline is valid? [True, True] Translation: X:19.61, Y:0.16, Z:-0.86 [[ 9.93307340e-01 4.28079215e-02 1.07275398e-01 1.96054399e+01] [-4.24697535e-02 9.99082965e-01 -5.43598372e-03 1.56441596e-01] [-1.07409726e-01 8.43642822e-04 9.94214483e-01 -8.55008028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.402260614999996 meters 0.02358104122443777 Centerline is valid? [True, True] Translation: X:19.64, Y:0.15, Z:-0.86 [[ 9.93593992e-01 4.07997527e-02 1.05386709e-01 1.96372681e+01] [-4.04601521e-02 9.99166780e-01 -5.35924859e-03 1.52245588e-01] [-1.05517554e-01 1.06095495e-03 9.94416874e-01 -8.58659518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.432260614999997 meters 0.02395361869443872 Centerline is valid? [True, True] Translation: X:19.67, Y:0.15, Z:-0.86 [[ 9.93837693e-01 3.95340560e-02 1.03555292e-01 1.96684376e+01] [-3.91963726e-02 9.99217499e-01 -5.29464035e-03 1.48189379e-01] [-1.03683578e-01 1.20302136e-03 9.94609606e-01 -8.61199499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.462260614999998 meters 0.024670735771301855 Centerline is valid? [True, True] Translation: X:19.70, Y:0.15, Z:-0.86 [[ 9.93391249e-01 4.21575353e-02 1.06754710e-01 1.96991575e+01] [-4.18121725e-02 9.99110503e-01 -5.47226388e-03 1.49179686e-01] [-1.06890449e-01 9.72452695e-04 9.94270329e-01 -8.56160574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.492260614999996 meters 0.022673287728904534 Centerline is valid? [True, True] Translation: X:19.73, Y:0.16, Z:-0.86 [[ 9.92830195e-01 4.45852606e-02 1.10906981e-01 1.97309589e+01] [-4.42270743e-02 9.99005307e-01 -5.68888566e-03 1.55167076e-01] [-1.11050303e-01 7.43006186e-04 9.93814509e-01 -8.56157907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.522260614999997 meters 0.023020807384474606 Centerline is valid? [True, True] Translation: X:19.76, Y:0.15, Z:-0.86 [[ 9.92995454e-01 4.37619810e-02 1.09749337e-01 1.97625149e+01] [-4.34039259e-02 9.99041626e-01 -5.65050843e-03 1.51433548e-01] [-1.09891434e-01 8.47377090e-04 9.93943235e-01 -8.57783285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.552260614999998 meters 0.023417787560015862 Centerline is valid? [True, True] Translation: X:19.80, Y:0.15, Z:-0.86 [[ 9.93085729e-01 4.24772405e-02 1.09436822e-01 1.97958318e+01] [-4.21095453e-02 9.99096912e-01 -5.66985857e-03 1.46343655e-01] [-1.09578831e-01 1.02232082e-03 9.93977583e-01 -8.60527514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.582260614999996 meters 0.024393378269034906 Centerline is valid? [True, True] Translation: X:19.83, Y:0.14, Z:-0.86 [[ 9.93084987e-01 4.09489686e-02 1.10024503e-01 1.98278727e+01] [-4.05640945e-02 9.99160479e-01 -5.73506668e-03 1.38570504e-01] [-1.10166980e-01 1.23236429e-03 9.93912329e-01 -8.63891028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.612260614999997 meters 0.027942823254887332 Centerline is valid? [True, True] Translation: X:19.86, Y:0.13, Z:-0.86 [[ 9.93023828e-01 4.08122057e-02 1.10625676e-01 1.98593819e+01] [-4.04187650e-02 9.99166007e-01 -5.79767631e-03 1.33981468e-01] [-1.10770031e-01 1.28587753e-03 9.93845233e-01 -8.56444144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.642260614999998 meters 0.025691248183489654 Centerline is valid? [True, True] Translation: X:19.89, Y:0.13, Z:-0.86 [[ 9.92914170e-01 3.99698445e-02 1.11910065e-01 1.98911237e+01] [-3.95597821e-02 9.99199885e-01 -5.88325867e-03 1.32811270e-01] [-1.12055677e-01 1.41443312e-03 9.93700923e-01 -8.63383843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.672260614999995 meters 0.026814405314019647 Centerline is valid? [True, True] Translation: X:19.92, Y:0.13, Z:-0.86 [[ 9.92821632e-01 3.88935895e-02 1.13103914e-01 1.99219180e+01] [-3.84661824e-02 9.99242131e-01 -5.95960968e-03 1.30094108e-01] [-1.13249986e-01 1.56615363e-03 9.93565291e-01 -8.60455007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.702260614999997 meters 0.02749727839141906 Centerline is valid? [True, True] Translation: X:19.95, Y:0.13, Z:-0.86 [[ 9.92908598e-01 3.81895348e-02 1.12579196e-01 1.99529892e+01] [-3.77588402e-02 9.99269130e-01 -5.95621690e-03 1.27387939e-01] [-1.12724381e-01 1.66311908e-03 9.93624903e-01 -8.61085947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.732260614999998 meters 0.027728113752962476 Centerline is valid? [True, True] Translation: X:19.99, Y:0.13, Z:-0.86 [[ 9.92935499e-01 3.80127477e-02 1.12401631e-01 1.99861573e+01] [-3.75784600e-02 9.99275784e-01 -5.98061902e-03 1.25230965e-01] [-1.12547567e-01 1.71448876e-03 9.93644859e-01 -8.62994519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.762260614999995 meters 0.026382445157900263 Centerline is valid? [True, True] Translation: X:20.02, Y:0.13, Z:-0.86 [[ 9.92546057e-01 3.90200912e-02 1.15454566e-01 2.00179317e+01] [-3.85664188e-02 9.99237043e-01 -6.16150320e-03 1.28241457e-01] [-1.15606902e-01 1.66290655e-03 9.93293652e-01 -8.62282752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.792260614999996 meters 0.02864560183448718 Centerline is valid? [True, True] Translation: X:20.05, Y:0.13, Z:-0.85 [[ 9.92167510e-01 3.96905920e-02 1.18441075e-01 2.00484161e+01] [-3.92167437e-02 9.99210680e-01 -6.32959909e-03 1.28550924e-01] [-1.18598813e-01 1.63514928e-03 9.92940909e-01 -8.54386062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.822260614999998 meters 0.028321629988206476 Centerline is valid? [True, True] Translation: X:20.08, Y:0.13, Z:-0.85 [[ 9.90961828e-01 4.27587986e-02 1.27146927e-01 2.00800794e+01] [-4.22367562e-02 9.99084487e-01 -6.80031519e-03 1.33901297e-01] [-1.27321296e-01 1.36857900e-03 9.91860582e-01 -8.47304160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.852260614999995 meters 0.028668741905455115 Centerline is valid? [True, True] Translation: X:20.11, Y:0.14, Z:-0.84 [[ 9.90404749e-01 4.52648738e-02 1.30573825e-01 2.01111176e+01] [-4.47355355e-02 9.98974439e-01 -6.98581891e-03 1.36574797e-01] [-1.30756126e-01 1.07749825e-03 9.91413977e-01 -8.43995329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.882260614999996 meters 0.027810976004978658 Centerline is valid? [True, True] Translation: X:20.14, Y:0.15, Z:-0.84 [[ 9.89584250e-01 5.07930520e-02 1.34696242e-01 2.01424528e+01] [-5.02803172e-02 9.98709135e-01 -7.20788480e-03 1.45793693e-01] [-1.34888478e-01 3.60239516e-04 9.90860721e-01 -8.42667899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.912260614999997 meters 0.029499939895182497 Centerline is valid? [True, True] Translation: X:20.17, Y:0.15, Z:-0.84 [[ 9.89166708e-01 5.39014923e-02 1.36542495e-01 2.01734177e+01] [-5.34036979e-02 9.98546256e-01 -7.30888384e-03 1.49847534e-01] [-1.36737957e-01 -6.21695884e-05 9.90607252e-01 -8.37183749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.942260615 meters 0.030730826751955615 Centerline is valid? [True, True] Translation: X:20.20, Y:0.15, Z:-0.83 [[ 9.88683296e-01 5.53226688e-02 1.39444405e-01 2.02038997e+01] [-5.48174577e-02 9.98468493e-01 -7.46417130e-03 1.54937942e-01] [-1.39643782e-01 -2.64286273e-04 9.90201769e-01 -8.31996755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.972260614999996 meters 0.031904436250423204 Centerline is valid? [True, True] Translation: X:20.24, Y:0.16, Z:-0.83 [[ 9.88577477e-01 5.51214646e-02 1.40271865e-01 2.02353590e+01] [-5.46047427e-02 9.98479634e-01 -7.53280835e-03 1.55396826e-01] [-1.40473819e-01 -2.12744389e-04 9.90084371e-01 -8.28945956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 549.56 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%| | 0/766 [00:00